880
3, MAY 2003
Damping a Hybrid Stepping Motor With Estimated
Position and Velocity
Sheng-Ming Yang, Member, IEEE, and Ei-Lang Kuo
Abstract—It is well known that microstepping reduces res-
onance behavior of stepping motors since the rotor moves in a
sequence of very small steps. However, the under-damped nature
of the motor does not change. In this paper, a scheme that uses
microstepping and closed loop position control to stabilize and
reduce resonance damping of the motor is proposed. The motor
currents are controlled in a frame rotating synchronously with
the excitation frequency. The -axis current provides the torque
to oppose the external load, and the -axis current provides the
transient torque to damp the motor. The motor velocity and
position are estimated via an observer that tracks the angle of the
motor back emf voltage. The response of the closed loop system
is independent of the external load level. Both simulation and
experimental results have shown that the proposed control scheme
is very effective in damping out the resonance of microstep-
ping-controlled motors.
Index Terms—Damping, emf, microstepping, motor velocity,
resonance, rotor, transient torque.
I. INTRODUCTION
B ECAUSE of its high precision in positioning, stepping
motor is widely used in office and factory automation
applications. Among various types of stepping motor, hybrid
stepping motor is the most commonly used since it has the
advantages of higher efficiency and torque capability over the
other stepping motors [1]. Hybrid stepping motor is generally
operated in open loop due to its special structure. The motor
develops torque through a mutual interaction between the
electromagnetic excitation from the stator poles and the per-
manent magnet flux crossing the rotor teeth. Once a particular
combination of phase currents is established and maintained
in the stator, the rotor teeth will be attracted into an alignment
with the stator poles in a particular position. Because viscous
damping coefficient is very small in motor structure, applica-
tion of stepping motor for quick response is severely limited.
Mechanical damper and passive components such as resis-
tance or capacitance can be used to improve the under-damped
response of stepping motors [1], [2]. However, these schemes
not only complicate the overall system design, but also reduce
the efficiency and increase the cost of the motor drive. Fur-
thermore, mechanical damper could be variable due to variable
Manuscript received March 8, 2002; revised November 1, 2002. This work
was supported by the National Science Council, Taiwan, R.O.C., under Grant
NSC 90-2213-E-032-021. Recommended by Associate Editor P. C. Luk.
S.-M. Yang is with Tamkang University, Tamsui, Taiwan 25137, R.O.C.
(e-mail: smyang@mail.tku.edu.tw).
E.-L. Kuo is with Teco Electric and Machinery Co., Tamsui, Taipei, Taiwan
25137, R.O.C.
Digital Object Identifier 10.1109/TPEL.2003.810836
0885-8993/03$17.00 © 2003 IEEE
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO.
load conditions and therefore must be adaptive in order to re-
tain under-damped response. On the other hand, schemes that
use advanced control methodologies to improve stepping motor
responses have also been attempted in many ways. Typically,
the motor was controlled digitally, the motor dynamics was lin-
earized about each control instance and then a feedback loop
was closed to drive the motor to its reference position [3], [4].
Since a fourth-order model is generally required, these schemes
were complex for implementation and the results were depen-
dent on the accuracy of the motor parameters used.
Because motor output torque is directly related to winding
currents in hybrid stepping motors, control of motor current es-
sentially reduces the motor model to a second-order model [5],
[6]. Then the motor behavior can be better controlled with sim-
pler control schemes. The simplest form of using current con-
trol in stepping motor is the microstepping drive, it reduces res-
onance in stepping motor since the rotor moves in a sequence
of very small steps. However, the under-damped nature of the
motor does not change. A scheme that used nonlinear microstep-
ping waveforms in conjunction with a positional controller was
proposed in [7]. The position control was used in order to pre-
vent the motor responses from being dependent on the level
of the external load torque. But the scheme is suitable for low
speed applications only, and a positional transducer is required
for the controller to work properly. Because the dynamic behav-
iors of synchronous motor and hybrid stepping motor are sim-
ilar, comparable control strategies have been adopted in many
researches [8]. However, these schemes generally required a po-
sitional transducer for the orientation of the current vector.
More recently, several electronic control schemes were re-
ported to have achieved satisfactory damping control. Another
scheme involved estimation of motor torque and closing of a
torque control loop on velocity to damp the motor actively was
