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 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 language | English |
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Pages (from-to) | 202-211 |
Number of pages | 10 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 56 |
Issue number | 1 |
DOIs | |
Publication status | Published - 1 Jan 2009 |
Keywords
- Damping
- modeling
- resonances
- Stepper motors
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering