High-speed parameter estimation of stepper motors

Blauch, A.J.; Bodson, Marc; Chiasson, John

doi:10.1109/87.260272

Cited by 66 publications

(27 citation statements)

References 8 publications

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“…A useful feature of the solution is that it consists in explicit, analytic formulas. In fact, given that the most complicated calculations are square roots and cubic roots, the whole set of computations could be performed in real-time, if the motor parameters were determined on-line using an identification procedure such as described in [5].…”

Section: Discussionmentioning

confidence: 99%

Torque maximization for permanent magnet synchronous motors

Verl¹,

Bodson

1998

IEEE Trans. Contr. Syst. Technol.

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This paper discusses the problem of maximizing the torque of permanent magnet synchronous motors in the presence of voltage and current constraints. Formulas are given that are suitable to operation with voltage and current source inverters and to real-time computation. Generally, the available torque is limited by current constraints at low speeds and by voltage constraints at high speeds, and there is often an intermediate range of speeds where both the voltage and the current constraints are active. The paper specifies how optimal operation can be achieved in all three ranges, and at what speeds the optimal operation transitions from one mode to another. An example is discussed to illustrate the contributions of the paper and experimental results demonstrate the usefulness of the formulas in a high-performance robotic application.

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Section: Discussionmentioning

confidence: 99%

Torque maximization for permanent magnet synchronous motors

Verl¹,

Bodson

1998

IEEE Trans. Contr. Syst. Technol.

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“…The extension can be used with either the direct calculation, or current error methods of field weakening implementation, and has been found to be reasonable to implement in a real-time controller. Although the entire technique relies on motor parameters to effect the calculations, on-line parameter estimation could easily be added to the system to increase the controller's robustness [9] The geometrical approach to the model reference controller was found to be easy to implement on DSP, and has the advantage not only of including the current dynamics, but also including resistive voltage drops, which have been neglected in previous implementations of geometric controllers. A further refinement was added to the controller at a later stage, that is the minimisation of the magnitude of the current vector at all times in order to reduce i 2 r losses in the motor windings.…”

Section: Discussionmentioning

confidence: 99%

Torque Maximisation Of The Pmac Motor For High Performance, Low Inertia Operation

Stewart¹

2003

Asian Journal of Control

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This paper describes the techniques applied to maximise the torque envelope of the permanent magnet AC (PMAC) motor operating under current and voltage constraints. Standard steady-state descriptions of the system are often suitable for control purposes when the rotor velocity is varying relatively slowly. In low inertia applications such as clutchless gearchange operations, where in the pursuit of driveability, the motor is required to accelerate and decelerate its own rotor inertia as quickly as possible. In this case, the voltage drop due to the current dynamics start to become significant. This paper presents a method to reserve voltage headroom dynamically in the field-weakening region in order to maximise the torque envelope when the effective inertia is low. Experimental results show the effectiveness of this approach.

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“…From (15) and (17), the ISS property of the overall tracking error system is (12). The overall tracking error system (12) is the serial interconnected system of the ISS system.…”

Section: Nonlinear Damping Backsteppingmentioning

confidence: 99%

“…A batch least-squares algorithm was applied to identify the parameters of PMSM [12]. In [13], an adaptive linearization scheme was presented to reduce torque ripple and to establish stability and robustness.…”

Section: Introductionmentioning

confidence: 99%

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Robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors

Kim

Lee

Shin

et al. 2014

2014 American Control Conference

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We innovate an approach to position control, a robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors (PMSMs). The proposed method requires only position feedback and nominal value of K m JL among PMSM parameters. We propose new 3 rd order single-input single-output PMSM dynamics that consist of position, velocity, and acceleration using a commutation scheme. Instead of separated phase A and B current dynamics, the actual torque dynamics are proposed. The external disturbance, acceleration dynamic, and uncertainty of K m JL are regarded as a disturbance. In order to estimate the position, the velocity, the accleration, and the disturbance, an augmented observer is designed. A nonlinear damping backstepping is developed to suppress a position tracking error increased as the estimation error of the disturbance is increased. This approach simplifies the design process such that the control algorithm is suitable for real time control. The performance of the proposed method was validated via experiments.

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High-speed parameter estimation of stepper motors

Cited by 66 publications

References 8 publications

Torque maximization for permanent magnet synchronous motors

Torque maximization for permanent magnet synchronous motors

Torque Maximisation Of The Pmac Motor For High Performance, Low Inertia Operation

Robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors

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