Stepping motors and their microprocessor controls by kenjo pdf
Examples of Electric Machines
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The operation of permanent magnet PM stepper motor in microstepping mode requires precise rotor position tracking. The position of the rotor provides information on angular rotation and speed. This is used to estimate the step positional error, positional accuracy, current ripple and power loss at different switching frequencies. Numerous techniques have been developed to track the rotor position and determine the positional error to improve the dynamic performance of the stepper motor. The literature review begins by investigating the assumptions in the development of the mathematical model of the PM stepper motor. The need for microstepping control of the PM stepper motor is presented. In addition, the review is extended to the use of observers for estimating the rotor position in closed loop.
The Stepper Motor STM block implements a generic model that represents two most popular families of stepper motors:. The Stepper Motor model consists of electrical and mechanical sections. The electrical section is represented by an equivalent circuit, configuration of which depends on the motor type. The equivalent circuits assume that the magnetic circuit is linear no saturation and the mutual inductance between phases is negligible. The mechanical section is represented by a state-space model based on inertia moment and viscous friction coefficient. This figure shows the equivalent circuit for one phase in a variable-reluctance stepper motor.