Step Motor Selection and Control: An Industrial Case Study

The process of selecting a step motor to an industrial application is not straightforward. Several aspects need to be considered at the beginning of the design, specially when dealing with a step motor due to its peculiar Speed × T orque relation. This paper presents a case study of a step motor selection for a food industryproblem, introducing the main aspects to be taken into account and the challenges this type of motor poses to meet the requirements. The intention is to describe the selection and design process and compare two different control approaches, first a classical approach using a lead/lag compensator, then a robust control approach using a H∞ control.