I am designing a pan-tilt system. For pan system, we required overall tracking accuracy of 0.1° for given speed profile below. (Max tracking rate: 2 degree/sec, max acceleration: 0.15°/sec² and max torque is 0.0045 Nm.)
Initially I tried with stepper motor with 30:1 gear ratio in close loop PID control with external optical encoder (10000 ppr), but this did not work. The motion was not smooth at all and error were sometimes large, as shown below
Also PID is not recommended for stepper motorsforum discussion link So now I am looking for alternatives. I was looking into servo or DC motor with external encoder but I am not sure whether I will get accuracy and smooth movement or not.
- What are the other options do I have?
- What approach should I adapt now?
- Will PID be enough for this application?
[OLD QUESTION] My tracking application required an accuracy of better than 0.1 deg for low speed operation (2 deg/sec) and peak torque around 0.00 4Nm. Range of rotation is 0 to 360 deg. Can anyone suggest the kind of motor and motor drivers should I use?