2021 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)
Vector Analysis of a Step Electric Drive in the
Minimum Loss Mode
2021 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) | 978-1-7281-4587-7/21/$31.00 ©2021 IEEE | DOI: 10.1109/ICIEAM51226.2021.9446365
V. I. Laletin
Faculty of Electrical Engineering
Vyatka State University
Kirov, The Russian Federation,
laletin@vyatsu.ru
Abstract—The article deals with the load and energy
characteristics of a step electric drive, their variability by
changing parameters, control methods and forcing processes. The
study is carried out using vector analysis in relation to a four-
phase step electric motor of magneto-electric type with an active
rotor. It is shown that using vector diagrams, built on the basis of
known analytical dependencies, allows to obtain mathematical
expressions to determine the conditions under which the engine
gives its maximum power in the mode of minimum losses. Taking
into account the identified conditions, it is possible to organize the
control of step electric motors, providing the best energy
characteristics. The authors present main results of studying a
discrete electric drive with a step electric motor and the features
of its control.
Keywords—step electric drive, step electric motor, circular vector
diagram, load characteristics, energy characteristics, minimum
losses, maximum power
I. THE PROBLEM
It is known that for classic electric motors, such as DC
motors and asynchronous motors, the rated power is indicated
by manufacturers in the nameplate. The indicated power
corresponds to the mode of efficient operation for a long time
[1,2]. In addition, in most cases the maximum efficiency is
provided [3,4,5]. Therefore, the developers try not to
overestimate the installed power of the selected electric motor.
When creating motion reproduction systems based on step
electric motors (SEM), the concept of "rated power" is not used.
The choice of step motors is usually made using such basic
parameters for a step electric drive (SED) as the frequency of
pick-up, the step size, the nominal phase current, and the holding
torque. At the same time, for a more efficient use of SED, the
following specific parameters are also used: internal damping,
EMF, the amplitude of the fundamental harmonic and the
constant component of the pulse voltage, the coefficient of
internal viscous friction, and the load torque. These numerical
characteristics are traditionally expressed in relative values [6].
All these parameters and characteristics are in a complex
correlatively interconnected coordinate system, when a change
in one parameter, in modulus or phase shift, leads to the need to
correct other parameters.
The widespread introduction of step motors into various
technological processes with digital control, on the one hand,
and the desire to have an electric drive with minimal losses, on
the other hand, forces developers to create motion reproduction
978-1-7281-4587-7/21/$31.00 ©2021 IEEE
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E. N. Malyshev
Faculty of Electrical Engineering
Vyatka State University
Kirov, The Russian Federation,
malyshev@vyatsu.ru
systems that provide not only the required static and dynamic
indicators, but also provide minimum energy consumption
[7,8,9]. The direct analytical solution of these problems by
traditional methods encounters significant difficulties or
requires significant time expenditures. This is due to the above-
mentioned features of this drive, as well as the presence of
nonlinear links in the system and the representation of SED by
oscillatory link of the second order [6,10,11].
The proposed approach to the design of electric motors using
the vector analysis apparatus can significantly increase the
efficiency of the created motion reproduction system from the
point of obtaining optimal energy indicators [12,13,14].
This article deals with the load and energy characteristics of
SED, their variability by changing the parameters, control
methods and forcing processes in the drive. The study is carried
out using vector analysis in relation to a four-phase step electric
motor of magneto-electric type with an active rotor.
II. DRIVE EQUATIONS AND VECTOR DIAGRAMS
The steady-state mode of operation of a step electric drive
can be represented in the form of two components of motion:
synchronous rotation with a steady-state speed Ω = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 and
oscillations ΔΩ relative to a steady-state speed [6,15].
For small fluctuations in speed ΔΩ, we can use the
superposition method and each component of the movement is
considered separately. The study of the performance
characteristics of the SEM is carried out at a constant rotor speed
in the steady-state modes of the SED in the regions of medium
and high frequencies. These modes are characterized by
insignificant fluctuations in speed, which makes it possible to
analyze the processes by the first harmonics of phase voltages.
Such an assumption allows to consider the properties of the
SED as an electromechanical energy converter, where higher
harmonic components of phase voltages and currents do not
participate in the process of converting electrical energy into
mechanical energy and completely determine losses. The
analysis of all provisions is carried out in relative units [16].
The steady-state equations can be determined from the
general equations describing in relative units a step electric drive
with magneto-electric stepper motors [6,16].
If all derivatives are equated to zero and the values are
substituted: 𝛾𝛾 = 𝜔𝜔𝜔𝜔, 𝜃𝜃 = 𝜔𝜔𝜔𝜔 − 𝜃𝜃𝐿𝐿 , then for a drive with
magneto-electric step motors
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 2021 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

