Intelligent control for permanent magnet spherical stepper motor

This paper presents the intelligent control schemes for PM spherical stepper motor under the discrete stepping mode and continuous tracking mode. In the discrete stepping mode, a fuzzy inference system is used to predict the rotor orientation and perform the activation operation. Based on the non-linear system dynamic model under continuous trajectory tracking mode, the model reference adaptive control based on ANN scheme is adopted to overcome the limitations of conventional PD control and simple neural network control schemes. Simulations of the proposed control schemes on the motor have shown the effectiveness on the tracking performance.