On the model of a Hybrid Step Motor

Chirilă, Aurel-Ionuț; Deaconu, Ioan-Dragoș; Navrapescu, Valentin; Albu, Mihaela; Ghiţă, Constantin

doi:10.1109/isie.2008.4677056

Cited by 8 publications

(2 citation statements)

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“…In [7] a dynamic model based on magnetic equivalent schemes is discussed. A linearization of the model is proposed and numerically evaluated in [8], while models at different levels of complexity are developed in [9]. In [10] proposed, while [11] uses the Matlab/Simulink environment for rapid prototyping of a model based controller for stepper motors.…”

Section: Introductionmentioning

confidence: 99%

Mechatronic model of oscillations in hybrid stepper motors

Rocco

Gruosso

Magnani

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Hybrid stepper motors combine the features of permanent magnet and variable reluctance motors, which makes them an attractive solution for a variety of low-cost applications. Oscillations in the phase current and in the motor position may however arise between two consecutive steps. This paper develops a model of the system, whose linearization yields closed form analytical expressions of the parameters (natural frequency and damping coefficient) characterizing such oscillations. A detailed simulation model of the system, including discontinuous effects of PWM amplification, is developed as well and validated with experimental data. The accuracy of the expression found for the oscillation parameters is also validated.

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Section: Introductionmentioning

confidence: 99%

Mechatronic model of oscillations in hybrid stepper motors

Rocco

Gruosso

Magnani

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…Nowadays permanent magnet stepper motors are becoming affordable and are widely used not only in the industry but even in the field of aerospace engineering. 27 These motors or the hybrid types combined with a simple microcontroller can perform well [28][29][30][31] even in the low-speed region.…”

Section: Description Of the Proposed Robotic Jointmentioning

confidence: 99%

Bio-inspired backlash reduction of a low-cost robotic joint using closed-loop-commutated stepper motors

Veres¹,

Cserey²,

Szederkényi³

2013

Robotica

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The majority of current robotic joints are primarily actuated by rotational mechanisms. These electrical drives have substantially different features than the features found in human muscular systems. This paper presents a cost-effective solution to the backlash of a phenomenon known to cause positioning errors and other undesirable dynamic effects in drives. These errors are particularly pronounced when relatively major changes appear in the pre-load conditions of the motor such as in the case of a robotic leg or arm with a high degree of freedom. Current solutions require an accurate time-varying model of drives that is not available in the majority of practical cases. Therefore, in this paper a digitally controlled mechanical solution is proposed which is inspired by the human flexor-extensor mechanism. The idea is to construct an antagonistic actuator pair analogous to the flexor and extensor muscles. In order to obtain good control performance even in the low-speed range, permanent magnet stepper motors were chosen as actuators that are commutated in a digitally closed-loop fashion. The operation of the controlled structure has been verified in a real experimental environment where measurements showed good results and match with previous simulations. Nomenclatureb Measure of a backlash as a distance [m] β Measure of a backlash as an angle [rad] r Radius of a gear [m] τ Torque [Nm] i Current [A] I Nominal current [A] θ Angle [rad] J Inertia [kgm 2 ]

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