| dc.description.abstract | Based on the Stepper Motor Servo Control Driver, this research improves the design of circuit and algorithm. Calibrated and improved the accuracy of the encoder, added an error compensation mechanism to improve the servo control accuracy; improved the current sensing circuit to measure accurate currents.
In terms of hardware, this study improves the stepper motor driver, named ASA-power board, which provides a reliable and stable power supply. It provides analog power, digital power, and motor power for systems such as encoders and current sensing circuits. A low-pass filter is added to the current sensing circuit to improve the current measurement problem caused by the current fluctuation of the PWM control.
In terms of software, the PWM frequency is increased from the original 10KHz to 21.6KHz, and the encoder is subjected to IIR filter to remove random noise. According to its feedback, the excitation angle is controlled by the I(integral) feedback, and the PI(proportional-integral) feedback is used to control the motor current, so as to achieve precise control and reduce the working current. .
In terms of calibration, this research constructs the encoder calibration system, the current calibration system, and the motor equivalent resistance measurement.
In order to verify the design improvement and calibration effect of this research, the research will implement the stepper motor servo control driver with the improved system, and show the effect of its angle control and current control. | en_US |