Variable slope pulse pump controller for stepping position servo control system using frequency-locked technique

Abstract

A stepping position servomotor system based on frequency-locked technique is proposed for high-performance incremental position control. A novel microcomputer-based variable slope pulse pump controller (VSPPC) using multi-rate sampling technique is exploited. The proposed VSPPC can adaptively generate motor motion profile, and it can replace the traditional PID controller for applications in stepping motor position control. System models are constructed for stability study and computer simulation. A prototype is designed and implemented to verify the theoretical studies and examine the performance of the proposed system. Position and speed responses of a realized system for 0-50 cm movement with 10 mm resolution is investigated. With the variable slope technique employed in VSPPC, the acquisition time for long-distance movement is reduced significantly and is close to that of short-range movement. In particular, the position acquisition time has improved about 67-79% compared to the conventional position control system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>