• Title/Summary/Keyword: stepper motor

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Microstep Stepper Motor Control Based on FPGA Hardware Implementation

  • Chivapreecha, Sorawat;Dejhan, Kobchai
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.93-97
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    • 2005
  • This paper proposes a design of stepper motor control in microstep driven mode using FPGA (Field Programmable Gate Array) for hardware implementation. The methods to drive stepper motor in microstep excitation mode are to control of the controlling currents in each phase windings of stepper motor with reference signals. These reference signals are used for controlling the current levels, the required variation of current levels with rotor position can be obtained from the ideal linear or sinusoidal approximations to the static torque-displacement ($T-{\theta}$) characteristic curve. In addition, the hardware implementation of stepper motor controller can be designed uses VHDL (Very high speed integrated circuits Hardware Description Language) and synthesis using an Altera FPGA, FLEX10K family, EPF10K20RC240-4 device as target technology and use MAX+PlusII program for overall development. A multi-stack variable-reluctance stepper motor of Sanyo Denki is used in the experiments.

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Development of Biaxial Tension & Shear Tester using Stepper Motor with Harmonic Driver (감속 스텝모터를 이용한 2축 인장·전단 시험기의 개발)

  • Choi, Byung-Sun;Bae, Won-Ho;Chai, Young-Suck
    • Journal of the Korean Society of Industry Convergence
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    • v.4 no.4
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    • pp.379-386
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    • 2001
  • The lower toughness or brittle materials for mechanical test lead to the additional requirement that applied displacements be controlled with high resolution. Biaxial tension and shear tester using stepper motor with harmonic driver is shown. The device had to be high resolution so that the crack initiation process of slow extension and steady growth could be examined, Grip plates were connected to a linear bearing and actuator. The actuators consisted of stepper motors with harmonic driver connected to pre-loaded ball screw and nut assemblies. The encoders and motor controllers were connected to a personal computer so that arbitrary displacements histories could he prescribed in normal and tangential directions. The linear bearings were used to react loads perpendicular to their axes while allowing low friction, parallel movement of the attached grips. Load cells measured the reactions normal and tangential. the loads measured the reactions were recorded by the computer.

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SMART POWER DEVELOPEMEN SYSTEM FOR USE IN INTERNET (INTERNET 사용을 위한 SMART POWER DEVELOPEMENT SYSTEM)

  • Kim, Ki-Bong
    • Proceedings of the KIEE Conference
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    • 2000.11b
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    • pp.341-344
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    • 2000
  • 본 논문에서는 stepper motor 나 BLDC motor를 구동하기 위하여, 최신 microcontroller, PC, control IC board 등으로 구성된 새로운 시스템을 설명하는데 목적이 있다. 이 시스템에서는 인터넷으로 전송되는 microcontroller program를 이용하여 SPDS(smart power development system)을 구동시키고, 이로 인하여 dedicated drive IC를 제어하여 stepper 또는 BLDC motor를 구동시키게 되며, 원격지에 있는 사용자의 motor를 제어함을 목표로 하고 있다. 본 논문에서 사용된 drive IC 는 SGS-Thomson 제품으로써 stepper motor 용으로 L6205/6/7/8, 그리고 BLDC motor 용으로 L6235 이다. SPDS는 ST92F120 16-bit microcontroller를 사용하고 있다. 이 논문에서는 인터넷 Protocol Converter에 의한 프로그램 전송, Operating System Program 및 Driver Software Program의 생성 및 구성, Drive IC의 구성 및 특징, SPDS 의 hardware 및 software 의 구성 등에 대하여 설명한다.

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Survey of Nonlinear Control Methods to Permanent Magnet Stepping Motors (스테퍼 모터를 위한 비선형 제어기법의 개관)

  • Kim, Wonhee;Shin, Donghoon;Lee, Youngwoo;Chung, Chung Choo
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.3
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    • pp.323-332
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    • 2014
  • Stepper motor is widely used in positioning applications due to its durability and high torque to inertia ratio as well as low cost and ability to be easily controlled with open-loop. Due to increased resolution of position control and improved stability of motion control, microstepping has drawn attention in industry since it was introduced in 1970s. With the increase in computational power and decrease in cost of embedded processors in recent years, drives and control systems for stepper motors have become more sophisticate than ever. Thus, closed-loop control methods have been developed to improve the performance of the stepper motors. In this paper, we review not only basic principles of conventional control methods used for stepper motors but also that of microstepping control. In addition, we surveyed recent development in nonlinear control methods applied to stepper motors. The nonlinear control methods are presented in the view of Lyapunov stability. Nonlinear torque disturbance observer, sliding mode control, and nonlinear phase compensation are also presented.

Study on Minimizing Electromagnetic Interference to Capture Vortex Structures in Turbulent Boundary Layer (경계층 유속 정밀도 증가를 위한 전자파 간섭 최소화 연구)

  • Dong-Hoon Kang;Yong Duck Kang
    • Journal of the Institute of Convergence Signal Processing
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    • v.25 no.2
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    • pp.52-57
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    • 2024
  • To measure the vortex structures within the turbulent boundary layer, a hot-wire sensor was mounted on a stepper motor controller and moved to the designated measurement points. Near the surface within the flow field, the velocity is relatively slow, making the measurements highly sensitive to electromagnetic interference (EMI) during signal processing. This EMI primarily originates from the power supplies of computers and other electronic equipment. In our experimental setup, EMI was introduced into BNC cables connected to the hot-wire sensor from the powered stepper motor. When power was supplied to the motor controller to move the hot-wire sensor, EMI appeared on the oscilloscope screen. Consequently, unexpected noise was present in the data measured by the hot-wire sensor. To mitigate this and enhance the signal-to-noise ratio (SNR) during measurements, the connecting cables were shielded, and an old computer without EMI shielding was replaced.

