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A New Technique for Controlling Hybrid Stepper Motor through Modified PID Controller.

Article

Last updated: 04 Jan 2025

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Subjects

-

Tags

Computer Engineering and Systems

Abstract

  Due to the development of digital control systems, hybrid stepper motors became more attractive to be used in robotics and computer numerical control machines where they have to perform high precision positioning operations without any feedback sensor. However, at open loop control (especially at higher stepping rate), the speed response of the stepper motor suffer from large overshoot, oscillatory response and long settling time. Therefore, a closed loop control system essentially required for a good precise operation performance. However, due to the non-linear characteristics and the resonance problem of the hybrid stepper motor, it is difficult to settle the classical control systems with this type of motor. Moreover, the use of discrete pulses to drive the hybrid stepper motor in half stepping mode leads to jerky and noisy movements at high and low stepping rate respectively. The objective of the present paper is to use the PID control system to enhance the performance of the open loop control system to control the speed of the hybrid stepper motor for a given reference input. Also, a microstepping technique, which consists of sine and cosine waveforms, is also used to drive the hybrid stepper motor instead of discrete pulses. Therefore, a simulation program is constructed using MATLAB software version 7.7 to simulate the hybrid stepper motor performance in open loop, classical PID and modified PID control systems. Results show that the open loop control system suffers from oscillatory response at half stepping mode and form from large overshoot and long settling time at microstepping mode. Also, the classical PID control system didn't give consistent results. And, the proposed control algorithm gives a better performance than that of the open loop even when the system is subjected to a sudden load disturbance up to 41% and working at high motor speed. 

DOI

10.21608/bfemu.2020.123565

Keywords

Hybrid stepper motor, Microstepping, Half stepping, Open loop, PID, Phase plane

Authors

First Name

Sabry

Last Name

Saraya

MiddleName

Fouad

Affiliation

Associate Prof. at Computers and Systems Engineering Department, Faculty of Engineering, Mansoura University, Egypt

Email

drsfsaraya@mans.edu.eg

City

Mansoura

Orcid

-

First Name

Mohammed

Last Name

Elksasy

MiddleName

-

Affiliation

Computers and Systems Department, Faculty of Engineering, Mansoura University, El-Mansoura 35516, Egypt

Email

ksasy@mans.edu.eg

City

Mansoura

Orcid

-

First Name

Hesham

Last Name

Gad

MiddleName

H.

Affiliation

Computers and Systems Department., Faculty of Engineering., Mansoura University., El-Mansoura 35516., Egypt.

Email

hmwork2004@hotmail.com

City

Mansoura

Orcid

-

Volume

35

Article Issue

1

Related Issue

17860

Issue Date

2010-03-01

Receive Date

2010-01-11

Publish Date

2020-11-17

Page Start

10

Page End

20

Print ISSN

1110-0923

Online ISSN

2735-4202

Article File

BFEMU_Volume 35_Issue 1_Pages 10-20.pdf

PDF . 911.1kB

Link

https://bfemu.journals.ekb.eg/article_123565.html

Detail API

https://bfemu.journals.ekb.eg/service?article_code=123565

Order

6

Type

Research Studies

Type Code

1,205

Publication Type

Journal

Publication Title

MEJ. Mansoura Engineering Journal

Publication Link

https://bfemu.journals.ekb.eg/

MainTitle

A New Technique for Controlling Hybrid Stepper Motor through Modified PID Controller.

Details

Type

Article

Created At

22 Jan 2023