Regulation of angular velocity of the stepper motor

Stepper motors used in drives of machines and mechanisms, working in start-stop mode or contin-uous mode when control action is the regulation of angular velocity is specified by the sequence of electrical pulses. The regulation of angular velocity along the chain of the anchor allows one to define the parameters of transient operation of stepper motor and also to obtain qualitative picture of the phase portrait depending on the source character-istics of the nonlinearity of the system. The need to study the process of regulating the angular velocity of the stepper motor by varying armature circuit has been identified. To study the process of regu-lating angular velocity of stepper motor by varying armature circuit mathematical modeling in the en-vironment of MATLAB SIMULINK. Mathematical model of the process of regulation of angular ve-locity at anchor chain contains the equation of an-chor chain of the engine, driving torque for rota-tional motion and the weight of the manipulator. As assumptions the influence of back-EMF is neglect-ed, considering it to be insignificant. To configure the controller used in operator form with the in-verse of the product of transfer functions in direct branch and branch feedback loop. As in current loop there is disturbance, and it must be astatic, therefore, the current controller must be propor-tional-integral. The results showed that the shape of the oscillation angular velocity was different from sinusoidal and the difference between them was greater, depending on the amplitude of the oscillations. Due to the nature of nonlinear proper-ties of the amplitude of the drive increases faster than the amplitude of the current. As in current loop there is outrage, and it must be astatic, there-fore, the current controller was adopted, the type of proportional-integral-differential controller. Phase portrait of investigated drive system of the manipulator of the information obtained by two coordinates and to X - axis is 0.8 mm and the Y - axis is 2.0 mm. Research model of serving motor showed that the system was sustainable.