Prediction control for high speed positioning with vibration suppression of paper streamer processes using stepping motor

This paper presents a predictive control system of stepping motor to realize the high speed positioning, and the residual vibration suppression by changing pulse input timing suitably. For the only four pulse input, high speed positioning without residual vibration is strongly required in the high-speed mounting and transferring process of semiconductor tip. In this process, it was made clear from our present experiments that the angular variation response is related to the frictional load between the transferred tape and the guide rail part. The load torque for stepping motor is then added to driving system and the influence of load torqe variation on the angular response variation is studied. Here, we investigate the relationship between angular response characteristics, the load torque and the pulse timing, and propose the predictive control system of stepping motor by feedback of one data in the transient states.