単純ベイズ分類器に基づく閉ループステッピングモータのモータとエンコーダ間の位置ずれ補償の提案

抄録

Hybrid Stepper Motors are used in a closed-loop form, which utilizes an incremental encoder in order to keep track of missed steps. In this case, the encoder-motor missalignment is neglected most of the time. Previous research conducted on this topic are based on a single measured values. This makes it difficult to understand the step distribution over every encoder ticks. The Naive Bayes method is introduced to model the rotor-encoder mapping, which is used to correct the encoder-ticks to motor-step table. The rotor position used for modelling is measured with different current values. The effectiveness of the proposed method is shown through the reduction of absolute error between the positive and negative velocities.