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Kim, Wonhee,Lee, Youngwoo,Shin, Donghoon,Chung, Chung Choo The Korean Institute of Electrical Engineers 2017 Journal of Electrical Engineering & Technology Vol.12 No.5
This paper presents a compensative microstepping based position control with passive nonlinear adaptive observer for permanent magnet stepper motor. Due to the resistance uncertainties, a position error exists in the steady-state, and a ripple of position error appears during operation. The compensative microstepping is proposed to remedy this problem. The nonlinear controller guarantees the desired currents. The passive nonlinear adaptive observer is designed to estimate the phase resistances and the velocity. The closed-loop stability is proven using input to state stability. Simulation results show that the position error in the steady-state is removed by the proposed method if the persistent excitation conditions are satisfied. Furthermore, the position ripple is reduced, and the Lissajou curve of the phase currents is a circle.
김원희,이영우,신동훈,정정주 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.5
This paper presents a compensative microstepping based position control with passive nonlinear adaptive observer for permanent magnet stepper motor. Due to the resistance uncertainties, a position error exists in the steady-state, and a ripple of position error appears during operation. The compensative microstepping is proposed to remedy this problem. The nonlinear controller guarantees the desired currents. The passive nonlinear adaptive observer is designed to estimate the phase resistances and the velocity. The closed-loop stability is proven using input to state stability. Simulation results show that the position error in the steady-state is removed by the proposed method if the persistent excitation conditions are satisfied. Furthermore, the position ripple is reduced, and the Lissajou curve of the phase currents is a circle.
Wonhee Kim,Youngwoo Lee,Donghoon Shin,Chung Choo Chung 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.5
This paper presents a compensative microstepping based position control with passive nonlinear adaptive observer for permanent magnet stepper motor. Due to the resistance uncertainties, a position error exists in the steady-state, and a ripple of position error appears during operation. The compensative microstepping is proposed to remedy this problem. The nonlinear controller guarantees the desired currents. The passive nonlinear adaptive observer is designed to estimate the phase resistances and the velocity. The closed-loop stability is proven using input to state stability. Simulation results show that the position error in the steady-state is removed by the proposed method if the persistent excitation conditions are satisfied. Furthermore, the position ripple is reduced, and the Lissajou curve of the phase currents is a circle.
Microstepping with PI Feedback and Feedforward for Permanent Magnet Stepper Motors
Wonhee Kim,Induk Choi,Chung Choo Chung 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, the stability of microstepping is investigated via Lyapunov method. Microstepping with proportional integral (PI) feedback and feedforward is proposed for the position tracking of a Permanent Magnet (PM) stepper motor. Given static inputs to the two phase PM stepper motor, it is proven that the stability of equilibrium points is guaranteed by LaSalle’s theorem. For position tracking, the relationships between the voltage input and current output of each phase for the position tracking are derived. From the relationships, microstepping with PI feedback and feedforward is developed for the position tracking. Experimental result shows that the position tracking performance of the proposed controller is improved compared to conventional microstepping.
Wonhee Kim,Jongpyo Han,Induk Choi,Chung Choo Chung 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, iterative learning control (ILC) with field oriented control is proposed to reject periodic velocity ripple which are casually detent torque and other various sources in permanent magnet stepper motor(PMSM). Singleinput single-output (SISO) system structure with field-oriented control (FOC) is proposed to be applied to ILC. To make the error convergence fast, current error based ILC using plant inversion method is designed. The condition that error converges to zero is derived. Simulation results show that the velocity ripple is cut in by using ILC.
Simple Field Weakening Control for Permanent Magnet Stepper Motors without DQ Transformation
Youngwoo Lee,Wonhee Kim,Donghoon Shin,Chung Choo Chung 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, a simple field weakening control (FWC) without direct quadrature (DQ) transformation is proposed for position tracking of permanent magnet stepper motors (PMSMs). The proposed method consists of the PID controller for a torque modulation and a commutation scheme to achieve FWC without DQ transformation. In proposed commutation scheme, the desired negative direct current is designed to cancel the back-emf so that the required inputs can decreased. The commutation scheme is equivalent to microstepping where currents have time-varying amplitude over 0.5π electrical phase advance. For simple implementation, proportional integral (PI) current feedback was used to guarantee the desired current. Simulation results validate the performance of the proposed method.
Seungchul Shin,Donghoon Shin,Youngwoo Lee,Chung Choo Chung 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, we propose sliding mode control (SMC) based on singular perturbation theory (SPT) for position tracking of permanentmagnet stepper motors (PMSMs). Separate time scale is a characteristic of the singular perturbation method. Therefore, singular perturbation theory can be applied to the position tracking control of PMSMs because the dynamics of PMSMs is separated into slow and fast dynamics. The proposed method consists of torque modulation, commutation scheme, and SMC. Torque modulation was developed to generate the desire currents. For position control, the SMC was proposed only position feedbackwithout any other observer. The simulation results validate the performance of the proposed method.