Precise Position Control of a Stepping Motor in Micro-step Drive Using Pre-compensator

Abstract

In this paper, we propose a method for improving the positional accuracy of a stepping motor in micro-step drive by just modifying a reference angle using the proposed pre-compensator. For a given reference angle, the pre-compensator outputs the modified reference, which cancels the positional error due to the torque ripples and friction. To validate this method, position control experiments were carried out with and without the pre-compensator. The results demonstrate that the positional accuracy of micro-step drive with the pre-compensator is significantly better than that without the pre-compensator.