Journal of Control and Systems Engineering
Journal of Control and Systems Engineering(JCSE)

Control Algorithm of Acceleration Curve for Stepper Motor
In some application situations, a stepper motor acceleration on a specific curve does not make full use of its acceleration performance. By analysing the motion characteristic of a stepper motor, this paper introduced an acceleration curve control algorithm suited to the torque-frequency characteristic of stepper motors. Compared to traditional S-curve acceleration, the new algorithm consisted of three movement stages: exponential increasing acceleration, constant acceleration, and decreasing acceleration. Simulations of the presented algorithm and the S-curve acceleration algorithm were conducted in MATLAB/Simulink, and the two algorithms were compared to each other in aspects of speed, acceleration, angular displacement, and number of steps. The simulation results showed that the presented acceleration curve control algorithm brought the driving capability of the stepper motor into full play, reduced starting time, and provided a favourable dynamic response. Under the control of the developed algorithm, the stepper motor accelerated faster in unit time when starting at 100 Hz and ending at 1200 Hz. The smooth curves of velocity and acceleration can avoid falling out of step, curb overshoot of the stepper motor, and reduce mechanical flexible impact.
Keywords:Acceleration Curve Control Algorithm; Acceleration Performance; S-curve Acceleration; Stepper Motor
Author: Min Zeng,Cheng-Zu Hu,Peng-Fei Hu


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