Patent US4714867A successfully refreshed from Google Patents.
US4714867A
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Method and apparatus for controlling a stepper motor with a programmable parabolic velocity profile
Assignee: Design Components Inc
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Filing: 1986-09-30
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Granted: 1987-12-22
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Expires: 2006-09-30
Abstract
Abstract A stepper motor is accelerated and decelerated with a parabolic velocity profile to efficiently utilize the available torque of the motor. The times between pulses to obtain a parabolic velocity profile are determined by a microprocessor-based stepper motor controller from desired values of start/stop velocity, maximum velocity and time to reach maximum velocity. The required times are stored in a random access memory and are used to supply to the motor a pulse train which follows the parabolic velocity profile during acceleration and deceleration. The controller is easily programmable to accommodate different motor characteristics, different applications and different operating parameters.
Inventors
- 👤 Simyon Palmin
- 👤 Vladimir Shlain
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-01 12:26
CPC Classifications
H; H02; H02P; H02P8/00; H02P8/24; H02P8/04; H02P8/14; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/43; G05B2219/43024
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
64 words
A method for controlling a stepper motor comprising: supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a start/stop velocity V 0 at a time t=0 and a maximum velocity V m at a time t=T.
Claim 2
Independent Claim
64 words
A method for controlling a stepper motor comprising: supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a start/stop velocity V 0 at a time t=0 and a maximum velocity V m at a time t=T.
Claim 3
Dependent Claim
69 words
A method for controlling a stepper motor as defined in claim 1 wherein the step of controlling the times between pulses includes the steps of calculating the required times between pulses to provide said parabolic velocity profile from prescribed values of V 0 , V m and T; and controlling the times between pulses supplied to the motor in accordance with the calculated values of required times between pulses.
Claim 4
Dependent Claim
56 words
A method for controlling a stepper motor as defined in claim 2 further including the step of storing the calculated values of required times between pulses and wherein the step of controlling the times between pulses includes reading the stored values as pulses are supplied to the motor, and varying the pulse timing in accordance therewith.
Claim 5
Dependent Claim
46 words
A method for controlling a stepper motor as defined in claim 3 wherein the step of calculating the required times between pulses includes calculating times t n as a solution of ##EQU7## and the equation is solved for t n until 1/t n =V m .
Claim 6
Dependent Claim
65 words
A stepper motor controller comprising: means for supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and means for controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a start/stop velocity V 0 at a time t=0 and a maximum velocity V m at a time t=T.
Claim 7
Dependent Claim
65 words
A stepper motor controller comprising: means for supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and means for controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a start/stop velocity V 0 at a time t=0 and a maximum velocity V m at a time t=T.
Claim 8
Dependent Claim
67 words
A stepper motor controller as defined in claim 5 wherein said means for controlling the times between pulses includes means for calculating the required times between pulses to provide said parabolic velocity profile from prescribed values of V 0 , V m and T, and means for controlling the times between pulses supplied to the motor in accordance with the calculated values of required times between pulses.
Claim 9
Dependent Claim
56 words
A stepper motor controller as defined in claim 6 further including means for storing the calculated values of required times between pulses and wherein said means for controlling the times between pulses includes means for reading the stored values as pulses are supplied to the motor and means for varying the pulse timing in accordance therewith.
Claim 10
Dependent Claim
45 words
A stepper motor controller as defined in claim 7 wherein said means for calculating the required times between pulses includes means for calculating times t n as a solution of ##EQU8## and the equation is solved for t n until 1/t n =V m .
Claim 11
Independent Claim
92 words
A method for controlling a stepper motor comprising: selecting a desired time T to increase the motor velocity from a known start/stop velocity V 0 to a desired maximum velocity V m ; determining from V 0 , V m and T the required times between motor energizing pulses to provide a parabolic velocity profile between V 0 at a time t=0 and V m at a time t=T; and supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled to provide said parabolic velocity profile.
