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This paper is devoted to the positioning systems of stepper motors control methods. Comparative analysis of the existing open- and closed-loop systems was carried out; their advantages and disadvantages are identified. The research purpose is the design of the universal reliable and cheap device based on stepper motor for the moving object sensor mode positioning. A stepper motor universal control program with optimal filtering of the shaft rotation angle reference channel was developed. A schematic diagram based on ATmega328 microcontroller was designed. The experimental research of the sensor mode operating stepper motor with and without program filtering was conducted. Transient processes of motion, speed, current and reference signal graphics were built. A linear mathematical model of a stepper motor and a block diagram of a closed-loop control system for the shaft rotation angle deviation have been calculated. The main adjustable coordinates transient processes of the electric drive operating in the sensor mode are built with Matlab Simulink with filtering and without filtering the motor shaft deflection angle specifying channel. A frequency analysis of the developed closed-loop electric drive control action control system is carried out for the stability and quality of filtering interference of the control signal. The research results are applied to the studying process of the Department of Automatic Electric Drive and Mechatronics, Nosov Magnitogorsk State Technical University as a laboratory stand for Adjustment of mechatronic complexes and systems course.


Stepper motor, programmable microcontroller, control program, sensor mode, program filter, mechatronic system, driver.

Sergey A. Linkov

Ph.D. (Engineering), Associate Professor, Department of Automated Electric Drive and Mechatronics, Power Engineering and Automated Systems Institute, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.,

Oleg S. Malakhov

Ph.D. (Engineering), Associate Professor, Department of Automated Electric Drive and Mechatronics, Power Engineering and Automated Systems Institute, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia,This email address is being protected from spambots. You need JavaScript enabled to view it.,

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