遺伝的アルゴリズムによるステッピングモータのステップ応答波形の整形

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タイトル別名
  • Waveform Adjusting in a Step Response of a Stepping Motor by Genetic Algorithm
  • イデンテキ アルゴリズム ニヨル ステッピング モータ ノ ステップ オウトウ

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Stepping motors are used in many systems due to their simple driving method using open-loop control with switching devices. In the case such that a stepping motor is driven at low speed, the profile of angular displacement of the rotor becomes stepped one and rotor oscillation occurs in each step because of its switched operation. It is well known that microstep drive is one of the solutions of this problem, however currents in stator windings must be controlled precisely for execution of microstepping and consequently the drive circuit becomes complicated and expensive.<br>The authors suggest a method to adjust the waveform of angular displacement in a step response of a stepping motor. In this method, the waveform is adjusted only by tuning the exciting sequence used for switching of the applied voltage on each winding, therefore no modification for the drive circuit is required. By adjusting the waveform appropriately, the profile of angular displacement becomes smooth even in the low-speed region.<br>For tuning of the exciting sequence, genetic algorithm is used in the present work. In this algorithm, the step response of the motor is modeled as an individual of artificial life which has a genotype constructed by coding the exciting sequence. Each individual is evaluated by its fitness of the waveform to desirable one. Applying this method to the tuning process of the exciting sequence, it is shown that the waveform of angular displacement can be adjusted to a ramp function. Moreover, the driving characteristic in lowspeed region is improved by using the tuned exciting sequence.

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