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Modeling and Simulation of A Stepping Motor, 1969.
Modeling and Simulation of A Stepping Motor, 1969.
Modeling and Simulation of A Stepping Motor, 1969.
REFERENCES
111 I. Y . Bar-Itzhack, “Strapdown g p o s in a back-t,o-back configura-
t.ion,” I E E E Trans. Aerospace a n d Electronic Systems. ~ 0 1 .4ES-4,
pp. Sil-Si3 Wovember 1968.
BroxmeGer, Inertial A-acigation Systems. New York: McGraw-
121 C .
1964.
;elson. “Understandinz an inert,ialrdatform,” J.Inst. -Val;inution,
Fig. 1.
-PHASE-B-
>
Relative positions of stator phases.
Abstract-This short paper presents equations and mathematical
models of a variable-reluctancestepping motor. These models
can be used for the analysis and design of motorperformances
involving single or multiple stepping. The principle of operation
of the stepping motor is also discussed.
IXTRODUCTION
From elementary electromechanical energy conversion principles where K is adjustedto make this expression ident,ical withthe
[SI, the torque in a singly excited rotational system is given by fundamental component of the ercperimentally obtainedtorque.
E.rperiments have s h o m t h a t t h e torque expression in (lo), com-
T = (a/ae)[F(i,e)] (3) bined wiith the existing variat.ion of the inductance, gives very
where 8 ' is the energy of t.he system expressed exylicit.ly in t,erms
satisfactory simulation result,s.
of i a.nd e. Therefore, (3) is written An ex3ension of the model can now be made to the case when
initial conditions are present and also forthe mult.iple stepping
T = 1'2
2~ ( ~ / w c L ( ~ ) I . (4) operat.ions.
The parameters of each of the three wiudings are ident.ical except
This torqueis then applied to t.he rotor and its equation
of motion is for their angular dependences. Letthe origin be chosen as t.he
eqnilibrium position of phase A . Then the inductance and torque
T = Jr(d2B/dt2) + f r ( d t(?5/)d t ) for this phase are given by
where J , is t,he rotor inertia, and f, denotes the rotor frictional L.d = L1 + L2 COS (100) (11)
coefficient. It is assumed that J , also includes the effects of any
inertial load. Figs. 3 and 4 show t.he schematic representat.ion and Ta = -Kidsin(12)
(10s).
the block diagram for implementing ( l ) , (4),and (5). Phase B has its equilibrium point 12" ahead of the origin, and
At this point the form of the inductance L ( 8 ) is still undefined. phase C has its equilibrium point 12' behind the origin, assuming
I t is known that it varies from a maximum value L , at. the equili- that the sequence ABC represents forward motion. Therefore, the
brium point to a minimum value L,in midway bet,nwn two inductances and torques for phases B and C are
equilibrium points. As a first approximation, let t,he inductance of
one phase of the motor begiven by LB = L,+ ~2 COS [lo(e - 12) 1
The boundary values can be satisfied by choosing LI and Ln such L~ = L~ + L~ COS (loe + 1200)
(14)
that
L1 L2 = L ax + (7) TB = -kis sin (ioe - 120') (15)
Also, the torque generated by this is The electrical circuits of the t,hree phases are isolated and each
has its own set of governing equat,ions. The torques developed by
T = +?(dL/dO) = -Rzzsin (100).
(9) thethree phases, however, add algebraically andtheirreadtant
SHORTPAPERS 747
INTRODUClrIOW
There has been some misconception that all one needs to make a
stepping motorwork is to apply a pulse train at its input.I n reality,
the control of a stepping motor is a complex subject. For instance,
a stepping motor which normally has a speed of several hundred
steps per second when controlled by an open-loop control scheme
can be made to run at speeds as high &s 10 000 steps per second
Fig. 5. Block diagram of t.he complete system. with a proper feedback control scheme.
The applications of a st.epping motor can generally be classified
into t.he following three categories:
1 ) Singk Stepping: The mot.or is required to advance one step
acts on therotor. Therefore, t.he t.otal torque is given by
a t a time, within a prescribed time interval. Occasionally, oscillation
T = +
!i“~TB + Tc. (17) and overshoot are allowed. In stringent cases, t,he response should
be a deadbeat, and minimum time is desired.
