스테퍼 모터를 위한 비선형 제어기법의 개관

Abstract

Stepper motor is widely used in positioning applications due to its durability and high torque to inertia ratio as well as lowcost and ability to be easily controlled with open-loop. Due to increased resolution of position control and improved stability ofmotion control, microstepping has drawn attention in industry since it was introduced in 1970s. With the increase in computationalpower and decrease in cost of embedded processors in recent years, drives and control systems for stepper motors have become moresophisticate than ever. Thus, closed-loop control methods have been developed to improve the performance of the stepper motors. Inthis paper, we review not only basic principles of conventional control methods used for stepper motors but also that ofmicrostepping control. In addition, we surveyed recent development in nonlinear control methods applied to stepper motors. Thenonlinear control methods are presented in the view of Lyapunov stability. Nonlinear torque disturbance observer, sliding modecontrol, and nonlinear phase compensation are also presented.