NDLI: Research on modeling and robust adaptive control of a novel permanent magnet spherical stepper motor

Content Provider	IEEE Xplore Digital Library
Author	Zheng Li Qunjing Wang Chaoying Liu
Copyright Year	2008
Description	Author affiliation: Sch. of Electr. Eng. & Inf. Sci., Hebei Univ. of Sci. & Technol., Shijiazhuang (Zheng Li)
Abstract	The real-time torque calculation and dynamic modeling have been the difficulties in the motion control of the permanent magnet spherical stepper motor. Based on the presented continuous trajectory tracking control mode, a simplified torque calculation method and the non-linear system dynamic model have been proposed. 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, so a robust adaptive control strategy is developed. The controller consists of nonlinear PD control and adaptive feedback control, so that the high level initial torque can be reduced. The analysis and simulation results have shown that the system has 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	8946
Ending Page	8951
File Size	377067
Page Count	6
File Format	PDF
ISBN	9781424421138
DOI	10.1109/WCICA.2008.4594343
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptation model Permanent magnet motors Torque Automation Trajectory Analytical models Permanent magnets trajectory tracking permanent magnet spherical stepper motor dynamic model robust control
Content Type	Text
Resource Type	Article

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