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Current sensorless position-tracking control with angular acceleration error observers for hybrid-type stepping

Seok-Kyoon Kim1, Kwan Soo Kim2, Dong Kyu Lee2

  • 1Department of Creative Convergence Engineering, Hanbat National University, Daejeon, 341-58, Korea.

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Summary

This study introduces an advanced controller for hybrid stepping motors, enhancing position tracking despite uncertainties. It features a novel sensorless speed controller and a boosted convergence rate for improved performance.

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Electrical Engineering

Background:

  • Stepping motors are crucial actuators in various applications.
  • Parameter and load uncertainties pose significant challenges in precise motor control.
  • Existing control strategies often struggle with sensorless operation and robust tracking.

Purpose of the Study:

  • To develop an advanced observer-based position-tracking controller for hybrid-type stepping motors.
  • To address parameter and load uncertainties in the control system.
  • To design a current sensorless observer-based speed controller with enhanced tracking capabilities.

Main Methods:

  • Devised a current sensorless observer-based pole-zero cancellation speed controller for the outer loop.
  • Implemented a pole-zero cancellation angular acceleration error observer for the inner loop speed controller.
  • Incorporated a first-order target tracking system with a convergence rate booster for outer loop position control.

Main Results:

  • Successfully demonstrated a robust position-tracking controller for hybrid stepping motors.
  • Achieved precise speed control using a sensorless observer and pole-zero cancellation.
  • Verified the controller's effectiveness on a 10-W stepping motor system.

Conclusions:

  • The proposed observer-based controller effectively manages parameter and load uncertainties in stepping motors.
  • The integration of sensorless speed control and pole-zero cancellation enhances tracking performance.
  • The controller offers a viable solution for high-precision stepping motor applications.