Development and Implementation of Synchronous Control of Stepper Motors with Acceleration

In this paper, a data processing algorithm is proposed for controlling a system of stepper motors with the ability to move with acceleration in computer numerical control (CNC) machines. Based on the analysis of various approaches to accelerating the stepper motors movement, an algorithm was developed. The algorithm allows synchronized control of the stepper motor system, which ensures the same movement time for each motor within a valid range. A mathematical model of the control algorithm was developed and its hardware and software implementation on the FPGA based on the system-on-chip principle was presented. This implementation made it possible to control the system of stepper motors so that each unit is controlled in parallel and independently, and at the same time, the synchronism and accuracy of their movements within the valid range is ensured. The results of testing the algorithm on a 3D-printer present that the given algorithm provides the necessary accuracy and can be used in control systems for CNC machines and 3D-printers in particular.