| 摘要 |
A method of detecting stall of a multi-phase motor (2) operated in a micro-stepped mode, the method comprising: a) applying at least two phase-shifted micro-stepped waveforms to the phase windings of said motor; b) determining a sum of currents flowing through the phase windings, and taking samples of said sum of currents synchronously with the application of said micro-stepped waveforms; c) calculating a moving average or moving sum of said samples over one or more "full steps" of the phase-shifted waveforms; d) calculating an adaptive threshold based on said samples; e) detecting stall of the motor when the moving average is larger than said adaptive threshold. An electrical circuit (1) and a computer program for performing such method are also disclosed. |
