Stepper motor drives for robotic applications

2012 IEEE International Power Engineering and Optimization Conference Melaka, Malaysia Pub Date : 2012-06-06 DOI:10.1109/PEOCO.2012.6230890

B. Aranjo, P. K. Soori, P. Talukder

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引用次数: 29

Abstract

Robotics is one area where the use of stepper motors is of paramount importance. Robotic applications require precise movements. This paper presents an efficient and versatile drive system for stepper motors for use in robotic applications. The proposed drive system delivers precise control with the smallest possible step angle. A model of the permanent magnet stepper motor is simulated using MATLAB Simulink simulation software. The software and the hardware circuits of the stepper motor drive is designed and tested for different types of movements of the stepper motor. The proposed circuitry consists of the design of power supply circuit, microcontroller, buffer and a driver circuit. Unlike a manual controller, the AT89C51 microcontroller is programmed to have user friendliness so that the user can select the required movement of the stepper motor. The drive system allows the movement of the stepper motor to be controlled by selecting options of half or full step, forward or reverse movement and the speed in RPM or the fixed number of steps that it should move.

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用于机器人应用的步进电机驱动器

机器人是使用步进电机至关重要的一个领域。机器人应用需要精确的运动。本文提出了一种高效、通用的机器人步进电机驱动系统。提出的驱动系统提供精确的控制与最小可能的步进角。利用MATLAB Simulink仿真软件对永磁步进电机模型进行了仿真。针对不同类型的步进电机运动，设计了步进电机驱动的软、硬件电路并进行了测试。该电路由供电电路、单片机、缓冲器和驱动电路组成。与手动控制器不同，AT89C51单片机被编程为具有用户友好性，以便用户可以选择所需的步进电机运动。驱动系统允许步进电机的运动可以通过选择半步或全步，前进或反向运动和转速或固定的步数来控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2012 IEEE International Power Engineering and Optimization Conference Melaka, Malaysia

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