Time-optimal control of a stepping motor

Time-optimal control for multiple stepping of a variable-reluctance type stepping motor is discussed. A controller with phase-position feedback is designed and built for the minimum-time control of the motor. Experimental results showed that the controlled motor is capable of traveling a prescribed number of steps in near minimum time by the injection of one or two single pulses and the proper adjustment of the lead angle of the feedback sensors. High-speed responses such as 300 steps in 100 ms from start to stop have been achieved experimentally.