Dual-channel closed-loop stepper motor motion controller

DUAN Chang-chao, LIU Qing-zheng, HAN Zhen-yu, FANG Hui
(School of Mechanical Engineering, Sichuan University, Chengdu 610065, China)

Abstract: Aiming at the problems with overturning moments for singledrive longspan, longstroke linear motion platforms, a doublechannel closedloop stepper motor motion controller was designed and developed. The hardware circuit of the motion controller was designed with STM32 and FPGA as the control core, and the software architecture of the controller system was designed based on the principle of CNC system. On the basis of classical PID closedloop control architecture, a new closedloop synchronous motion control algorithm suitable for dualchannel synchronous deviation regulation was constructed by introducing synchronous deviation regulation term. A typical “bilateral drive” experimental platform was built, and the positioning error, synchronization error and acceleration and deceleration performance of the motion controller were tested with different speed and displacement instructions under noload, onload and offload conditions respectively. The results indicate that the position error and position synchronization error of the dual stepper motor are kept in the range of 0~0.095 mm, the system runs smoothly without any stuttering, and the motion controller meets the expected functional and performance requirements.
Key words: dual channel; stepper motor; driver; closed-loop; STM32; FPGA; PID