Software tool for controlling stepper servo drives with the function of eliminating unwanted vibrations of the driven load

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F24%3A43974003" target="_blank" >RIV/49777513:23520/24:43974003 - isvavai.cz</a>

Result on the web

<a href="https://kky-sw.zcu.cz/cs/sw/stepper_ctrl" target="_blank" >https://kky-sw.zcu.cz/cs/sw/stepper_ctrl</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Software tool for controlling stepper servo drives with the function of eliminating unwanted vibrations of the driven load

Original language description

Stepper motors are a specific type of electric motor that converts digital pulses into precise rotational movement. Unlike conventional electric motors, stepper motors do not require complex feedback systems to achieve accurate positioning. Their operation is based on dividing the rotor&apos;s full rotation into a fixed number of steps, with each step corresponding to a precise angle of rotation. This control method enables stepper motors to achieve high positioning accuracy without the need for position sensors. A key advantage of stepper motors is their ability to hold their position after completing a movement without requiring additional regulation. This is made possible by the rotor remaining in the last reached position due to the magnetic field generated by the stator windings. This stable positioning mechanism is essential in applications where the same position needs to be repeatedly achieved with high precision. However, stepper motors without feedback also have their limitations. Under overload conditions or during rapid acceleration, they can lose steps, resulting in positioning errors. Another disadvantage of sensorless principle of operation is the inability to react actively to unwanted oscillations or vibrations arising in the working mechanism of the drive. Therefore, these motors are more suitable for applications with lower speeds and lighter dynamic loads. Despite these limitations, stepper motors remain an indispensable component in many industrial devices and automation processes due to their simplicity and affordability. The developed software implements a vibration damping technique using the Input-Shaping method, which enables effective damping of residual vibrations in a feedforward manner, without the need to install additional instrumentation for direct detection of oscillations of the driven load. The basic principle of this method is to modify the motion trajectory of the drive, based on knowledge of the natural frequencies of the dynamics of the load connected to the actuator, in such a way that vibration cancellation is achieved in a finite time and there is a zero level of residual oscillations.

Czech name

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Czech description

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Type

R - Software

CEP classification

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OECD FORD branch

20205 - Automation and control systems

Project

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Continuities

N - Vyzkumna aktivita podporovana z neverejnych zdroju

Publication year

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Internal product ID

stepper_ctrl

Technical parameters

Software je určený pro počítačovou podporu návrhu a implementace systému automatického řízení krokových motorů s funkcí tlumení vibrací připojené mechanické zátěže. Kontaktní osoba: Martin Goubej, Výzkumné centrum NTIS, Fakulta aplikovaných věd, ZČU v Plzni, mgoubej@ntis.zcu.cz

Economical parameters

Softwarový nástroj automatizuje úlohu návrhu a realizace vstupního tvarovacího filtru pro přesné servopohony s krokovými motory. Aplikací technik pro přímovazební tlumení vibrací metodou input shaping je možné potlačit úroveň reziduálních vibrací v pracovních mechanismech strojů a přístrojů o 20-100% a zlepšit tím přesnost polohování a dobu ustálení pracovního cyklu. Součástí softwaru je návrhový nástroj umožňující automatický návrh tvarovacího filtru, čímž je dosaženo zrychlení cyklu uvedení pohonu do provozu až o 80%.

Owner IČO

49777513

Owner name

Západočeská univerzita v Plzni