A Novel Speed Control Algorithm with Programmable Timer for Embedded Motion Control System

The goal of this work is to present a useful speed control algorithm applied for embedded motion control system. A programmable timer is employed to generate pulses for controlling a stepping motor or a servo motor with pulse interface driver. The pulse frequency, which determines the motor speed, is adjusted by modifying the setting value of timer´s period register with the proposed algorithm in the paper. And by adopting a hardware timer, the method can achieve a fine performance but a very little cost in computing. A simulation on the method was carried out with Matlab, and the results show that the speed-time plot is very smooth during acceleration and deceleration stages, thus the dynamic shock in working mechanism excitated by speed turning points can be eliminated a lot. Furthermore, based on the algorithm, a prototype controller with DSP TMS320LF2407A was implemented, and the experiment results on the prototype controller are identical with the simulation analysis. Therefore, the algorithm provides a practical speed control solution for embedded servo system with low cost and high performance.