Parameters identification of the dynamics model of a stepping motor with permanent magnet

In this paper the offline procedure for parameter identification of the dynamical model of a stepping motor with a permanent magnet is presented. In the process of parameters identification of the dynamics model of a stepping motor the key problem is related to nonsinusoidal flux distribution generated by the permanent magnet. The proposed procedure estimates the higher harmonics in back EMF, cogging torque harmonics and viscous friction coefficient under assumption that other parameters are known and that measured data for the phase currents, rotor speed and rotor position are available. The procedure is theoretically developed and verified by the simulations.