Learning Position Controls for Hybrid Step Motors: From Current-Fed to Full-Order Models

Salis, Valerio; Chiappinelli, Nicolas; Costabeber, Alessandro; Zanchetta, Pericle; Bifaretti, Stefano; Tomei, P.; Verrelli, Cristiano Maria

doi:10.1109/tie.2018.2793183

Cited by 13 publications

(6 citation statements)

References 20 publications

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“…Simulations were conducted in MATLAB. Salis et al [12] studied learning position controls for hybrid step motors, from current fed to full order models. Experimental study of both adaptive and repetitive learning position control presented in literature for voltage-fed hybrid step motors was carried out.…”

Section: Literature Reviewmentioning

confidence: 99%

Improved Response Performance of Two-Phase Hybrid Stepping Motor Control Using PID Tuned Outer and Inner Loop Compensators

Onyeka¹,

Chidiebere²,

Nkiruka³

2019

JES

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This paper has presented improved response performance of two-phase hybrid stepping motor control using proportional integral and derivative (PID) tuned outer and inner loop compensators. It is desired to improve the response performance tracking of a two-phase hybrid stepper motor to achieved overshoot less than 5 %, settling time less than 0.16 s, and rise time less then 0.02 with 2 % criterion. To achieve the objective of the study, a dynamic model of a two-phase hybrid stepper motor was obtained in the form of a transfer function. A robust PID tuning technique was adopted using the single input single output (SISO) Graphic User Interface (GUI) of the design task of the Control and Estimation Tool Manager (CETM) of MATLAB software in designing the compensators. A single compensator was designed and added to control loop of a two-phase hybrid stepping motor to improve the response performance. Simulation was performed in MATLAB and an overshoot of 8 % with the single loop compensator. However, the overshoot of the system requires further improvement. A new control loop was proposed using twocompensator loop structure. The outer loop and inner loop compensators were designed and added to the two-phase hybrid stepper motor control. Simulation was performed in MATLAB and the result obtained showed that with the two-compensator loop structure, the overshoot was greatly reduced to 2.6 % with rise time of 12 ms and settling time 11 ms. This indicates that the response tracking performance of the system has been improved by the combined outer and inner loop compensators.

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Section: Literature Reviewmentioning

confidence: 99%

Improved Response Performance of Two-Phase Hybrid Stepping Motor Control Using PID Tuned Outer and Inner Loop Compensators

Onyeka¹,

Chidiebere²,

Nkiruka³

2019

JES

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“…In particular, assume that the constant period T of the (sufficiently smooth and periodic) joint position reference signal q ⋆ (t) ∶ (−∞, +∞) → R n is known and that the joint position vector q(t) and its reference signal q ⋆ (t) are available at runtime t along with their time derivatives. As shown in the works of Dixon et al 1 and Bifaretti et al, 2 the corresponding control problem is definitely solved by the state-feedback repetitive learning control algorithm in the work of Dixon et al 1 (see extensions concerning finite memory implementations in the works of Bifaretti et al, 2 Salis et al, 3 and Verrelli et al 4 and the extension concerning the use of neural networks in the work of Cobanoglu et al 5 ).…”

Section: Introductionmentioning

confidence: 97%

A learning control algorithm for periodic robot synchronization: Experimental results

Gnucci

Gospodarczyk

Carnevale

et al. 2018

Adaptive Control & Signal

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A repetitive learning control algorithm, that achieves asymptotic joint position tracking for robotic manipulators characterized by uncertain dynamics and performing a repetitive task, can be theoretically and experimentally endowed with a recursive period identifier. Experimental results illustrate its application to a 2-link robot master-slave synchronization problem, in which the joint positions of the master, ie, "periodic" with uncertain and even time-varying period, are only available at runtime.

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“…The open-loop control method of the stepping motor could avoid various position sensors that could reduce the reliability of the system. All the advantages make stepping motors widely used in various applications, such as space applications [3].…”

Section: Introductionmentioning

confidence: 99%

A Dual-Redundancy Two-Phase Hybrid Stepping Motor for Satellite Antenna Drive System

Liu

2022

Energies

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Stepping motors are highly preferred in spacecraft applications because of their simple structure, convenient control and lack of accumulated error. In satellite antenna drive systems, reliability and fault tolerance have been paid more and more attention. Accordingly, to enhance the reliability of the electrical system in the field of aerospace, the redundancy technology, which can effectively improve the system reliability while reducing the requirements of components, was applied in the design of hybrid stepping motors (HSM), a dual-redundancy two-phase HSM which has two sets of stator windings was designed in this paper. The mathematical model of stepping motor and the specific structure parameters of the motor are given. The torque-frequency characteristic was regarded as the key to measure the performance of the motor proposed in this paper. The results of 3-D finite element modeling are presented. The corresponding performance experiment on the designed motor was carried out and both the simulation results and the experimental results verified the validity and superiority of the dual redundancy HSM.

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Learning Position Controls for Hybrid Step Motors: From Current-Fed to Full-Order Models

Cited by 13 publications

References 20 publications

Improved Response Performance of Two-Phase Hybrid Stepping Motor Control Using PID Tuned Outer and Inner Loop Compensators

Improved Response Performance of Two-Phase Hybrid Stepping Motor Control Using PID Tuned Outer and Inner Loop Compensators

A learning control algorithm for periodic robot synchronization: Experimental results

A Dual-Redundancy Two-Phase Hybrid Stepping Motor for Satellite Antenna Drive System

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