Velocity profile algorithm realization on FPGA for stepper motor controller

Wang, Bangji; Liu, Qingxiang; Zhou, Lei; Zhang, Yanrong; Li, Xiangqiang; Zhang, Jianqiong

doi:10.1109/aimsec.2011.6009864

Cited by 11 publications

(6 citation statements)

References 7 publications

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“…To avoid missing steps in stepper motor, the velocity profile is usually applied. There are many methods to implement the velocity profile by self-written code [21][22][23], but, in our case, a specific stepper motor control chip is applied. That is, the ARM chip sends the command rotation velocity to the stepper motor control chip, which is responsible to convert the command velocity into corresponding pulse, according to pre-defined velocity profile.…”

Section: Stepper Motor Control and Drive Boardmentioning

confidence: 99%

Design and Implementation of Attitude Stabilization System for Marine Satellite Tracking Antenna

et al. 2018

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Marine Satellite Tracking Antenna (MSTA) is an important shipboard device for ships to bidirectionally communicate with the outside. The attitude stabilization system is an important part of MSTA for keeping the antenna dish tracking the geostationary satellite in the presence of severe ship dynamics. In this paper, the designed high-performance attitude stabilization system is introduced, including hardware system, model identification and controller design. The detailed procedure for identifying the stepper motor model is stated, which is different from conventional procedure. The design procedure of the robust controller based on H ∞ loop shaping is given. The designed attitude stabilization system was tested on a Stewart platform that was used as the ship simulator. From the testing results, it can be seen that the performance of designed attitude stabilization system is very high and the tracking angle error can be limited to within ± 0.15 deg, which satisfies the performance requirements of Ka-band MSTA product.

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Section: Stepper Motor Control and Drive Boardmentioning

confidence: 99%

Design and Implementation of Attitude Stabilization System for Marine Satellite Tracking Antenna

et al. 2018

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“…Also, changes in load torque might produce step loss in control without feedback [10]. Bangji and coworkers proposed an algorithm for optimizing the open-loop control of stepper motors [11]. A closed-loop control strategy that requires a field programmable gate array (FPGA) and digital signal processor (DSP) improves the motion of the linear translation stage.…”

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%

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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“…The main advantage of using velocity profiles is the reduction of vibrations and energy consumption [17]. The most used profiles are: trapezoidal [18] and parabolic [19]. The use of the mentioned velocity profiles is not limited to the control of electric motors but is applied in a wide range of applications [20,21].…”

Section: Introductionmentioning

confidence: 99%

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

et al. 2020

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The objective of this work is to design and implement a scalable Field-Programmable Gate Array (FPGA)-based motion control system for DC servo motors using a parabolic velocity profile for industrial applications. The implementation in this device allows the obtaining of a fast, flexible and low-cost system. The system is divided into control, communication and closed-loop coupling. The work also addresses a comparative analysis of the most used profiles, the trapezoidal and parabolic. The comparison is made considering the energy consumption of both profiles. As a consequence of the comparison made, the velocity profile can be selected to reduce production costs by saving energy and reducing wear on machinery. The discrete models of the velocity profiles are obtained through numerical methods that permit the control blocks to be implemented in an FPGA. To reduce maintenance costs and energy consumption in servo mechanisms, the derivation of the acceleration or jerk of the motor is shown. A Graphic User Interface (GUI) is presented, which allows monitoring the position, velocity and angular acceleration of the motor shaft. In addition, the developed interface supports modification of parameters of the final position and maximum velocity in the motor. The delivered current is compared, evaluating its decrease using a parabolic velocity profile. Finally, the experimental results are illustrated.

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Velocity profile algorithm realization on FPGA for stepper motor controller

Cited by 11 publications

References 7 publications

Design and Implementation of Attitude Stabilization System for Marine Satellite Tracking Antenna

Design and Implementation of Attitude Stabilization System for Marine Satellite Tracking Antenna

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

FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

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