Correspondence

CLOSED-LOOP CONTROL OF STEPPING transient operation some error will arise in the synthesis
MOTORS: PREDICTION AND REALISATION of the frequency-multiplied signal obtained by using the
OF OPTIMUM SWITCHING ANGLE phase-locked loop techniques described in the paper.
Unfortunately no data on the size of the phase error are
The authors of Paper 1929B [/EE Proc. B, Electr. Power available. However, it would seem that such an error
AppL, 1982,129, (4), pp. 211-216] are to be congratulated does not necessarily result in switching angle inaccuracy;
for providing a lucid account of the closed-loop control provided that the switching angle is optimised, either
requirements of a stepping motor. Optimisation of manually using the methods described in Section 3.2.2 of
switching angle is given particular prominence and a the paper, or automatically using a microprocessor-based
method is described whereby this quantity may be syn- controller [B], any repeatable errors in the synthesised
thesised by means of a phase locked loop operating on position signal are compensated by the speed discrimi-
shaft encoder step position pulses. nator setting.
However, there is no mention in the discussion of this Since the paper's publication five years ago the tech-
technique of the loss of accuracy arising from the phase nique has been adopted in several stepping and brushless
error between the encoder position signal, i.e. the input to
DC drives [C, D]. Recently its importance has been
the phase locked loop, and the 'divide by m' signal, which diminished not only by the commercial availability of
is derived from the oscillator output of the loop. That thehigh-resolution low-cost optical encoders, but also by the
phase locked loop can be controlled to suppress this introduction of reliable techniques for continuous moni-
error is perfectly true, but this can only be achieved sometoring of rotor position using current waveform analysis
time after motor acceleration and the consequent rise in [E].
position pulse repetition rate has been initiated. [A]
Phase error, in the interim period, is unavoidable and P.P. ACARNLEY 24th March 1987
inaccuracy in the selection of switching angle will follow
as a result. Department of Electrical and Electronic Engineering
Two questions are asked of the authors. First, did they University of Newcastle upon Tyne
measure or otherwise evaluate the phase error, and sec- Newcastle upon Tyne NE1 7RU
ondly, if so, how did its respective magnitude and dura- United Kingdom
tion compare with the minimum required switching angle
and the motor acceleration time.
References
C.L. HALSALL 26th February 1987
A GARDNER, F.G.: 'Phaselock techniques' (John Wiley and Sons,
Department of Electrical and Electronic Engineering 1979, 2nd edn.)
Paisley College of Technology B ACARNLEY, P.P., HILL, R.J., and HOOPER, C.W.: 'Closed-loop
control of stepping motors: optimisation of switching angle and
High Street deceleration initiation'. IEE Conf. Publ. 234, 1984, pp. 365-368
Paisley C ACARNLEY, P.P: 'Stepping motors: a guide to modern theory and
Renfrewshire PA1 2BE practice', (Peter Peregrinus Ltd., 1984, 2nd edn.)
United Kingdom D DANBURY, R.: 'Improved method of controlling stepping motor
switching angle', Electron. Lett., 1985, 21, (10), pp. 432-434
E ACARNLEY, P.P., HILL, R.J., and HOOPER, C.W.: 'Detection of
I would like to thank Dr. Halsall for his valuable and rotor position in stepping and switched motors by monitoring of
complimentary comments. It is inevitable that during current waveforms', IEEE Trans., 1985, IE-32, (3), pp. 215-222

192 IEE PROCEEDINGS, Vol. 134, Pt. B, No. 4, JULY 1987