  • since the power basis and the moment basis are

id −ωM iq = cos θ L ;  independent quantities, the mechanical speed basis
η cannot be arbitrary, but is defined as

 ωM 
ωM id + =
iq sin θ L − ;    (1)
η kB  PB
Ω B.M = (2)
µ= µ= k B k1iq ;  MB
L E


Comparison of expression (2) with the basis of electrical
𝐸𝐸
where 𝜔𝜔𝑀𝑀 = 1
= 𝜂𝜂𝜂𝜂 = 𝑒𝑒 – is relative amplitude of the speed Ω𝐵𝐵 = 𝜔𝜔0 , determines the following relationship between
𝐸𝐸𝐵𝐵.𝑁𝑁𝑁𝑁𝑁𝑁
the relative values of mechanical and electrical speeds of
fundamental (first) harmonic rotating EMF proportional to
rotation:
relative mechanical speed 𝜔𝜔𝑀𝑀 = 𝜔𝜔𝑀𝑀⋆ /𝑘𝑘1 ;
𝛿𝛿
𝜂𝜂 = – internal damping due to the fundamental rotating ωм  = δω , (3)
𝑘𝑘1
EMF;
Taking into account the coefficient𝑘𝑘1 , this relationship has
𝑈𝑈
𝑘𝑘1 = 1
– relative amplitude of the fundamental the final expression
𝑈𝑈𝐵𝐵.𝑁𝑁𝑁𝑁𝑁𝑁
harmonic of the applied impulse voltage;
ωм = ηω (4).
0 𝑈𝑈
𝑘𝑘0 = – relative magnitude of the DC component of
𝑈𝑈𝐵𝐵.𝑁𝑁𝑁𝑁𝑁𝑁
the applied voltage. The equation of system (1) can be written in vector form:
An equation of the form (1) is reduced to single basic values
of symmetric pair commutation 12–23–34–41–… Change in the U +E
I
= = IU + I E (5)
type of control is taken into account by the coefficients 𝑘𝑘𝐵𝐵 , 𝑘𝑘0 Z
and by the coefficient 𝑘𝑘1 , which for any symmetric commutation
𝑛𝑛 𝜋𝜋
depends only on the number of clock cycles 𝑘𝑘1 = 𝑘𝑘𝑛𝑛 = sin and is graphically represented by vector diagram No. 1 (Fig. 1).
𝜋𝜋 𝑛𝑛
[6]. In the general case, the coefficients are calculated by
decomposition into harmonics of an arbitrary voltage applied to
the SEM phase.
Taking into account these coefficients with unchanged
parameters 𝜘𝜘, 𝛿𝛿 and basic values, Table 1 [16] shows the
calculated expressions for the electromagnetic moment 𝑀𝑀𝐸𝐸 =
𝜇𝜇𝐸𝐸 𝑀𝑀𝐵𝐵 , converted power 𝑃𝑃𝐸𝐸 = 𝜌𝜌𝐸𝐸 𝑃𝑃𝐵𝐵 , power losses in copper
𝑃𝑃𝑀𝑀 = 𝜌𝜌𝑀𝑀 𝑃𝑃𝐵𝐵 and efficiency 𝜂𝜂𝐸𝐸 .

