Journal
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
Volume 67, Issue 10, Pages 3533-3540Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSI.2020.2988044
Keywords
Stepper motor; position regulation; auto-tuner; disturbance observer; performance recovery
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Funding
- National Research Foundation of Korea (NRF) through the Basic Science Research Program - Ministry of Education [2018R1A6A1A03026005]
- NRF - Korean Government (Ministry of Science and ICT) [NRF-2020R1A2C1005449]
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This study addresses the position-tracking problem for hybrid-type stepper motors in the rotational d-q coordinate system. The proposed controller aims to govern position behavior with the desired low-pass filter from the reference (input) to the position (output). A perturbed form of machine dynamics is adopted to handle both parameter variations and load uncertainties and the control law has two main advantages. First, the real-time auto-tuner increases the closed-loop cutoff frequency during transient periods and restores it to its nominal value as it approaches the steady state. Second, disturbance observers improve the closed-loop robustness against high-frequency disturbances and ensure the offset-free property without additional integral actions. The experimental results validate the practical advantages from the proposed controller with a 10-W prototype stepper motor control system.
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