presented in [9]. Because the motor velocity is estimated via in-
tegration of a signal analogous to motor torque, the performance
of this scheme is limited due to the low signal to noise ratio.
In this paper, an alternative scheme for damping control of hy-
brid stepping motors is proposed. This scheme uses microstep-
ping and closed loop position control to stabilize and reduce res-
onance damping of the motor. The response of the closed loop
system is independent of the external load level. The motor ve-
locity and position is estimated via an observer that tracks the
angle of the motor back emf voltage. The motor currents are
controlled in a frame rotating synchronously with the excitation
frequency. This is quite different from the majority of the pre-
viously proposed control schemes where the frame was aligned
with the rotor position.
YANG AND KUO: DAMPING A HYBRID STEPPING MOTOR
II. MOTOR MODEL
The - model of a two-phase hybrid stepping motor in the
stationary frame can be expressed as
(1)
where ; , and , are the winding voltages
and currents, respectively; and are the electrical rotor po-
sition and velocity, respectively; and , , and are the motor
parameters. Transforming the above equation into a frame ro-
tating synchronously with the excitation current yields
(2)
where , and , are the voltages and currents, respec-
tively, in the synchronously frame is the excitation frequency,
and is the electrical angle between the current vector and
the rotor electrical position, i.e., . The motor gen-
erated torque is
(3)
where is the torque constant. The above equation indicates
that motor torque is a sinusoidal function of when current is
constant. In other words, a change in implies also a change
in the level of external load torque.
Note that there is a distinct difference between the model
given above and the model commonly used in the control of
permanent magnet synchronous motors. In the modeling of syn-
chronous motor the d-axis is usually aligned with the rotor po-
sition. But in this paper, since we have assumed that there is no
positional sensor in the stepping motor, the frame axes cannot be
aligned with the rotor position correctly. Instead, the frame axes
in (3) are aligned with the current vector. Although the rotor is
rotating synchronously with the current vector in steady state,
depending on the magnitude and direction of the external load
torque, the rotor may be dragged behind or pushed ahead rela-
tive to the current vector.
III. CURRENT CONTROL
A synchronous frame current regulator is used to facilitate
microstepping control of hybrid stepping motor. A PI controller
is used for each axis, and the gains of both axes are set equal
for convenience. A block diagram for the current controller is
illustrated in Fig. 1. The current commands into the controller
are denoted as and . Their values are determined by the
outer control loops. Another input, , is determined from the
required motor velocity. The two trigonometric terms in (2), i.e.,
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881
Fig. 1. Block diagram of the synchronous frame current controller.
and , are treated as disturbance inputs to the
current controller since is a function of external load torque.
The current responses in terms of the command and the dis-
turbance inputs can be obtained as (4) and (5) shown at the
bottom of the next page, and the characteristic equation is
(6)
where and are the gains of the current controllers. Note
that is fourth order even though the motor model is only
second order. This is because has cross-coupled the - and
-axis control loops when the current is controlled in the syn-
chronous frame, and consequently created two more poles in
the system’s transfer function. When , however, the
axes no longer cross-coupled and the system became a dual
second-order system.
As indicated by (4) and (5), both and responses do not
contain any steady state error for step input from either com-
mands or disturbances, only transient responses exist. This is
helpful for the motor to operate at high speed accurately and re-
liably. On the other hand, has indicated that the roots of
the current controller will drift as varies. Fortunately, because
there is an outer loop to the current controller, the influence on
the performance of the overall control system due to slight root
variations from the current controller is very limited.
IV. DAMPING CONTROL
To damp the motor effectively, its generated torque must be
controlled in accordance with motor speed. It can be seen from
(3) that changing either current magnitude or can adjust
motor torque. But modulation of current magnitude is better be-
cause the instantaneous motor position information is not re-
quired. Furthermore, varying either or can affect cur-
rent magnitude. It is customary in the vector control of ac motor
drives that and are used for field and torque control, re-
spectively [10]. In a microstepping motor drive, however, the
angle between the rotor and the current vector is dependent on
882 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 3, MAY 2003

