Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Design of a Low-Vibration Micro-Stepping Controller for Pan-Tilt Camera

팬.틸트 카메라의 저 진동 마이크로스텝핑 제어기 설계

  • Yoo, Jong-won (Department of Nano & IT Fusion Program, Seoul National University of Technology) ;
  • Kim, Jung-han (Department of mechanical design & Automation Engineering, Seoul National University of Technology)
  • 유종원 (서울산업대학교 NID융합기술대학원) ;
  • 김정한 (서울산업대학교 기계설계자동화공학부)
  • Received : 2010.01.05
  • Accepted : 2010.06.25
  • Published : 2010.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

Speed, accuracy and smoothness are the important properties of pan-tilt camera. In the case of a high ratio zoom lens system, low vibration characteristic is a crucial point in driving pan-tilt mechanism. In this paper, a novel micro-stepping controller with a function of reducing vibration was designed using field programmable gate arrays (FPGA) technology for high zoom ratio pan-tilt camera. The proposed variable reference current (VRC) control scheme reduces vibration decently and optimizing coil current in order to prevent the step motor from occurring missing steps. By employing VRC control scheme, the vibration in low speed could be significantly minimized. The proposed controller can also make very high speed of 378kpps micro-step driving, and increase maximum acceleration in motion profiles.

Keywords

References

  1. Shin, G. B., Lee, J. W. and Oh, J. H., "A Study on the Micro Stepping Drive to Reduce Vibration of Step Motor," Journal of the Korean Society for Precision Engineering, Vol. 4, No. 5, pp. 118-127, 1997.
  2. Takashi, K., "Stepping motors and their microprocessor controls," Clarendonpress Oxford, 1984.
  3. Fredrikson, T. R., "Microstepping - a new control concept for rotary step motors," Proc. of 4th Annual Symposium on Incremental Motion Control Systems and Devices, pp. HH-1-HH-6, 1975.
  4. Leenthouts, A. C., "Compensation techniques in micro-stepping," Proc. of 15th Annual Symposium on Incremental Motion Control Systems and Devices, pp. 175-180, 1986.
  5. Zhang, X., He, J. and Sheng, C., "An Approach of Micro-stepping Control for the Step Motors Based on FPGA," IEEE International Conference on Industrial Technology, pp. 125-130, 2005.
  6. Chen, W., Wen, Z., Xu, Z. and Wang, J., "Implementation of 2-axis Circular Interpolation for a FPGA-based 4-axis Motion Controller," IEEE International Conference on Control and Automation, pp. 600-605, 2007.
  7. Kuo, B. C., Kelemen, A., Crivii, M. and Trifa, V., "The Incremental Motion Control Systems," Editura Tehnica, 1981.
  8. Lee, K.-W., Chang, W.-S. and Yoo, J.-Y., "Development of Micro-stepping Drive Circuit of Step Motor and Parallel Operation Controller," KIPE, pp. 56-59, 1996.
  9. Albu, M., "Micro-stepping System for Low Speed Step Motor Control," Proceedings of the 9th National Conference on Electrical Drives, pp. 247-250, 2005.
  10. Chen, T.-C. and Su, Y.-C., "High Performance Algorithm Realization on FPGA for stepper Motor Controller," SICE Annual Conference, pp. 1390-1395, 2008.
  11. Jeong, Y. H., Yun, S. H. and Cho, D.W., "Analysis of the Characteristics of the Feed motor Current for the Estimation of the Cutting Force in General Cutting Environment," Journal of the Korean Society for Precision Engineering, Vol. 19, No. 4, pp. 93-100, 2002.
  12. Clarkson, P. J. and Acarnley, P. P., "Closed-Loop Control of Stepping Motor Systems," IEEE Transactions on Industry Applications, Vol. 24, No. 4, pp. 685-691, 1988. https://doi.org/10.1109/28.6122
  13. New Japan Radio, "NJM3771 Dual Stepper Motor Driver," New Japan Radio Datasheets.
  14. Kim, J. H. and Lee, H. I., "High Precision Stepping Motor Using Terfenol-D Actuators: Its Performance Test," Journal of the Korean Society for Precision Engineering, Vol. 17, No. 2, pp. 220-226, 2000.