International Journal of Applied Power Engineering (IJAPE)

Vol. 13, No. 3, September 2024, pp. 695~702

ISSN: 2252-8792, DOI: 10.11591/ijape.v13.i3.pp695-702  695

Arduino based stepper motor speed regulation for robotics

applications

Khammampati R. Sreejyothi1, Kalagotla Chenchireddy2, Abbagoni Srujana1, Dharavath Nagaraju1,

Golluri Ramcharan1, Dhunnapothula Raghu1
1
Department of Electrical and Electronics Engineering, Teegala Krishna Reddy Engineering College, Hyderabad, India
2
Department of Electrical and Electronics Engineering, Geethanjali College of Engineering and Technology, Hyderabad, India

Article Info ABSTRACT

Article history: This paper presents a stepper motor drive using the hybrid two-phase model.
The stepper motor changes the pulse signals into angular displacement with
Received Aug 14, 2023 some angles. Stepper motors are used to control the speed and are also more
Revised Mar 28, 2024 reliable for smooth operations. The stepper motor provides constant holding
Accepted Apr 26, 2024 torque with controlled speed ranges from 0 to 6000 range. The closed-loop
control technique with park transformation is used to control the speed
torque variables in a design range. The simulation and hardware results were
Keywords: discussed in MATLAB\Simulink software. The verified simulation results
are motor source voltage, motor source current, motor speed, and torque.
Arduino The hardware results are also implemented in this paper, the implemented
Battery circuit by using Arduino microcontroller.
Speed
Stepper motor
Torque This is an open access article under the CC BY-SA license.

Corresponding Author:
Khammampati R. Sreejyothi
Department of Electrical and Electronics Engineering, Teegala Krishna Reddy Engineering College
Medbowli, Saroornagar, Meerpet, India
Email: [email protected]

1. INTRODUCTION
The best methods and their microprocessor implementation for closed-loop control of hybrid stepper
motor drives were presented by the authors. The torque characteristics and ideal control angle of reluctant
stepper motor drives and hybrid stepper motor drives with additional series resistance have already been
covered in earlier research [1]. The primary contribution of the research is the analysis of the torque
characteristics and ideal control angle of hybrid stepper motor drives that are fitted with a current controller
and chopper amplifier [2]–[4]. The authors concentrated on the challenge of creating nonlinear controllers
synthetically to guarantee stable tracking of servo systems driven by stepper motors with permanent magnets.
To address the robust design, the authors make use of the admissibility idea, the Lyapunov-based design
framework, and electric machinery reasoning. Using nonquadratic Lyapunov candidates and investigating the
idea of nonlinear mapping, they present a novel nonlinear control technique [5]–[7]. The study also considers
the case where stepper motor parameters vary, necessitating thorough research to ensure the validity and
accuracy of the analytical, numerical, and experimental results [8]–[10]. The authors were presented on the
modeling, simulation, and control of a two-phase hybrid stepper motor (HSM). The authors develop a
simulation model using MATLAB to analyze the motor's transient performance under different excitation
schemes. The simulation results are validated for two specific HSM models: ST601 and ST1701, with step
angles of 1.8 degrees and torque ratings of 2 Kg.cm and 125 Kg.cm, respectively. To implement open-loop
control, the authors use National Instruments LABVIEW along with a DAQ card PCI 6221. They
experimentally observe and explain the resonance phenomenon in the motor system [11]–[12]. To maintain

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696  ISSN: 2252-8792

speed under various loads, closed-loop current control is employed. Non-uniform motion in machines can be
achieved using linkage mechanisms or cams, which transform the uniform motion from a motor into the
desired non-uniform motion, alternatively, a servo motor can directly generate non-uniform motion under
computer control. Linkage mechanisms and cams can enable higher speeds in the machine's
operation [13]–[14]. They also allow for dynamic balancing to be incorporated without the need for
additional parts, and they generally exhibit a high degree of energy conservation during motion [15]–[16].
The paper addresses the limitations of widely used full-step open-loop stepping motor drive algorithms,
which suffer from a low torque/power ratio, large torque ripple, and resonance issues [17]–[18]. To improve
the performance of stepping motors for more demanding applications, closed-loop control is proposed [19].
The paper introduces a load angle estimation algorithm, which utilizes only voltage and current
measurements to provide the necessary feedback without requiring a mechanical position sensor [20]–[23].
Building upon this estimation, a novel closed-loop load angle controller is presented. The controller
optimizes the current level based on the estimated load angle. Developing this controller is challenging due to
the highly nonlinear current and load-angle dynamics [24]–[26]. This paper presents stepper motor control
drive by using Arduino controller. The simulations are verified by using MATLAB/Simulink software.

