Mathematical modelling and theoretical research of micropositioning system

Abstract

In this paper, modelling and theoretical research of micropositioning system with stepper motor are proposed. The aim of our research is to provide a method, which is suitable for modelling a ball-screw based positioning system controlled by a stepper motor. A created dynamical model of micropositioning system mechanical parts. The second type of Lagrange equation is used to construct the mathematical model. For modelling micropositioning systems, Matlab/SIMULINK software is used. MatLab is used to perform calculations of some equations, and SIMULINK is used to create a dynamic model of a micropositioning system and simulate system operation. Analysis of motion smoothness showed that even for systems with relatively small screw radius and pitch 1/4 microstepping mode are unable to provide smooth movement. The smoother the movement, the less energy is required to overcome friction.