High-Speed Parameter Estimation of Stepper Motors

A batch least-squares algorithm is applied to identify the parameters of a permanent magnet stepper motor. Short data segments of less than a tenth of a second are considered and the procedure does not require a special configuration of the motor. Error indexes are studied as measures of uncertainty in the estimation procedure. Simulations are performed to test the identification method and the usefulness of the error indexes. Experimental results, obtained on an industrial setup, demonstrate the validity of the approach in an actual application. The results can be used to develop models of stepper motors for precise control and to automatically tune computer-controlled drives.