6.

0 Theory
Open-loop Control System.

It is a conventional system (manual) that controls the stepper motor by a pulse sequence with
definite time interval, feedback to the sensor and the corresponding electronic circuit in the
control system. The circuit is relatively simple and with very few automatic control or
feedback features built in to regulate the process variable so as to maintain the desired output
level or value. The block diagram of the open loop system of stepper motor is illustrated in
figure below.

Figure 1: Main control of basic stepper block diagram.

Open-loop control involves operating a motor without benefit of positional sensing or

feedback. In most applications, this is the desired method of control, due to the simplicity of
[1]
drive electronics and hence lower cost. It is a type of continuous control system in which
the output has no influence or effect on the control action of the input signal. In other words,
in an open-loop control system the output is neither measured nor feedback for comparison
with the input. Therefore, an open-loop system is expected to faithfully follow its input
[2]
command or set point regardless of the final result. The block diagram od stepper position
control is shown as below.

Figure 2: Block diagram of stepper position control.

The block diagram of an open-loop system shows that the signal path from input to output
represents a linear path with no feedback loop and for any type of control system the input is
given the designation θi and the output θo where can be explained in block diagram.

Figure 3: Simple block diagram to explained the open loop system performance.

Further calculation to support the theory of open-loop system can be shown in transfer
function concept of the control system where;

The Transfer Function of each block is therefore: [2]

θ1 2 θo
G 1= , G 2= , G 3=
θi θ1 θ2

The overall transfer function is given as:

θ 1 θ2 θo θo
G 1 x G 2 x G 3= x x =
θ i θ1 θ2 θ i

Then the Open-loop Gain is given simply as:

θ o ( s)
Gain , ( G )=
θi (s )

And when G represents the transfer function of the system or subsystem, it can be rewritten
as:

θo (s)
G ( s )=
θi ( s)

However, the open-loop control of the stepper motor cannot avoid the disadvantages of the
stepper motor itself, that is, resonance, oscillation, step loss and difficult to achieve high
speed. On the other hand, it is difficult for the accuracy of open-loop control stepper motor
[3]
system to be higher than the classification and its positioning accuracy is low. Open - loop
stepping techniques have several shortcomings including; large overshoot, oscillatory
response, large settling time, accuracy and reliability, difficult to remove disturbance
[1]
(vibration), and motor give response to every phase change. This is where the closed-loop
is being a second option in the stepper motor application. The closed-loop control of stepper
motor can determine the phase transition with the rotor position by using position feedback
[3]
and/or speed feedback, which can greatly improve the performance of stepper motor. In
some instances, torque required by the driven system exceeds pull-in or pull-out torque
generated by the motor. In these cases, positional steps may be lost, thereby degrading
positional accuracy. The only way to guarantee accurate positioning is with a closed-loop
system, however, any discussion of closed-loop control should include the open-loop
dynamics for comparison. [2]
11.0 References
[1] Journals
Pratiksha N. Balai and Jimit A. Talati, “Open Loop Motion Control of Stepper Motor
for Video Surveillance System”, International Journal of Novel Research in Electrical and
Mechanical Engineering
Vol. 2, Issue 1, pp: (41-46), Month: January - April 2015, Available at:
www.noveltyjournals.com, ISSN 2394-9678
[2] Website [Online]
Electronics Tutorials, “Open Loop System”. Retrieved from https://www.electronics-
tutorials.ws/systems/open-loop-system.html [Accessed: 03/05/2019]

[3] Website [Online]

Automation Technologies Online, ATO, “Open-loop vs. Closed-loop Stepper Motor”,
published on Thursday, Nov 30 by ATO.com. Retrieved from https://www.ato.com/open-
loop-vs-closed-loop-stepper-motor [Accessed: 03/05/2019]