Servo Control of Linear Stepping Motor

• Main Authors: Jin-Xian Ding, 丁錦賢
• Other Authors: Kan-Ping Chin
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/29313490512361058082

碩士 === 國立交通大學 === 機械工程系 === 87 === For a linear stepping motor with an air bearing, the air gap between the forcer and the stator is maintained by the pressure generated by the air bearing. As the winding current varies, the changing electromagnetic forces cause the air gap to fluctuate continuously. As a result, the parameters of the linear stepping motor also vary rapidly. In this thesis, the model of a linear stepping motor is derived by using the coenergy method. This model is further simplified and transformed to the d-q frame to facilitate controller design. Then, a nonlinear adaptive control method is developed for the control of the current, the velocity and the position of the linear stepping motor. This method guarantees the parameter estimation as well as the asymptotic convergence of the command tracking error. Experimental results aslo show that this method is very robust when the disturbance loads is present.