Stepper motor instabilities in an aerospace application

Abstract

Stepper motors are frequently used in positioning mechanisms because they have several advantages over ordinary DC motors. However, there is frequently no feedback loop and the motor may exhibit instabilities under some conditions. A stepper motor in an aerospace positioning mechanism was investigated. During testing, the motor exhibited unstable behavior, such as backrunning and forward running. The instability was dependent on voltage pulse characteristics, temperature, positioning angle, step rate, and interaction between the two motors in the system. Both testing and analysis results verified the instability. A special purpose FORTRAN code was written to simulate the system. This code was combined with another simpler code to show the performance of the system in the phase plane so that instability boundaries could be displayed along with the motor performance. The analysis was performed to verify that proposed modifications would produce stable performance before implementation in the hardware. Subsequent testing verified the analytic stability predictions.