Author:
Kim Seok-Kyoon,Kim Kwan Soo,Lee Dong Kyu,Ahn Choon Ki
Abstract
AbstractThis paper exhibits an advanced observer-based position-tracking controller for hybrid-type stepping motors with consideration of parameter and load uncertainties. As the main contribution, a current sensorless observer-based pole-zero cancellation speed controller is devised for the outer loop position-tracking controller including the convergence rate boosting mechanism. The features of this study are summarized as follows; first, the pole-zero cancellation angular acceleration error observer for the inner loop speed controller, second, the pole-zero cancellation speed control forcing the order of the controlled speed error dynamics to be 1, and, third, the outer loop position control incorporating the first-order target tracking system with its convergence rate booster. The resultant effectiveness is verified on a 10-W stepping motor control system.
Funder
Basic Science Research Program through the National Research Foundation of Korea
Ministry of Education
NRF grant funded by the Korea government
Korea government
Publisher
Springer Science and Business Media LLC
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