Field oriented sensorless position control of a hybrid stepper motor with extended Kalman filter

Abstract

This paper describes the sensorless position control of a hybrid stepper motor. Extended Kalman filter algorithm is used for sensorless control. The extended Kalman filter estimates the position and speed required for the field oriented control. The currents and voltages of the two phases of stepper motor is sensed and used for the state estimation using extended Kalman filter. The estimated position is compared with the desired position and motor is stopped at the desired position. Sensorless control eliminates the need for mechanical sensors. Simulation is done in MATLAB. ARM LPC2148 processor is used for the hardware implementation of steady state Kalman filter.