Nonlinear model for predicting settling time and pull-in rate in hybrid stepping motors

The development of a model for predicting the dynamic response of hybrid permanent-magnet stepping motors from static flux-linkage data is described. The method involves the derivation of mathematical functions for the flux-linkage of the stator coils in terms of coil current and angular position of the rotor. A comparison of experimental and predicted responses for a typical medium-sized commercial motor is made in terms of (a) settling time against stator-circuit-resistance characteristics, (b) detailed single-step position/time waveforms and (c) pull-in rate characteristics.