Stepper Control Research Articles

Optimal Speed Control of Hybrid Stepper Motors through Integrating PID Tuning with LFD-NM Algorithm

Optimal Speed Control of Hybrid Stepper Motors through Integrating PID Tuning with LFD-NM Algorithm

Stepper Motor Controlled by Pic 16F84 Microcontroller

Background: Most times in engineering and other fields, engines need to be transformed from one form to another, in circuits and most components we are familiar with, electrical engines, impulses, digital information and etc needs to be changed from one level to another, this is done by a motor, be it in any kind, pending on the desired function. This literature review examines various research that has been done using the PIC 16F84 microcontroller for the control of stepper motors. The PIC 16F84 is a popular choice for stepper motor control applications due to its simplicity, low cost, and ease of programmability.

РОЗРОБКА СИСТЕМИ КЕРУВАННЯ КРОКОВИМ ДВИГУНОМ НАВЧАЛЬНОЇ ТРАНСПОРТНОЇ ЛІНІЇ

Stepper motors have long been successfully used in a variety of industrial and special equipment. The advantage of stepper motors is that a high degree of motion control can be achieved. Stepper motors are controlled using microprocessor systems. However, in this case, the stepper motor is controlled by the program loaded into the microcontroller. There is often a need to dynamically change the operation parameters of the stepper motor - speed of rotation, direction and magnitude of the angle of rotation, etc. The work is devoted to the development of the stepper motor control system of the educational transport line, implemented at the Department of Automation of Production Processes of the Ukrainian State University of Science and Technology. The system allows you to dynamically change system parameters using either a personal computer (PC) by sending the appropriate commands to the system via the COM port, or by using a tablet by sending the appropriate commands to the system via Bluetooth. Such a system can be used both in the educational process to practice standard stepper motor control techniques and microcontroller programming skills, and in industrial systems that require high-precision mechanism position control.

Composite ADRC Speed Control Method Based on LTDRO Feedforward Compensation.

The performance of the extended state observer (ESO) in an Active Disturbance Rejection Control (ADRC) is limited by the operational load in stepper motor control, which has high real-time requirements and may cause delays. Additionally, the complexity of parameter tuning, especially in high-order systems, further limits the ESO's performance. This paper proposes a composite ADRC (LTDRO-ADRC) based on a load torque dimensionality reduction observer (LTDRO). Firstly, the LTDRO is designed to estimate abrupt load disturbances that are difficult to compensate for using the ESO. Secondly, the transfer function under the double-closed loop is deduced. Additionally, the LTDRO uses a magnetic encoder to gather the system state and calculate the load torque. It then outputs a compensating current feedforward to the current loop input. This method reduces the delay and complexity of the ESO, improving the response speed of the ADRC speed ring and the overall response of the system to load changes. Simulation and experimental results demonstrate that it significantly enhances dynamic control performance and steady-state errors. LTDRO-ADRC can stabilize the speed again within 49 ms and 17 ms, respectively, in the face of sudden load increase and sudden load removal. At the same time, in terms of steady-state error, compared with ADRC and CADRC, they have increased by 94% and 88%, respectively. In terms of zero-speed starting motors, the response speed is increased by 58% compared to a traditional ADRC.

Research step of PID control method of stepper motor based on improved fuzzy control algorithm

The significance of PID control within the management system of stepper motors is noteworthy; nonetheless, it is worth noting that stepper motors are susceptible to issues such as low power, step loss, and vibration. The conventional Proportional-Integral-Derivative (PID) control method is insufficient in addressing the control challenge specific to stepper motor management systems. Hence, this research work presents an enhanced fuzzy control method that integrates the principles of fuzzy control theory with traditional PID control theory. The integration of fuzzy control into the P ID control is undertaken to create a fuzzy controller that satisfies the demands of stepper motor control. Additionally, the division of indices is conducted in accordance with the specifications of the fuzzy controller in order to mitigate the disruptive elements of PID control. then, the use of fuzzy control rules is employed to achieve control over the stepper motor, resulting in the development of an enhanced scheme that is then subjected to rigorous validation. The present study employs a MATLAB simulation to compare the performance of the enhanced fuzzy control algorithm with that of the P-ID control method. The results demonstrate that the improved fuzzy control algorithm significantly enhances the stability and dynamic performance of the stepper motor. Superior to traditional Proportional-Integral-Derivative (PID) control.

