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    Stepper Motor and Drives

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    Lasantha Abeykoon
    The document is a student assignment on stepper motors and drives submitted to Ms. U.G.L. Erandi on July 23, 2017 by K.A.L.P. Abeykoon. The assignment includes observations from experiments on different operating modes of a stepper motor, calculations of basic step angles for different stepper motor configurations, and a discussion of detent torque, holding torque, and various stepper motor operating modes.

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    Stepper Motor and Drives

    Uploaded by

    Lasantha Abeykoon
    222 views8 pages
    The document is a student assignment on stepper motors and drives submitted to Ms. U.G.L. Erandi on July 23, 2017 by K.A.L.P. Abeykoon. The assignment includes observations from experiments on different operating modes of a stepper motor, calculations of basic step angles for different stepper motor configurations, and a discussion of detent torque, holding torque, and various stepper motor operating modes.

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    Lab practical UOM,IESL

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    The document is a student assignment on stepper motors and drives submitted to Ms. U.G.L. Erandi on July 23, 2017 by K.A.L.P. Abeykoon. The assignment includes observations from experiments on different operating modes of a stepper motor, calculations of basic step angles for different stepper motor configurations, and a discussion of detent torque, holding torque, and various stepper motor operating modes.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    222 views8 pages

    Stepper Motor and Drives

    Uploaded by

    Lasantha Abeykoon
    The document is a student assignment on stepper motors and drives submitted to Ms. U.G.L. Erandi on July 23, 2017 by K.A.L.P. Abeykoon. The assignment includes observations from experiments on different operating modes of a stepper motor, calculations of basic step angles for different stepper motor configurations, and a discussion of detent torque, holding torque, and various stepper motor operating modes.

    Copyright:

    © All Rights Reserved
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    of 8

    Module Code: EE 4004

    Module Title: Electrical Machines II


    Instructed By : Ms U.G.L.Erandi
    Date of Submission: 23/07/2017

    STEPPER MOTOR AND DRIVES

    Name: K.A.L.P.Abeykoon
    Student ID No.2014093CL1
    Advanced Diploma Level 2
    OBSERVATIONS
    1. Manual Switching Circuit

    We got 12 switching steps for one revolution of the rotor on manual switching.

    2. Transistor Switching

    Microprocessor excitation sequence for different modes of stepper motor operation.

    i. One Phase on Operation.

    Speed of Motor = 149.48 rpm

    Pulse width = 8.5 ms


    ii. Two-Phase On Operation

    Speed of Motor= 149.34 rpm pulse width = 16.5ms


    iii. Half-step Operation

    Speed of Motor= 74.64 rpm Pulse width = 25ms


    CALCULATIONS
    2) Calculate the Basic step angle for 6/4 pole 3phase and 8/6 pole 4phase stepper motor using
    manual switching sequence.

    6/4 pole 3phase Stepper Motor.

    Basic step angle

    Figure 1
    Figure 1 shows the arrangement of the 6/4 pole 3phase stepper motor. This contain 6 stator poles
    4 rotor poles and 3 phases.
    3600
    Basic Step Angle =
    (Rotor poles x Phase)

    360
    ∴ Basic Step Angle = = 300
    4×3

    8/6 pole 4 phase stepper motor

    Basic step angle

    Figure 2
    Figure 1 shows the arrangement of the 8/6 pole 4phase stepper motor. This contain 8 stator poles 6 rotor
    poles and 4 phases.
    3600
    Basic Step Angle =
    (Rotor poles x Phase)

    360
    ∴ Basic Step Angle = = 150
    8×4

    3) Calculate the number of pulses required for the 6/4 pole 3 phase stepper to revolve one
    revolution and verify the answer with the observed value?

    Number of pulses required to revolve 1 revolution= Number of rotor poles  Number of phases
    =4x3
    = 12

    Observed valued for one revolution is 12, the answer is verified.

    4) Calculate the basic steps angle for the 8/6 pole 4 phase stepper by having speed and pulse
    rate (Hz) of the motor?

    𝑠𝑝𝑒𝑒𝑑 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑡𝑒𝑝𝑝𝑒𝑟 𝑚𝑜𝑡𝑜𝑟 𝑖𝑛 𝑟𝑝𝑠×3600 𝑛×3600


    Basic step angle = =
    𝑃𝑢𝑙𝑠𝑒𝑠 𝑝𝑒𝑟 𝑠𝑒𝑐𝑜𝑛𝑑 f
    Where
    n = speed of the stepper motor in rps
    f = Pulses per second

    𝑛 × 3600
    Basic step angle =
    f
    6) Calculate the basic steps angle for each operation?

    Operation mode Speed(rps) Frequency(Hz) Basic step angle


    One phase on 149.48/60 = 2.49 1/(8.5×10-3) = 117.65 7.620
    Two phase on 149.34/60 = 2.48 2/(16.5×10-3) 7.360
    =121.21
    Half step 74.64/60 = 1.24 3/(25×10-3) =120 3.720

    Basic steps angle for one phase on = 7.620


    Basic steps angle for two phase on = 7.360
    Basic steps angle for Half step = 3.720

    Discussion
    1) Discuss the detent torque and holding torque involved with different types of stepper motor.
    When considering about the stepper motors there are 3 main stepper motor types those are,

    I. Permanent Magnet Stepper


    II. Hybrid Synchronous Stepper
    III. Variable Reluctance Stepper

    Detent torque
    This is also called residual torque. Normally this can be seen in Permanent magnet stepper motors.
    Detent torque use to rotate the motor shaft. When there is no power applied to the windings, a
    small magnetic force will be induced between the permanent magnet and the stator. And it causes
    for occurring the detent torque. This torque can be notice by turning a stepper motor by hand.
    Usually it is about one-tenth of the holding torque.

    When this torque is occurred, the rotor returns to the normal rest position when the excitation
    ends.
    Holding torque

    The torque which is used to move the rotor one full step with the stator energized. This is called
    static torque as well. Holding torque is the maximum torque produce by the standstill motor. When
    it comes to permanent magnet stepper motor, it is able to maintain this holding torque indefinitely,
    even the rotor is stopped. As the motor is energize, it has high holding torque rating, so torque
    available to running motor is become less.

    5. Discuss the main points of various modes of operation of the stepper motor

    There are 4 types of stepping modes for a stepper motor but only 3 of the excitation modes are very
    common in stepper motors.

    A. Full step
    B. Half step
    C. Micro step
    D. Wave Step

    Full step

    In this mode, two stator phases are energized simultaneously at any given time. When two phases
    are energized together, the rotor will experience the torque from both phases and comes to the
    equilibrium position, For full step operation a unipolar motor driver, energizes a single phase. For
    bipolar stepper motor it energized both coils to make a full step.

    Half step

    If we consider a two phase motor, there will be 8 steps for a one revolution. It is done by, energizing
    one winding, while other 2 windings are energized alternatively. So it can rotate half a distance or
    450. Half step mode gives a smoother motion than a full step mode of operation. This provides
    approximately 30% less torque than full step mode. It can be demonstrate with following images.
    Micro step

    In this mode, each motor step is subdivided into several small steps, even hundreds of fixed
    positions, therefore a greater positioning resolution is obtained. In this, currents through the
    windings are continually varied in order to get very small steps. In this, two phases are excited
    simultaneously, but with the unequal currents in each phase.

    For example, the current through phase -1 is held constant while the current through phase-2 is
    incremented in steps till the maximum value of current, whether it is negative or positive. The
    current in the phase-1 is then decreased or increased in steps till zero. Thus, the motor will produce
    a small step size.

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