Modeling of hybrid stepper motors for closed loop operation

In automation and handling, many motion tasks are accomplished using servo motors. For simple motion tasks, hybrid stepper motors can be used in closed loop operation as a cheaper replacement of expensive servo motors. Therefore a model of the electromechanical behaviour is necessary for controller design. A detailed model of the hybrid stepper motor is derived, taking the saliencies of the rotor and the stator into account. Least-squares optimal parameter values are identified for important model parameters. Validation experiments show the high accuracy of the model.