Simulasi Sistem Pengendalian Motor Stepper dengan Metode Pulse Width Modulation

This paper discusses the control of a stepper motor using Pulse Width Modulation (PWM) methods. In this paper, the author presents two designs: one using a stepper motor controller with an astable multivibrator as a pulse generator and the other utilizing a microcontroller as the pulse generator. The design of the stepper motor controller with an astable multivibrator involves using the IC timer 555 to control the stepper motor speed and a latch circuit to control the direction of the stepper motor rotation. Meanwhile, the design of the stepper motor controller with a microcontroller employs the Arduino UNO R3 to control both the direction and speed of the stepper motor. Testing is conducted through a simulation of the system design using Proteus software. From the test results, it is observed that an increase in the PWM value leads to a faster rotation speed of the stepper motor, conversely, a decrease in PWM value results in a slower rotation speed of the stepper motor.

Low-consumption stepper motor controller with real-time target position change responsiveness based on field programmable gate array.

In response to the demand for low resource consumption, parallel control, and real-time response to target position changes in precision measurement and manufacturing of multi-axis stepper motor controllers, this paper proposes a field programmable gate array-based method for generating trapezoidal velocity profiles and pulse generation, which can easily keep parallelism and independence during multi-axis control. By avoiding using multiplication and division, this controller not only reduces resource consumption but also enhances the pulse output frequency. To address the real-time responsiveness of the velocity profile generation algorithm to changes in the target position during the control process, the algorithm introduces a novel real-time comparative state transition logic for speed control, which makes it capable of adjusting the acceleration within a single clock cycle, enabling its application in scenarios that require higher levels of real-time performance. Finally, the designed controller is applied to a four-axis positioning system for performance validation.

A 4 mm Micro Servo Control System in Fiber Positioner

As multi-object spectrographs (MOSs) continue to evolve, a notable trend has emerged—the increasing accommodation of fiber positioners on ever-more compact focal planes. This progression has seen the traditional stepper motors being supplanted by more space-efficient miniature hollow-cup motors. A significant challenge faced in the employment of these 4 mm diameter motors is the absence of compatible angle sensors, resulting in reliance on open-loop control methods for positioning. Addressing this challenge, this paper introduces a novel miniature angle sensor designed specifically for 4 mm hollow-cup motors, and presents a newly formulated closed-loop control scheme, which leverages this sensor to achieve accurate positioning. This marks the first implementation of an angle closed-loop control system within a 4 mm miniature hollow-cup motor used in MOS fiber positioners. Experimental evidence suggests that this sensored closed-loop mode substantially improves upon the energy efficiency and precision of fiber positioner placement, compared with traditional open-loop stepper control methods. Furthermore, the integration of these microsensors mitigates collision risks during the concurrent operation of fiber positioners by deactivating the motor power supply to prevent potential damage to the system.

A BMO‐based MRPID controller with optimal control of speed in hybrid stepper motor

AbstractThis paper proposes a Barnacles mating optimizer‐based multi‐resolution proportional‐integral derivative (MRPID) controller for precise speed control of the hybrid stepper motor (HSM). The proposed approach is a barnacle mating optimizer (BMO) control scheme. The main objective of this approach is to use the MRPID controller to improve speed control in particular and uncertain conditions. The BMO is utilized to create the proposed MRPID controller. The proposed converter has a low switching voltage and uses a low input current. The proposed converter supplies a large amount of power to the voltage source inverter (VSI), which converts DC to AC and then supplies it to the HSM. The HSM can be utilized in various settings, including robots and factory applications. Then, the performance of the proposed system has been evaluated in the MATLAB platform and compared with various existing systems. The existing adaptive neuro‐fuzzy inference system (ANFIS) and the moth flame optimization algorithm (MFO) methods are used to validate the efficiency of the proposed controller. The proposed system rise time is 0.0007, the settling time is 0.1, the recovery time is 0.221, the AMU is 1.205, the IAE is 0.1034, and the SSE is 0.234. According to the simulation findings, the suggested system is statistically significant.

Speed control of stepper motors for use in laboratory animal devices

Speed control of stepper motors for use in laboratory animal devices

Design and control of an automatic cable-cutting machine with the implementation of a stepper control program using PLC

Proper control design will reduce energy losses and production costs for the industry. Control system design also reduces the role of humans in production. An automatic cable-cutting control system can reduce cable manufacturing time so that a company's human resources do not need to carry out the cable-cutting process manually. This cable cutter uses a PLC for its central control, which will convert the length value into the number of pulses and calculate the number of cables to be cut. The HMI inputs the length of the cable to be cut and the number of cables to be missed. The stepper motor is used to run the cable-pulling mechanic, which will pull according to the size stated on the HMI. This system can cut AWG20 and AWG16 cables in various lengths from 50 mm to 3000 mm with the number or number of wires that can be set from 1 cut to 10 cuts for each size.

