目前以位置控制為需求的馬達以伺服馬達與步進馬達為主要選擇，其中步進馬達以開迴路位置控制進行驅動，相較於伺服馬達，步進馬達控制更為簡單且能減少位置感測器成本。步進馬達的步進角與機構設計有關，在不回授電流的狀態下，僅能使用每次前進一步進角的全步驅動及前進半步進角的半步驅動，為了使步進馬達能有更小的旋轉角度，則採用微步進驅動，透過控制兩相電流大小以合成更精細的微步進角度。
本研究建立 軸的步進馬達模型方塊圖，該模型以同步電氣角與轉子永磁電氣角分別闡述電流與反電動勢之角度關係，經由電流及磁交鏈推得馬達轉矩以連結馬達模型電氣端與機械端。另外透過磁場調製原理解釋步進馬達定子電樞與轉子永磁間的關係，以連結推導模型中的極對數與馬達設計的定子轉子齒部數量及定子電樞極對數。
藉由MATLAB Simulink建立步進馬達模型，並模擬以定電流截波法控制電流的微步進驅動。將模擬電流波形與市售驅動晶片實測電流波形進行比對，並針對實測電流進行頻譜分析，可驗證微步進級數愈高，電流愈接近理想弦波。

Servo motors and stepper motors are predominantly the best choice for applications requiring position control in recent time. Stepper motors are driven by open-loop position control, when compared to servo motors, stepper motors control is simpler and can effectively reduce the cost of position sensors. However, the rotational angle of a stepper motor is dependent on its mechanical design, and in the absence of feedback current, it can only be driven in full steps, moving one step angle at a time, or half steps, moving half of the step angle. To achieve smaller rotational angles, microstepping is used. Microstepping involves controlling the magnitude of two-phase currents to generate finer step angles.
In this thesis, we have constructed a block diagram ?-? model of the stepper motor. This model elaborates on the angle relationship between the current and back electromotive force for both the synchronous electrical angle and rotor permanent magnet electrical angle. The motor torque is derived from the current and magnetic linkage, connecting the electrical and mechanical aspects of the motor model. Additionally, the relationship between the stator winding and rotor permanent magnet of the stepper motor is explained using flux modulation effect. This involves linking the pole pairs in the derived model to the number of stator teeth and rotor teeth in the motor design and the stator armature pole pairs.
The stepper motor model is developed using MATLAB Simulink and implemented the microstepping drive with constant current chopping. By comparing the simulated current waveform with the measured current waveform obtained using commercially available driver chips and performing spectrum analysis on the measured current, it can be verified that higher microstepping levels are present in the current waveforms that closely resemble ideal sinusoidal waveforms.

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