A 2-DoF Skin Stretch Display on Palm: Effect of Stimulation Shape, Speed and Intensity. Rotational speed of stepper motor ( d θ dt)
Resistance of phase winding of steeper motorĬonstant speed of stepper motor at open-circuit winding voltage Inductances of phase winding of steeper motor The authors declare no conflict of interest. However, the result in Figure 7e at the end of the eight steps shows the angle is 193.86 degrees, whereas Figure 9e shows the angle of 192.69 degrees. The motor in eight steps theoretically gives 240 degrees. In addition, the speed in the proposed model reaches a steady-state faster than the model of Simulink libraries. Figure 7d and Figure 9b illustrate the response of speed in each step of motion. The electromagnetic torque in Figure 7c reaches an average steady-state value of 0.2014 Nm, while the torque in Figure 9c still oscillates inside each step of motor motion. Moreover, the response of currents in each step is under damping in the proposed model, whereas the response is overdamping in the model of Simulink libraries. The phase currents in Figure 7b are faster than the currents shown in Figure 9b to reach the steady state inside each of the steps. The phase currents are obtained in Figure 7b by running the proposed Simulink model, whereas currents shown in Figure 9b are obtained by running the model in the Simulink libraries.
Figure 7a and Figure 9a show the input phase voltage for phases α and β. Therefore, phase currents, electromagnetic torque, speed, and displacement angle were tested and compared in Figure 7 and Figure 9 for the two Simulink models in this article. The result illustrated in Figure 7 and Figure 8 is obtained by the proposed model, while the result shown in Figure 9 is achieved by the Simulink model of the stepper motor in the library of Matlab. The bipolar method is used to drive the motor at 24 V and a time of period 0.1 s. The Simulink models in the previous section are examined by the two-phase hybrid stepper motor and its data given in Table 2. The authors of analyzed hybrid stepper motor transient performance characteristics under various loads by simulation tools. In, the linearization is performed by using the previously extracted load characteristic of the stepper motor, where Matlab/Simulink is used as a simulation tool to study the stepper motor. Reference proposed a model based on linearized equivalent circuits to represent the operation of the motor. The proposed work in discussed how the extended Kalman filter algorithm was used to estimate the mechanical state variables of the hybrid stepper motor by Simulink models of a stepper motor, assuming a dependent linearized equivalent circuit to represent the operation of the motor. An equivalent magnetic circuit based on permeance distribution for estimating the generated torque of a hybrid stepper motor was prepared in. A transfer function of a two-phase bipolar hybrid stepper motor was presented in for eight different topologies of air gaps and stator teeth. The mathematical model of Variable Reluctance and Permanent Magnet (VRPM) motors had been found dependent on an equivalent magnetic circuit in. The dynamic model that estimates the dynamic behavior of the hybrid stepper motor in stationary and transient states was proposed in.