Vibration reduction techniques for stepper motors at standstill in high precision applications

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Field Oriented Control (FOC) can be used to damp the high-oscillatory dynamics of open-loop driven stepper motors and effectively reduce induced vibrations during motion. However, when it is required to hold a constant position, the induced vibrations can be higher in FOC than in open-loop control. To solve this, different techniques are proposed in this paper: i) a bump-less switch from FOC to open-loop control, ii) reducing the current reference to zero and iii) reducing the applied voltage to zero. Unlike other studies in vibration reduction techniques based on motion regimes and online feedback, the techniques presented here successfully reduce the vibrations in standstill and without the use of additional sensors. These methods are applied to a crystal collimator at CERN with good results and their performance is compared. Merino, Jorge Sola; Serrano Galvez, Pablo; Butcher, Mark; Di Castro, Mario; Masi, Alessandro" /> <meta name="keywords" content="Vibrations, Sensors, Induction motors, Switches, Rotors, Torque, Permanent magnet motors, damping, feedback, machine vector control, motion control, position control, stepping motors, vibration control, stepper motors, FOC, field oriented control, high precision positioning applications, high precision applications, standstill, vibration reduction techniques, open-loop control, constant position, induced vibrations, open-loop driven stepper motors, high-oscillatory dynamics" /> <script type="text/javascript" src="https://cds.cern.ch/js/jquery.min.js"></script>  <link rel="stylesheet" href="https://cds.cern.ch/img/webnews.css" type="text/css" />  <script type="text/javascript" src="https://cds.cern.ch/js/webnews.js?v=20131009"></script> <meta property="fb:app_id" content="137353533001720"/> <script type="text/x-mathjax-config"> MathJax.Hub.Config({ tex2jax: {inlineMath: [['$','$']], processEscapes: true}, showProcessingMessages: false, messageStyle: "none" }); </script> <script src="/MathJax/MathJax.js?config=TeX-AMS_CHTML" type="text/javascript"> </script>  <meta content="IEEE : Vibration reduction techniques for stepper motors at standstill in high precision applications" name="citation_title" /> <meta content="Merino, Jorge Sola" name="citation_author" /> <meta content="Di Castro, Mario" name="citation_author" /> <meta content="Serrano Galvez, Pablo" name="citation_author" /> <meta content="Butcher, Mark" name="citation_author" /> <meta content="Masi, Alessandro" name="citation_author" /> <meta content="10.1109/IECON.2019.8926871" name="citation_doi" /> <meta content="1" name="citation_volume" /> <meta content="1459-1464" name="citation_firstpage" /> <meta content="2019" name="citation_publication_date" /> <meta name="citation_online_date" content="2021/04/13"> <meta content="10.1109/IECON.2019.8926871" name="citation_doi" />  <meta content="IEEE" property="og:title" /> <meta content="Vibration reduction techniques for stepper motors at standstill in high precision applications" property="og:title" /> <meta content="website" property="og:type" /> <meta content="website" property="og:type" /> <meta content="https://cds.cern.ch/record/2762125" property="og:url" /> <meta content="CERN Document Server" property="og:site_name" /> <meta content="IEEE" property="og:description" /> <meta content="Stepper motors are widely used in high precision positioning applications where reliability is an important factor. Field Oriented Control (FOC) can be used to damp the high-oscillatory dynamics of open-loop driven stepper motors and effectively reduce induced vibrations during motion. However, when it is required to hold a constant position, the induced vibrations can be higher in FOC than in open-loop control. To solve this, different techniques are proposed in this paper: i) a bump-less switch from FOC to open-loop control, ii) reducing the current reference to zero and iii) reducing the applied voltage to zero. Unlike other studies in vibration reduction techniques based on motion regimes and online feedback, the techniques presented here successfully reduce the vibrations in standstill and without the use of additional sensors. These methods are applied to a crystal collimator at CERN with good results and their performance is compared." property="og:description" />  <meta content="summary" name="twitter:card" /> <meta content="summary" name="twitter:card" /> <style></style> </head> <body class="CERN32Document32Server search" lang="en">  <div id="cern-toolbar"> <h1><a href="http://cern.ch" title="CERN">CERN <span>Accelerating science</span></a></h1> <ul> <li class="cern-accountlinks"><a