Mikrostepping

Mikrostepping is a technique used in digital control of stepper motors to achieve finer control over the motor's position. Unlike full-stepping, where the motor moves in discrete steps corresponding to the number of phases, mikrostepping allows the motor to move in smaller increments, typically 1/2, 1/4, 1/8, or 1/16 of a step. This is accomplished by using a digital signal processor (DSP) or microcontroller to generate intermediate steps between the full steps.

The principle behind mikrostepping involves interpolating the current waveform of the motor's phases. By varying the current in each phase in a controlled manner, the motor can be made to move in smaller increments. This technique allows for smoother motion and higher resolution control, making it suitable for applications requiring precise positioning, such as in CNC machines, robotics, and precision instruments.

Mikrostepping can be implemented using various methods, including pulse width modulation (PWM), sinusoidal interpolation, and hybrid stepping. PWM involves varying the duty cycle of the current pulses, while sinusoidal interpolation uses a sine wave to control the current in each phase. Hybrid stepping combines full-stepping and mikrostepping to achieve a balance between speed and precision.

The choice of mikrostepping method depends on the specific requirements of the application, including the desired resolution, speed, and torque. Higher resolution mikrostepping can result in smoother motion but may also increase the complexity of the control system and the power consumption of the motor.