High Performance Servo Control Research For Two-phase Hybrid Stepping Motor By Using Passivity-Based Control

Stepping motors are a kind of control motor which have simple structure, reliableoperation, and put electrical pulses become linear displacement or angular displacement. Dueto their durability, no stepping accumulated error, high efficiency and power density, simpledrive as well as high torque to inertia ratio and absence of rotor winding, stepper motors havebeen widely used in the industrial area, such as, computer peripheral equipment, machinetools, process control, robotics and so on.The traditional stepping motor drive often useopen-loop operation mode, which has advantage of low cost, simple and without theaccumulated error, but on account of disadvantages of low positioning accuracy, slowresponse, being a resonance zone, big torque ripple, out-of-step stall, low efficiency and pooradaptability to the application environment, open-loop operation mode of stepping motordrive would affect the quality of the product.Besides with the rapid development of highstandards modern industry, requirements of modern manufacturing industrial processbecoming more complex and standards of the performance of servo system in the steady-stateperformance, dynamic performance, speed range and reliability being higher, the traditionaldrive approach has been difficult to meet the requirements of practicalapplication.High-performance control research for two-phase hybrid stepping motor canimprove its operating performance, thereby broaden its range of applications and enhancetheir market competitiveness, adapt to the development requirements of modern advancedmanufacturing industry, so it has important theoretical significance and real value.This paper applies passive control to two-phase hybrid stepping motor. On the researchobject of the project- two-phase hybrid stepping motors, writer firstly studies the structureand working principle of the motor deeply, derive and establish the mathematical model oftwo-phase hybrid stepping motors of two-phase stationary coordinate system under simplifiedmagnetic network model. according to the coordinate transformation, writer get themathematical model of dq axis coordinate system ultimately.According to the mathematical model of the stepping motor, writer importantly deriveand design full-order passive speed controller and reduced-order position controller underHamilton model based on the state error model. Design load torque disturbance observer forload torque disturbance unknown at the actual run-time.After that, under the MATLAB/SIMULINK environment, writer build simulation modeland passivity controller of the motor, and compared to the traditional PID controllersimulation demonstrate effectiveness of the passivity speed controller and positioncontroller.Finally, based on the control experiment platform, complete software design anddebugging in speed and position control of two-phase hybrid stepping motor onpassivity-based control, and compared to the traditional PID controller, verify and obtaineffectiveness and superiority in servo control of two-phase hybrid stepping motor onpassivity-based control in term of robust, dynamic and steady state.