| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系 === 105 === A three-phase ultra-micro stepping motor controller system with CiA402 is developed in the paper. The CANopen device includes CiA301 and CiA402, and users can easily monitor this system on CANopen master. In addition, this system will follow the position control parameters that set by user to control the acceleration / deceleration of stepping motor.
In order to avoid the low-speed resonance and unstable current caused by the mechanical structure of the stepping motor, the proposed stepping motor controller adopts the lead angle control to drive stepping motor in the resonance zone, and ultra-micro stepping control in position zone. The system includes the three speed control mode: 1. Ultra-high resolution micro-stepping mode when speed is less than 100rpm; 2. Lead angle control mode running from 100rpm to 1300rpm; 3. Full step mode when speed faster than 1300rpm. Besides, the proposed speed controller can immediately compensate the torque of motor when load increases, then speed decreasing or out of step situations never happen. Moreover, stepping motor is driven by micro-stepping which utilizes high-resolution encoder for feedback at lower speed, so this system provides the highest resolution approaching 32768 step/rev.
The system developed in this paper has tested all function of CANopen, and also verified with an consumer control software. Finally, the speed and position curves of the experimental results demonstrate the system is workable.
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