Abstract
Stepper motors are commonly used in low-cost open-loop positioning control systems. However, acceleration and deceleration are limited and operating open-loop can cause the loss of steps and stalling of the motor. To overcome these inherent problems, a low-cost minor closed-loop position control system was developed to optimise the torque output, maximise acceleration and deceleration rates and avoid the loss of steps. Two different minor closed-loop position controllers were designed and tested. Both systems employ an optical incremental encoder and both contain two feedback loops: a minor closed-loop (MCL) feeding back a step angle signal and a major closed-loop for position feedback. The first system uses a fixed advance angle MCL control whereas the second uses a fixed advance time MCL control involving a time-based interpolator. Details of these control strategies employed and the results obtained from the prototype systems are presented.
Similar content being viewed by others
References
T. A. Ferris, ‘A low cost, high performance incremental motion control system using a closed loop stepping motor’,Proceedings of the Tenth Annual Symposium on Incremental Motion Control Systems and Devices, Urbana, 1981.
M. VanReenen, ‘A computer controlled minor closed loop stepper motor positioning system’, MASc thesis, Mechnical Engineering Department, University of Waterloo, 1989.
B. C. Kuo,Step Motors and Control Systems, SRL Publishing Co., Illinois, 1979.
D. A. Salt, ‘Automated data acquisition for a minor closed loop stepping motor controller’, MASc thesis, Mechanical Engineering Department, University of Waterloo, 1982.
J. D. Vraets, ‘Minor-closed-loop control of a single-stack variable-reluctance stepping motor’, PhD thesis, Mechanical Engineering Department, University of Waterloo, 1980.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Adams, K.G., VanReenen, M. A low-cost stepper motor positioning system with minor closed-loop control. Int J Adv Manuf Technol 10, 191–197 (1995). https://doi.org/10.1007/BF01179347
Issue Date:
DOI: https://doi.org/10.1007/BF01179347