Soft stepping and disturbance compensation through rotary acceleration signal processing

Details Soft stepping and disturbance compensation through rotary acceleration signal processing Soft stepping and disturbance compensation through rotary acceleration signal processing

Sep 2003

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2003esasp.524..401s&link_type=abstract

In: Proceedings of the 10th European Space Mechanisms and Tribology Symposium, 24-26 September 2003, San Sebastián, Spain. Compi

Computer Science

Performance

Soft Stepping

Scientific paper

Stepper Motors are extremely popular in space mechanisms due to their simple control electronics, and high torque margin capacity. However, a limitation to the application of stepper motors is their susceptibility to lose torque capacity at resonant disturbances when driving high load inertia. This paper will discuss the reasons for the performance degradation and the means to compensate with Rotary Acceleration signal feedback, and a technique referred to herein as "Soft Stepping".

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