Patent ID: 7138784

Claim:
A method for controlling movement of a step motor having a rotor, so as to reduce vibration during operation, said method comprising the steps: defining a motion profile for movement of said step motor rotor through a certain distance and under a certain load; operatively connecting position-sensing means to said rotor to adapt said step motor for use as a training tool; impressing, in accordance with regular pulse commands dictated by said defined motion profile, successions of energizing pulses upon windings of said training tool to effect actual operation of said training tool, in a multiplicity of successive control cycles, with said rotor moving through said certain distance under said certain load; using said position-sensing means to determine the actual position of said rotor at each of a multiplicity of instants during said actual operation of said training tool; comparing, for each of said instants, the determined actual position of said rotor with the corresponding rotor position established by said defined motion profile; utilizing said comparisons to determine a position error term, a velocity error term, and an acceleration error term; utilizing said position error term, said velocity error term, and said acceleration error term to create an optimized pulse command for moving said rotor of said training tool in a subsequent control cycle; recording said optimized pulse commands created during movement of said training tool through said certain distance under certain load; and subsequently running a said step motor, devoid of said position-sensing means, under the control of said recorded, optimized pulse commands.