Skip to main content
SpringerLink
Log in

Hybrid Stepper Motor: Model, Open-loop Test, Traditional PI, Optimized PI, and Optimized Gain Scheduled PI Controllers

  • Regular Papers
  • Control Theory and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

In this paper, a hybrid stepper motor (HSM) model, open-loop control and closed-loop control are explained. To overcome the stepping nature of the HSM open-loop configuration, the closed-loop control is an essential task and is obtained with the help of the HSM mathematical model. Effective closed-loop control strategies are performed based on the field oriented control (FOC) after performing a Park transform. Those strategies are optimized PI controller and optimized gain scheduling PI controller in which the controller’s parameters are tuned optimally using a particle swarm optimization algorithm (PSO) with the integral absolute error (IAE), integral time absolute error (ITAE), and integral time square error (ITSE) performance indexes mean value as an objective function. Additionally, operation under no-load and loaded conditions are tested and compared with the traditional PI controller. The obtained results show that, under loaded conditions, the optimized gain scheduling PI controller gives better performance due to its adaptive nature.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. P. Ghanooni, A. Yazdani, A. Mahmoudi, S. M. Zadeh, M. A. Movahed, and M. Fathi, “Robust precise trajectory tracking of hybrid stepper motor using adaptive critic-based neuro-fuzzy controller,” Computers & Electrical Engineering, vol. 81, p. 106535, 2020.

    Article  Google Scholar 

  2. T. Kenjo and A. Sugawara, Stepping Motors and Their Microprocessor Control,” Clarendon Press, 1994.

  3. S. E. Lyshevski, Electromechanical Systems and Devices, CRC Press, 2008.

  4. P. P. Acarnley, Stepping Motors: A Guide to Theory and Practice, 3rd Rev ed., Peter Peregrinus Ltd., 1994.

  5. M. Daouda, C.-L. Lin, C.-S. Lee, C.-C. Yang, and C.-A. Chen, “Model predictive control of sensorless hybrid stepper motors in auxiliary adjuster for stereotactic frame fixation,” Mechatronics, vol. 47, pp. 160–167, 2017.

    Article  Google Scholar 

  6. A. Arias, J. Caum, E. Ibarra, and R. Grino, “Reducing the cogging torque effects in hybrid stepper machines by means of resonant controllers,” IEEE Transactions on Industrial Electronics, vol. 66, no. 4, pp. 2603–2612, 2018.

    Article  Google Scholar 

  7. M. S. Zaky, E. M. Ismaeil, and M. M. Khater, “Gain scheduling adaptive proportional-integral controller for a field-oriented control of hybrid stepper motor drives,” Electric Power Components and Systems, vol. 40, no. 7, pp. 777–791, 2012.

    Article  Google Scholar 

  8. B. Kuo and G. Singh, “Closed-loop and speed control of step motors,” Proc. of the 3rd Annual Symposium Incremental Motion Control Systems and Devices, pp. 6–8, 1974.

  9. A. Rubaai, M. J. Castro-Sitiriche, M. Garuba, and L. Burge, “Implementation of artificial neural network-based tracking controller for high-performance stepper motor drives,” IEEE Transactions on Industrial Electronics, vol. 54, no. 1, pp. 218–227, 2007.

    Article  Google Scholar 

  10. A. Ahmadi, M. T. Sedehi, A. M. Yazdani, M. F. Haniff, S. Buyamin, and H. A. Rahim, “Designing an optimal fuzzy-PID controller for speed tracking of stepper motor,” Proc. of 2012 IEEE Symposium on Industrial Electronics and Applications, pp. 193–198, IEEE, 2012.

  11. P. Crnosija, B. Kuzmanovic, and S. Ajdukovic, “Microcomputer implementation of optimal algorithms for closed-loop control of hybrid stepper motor drives,” IEEE Transactions on Industrial Electronics, vol. 47, no. 6, pp. 1319–1325, 2000.

    Article  Google Scholar 

  12. M. B. N. Shah, A. R. Husain, and M. N. Ahmad, “Static sliding mode controller for permanent magnet stepper motor with disturbances,” Proc. of International Conference on Electrical, Control and Computer Engineering 2011 (InECCE), pp. 520–525, IEEE, 2011.

