Enhanced descriptions from Syndetics:

Stepping motor technology is well established and used for motion control, notably for computer peripherals but wherever digital control is employed. This reference on stepping motors has been revised to bring the reader up to date with trends that have emerged since the third edition was published. It offers an introduction to the essential characteristics of stepping motor systems, and an understanding of how these characteristics are being exploited in the continuing development of new motors, drives and controllers.

Table of contents provided by Syndetics

• Preface to the fourth edition (p. ix)
• 1 Stepping motors (p. 1)
• 1.1 Introduction (p. 1)
• 1.2 Multi-stack variable-reluctance stepping motors (p. 2)
• 1.2.1 Principles of operation (p. 2)
• 1.2.2 Aspects of design (p. 5)
• 1.3 Single-stack variable-reluctance stepping motors (p. 6)
• 1.4 Hybrid stepping motors (p. 8)
• 1.5 Comparison of motor types (p. 10)
• 2 Drive circuits (p. 13)
• 2.1 Introduction (p. 13)
• 2.2 Unipolar drive circuit (p. 14)
• 2.2.1 Design example (p. 15)
• 2.3 Bipolar drive circuit (p. 16)
• 2.3.1 Example (p. 17)
• 2.4 Bifilar windings (p. 18)
• 2.4.1 Example (p. 21)
• 3 Accurate load positioning: static torque characteristics (p. 25)
• 3.1 Introduction (p. 25)
• 3.2 Static torque/rotor position characteristics (p. 25)
• 3.3 Position error due to load torque (p. 27)
• 3.4 Choice of excitation scheme (p. 29)
• 3.4.1 Variable-reluctance motors (p. 30)
• 3.4.2 Hybrid motors (p. 33)
• 3.4.3 Mini-step drives (p. 34)
• 3.5 Load connected to the motor by a gear (p. 36)
• 3.6 Load connected to the motor by a leadscrew (p. 37)
• 3.6.1 Example (p. 39)
• 4 Multi-step operation: torque/speed characteristics (p. 41)
• 4.1 Introduction (p. 41)
• 4.2 Relationship between pull-out torque and static torque (p. 42)
• 4.3 Mechanical resonance (p. 48)
• 4.3.1 The mechanism of resonance (p. 48)
• 4.3.2 The viscously coupled inertia damper (p. 51)
• 4.3.3 Electromagnetic damping (p. 55)
• 5 High-speed operation (p. 59)
• 5.1 Introduction (p. 59)
• 5.2 Pull-out torque/speed characteristics for the hybrid motor (p. 61)
• 5.2.1 Circuit representation of the motor (p. 61)
• 5.2.2 Calculation of pull-out torque (p. 65)
• 5.2.3 Example (p. 69)
• 5.3 Pull-out torque/speed characteristics for the variable-reluctance motor (p. 71)
• 5.3.1 Circuit representation of the motor (p. 71)
• 5.3.2 Torque correction factor (p. 74)
• 5.3.3 Calculation of pull-out torque (p. 77)
• 5.3.4 Example (p. 79)
• 5.4 Drive circuit design (p. 80)
• 5.4.1 Drive requirements (p. 80)
• 5.4.2 Bilevel drive (p. 81)
• 5.4.3 Example (p. 84)
• 5.4.4 Chopper drive (p. 84)
• 5.5 Instability (p. 86)
• 6 Open-loop control (p. 89)
• 6.1 Introduction (p. 89)
• 6.2 Starting/stopping rate (p. 90)
• 6.2.1 Example (p. 93)
• 6.3 Acceleration/deceleration capability (p. 94)
• 6.3.1 Example (p. 97)
• 6.4 Implementation of open-loop control (p. 100)
• 6.4.1 Microprocessor generated timing (p. 101)
• 6.4.2 Example (p. 103)
• 6.4.3 Hardware timing (p. 103)
• 6.4.4 Pulse deletion (p. 105)
• 6.4.5 Analogue ramp up/down (p. 106)
• 6.5 Improving acceleration/deceleration capability (p. 108)
• 6.5.1 Example (p. 110)
• 7 Closed-loop control (p. 111)
• 7.1 Introduction (p. 111)
• 7.2 Optical detection of rotor position (p. 113)
• 7.3 Switching angle (p. 115)
• 7.3.1 Switching angle to maximise pull-out torque (p. 115)
• 7.3.2 Choice of fixed switching angle (p. 118)
• 7.3.3 Example (p. 118)
• 7.3.4 Control of switching angle (p. 120)
• 7.4 Alternative position detection techniques: waveform detection (p. 122)
• 7.4.1 Waveform detection using motional voltage (p. 123)
• 7.4.2 Waveform detection using phase inductance (p. 125)
• 7.4.3 Example (p. 128)
• 7.5 Closed-loop against open-loop control (p. 129)
• 8 Microprocessor-based stepping motor systems (p. 131)
• 8.1 Introduction (p. 131)
• 8.2 Software vs hardware for open-loop control (p. 132)
• 8.2.1 Constant rate operation (p. 133)
• 8.2.2 Ramped acceleration/deceleration (p. 138)
• 8.2.3 Example (p. 143)
• 8.3 Microprocessor-based closed-loop control (p. 144)
• 8.3.1 Control of switching angle (p. 145)
• 8.3.2 Deceleration initiation and adaptive control (p. 147)
• 9 Appendix: pull-out torque/speed characteristics of bifilar-wound motors (p. 149)
• References (p. 151)
• Further reading (p. 155)
• Index (p. 157)

Author notes provided by Syndetics