Observer-based backstepping control of linear stepping motor

摘要

This paper introduces an observer-based control approach for linear stepping motor (LSM) drive systems. The nonlinear motor dynamics is addressed in the backstepping control framework. Based on this model, a systematic analysis and design algorithm is developed to deal with stabilization and trajectory tracking of linear stepping motor systems. Moreover, to broaden the application range, the backstepping control method is extended to the output feedback control scheme. With simply measuring mover position, an observer-based backstepping controller is constructed to ensure satisfactory performance. In contrast to the conventional current regulated control strategy, this investigation considers a voltage-controlled pulse-width modulation (PWM) strategy with a complete theoretic exploration. The numerical simulations and experimental results illustrate the correctness and effectiveness of proposed approach.