StepSim:

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:
   -------------------
   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
   ------
   x             (:)        State
   t             (1,1)      Time
   dS            (:)        Data structure

   -------
   Outputs
   -------
   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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