Patent ID: 8963475
Filing Date: 2015-02-24
Classification: H02P

Abstract:
1. A micro-step driving control apparatus for a stepping motor comprising: a driver for driving the stepping motor; a control circuit for supplying a micro-step driving signal to the driver; a command value generator for supplying a command value to the control circuit; a current detector for detecting actual current passing through the stepping motor; a phase difference estimator for calculating, based on the command value and detected current detected by the current detector, an estimated phase difference between the command value and the detected current; a low-speed motor rotational angle estimator for calculating, based on the detected current and the micro-step driving signal, an estimated motor rotational angle (θ a high-speed motor rotational angle estimator for calculating, based on the estimated phase difference and the command value, an estimated motor rotational angle (θ an addition unit for calculating, based on a low-speed estimated angle gain and a high-speed estimated angle gain each of whose amplifying value varies according to the command value, an estimated motor rotational angle (θ a detent torque estimator for calculating, based on the estimated motor rotational angle (θ a compensation signal generator for generating a compensation signal based on the estimated detent torque and the estimated motor rotational angle (θ