Sensorless load angle control for two-phase hybrid stepper motors. (May 2017)

• Record Type: Journal Article
• Authors: Derammelaere, Stijn; Vervisch, Bram; De Viaene, Jasper; Stockman, Kurt
• Is Part Of: Mechatronics. Volume 43(2017)
• Page Start: 6
• Page End: 17
• Publication Date: 2017-05
• Subjects: Motion control -- Stepping motor -- Sensorless control -- Fractional horsepower machines -- Stepper motors -- Load angle; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2017.02.003
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: The widely used full-step open-loop stepping motor drive algorithms are characterised by a low torque/power ratio, large torque ripple and resonance problems. In order to use stepping motors in more demanding applications, closed-loop control is needed. In this paper, a previously described load angle estimation algorithm, solely based on voltage and current measurements, is used to provide the necessary feedback without using a mechanical position sensor. This paper introduces a novel closed-loop load angle controller which optimises the current level based on the estimated load angle. This approach is challenging as the current - load angle dynamics are highly nonlinear. However, in this research a linear model is proposed and used to tune a PI load angle controller. The controller reduces the current level to obtain the optimal load angle but does not change the way stepping-motor are driven by step command pulses. This results in a broad industrial employability of these algorithms. The proposed sensorless controller is validated trough both simulations and measurements.