Enhancing low-speed performance of hybrid stepping motor servo by ripple canceling technique

In this paper, a composite control method, taking into account the torque ripple cancellation, is proposed for the low-speed motion control of hybrid stepping servomotors. The developed scheme, that fully utilizes an efficient estimation procedure to identify ripple dynamics, simply relies on speed regulation. A controller synthesis is presented to obtain precise trajectory tracking and the corresponding conditions under which the scheme can be effectively employed are derived. The simulation results are performed to show the capability of the proposed scheme