A generalised solution for generating stepper （一个普遍的解决方案产生步进）.pdf

Mechatronics 23 (2013) 541–547 Contents lists available at SciVerse ScienceDirect Mechatronics journal homepage: /locate/mechatronics Technical note A generalised solution for generating stepper motor speed profiles in real time P.J. Siripala, Y. Ahmet Sekercioglu ⇑ Department of Electrical and Computer Systems Engineering, Monash University, Melbourne, Australia a r t i c l e i n f o a b s t r a c t Article history: We present a new low-complexity algorithm for controlling a stepper motor to rotate with constant Received 25 October 2012 acceleration or deceleration. It can be operated on a basic low-end microcontroller and does not require Accepted 14 April 2013 any data tables. Also, it does not have the limitation of the motor having to start from standstill. The algo- Available online 2 June 2013 rithm was tested using a small robot programmed to move and change acceleration ‘on the run’. The the- oretical foundations for further improving the timing accuracy of the algorithm were also derived. Keywords: 2013 Elsevier Ltd. All rights reserved. Stepper-motor control Real-time control Mobile robotics Acceleration 1. Introduction Austin’s approach however assumes that acceleration begins