2. STEPPER MOTOR
The Figure 1 shows the basic principle of a stepper motor's operation involves a cycle of
electromagnets arranged around a rotor. These electromagnets are activated one after another in a specific
sequence using pulses of electrical energy. When an electromagnet is energized, it generates a magnetic force
that interacts with the rotor (typically made of iron). This interaction causes the rotor to move in incremental
steps. The direction of rotation (clockwise or counterclockwise) depends on the sequence in which the
electromagnets are activated. This controlled movement is widely used in applications requiring precise
positioning and controlled rotation.
𝑑𝑖𝑎
= [𝑣𝑎 − 𝑅𝑖𝑎 + 𝐾𝑚 𝜔 𝑠𝑖𝑛( 𝑁𝑟 𝜃)]/𝐿 (1)
𝑑𝑡

𝑑𝑖𝑏
= [𝑣𝑏 − 𝑅𝑖𝑏 + 𝐾𝑚 𝜔 𝑠𝑖𝑛( 𝑁𝑟 𝜃)]/𝐿 (2)
𝑑𝑡

The (1) and (2) are the a and b phase differential equations.
𝑑𝜔
= [−𝐾𝑚 𝑖𝑎 𝑠𝑖𝑛( 𝑁𝑟 𝜃) + 𝐾𝑚 𝑖𝑏 𝑐𝑜𝑠( 𝑁𝑟 𝜃) − 𝐵𝜔 − 𝑇𝐿 + 𝐾𝑑 𝑠𝑖𝑛( 4𝑁𝑟 𝜃)]/𝐽 (3)
𝑑𝑡

𝑑𝜃
=𝜔 (4)
𝑑𝑡

𝑐𝑜𝑠( 𝑁𝑟 𝜃) 𝑠𝑖𝑛( 𝑁𝑟 𝜃)
𝑀=( ) (5)
− 𝑠𝑖𝑛( 𝑁𝑟 𝜃) 𝑐𝑜𝑠( 𝑁𝑟 𝜃)
𝑑𝑖𝑑
= [𝑣𝑑 − 𝑅𝑖𝑎 + 𝑁𝑟 𝜔𝐿𝑖𝑞 )]/𝐿 (6)
𝑑𝑡

𝑑𝑖𝑞
= [𝑣𝑞 − 𝑅𝑖𝑞 + 𝐾𝑚 𝜔 − 𝑁𝑟 𝜔𝑖𝑑 )]/𝐿 (7)
𝑑𝑡

The (6) and (7) are the d-axis and q-axis first-order differential equation currents.
𝑑𝜔
= [𝐾𝑚 𝑖𝑞 − 𝐵𝜔] (8)
𝑑𝑡

𝑑𝜃
=𝜔 (9)
𝑑𝑡

𝑑𝑖𝑎_𝑓𝑏 𝑅 𝐾𝑚 𝑣𝐴+ −𝑣𝐴−

=− 𝑖 + 𝜔𝑓𝑏 𝑠𝑖𝑛( 𝑁𝑟 𝜃𝑓𝑏 ) + (10)
𝑑𝑡 𝐿𝑜 𝑎_𝑓𝑏 𝐿𝑜 𝐿𝑜

𝑑𝑖𝑏_𝑓𝑏 𝑅 𝐾𝑚 𝑣𝐵+−𝑣𝐵−
=− 𝑖 − 𝜔𝑓𝑏 𝑐𝑜𝑠( 𝑁𝑟 𝜃𝑓𝑏 ) + (11)
𝑑𝑡 𝐿𝑜 𝑏_𝑓𝑏 𝐿𝑜 𝐿𝑜

𝑇 = 𝐾𝑚 [−𝑖𝑎_𝑓𝑏 𝑠𝑖𝑛( 𝑁𝑟 𝜃𝑓𝑏 ) + 𝑖𝑏_𝑓𝑏 𝑐𝑜𝑠( 𝑁𝑟 𝜃𝑓𝑏 )] − 𝐾𝑑4 𝑠𝑖𝑛( 4𝑁𝑟 𝜃𝑓𝑏 ) (12)

The (12) represents the torque equation of stepper motor.

