Precision motion control of X-Y table with closed-loop commuted stepper motor

Pao Yue-kong Library Electronic Theses Database

Precision motion control of X-Y table with closed-loop commuted stepper motor


Author: Mak, Sui-tong
Title: Precision motion control of X-Y table with closed-loop commuted stepper motor
Degree: M.Sc.
Year: 1997
Subject: Stepping motors -- Automatic control
Hong Kong Polytechnic University -- Dissertations
Department: Multi-disciplinary Studies
Pages: iv, 85 leaves : ill. ; 31 cm
Language: English
InnoPac Record:
Abstract: This dissertation project aims at applying concepts of lead angle adjustment and variable half-sinusoidal voltage supply for position control of closed-loop commuted stepper motor. Motor control circuit boards with these two features have been tested to investigate performance of stepper motor under closed-loop condition. Proportional plus Integral (PI) control algorithm has been applied to control maximum phase voltage amplitude and lead angle for positional control of stepper motor. A rotary encoder is coupled directly with the stepper motor for commuting lead angle control and position measurement. The motor is connected to driving spindle of X-Y table for investigation of positional control characteristics. The angular velocity and rotating direction of stepper motor can also be controlled with proper selection of lead angle and adjustment of phase voltage amplitude. With application of half-sinusoidal phase driving voltage and the appropriate adjustment of lead angle, speed ripple and torque ripple can be reduced. Positional control of stepper motor can be further improved by PID control algorithm to achieve characteristics of high precision and low torque ripple. These are very important for precision profiling, such as numerical control machines and robots. An innovative feature of developed position control algorithm is combining adjustment of driving voltage and lead angle to position stepper motor under PI control. The result has shown that this control strategy used has been able to position the motor with high accuracy.

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