Voltage-fed permanent-magnet stepper motor control via position-only feedback

P. Krishnamurthy, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A robust adaptive nonlinear dynamic controller is designed to achieve practical stabilisation for position tracking error of a voltage-fed permanent-magnet stepper motor. The control design is an output-feedback design that utilises only rotor position measurements. Rotor velocity and stator phase currents are not available for feedback. Furthermore, the only motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilised so that no other knowledge of motor parameters is required. The proposed controller is a fourth-order dynamic compensator and is robust to load torques, friction, cogging forces and other disturbances satisfying certain bounds. Practical stabilisation of the tracking error is achieved with global boundedness of all closed-loop signals. Furthermore, under the condition that the torque disturbances are locally linearly bounded by a function of rotor position, the designed controller achieves asymptotic stabilisation of the rotor position. These results can also be extended to other classes of motors.

Original languageEnglish (US)
Title of host publicationIEE Proceedings: Control Theory and Applications
Pages499-510
Number of pages12
Volume151
Edition4
DOIs
StatePublished - Jul 2004

Fingerprint

permanent magnets
Permanent magnets
rotors
Rotors
Feedback
controllers
Stabilization
stabilization
Electric potential
electric potential
Controllers
torque
disturbances
Torque
Position measurement
stators
compensators
Stators
time constant
Loads (forces)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Instrumentation

Cite this

Krishnamurthy, P., & Khorrami, F. (2004). Voltage-fed permanent-magnet stepper motor control via position-only feedback. In IEE Proceedings: Control Theory and Applications (4 ed., Vol. 151, pp. 499-510) https://doi.org/10.1049/ip-cta:20040622

Voltage-fed permanent-magnet stepper motor control via position-only feedback. / Krishnamurthy, P.; Khorrami, Farshad.

IEE Proceedings: Control Theory and Applications. Vol. 151 4. ed. 2004. p. 499-510.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Krishnamurthy, P & Khorrami, F 2004, Voltage-fed permanent-magnet stepper motor control via position-only feedback. in IEE Proceedings: Control Theory and Applications. 4 edn, vol. 151, pp. 499-510. https://doi.org/10.1049/ip-cta:20040622
Krishnamurthy P, Khorrami F. Voltage-fed permanent-magnet stepper motor control via position-only feedback. In IEE Proceedings: Control Theory and Applications. 4 ed. Vol. 151. 2004. p. 499-510 https://doi.org/10.1049/ip-cta:20040622
Krishnamurthy, P. ; Khorrami, Farshad. / Voltage-fed permanent-magnet stepper motor control via position-only feedback. IEE Proceedings: Control Theory and Applications. Vol. 151 4. ed. 2004. pp. 499-510
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