High-performance nonlinear feedback control of a permanent magnet stepper motor

Author

Bodson, Marc ; Chiasson, John N. ; Novotnak, Robert T. ; Rekowski, Ronald B.

Author_Institution

Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

1

Issue

1

fYear

1993

fDate

3/1/1993 12:00:00 AM

Firstpage

5

Lastpage

14

Abstract

The permanent magnet stepper motor is considered for use in high-performance positioning systems. A model-based control law is developed using the exact linearization methodology and implemented on an industrial setup. The practical issues of speed estimation and voltage saturation are considered and resolved through the use of a nonlinear observer and field-weakening, respectively. The results of the implementation of the control algorithm for an industry-specified point-to-point move of a linear positioning table are presented and discussed

Keywords

feedback; linearisation techniques; machine control; nonlinear control systems; permanent magnet motors; position control; stepping motors; exact linearization methodology; field-weakening; high-performance positioning systems; linear positioning table; model-based control law; nonlinear feedback control; nonlinear observer; permanent magnet stepper motor; speed estimation; voltage saturation; AC motors; DC motors; Feedback control; Industrial control; Motion control; Permanent magnet motors; Pulse width modulation; Rotors; Signal processing algorithms; Voltage;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.221347

Filename

221347