@inproceedings{08f17ec1d4b04d619cd3f7597f2d85de,
title = "A closed-loop stepper motor drive based on EtherCAT",
abstract = "This paper presents the design and implementation of a motion control system using EtherCAT. The EtherCAT frame with an embedded motion profile is introduced. Additionally, a closed loop stepper motor that uses the embedded data of the EtherCAT frame is shown. For position control purposes, a lead angle estimation was designed. The Proportional Integral Feed Forward (PI-FF) controller was implemented to overcome the problem with reverse motor rotation. Finally, some experimental results are shown to verify the performance of the EtherCAT based motor drive.",
keywords = "closed loop controller, EtherCAT, feed forward control, lead angle, real-time Ethernet, stepper motor",
author = "Nguyen, \{Vinh Quang\} and \{Van Phan Tran\}, Nhan and Tran, \{Hoang Ngoc\} and Le, \{Kien Minh\} and Jeon, \{Jae Wook\}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 ; Conference date: 29-10-2017 Through 01-11-2017",
year = "2017",
month = dec,
day = "15",
doi = "10.1109/IECON.2017.8216569",
language = "English",
series = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3361--3365",
booktitle = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",
}