  13. W. Kim, I. Choi, and C. C. Chung, “Lyapunov-based control in microstepping with a nonlinear observer for permanent magnet stepper motors,” Proc. of the American Control Conference, pp. 4313–4318, IEEE, 2010.

  14. S. Seshagiri, “Position control of permanent magnet stepper motors using conditional servocompensators,” IET Control Theory & Applications, vol. 3, no. 9, pp. 1196–1208, 2009.

    Article  Google Scholar 

  15. A. Morar, “The modelling and simulation of bipolar hybrid stepping motor by Matlab/Simulink,” Procedia Technology, vol. 19, pp. 576–583, 2015.

    Article  Google Scholar 

  16. W. G. Soliman and D. R. K. Reddy, “Microprocessor based prototype design of a PMDC motor with its system identification and PI controller design,” SN Applied Sciences, vol. 1, no. 6, pp. 1–8, 2019.

    Google Scholar 

  17. J. Kennedy and R. Eberhart, “Particle swarm optimization,” Proc. of ICNN’95-International Conference on Neural Networks, vol. 4, pp. 1942–1948, IEEE, 1995.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of ECE, Gayatri Vidya Parishad College of Engineering (A), Visakhapatnam, India

    B. Keerthi Priya

  2. Department of ECE, Andhra University College of Engineering (A), Visakhapatnam, India

    D. Akhila Reddy

  3. Department of Instrument Technology, Andhra University College of Engineering (A), Visakhapatnam, India

    Wasim Ghder Soliman, A. Daisy Rani & D. V. Rama Koti Reddy

  4. Industrial Automation Engineering Department, Technical Engineering College, University of Tartous, Tartous, Syria

    Wasim Ghder Soliman

  5. Department of EEE, Vignana Bharathi Institute of Technology (A), Hyderabad, India

    Neelima Kalahasthi

Authors
  1. B. Keerthi Priya
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. D. Akhila Reddy
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Wasim Ghder Soliman
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. A. Daisy Rani
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Neelima Kalahasthi
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. D. V. Rama Koti Reddy
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to B. Keerthi Priya.

Additional information

B. Keerthi Priya is working as an Assistant Professor in the Department of ECE, Gayatri Vidya Parishad College of Engineering (A). She recieved her Ph.D. degree from Andhra University. Her Memberships in Professional Bodies are IETE, ISSS, ISOI, IAEng, and IEEE. Her research interests include medical image processing, IoT, and AI.

D. Akhila Reddy is a student of the Department of ECE, College of Engineering, Andhra University, Vishakhapatnam. She is with the IEEE India council student coordination Team in the capacity of webinar and online training for the tenure 2021–22. She is a student Member of IETE. Her research interests include IoT and AI.

Wasim Ghder Soliman received his Ph.D. degree from the Instrument Technology Department, Andhra University, Visakhapatnam, India, in 2021. He is currently an Assistant Professor at faculty of Technical Engineering, Tartous University, Syria. His research interests include microprocessor-based control systems and Industrial Internet of Things (IIoT).

A. Daisy Rani is working as an Assistant professor in the department of Instrument Technology, Andhra University College of Engineering (A). She received her Ph.D. degree in MEMS Technologies from Andhra University in 2015. MEMS design, NANO technology, and VLSI digital circuits are her areas of research. She published more than 38 papers in the international journals.

Neelima Kalahasthi is a Professor and a Head of the Department in Electrical and Electronics Engineering, VBIT, Hyderabad with overall experience of 19 years. She is an expert in network analysis, electrical distribution systems, artificial intelligence, etc. She has published 11 conference papers and 31 papers in the international journals.

D. V. Rama Koti Reddy is currently working as a Professor in the Department Instrument Technology, A.U. College of Engineering, Andhra University, India. His other Memberships in Professional Bodies are IETE, IEEE, ASE, ISA, ISSS, IACSIT, IAEng, IE, ISOI, and Energy Conversion Mission. His field of interests includes medical image processing, IoT, nano technology, and sensor networking.

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Priya, B.K., Reddy, D.A., Soliman, W.G. et al. Hybrid Stepper Motor: Model, Open-loop Test, Traditional PI, Optimized PI, and Optimized Gain Scheduled PI Controllers. Int. J. Control Autom. Syst. 20, 3915–3922 (2022). https://doi.org/10.1007/s12555-021-0371-y

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-021-0371-y

Keywords

Search

Navigation