| Title |
Nonlinear Controller for the Velocity Tracking and Rejection of Sinusoidal Disturbances in Permanent Magnet Stepper Motors |
| Authors |
김원희(Kim, Won-Hee) ; 강동규(Gang, Dong-Gyu) ; 한종표(Han, Jonh-Pyo) ; 정정주(Chung, Chung-Choo) |
| DOI |
https://doi.org/10.5370/KIEE.2011.60.3.632 |
| Keywords |
Stepper motor ; Velocity tracking ; Cogging torque |
| Abstract |
In this paper, a nonlinear controller is proposed to track the desired velocity and to cancel sinusoidal disturbances. The proposed method consists of a velocity tracking controller and internal model principles (IMPs). For the design of the velocity tracking controller, mechanical and electrical dynamic controllers are independently designed. For the mechanical dynamics, the velocity tracking controller generates the desired quadrature current to track the desired velocity. The current tracking controller is designed to guarantee the desired quadrature current and to regulate the direct current. Therefore, the proposed velocity tracking controller has a field-oriented control. Since the controllers of the mechanical and electrical dynamics are independently designed, the stability of the closed-loop system is demonstrated using passivity. Since both the cogging torque and DC current errors act as sinusoidal disturbances in PMSM, we use four add-on type IMPs that preserve the merits and performance of the pre-designed controller without sacrificing the closed-loop stability. The performance of the proposed method is validated via simulations. |