Modeling and control of hybrid stepping motors

Starting from a simple flux model in the air gap, the magnetic equivalent model of the three-phase hybrid stepping motor is deduced. The voltage equation is obtained from the magnetic equivalent model. Since the procedure originates from the geometrical configuration of stator and rotor poles, the parameters of the voltage equation are closely related to the motor pole configuration. Therefore, the motor performance can be estimated from the voltage equation during the design stage of the motor. The control model of the motor can be easily obtained by applying a well-known d-q transformation. The validity of the proposed modeling is demonstrated by comparison between the designed and measured motor parameters and the control characteristics