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Sensorless Position Control of Stepper Motor Using Extended Kalman Filter

Reenu George, S. Kanthalakshmi, Manoj G

This paper describes simple position control of sensorless hybrid stepper motor (HSM). A mathematical model for hybrid stepper motor is derived using mechanical and electrical equations, which is used to estimate the position of the motor using Extended Kalman Filter (EKF). In position control, estimated value is compared with the reference position and when both coincide, the motor is held at a particular position for specified time and brought back to original position. The simulation results are presented.