Kim Seok-Kyoon, Kim Kwan Soo, Lee Dong Kyu, Ahn Choon Ki
Department of Creative Convergence Engineering, Hanbat National University, Daejeon, 341-58, Korea.
School of Electrical Engineering, Korea University, Seoul, 136-701, Korea.
Sci Rep. 2022 Sep 2;12(1):14993. doi: 10.1038/s41598-022-19250-0.
This paper exhibits an advanced observer-based position-tracking controller for hybrid-type stepping motors with consideration of parameter and load uncertainties. As the main contribution, a current sensorless observer-based pole-zero cancellation speed controller is devised for the outer loop position-tracking controller including the convergence rate boosting mechanism. The features of this study are summarized as follows; first, the pole-zero cancellation angular acceleration error observer for the inner loop speed controller, second, the pole-zero cancellation speed control forcing the order of the controlled speed error dynamics to be 1, and, third, the outer loop position control incorporating the first-order target tracking system with its convergence rate booster. The resultant effectiveness is verified on a 10-W stepping motor control system.
本文展示了一种针对混合式步进电机的基于先进观测器的位置跟踪控制器，该控制器考虑了参数和负载不确定性。作为主要贡献，为外回路位置跟踪控制器设计了一种基于无电流传感器观测器的零极点对消速度控制器，其中包括收敛速率提升机制。本研究的特点总结如下：第一，内回路速度控制器的零极点对消角加速度误差观测器；第二，零极点对消速度控制，使受控速度误差动态特性的阶数为1；第三，外回路位置控制，结合了具有收敛速率增强器的一阶目标跟踪系统。在一个10瓦步进电机控制系统上验证了由此产生的有效性。
