Path: SCPro/ProActuators
% Simulates a two phase stepper motor.
State 'AB' [theta;omega;iA,iB]
'DQ' [theta;omega;iD,iQ]
'FI' [theta;omega]
The AB and DQ models are just coordinate transformations of one another.
The FI model only computes the torque assuming that the currents reach
steady state instantaneously.
This model neglects magnetic coupling between the phases and variations
in the inductance as a function of rotor position, the detent torque
and magnetic saturation.
The data structure:
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dS.l - inductance of the phase winding
dS.nR - number of rotor teeth
dS.r - resistance of the phase winding
dS.kM - motor torque constant
dS.kD - detente load torque
dS.tM - mechanical torques on the shaft
dS.coulomb - Coulomb friction
dS.inertia - rotor inertia
dS.damping - damping coefficient
dS.uA - phase a voltage
dS.uB - phase b voltage
dS.uD - direct voltage
dS.uQ - Quadrature voltage
dS.mode - 'ab', 'dq', 'fi' The last only computes the torque
and assumes that the currents reach steady state instantaneously
Since version 2.
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Form:
[xDot, tTotal, m] = StepSim( x, t, dS )
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Inputs
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x (:) State
t (1,1) Time
dS (:) Data structure
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Outputs
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xDot (:) State derivative
tTotal (1,1) Total torque
m (2,2) Transformation from a,b to d,q
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References:
1. Bodson, M., J. Chiasson, R. Novotnak, R. Rekowski "High-Performance
Nonlinear Feedback Control of a Permanent Magnet Stepper Motor,"
IEEE Transactions on Control Systems Technology, Vol. 1, No. 1.,
March 1993, pp. 5-14.
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