| 摘要 |
<p>A motor controller is programmed for detecting motor-stall condition of a dc-motor under the control of the motor control system. The motor controller includes a programmable microcontroller in connected to a motor driver. The motor driver communicates with a motor. The motor coupled to a position encoder which encoder is in communication with the microcontroller The method comprises the steps of providing an average stall threshold value and providing the motor controller with a time counter for counting each time interval T to a maximum count of "N". The motor controller is programming to issue a motor command representing the position error between the desired motor position and the actual motor position for some time interval "T" for each time interval "T". During each interval the motor command is compared to the average threshold value, if the motor command is greater than the ASV then proceed to and the interval exceeds a presented time than a motor stall is state is declared. If not the method is repeated for the next time interval. <IMAGE></p> |
