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10 August 2023 Synchronization control of multiple stepper motors with acceleration and deceleration
Hongsheng Zhang, Qianjin Xia, Long Lian, Jinchao Sun, Qingjuan Zhao
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Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127590R (2023) https://doi.org/10.1117/12.2686386
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China
Abstract
This paper presents a new control method to synchronize multiple stepper motors with acceleration and deceleration. The S-shape velocity profile is chosen to generate a frequency look-up table. Adjust the look-up table by multiplying a factor by the frequency for each stepper motor in real time so that the tables have equal time length. In the meanwhile, the velocity still shows the S shape. Since this method only saves one look-up table in memory and needs simple calculation in real time, it can be used in low-end microcontrollers. The method was tested using three stepper motors on the Arduino platform and the result shows good time accuracy and good performance.
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Hongsheng Zhang, Qianjin Xia, Long Lian, Jinchao Sun, and Qingjuan Zhao "Synchronization control of multiple stepper motors with acceleration and deceleration", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127590R (10 August 2023); https://doi.org/10.1117/12.2686386
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KEYWORDS
Microcontrollers
Algorithm development
Pulse signals
Robotics
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