Time-optimal stepper motor motion profile through a novel load-angle-based step-command optimization
- Author
- David Ceulemans, Nick Van Oosterwyck, Joris Demetsenaere, Jasper De Viaene (UGent) , Jan Steckel and Stijn Derammelaere
- Organization
- Abstract
- Nowadays, stepper motors are extensively used in positioning applications due to excellent open-loop accuracy and a relatively simple control principle. Every time the controller sends a step-command pulse to the motor, the rotor will move for a known discrete angle. By subsequently counting the number of pulses, the rotor angle is known at all times. Nevertheless, due to the control principle's nature, as a matter of safety, the bulk of stepper motors are often not driven at their full potential to prevent so-called step-losses. Typically, this results in low energy efficiency and an over-dimensioned motor. As a solution, maximizing the motor's load potential through intelligent algorithms contributes to smaller motors and increases efficiency since higher motion speeds are reachable. Until now, in search of optimal motor usage for point-to-point motion profiles, literature mainly focused on finding time-optimal motion profiles using simplified models with a complicated analytical approach rather than developing an easily executable methodology that optimizes at the fundamental control level. Therefore, this paper presents a novel optimization methodology, solely based on the motor's load angle, of which the resulting puls commands' timings can be easily deployed in commercial stepper motor drives. Results show a significant improvement in time-saving of 36,45% compared to a reference 5th-order polynomial point-to-point trajectory.
- Keywords
- Stepper Motor, Motion Profile Optimization, Load angle based, optimization
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-01H0F7M7G8S7YEMYK2Q80TD14E
- MLA
- Ceulemans, David, et al. “Time-Optimal Stepper Motor Motion Profile through a Novel Load-Angle-Based Step-Command Optimization.” 2021 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE (IEMDC), IEEE, 2021, doi:10.1109/IEMDC47953.2021.9449522.
- APA
- Ceulemans, D., Van Oosterwyck, N., Demetsenaere, J., De Viaene, J., Steckel, J., & Derammelaere, S. (2021). Time-optimal stepper motor motion profile through a novel load-angle-based step-command optimization. 2021 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE (IEMDC). Presented at the IEEE International Electric Machines and Drives Conference (IEMDC), Hartford, CT, USA (online). https://doi.org/10.1109/IEMDC47953.2021.9449522
- Chicago author-date
- Ceulemans, David, Nick Van Oosterwyck, Joris Demetsenaere, Jasper De Viaene, Jan Steckel, and Stijn Derammelaere. 2021. “Time-Optimal Stepper Motor Motion Profile through a Novel Load-Angle-Based Step-Command Optimization.” In 2021 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE (IEMDC). IEEE. https://doi.org/10.1109/IEMDC47953.2021.9449522.
- Chicago author-date (all authors)
- Ceulemans, David, Nick Van Oosterwyck, Joris Demetsenaere, Jasper De Viaene, Jan Steckel, and Stijn Derammelaere. 2021. “Time-Optimal Stepper Motor Motion Profile through a Novel Load-Angle-Based Step-Command Optimization.” In 2021 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE (IEMDC). IEEE. doi:10.1109/IEMDC47953.2021.9449522.
- Vancouver
- 1.Ceulemans D, Van Oosterwyck N, Demetsenaere J, De Viaene J, Steckel J, Derammelaere S. Time-optimal stepper motor motion profile through a novel load-angle-based step-command optimization. In: 2021 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE (IEMDC). IEEE; 2021.
- IEEE
- [1]D. Ceulemans, N. Van Oosterwyck, J. Demetsenaere, J. De Viaene, J. Steckel, and S. Derammelaere, “Time-optimal stepper motor motion profile through a novel load-angle-based step-command optimization,” in 2021 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE (IEMDC), Hartford, CT, USA (online), 2021.
@inproceedings{01H0F7M7G8S7YEMYK2Q80TD14E,
abstract = {{Nowadays, stepper motors are extensively used in positioning applications due to excellent open-loop accuracy and a relatively simple control principle. Every time the controller sends a step-command pulse to the motor, the rotor will move for a known discrete angle. By subsequently counting the number of pulses, the rotor angle is known at all times. Nevertheless, due to the control principle's nature, as a matter of safety, the bulk of stepper motors are often not driven at their full potential to prevent so-called step-losses. Typically, this results in low energy efficiency and an over-dimensioned motor. As a solution, maximizing the motor's load potential through intelligent algorithms contributes to smaller motors and increases efficiency since higher motion speeds are reachable. Until now, in search of optimal motor usage for point-to-point motion profiles, literature mainly focused on finding time-optimal motion profiles using simplified models with a complicated analytical approach rather than developing an easily executable methodology that optimizes at the fundamental control level. Therefore, this paper presents a novel optimization methodology, solely based on the motor's load angle, of which the resulting puls commands' timings can be easily deployed in commercial stepper motor drives. Results show a significant improvement in time-saving of 36,45% compared to a reference 5th-order polynomial point-to-point trajectory.}},
author = {{Ceulemans, David and Van Oosterwyck, Nick and Demetsenaere, Joris and De Viaene, Jasper and Steckel, Jan and Derammelaere, Stijn}},
booktitle = {{2021 IEEE INTERNATIONAL ELECTRIC MACHINES & DRIVES CONFERENCE (IEMDC)}},
isbn = {{9781665405102}},
keywords = {{Stepper Motor,Motion Profile Optimization,Load angle based,optimization}},
language = {{eng}},
location = {{Hartford, CT, USA (online)}},
pages = {{7}},
publisher = {{IEEE}},
title = {{Time-optimal stepper motor motion profile through a novel load-angle-based step-command optimization}},
url = {{http://doi.org/10.1109/IEMDC47953.2021.9449522}},
year = {{2021}},
}
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