Step motors are widely used in motion control systems. The step motor controller must perform high-precision positioning and smooth movement operation. In motion systems applying velocity profile control, the velocity of the motor gradually increases or decreases, to avoid the negative effect caused by the sudden change in velocity. Previous research proposes several step motor controller designs, that contain several modules, including a velocity profile generator, step motor driver, and feedback counter. These controllers are able to perform precise positioning and provide smooth motion operation. However, because these controllers operate in an open-loop control so the synchronous condition can be lost when disturbances in load torque exist. This paper presents the application of closed-loop control in the step motor controller. The control algorithm is based on two mode operations: open-loop and closed-loop. The controller operates in open-loop mode when it remains synchronized, and switches to closed-loop mode when it loses synchronization. This paper presents an algorithm for generating various velocity profiles and closed-loop control algorithms. The experiment is performed on a 16-b DSP, to verify the performance of the design. The experimental results show a velocity profile of unsymmetrical shape and demonstrate effective closed-loop control in an actual step motor system.
The CAN (Controller Area Netwok) is networks already have been guaranteed as reliable in harsh car environments. In this paper, a motion control module and a CAN control module was developed using the FPGA (Field-Programmable Gate Array). Proposed module runs by receiving command data from the host computer via CAN and sends the motion control status to the host computer in real time. The host computer can monitor and determine the error state of motion controller by analyzing the received data. The velocity data of motion controller is transferred to the host computer in the experiment. The host computer determines the status of motion controller in real time by receiving the velocity data from it.
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