Sensitivity analysis of a linear model for a vector controlled hybrid stepping motor

Recent research on stepping motors concerns intelligent motion control algorithms such as sensorless vector control. Sensorless control is commonly based on a motor model. For stepping motors, this model is highly nonlinear, resulting in a high computational cost. When the motor is controlled by a vector-controlled algorithm, the position dependence of certain model parameters can be eliminated. If saturation and reluctance effects are neglected, the motor model can be transformed into a linear model. In this paper, the linear model is verified by simulations and measurements. A profound sensitivity analysis proves the robustness of the model. Due to the hybrid motor construction reluctance effects occur. These effects are also measured and discussed.