Abstract

A fundamental problem of mechanical motion control is that of indexing a mass reliably from one stationary position to another in a given time with as little power as possible. A quadratic time increment function is proposed and demonstrated for stepping motor control. With this function, a given motor can index a mass through a variety of index lengths. The indexing system includes a microprocessor to adjust the motor pulse timing to index the inertial load through a range of motions — each with the same maximum torque. The functions and the sizing of the motor are described. The interaction between the microprocessor calculation speed and the indexing capability is given for achievable real time control. Experimental results for a specific system are presented.

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