One of the goals of any new drive project is to minimize the user involvement in configuring the system. The ultimate design would be a self-commissioning drive that could automatically obtain all of the relevant parameters for any application. Recently developed control techniques (i.e.[1] and [2]) for hybrid step motors require that parameters such as phase inductance be known in order to operate properly. Optimal performance requires greater accuracy than can be obtained by having a user set DIP switches to program parameter ranges. Also, there is a degree of uncertainty even with the data sheet values. User-independent techniques are needed to effectively determine and track system variables. This paper uses recursive least-squares estimation (RLSE) techniques to obtain step motor parameters. First, a general phase winding model including iron losses will be manipulated to fit into the RLSE framework, allowing selected variables to be tracked. An auto-initialization algorithm for the estimator will also be presented. Experimental results for several motors will show the effectiveness of the estimator. The results will also show the problems created by neglecting the iron losses in the winding model.
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