Torque Ripple Reduction for Step Motors
In this chapter, we present controllers that reduce torque ripple for different types of stepper motors. The pulsating torque developed when a stepper motor is full- or half-stepped is known as the torque ripple and is the main cause of exciting resonance in the motor. This ripple can have a peak value of 20 or more times the friction torque value. Torque ripple itself is a result of several factors that are related to both the motor and the driver. Some of these factors are geometric imperfections in the motor, imprecise commutation, fidelity of current driving waveforms, phase delays, friction, and magnetic hysteresis in the motor and may be reduced (but not eliminated) either through the careful design of the motor itself or through the utilization of better controllers.
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