MODEL OF A STEPPER MOTOR FOR STUDYING OF AUTOMATED POSITIONING SYSTEMS IN ECAD
DOI:
https://doi.org/10.15588/1607-6761-2017-1-5Keywords:
stepper motor, ACS, positioning systems, abstraction level, ECAD, behavioral elements, macromodelAbstract
Purpose. Development of an economical Stepping Motor’s (SM) macromodel for the study of positioning systems and other robotic mechatronic systems in computer-aided design (ECAD) programs, which does not generate algorithmic failures in comparison with the existing models of SM.Methodology. The modeling of the Stepping Motor was carried out on the basis of behavioral elements from the ECAD library, the model of the system was obtained in terms of the theory of automatic control. For effective simulation of automatic control systems in the acausal mathematical environment, models are given up to causality through dependent sources, controlled by voltage. The object of the study is simulation of ACS with SM as actuators in ECAD; the subject of the study is the models of SM.
Findings. Based on the analysis of the adequacy areas and the mathematical apparatus of the existing SM models, criteria for the synthesis of an economical model suitable for adequate macromodeling of ACS with SM in the ECAD environment have been identified. The compact model of SM was developed, which was investigated in the steady state under the load. During the approbation and verification by simulation of the positioning subsystem of the automated system for determining the surface potential, it is established that the model provides high speed and algorithmic reliability of the simulation and high accuracy analysis of dynamic characteristics. The macromodel is installed in the Micro Cap 11 library.
Originality. The new macromodel of SM that meets the criteria of adequacy, reliability and economy, synthesized on the basis of a new approach in modeling objects at the macro level, which combines the principles of constructing structures and links of automatic control systems in accordance with the theory of automatic control with the capabilities of behavioral modeling in the program of computer-aided design in Electronics (ECAD). Transfer functions for such models are constructed as a function of time, without transition to a complex plane, which allows expanding the range of their adequacy, in comparison with the classical models. Such macromodels allow us to study dynamic modes in automated positioning systems.
Practical value. SM macromodel expands the mathematical support of ECAD reduces the likelihood of the appearance of algorithmic failures and accelerates the modeling of ACS in ECAD. Approach, which used during its synthesis, allows us to build similar models for other software (CAS, CAE).
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