An advanced controller for hybrid stepper motor with novel damping technique

Abstract

It is well known that commercial hybrid stepper system has one or more low speed resonant points. Traditionally, this characteristic is modeled with high order equations and the motor parameters are measured by complicated technique. In this thesis, an efficient modeling approach is proposed which is sufficient to explain the multiple resonances of a commercial 1.8o hybrid stepper motor. Based on the proposed motor model, feed forward damping algorithms are proposed for both open loop and servo control. Simulation and experimental results show that the proposed algorithms can effectively eliminate the low speed resonances of the stepper motor. The algorithms are efficient enough to be implemented on commercial digital signal processor based controller without sacrificing its motion control performance.