The block diagram for the ent.ire motor system is s h o r n in Fig. 5. 2) Wdtipb Stepping:The motor is to travel a prescribed number
Given the proper sequence of inputs, V A , VB, and V C , the model of steps in the shortestpossible time.
developed mill provide the response of the motor to t.hese inputs. 3) Constant Speed Drive (Slewing):The motor is to reach a
prescribed const,ant speed wit.hin a certain time interval.
COMPCTER SlNlJLATIOSS
I n this paper, the multiple stepping control problemsare discussed.
For the single-stepping operation an analog computer is adequate The model SM-048 motor manufactured by the Warner Electric
to simulate t-he performance of the motor using t.he block diagram Brake & Clutch Company is used for the experiment. The motor
of Fig. 4. However, for multiple-stepping, the block diagram of is of the variablereluctance type. It has 16 teeth in each of its
Fig. 5 should be used. Furthermore, in this case, since the three three phases. Therefore, t.he tooth pitch is 22.5”. Since there are
phases of t,he motor are energized sequent.idy,andthe initial three phases, each step of the motor corresponds to 7.5”.
conditions of the phases must. be matched at the snitchinginstants,
a digital computer is needed. TheIBM 360 continuoussystem MULTIPLE STEPPING
modeling program (CSMP) was found to be quit.e suitable for this It is apparent that repeating the single-stepping scheme would
purpose. The model and the computer simulation are used for t.he not be time-optimal for multiple stepping operations. In principle,
design of the t,ime-optimal control of the stepping motor. a timeoptimal open-loop control for traveling a number of steps
COXCLUSIOSS can be obtained by applying a forward pulse sequence t o generate
ma.ximum positive torqueandthen at some spec& instant of
A mathematical model forcomputersimulation of single and t,ime the pulse sequence is reversed in order that maximum nega-
multiple
stepping
operations of a variable-reluctance stepping tive torque is exerted on the motor shaft causing the motor to
motor has been developed. The model has been proved to be quite stop at the desired position. However, an apparent difficulty arises
accurate and versatile when it is implemented by the IBM 360 since a different control pulse scheme must be used for a different
CSMP. Many pract.ica1application problems involving the stepping desired h a 1 number of steppings. Furthermore, for an open-loop
motor have been solved using the development present.ed in this control, the pulses must be applied at a predeterminedrate. If
paper. the load on the motor changes or if all three phases of the motor
REFEREKCES do not generate exactly the same amount of torque, the motor can
exhibitinstability due t.0 inaccurate switching. ThediEculty of
111 J. P. O’Donahue, “Transfer function for a stepper mot,or,” Confro2
Engrg.. vol. 8. pp. 103-104. h-ovemher 1961. implement,ation and the instability problem can be overcome by
121 R . E . vjeburtz, “Thestep motor-the nextadvanceincontrol using a phase-positional feedback to determine the properphase
systems, I E E E T r a n s . Automatic ConlraZ, 3-01. AC-9. . . 9s-104,
DD.
January 1964. switching. A block diagram of the closed-loop control scheme is
[SI T . R . Fredriksen, “Closedloopstepping motor application,”Pre-
orints. . 1965 (Tror. N. Y.). DD. 531-538. shown in Fig. 1. The feedback sensors sense the position of the
-- new^JACC demlopventsand’ ‘applications of theclosedloop
stepiing motor, Prepnnts. 1966 JACC (Seattle. Wash.).pp.767-775. motor and send out a pulse every 7.5” or one step. Fig. 2 shows the
- , “Direct digital process control of stepping motors,” I B M J . position of t.he two photosensors relat.ive to theslot.ted disk mounted
Res. D e t e b p . . v01. 11, March 1967.
__ “Applicat.ion of the closed-loop stepping motor,” I E E E Trans. on the motor shaft.
Aummatic Control:, vol. AC-13, pp. 464-474, ,October 1968.
S . S. L. Chang, An analysls of the stepping motor-what can i t
do.” Proc. 196s A-EC. DD. 36-41.
IS] P . ’ J . Lawrencz and L T A . Agu, “A new unexcitedsynchronous
machine,” Proc. I E E (London), vol. 110, no. 7. P. 1275, 1963. Manuscript receiwd March 3, 1969.
191 A . E .F h g e r a l d ,and C . Eingsley, Jr., EEeclric Machinery. New Theauthors are. withthe Department. of Electrical Engineering,
Pork: IvlcGraw-Hill, 1961. Uniremty of Illinois, Urbana, Ill.