Simulating stepper motors?

[Dan Royer (Marginally Clever Robots)]

I believe it would be straightforward to simulate a DC electric motor - roughly... apply current, get torque.  But what about stepper motors?  They have a holding torque and a fixed number of steps and a different torque when they are in motion... I can't work it out.  Any advice?

I plan to apply this to my robot arm simulations for dynamics.  Since they all use stepper motors I need to simulate them first, then I can make the whole robot work.

Attached is my latest, a quadruped simulated with hinges. I'm playing around with neural networks, trying to teach it to stand up.  https://imgur.com/gallery/quadruped-eBi2Q5j

[Samie Bee]

Hi Dan,

I would approach this problem by looking at some existing simulations that were built outside of this library, such as this one:

https://www.mathworks.com/help/sps/ug/stepper-motor-with-control.html

or this one:

https://mdpi-res.com/d_attachment/energies/energies-15-06159/article_deploy/energies-15-06159.pdf?version=1661390699

It may also help to familiarize yourself with the mechanics of stepper motors if you haven't already:

https://howtomechatronics.com/how-it-works/electrical-engineering/stepper-motor/

https://en.wikipedia.org/wiki/Stepper_motor

I think the idea is to calculate the magnetic force based on the position of the poles and use that to apply the torque in engine.

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