Torque Ripple Suppression Control Using Parallel Resonant Controller and ANN in Position and Acceleration Sensorless Control of Stepping Motor

In 2-phase HB-type STM, since the phase A and B induced voltages contain 3rd and 5th order components, the dq-axis induced voltage contains 4th-order component. Therefore, the dq-axis magnetic flux includes 4th-order component, and the output torque includes 4th-order component. To suppress this torque ripple, conventional methods include ripple suppression using using position and acceleration sensors and manual adjustment of q-axis current commands. However, these methods create problems of increased cost, decreased reliability, and increased labor. Therefore, this paper reports a new method of torque ripple suppression by position and acceleration sensorless control by improving the current response using resonant controller and generating q-axis current command values using ANN, which is known as a type of AI learning. Also, in this paper, we confirm the effectiveness in suppressing torque ripple in the mid-to high-speed range by actual machine verification.