Estimation of rotor position and speed for Hybrid Stepper Motor under various phase excitation schemes and compensated resonance

Estimation of rotor position and speed plays an important role to avoid skipped step and reduced resonance in Hybrid Stepper Motor (HSM). In this paper, the effect of various phase excitation schemes on estimation of rotor position and speed in the presence of resonance is studied. A method has been proposed to identify the resonance from the frequency content of measured phase currents well before it is exhibited in the mechanical measurement. It is compensated through excitation voltage. The microstepping excitation is found to provide fastest and smooth tracking of rotor position and speed. The results are validated through experimentation.