Published Paper Details:

This paper presents the modeling, simulation, and hardware implementation of a closed-loop speed control system for a two-phase hybrid stepper motor using an Arduino microcontroller. Stepper motors are widely used in robotics and automation systems due to their precise position control and high holding torque. However, open-loop operation may result in torque ripple, resonance, and step loss under varying load conditions. To overcome these limitations, a closed-loop control strategy is developed and evaluated. A mathematical model of the motor is implemented in MATLAB/Simulink to study voltage, current, speed, and torque characteristics under different operating conditions. The proposed control method improves dynamic performance and ensures stable operation across a broad speed range. Simulation results are validated through experimental hardware implementation using an Arduino Uno and driver interface circuitry. The results demonstrate improved speed regulation, reduced torque fluctuation, and reliable performance suitable for robotics applications.