Nonlinear position control for permanent magnet stepper motor using only position feedback

In this paper, we present a nonlinear controller for position tracking of permanent magnet stepper motors (PMSMs) using only position feedback. A virtual velocity is designed to improve the position tracking performance and virtual currents are proposed in order to guarantee the virtual velocity. An integrator of position tracking error is added into the virtual currents for reducing the steady-state error in position tracking caused by the load torque. The proposed controller guarantees that the position, velocity and currents tracking errors globally exponentially converge to zero. Furthermore, the proposed controller is robust against the load torque. By using passive properties of PMSMs, the requirements of the velocity and current measurements were removed. Simulation results validate the effectiveness of the proposed controller.

[1]  Chung Choo Chung,et al.  Microstepping Using a Disturbance Observer and a Variable Structure Controller for Permanent-Magnet Stepper Motors , 2013, IEEE Transactions on Industrial Electronics.

[2]  Hebertt Sira-Ramírez,et al.  A PASSIVITY PLUS FLATNESS CONTROLLER FOR THE PERMANENT MAGNET STEPPER MOTOR , 2000 .

[3]  Chung Choo Chung,et al.  The Lyapunov-based controller with a passive nonlinear observer to improve position tracking performance of microstepping in permanent magnet stepper motors , 2012, Autom..

[4]  Sridhar Seshagiri.  Position control of permanent magnet stepper motors using conditional servocompensators , 2009 .

[5]  Chung Choo Chung,et al.  Novel Position Detection Method for Permanent Magnet Stepper Motors Using Only Current Feedback , 2011, IEEE Transactions on Magnetics.

[6]  John N. Chiasson,et al.  High-performance nonlinear feedback control of a permanent magnet stepper motor , 1993, IEEE Trans. Control. Syst. Technol..

[7]  Juntao Fei,et al.  Adaptive backstepping sliding mode control for MEMS gyroscope , 2013, 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013).

[8]  P. P. Acarnley.  Stepping Motors: A Guide to Modern Theory and Practice , 1991 .

[9]  Wilfrid Perruquetti,et al.  Observer-based second order sliding mode control laws for stepper motors , 2008 .

[10]  Chung Choo Chung,et al.  Position control of a permanent magnet stepper motor by MISO backstepping in semi-strict feedback form , 2011, 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[11]  Chung Choo Chung,et al.  Microstepping with nonlinear torque modulation for position tracking control in permanent magnet stepper motors , 2011, IEEE Conference on Decision and Control and European Control Conference.

[12]  John Chiasson,et al.  High performance nonlinear feedback control of a permanent magnet stepper motor , 1992, [Proceedings 1992] The First IEEE Conference on Control Applications.

[13]  John Chiasson,et al.  Position control of a PM stepper motor by exact linearization , 1991 .

[14]  Ouassima Akhrif,et al.  Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer , 2000, IEEE Trans. Ind. Electron..

[15]  Jian-Xin Xu,et al.  On adaptive robust backstepping control schemes suitable for PM synchronous motors , 1998 .