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Novel Modeling and Damping Techniques for Hybrid Stepper Motor
Abstract
It is well known that commercial hybrid stepper system has one or more low-speed resonant points. However, this characteristic cannot be accurately modeled without high-order equations or complicated measurement of motor parameters. In this paper, a novel approach is proposed to model the behavior of a commercial 1.8◦ hybrid stepper motor accurately and efficiently. Also, model-based damping algorithms for both open-loop control and servo control are proposed. Simulation and experimental results show that the proposed algorithms can effectively eliminate lowspeed resonance and vibration of the stepper system. The algorithms are efficient enough to be implemented on commercial DSP-basedcontrollers without sacrificing motion control performance.
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References
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