Sensorless Position Measurement and Blocking Detection Based on Back EMF Sensing for Stepper Motor in Next-Generation Spectrograph Robots
L. Jenni, M. Bouri, J.P. Kneib, H. Bleuler
Ecole Politechnique Fédérale de Lausanne, Lausanne, Switzerland
This work treats the problem of sensorless motion measurement and blocking detection for miniature stepper motor. Its purpose is to improve the reliability of high precision robotic positioners used in astrophysics to position optical fiber in a telescope. A method based on back EMF sensing is developed. For this purpose the phase of the motor are split and half of the coil are only dedicated for measurement in order to simplify signal treatment and improve noise immunity. This method is used to detect blocking and also to measure the real position of a motor undergoing periodical step loss.
ACTUATOR 2014 Manuscript Poster 06
Publication date: 09/04/2015
Manuscript Poster 06 published in Conference Proceedings ACTUATOR 2014
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