Model predictive control of sensorless hybrid stepper motors in auxiliary adjuster for stereotactic frame fixation. (November 2017)

• Record Type: Journal Article
• Authors: Daouda, Mande; Lin, Chun-Liang; Lee, Chia-Sung; Yang, Chi-Ching; Chen, Chi-An
• Is Part Of: Mechatronics. Volume 47(2017)
• Page Start: 160
• Page End: 167
• Publication Date: 2017-11
• Subjects: Hybrid stepper motor (HSM) -- Model predictive control (MPC) -- Extended Kalman filter (EKF) -- Auxiliary adjuster for stereotactic frame fixation; 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.2017.10.001
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: A hybrid stepper motor (HSM) can be practically driven by open-loop control, however, it is definitely not enough for the increasing demands on precision control in wide industry applications. In this study, a practical control scheme, consisting of model predictive control (MPC) and extended Kalman filter (EKF), is presented for controlling a sensorless hybrid stepper motor (HSM). Numerical simulations and real-world experiments are conducted to show the performance and effectiveness of the proposed strategy. To extend the practical usage of the presented design, the proposed strategy has been utilized to control an auxiliary adjuster for stereotactic frame fixation system for use in the precise clinical neurosurgery operation.