Large oscillation mechanism and optimization control of stepping systems

In order to solve the stepper motion control drive system oscillation, lost step and imbalance issues to improve the control performance of stepper drive system and optimize the control of stepping drive system, an overall model of stepping drive system including speed trajectory generator, micro-step driver, hybrid stepper motor and load is established through the investigation on the structure of hybrid stepper motors, stepper-driven methods and modern stepping drive system drive control process. The influence of speed trajectory control on the stepper drive system performance and the mechanisms of oscillation, lost step, disorders are analyzed. A steady cutoff frequency identification method and a speed trajectory optimization control method based on stability-frequency characteristics are proposed. Subsequently, an example of stepper drive systems i.e. an arm system is tested. The results show that the speed trajectory optimization control method based on stability-frequency characteristics can very well eliminate the oscillating, lost step, imbalance and significantly improve running smoothness and precision positioning capability of the arm system. This optimal control method described in the arm system can be widely applied to the control of various stepper drive systems.