NDLI: Modeling and control of a permanent magnet spherical stepper motor

Content Provider	IEEE Xplore Digital Library
Author	Zheng Li Qunjing Wang
Copyright Year	2007
Description	Author affiliation: Hebei Univ. of Sci. & Technol., Shijiazhuang (Zheng Li; Qunjing Wang)
Abstract	This paper describes a simplified torque calculation method with the non-linear system dynamic model and the controller design to implement the 3D real-time motion control under the presented continuous trajectory tracking mode. The perturbation of the system parameters, the model error and the external disturbance result in the actual system uncertainties, which have a great effect on the control performance of the motor. In order to improve the trajectory tracking robust stability and overcome the undesired influence of the uncertainties, a controller based on the robust control principle has been developed. The analysis and simulation results have shown that the system has an excellent tracking performance and robust stability against the model error and disturbance, which proves the validity of the presented model and control strategy.
Starting Page	1574
Ending Page	1579
File Size	556974
Page Count	6
File Format	PDF
ISBN	9788986510072
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-08
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	KIEE
Subject Keyword	Permanent magnet motors Motion control Trajectory Error correction Uncertainty Robust stability Nonlinear dynamical systems Torque control Nonlinear control systems Real time systems
Content Type	Text
Resource Type	Article

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