Dynamic Analysis of Stepper Motor Mechanism
get:
f = ( (/2)(h / S) / µ )0.5 / 2 = ( h / ( 8 µ S ) )0.5
Given that the holding torque and resonant frequency of the system are easily measured, the easiest way to determine the moment of inertia of the moving parts in a system driven by a stepping motor is indirectly from the above relationship!
µ = h / ( 8 f2 S )
For practical purposes, it is usually not the torque or the moment of inertia that matters, but rather, the maximum sustainable acceleration that matters! Conveniently, this is a simple function of the resonant frequency! Starting with the Newton’s law for angular acceleration:
A = T / µ
We can substitute the above formula for the moment of inertia as a function of resonant frequency, and then substitute the maximum sustainable running torque as a function of the holding torque to get:
A = ( h / ( 20.5 ) ) / ( h / ( 8 f2 S ) ) = 8 S f2 / (20.5)
Measuring acceleration in steps per second squared instead of in radians per second squared, this simplifies to:
Asteps = A / S = 8 f2 / (20.5)
Thus, for an ideal motor with a sinusoidal torque versus rotor position function, the maximum acceleration in steps per second squared is a trivial function of the resonant frequency of the motor and rigidly coupled load!
For a two-winding permanent-magnet or variable-reluctance motor, with an ideal sinusoidal torque-versus-position characteristic, the two-winding holding torque is a simple function of the single-winding holding torque:
h2 = 20.5 h1
Where:
h1 — single-winding holding torque
h2 — two-winding holding torque
Substituting this into the formula for resonant frequency, we can find the ratios of the resonant frequencies in these two operating modes:
f1 = ( h1 / … )0.5
f2 = ( h2 / … )0.5 = ( 20.5 h1 / … )0.5 = 20.25 ( h1 / … )0.5 = 20.25 f1 = 1.189… f1
This relationship only holds if the torque provided by the motor does not vary appreciably as the stepping rate varies between these two frequencies.
In general, as will be discussed later, the available torque will tend to remain relatively constant up until some cutoff stepping rate, and then it will fall. Therefore, this relationship only holds if the resonant frequencies are below this cutoff stepping rate. At stepping rates above the cutoff rate, the two frequencies will be closer to each other!
Living with Resonance
If a rigidly mounted stepping motor is rigidly coupled to a frictionless load and then stepped at a frequency near the resonant frequency, energy will be pumped into the resonant system, and the result of this is that the motor will literally lose control. There are three basic ways to deal with this problem:
Controlling resonance in the mechanism
Use of elastomeric motor mounts or elastomeric couplings between motor and load can drain energy out of the resonant system, preventing energy from accumulating to the extent that it allows the motor rotor to escape from control. Or, viscous damping can be used. Here, the damping will not only draw energy out of the resonant modes of the system, but it will also subtract from the total torque available at higher speeds. Magnetic eddy current damping is equivalent to viscous damping for our purposes.
Figure 2.8 illustrates the use of elastomeric couplings and viscous damping in two typical stepping motor applications, one using a lead screw to drive a load, and the other using a tendon drive:
Figure 2.8
In Figure 2.8, elastomeric moter mounts are shown at a and elastomeric couplings between the motor and load are shown at b and c. The end bearing for the lead screw or tendon, at d, offers an opportunity for viscous damping, as do the ways on which the load slides, at e. Even the friction found in sealed ball bearings or Teflon on steel ways can provide enough damping to prevent resonance problems.
Controlling resonance in the low-level drive circuitry
A resonating motor rotor will induce an alternating current voltage in the motor windings. If some motor winding is not currently being driven, shorting this winding will impose a drag on the motor rotor that is exactly equivalent to using a magnetic eddy current damper.
If some motor winding is currently being driven, the AC voltage induced by the resonance will tend to modulate the current through the winding. Clamping the motor current with an external inductor will counteract the resonance. Schemes based on this idea are incorporated into some of the drive circuits illustrated in later sections of this tutorial.
Controlling resonance in the high-level control system
The high level