Stepping Motor Driving Disturbance Test and Identification of Mathematical Disturbance Model

Stepping motor is one of the biggest disturbance sources which generate high-frequency vibration and deteriorate pointing stability of satellite attitude. Those disturbance sources need to be carefully designed not to generate undesirable vibrations. Therefore, in the design of the disturbance sources, we need both of a high-frequency vibration control method and an accurate mathematical disturbance model. For this reason, we tested a stepping motor and evaluated the data of driving disturbance vibrations and identified “stepping motor mathematical disturbance model”. Consequently, we realized an accurate mathematical disturbance model of stepping motor which includes harmonic drive as the motor gear and flexible structure as the inertial load. This mathematical model can be applied to all stepping motors in which key parameters of stepping motor stiffness characteristics and inertial load structural characteristics are given.