Open Access Open Access  Restricted Access Subscription or Fee Access

Literature Review on Microstepping Control for Permanent Magnet Stepper Motor


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/ireaco.v7i1.1284

Abstract


The operation of permanent magnet (PM) stepper motor in microstepping mode requires precise rotor position tracking. The position of the rotor provides information on angular rotation and speed. This is used to estimate the step positional error, positional accuracy, current ripple and power loss at different switching frequencies. Numerous techniques have been developed to track the rotor position and determine the positional error to improve the dynamic performance of the stepper motor. The literature review begins by investigating the assumptions in the development of the mathematical model of the PM stepper motor. The need for microstepping control of the PM stepper motor is presented. The explanation regarding the operation of the PM stepper motor in open loop with microstepping control using current feedback and closed loop with current and/or position feedback are conversed. In addition, the review is extended to the use of observers for estimating the rotor position in closed loop. A detailed examination on the diverse approaches for improving the performance of the PM stepper motor using microstepping control is provided.
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords


Instability; Microstepping; PM Stepper Motor; Position Tracking; Steady-State Position Error

Full Text:

PDF


References


P.P Acarnley, Stepping Motors: A Guide to Modern Theory and Practice (Peter Peregrinus Ltd.,1982).

Permanent Magnet Handbook (Hitachi Magnets Corp. Edmore, Michigan, USA).

Technical Guidance Manual (TDK Magnets).

V. V. Athani, Stepper Motors: Fundamentals Applications and Design

T.R. Fredrikren, Microstepping –A New Concept for Rotary Step Motors, Proc.4th Annual Symp. on IMCSD, 1975, pp. HH1-HH6.

B.C Kuo, Theory and Applications of the Step Motors (New York West Publishing Co., 1974).

Microstepping http://machinedesign.com/BasicsOfDesignEngine eringItem/714/65789/Microstepping.aspx.

G.Baluta, Microstepping mode for stepper motor control, IEEE Int. Symp. Signals, Circuits and Syst., vol. 2, November 1988, pp. 1-4.

M. F. Rahman and A. N. Poo, An Application oriented test procedure for designing microstepping step motor controllers, IEEE Trans. Ind. Electron., vol. 35, no. 4, November 1988.

Muhammed F Rahman , A.N.Poo, and S.Chang, Approaches to design of ministepping step motor controllers and their accuracy considerations, IEEE Trans. Ind. Electron., vol. 32, no. 3, August 1985, pp. 229-253.

W. Kim, I. Choi, K. Bae, and C. C. Chung, A Lyapunov method in microstepping control for permanent magnet stepper motors, in Proc. IEEE Int. Conf. on Mechatron., April 2009, pp. 1–5.

M. Bodson, J. S. Sato, and S. R. Silver, Spontaneous speed reversals in stepper motors, IEEE Trans. Control Syst. Technol., vol. 14, no. 2, March 2006, pp. 369-273.

A. Bellini, C. Concari, G. Franceschini, and A. Toscani, Mixed-mode PWM for high performance stepping motors, IEEE Trans. Ind. Electron., vol. 54, no. 6, December 2007, pp. 3167–3177.

W. Kim, I. Choi, and C. C. Chung, Microstepping with PI feedback and feedforward for permanent magnet stepper motors, in Proc. ICCAS-SICE, August 2009, pp. 603–607.

Ali Selk Ghafari and Mehdi Behzad , Investigations of the micro-step control positioning system performance affected by random input signals, Mechatronics Journal., vol. 15, no. 10, December 2005, pp. 1159-1320.

W.Kim and C.C.Chung, Novel position method for permanent magnet stepper motors using only current feedback, IEEE Trans. Magnetics, vol. 47, no. 10, October 2011, pp. 3590-3593.

D.Shin, W.Kim, Y.Lee and C.C.Chung, Phase compensated microstepping for permanent-magnet stepper motor, IEEE Trans. Ind. Electron., vol. 60, no. 12, December 2013, pp. 5773–5780.

Y.Lee, D.Shin, W.Kim, C.C.Chung, Nonlinear position control with feedforward low pass filters in permanent magnet stepper motors, SICE Annual Conference, 2012, pp. 1308-1312.

W.Kim, I.Choi, and C.C.Chung, Lyapunov-based control in microstepping with a nonlinear observer for permanent magnet stepper motor, in Proc. Amer. Contr. Conf., 2010, pp. 4313-4318.

W.Kim, D.Shin, and C.C.Chung, Adaptive observer-based nonlinear control in microstepping for permanent magnet stepper motor, IEEE Conf. Decision Control, April 2010, pp. 4594-4599.

M. Zribi and J. N. Chiasson, Position control of a PM stepper motor by exact linearization, IEEE Trans. Autom. Control, vol. 36, no. 5, May 1991, pp. 620–625.

M. Bodson, J. N. Chiasson, R. T. Novotnak, and R. B. Rekowski, High performance nonlinear feedback control of a permanent magnet stepper motor, IEEE Trans. Control Syst. Technol., vol. 1, no. 1, March 1993, pp. 5–14.

P. Krishnamurthy and F. Khorrami, Robust adaptive voltage-fed permanent magnet step motor control without current measurements, IEEE Trans. Control Syst. Technol., vol. 11, no. 3, May 2003, pp. 415–425.

S. Seshagiri, Position control of permanent magnet stepper motors using conditional servocompensators, IET Control Theory Appl., vol. 3, no. 9, Sepetember 2008, pp. 1196–1208.

W.Kim, C.Yang, and C.C.Chung, Design and implementation of simple field-oriented control for permanent magnet stepper motors without DQ transformation, IEEE Trans. Magnetics, vol. 47, no. 10, October 2011, pp. 4231-4234.