Fig. 2. Current and rotor position vectors.

the external load. The roles of and in (2) and (3) are dif-
ferent from those in the vector controlled drives. Nevertheless,
similar topology can be used to achieve damping control of step-
ping motor.
In this paper, is set to a constant value. For example, the
motor rated current, and is controlled to provide the transient
torque required to damp out motor resonance oscillations. A Fig. 3. Block diagram of the damping control system.
vector diagram illustrating the relationship between the current
vector and the rotor position is shown in Fig. 2. Since arises Note that when is small, is approximately proportional
in transient states only, the current vector, i.e., , is orienting to . Application of external load causes to vary, and
in the vicinity of most of the time. Note that modulation of the rotor is rotating synchronously with the current vector as
will change both the magnitude and the phase of the current long as the load does not exceed the maximum torque generated
vector. However, the effect on motor torque due to the variation with . Assuming that the external load is also constant, then
in current magnitude is negligible since the sensitivity of the rotor dynamic equation can be written as
to is much greater than that of the current magnitude to .
A block diagram illustrating the proposed damping control (8)
scheme is shown in Fig. 3. Two proportional gains, i.e.,
and , are used to regulate the errors between the reference where is the external load torque. In the case when
and the estimated motor speed and position, respectively, via is small, an approximate relationship between and can be
modulation of . Motor speed and position information are found by combining (2), (7) and (8), and the control laws shown
estimated via an estimator, detailed discussion on the estimator in Fig. 3, and the result is
will be given in the next section. The unit of is the same
as a viscous damping coefficient. Increasing causes more (9)
damping to the motor. Both and are used to shape the
dynamic response of the system. where , ,
It is difficult to obtain the exact dynamic response of the con- and is the number of stator poles.
trol system shown in Fig. 3 due to the nonlinearities in the motor Although (9) denotes that the roots of the damping controlled
voltage and torque equations. However, an approximate transfer system can be assigned by proper selection of and , the
function can be found by using operating point analysis. Let roots are functions of , i.e., the external load. To examine
, where and are the steady the effect of on the control system, the root loci of the
state and the transient load angles, respectively. From (3), the control system with a 75 V, 3 Amps hybrid stepping motor was
steady state torque is given by calculated and shown in Fig. 4. The parameters of the motor
can be found in Appendix A. Fig. 4(a) illustrates the root loci
(7) when varied from 0 to 90 , and are selected such

(4)

(5)

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YANG AND KUO: DAMPING A HYBRID STEPPING MOTOR 883

Fig. 4. Comparison of the root loci for ! =! when 1 varied with/and without damping control (a) with damping control (fix gains) (b) without damping
control.

that the damping ratio is approximately 0.7 for . It

can be seen that the roots were strongly influenced by . In
general, the motor should be operated at load angles much less
than 90 to avoid loosing steps. However, variation in still
has significant impact on the motor dynamic responses [11].
The root loci when both and are zero, i.e., no
damping control, were shown in Fig. 4(b) for comparison. It
can be seen that the roots were also strongly influenced by
. In addition, Fig. 4(b) also revealed that the response of
system without damping control is oscillatory since its roots
Fig. 5. Block diagram of the motor velocity and position estimator.
resided very close to the imagery axis.

Then
V. DAMPING CONTROL WITH VARIABLE GAINS
To prevent poles of (9) from varying with , and (14)
must be adjusted according to . Let be calculated
according to The rightmost term in the above equation is constant since
is set to a fixed value in the controller. As for the middle term
(10) in (14), command voltage can be used for but filtering is
needed since the equation is valid only under steady state. Also
in actual implementation, the division can be implemented with
where is a constant, and can be calculated as
a lookup table with as the index. But due to these practical
limitations, the pole-zero cancellation of the original equation,
(11) i.e., (9), will not take place when is very close to 90 and
when the external load varies rapidly. However, most of the time
then the zero in (9) will be cancelled by one of the poles, and (12) is valid since the motor is rarely operating at load angles
(9) becomes near 90 . Therefore, the performance of the damping controlled
system with variable gains is much better than that of the system
(12) with fixed gains.

