Robust Constant-pulse-rate Electronic Damping in Half-step Mode of a Two-phase Hybrid Stepping Motor

To suppress residual oscillation when positioning the rotor of a stepping motor, constant-pulse-rate electronic damping in full-step mode can achieve suppression by tuning a single parameter according to attached inertial loads. However, this damping technique exhibits insufficient robustness to uncertainty. This article proposes a novel damping technique that enhances robustness by being extended to half-step mode. Experiments demonstrated the effectiveness of the proposed damping.