B. Bandyopadhyay and V. Thakar, Multirate output feedback sliding mode control of permanent magnet stepper motor using flatness property, in Proc. IEEE Int. Conf. Control Appl., 2004, pp. 1370–1375.

Y. Lee and Y. B. Shtessel, Comparison of a feedback linearization controller and sliding mode controllers for a permanent magnet stepper motor, in Proc. Southeastern Symp. Syst. Theory, 1996, pp. 258–262.

M. Zribi, H.Sira-Ramirez, and A. Ngai, Static and dynamic sliding mode control schemes for a permanent magnet stepper motor, Int. J. Control, vol. 74, no. 2, January 2001, pp. 103–117.

G. Bartolini, A. Pisano, E. Punta, and E. Usai, A survey of applications of second-order sliding mode control to mechanical systems, Int. J. Control, vol. 76, no. 9/10, June 2003, pp. 875–892.

S. Riachy, Y. Orlov, T. Floquet, R. Santiesteban, and J. P. Richard, Second order sliding mode control of underactuated mechanical systems.I: Local stabilization with application to an inverted Pendulum, Int. J. Robust Nonlinear Control, vol. 18, 2008, pp. 529–543.

R. Martinez, J. Alvarez, and Y. Orlov, Hybrid sliding mode-based control of underactuated systems with dry friction, IEEE Trans. Ind. Electron., vol. 55, no. 11, November 2008, pp. 3998–4003.

T. Floquet, J. P. Barbot, and W. Perruquetti, Higher order sliding mode stabilization for a class of nonholonomic perturbed systems, Automatica, vol. 39, no. 6, June 2003, pp. 1077–1083.

M. Defoort, T. Floquet, A. Kökösy, and W. Perruquetti, Sliding mode formation control for cooperative autonomous mobile robots, IEEE Trans. Ind. Electron., vol. 55, no. 11, November 2008, pp. 3944–3953.

M. Canale, L. Fagiano, A. Ferrara, and C. Vecchio, Vehicle Yaw control via second-order sliding-mode technique, IEEE Trans. Ind. Electron., vol. 55, no. 11, November 2008, pp. 3908–3916.

F. Nollet, T. Floquet, and W. Perruquetti, Observer-based second order sliding mode control laws for the stepper motor, Control Eng. Pract., vol. 16, no. 4, April 2008, pp. 429–443.

A. Pisano, A. Davila, L. Fridman, and E. Usai, Cascade control of PM DC drives via second order sliding mode technique, IEEE Trans. Ind. Electron., vol. 55, no. 11, November 2008, pp. 3846–3854.

Q. R. Butt and A. I. Bhatti, Estimation of gasoline-engine parameters using higher order sliding mode, IEEE Trans. Ind. Electron., vol. 55, no. 11, November 2008, pp. 3891–3898.

M.Defoort, F.Nollet, T.Floquet, and W.Perruquetti, A Third order sliding control for a stepper motor, IEEE Trans. Ind. Electron., vol. 56, no. 9, September 2009, pp. 3337-3346.

W. Kim, D. Shin, and C. C. Chung, Microstepping using a disturbance observer and a variable structure controller for permanent magnet stepper motors, IEEE Trans. Ind. Electron., vol. 60, no. 7, July 2013, pp. 2689–2699.

W. Kim, D. Shin, and C. C. Chung, Microstepping with nonlinear torque modulation for permanent magnet stepper motors, IEEE Trans. Control Syst. Technol., vol. 21, no. 5, September 2013, pp. 1971-1979.

F.Betin, D.Pinchon and G.A.Capolino, Fuzzy logic applied to speed control of a stepping motor drive, IEEE Trans. Ind. Electron., vol. 47, no. 3, June 2000, pp. 610-622.

N.Q. Le and J.W. Jeon , An open-loop stepper motor driver based on FPGA, Int. Conf. Control, Automation Syst., October 2007.

T.Harned, An improved low detent torque 1.8 degree stepping motor, Dover, NH, Report for Eastern Air Devices, Inc., 1987.

Chai, H.D., Permeance based step motor model revisited, Proc. 14th Annual Symp. On IMCSD, 1985, pp. 399-410.

T.Harned, Private communication.

T.Kenjo and A.Sugawara, Stepping motors and their microprocessor controls (Oxford University Press).

Andrew J.Blanch, Malc Bodson, and John Chiasson, High speed parameter estimation of stepper motors, IEEE Trans. Control Syst. Technol., vol. 1, no. 4, December 1993, pp. 270-279.

A. Rubaai, J.Castro, M.Garuba, and L.Burge, Implementation of artificial neural network based tracking controller for high performance stepper motor drives, IEEE Trans. Ind. Electron., ol. 54, no.1, February 2007.

F.Belkhouche, and S.Muzdeka, A linearized model for permanent magnet stepper motors, IEEE Conf. Ind. Electron. Society, vol. 1, November 2003, pp. 301-305.

Larbi, M.A., Zemalache Meguenni, K., Meddahi, Y., Litim, M., Nonlinear observer and Backstepping control of quadrotor unmanned aerial vehicle, (2013) International Review of Automatic Control (IREACO), 6 (5), pp. 631-640.

Ghorbani, E., Sedaghati, A., A graphical approach to design digital PI controller for integrator plus dead-time processes, (2013) International Review of Automatic Control (IREACO), 6 (5), pp. 654-665.

G.Baluta, “Microstepping mode for stepper motor control”, "Gh. Asachi" Tech. Univ., Iasi; 08/2007; DOI:10.1109/ISSCS.2007.4292799 ISBN: 1-4244-0969-1 In proceeding of: Signals, Circuits and Systems, 2007, International Symposium on, vol. 2, Source: IEEE Xplore.


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize