First Order Sliding Mode Control of the Tubular Linear Stepping Motor

This paper proposes a linear tubular stepping motor with a variable reluctance structure. The machine is controlled with four phases to have a single step of 2.54 mm when one phase is energized. In this paper, we present first a global representation of the tubular stepping motor and the electrical and dynamic equations. Then, a study in open loop control using the software Matlab and Simulink is given to present the dynamic behavior of the machine, the currents and the control form. Moreover, in closed loop control, we present a first order Sliding Mode Control (S.M.C) to eliminate the disturbance of the current when the motor load is important. The first order sliding mode control will be presented in this paper to compare the current form in open and closed loop control.