Development Method of Fully Automatic Wire Winding Device Based on Dual Motion Control System

In the construction of overhead contact wire for electrified railways, the entire process of wire drawing is manually made, especially for the winding and fixing of the back tie wire. With the length of construction lines often reaching hundreds or even thousands of kilometers, the task of wrapping and fixing the back tie line becomes very heavy and cumbersome. In addition, whether the entanglement is firm, tightly attached, and smooth greatly tests the wrist strength and craftsmanship of construction workers. The comparison between teachers and beginners in construction is obvious, and it is difficult to ensure the consistency of construction standards. In response to the above issues, the fully automatic winding machine adopts a mechanical dual transmission design, a mechanical moving slide mechanism, a reduction motor, and a stepper motor control system to achieve winding process standards such as tight adhesion, reliability, and smoothness, and improve manual operation efficiency by 3-5 times.

Staged Embankment Construction in Geotechnical Centrifuges

Abstract This study develops a novel apparatus to simulate the staged, automatic construction of embankments in geotechnical centrifuges with improved measurement accuracy. Modular test equipment was designed to incorporate the functionality of controllable and precise sand release; its structural components include a box-like sand storage module, a push-pull sand release module, and a stepper motor control module. Emphasis was placed on the design of segmented deflectors, the angles of which were derived with rigorous mathematical analysis to mitigate the Coriolis effect on falling sand. Calibration tests demonstrate that the post-construction embankment geometry approximates its target shape with a relative error of 0.72 to 7.37 % in different construction phases at an acceleration of 60 g. A trial was conducted on a staged embankment over the deformable ground, and the displacement of this system was monitored and characterized by tracking reflective marker technology. The results indicate that the proposed method is effective and reflects real-life situations.

Development of an Autonomous Measurement System for Estimation of Snow Profile on Road Surfaces

This paper presents the development of a novel prototype system to measure the profile of snow and detect ice on road surfaces. While researchers have previously developed methods to estimate the tire-road friction coefficient, methods to create a high resolution map of snow cover and ice on roads have not been developed. The prototype and data processing methods presented in this study provide a potential solution that would greatly benefit winter road maintenance teams. Having a device capable of creating a detailed map of snow and ice cover on roads would allow for more efficient plowing and salt deployment, better informing of the public about current road conditions, as well as better analysis of current plowing techniques to improve winter road maintenance operations. The measurement of the snow profile is based on the use of two types of inexpensive ranging sensors mounted on a rotationally controlled stepper motor platform. The technical challenges addressed in the development include analysis of the scan path over which the system scans the road, differentiation between asphalt, concrete, and snow surfaces using reflection amplitudes, accurate transformation of raw distance measurements to inertial coordinates, and identification of the Euler angles of the sensors using parameters associated with the scanned surface profile. Extensive experimental results and test data are presented, which show that the system is capable of measuring the snow profile on a road with an accuracy of ±1 cm when a reasonable portion of bare road is visible, and ±2 cm when only small portions of bare road are visible.

SPOT: Scanning plant IoT facility for high-throughput plant phenotyping

Many plant phenotyping platforms have been kept out of the reach of smaller labs and institutions due to high cost and proprietary software. The Scanning Plant IoT (SPOT) Facility, located at the University of Florida, is a mobile, laboratory-based platform that facilitates open-source collection of high-quality, interoperable plant phenotypic data. It consists of three main sensors: a hyperspectral sensor, a thermal camera, and a LiDAR camera. Real-time data from the sensors can be collected in its 10 ft. × 10 ft. scanning region. The mobility of the device allows its use in large growth chambers, environmentally controlled rooms, or greenhouses. Sensors are oriented nadir and positioned via computer numerical control of stepper motors. In a preliminary experiment, data gathered from SPOT was used to autonomously and nondestructively differentiate between cultivars.

Open source framework for a Broadly Expandable and Reconfigurable data acquisition and automation device (BREAD)

