Applying the Adaptive Nonlinear Backstepping Position Controller in Order to Control Angular Position of Bipolar Permanent Magnet Stepper Motors

Permanent Magnet Stepper Motor (PMSM) is defined as a high nonlinear dynamics, MIMO electromechanical incremental actuator broadly applied as a position device. The closed loop control system is proposed to enhance the performance of PMSM from the load change, steady state error, and the parameters variation that appear in the open loop control. In this paper, the proposed closed loop system is based on the Field Oriented Control (FOC) and using the nonlinear Backstepping method to design a adaptive nonlinear Backstepping position controller for Bipolar PMSM. The simulation results of the proposed controller were compared with the position control system, which uses the nonlinear Backstepping position controller for Bipolar PMSMThe simulation results show that, the performance of the adaptive nonlinear Backstepping position controller is better than the nonlinear Backstepping position controller.