Investigation of precise flat angle positioning controller

Abstract

The paper refers onto the experimental investigation of the precise flat angle positioning drive. After a deeper investigation of the used microstepping controller, the authors depicted the causes of the observed rotation nonlinearity. A special test bench with a precise rotation encoder has been produced for the purpose, besides that the angular positions of the formed microsteps have been measured with a fast, slow and mixed current decay mode set. After the analysis of the obtained results, the source of nonlinearity has been determined, and then the possible solutions have been defined and tested. The paper presents the guidelines for a new controller design, based on the current research study.