Effects of closed-loop commutation delay for various types of motors

P. Krishnamurthy, F. Khorrami

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

Abstract

In a recent paper [1], we reported the occurrence of interesting phenomena that were observed experimentally during closed-loop commutation experiments with a planar (Sawyer) stepper motor and showed that the phenomena were caused due to time delays in the sensor and actuator. The observed dynamical phenomena included introduction of multiple solution trajectories with sensitive dependence on initial conditions (possibly yielding steady-state velocities with opposite signs) and saturation of velocity. We also showed that these phenomena can be exploited to estimate parameters such as closed-loop delay, sensor offset, and toothpitch. The analysis in [1] was applicable to a permanent-magnet stepper motor (and any other motor that shares the same form of the mechanical dynamics and torque expression). In this paper, we continue the work of [1] and investigate the effect of closed-loop commutation delay on other types of motors including variable reluctance (VR) stepper motors, brushless DC (BLDC) motors, and three-axis planar Sawyer stepper motors.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1227-1232
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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