Step motor supply: Minimizing torque ripple induced by digital linearization

  • McInroy J
  • Lofthus R
  • Schweid S
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Abstract

A model of the torque ripple induced when linearizing hybrid stepping motors is developed. Using this model, the optimal waveforms for linearization are derived. These optimized waveforms require only a slightly different table look-up, yet they reduce the square root of the mean square torque ripple approximately five-fold, thus making square wave commutation possible for some applications. Frequency analysis of the resulting torque ripple provides a method of trading-off linearization computations for performance. Experimental results validate this analysis. © 1995.

Author-supplied keywords

  • Linearization techniques
  • nonlinear control systems
  • stepping motors
  • torque ripple

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Authors

  • J. E. McInroy

  • R. M. Lofthus

  • S. A. Schweid

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