Steady-state Error-compensation by Feedforward-gain Tuning for Digital PIM Current Regulation of a Stepping-motor Driver

Keisuke Yagi and Noriyuki Hori


Feedforward Gain Tuning, Integral Control, Digital Redesign, Plant Input Mapping (PIM), Delta (Euler) operator, Stepping-Motor Dirver


The present paper is concerned with the use of a self-tuning feedforward-gain in place of integral control. The method is aimed at removing the steady-state error in following a nonzero reference step signal without having an integrator in the feedback loop. This technique is used to improve the PIM method, which is a digital redesign method for discretizing an analog controller with guaranteed stability but without system-type preservation. The method is applied to the design of a digital current regulator in the driver for a stepping motor. Experiments are carried out to show that the resulting controller works in a safe manner under all the conditions tested and yields the same performance as that designed using the PIM method with the integrator included, which increases the controller order and can complicate the design.

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