FPGA-Based Hybrid Stepper Motor Drive System Design by Variable Structure Control

Abstract

A stepper motor is usually operated in position open-loop control for simplicity. However, in order to improve the transient and steady-state performances of the stepper motor-based drive system, a high performance stepper motor drive system is usually designed to feed the encoder signal back to form a closed-loop system such as a general servo motor drive, and high-performance position and speed loop controller can then be used to overcome the nonlinear characteristics of the motor, such as the cogging force and impacts from external load. On the other hand, the existed cogging force of the hybrid stepper motor must be solved to increase the positioning precision. The variable structure control (VSC) is insensitive to the bounded uncertainty and load disturbance, and has been known as a high-performance controller. A predefined sliding surface is used to shape the system performances, and incorporate with switching control to achieve the robustness property. Thus, we applied the VSC to implement the stepper motor drive system about the position and speed control, and the switching control is used to overcome the cogging force. The field programmable gate array (FPGA) is a good alternative to be used to realize a motor drive system by considering its programmable ability and diverse designing environment. It is easily developed as an intellectual property (IP) for future use or combined as a part of a large control system. This paper showed the procedures to develop the hardware circuits for the variable structure controller, and applied it to stepper motor position and velocity control. Functions such as PI controllers, dq-axis transformation and two-phase space vector space vector modulation (SVPWM) designed for the stepper motor drives are also shown in the paper. The system simulation and hardware circuit realization are based on MATLAB/Simulink, and realized on Altera FPGA. Simulations on MATLAB/Simulink with trapezoidal velocity profile command, and experiments with and without the load added are shown to demonstrate the hardware performances and correctness.

A Novel Electronic Wedge Brake Based on Active Disturbance Rejection Control

“…Table 1 lists all parameters of the proposed EWB system. The classical PID control algorithm and the state-of-the-art sliding mode control (SMC) [23] are introduced as comparisons to the ADRC algorithm. A current closed-loop bandwidth should always be 5-10 times larger than a speed closed-loop [24].…”

Robust Global Synchronization of a Hyperchaotic System with Wide Parameter Space via Integral Sliding Mode Control Technique

“…where V is positive definite on 𝑅 4 . Through partial derivative, (11) is transformed 𝑉 ̇(𝑠 1 , 𝑠 2 , 𝑠 3 , 𝑠 4 ) = 𝑠 1 𝑠̇1 + 𝑠 2 𝑠̇2 + 𝑠 3 𝑠̇3 + 𝑠 4 𝑠̇4…”

“…On this surface, the controlled system is adaptively altered to a sliding mode, resulting in the system sliding towards the origin along the sliding surface for a duration known as the sliding phase [3]. SMC has been applied to a variety of systems, including super-switching control [4], unmanned vehicle [5], single input, multi-output systems (SIMO) [6], stepper motor control [7], machine infinite bus system [8], MIMO system [9][10], stepper motor drive system [11], twolink flexible manipulator [12], autonomous vehicle [13] and secure communication [14]. In practice, invariance cannot be guaranteed in the reaching phase.…”

Optimizing the Parameters of Sliding Mode Controllers for Stepper Motor through Simulink Response Optimizer Application

“…In [4], some attractive features of SMC were mentioned, such as insensitivity to parameters variation, error in the modeling. One of the controlling implementations on hybrid stepper motor to overcome the nonlinearity behavior such as detent torque is the variable structure control (VSC) which is based on the sliding surface [5]. In [5][6][7][8][9], the controllers for motors were developed using Field Programmable Gate Array (FPGA), where its main advantage is the precision for multi-control purposes.…”

“…One of the controlling implementations on hybrid stepper motor to overcome the nonlinearity behavior such as detent torque is the variable structure control (VSC) which is based on the sliding surface [5]. In [5][6][7][8][9], the controllers for motors were developed using Field Programmable Gate Array (FPGA), where its main advantage is the precision for multi-control purposes. Another development is a sensorless speed control for stepper motor with a new control structure that doesn't require state transformation.…”