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1、附錄A英文文獻原文DevelopmentofaNovelDriveTopologyforaFivePhaseStepperMotorT.S.WeerakoonandL.Samaranayake（Dept.ofElectricalandElectronicEngineering,FacultyofEngineering,UniversityofPeradeniya,SriLanka）[Abstract]Inthispaper,anoveldrivetopologyforafivephasesteppermotorisdescribedindetail.Commercia
2、llyofftheshelf,lowcost,standardsteppermotordriveICsareusedtoderiveanoveldrivetopologyforfivephasesteppermotorswhichenablesclosedloopspeedandpositioncontrolpoweredbyinnercurrentcontrolloop.Itisprovedthatthederivedtopologycanbegeneralizedtoanysteppermotorwithhigheroddnumberofphases.Thedes
3、igneddriverconsistsoffullstep,halfstep,clockwiseandcounterclockwisedrivemodeswiththespeedcontrolandcurrentcontrol.[keywords]Five-phasesteppermotor,thereturndrive,speedcontrol,multi-modeI.INTRODUCTIONInmostoftheroboticsandautomationengineeringdesignsvarioustypesofsteppermotorsareusedtoob
4、taintherequiredmotionprofiles.Steppermotorsarepreferred,astheydonotrequirefrequentmaintenanceandduetotheirabilitytooperateinmanyharshenvironments.Selectionofthemotorsandtheirdrivecircuitsdependontherequiredperformancecharacteristicsoftheapplications.Thetwophaseandfourphasesteppermotorsa
5、rethemostcommontypesavailableinthemarket.However,forapplicationsrequiringhighprecision,lownoiseandlowervibration,FivePhaseStepperMotorsareused.Duetosmallerstepangle,fivephasesteppermotorsofferhigherresolution,lowervibrationandhigheraccelerationsanddecelerations.Thereforeitisessentialtom
6、akesurethatthesemotorcharacteristicscanbeobtainedfromthedesigneddrivetopology.Becausethefivephasesteppermotorsareararelyusedtypeintheroboticapplicationsandtheconstructionistypicallycomplicated,itisverydifficulttofinddriverICs,whicharemanufacturedexclusiveforthem.Asaresult,theavailableDr
7、ivercircuitsforfivephasesteppermotorsareveryexpensive.UsingtheavailabledrivecontrolICsmanufacturedforcommonkindsofsteppermotorssuchas2phasedand4phasedandusingtheminmodelingnewdrivertopologyforothersteppermotorswouldbeacosteffectiveapproach.TheICL297integratesallthecontrolcircui