The system becomes a first order system, and is no longer a VI. MOTOR VELOCITY AND POSITION ESTIMATION
function of . Moreover, the root of the final system can be Several methods have been reported for velocity and posi-
determined by proper selection of . Note that as shown in (10) tion estimation of hybrid stepping motor from the back emf
and (11), is required for the calculations of and voltage [12], [13]. Because significant noise filtering was used
. This is an external load related term and can be estimated in these methods, there were appropriate for constant speed op-
using the following method. erations only. This paper proposes an alternative scheme that
In the previous section, we have shown that and uses a two-phase type phase-lock-loop to detect motor velocity
at steady state. Thus, a steady state form of (2) can be and position. The scheme has excellent phase and frequency
expressed as tracking capability, and is simpler for implementation than those
previously proposed methods. A block diagram for the pro-
posed estimator is shown in Fig. 5. The estimator consists of
a preprocessor that calculates the motor back emf voltages, i.e.,
(13) and , and a feedback controller that closes a

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884 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 3, MAY 2003

Fig. 6. Motor velocity, 1 , and current responses without/and with damping control, ! = 300 Hz (simulation): (a) without damping control and (b) with
damping control.

loop on an integrator. Rearranging (1), we can express selection of and . Nevertheless, the bandwidth of the
and as observer is limited by the sampling rate and motor parameters.
Fortunately, there are many high-speed microprocessors avail-
able today that can perform all the control actions at a rather
high speed.

(15) VII. SIMULATION RESULTS

The parameters of the motor used in the simulation are shown
Let the estimated motor position be , multiplying and in the Appendix. Because the motor model described in Sec-
by and , respectively, and summing the tion II does not consider any nonlinearity effect of the magnetic
results yields an error estimation term as shown below field, simulations at very low speeds will be incorrect. There-
fore, only high speed simulation results are shown below.
(16) Fig. 6(a) and (b) illustrate the responses when the motor was
running at 300 Hz (6 rev./sec) without and with the damping
Since when is small, by control, respectively. The estimated speed matched the motor
manipulating the estimation error can be forced to zero with speed quite well as expected. Comparing the and
a feedback control loop. Because is proportional to , waveforms in these two figures reveals that the motor oscillated
roots of the velocity observer will vary with motor speed. To noticeably before settling down without damping control.
reduce the influence of motor speed, is normalized with the However, the oscillation diminished when the damping control
calculated emf voltage. But in order to avoid division of zero, the was invoked. Also seen in Fig. 6(b), was effective only
calculated emf voltage is limited to a fixed value at low speed. when the motor was in transient state, which is consistent with
Note that implementation of (15) requires differentiation of the analysis presented in the previous sections. The responses
currents. Since this will produce noise in the estimated velocity when the motor was subjected to external load torque are also
and position, alternative formula for and are used. shown in Fig. 6. It can be seen that the external load caused
Let the motor winding currents be and to grow bigger, but again, appeared only when
, respectively, where is the magnitude of the current was varying. These results have confirmed that the damping
vector. Then and are control is working only when there is a discrepancy between
the reference and the actual motor speed.
(17)
(18) VIII. EXPERIMENTAL RESULTS
The control scheme presented in the previous sections was
With the above equations, differentiation can be avoided in the
implemented with a TMS320C240 DSP-based controller for ex-
estimator. Substituting (16)–(18) into (15), we can express the
perimental verifications. The current and the damping controls
transfer function between the estimated and the actual motor
were executed at a rate of approximately 6 kHz. A tachometer
velocity as
was installed to measure the actual motor speed for performance
validation.
(19) Figs. 7–9 show the motor velocity and current responses
when the motor was running at various speeds without and
The observer has two poles and a zero, and in theory its roots with the damping control. The responses for the motor running
can be stabilized and placed at any desired location by proper at 300 and 550 Hz were very similar to the simulation results

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YANG AND KUO: DAMPING A HYBRID STEPPING MOTOR 885

Fig. 7. Motor velocity and current responses without/and with damping control, ! = 10 Hz: (a) without damping control and (b) with damping control.

Fig. 8. Motor velocity and current responses without/and with damping control, ! = 300 Hz: (a) without damping control and (b) with damping control.

