Integrated position sensor based self-tuning PI speed controller for hybrid stepping motor drive

A novel integrated position sensor through winding inductance detection based on magnetic saliency for a two-phase hybrid stepping motor is presented in this paper. It has a simple structure, low cost and high precision with the processing both in hardware and software. Based on this position sensor and vector control, we propose a self-tuning PI speed controller for the hybrid stepping motor drive to provide satisfactory transient performance under varying operating conditions. Experimental results prove the working of the speed controller and the integrated position sensor.