Claim 12
Independent Claim
92 words
A method for controlling a stepper motor comprising: selecting a desired time T to increase the motor velocity from a known start/stop velocity V 0 to a desired maximum velocity V m ; determining from V 0 , V m and T the required times between motor energizing pulses to provide a parabolic velocity profile between V 0 at a time t=0 and V m at a time t=T; and supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled to provide said parabolic velocity profile.
Claim 13
Dependent Claim
74 words
Apparatus for controlling a stepper motor comprising: means for determining the required times between motor energizing pulses to provide a parabolic velocity profile between a start/stop velocity V 0 at a time t=0 and a maximum velocity V m at a time t=T; and means for supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled in accordance with the required times to provide said parabolic velocity profile.
Claim 14
Dependent Claim
74 words
Apparatus for controlling a stepper motor comprising: means for determining the required times between motor energizing pulses to provide a parabolic velocity profile between a start/stop velocity V 0 at a time t=0 and a maximum velocity V m at a time t=T; and means for supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled in accordance with the required times to provide said parabolic velocity profile.
Claim 15
Dependent Claim
55 words
A method for controllilng a stepper motor as defined in claim 1 further including the step of controlling the times between said pulses to provide a second parabolic stepper motor velocity profile between the maximum velocity V m at a time t=t s and the start/stop velocity V 0 at a time t=t s +T.
Claim 16
Dependent Claim
51 words
A stepper motor controller as defined in claim 5 further including means for controlling the times between said pulses to provide a second parabolic stepper motor velocity profile between the maximum velocity V m at a time t=t s and the start/stop velocity V 0 at a time t=t s +T.
Claim 17
Dependent Claim
89 words
A method for controlling a stepper motor as defined in claim 9 further including the steps of: determining from V 0 , V m and T the required times between motor energizing pulses to provide a second parabolic velocity profile between the maximum velocity V m at a time t =t s and the start/stop velocity V 0 at a time t=t s +T; and supplying to the stepper motor a train of energizing pulses with times between the individual pulses controlled to provide said second parabolic velocity profile.
Claim 18
Independent Claim
67 words
A method for controlling a stepper motor comprising: supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a maximum velocity V m at a time t=t s and a start/stop velocity V 0 at a time t=t s +T.
Claim 19
Independent Claim
67 words
A method for controlling a stepper motor comprising: supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a maximum velocity V m at a time t=t s and a start/stop velocity V 0 at a time t=t s +T.
Claim 20
Dependent Claim
68 words
A stepper motor controller comprising: means for supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and means for controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a maximum velocity V m at a time t=t s and a start/stop velocity V O at a time t=t s +T.
Claim 21
Dependent Claim
68 words
A stepper motor controller comprising: means for supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor; and means for controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a maximum velocity V m at a time t=t s and a start/stop velocity V O at a time t=t s +T.
Claim 22
Independent Claim
99 words
A method for controlling a stepper motor comprising: selecting a desired time T to decrease the motor velocity from a maximum velocity V m to a start/stop velocity V 0 ; determining from V 0 , V m and T the required times between motor energizing pulses to provide a parabolic velocity profile between the maximum velocity V m at a time t=t s and the start/stop velocity V 0 at a time t=t s +T; and supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled to provide said parabolic velocity profile.
Claim 23
Independent Claim
99 words
A method for controlling a stepper motor comprising: selecting a desired time T to decrease the motor velocity from a maximum velocity V m to a start/stop velocity V 0 ; determining from V 0 , V m and T the required times between motor energizing pulses to provide a parabolic velocity profile between the maximum velocity V m at a time t=t s and the start/stop velocity V 0 at a time t=t s +T; and supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled to provide said parabolic velocity profile.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1990-12-21 | 1991-06-22 | 1991-12-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-12-21 | 1995-06-22 | 1995-12-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-12-21 | 1999-06-22 | 1999-12-22 | $7700.00 | Window Closed / Lapsed |