Determination of the magnetic field in the air-gap of the linear stepper motor by finite element method (유한요소법에 의한 리니어스텝 모우터의 공극에서의 자계 분석)

  • 이승원;이병하
    • 전기의세계
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    • v.29 no.10
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    • pp.660-666
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    • 1980
  • The finite leement method is a effetive analysis technique for obtaining approximate solutions of continuum problems with boundary conditions. This paper deals with the programming for the application of this method and the preciser analysis of the magnetic field in the air gap of the linear stepper motor by the method. The finite element analysis based on the variational principle is adopted and the computer program for reducing input data and a large number of the memory words required by the system matrix is presented. The 2-dimensional analysis of the air gap is made and several cases according to varying the position are considered.

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Specipication of Design S/W using Logic Theory & Logic Kit (디자인 논리설계 소프트웨어를 이용한 논리회로 설계 검증)

  • Jin, Hyun-Soo
    • Proceedings of the KAIS Fall Conference
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    • 2010.05a
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    • pp.357-359
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    • 2010
  • 본 논문에서는 논리 설계를 위해서 I-ROB 3000이라는 로봇 키트를 사용하여 논리 설계를 검증하였다. 이 검증에는 iRoV-Lab 3000의 장착된 로봇 모듈인 FPA 모듈,Stepper Motor 모듈,적외선 송수신센서 모듈, 카메라 모듈,RF 모듈 LED,TEXT LCD, 7-segment를 제어하기 위한 FPGA를 사용하며,FPGA설계를 위해 Schematic Design 또는HDL에 대해 연구한다.로봇 설계 시스템의 내부구조를 이해하고 개발환경을 구축할수 있다. 로봇의 구성요소와 각각의 구성요소(Sensor 모듈,display 모듈, Stepper Motor 모듈,RF 모듈)의 동작 원리를 개발한다.

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Design of Robort using VHDL and Verilog (VHDL과 Verilog를 이용한 FPGA 로봇설계)

  • Jin, Hyun-Soo;Chae, Gyu-Soo
    • Proceedings of the KAIS Fall Conference
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    • 2010.05a
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    • pp.360-362
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    • 2010
  • 본 논문에서는 SoC 키트에 해당하는 iRoV-Lab 3000의 장착된 로봇 모듈인 FPA 모듈, Stepper Motor 모듈, 적외선 송수신 센서 모듈, 카메라 모듈, RF 모듈 LED, TEXT LCD, 7-segment를 제어하기 위한 FPGA를 사용하며, FPGA설계를 위해 Schematic Design 또는 HDL에 대해 연구한다. FPGA의 내부구조를 이해하고 개발환경을 구축할 수 있다. 로봇의 구성요소와 각각의 구성요소(Sensor 모듈, display 모듈, Stepper Motor 모듈, RF 모듈)의 동작 원리를 개발한다.

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Compensative Microstepping Based Position Control with Passive Nonlinear Adaptive Observer for Permanent Magnet Stepper Motors

  • Kim, Wonhee;Lee, Youngwoo;Shin, Donghoon;Chung, Chung Choo
    • Journal of Electrical Engineering and Technology
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    • v.12 no.5
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    • pp.1991-2000
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    • 2017
  • This paper presents a compensative microstepping based position control with passive nonlinear adaptive observer for permanent magnet stepper motor. Due to the resistance uncertainties, a position error exists in the steady-state, and a ripple of position error appears during operation. The compensative microstepping is proposed to remedy this problem. The nonlinear controller guarantees the desired currents. The passive nonlinear adaptive observer is designed to estimate the phase resistances and the velocity. The closed-loop stability is proven using input to state stability. Simulation results show that the position error in the steady-state is removed by the proposed method if the persistent excitation conditions are satisfied. Furthermore, the position ripple is reduced, and the Lissajou curve of the phase currents is a circle.

Micro-vibration Isolation Performance of X-band Antenna Using Blade Gear (블레이드 기어를 적용한 2축 짐발 구동 안테나의 미소진동 절연성능)

  • Jeon, Su-Hyeon;Kwon, Seong-Cheol;Kim, Tae-Hong;Kim, Yong-Hoon;Oh, Hyun-Ung
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.25 no.5
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    • pp.313-320
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    • 2015
  • A 2-axis gimbal-type X-band antenna has been widely used to effectively transmit the high resolution image data from the observation satellite to the desired ground station. However, a discontinuous stepper motor activation for rotating the pointing mechanism in azimuth and elevation directions induces undesirable micro-vibration disturbances which can result in the image quality degradation of a high-resolution observation satellite. To enhance the image quality of the observation satellite, attenuating the micro-vibration induced by an activation of the stepper motor for rotational movements of the antenna is important task. In this study, we proposed a low-rotational-stiffness blade gear applied to the output shaft of the stepper motor to obtain the micro-vibration isolation performance. The design of the blade gear was performed through the structure analysis such that this gear is satisfied with the margin of safety rule under the derived torque budget. In addition, the micro-vibration isolation performance of the blade gear was verified through the micro-vibration measurement test using the dedicated micro-vibration measurement device proposed in this study.