MATLAB Simulation of Stepper Motor with Kalman Filter Implementation

This documentation provides a detailed explanation of the MATLAB simulation program for stepper motor control. The program implements a Kalman Filter algorithm that estimates stator current parameters to precisely calculate the rotor position and speed of the stepper motor.

First, let's understand the fundamental working principle of stepper motors. A stepper motor is a specialized electric motor that converts electrical signals into precise mechanical motion. It consists of two main components: the stator (stationary part) containing multiple electromagnetic coils, and the rotor (rotating part) made of magnetic materials. When current flows through the stator coils, it generates a magnetic field that exerts force on the rotor, causing it to rotate. This principle allows us to control the motor's movement by precisely managing the stator current.

To achieve enhanced control over the stepper motor's performance, we developed a MATLAB simulation that incorporates the Kalman Filter algorithm. The Kalman Filter is an optimal recursive estimation algorithm that combines measurement data with system dynamics to estimate unknown variables while minimizing estimation error. In our simulation code, we implement state-space modeling where the Kalman Filter processes stator current measurements to accurately predict rotor position and velocity. The algorithm involves two main stages: prediction (using the motor's mathematical model) and update (correcting estimates with actual measurements).

The key MATLAB functions implemented include system modeling using state-space equations, real-time data processing for current measurements, and recursive Kalman gain calculations. This approach provides significant advantages in noisy environments where direct measurement of rotor position might be challenging. By utilizing this MATLAB simulation with Kalman Filter implementation, engineers can precisely control stepper motor operations while gaining deeper insights into electric motor principles and advanced control techniques.