Abstract
It is well known that commercial hybrid stepper system has one or more low-speed resonant points. However, this characteristic cannot be accurately modeled without high-order equations or complicated measurement of motor parameters. In this paper, a novel approach is proposed to model the behavior of a commercial 1.8 degrees hybrid stepper motor accurately and efficiently. Also, model-based damping algorithms for both open-loop control and servo control are proposed. Simulation and experimental results show that the proposed algorithms can effectively eliminate low-speed resonance and vibration of the stepper system. The algorithms are efficient enough to be implemented on commercial DSP-based controllers without sacrificing motion control performance.