Experimental Results of Parameter Identification and Nonlinear Control on a PM Stepper Motor
- 122 Downloads
This paper discusses the application of modern nonlinear control theory to the fast and accurate positioning of permanent magnet (PM) stepping motors. The mathematical model of a PM stepper motor is given and a control algorithm based on the recently developed feedback linearization approach which uses only position measurements form an optical encoder is described. Furthermore, a least squares parameter identification algorithm to determine the resistance, inductance, torquelback-emf constant, moment of inertia and viscous friction coefficient of the motor are presented.
The identification and control algorithms are implemented on an experimental set-up consisting of the Motorola DSP56001ADS Digital Signal Processing System, a personal computer, two PWM amplifiers, and a PM stepper motor. The results of the identification and control algoritms are presented.
KeywordsStepper Motor Optical Encoder Switch Reluctance Motor Exact Linearization Digital Signal Processing System
Unable to display preview. Download preview PDF.
- M. Aiello, M. Bodson, J. Chiasson, R. Rekowski and D. Schuerer, “Experimental Results of a Nonlinear Controller Applied to the Positioning of a Permanent Magnet Stepper Motor” 1990 Symposium on Incremental Motion Control, Systems & Devices, June 12–14, San Jose, California.Google Scholar
- Ilic-Spong, M., R. Marino, S.M. Peresada and D.G. Taylor, “Feedback Linearizing Control of Switched Reluctance Motors,” IEEE Trans, on Autom.Control, Vol. AC-32,No. 5, May 1987.Google Scholar
- Kenjo, T. Stepping Motors and Their Microprocessor Controls, Clarendon Press, Oxford, 1984.Google Scholar
- Kuo, B.C. and J. Tal, Incremental Motion Control, Step Motors and Control Systems, Vol. II, SRL Publishing, Champaign, IL, 1978.Google Scholar
- White, G. “Open-loop Step Motor Controls for Print-Wheel Drives,” in Proc. 9th Annual Symposium on Incremental Motion Control Systems and Devices, B.C. Kuo, Editor, June 1980.Google Scholar
- Acarnley, P.P., Stepping Motors: A Guide to Modern Theory and Practice, P. Peregrinus, Ltd., Stevenage, UK, 1982.Google Scholar
- Zribi, M., Control of a PM Stepper Motor Using Modern Nonlinear Control Techniques, M.S. Thesis, Purdue University, 1987.Google Scholar
- Zribi, M. and J. Chiasson, “Control of a PM Stepper Motor by Exact Linearization,” to be published in the IEEE Transactions Automatic Control, Feb. 1991.Google Scholar
- Bodson, M., and J. Chiasson, “Application of Nonlinear Control Methods to the Positioning of a Permanent Magnet Stepper Motor” Proceedings of 24th CDC, Austin, TX, Dec. 1989.Google Scholar
- Su, R., G. Meyer and L.R. Hunt, “Design of Multi-input Nonlinear Systems,” in Differential Geometric Control Theory, R.W. Brochett, R.S. Millman and H.J. Sussman, Editors, Birkhauser, Boston, MA, pp. 268–298, 1983.Google Scholar
- Hsu, P., M. Bodson, S. Sastry, and B. Paden, “Adaptive Identification and Control of Manipulators without using Joint Accelerations”, Proc. of the IEEE Conference on Robotics and Automation, Raleigh, NC, pp. 1210–1215, 1987.Google Scholar
- Taylor, D.G., M.J. Woolley, and M. Ilic, “Design and Implementation of a Linearizing and Decoupling Feedback Transformation for Switched Reluctance Motors”, Proceedings 17th Symposium on Incremental Motion Control Systems and Devices, Champaign, Illinois, June 1988.Google Scholar
- Brown, R.H., Y. Zhu and X. Feng, A new relaxation Algorithm for the Time Optimal Control Problems of Hybrid Step Motors”, Proceedings 28th CDC Tampa, FL, Dec. 1989.Google Scholar