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1、NonlinearDynamics18:383-404,2005Oscillation,InstabilityandControlofStepperMotorsLIYUCAOandHOWARDM.SCHWARTZDepartmentofSystemsandComputerEngineering,CarletonUniversity,1125ColonelByDrive,Ottawa,ONK1S5B6,Canada(Received:18February1998;accepted:1December1998)Abstract.Anove
2、lapproachi.oar.filyzir.Kinstabilityinpermanent-magnetsteppermotorsispresented.Itisshownthattherearetwokindsofunstablephenomenainthiskindofmotor:mid-frequencyoscillationandhigh-frequencyinstability.Nonlinearbifurcationtheoryisusedtoillustratetherelationshipbetweenlocalin
3、stabilityandmidfrequencyoscillatorymotion.AnovelanalysisispresentedLoanalyzethelossofsynchronisttiphenomenon,whichisidentifiedashighfrequencyinstability.Theconceptsofsepara1ricesandatIractorsi1:phase-spaceareused1oderiveaquantitytoevaluatethehigh-frequencyinstability.By
4、usingthisquantityonecaneasi1yestimatethestabi1iLyforhighsupplyfrequencies.Furthermore,astabilizationmethodispresented.Ageneralizedapproachtoanalyzethestabi1izaLionproblembasedonfeedbacktheoryisgiven.Itisshownthatthemid-frequencystabilityandthehigh-frequencystabilitycanb
5、eimprovedbystatefeedback.Keywords:Steppermotors,instability,nonlinearity,statefeedback.1.IntroductionSteppermotorsareelectromagneticincremental-motiondeviceswhichconvertdigitalpulseinputstoanalogangleoutputs.Theirinherentsteppingabilityallowsforaccuratepositioncontrolwi
6、thoutfeedback.Thatis,theycantrackanysteppositioninopen-loopmode,consequentlynofeedbackisneededtoimplementpositioncontrol.SteppermotorsdeliverhigherpeaktorqueperunitweightthanDCmotors;inaddition,theyarebrushlessmachinesandthereforerequirelessmaintenance.Allofthosepropert
7、ieshavemadesteppermotorsaveryattractiveselectioninmanypositionandspeedcontrolsystems,suchasincomputerharddiskdriversandprinters,XY-tables,robotmanipulators,etc.Althoughsteppermotorshavemanysalientproperties,theysufferfromanoscillationorunstablephenomenon.Thisphenomenons
8、everelyrestrictstheiropen-loopdynamicperformanceandapplicableareawherehighspeedoperationisneeded.Theoscillatio