Though open source data acquisition (DAQ) systems have been published, closed source proprietary systems are the standard despite often being prohibitively expensive. High costs, however, limit access to high-quality DAQ in low-resource settings. In many cases the functions executed by the closed source and proprietary DAQ cards could be carried out by an open source alternative; however, as desired function count increases, the simplicity of integrating the designs decreases substantially. Although the global library of open source electronic designs is expanding rapidly, and there is clear evidence they can reduce costs for scientists one device at a time, they are generally made to carry a function well, but are often not capable of scaling up or easily being integrated with other designs. Just as other open source projects have found success by having modular frameworks and clearly documented specifications, a framework to unify and enable interoperation of these open source electronics systems would be greatly beneficial to the scientific community. To meet these needs and ensure greater accessibility to high-quality electronics sensing and DAQ systems, this article shares and tests a news framework where new open source electronics can be developed and have plug-and-play functionality. The Broadly Reconfigurable and Expandable Automation Device (BREAD), consists of a basic set of guidelines and requirements to which others can contribute. Here 7 slices (boards) are provided, demonstrated, and validated: 1) Amplified Analog Input, 2) Audio Analysis / Fourier Transform, 3) +/- 10A Current Sensor, 4) 4-Channel Relay Controller 5) 4 Channel Stepper Motor Controller, 6) 4 Channel Type-K Thermocouple Reader and 7) 2 Channel USB Port. Implementing systems using BREAD rather than closed source and proprietary alternatives can result in cost savings of up to 93%.

Overview of Models and Methods for Control of Stepper Motors

A review of models and algorithms for control of a stepper motor (SM) is presented. Due to high accuracy, improved power density, economy and reliability compared to other synchronous motors, stepper motors are widely used in various practical applications and scientific equipment. In aviation and space technology, step motors are actively used in actuating systems, such as drives for the movement of elements of large-sized structures, guidance, and stabilization systems, etc. The article describes some existing stepper motor control algorithms, which are both based on the knowledge of the parameters of the stepper motor model, and on the absence of this or that information. Of the many described algorithms, four were selected (PID controller, exact feedback linearization algorithm, adaptive control with partially unknown parameters and adaptive control with completely unknown parameters), which showed the best results of transient processes in tracking the angle of the rotor of the SM behind the reference value. A comparative numerical analysis among these four algorithms is also given, which showed that the best results of transients are demonstrated by adaptive controllers (in the sense of the smallest error in steady state), while the worst results are demonstrated by the PID controller. It is noted that the studied PID controller contains much fewer feedback loops compared to other algorithms, which simplifies the choice of adjustable parameters and reduces the dynamic order of the closed system, however, the design is based on knowing the exact parameters of the drive and is also sensitive to external disturbances. On the contrary, adaptive approaches successfully solve the problem of estimating parametric and functional perturbations, but their implementation is associated with significant difficulties.

Rancang Bangun Purwarupa Mobil Bergerak Menggunakan Pengendali Suara Berbasis Mikrokontroler Atmega328

One type of prototype car with interesting special abilities to develop is a voice-controlled prototype car based on the ATmega328 microcontroller module EasyVR, Motor Driver as the stepper motor controller, and using wheels with a stepper motor as the driver. EasyVR Commander serves as the voice recorder. In the control system, several voice commands are used. The first command is "ROBOT", waiting for the LED to light up, and then the second command is "FORWARD", which makes the prototype car move forward. The first command is "ROBOT", waiting for the LED to light up, and then the second command is "REVERSE", which makes the prototype car move backward. The first command is "ROBOT", waiting for the LED to light up, and then the second command is "RIGHT", which makes the prototype car move to the right. The first command is "ROBOT", waiting for the LED to light up, and then the second command is "LEFT", which makes the prototype car move to the left. The first command is "ROBOT", waiting for the LED to light up, and then the second command is "ACTION", which triggers a reaction from the prototype car. The prototype car will move according to voice commands and pressure through sound waves.

Design of optimal-robust control of step motors with partially unknown parameters and disturbances

The paper describes the design of a novel control law for step motor under participially unknown parameters and bounded external disturbances. The unknown parameters and disturbances are related to the motor torque, the rotor moment of inertia, the viscous friction, the resistance and the load torque. The design of a novel control law is based on feedback linearization and linear robust control. The gain of a linear control law is calculated by solving the linear matrix inequality and some optimization problems. The simulations illustrate the efficiency of the proposed scheme in comparison with classical PID-controller and adaptive control law.

ROS-Based Autonomous Navigation Robot Platform with Stepping Motor

Indoor navigation robots, which have been developed using a robot operating system, typically use a direct current motor as a motion actuator. Their control algorithm is generally complex and requires the cooperation of sensors such as wheel encoders to correct errors. For this study, an autonomous navigation robot platform named Owlbot was designed, which is equipped with a stepping motor as a mobile actuator. In addition, a stepping motor control algorithm was developed using polynomial equations, which can effectively convert speed instructions to generate control signals for accurately operating the motor. Using 2D LiDAR and an inertial measurement unit as the primary sensors, simultaneous localization, mapping, and autonomous navigation are realised based on the particle filtering mapping algorithm. The experimental results show that Owlbot can effectively map the unknown environment and realise autonomous navigation through the proposed control algorithm, with a maximum movement error being smaller than 0.015 m.