Design and development of estimation and control technique for accurate position tracking and speed control of Hybrid Stepping Motor

Abstract

The accurate rotor position tracking and speed control of Hybrid Stepping Motor requires complete state information for investigation. In this paper, rotor position tracking is addressed from the framework of Lyapunov-based control and passivity based control method. In the former control scheme, nonlinear estimation technique employs a nonlinear observer along with Lyapunov-controller to estimate accurately, the rotor position through measured motor dynamics namely phase current and angular velocity. In the latter control scheme, position tracking control is established through a predefined trajectory tracking, wherein the passivity based controller is designed from energy shaping and damping injection concept. The investigation through simulation study demonstrates the effectiveness of the proposed estimation and control techniques, as the improved position tracking is achieved upon using Lyapunov-controller while comparing passivity based voltage control method under microstepping excitation of the motor.