Int J Appl Power Eng, Vol. 13, No. 3, September 2024: 695-702
Int J Appl Power Eng ISSN: 2252-8792  697

Figure 1. Stepper motor drive circuit diagram

3. CONTROL SCHEME
Figure 2 shows the closed loop control of stepper motor. The servo system model consists of a
motor with position feedback obtained from an optical encoder. Current control is achieved through a digital
PI current loop with proportional gain (Kp) and integration gain (Ki). An external torque is applied to the
motor shaft for testing. The identified constants, after tuning, include Kd4, Kd2, and Kd1 for torque ripple
reduction, along with phase angles φ2 and φ1, and Fs values for clockwise and anticlockwise motion.
Surprisingly, the first- and second-harmonic torque ripples are more significant than the fourth-harmonic
ripple, despite conventional expectations. Additionally, static friction contributes to damping motor
vibrations.

Figure 2. Closed loop stepper motor control scheme

4. RESULTS AND DISCUSSION

Figure 3 shows the stepper motor simulation diagram. The stepper motor moves in steps, unlike
other machines where the motor rotates. They are not the one that where gives out power but they give
torque. Here we have a torque a force a displacement which gives torque in pulses. It is not a continuous
energy conversion device. An electromechanical device that transforms electrical pulses into distinct
mechanical movements is called a stepper motor. When electrical command pulses are supplied to the stepper
motor in the correct order, the shaft rotates in discrete step increments. Incredibly dependable because the
motor lacks contact brushes. As a result, the motor's life is solely dependent upon the bearing's longevity.
Open-loop control was made possible by the motor's reaction to digital input pulses, which made controlling
it easier and less expensive. The stepper motor simulation parameters are displayed in Table.1.

Arduino based stepper motor speed regulation for robotics applications (Khammampati R. Sreejyothi)
698  ISSN: 2252-8792

Figure 3. Stepper motor MATLAB/Simulink diagram

Table 1. Motor parameters

S.L. Criteria Achievement
1 DC supply 28 V
2 Motor input current 2A
3 Winding inductance 1.4 mH
4 Winding resistance 0.7 Ohm
5 Step angle 1.8

Figure 4 shows the stepper motor input voltage the magnitude of the voltage is 25 volts. This
voltage determines the strength of the magnetic field generated within the coils, which in turn controls the
movement of the motor's rotor. The input wave is a square wave. A square wave is a type of two distinct
voltage levels, typically a high voltage level and a low voltage level. The red color shows the A phase and the
blue color shows the B phase. Figure 5 shows the stepper motor input current wave from the magnitude of
the current is 2.5 Amps. The amount of electric current flowing through the coils of the stepper motor. In this
waveform, the A phase and B phase operate in a complementary manner. One phase is energized with
current, and the other phase is de-energized. When one phase is energized, the current rises to the specified
magnitude, and when the phase is de-energized, the current drops back down.

Figure 4. Stepper motor stator voltage waveforms

Figure 5. Stepper motor stator current waveforms

Int J Appl Power Eng, Vol. 13, No. 3, September 2024: 695-702
Int J Appl Power Eng ISSN: 2252-8792  699

Figure 6 shows the stepper motor input torque waveform the torque waveform looks like a
chattering. "Chattering" describes irregular torque behavior in a stepper motor due to resonance, low torque,
missed steps, noise, and incorrect current or mechanical issues. Figure 7 shows that we compared all the
input motor voltage, current, torque, and speed. Speed and torque look like an inverse proportion in this
waveform. Figure 7(a) shows the input voltage and the magnitude of voltage is 25 volts. The input waveform
is a square wave.in Figure 7(b) current is 0 to 1 sec. The current is steady state after 1 sec the current is
dynamic state. The waveform takes time 2 cycles for stability. The Figure 7(c) shows the torque wave form.
In Figure 7(d) the speed waveform increases from 0 to 6000. Time taken for the increase is 0.005 sec.

