Current control of sawyer motors with microstepping method using proximated in-phase current estimator

Abstract

This paper presents Proportional-Integral Feed Forward(PIFF) controller using Proximate In-phase Current Estimator(PIpCE) for current control of sawyer motor. For current control, Low Pass Filter(LPF) has been widely used to remove high-frequency noise from feedback current. But the current filtered by LPF has phase lag which generates current tracking error, and also it can cause position tracking error. PIpCE obtains both advantages removing high-frequency noise and reducing current tracking error. The proposed algorithm applied to sawyer motor was validated with simulation results.