Abstract
Nowadays, stepping motors are usually used as precise actuators in various new scientific fields, such as syringe pumps, blood analyzers, and bio-3D printers. Controlling rotation of the stepping motor without speed fluctuation under no-load conditions plays an important role in improving the accuracy of the machine’s drive. This paper proposes a digital control method for a five-phase hybrid stepping motor. The proposed controller includes an original control loop and a PI adaptive integration gain control loop. The original digital control loop is redesigned from the analog controller by using the direct PIM method. The PI adaptive control loop is added to the original control loop in a parallel way to remove a steady deviation of the motor and suppress a physical saturation factor inside the plant. Lyapunov stability theory is used to prove a stability condition of the PI regulator gains. Experimental results show that the proposed controller can suppress the chattering caused by the switching structure and gives performances as good as that of the commercial analog controller in a high rotation speed range without fluctuation.
Highlights
We propose a digital control algorithm to compensate for the variation in plant characteristics of the stepping motor using a method called Model Reference Adaptive Control System (MRACS) [22,23]
The Plan Input Mapping (PIM) digital controller design method [27] is known as a rare method, which can preserve the stability of the closed-loop continuoustime system even for a large value of sampling period T, i.e., a low sampling frequency
A digital control method has been proposed for stepping motors
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. A stepping motor is an actuator that can rotate precisely in a feed-forward manner responding to an input pulse signal [1]. The stepping motor is usually used in precision instrument systems such as syringe pumps, ink-jet bio-printers, and biochemical analyzers. These systems play an important role in high-tech sectors such as micro-fluid, bio-engineering, and laboratory testing and are attracting a great deal of attention in both industry and research [2,3,4,5]
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