| Abstract |
The pulse train control of a stepping motor suffers from the classical problems of the open loop control: loss of synchronism, mid-frequency resonance,... In order to remedy to these phenomenons, a position encoder, reflecting the rotor symetry, has been integrated in the actuator. The encoder delivered signals are analogic ones. The displacement's manager is realized with a microcontroller, newly came on the market. lts integrated peripherals are adapted to analogic and digital treatment, wich allows closed loop control. The microprogrammed device permits to realize an effective drive of the motor, in real time, acting on the lead angle (instead of the delays between successive commutations). Compared to the frequency control, we can notice that the motor stays stable for every speed and doesn't loose synchronism in front of load variation or fast reference changes. The integrated encoder-motor-digital controller set constitutes a totaly new stepping motor controller device. |
