A 2-axis stepper motor motion control system with adaptive capability

A microcomputer-based stepper motor motion controller was developed to address the performance limitations and relative inflexibility of many microprocessor-based systems. This motion control system features two-axis closed-loop control, high pulse rate in support of microstepping translators/drivers, sensor integration, and complex trajectories and velocity profiles. A key advantage of the system, i.e., online trajectory calculations and velocity profiling in high-level software modules, provides high flexibility in dealing with diverse control application requirements. The next step, that of electronic closed loop sensing, allows for optimal control and parameter determination. The authors describe the control strategy, design philosophy, system performance, and test results and discuss future improvements