Novel Modeling and Damping Technique for Hybrid Stepper Motor
Tsui, K.W.-H.
Cheung, N.C.
Yuen, K.C.-W.
ASM Assembly Autom. Ltd., Hong Kong;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Jan. 2009
Volume: 56,
Issue: 1
On page(s): 202-211
ISSN: 0278-0046
INSPEC Accession Number: 10390679
Digital Object Identifier: 10.1109/TIE.2008.2008791
First Published: 2008-11-07
Current Version Published: 2008-12-30
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 1.8deg 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 low-speed resonance and vibration of the stepper system. The algorithms are efficient enough to be implemented on commercial DSP-based controllers without sacrificing motion control performance.
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