class="cern-account" href="https://cds.cern.ch/youraccount/login?ln=en&referer=https%3A//cds.cern.ch/record/2762125%3Fln%3Den" title="Sign in to your CERN account">Sign in</a></li> <li><a class="cern-directory" href="http://cern.ch/directory" title="Search CERN resources and browse the directory">Directory</a></li> </ul> </div>   <div role="banner" class="clearfix" id="header"> <div class="header-inner inner"> <hgroup class="clearfix"> <h2 id="site-name"> <a rel="home" title="Home" href="/"><span>CERN Document Server</span></a> </h2> <h3 id="site-slogan">Access articles, reports and multimedia content in HEP</h3> </hgroup> <div role="navigation" id="main-navigation" class="cdsmenu"> <h2 class="element-invisible">Main menu</h2><ul class="links inline clearfix"> <li class="menu-386 first active-trail"><a class="active-trail" href="https://cds.cern.ch/?ln=en">Search</a></li> <li class="menu-444 "><a class="" title="" href="https://cds.cern.ch/submit?ln=en">Submit</a></li> <li class="menu-426 "><a class="" href="https://cds.cern.ch/help/?ln=en">Help</a></li> <li class="leaf hassubcdsmenu"> <a hreflang="en" class="header" href="https://cds.cern.ch/youraccount/display?ln=en">Personalize</a> <ul class="subsubcdsmenu"><li><a href="https://cds.cern.ch/youralerts/list?ln=en">Your alerts</a></li><li><a href="https://cds.cern.ch/yourbaskets/display?ln=en">Your baskets</a></li><li><a href="https://cds.cern.ch/yourcomments?ln=en">Your comments</a></li><li><a href="https://cds.cern.ch/youralerts/display?ln=en">Your searches</a></li></ul></li> </ul> </div> </div> </div>  <table class="navtrailbox"> <tr> <td class="navtrailboxbody"> <a href="/?ln=en" class="navtrail">Home</a> > Vibration reduction techniques for stepper motors at standstill in high precision applications </td> </tr> </table> </div> <div class="pagebody"><div class="pagebodystripemiddle"> <div class="detailedrecordbox"> <div class="detailedrecordtabs"> <div> <ul class="detailedrecordtabs"><li class="on first"><a href="/record/2762125/?ln=en">Information </a></li><li class="disabled"><a>Files </a></li></ul> <div id="tabsSpacer" style="clear:both;height:0px"> </div></div> </div> <div class="detailedrecordboxcontent"> <div class="top-left-folded"></div> <div class="top-right-folded"></div> <div class="inside">  <abbr class="unapi-id" title="2762125"></abbr> <style type="text/css">  </style> <table class="formatRecordTableFullWidth" > <tr> <td class="formatRecordHeader" style="background-image: url('https://cds.cern.ch/img/journals.jpg');" colspan="2">  Article </td> </tr> <script type="text/javascript"> $( document ).ready(function() { $('.showAuthor').on('click', function() { var author = '<p>' + $(this).data('name') + '</p>'; var affiliation = $(this).data('affiliation') + '</br>'; var contribution = $(this).data('contribution') + '</br>'; $.magnificPopup.open({ items: { src: '<div id="ovelary-mathjax" class="overlay-white oc-content overlay-white-500">' + author + affiliation + contribution + '</div>', type: 'inline' }, callbacks: { open: function() { var div = document.getElementById("overlay-mathjax") MathJax.Hub.Queue(["Typeset", MathJax.Hub, div]); }, } }) }) }); </script> <tr><td class="formatRecordLabel"> Title </td><td style="padding-left:5px;"><b>Vibration reduction techniques for stepper motors at standstill in high precision applications</b></td></tr> <tr><td class="formatRecordLabel"><span style="white-space:nowrap;"> Author(s) </span> </td><td style="padding-left:5px;"><a href="https://cds.cern.ch/search?f=author&p=Merino%2C%20Jorge%20Sola&ln=en">Merino, Jorge Sola</a> (CERN) ; <a href="https://cds.cern.ch/search?f=author&p=Serrano%20Galvez%2C%20Pablo&ln=en">Serrano Galvez, Pablo</a> (CERN) ; <a href="https://cds.cern.ch/search?f=author&p=Butcher%2C%20Mark&ln=en">Butcher, Mark</a> (CERN) ; <a href="https://cds.cern.ch/search?f=author&p=Di%20Castro%2C%20Mario&ln=en">Di Castro, Mario</a> (CERN) ; <a href="https://cds.cern.ch/search?f=author&p=Masi%2C%20Alessandro&ln=en">Masi, Alessandro</a> (CERN)</td></tr> <tr><td class="formatRecordLabel"> Publication </td><td style="padding-left:5px;">2019</td></tr> <tr><td class="formatRecordLabel"> Number of pages </td><td style="padding-left:5px;">6</td></tr> <tr><td class="formatRecordLabel"> DOI </td><td style="padding-left:5px;"><a href="http://dx.doi.org/10.1109/IECON.2019.8926871" title="DOI" target="_blank">10.1109/IECON.2019.8926871</a> <tr><td class="formatRecordLabel"> Subject category </td><td style="padding-left:5px;">Accelerators and Storage Rings</td></tr> <tr><td class="formatRecordLabel"> Abstract </td><td style="padding-left:5px;">Stepper motors are widely used in high precision positioning applications where reliability is an important factor. Field Oriented Control (FOC) can be used to damp the high-oscillatory dynamics of open-loop driven stepper motors and effectively reduce induced vibrations during motion. However, when it is required to hold a constant position, the induced vibrations can be higher in FOC than in open-loop control. To solve this, different techniques are proposed in this paper: i) a bump-less switch from FOC to open-loop control, ii) reducing the current reference to zero and iii) reducing the applied voltage to zero. Unlike other studies in vibration reduction techniques based on motion regimes and online feedback, the techniques presented here successfully reduce the vibrations in standstill and without the use of additional sensors. These methods are applied to a crystal collimator at CERN with good results and their performance is compared.