5.1.3.1. Slowdown in stepper motors
(3) Slow down. When the control pulse train is suddenly stopped while the engine is running at high speed, the motor never stops immediately, resulting in an overrun position. To get a driver overshoot does not occur, you must slow down to a sequence of reasons to step up to get unemployment.
When the pulse of the steps are longer, the speed to be transmitted is smaller than the one with the rotor system / load, so the motor torque generated by the TM becomes negative, the motor acting as retention. Then the equation becomes:
\ =\ 0\\TM<0 "Equation of slowdown")
(5.13)
When the damping term is negligible, the velocity decreases linearly
(5.14)
where
f s = ratio of steps before decelerating at t = 0.
Figure 5.4 Sequence of excitation and static torque characteristic to begin deceleration.
Figure 5.4 shows the static torque characteristics for a hybrid stepper motor with sequential activation of two active phases. Initially, the activation sequence on the engine has a positive torque, so it is accelerating and providing maximum torque available. Θ D for the position, the engine produces maximum torque negative, then the engine slows down.
