Vibration Reduction of a Stepping Motor Using a Pre-compensator to Remove Control Delay

摘要

To reduce vibration, overshoot, and tracking error of the rotor in an open-loop micro-step drive of a stepping motor, we propose a novel pre-compensator using a low-pass type filter without control delay. The pre-compensator consists of a low-pass filter that removes the natural frequency component causing the vibration and a zero-phase filter that removes the control delay. Finally, a position control experiment demonstrates the validity of the pre-compensator.