Microcontroller implementation of dynamically adaptable control of stepper motor with continuous second derivative of speed curve

Abstract

S tepper motor control is well known and in literature thoroughly studied subject for parameters of position, speed and acceleration.S tepper motor speed control with dynamically adoptable parameters of target speed and maximal allowed acceleration, requiring continuous change of accelerati on (continuous second derivative of speed function) presents challenge to microcontroller implementation on factors of processing power and/or available memory array.Authors failed to find this kind of algorithm described in available literature, and consider it important for practical solutions of speed control in physical systems susceptible to oscillations.Paper offers theoretical basics and presents methods for construction of control algorithm.

Minimization of vibration for optomechanical modules with stepper motors

“…Замена передачи на пере-дачу с самоторможением и более плавным режимом остановки также позволяет уменьшить вибрацию, но поскольку передаточное отношение у такой передачи значительно выше, то вместо низкооборотных двигателей (рассмотренных в прямой передаче) необходимо исполь-зовать высокооборотные двигатели с обратной связью, что имеет свои плюсы и минусы и требует отдельного исследования. Также широко распространен метод изменения режима управления ШД, чему посвящено большое количество публикаций (см., например, [10,11]), в данной статье этот метод не рассматривается.…”

Implementation in Microcontrollers of an Algorithm for the Simple Generation of Speed Profiles in a Stepper Motor and Their Associated Kinematics

“…However, Isobe et al used DSP for pulse generation and control of a stepper motor [14]. Microcontrollers are another option for pulse generation, and algorithms, including virtual ramps, have been used for this purpose [15]. The micro-stepping technique, in conjunction with an Arduino Mega and a L6470 driver, helped reduce jerk [16].…”

“…For example, in the work of Isobe and colleagues, the end user must input the acceleration and deceleration rates, which are not reported in most motor's datasheets [14]. Other researchers have highlighted the limitations of using ramp tables in which the timings for the actuator motion are precalculated [15]. To generate the Scurve profile, the maximum amplitudes of jerk, acceleration, and velocity must be known [41].…”