Two-Phase Hybrid Stepping Motor Composite Control Strategy Based on New Anti-disturbance Sliding Mode and Model Predictive Control

Aiming at the low-speed two-phase hybrid stepping motor (HSM) with speed fluctuation, poor anti-disturbance ability, and large torque ripple, This paper proposes a composite control strategy based on a new anti-disturbance sliding mode control and model prediction control, called NSMC+DOB+MPC strategy in this paper. Firstly, the disturbances existing in the motor system are analyzed, and then the new sliding mode speed controller based on the disturbances and disturbance observer(DOB) are designed, and the model predictive control is used for the current loop. Compared with the three control strategies of SMC+PI, SMC+MPC, NSMC+DOB+PI, the composite control strategy proposed in this paper can effectively suppress the torque ripple and disturbance and reduce the speed fluctuation, thus making the low-speed stepping motor run smoothly. Finally, the feasibility of the scheme is verified by simulation.