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1、Oscillation,InstabilityandControlofStepperMotorsAbstract.Anovelapproachtoanalyzinginstabilityinpermanent-magnetsteppermotorsispresented.Itisshownthattherearetwokindsofunstablephenomenainthiskindofmotor:mid-frequencyoscillationandhigh-frequencyinstability.Nonlinearbifurc
2、ationtheoryisusedtoillustratetherelationshipbetweenlocalinstabilityandmidfrequencyoscillatorymotion.Anovelanalysisispresentedtoanalyzethelossofsynchronismphenomenon,whichisidentifiedashigh-frequencyinstability.Theconceptsofseparatricesandattractorsinphase-spaceareusedto
3、deriveaquantitytoevaluatethehigh-frequencyinstability.Byusingthisquantityonecaneasilyestimatethestabilityforhighsupplyfrequencies.Furthermore,astabilizationmethodispresented.Ageneralizedapproachtoanalyzethestabilizationproblembasedonfeedbacktheoryisgiven.Itisshownthatth
4、emid-frequencystabilityandthehigh-frequencystabilitycanbeimprovedbystatefeedback.Keywords:Steppermotors,instability,nonlinearity,statefeedback.1.IntroductionSteppermotorsareelectromagneticincremental-motiondeviceswhichconvertdigitalpulseinputstoanalogangleoutputs.Theiri
5、nherentsteppingabilityallowsforaccuratepositioncontrolwithoutfeedback.Thatis,theycantrackanysteppositioninopen-loopmode,consequentlynofeedbackisneededtoimplementpositioncontrol.SteppermotorsdeliverhigherpeaktorqueperunitweightthanDCmotors;inaddition,theyarebrushlessmach
6、inesandthereforerequirelessmaintenance.Allofthesepropertieshavemadesteppermotorsaveryattractiveselectioninmanypositionandspeedcontrolsystems,suchasincomputerharddiskdriversandprinters,XY-tables,robotmanipulators,etc.Althoughsteppermotorshavemanysalientproperties,theysuf
7、ferfromanoscillationorunstablephenomenon.Thisphenomenonseverelyrestrictstheiropen-loopdynamicperformanceandapplicableareawherehighspeedoperationisneeded.Theoscillationusuallyoccursatsteppingrateslowerthan1000pulse/s,andhasbeenrecognizedasamid-frequencyinstabilityorlocal
8、instability[1],oradynamicinstability[2].Inaddition,thereisanotherkindofunstablephenomenoninsteppermotors,thati
