Generic Solution for Generating Towing Tank Carriage Linear Speed Profile Using Stepper Motor

Bennaya, Mouhamed; El-Noor, Moutaz Abo; Abdelkhalek, Sherif

doi:10.1109/iceeng45378.2020.9171712

Cited by 2 publications

(2 citation statements)

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“…The algorithm produces τ [i] ̸ = τ [i − 1] during the acceleration and deceleration movement stages, where τ [i] corresponds to the discrete i th period. The above condition satisfies the requirement for generating non-uniform time increments to modify the speed of the motor [8], [9], [12], [14], [32], [37]. The microcontroller does not require saving the value of any τ [i] obtained in the Step 4 of the algorithm to generate the desired profile.…”

Section: B Speed Profilesmentioning

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: B Speed Profilesmentioning

confidence: 99%

“…A digital convolution technique can generate this profile [31]. Other researchers have used the pulse width modulation (PWM) technique in a microcontroller to create this velocity waveform [32]. Strategies for controlling the linear speed as cascaded proportional and proportional integral P-PI have been used [33].…”

Section: Introductionmentioning

confidence: 99%