Fig. 9. Motor velocity and current responses without/and with damping control, ! = 550 Hz: (a) without damping control and (b) with damping control.

shown in Fig. 6. Note that the estimated speed matched
the measured speed quite well, indicating that the proposed
observer can estimate motor speed effectively. Without the
damping control, the motor oscillated noticeably before settling
down to the reference speed. But the oscillation was damped
out when the damping control was invoked. Because only
inertia load was applied to the experimental motor, was very
small in the constant speed region since it needed to counter the
motor frictional torque only. Conversely, was larger in the
acceleration and deceleration regions since the speed and the
angle errors were larger compared with those in the constant
speed region. Also according to (10) and (11), and
varied considerably during acceleration and deceleration, but
did not vary when the motor was running at constant speed.
The responses when the motor was running at 10 Hz are
more complicated since the nonlinearity effects of the magnetic
field have significant influence on the motor responses. For
instance, the speed oscillations in Fig. 7(a) were not caused by the
under-damp behavior of the motor since these oscillations were
cyclic and coincided with the phase angle of the motor current.
It is believed that these oscillations were caused by the electro-
magnetic nonlinearity in the motor. Because these nonlinearity

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886 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 3, MAY 2003

Fig. 10. Position command ( ), actual position ( ), and estimated position (^ ) at various speeds without/and with damping control: (a) without damping
control and (b) with damping control.

Fig. 11. Position command ( ), actual position ( ), and estimated position (^ ) when the motor was decelerating to zero speed without/and with damping
control: (a) without damping control and (b) with damping control.

effects were not modeled in the derivation of the control strategy,
the damping controller was not able to damp out the oscillations
completely. However, the experimental results shown in Fig. 7
still demonstrated a considerable reduction in the oscillation and
the settling time when the damping control was applied.
Fig. 10 shows the command, the actual, and the estimated
motor positions when the motor was running at constant speed
without and with the damping control. Fig. 11 also shows the
same information but the data were recorded when the motor
was decelerating to zero speed. Both figures showed that
tracked closely whether the damping control was applied
or not. Also seen in Fig. 10, the delaying angle between
and , i.e., , fluctuated without the damping control, but
the magnitude of fluctuation became much smaller when
the damping controller was applied. This is consistent with the
plots shown in Figs. 7–9. Similar results can also found in
Fig. 11. Without the damping control, the motor did not settle
down at all in the time periods when data were recorded. On
the contrary, the motor settled down as soon as it reached zero
speed when the damping control was activated.

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YANG AND KUO: DAMPING A HYBRID STEPPING MOTOR
As seen in Fig. 11(b), after the motor settled down, did not
coincide with completely. This is because the emf voltage
was too small for the estimator to work correctly when the motor
is at rest. Nevertheless, is very close to due to the position
control action in the damping controller.
IX. CONCLUSION
In this paper, a damping control scheme for reducing the res-
onance of hybrid stepping motor is proposed. The controller
is setup such that the -axis current is controlled to provide
damping and the -axis current provides constant excitation to
the motor. The motor position and velocity are estimated via a
phase-lock-loop based observer that tracks the phase angle of
the motor back emf voltage. Both the simulation and the ex-
perimental results have demonstrated that this control scheme
is very effective in providing damping to the motor at medium
and high speeds. At low speed, the settling time was reduced
with the damping control. However, the performance is limited
due to the electromagnetic nonlinearity of the motor field. This
nonlinear effect must be taken in account in the velocity estima-
tion before the low speed performance can be improved.
APPENDIX
The motor used for the simulation and the experimental ver-
ifications was a 75 V, 3 A, 1.8 , two-phase hybrid stepping
motor. The motor parameters are
Resistance
Inductance H In both capacities, he performed research and devel-
Stator pole number
Viscous damping coefficient Nm/A
Motor and load inertia kg m
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Sheng-Ming Yang (S’87–M’87) received the M.S.
and Ph.D. degrees in mechanical engineering from
the University of Wisconsin, Madison, in 1985 and
1989, respectively.
From 1989 to 1992, he was a Development Engi-
neer with Unico, Inc., Franklin, WI, and from 1992
to 1995 he was a Principal Engineer at the Corporate
Technology Center, A.O. Smith Co, Milwaukee, WI.
opment work in the area of ac/dc motor drives and
controls. Since 1995, he has been an Associate Pro-
fessor in the Department of Mechanical and Electro-Mechanical Engineering,
Tamkang University, Taiwan, R.O.C. His main interest is in the research and
development of ac/dc motor drives.
Ei-Lang Kuo was born in Chia-Yi County, Taiwan,
R.O.C., in 1975. He received the M.S. degree in
mechanical engineering from Tamkang University,
Taiwan, in 2000.
He is a Development Engineer in Teco Electric and
Machinery Co., Tamsui, Taipei, Taiwan. His research
interest is in power electronics and large power ac
motor drives.