Novel Modeling and Damping Technique for Hybrid Stepper Motor

Kenneth Wang Hay Tsui, Kadett Chi Wah Yuen, Chow Norbert Cheung

Research output: Journal article publicationJournal articleAcademic researchpeer-review

64 Citations (Scopus)


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 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.
Original languageEnglish
Pages (from-to)202-211
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number1
Publication statusPublished - 1 Jan 2009


  • Damping
  • modeling
  • resonances
  • Stepper motors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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