Novel Modeling and Damping Technique for Hybrid Stepper Motor

It is well known that commercial hybrid stepper system has one or more low speed resonant points. However, this characteristic is not accurately modeled without high order equations or complicated measurement of motor parameters. In this paper, a novel approach is proposed to model the behavior of a commercial 1.8deg hybrid stepper motor accurately and efficiently. Damping algorithms for open loop and servo control are proposed. Both simulation and experiment results show that the proposed algorithms can effectively eliminate low speed resonance and vibration of the stepper system.