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Oscillation, Instability and Control of Stepper Motors LIYU CAO and HOWARD M. SCHWARTZ Department of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canada (Received: 18 February 1998; accepted: 1 December 1998) Abstract A novel approach to analyzing instability in permanent-magnet stepper motors is presented. It is shown that there are two kinds of unstable phenomena in this kind of motor: mid-frequency oscillation and high-frequency instability. Nonlinear bifurcation theory is used to illustrate the relationship between local instability and mid frequency oscillatory motion. A novel analysis is presented to analyze the loss of synchronism phenomenon, which is identified as high-frequency instability. The concepts of separators and attractors in phase-space are used to derive a quantity to evaluate the high-frequency instability. By using this quantity one can easily estimate the stability for high supply frequencies. Furthermore, a stabilization method is presented. A generalized approach to analyze the stabilization problem based on feedback theory is given. It is shown that the mid-frequency stability and the high-frequency stability can be improved by state feedback. Keywords: Stepper motors, instability, nonlinearity, state feedback. 1. Introduction Stepper motors are electromagnetic incremental-motion devices which convert digital pulse inputs to analog angle outputs. Their inherent stepping ability allows for accurate position control without feedback. That is, they can track any step position in open-loop mode, consequently no feedback is needed to implement position control. Stepper motors deliver higher peak torque per unit weight than DC motors; in addition, they are brushless machines and therefore require less maintenance. All of these properties have made stepper motors a very attractive selection in many position and speed control systems, such as in computer hard disk drivers and printers, XY-table