The Digital Differential Analyser is an algorithm which, has been known for many years but has been somewhat neglected. With the advent of cheap computing power in the form of microprocessors, however, such an algorithm deserves reconsideration. This paper describes the use of the DDA to control the point to point motion of a step motor. The algorithm is developed in detail and its surprisingly complex operation is investigated by both a test-bed situation and by a detailed simulation.The algorithm is developed to a point where it is suitable for widespread practical application in the field of incremental motion control.

A microcomputer algorithm for open loop step motor control

A computer-controlled digital circuit to ramp-up a stepper motor to slewing speed and ramp it down without loss of positional integrity is described.

A Simple Digital Stepper Motor Slew Controller

Stepping motors under computer control are often required to go as fast as reliability permits, which generally entails acceleration to a high speed followed by deceleration to a destination. For reliable and efficient operation the acceleration must not exceed a given limit; however the motor must not waste time at very low speeds. Since a single computer instruction forms an appreciable part of the delay between pulses at high speed the algorithm which calculates this delay must be very concise. In addition, it must be virtually free of cumulative errors since the tolerance on the mean delay time can easily be less than 0.01% at high speed. Such an algorithm is given.

An algorithm for computer control of fast-stepping motors

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An algorithm for computer control of fast-stepping motors