Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Hybrid Bipolar Stepper Motor Control by variable gain PID Controller
Submission Author:
Iago Camargo Silveira , RS
Co-Authors:
Rafael Antonio Comparsi Laranja, Iago Camargo Silveira
Presenter: Iago Camargo Silveira
doi://10.26678/ABCM.COBEM2017.COB17-2271
Abstract
Stepper motors are used in tasks that require positioning accuracy and trajectory tracking, such as CNC machines and robotic manipulators. Several studies show the use of the PID strategy to control this type of motor, as well as the need to modify this type of control due to nonlinearities and the possibility of instability. Due to these problems, this article proposes a variable gain PID control algorithm, where gains are found based on the allocation of the desired dynamics poles, according to the possible peak time and the specified damping coefficient. The first is found by the instantaneous accelerations that can be developed by the motor due to the variation of the torque according to the instantaneous speed of operation, that is, by the map of the stepper motor. Lyapunov stability theory is used to prove the large-scale asymptotic stability of the proposed control, by limiting control gains. Simulations of the proposed control with respect to its parameters and the motor operating variables are presented, presenting agreement with the allowable for operation of the simulated actuator. In addition, the proposed control is compared with a fixed gains PID control, showing better results for the point-to-point movement simulations and trajectory tracking, with a reduction of 87.5% of the error dimension in trajectory tracking.
Keywords
Stepper motors, Varied gain PID controller, Lyapunov stability theory
