Current zero-crossing method

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Table of contents

1 Introduction 
1.1 Background
1.1.1 Automating diagnosis
1.1.2 Motivation
1.2 Purpose and Goals
1.3 Tasks and Scope
1.4 Related Work
1.4.1 Stall detection methods in patents
1.4.2 Load angle estimation in practice
1.4.3 Ystruder
1.5 Outline
2 Technical Background and Theory 
2.1 Linear Stages
2.1.1 Sensorless homing
2.1.2 Trinamic StallGuard
2.2 Stepper Motor
2.2.1 Operating principle
2.2.2 Micro-stepping
2.3 Load Angle
2.3.1 Use-cases
2.4 Sensorless Load-Angle Estimation From BEMF
2.4.1 Current zero-crossing method
2.4.2 SDFT method
3 Method and Implementation 
3.1 System Overview
3.2 Hardware
3.2.1 Stepper motor
3.2.2 Stepper drivers
3.2.3 Linear stages
3.2.4 Raspberry Pi
3.3 Software and Development Tools
3.3.1 Raspberry Pi OS
3.3.2 Python
3.4 Stepper Motor Control
3.4.1 Daisy chaining SPI
3.4.2 Accessing driver registers over SPI
3.5 Tuning StallGuard
3.5.1 SGT tuning background
3.5.2 Implementing automatic SGT tuning
3.6 Sensorless Homing
3.6.1 Selecting velocity and current
3.6.2 Relevance of mechanical construction
3.7 BEMF Measurements
3.7.1 Measuring current
3.7.2 Theoretical BEMF during current zero-crossing
3.7.3 Practical measurements of BEMF during current zero-crossing
3.8 Graphical Application
3.8.1 Program structure
3.8.2 Scaling to multiple drivers
3.8.3 Driver event system for GUI reconfiguration
3.8.4 Cancellable calibration routines
4 Results and Discussion 
4.1 Prototype
4.2 Homing Precision
4.3 Automatic Tuning of SGT
4.3.1 Effect of velocity
4.3.2 Effect of current
4.3.3 Effect of supply voltage
4.4 BEMF Measurements
4.4.1 Correlating BEMF and StallGuard result
4.5 Graphical Application
5 Conclusions and Future Work 
5.1 Conclusions
5.2 Future Work
5.2.1 Load detection using microcontroller with ADC
5.2.2 Applying controllable and measurable load
5.2.3 Finding area of motion and path finding
References 
Appendix A Physical test setup