초록 ▼

A motor control system (10) for controlling a multiple number of motors, each motor having a multiple number of phases. System (10) can be used to dynamically vary the step sizes from microsteps to full steps (i.e. “syncro-stepping the motor”). System (10) comprises current drivers (30,31) for contr

A motor control system (10) for controlling a multiple number of motors, each motor having a multiple number of phases. System (10) can be used to dynamically vary the step sizes from microsteps to full steps (i.e. “syncro-stepping the motor”). System (10) comprises current drivers (30,31) for controlling current in the motor windings, signed comparators (40,41) for providing a charge and a discharge comparison of actual currents to desired currents, current control state machines (50,51) for controlling drivers (30,31) in a respective operational state, a timing state machine (60) for controlling drivers (30,31) in a desired timing mode, digital-to-analog converters (90,91) for converting digital values to analog signals that correspond to desired currents, a microcomputer (70) that receives external commands from an outer loop and processes them in a unique inner loop software process which controls position, velocity, acceleration, and step sizes of motor (10) by generally using an interrupt rate (110), velocity register (120), adder 130), and position register (140), and a timer (71)for providing timing to the overall system (10).

대표청구항 ▼

In a current controller constructed and configured to couple to a current driver circuit and to supply driving current to an inductive device using a measure of current as its primary source of feedback without relying on sensors for position or load wherein the improvement comprises: a current cont

In a current controller constructed and configured to couple to a current driver circuit and to supply driving current to an inductive device using a measure of current as its primary source of feedback without relying on sensors for position or load wherein the improvement comprises: a current control state machine which is constructed and configured to couple to the current driver circuit and which is responsive to current and timing signals received at an input of the current control state machine representative of externally commanded positions to control the current driver circuit in desired operational charge, hold and discharge states in synchronism with desired sequential timing modes, and a signed current comparator constructed and configured to be coupled to the current driver circuit and having an output coupled to the current control state machine for comparing the actual charge and discharge value of current in the inductive device relative to a desired charge and discharge current value whereby control of the inductive device is implemented in a closed loop by evaluating current feedback data and modifying the state of the current control state machine in response thereto.