A stepping motor current control method based on predicted conduction and dynamic freewheeling

By using a predictive conduction and dynamic freewheeling current control method, the problems of inaccurate average current tracking and inconsistent switching frequency in stepper motor current control are solved, achieving stable output of motor torque and reduction of noise, and improving the adaptability and stability of the motor system.

CN122247253BActive Publication Date: 2026-07-21SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Filing Date
2026-05-22
Publication Date
2026-07-21

AI Technical Summary

Technical Problem

Existing stepper motor current control technology cannot accurately track the average current, resulting in insufficient motor output torque. Furthermore, the inconsistent switching frequency leads to motor noise and vibration, and it cannot achieve adaptive dynamic adjustment of the freewheeling strategy under dynamic operating conditions.

Method used

A current control method based on predictive conduction and dynamic freewheeling is adopted. By constructing a dual closed-loop system for current and PWM switching frequency and a multi-mode adaptive strategy, the charging and freewheeling stages are controlled in segments to achieve accurate tracking of the average current and constant PWM switching frequency, and adaptive adjustment is performed under dynamic operating conditions.

Benefits of technology

It improves motor control precision and operational stability, reduces motor noise and vibration, and meets the complex operational requirements of high-end application scenarios.

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Abstract

The application discloses a stepping motor current control method based on predicted conduction and dynamic freewheeling, and relates to the technical field of motor control.The present application divides each PWM period into a charging phase and a freewheeling phase composed of a first slow decay phase, a first and second fast decay phase and a second slow decay phase, and controls the duration of each phase to determine the actual chopping period, estimate the average current of each period, and calculate the difference between the average current estimate and the reference current to obtain the average current tracking error of each period.Next, by constructing a current and frequency double closed loop and a multi-mode adaptive strategy, the problems of average current deviation, non-fixed switching frequency and the inability to achieve adaptive dynamic adjustment of the freewheeling strategy under dynamic conditions are effectively solved, which can accurately track the average current and keep the frequency constant, and can also achieve adaptive dynamic adjustment of the freewheeling strategy under dynamic conditions, thereby improving the motor control precision and operation stability.
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