A Control System Of Two-Degree-of-Freedom Step Motor

The performance of the two-degree-of-freedom motor is higher than common motor, so it's fields of application is much more comprehensive. This paper presents a new two-degree-of-freedom step motor which has orthogonal cylindrical structure based on the generalization of the research production about the two-degree-of-freedom motor in the world, and break through the conventional globe structure.According to this two-degree-of-freedom step motor, this paper introduces a control system for this step motor. This control system can be divided into two parts, the PC control system and the singlechip control system. The PC control system presents the interface between people and computer, and plans the motor's motion trace. The singlechip control system receives the command and data from the PC and control the motor's motion. The two control systems' communication is realized through the serial port.The PC control system's plans about the motor's motion trace can influence the effect of the motor's practicable motion trace. This paper discusses the algorithm of the motion planning detailed. At first defines the optimal path between the two points on a sphere, and then starts interpolation calculation based on the optimal path (it is a curve). After the calculation, the path has been interpolated to many small segment of a curve. Then starts the FTP (point to point) control in every small segment till the small segment link to a complete smooth curve. And based these calculation, this paper deduces the kinematic equations of this two-degree-of-freedom step motor.