Originally, stepping motors were mainly used for simple point-to-point positioning tasks. Nowadays, thanks to advances made in power electronics and in data processing, they are widely used in robotics and in numerical control of machines where they have to perform high-precision synchronized movements. But the variations of the mechanical configuration of the drive which are common for these two applications can lead to step losses. Moreover an open loop speed control is insufficient and a closed loop control is required. This paper presents the application of three different methods of speed control for a stepping motor drive: A PID control (PID), an adaptive control by self-tuning regulators (STR) and a fuzzy logic control (FLC). Simulation is used to compare the performance (tracking and regulation capacities, robustness) of these three controllers with two classical trapezoidal profiles; the Fuzzy Logic Controller seems to be the best regulator for our application. Therefore, this controller has been implemented using the INTEL 80C196Kc microcontroller. Simulation results are validated experimentally.
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