Stepping-Motor Drive Suppresses Torsional Oscillation

Excitation in stepping-motor drive differs from conventional excitation in that each step is divided into two equal smaller steps separated by small interval, tau. Interval chosen to equal half period of torsional oscillation, so second step excitation equal in amplitude but opposite in phase to first step excitation. Thus, although first step unavoidably excites torsional oscillation, second step deexcites oscillation at end of first half cycle.