Open AccessInvestigation of the dynamics of the manipulator drive with a stepper motor
Author(s) -
R. T. Emelyanov,
A. S. Klimov,
I. B. Olenev,
E. S. Turysheva,
A. I. Avlasevich
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1515/4/042043
Subject(s) - control theory (sociology) , switched reluctance motor , block diagram , stator , engineering , controller (irrigation) , dc motor , angular acceleration , angular velocity , control engineering , computer science , physics , electrical engineering , rotor (electric) , control (management) , classical mechanics , agronomy , artificial intelligence , biology
A mathematical model of the manipulator drive with a stepper motor is developed in the form of inductance equations, which is a source of reactive moment, inertial moment equation and angular velocity. Stepper motors work in the drives of manipulators with continuous movement, when the control action is given by a sequence of electrical pulses. The block diagram of the speed and current control loop of the stepper motor, given by the operator, is calculated in the computer (full step, direction, correction value for reverse speed, acceleration braking), the data is sent to the controller, in the controller the signals pass through the hard logic circuits and are sent to the driver. The stepper motor driver board generates a signal that is fed to the stator windings of the stepper motor. The results of mathematical modeling in MATLAB & Simulink are presented. The dependences of the oscillatory process of the system in the transients of the stepper motor, which are oscillatory in nature, are obtained. A comparison of the results of theoretical modeling of the operation of a step drive with experimental studies is given. As a result of the simulation, additional dynamics arise in the armature current circuit, however, at the point of the nominal mode, it does not significantly affect the angular velocity regulation processes, that is, the speed regulator provides its astatic regulation under the action of a constant load moment.