Robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors

Wonhee Kim, Youngwoo Lee, Donghoon Shin, Chung Choo Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

We innovate an approach to position control, a robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors (PMSMs). The proposed method requires only position feedback and nominal value of Km over JL among PMSM parameters. We propose new 3rd order single-input single-output PMSM dynamics that consist of position, velocity, and acceleration using a commutation scheme. Instead of separated phase A and B current dynamics, the actual torque dynamics are proposed. The external disturbance, acceleration dynamic, and uncertainty of Km over JL are regarded as a disturbance. In order to estimate the position, the velocity, the accleration, and the disturbance, an augmented observer is designed. A nonlinear damping backstepping is developed to suppress a position tracking error increased as the estimation error of the disturbance is increased. This approach simplifies the design process such that the control algorithm is suitable for real time control. The performance of the proposed method was validated via experiments.

Original languageEnglish
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5325-5330
Number of pages6
ISBN (Print)9781479932726
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: 2014 Jun 42014 Jun 6

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period14/06/414/06/6

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Keywords

  • Backstepping
  • Control applications
  • Mechanical systems/robotics

Cite this

Kim, W., Lee, Y., Shin, D., & Chung, C. C. (2014). Robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors. In 2014 American Control Conference, ACC 2014 (pp. 5325-5330). [6858749] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6858749