Speed control of stepper motor for collimator jaws positioning based on FPGA implementation

Zaferullah, Khan Zarrarahmed; Bansode, Rajesh; Pethe, S.N.; Vidwans, Mandar; Dsouza, Kelvin

doi:10.1109/cscita.2014.6839286

Cited by 5 publications

(5 citation statements)

References 2 publications

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“…Applying a sinusoidal waveform with smooth acceleration enhances the durability and maintenance of the motors, if that is the goal. greater amplitude shown for the waveform created by using (6). Despite the rapid speed change for the curve obtained by using (8), its amplitude is not as pronounced.…”

Section: A Simulationmentioning

confidence: 82%

“…Stepper motors are used extensively in applications requiring accurate position control, such as bioprinting [1]- [3], threedimensional ultrasound imaging systems [4], and devices for automatic nucleic acid detection [5], among others. In these devices, the rotation of the shaft occurs discreetly as a digital signal called a step is applied [6]. The discrete angular displacement is a constant known as the step angle.…”

Section: Introductionmentioning

confidence: 99%

“…The typical architecture for the operation of stepper motors consists of three blocks: controller, power driver, and stepper motor [6], [11]. This scheme can function with or without feedback.…”

Section: Introductionmentioning

confidence: 99%

“…The higher the velocity, the less time it takes to perform the task. In stepper motors, the speed is proportional to the frequency and inversely proportional to the period of digital pulses or steps injected into the actuator [6], [8], [10], [12], [24]. Displacing the motor at the maximum speed can cause step loss and, of course, an error in angular positioning [10], [25], [26].…”

Section: Introductionmentioning

confidence: 99%

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

Fonseca-Campos,

Reyes-Ramírez,

Mata-Machuca

et al. 2023

IEEE Access

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Electric motors are the most widely used actuators for converting electrical to mechanical energy. Stepper motors perform various automated tasks because their position control is accurate. The operation of these devices at high speeds reduces the time required to perform automated operations. However, this can create inconveniences such as loss or excess of steps, with a consequent positioning error. Controlling the motor using a speed profile is the most commonly employed technique for avoiding this problem. Its generation usually requires hardware with high computing power, such as digital signal processors or field programmable gate arrays, and algorithms requiring specifications not published in the motor datasheet. In this study, we implemented an algorithm to simplify the generation of speed profiles. In the acceleration and deceleration regions, the velocity follows a logarithmic, quasi-linear, quadratic, or sinusoidal pattern. The algorithm provides position and time arrays. The speed and acceleration can be calculated in terms of time using numerical derivatives. The simulation results were validated using two microcontrollers to control a stepper motor programmed on Arduino and Micropython platforms. Experimental measurements using an encoder, gyroscope, and accelerometer validated the kinematic response of the stepper motor. These values are in a good agreement with the simulation results.

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Section: A Simulationmentioning

confidence: 82%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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

Fonseca-Campos,

Reyes-Ramírez,

Mata-Machuca

et al. 2023

IEEE Access

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show abstract

“…Dahm et al demonstrate the advantages of using FPGAs for SM control in comparision to software-based control [7]. Zaferullaht et al [8] have developed an FPGA controller for Collimator Jaws Positioning that employs SM control. There are many other works that propose FPGA-based controllers for stepper motors.…”

Section: Introductionmentioning

confidence: 99%

A Formal Verification Methodology for FPGA-Based Stepper Motor Control

Jabeen

Srinivasan

Shuja

et al. 2015

IEEE Embedded Syst. Lett.

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Stepper motors are electric motors that are used extensively in safety-critical applications such as auto, medical devices, and surgical robots. A popular trend is the use of FPGA-based digital control for stepper motors. We present a formal verification methodology for 6 types of Stepper Motor control. Our methodology is based on the theory of Well-Founded Equivalence Bisimulation refinement [1], where both formal specifications and implementations are treated as transition systems. We define formal specifications for six types of Stepper Motor control. We also develop correctness proof obligations for FPGA implementations of stepper motor control. The methods are demonstrated using six case studies. The specifications are simple, with less than 50 transitions. We have used our methodology to verify FPGA controllers with millions of transitions against these simple specifications.

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Development of a Joystick Controllable X-Y Translational Stage for an Inverted Microscope

et al. 2015

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Speed control of stepper motor for collimator jaws positioning based on FPGA implementation

Cited by 5 publications

References 2 publications

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

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

A Formal Verification Methodology for FPGA-Based Stepper Motor Control

Development of a Joystick Controllable X-Y Translational Stage for an Inverted Microscope

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