A stepper motor is a pulse-driven motor that changes the angular position of the rotor in steps It is a digital electromechanical device

Define

= the step angle (per input pulse) Resolution = the number of steps/revolution = total angle traveled by the rotor
= X No of steps

n = the shaft speed = ( X fp) / 360

fp = No of pulses/second

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2.

3. 4.

1. Input to SM is in the form of electric pulses whereas input to CM is a constant voltage source. 2. A CM has a free running shaft , SM moves through angular steps. 3. No feedback required when SM used. 4. SM is a digital electromechanical device, CM is an analog electromechanical device.

Stepper motors are operated open loop, while most DC motors are operated closed loop. Stepper motors are easily controlled with microprocessors, however logic and drive electronics are more complex. Stepper motors are brushless and brushes contribute several problems, e.g., wear, sparks, electrical transients. DC motors have a continuous displacement and can be accurately positioned, whereas stepper motor motion is incremental and its resolution is limited to the step size. Stepper motors can slip if overloaded and the error can go undetected. (A few stepper motors use closed-loop control.) Feedback control with DC motors gives a much faster response time compared to stepper motors.

1. The rotation angle of the motor is proportional to the input pulse. 2. The motor has full torque at standstill (if the windings are energized) 3. Precise positioning and repeatability of movement since good stepper motors have an accuracy of 3 5% of a step and this error is non cumulative from one step to the next. 4. Excellent response to starting/ stopping/reversing. 5. Very reliable since there are no contact brushes in the motor. Therefore the life of the motor is simply dependant on the life of the bearing. 6. The motors response to digital input pulses provides open-loop control, making the motor simpler and less costly to control. 7. It is possible to achieve very low speed synchronous rotation with a load that is directly coupled to the shaft. 8. A wide range of rotational speeds can be realized as the speed is proportional to the frequency of the input pulses.

1. Resonances can occur if not properly controlled. 2. Not easy to operate at extremely high speeds. 3. Low torque capacity compared to dc motor. 4. High level of vibration due to stepwise motion. Open Loop Operation
One of the most significant advantages of a stepper motor is its ability to be accurately controlled in an open loop system. Open loop control means no feedback information about position is needed. This type of control eliminates the need for expensive sensing and feedback devices such as optical encoders. Your position is known simply by keeping track of the input step pulses.

1.Variable Reluctance

-Does not have permanent magnet -Low torque -Employ permanent magnet -Low speed, relatively high torque -Multi-toothed stator poles and a permanent magnet rotor -High static and dynamic torque
Aliasgar Kutiyanawala 6

2. Permanent Magnet

3. Hybrid

Permanent-magnet (PM) stepper motor This kind of motor creates rotation by using the forces between a permanent magnet and an electromagnet created by electrical current. An interesting characteristic of this motor is that even when it is not powered, the motor exhibits some magnetic resistance to turning. Variable-reluctance (VR) stepper motor Unlike the PM stepper motor, the VR stepper motor does not have a permanent-magnet and creates rotation entirely with electromagnetic forces. This motor does not exhibit magnetic resistance to turning when the motor is not powered.

Step angle = 3600 / S = 300

S=mNr (3x4) =12 m= number of phases (3) Nr=number of rotor teeth (4)

Permanent Magnet / Variable Reluctance Unipolar vs. Bipolar Number of Stacks Number of Phases Degrees Per Step Microstepping Pull-In/Pull-Out Torque Detent Torque

Toothed Rotor and Toothed Stator

Principle of Operation:
Reluctance of the magnetic circuit formed by the rotor and stator teeth varies with the angular position of the rotor Here, energize coils A and A (Phase A)

Rotor steps to align rotor teeth 1 and 4 with stator teeth 1 and 5

Energize coils B and B (Phase B)

Rotor steps forward Rotor teeth 3 and 6 align with Stator teeth 1 and 5 Let Ns = No of teeth on the stator Nr = No of teeth on the rotor = Step Angle in space degrees

Ns Nr Ns Nr

360

Energize Phase C
Rotor steps forward another 15

Energize Phase D
Rotor steps forward another 15

Repeat the sequence

Energize Phase A
Rotor steps forward again

Switching Circuit for the stepper motor

Close switches in order 1, 2, 3, and 4 to turn the rotor clockwise Close switches in reverse order - 4, 3, 2, and 1 to change rotation to the opposite (counter-clockwise) direction

The following are the most common drive modes. Wave Drive (1 phase on) Full Step Drive (2 phases on) Half Step Drive (1 & 2 phases on) Microstepping (Continuously varying motor currents)

One phase on stepping sequence for two phase motor.

PM wave drive sequence (a) 1+ , (b) 2+ , (c) 1- , (d) 2-.

Two phase on stepping sequence for two phase motor.

One & Two phase on stepping sequence for two phase motor.

Hybrid stepper motor

A Hybrid stepper motor in which the rotor has an axial permanent magnet at the middle and ferromagnetic teeth at the outer section as shown in fig. A Hybrid stepper motor combines the characteristics of both PMSM and VRSM. HM have a small step angle. 0.9, 1.8, 3.6 degree.

Operation of Hybrid stepper motor

2-ph, 4/6-pole Hybrid stepper motor

1. Provides dtente torque with windings deenergized. 2. Less tendency to resonate. 3. Higher holding torque capability. 4. Better damping due to presence of rotor magnet. 5. High stepping rate capability.

1. What is Stepper Motor? Describe the operating principle of Stepper Motor. 2. Describe the constructional features and working of a single-stack 3-phase, 6/4-pole variable reluctance stepping motor. 3. Describe the 2-phase, 8/4-pole permanent magnet stepping motor. 4.Describe the constructional features and working of Hybrid stepper motor. 5. Explain the multistack variable reluctance Stepper Motor. 6. Comparison of VR, PM and Hybrid stepper motor.