METHOD FOR NC POSITIONING OF MULTIPHASE STEPPING MOTOR INCORPORATING ELECTRIC STEP SPLITTING PROVISION Russian patent published in 1994 - IPC

FIELD: robots and NC machine tools. SUBSTANCE: method involves changing of phases in all currents flowing through stepping motor windings simultaneously and at definite moments and increase of current phase by definite angle during start of acceleration. At steady state mode this phase shift is removed and current phase is shifted through other angle dictated by maximum speed. During plugging, current phase angle is reduced depending on maximum acceleration. EFFECT: improved dynamics of electric drive. 2 cl, 2 dwg