CONTROLLER FOR VARIABLE RELUCTANCE STEPPER MOTOR

摘要

VARIABLE RELUCTANCE STEPPER MOTOR AND CONTROLLER THEREFOR A variable reluctance stepper motor including cooperating fixed and moving structures having tooth-like patterns of equal pitch but with the fixed and moving teeth having different lengths measured in the direction of movement. The smaller teeth are divided into groups which are offset from one another by fractions of a tooth pitch to provide a bi-directional motor capable of being stepped from one position to the next with the teeth tending to produce force in the desired direction carrying essentially all of the flux and the teeth tending to produce force in the opposite direction carrying essentially no flux. The controller comprises a closed loop control system which senses a voltage indicative of motion on the driven windings, uses this voltage to confirm that motion has ocurred, compares this voltage with one modeled after a waveform indicative of no motion and effects successive changes in the winding drive states at optimum times.