DSP Based Smart Sensorless Stepping Motor Driver for LHC Collimators

In this paper, the real-time architecture of a Digital Signal Processor based sensorless stepping motor driver, capable of driving a motor through long power cables and estimating its position and load torque, is described. The testbench developed in order to test its performance when driving an axis of a Large Hadron Collider collimator is presented, along with the results achieved. It is shown that the proposed driver is capable of achieving position and load torque estimates which allow step loss to be detected and mechanical degradation to be evaluated without the need for physical sensors.

[1]  A. Berthon,et al.  Position Control of a Sensorless Stepper Motor , 2012, IEEE Transactions on Power Electronics.

[2]  Alessandro Masi,et al.  An Application of the Extended Kalman Filter for a Sensorless Stepper Motor Drive Working With Long Cables , 2012, IEEE Transactions on Industrial Electronics.

[3]  Ricardo Picatoste Ruilope,et al.  Low emission, self-tunable DSP based Stepping Motor Drive for use with arbitrarily long cables , 2010 .

[4]  A. Masi,et al.  LHC Collimators Low Level Control System , 2007, IEEE Transactions on Nuclear Science.

[5]  Charles Pollock,et al.  A low-cost sensorless technique for load torque estimation in a hybrid stepping motor , 1999, IEEE Trans. Ind. Electron..

[6]  A. Masi,et al.  DSP-Based Stepping Motor Drivers for the LHC Collimators , 2008, IEEE Transactions on Nuclear Science.

[7]  Roberto Losito,et al.  DRIVING THE LHC COLLIMATORS' STEPPING MOTORS OVER 1 KM WITH HIGH ACCURACY AVOIDING EMI EFFECTS , 2011 .

[8]  Sheng-Ming Yang,et al.  Damping a hybrid stepping motor with estimated position and velocity , 2003 .

[9]  Yves Perriard,et al.  An optimized Extended Kalman filter algorithm for Hybrid Stepper Motors , 2003, IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468).

[10]  Paul Acarnley,et al.  Stepping Motors: A guide to theory and practice , 2002 .

[11]  Mohinder S Grewal,et al.  Applications of Kalman Filtering in Aerospace 1960 to the Present [Historical Perspectives] , 2010, IEEE Control Systems.

[12]  S. Y. Chen,et al.  Kalman Filter for Robot Vision: A Survey , 2012, IEEE Transactions on Industrial Electronics.

[13]  A. Masi,et al.  Implementation and tuning of the Extended Kalman Filter for a sensorless drive working with arbitrary stepper motors and cable lengths , 2012, 2012 XXth International Conference on Electrical Machines.

[14]  Akira Sugawara,et al.  Stepping motors and their microprocessor controls , 1994 .