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Disturbance Observer-based Nonlinear State Feedback Control for Microstepping Mode of Stepper Motors | IEEE Conference Publication | IEEE Xplore

Disturbance Observer-based Nonlinear State Feedback Control for Microstepping Mode of Stepper Motors


Abstract:

This paper proposes a nonlinear state feedback control for stepper motors driven by microstepping mode. The amplitude and phase of an input current, which flows into the ...Show More

Abstract:

This paper proposes a nonlinear state feedback control for stepper motors driven by microstepping mode. The amplitude and phase of an input current, which flows into the coils of the motor, are calculated by the feedback controller such that the output rotational angle and angular velocity of the motor tracking given target values. The phase of the current is used to linearize the system and the amplitude is used to stabilize the closed-loop system. An unknown load torque of the motor is considered as a disturbance and is estimated by using a disturbance observer. The states of the motor and the load torque estimated from the observer are, then, used in the state feedback control. Simulation results show that the angle and the angular velocity can be controlled to track the target values accurately, even with the varying load torque.
Date of Conference: 06-09 September 2022
Date Added to IEEE Xplore: 06 October 2022
ISBN Information:
Conference Location: Kumamoto, Japan

References

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