Figure 6. Stepper motor torque waveform

(a) (b)

(c) (d)

Figure 7. Stepper motor waveforms (a) source voltage, (b) source current, (c) torque, and (d) speed

Figure 8 shows the stepper motor design in tinker cad. The major components in this diagram are
the motor, battery, and IC ULN2004A. The Arduino is used for generating pulses for the stepper motor. The
battery gives a supply to the motor. The resister controls the current. Figure 9 This hardware implementation
of the stepper motor. In this hardware Arduino Uno board 5 k ohm stepper motor: the primary actuator that
converts electrical pulses into rotational movement. It has coils or phases that need specific signals to move.
Battery: provides the power supply to the motor. Ensure it's suitable for the motor's voltage and current
requirements. IC ULN2004A: A motor driver IC that acts as a buffer between the Arduino and the motor
coils. It amplifies the signals and handles the higher current requirements. The Arduino is to generated pulses
that control the stepper motor's movement. It sends step and direction signals to the ULN2004A. The resister
Arduino based stepper motor speed regulation for robotics applications (Khammampati R. Sreejyothi)
700  ISSN: 2252-8792

might be used to control the current flowing through the motor coils. It helps prevent excessive current that
could damage the motor. The widely used and adaptable Arduino platform is ideal for managing stepper
motors. Numerous applications, such as robotics, CNC machines, 3D printers, and others frequently use
stepper motors.

Figure 8. Stepper motor interfacing diagram

Figure 9. Stepper motor hardware diagram

5. CONCLUSION
This paper presented speed control of stepper motor using Arduino. There are many special purpose
motors are available in market, like brush less dc motor, switched reluctance motor and servo motor.
Comparing to all this special purpose motors stepper motor has special features, this is highly reliable and
there no contact brushes in motor. This paper stepper motor simulation results are verified in
MATLAB/Simulink. The verified results are speed, torque, and current. The steady-state simulation results
are shown in results section.

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BIOGRAPHIES OF AUTHORS

Khammampati R. Sreejyothi is an Assistant Professor of Electrical and

Electronics Engineering at Teegala Krishna Reddy engineering College located at Hyderabad.
She pursuing her Ph.D. at Karunya Institute of Technology and Sciences located at
Coimbatore, Tamil Nadu. Completed her M.Tech. in Dr. Paul Raj Engineering College located
at Bhadrachalam, Khammam dist in 2013.Completed her B.Tech. in SAI Spurthi Institute of
Technology located at Sathupally, Khammam dist in 2009. Her research interest includes
power systems, power electronics. She can be contacted at email: [email protected].

Arduino based stepper motor speed regulation for robotics applications (Khammampati R. Sreejyothi)
702  ISSN: 2252-8792

Kalagotlam Chenchireddy is received the B.Tech. and M.Tech. from JNTU

Hyderabad, Hyderabad, India, in 2011 and 2013 respectively and completed Ph.D. in Karunya
Institute of Technology and Sciences, Karunyanagar, Coimbatore, Tamil Nadu, India. He is
working presently as Assistant Professor in Geethanjali College of Engineering and
Technology, Hyderabad, India, in 2024. He has presented technical papers in various National
and International Conferences. His area of interest includes power electronics,
power quality; multilevel inverters. He is a regular reviewer of ISA Transactions, Cybernetics
and Systems SCIE journals, IJPEDS and IJAPE. He can be contacted at email:
[email protected].

Abbagoni Srujana is presently UG Student in Electrical and Electronics

Engineering, at Teegala Krishna Reddy Engineering College, Hyderabad, India. She has
presented technical papers at various National and International Conferences. His area of
interest includes power electronics, power quality; multilevel inverters. She developed a single-
phase inverter in Teegala Krishna Reddy Engineering College, Hyderabad. She can be
contacted by email: [email protected].

Dharavath Nagaraju he is presently UG Student in Electrical and Electronics

Engineering Department, Teegala Krishna Reddy Engineering College, Hyderabad, India. He
has presented technical papers in various National and International Journals and Conferences.
His area of interest includes power electronics, power quality, multilevel inverters. He got first
Prize national level project expo 2023 in VJIT college Hyderabad. He can be contacted at
email: [email protected].

Golluri Ramcharan he is presently UG Student in Electrical and Electronics

Engineering Department, Teegala Krishna Reddy Engineering College, Hyderabad, India. He
has presented technical papers in various National and International Journals and Conferences.
His area of interest includes power electronics, power quality, multilevel inverters. He got first
Prize national level project expo 2022 in NNRG college Hyderabad. He can be contacted at
email: [email protected].

Dhunnapothula Raghu he is presently UG Student in Electrical and Electronics

Engineering Department, Teegala Krishna Reddy Engineering College, Hyderabad, India. He
has presented technical papers in various National and International Journals and Conferences.
His area of interest includes power electronics, power quality, multilevel inverters. He got first
Prize national level project expo 2023 in Gitanjali Engineering college Hyderabad. He can be
contacted at email: [email protected].

Int J Appl Power Eng, Vol. 13, No. 3, September 2024: 695-702