Closed-loop step motor control using absolute encoders

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Description

A multi-axis, step motor control system was developed to accurately position and control the operation of a triple axis spectrometer at the High Flux Isotope Reactor (HFIR) located at Oak Ridge National Laboratory. Triple axis spectrometers are used in neutron scattering and diffraction experiments and require highly accurate positioning. This motion control system can handle up to 16 axes of motion. Four of these axes are outfitted with 17-bit absolute encoders. These four axes are controlled with a software feedback loop that terminates the move based on real-time position information from the absolute encoders. Because the final position of the ... continued below

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15 p.

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Hicks, J.S. & Wright, M.C. August 1, 1997.

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Description

A multi-axis, step motor control system was developed to accurately position and control the operation of a triple axis spectrometer at the High Flux Isotope Reactor (HFIR) located at Oak Ridge National Laboratory. Triple axis spectrometers are used in neutron scattering and diffraction experiments and require highly accurate positioning. This motion control system can handle up to 16 axes of motion. Four of these axes are outfitted with 17-bit absolute encoders. These four axes are controlled with a software feedback loop that terminates the move based on real-time position information from the absolute encoders. Because the final position of the actuator is used to stop the motion of the step motors, the moves can be made accurately in spite of the large amount of mechanical backlash from a chain drive between the motors and the spectrometer arms. A modified trapezoidal profile, custom C software, and an industrial PC, were used to achieve a positioning accuracy of 0.00275 degrees of rotation. A form of active position maintenance ensures that the angles are maintained with zero error or drift.

Physical Description

15 p.

Notes

OSTI as DE97007766

Source

  • Powersystems world international conference and exhibition, Baltimore, MD (United States), 8-12 Sep 1997

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  • Other: DE97007766
  • Report No.: CONF-970970--1
  • Grant Number: AC05-96OR22464
  • Office of Scientific & Technical Information Report Number: 519139
  • Archival Resource Key: ark:/67531/metadc694549

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • August 1, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

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  • Jan. 25, 2016, 4:34 p.m.

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Hicks, J.S. & Wright, M.C. Closed-loop step motor control using absolute encoders, article, August 1, 1997; Tennessee. (digital.library.unt.edu/ark:/67531/metadc694549/: accessed December 17, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.