Active Damping Control of Hybrid Stepper Motor Based on ESMO-DPLL
Shi Yu1, Wu Zhitao1, Tong Wenming2
1. School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan 114051 China; 2. National Engineering Research Center for Rare-Earth Permanent Magnet Machines Shenyang University of Technology Shenyang 110870 China
Abstract：Hybrid stepper motors (HSM) have gained significant attention in the motor control field due to their ability to achieve energy conversion with high reliability, efficiency, and affordability. However, the mechanical structure of the stepper motor often results in undesired jitter vibration and out-of-step problems during operation because it relies on open-loop control. This paper introduces an active damping control method for hybrid stepper motors based on ESMO-DPLL. The method is based on the motor model under the synchronous rotating coordinate system. The control of the current id is kept constant at the current rating, while the current iq is adjusted according to the speed error to enhance motor damping and suppress oscillation during operation. Combined with an extended sliding mode observer (ESMO) and a dual phase locked loop (DPLL), a sensorless control method is introduced to achieve closed-loop speed control. ESMO employs the inverse potential as an extended state variable and replaces the traditional state variable with a saturation function. To verify the effectiveness of the ESMO observation method, the motor speed is set to be constant at 300 Hz and 500 Hz, respectively, and the experimental results of the inverse electromotive force obtained by the traditional SMO and ESMO methods are compared. The results demonstrate that the ESMO observation method effectively addresses the jitter problem of the traditional sliding mode observer and provides a more accurate estimate of the inverse electromotive force. Furthermore, the effectiveness of the ESMO-DPLL-based closed-loop active damping control for hybrid stepper motors in suppressing system oscillations is verified by comparing speed curves between undamped and damped control at different speeds. The motor is accelerated from a standstill to 10 Hz and then decelerated to 0 Hz. In undamped control, the maximum actual speed error between the actual speed and the estimated speed is approximately 5 Hz, while in damped control, it is reduced to 4 Hz. Similarly, when the motor accelerates from a standstill to 300 Hz and decelerates back to the standstill, the undamped control exhibits significant speed oscillations with a maximum actual speed error of about 75 Hz. With damping control, the motor's oscillation amplitude is noticeably reduced, and the maximum speed error is around 30 Hz. Likewise, when the motor accelerates from 0 Hz to 500 Hz and then decelerates to a standstill, the undamped control results in pronounced speed oscillations with a maximum actual speed error of about 65 Hz. The damping control significantly suppresses motor speed oscillation, reducing the maximum actual speed error to approximately 30 Hz. The experimental results have demonstrated that the proposed ESMO-DPLL-based active damping control method effectively suppresses oscillation during the operation of hybrid stepper motors, enabling smooth motor operation. Overall, this control scheme successfully addresses the damping shortcomings of stepper motors and effectively inhibits oscillation during actual operation.
施雨, 武志涛, 佟文明. 基于ESMO-DPLL的混合式步进电机主动式阻尼控制[J]. 电工技术学报, 2024, 39(18): 5657-5667.
Shi Yu, Wu Zhitao, Tong Wenming. Active Damping Control of Hybrid Stepper Motor Based on ESMO-DPLL. Transactions of China Electrotechnical Society, 2024, 39(18): 5657-5667.
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2024, Vol. 39 
