Abstract
Stepper motors are widely used in industrial and consumer applications due to low-cost, high reliability, and open-loop control capability. Though open-loop features a simple structure, it bears low step resolution, high torque ripple, and low energy efficiency. To improve the performance without increasing hardware cost, a fuzzy sliding mode observer (SMO)-based new sensorless speed control structure is proposed. Unlike the conventional sensorless speed control, it does not use Park and inverse Park transformations to transform currents between a-b and d-q coordinates. Instead, it uses a new current transformation method to generate reference currents of stator windings, which not only reduces the calculation burden of the controller, but also improves the stability of the system. To reduce the chattering, a fuzzy logic controller (FLC) embedded into the SMO is designed to adjust the observer gain adaptively, without using the conventional method that replaces the discontinuous sign function with the continuous, such as sigmoid or saturation function. The effectiveness of the proposed controller is verified using MATLAB/Simulink simulation (R2018b, MathWorks, Natick, MA, USA) and experiment by assessing the speed and position tracking abilities.
Highlights
Stepper motors are widely used in industrial and consumer applications such as computer numerical control (CNC) machines, robotic arms, scanners, printers, and more recently, in 3D printers due to low-cost, high reliability, and open-loop control capabilities [1,2]
In [3], a generalized algorithm for generating stepper motor speed profiles in real-time is proposed, it can be operated on a low-end microcontroller and does not limit the stepper motor starting from a standstill
TheThe parameters of the stepper motor and the are shown in Table
Summary
Stepper motors are widely used in industrial and consumer applications such as computer numerical control (CNC) machines, robotic arms, scanners, printers, and more recently, in 3D printers due to low-cost, high reliability, and open-loop control capabilities [1,2]. They feature fast response for brushless, holding torque at a standstill, and open-loop control, etc. Stepper motors operate in open-loop, i.e., there is no rotor position information feedback to the controller. The rotor position and speed are controlled by pulse amount and pulse frequency, respectively. The influence of different acceleration and deceleration profiles is investigated in [4], and it shows that the parabolic type has better dynamic performance and smaller position tracking errors compared with the constant and exponential types
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