</td></tr> <tr><td class="formatRecordLabel"> Copyright/License </td><td style="padding-left:5px;">publication: © Copyright 2019 IEEE</td></tr> </table> <small> </small> <br/> <br/><br/><div align="right"><div style="padding-bottom:2px;padding-top:30px;"><span class="moreinfo" style="margin-right:10px;"> <a href="" class="moreinfo">Back to search</a> </span></div></div> <div class="bottom-left-folded"><div class="recordlastmodifiedbox" style="position:relative;margin-left:1px"> Record created 2021-04-13, last modified 2022-01-14</div></div> <div class="bottom-right-folded" style="text-align:right;padding-bottom:2px;"> <span class="moreinfo" style="margin-right:10px;"><a href="/search?ln=en&p=recid%3A2762125&rm=wrd" class="moreinfo">Similar records</a></span></div> </div> </div> </div> <br/> <br /> <div class="detailedrecordminipanel"> <div class="top-left"></div><div class="top-right"></div> <div class="inside"> <div id="detailedrecordminipanelfile" style="width:33%;float:left;text-align:center;margin-top:0"> <br/> </div> <div id="detailedrecordminipanelreview" style="width:30%;float:left;text-align:center"> </div> <div id="detailedrecordminipanelactions" style="width:36%;float:right;text-align:right;"> <ul class="detailedrecordactions"> <li><a href="/yourbaskets/add?ln=en&recid=2762125">Add to personal basket</a></li> <li>Export as <a style="text-decoration:underline;font-weight:normal" href="/record/2762125/export/hx?ln=en">BibTeX</a>, <a style="text-decoration:underline;font-weight:normal" href="/record/2762125/export/hm?ln=en">MARC</a>, <a style="text-decoration:underline;font-weight:normal" href="/record/2762125/export/xm?ln=en">MARCXML</a>, <a style="text-decoration:underline;font-weight:normal" href="/record/2762125/export/xd?ln=en">DC</a>, <a style="text-decoration:underline;font-weight:normal" href="/record/2762125/export/xe?ln=en">EndNote</a>,  <a style="text-decoration:underline;font-weight:normal" href="/record/2762125/export/xn?ln=en">NLM</a>, <a style="text-decoration:underline;font-weight:normal" href="/record/2762125/export/xw?ln=en">RefWorks</a> </li> </ul> <div style='padding-left: 13px;'>  <div id="bookmark"></div> <div id="bookmark_sciencewise"></div> <style type="text/css"> #bookmark_sciencewise, #bookmark {float: left;} #bookmark_sciencewise li {padding: 2px; width: 25px;} #bookmark_sciencewise ul, #bookmark ul {list-style-image: none;} </style> <script type="text/javascript" src="/js/jquery.bookmark.min.js"></script> <style type="text/css">@import "/css/jquery.bookmark.css";</style> <script type="text/javascript">// <![CDATA[ $.bookmark.addSite('sciencewise', 'ScienceWise.info', 'https://cds.cern.ch/img/sciencewise.png', 'en', 'bookmark', 'http://sciencewise.info/bookmarks/cds:2762125/add'); $('#bookmark_sciencewise').bookmark({sites: ['sciencewise']}); $('#bookmark').bookmark({ sites: ['facebook', 'twitter', 'linkedin', 'google_plusone'], icons: '/img/bookmarks.png', url: 'https://cds.cern.ch/record/2762125', addEmail: true, title: "Vibration reduction techniques for stepper motors at standstill in high precision applications", description: "Stepper motors are widely used in high precision positioning applications where reliability is an important factor. Field Oriented Control (FOC) can be used to damp the high-oscillatory dynamics of open-loop driven stepper motors and effectively reduce induced vibrations during motion. However, when it is required to hold a constant position, the induced vibrations can be higher in FOC than in open-loop control. To solve this, different techniques are proposed in this paper: i) a bump-less switch from FOC to open-loop control, ii) reducing the current reference to zero and iii) reducing the applied voltage to zero. Unlike other studies in vibration reduction techniques based on motion regimes and online feedback, the techniques presented here successfully reduce the vibrations in standstill and without the use of additional sensors. 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Vibration reduction techniques for stepper motors at standstill in high precision applications - CERN Document Server