Sliding mode controller for a stepper motor

Stepper motor is an electromechanical actuator widely used as positioning device due to its small size, reliable and relatively low maintenance cost. Furthermore, the permanent-magnet stepper motor gives better torque/weight ratio than the DC motor. However, the control problem of the stepper motor...

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Main Author:	Nor Shah, Mohd. Badril
Format:	Thesis
Published:	2010
Subjects:	TK Electrical engineering Electronics Nuclear engineering
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id	my-utm-ep.26983
record_format	uketd_dc
spelling	my-utm-ep.269832017-08-20T08:26:12Z Sliding mode controller for a stepper motor 2010 Nor Shah, Mohd. Badril TK Electrical engineering. Electronics Nuclear engineering Stepper motor is an electromechanical actuator widely used as positioning device due to its small size, reliable and relatively low maintenance cost. Furthermore, the permanent-magnet stepper motor gives better torque/weight ratio than the DC motor. However, the control problem of the stepper motor is complex due to the nonlinearities, the load torque perturbation, and the parameter uncertainties. Static Sliding Mode Controller (SMC) has been used in this project to give robust performance of stepper motor under various system conditions. The stepper motor is treated as differently flat system in which this approach has been formulated as a 'decouple' linear system leading to the simpler controller design. The dynamic equation of stepper motor is transformed into a class of nonlinear system representation by using a method known as Direct-Quadrature (DQ) transformation. A sliding surface is constituted by the direct current supply stabilization error and rotor angular position error. The implementation of designed static sliding mode controller is performed in simulation using MATLAB Simulink. The controller demonstrates that the response of a permanent magnet stepper motor is improved especially when driving at high inertia load and also robust to parameter uncertainties, disturbance and load torque perturbation. 2010 Thesis http://eprints.utm.my/id/eprint/26983/ masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Nor Shah, Mohd. Badril Sliding mode controller for a stepper motor
description	Stepper motor is an electromechanical actuator widely used as positioning device due to its small size, reliable and relatively low maintenance cost. Furthermore, the permanent-magnet stepper motor gives better torque/weight ratio than the DC motor. However, the control problem of the stepper motor is complex due to the nonlinearities, the load torque perturbation, and the parameter uncertainties. Static Sliding Mode Controller (SMC) has been used in this project to give robust performance of stepper motor under various system conditions. The stepper motor is treated as differently flat system in which this approach has been formulated as a 'decouple' linear system leading to the simpler controller design. The dynamic equation of stepper motor is transformed into a class of nonlinear system representation by using a method known as Direct-Quadrature (DQ) transformation. A sliding surface is constituted by the direct current supply stabilization error and rotor angular position error. The implementation of designed static sliding mode controller is performed in simulation using MATLAB Simulink. The controller demonstrates that the response of a permanent magnet stepper motor is improved especially when driving at high inertia load and also robust to parameter uncertainties, disturbance and load torque perturbation.
format	Thesis
qualification_level	Master's degree
author	Nor Shah, Mohd. Badril
author_facet	Nor Shah, Mohd. Badril
author_sort	Nor Shah, Mohd. Badril
title	Sliding mode controller for a stepper motor
title_short	Sliding mode controller for a stepper motor
title_full	Sliding mode controller for a stepper motor
title_fullStr	Sliding mode controller for a stepper motor
title_full_unstemmed	Sliding mode controller for a stepper motor
title_sort	sliding mode controller for a stepper motor
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2010
_version_	1747815558898778112

Sliding mode controller for a stepper motor

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