Digital Control of a Stepping Motor for Eliminating Rotation Speed Fluctuations Using Adaptive Gains

Nowadays, stepping motors are usually used as precise actuators in various new scientific fields, such syringe pumps, blood analyzers, and bio-3D printers. Controlling rotation of the motor without speed fluctuation under no-load conditions plays an important role improving accuracy machine’s drive. This paper proposes a digital control method for five-phase hybrid motor. The proposed controller includes original loop PI adaptive integration gain loop. is redesigned from analog by using direct PIM method. added to parallel way remove steady deviation suppress physical saturation factor inside plant. Lyapunov stability theory prove condition regulator gains. Experimental results show that can chattering caused switching structure gives performances good commercial high range fluctuation.