Question

What is the magnitude of the torque acting on the loop?

Answer 1

To regulate the velocity of hybrid stepper motor motion control systems, a control law which exploits the nonlinear dynamics to create an analog positional control in conjunction with a traditional linear control is introduced. This nonlinear approach allows a much coarser position sensor to be used, including position estimates based on back EMF measurements. The form of the control law admits the use of a wide variety of compensators, whereas earlier laws use only velocity damping compensation. Two specific compensators, ie, velocity …