Title :
Application of nonlinear control methods to the positioning of a permanent magnet stepper motor
Author :
Bodson, Marc ; Chiasson, John
Author_Institution :
Dept. of Electr. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The application of modern nonlinear control theory to the fast and accurate positioning of stepping motors is discussed. The mathematical model of a permanent magnet stepper motor is presented. Control algorithms based on a feedback linearization approach are presented and contrasted with current techniques. Methods to determine the unknown motor parameters in real-time and normal operation are also discussed. These allow for straightforward extensions of the control algorithms to adaptive control. An experimental setup to evaluate the performance of the overall system is described
Keywords :
feedback; linearisation techniques; machine control; nonlinear control systems; permanent magnet motors; position control; stepping motors; adaptive control; feedback linearization; nonlinear control; permanent magnet stepper motor; position control; positioning; Adaptive control; Automatic control; Linear feedback control systems; Mathematical model; Permanent magnet motors; Reluctance motors; Rotors; Teeth; Torque; Voltage;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70170
