Systematical Tuning for Back-phasing Damping of a Stepping Motor

Abstract

The rotor oscillation of a stepping motor occurs during rotor positioning. A novel tuning method can systematically determine the proper exciting times of back-phasing damping to suppress the oscillation without trial and error. The exciting times are automatically determined such that the transfer function zeros of the damping cancel the poles of the motor model. The motor drives sufficiently suppress the oscillation using the exciting times tuned for attached loads.