Voltage Control of PM Stepper Motors Using Position Measurement Only
In this chapter, we address the problem of designing a robust adaptive controller for voltage-fed PM stepper motors. A similar treatment can also be carried out for Sawyer motors. Only rotor position measurement is used for feedback (i.e., velocity and current states are not available for feedback purposes). In Sect. 10.1, a controller design is given to achieve global stability with practical stabilization of the tracking error, assuming that the time constant of the electrical subsystem is known . No knowledge of the other motor parameters is required. In Sect. 10.2, the requirement of exact knowledge of the electrical time constant is relaxed by assuming knowledge of upper and lower bounds on the electromechanical parameters of the motor . No result to date is available to achieve global asymptotic stabilization or tracking when only position measurement is utilized and motor parameters are assumed to be completely unknown.
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