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501
Ismaeil et al. DSP-Based Real-Time Control of a Two Phase Hybrid Stepping Motor
IV. SYSTEM IMPLEMENTATION Fig.8. It is observed that the drive system preserves its
The proposed current control algorithms have been stability and synchronization with fast start and stop
realized and tested for feasibility in a motor drive containing operations. This proves the supremacy of the proposed
a hybrid stepping motor with a power supply, inverter and closed loop control of hybrid stepping motor drive system.
gate circuit, and current controller.
2-Phase
The basic configuration of the experimental system is S1 S3
Bridege
shown in Fig. 3 It consists of a hybrid stepping motor Inverter
interfaced with a digital control board DS1102 based on a HS
Vdc a Motor
Texas Instruments TMS320C31 Digital Signal Processor for b
real-time control. Rating and parameters of the hybrid
Current
stepping motor are given in the appendix. Stator currents are S4 S2 Sensor
measured and filtered using analogue circuitry. Hall-effect
Digital I/O Ports T1 T2 T3 T4 ia ib
sensors are used for this purpose. The measured current
signals are acquired by the A/D input ports of the DSP Computer
control board. This board is hosted by a personal computer ISA
Bus
Step Hysteresis
Drive Current A/D
on which mathematical algorithms are programmed and DIR
Controller
Control
downloaded to the board for real-time control.
ibref iaref Oscillo
The motor phases are fed by H-bridge MOSFET PWM D/A scope
converters connected to a 28 V DC voltage source. The DSP-DS1102 Control Board
motor phase currents are independently controlled by two
hysteresis-based controllers which generate the MOSFET Fig. 3 Block diagram of the experimental system using DSP control board
drive signals by comparing the measured currents with their
references. The output switching commands of the DSP
control board are obtained via its digital ports and interfaced Reference
Speeds [rpm]
V. EXPERIMENTAL RESULTS
[deg.]
Absolute rotor
position [deg.]
Speeds [rpm]
Reference
Measured
Rotor position
Speeds [rpm]
Reference
[deg.]
Measured
Time [sec]
Time [sec]
(b) Rotor position signal
Time [sec]
(c) Absolute rotor position
Time [sec] Fig. 6 Experimental results at step change of speed reference at 65 rpm.
Reference
Time [sec]
Time [sec]
504 | P a g e
International Electrical Engineering Journal (IEEJ)
Vol. 1 (2011) No. 1, pp. 501-505
ISSN 2078-2365
linkage (degree)
[deg.]
REFERENCES
[1] T. R. Fredriksen, "Application of the Closed-Loop Stepping Motor,"
IEEE Trans. on Automatic Control, vol. AC-13, pp. 464–474, Oct.
1968.
[2] B. C. Kuo, "Closed-Loop and Speed Control of Step Motors," The 3rd
Annual Symposium Incremental Motion Control Systems and Devices,
Urbana-Champaign, IL, May 6–8, 1974.
Time [sec] [3] F. Betin, M. Deloizy, and C. Goeldel, "Closed Loop Control Of
Stepping Motor Drive: Comparison Between PID Control, Self Tuning
Regulation and Fuzzy Logic Control," European Power Electronics
(b) Rotor position signal Journal, vol. 8, no. 1–2, pp. 33–39, June 1999.
[4] Du Xu, Yongping Jiang, "A Method and Implementation of Fully
Digitized Continuous Microstep for Step Motor", IEEE IEMDC97, pp.
Absolute rotor
position [deg.]
505