Title :
High-performance nonlinear feedback control of a permanent magnet stepper motor
Author :
Bodson, Marc ; Chiasson, John N. ; Novotnak, Robert T. ; Rekowski, Ronald B.
Author_Institution :
Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
fDate :
3/1/1993 12:00:00 AM
Abstract :
The permanent magnet stepper motor is considered for use in high-performance positioning systems. A model-based control law is developed using the exact linearization methodology and implemented on an industrial setup. The practical issues of speed estimation and voltage saturation are considered and resolved through the use of a nonlinear observer and field-weakening, respectively. The results of the implementation of the control algorithm for an industry-specified point-to-point move of a linear positioning table are presented and discussed
Keywords :
feedback; linearisation techniques; machine control; nonlinear control systems; permanent magnet motors; position control; stepping motors; exact linearization methodology; field-weakening; high-performance positioning systems; linear positioning table; model-based control law; nonlinear feedback control; nonlinear observer; permanent magnet stepper motor; speed estimation; voltage saturation; AC motors; DC motors; Feedback control; Industrial control; Motion control; Permanent magnet motors; Pulse width modulation; Rotors; Signal processing algorithms; Voltage;
Journal_Title :
Control Systems Technology, IEEE Transactions on
