Profile tracking control of hybrid stepping motors using a learning method

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages208-213
Volume2003-October
Publication statusPublished - 2003

Publication series

Name
Volume2003-October

Conference

TitleIEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
PlaceChina
CityChangsha
Period8 - 13 October 2003

Abstract

Servo control of the hybrid stepping motor is complicated due to its highly nonlinear torque-current-position characteristics, especially under low operating speeds. The purpose of this paper is to develop simple and efficient control algorithms for the high-precision tracking control of hybrid stepping motors. The principles of learning control have been exploited to minimize the motor's torque ripple that is periodic and nonlinear in the system states with specific emphasis on low-speed conditions. The proposed algorithm utilizes a fixed PI feedback controller to stabilize the servomotor and the feedforward learning controller to compensate for the effect of the torque ripple and other disturbances for improved tracking accuracy. The stability and convergence performance of the learning control scheme is discussed. It has been revealed that all the error signals in the learning control system are bounded and the motion trajectory converges to the desired one asymptotically. The experimental results demonstrate the effectiveness and performance of the proposed algorithm.

Citation Format(s)

Profile tracking control of hybrid stepping motors using a learning method. / Chen, W. D.; Feng, G.; Yung, K. L.
Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003. Vol. 2003-October Institute of Electrical and Electronics Engineers, Inc., 2003. p. 208-213 1285575.

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review