Evaluation by simulation of interpolation and acceleration algorithms for Stepper Motors

Stepper motors are used to control CNC machines for many applications. As well as following the required path precisely, it is also important that the motion be smooth and that the surface speed be controllable. Improved interpolation algorithms for individual straight lines and circular arcs have been developed using distance as a parameter [Chow et al, 2002], [Chow, 2003]. The algorithms control the motor by means of pulses and the generation of the pulse timings is based on the geometry of the shape. For high speeds it is necessary to allow smooth acceleration at the beginning and similar smooth deceleration at the end. Thus, appropriate acceleration and deceleration algorithms have been developed for use with the new interpolation algorithms. This paper describes how simulation has been used to evaluate the new algorithms and compare them with previous algorithms. The algorithms are described for the 2D case but the principle can be extended to 3D.