DSP-BASED REAL-TIME CONTROL OF A TWO PHASE HYBRID STEPPING MO TOR

Abstract

The control of step motors has attracted much attention over the past few years, due to developments in control theory and low-cost digital hardware. Among various types of stepping motors, hybrid stepping motor is the most commonly used since it has the advantages of higher efficiency and torque capability. Stepping motors are widely used in precise motion control systems which require a high dynamic performance. However, an open loop speed control is insufficient, so closed loop control is essentially required. This paper presents a mathematical model by which the dynamic behavior of a hybrid stepping motor can be successfully predicted under different operating conditions. Hysteresis current control is used to produce the power converter gate drive pulses which enforce the phase currents follow their reference. The experimental results using DSP-DS1102 control board for hybrid stepping motor under different operating conditions have been presented. The criteria of high performance such as fast dynamic response, overshoot and undershoot of the proposed drive system are examined.