Stepping motor speed control method and apparatus suitable for the same
View Patent ↗A speed control method of controlling a stepping motor to have a uniform instantaneous speed and an apparatus suitable for the same are provided. The stepping motor speed control method includes: calculating a repeated speed error for each phase while rotating a stepping motor at a constant speed and storing the calculated repeated speed error phase by phase; measuring a rotation speed of the stepping motor; sequentially and repeatedly reading the stored repeated speed errors phase by phase by synchronizing with the rotation of the stepping motor; and controlling the speed of the stepping motor with reference to the target speed, the measured speed and the repeated speed error for each phase. Accordingly, the stepping motor speed control apparatus rotates a stepping motor at a uniform instantaneous speed by controlling a rotation speed of the stepping motor phase by phase.
1. A method for controlling speed of a stepping motor, the method comprising:
calculating a repeated speed error for each phase of rotation of the stepping motor which rotates at a constant speed and storing the repeated speed error which is calculated phase by phase;
measuring a rotation speed of the stepping motor;
sequentially and repeatedly reading the repeated speed errors, which are stored, phase by phase by synchronizing the repeated speed errors with the rotation of the stepping motor; and
controlling the speed of the stepping motor with reference to a target speed, the rotation speed which is measured and the repeated speed error for each phase.
2. The method of claim 1 , wherein the repeated speed errors are stored according to a specific timing signal.
3. The method of claim 2 , wherein the specific timing signal is an index signal of the stepping motor.
4. The method of claim 1 , wherein the repeated speed error for each phase is read by synchronizing the repeated speed error for each phase with an index signal of the stepping motor.
5. The method of claim 1 , wherein in the measuring of the rotation speed, the rotation speed of the stepping motor is measured phase by phase.
6. A apparatus for controlling the speed of a stepping motor, the apparatus comprising:
a speed measurement unit which measures a rotation speed of the stepping motor;
a repeated speed error compensator which stores a repeated speed error of the stepping motor phase by phase and outputs the repeated speed error which corresponds to each phase;
an error calculator which calculates a speed error based on a target speed, the measured speed output from the speed measurement unit, and the repeated speed error which corresponds to each phase which is output from the repeated speed error compensator; and
a controller which drives the stepping motor with reference to an error signal which is output from the error calculator and the target speed.
7. The method of claim 6 , wherein the repeated speed errors are stored according to a specific timing signal.
8. The method of claim 7 , wherein the specific timing signal is an index signal of the stepping motor.
9. The apparatus of claim 6 , wherein the speed measurement unit obtains a pulse signal in response to the rotation of the stepping motor by wave-shaping a back electromotive force signal which is generated by the stepping motor and measures the rotation speed of the stepping motor phase by phase by calculating a period of the pulse signal.
10. The apparatus of claim 6 , wherein the repeated speed error compensator stores an average value of speed errors for phases of the stepping motor rotating at a predetermined average speed.
11. The apparatus of claim 6 , wherein the repeated speed error compensator outputs a speed error for each phase by synchronizing the repeated speed error which corresponds to each phase with an index signal which is generated by the stepping motor.