TABLE I. PARAMETERS OF MAGNETO-ELECTRIC TYPE STEP MOTOR

YPE STYLES

Parameters without shunt diodes

𝑈𝑈 𝑈𝑈 𝑈𝑈 2
𝑈𝑈𝐵𝐵 = ; 𝑀𝑀𝐵𝐵 = √2𝑝𝑝Ψ𝑚𝑚 ; 𝑃𝑃𝐵𝐵 =
√2 𝑘𝑘𝐹𝐹 𝑅𝑅𝐹𝐹 𝑘𝑘𝐹𝐹 𝑅𝑅𝐹𝐹
𝐿𝐿 √2Ψ𝑚𝑚
𝜘𝜘 = 𝜔𝜔0 ; 𝛿𝛿 = 𝜔𝜔0
𝑘𝑘𝐹𝐹 𝑅𝑅𝐹𝐹 𝑈𝑈
Fig. 1. Vector diagram №1
𝜇𝜇𝐸𝐸 = 𝑘𝑘𝜇𝜇 𝑖𝑖𝑞𝑞 ; 𝑘𝑘𝜇𝜇 = 𝑘𝑘𝐵𝐵 𝑘𝑘1
𝜌𝜌𝐸𝐸 = 𝑘𝑘𝜌𝜌 𝜔𝜔м 𝑖𝑖𝑞𝑞 ; 𝑘𝑘𝜌𝜌 = 𝑘𝑘𝜇𝜇 𝑘𝑘1 Replacing 𝐼𝐼 ̅ = 𝑖𝑖𝑑𝑑 + 𝑗𝑗𝑖𝑖𝑞𝑞 , we obtain in vector form the
𝜌𝜌м = 𝜌𝜌м1 + 𝜌𝜌м𝜈𝜈 equation
𝜌𝜌м1 = 𝑘𝑘𝐵𝐵2 𝑘𝑘12 �𝑖𝑖𝑑𝑑2 + 𝑖𝑖𝑞𝑞2 �
𝜌𝜌𝐸𝐸 2 π
𝜂𝜂𝐸𝐸 =   −j
𝜌𝜌𝐸𝐸 + 𝜌𝜌м e jθ L + ω м e 2 ,
1 +   ω м2   e jϕ I =
η 
It is important to note the following: equal to (6).
• studying energy ratios in the drive. the use of electrical In the left coordinate system, the axis d is real, and the
relative velocity 𝜔𝜔, unlike those presented in [6, 16], is leading axis q is imaginary, therefore,
not advisable;
U =cos θ L + j sin θ L =e jθ L ;

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 2021 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)
−j
π
• the segment ql is equal to the electromagnetic power in
− jωм =
E= ωм e 2
; the opposing braking mode;
• the projection of the current vector 𝐼𝐼 ̅ onto the axis q is
  equal to the electromagnetic moment.
1 + ( / η ) ωм2 e jϕ ;
2
1 + j   ωм =
Z=
η 

ϕ = arctg ( / η )ωм ;

π
− j ( +ϕ )
e j (θ L −ϕ ) ωм e 2
IU = ; IE = ;
1 + ( / η ) ωм2 1 + ( / η ) ωм2
2 2

π
1  j (θ L −ϕ ) − j ( +ϕ ) 
I  e + ωм e 2  (6)
1 + ( / η ) ωм2 
2


Equation (5) can be obtained from the original system of

equations (1) if the equation along the axis q is written in
imaginary form, i.e.

 
id −   ωм iq =
cos θ L ;
η 

  Fig. 2. Pie vector chart №2

j   ωм id + ji
= q j sin θ L − jωм
η  Thus, the circular vector diagram allows to analyze the
temporal and spatial shifts of voltages and currents relative to
Summing up both equations, we get: the SED in different operating modes, as well as to determine
the angular relationships between the vectors.
        In steady-state operation [6]
1 + j   ω м  id + j 1 + j   ω м  iq =
 η    η  
ϕ = arctg ( / η )ω м ;
=cos θ L + j sin θ L − jωм

or ω м + k µ L 1 + ( / η ) 2 ω м2  ±
=θ н arctg →
    π {
−( / η )ω м ω м + k µ L 1 + ( / η ) 2 ω м2  ± }
 ω м  ( id + jiq ) = e + ω м e
−j
jθ L
1 + j 2
 
η { }
2
 ω м 1 + ( / η ) ω м − ω м + k µ L 1 + ( / η ) ω м 
   ±
2 2 2 2

η
→  
As it is known [17], expression (6) is an equation of a circle
{ }
2
± 1 + ( / η ) ω м2 − ω м + k µ L 1 + ( / η ) 2 ω м2 
2
with a radius |𝐼𝐼𝐸𝐸̅ | and a center at a point 𝑂𝑂1 . This means that the
operating characteristics of a step electric drive in steady-state (7)
conditions can be determined graphically using a vector circular
1
diagram (Fig. 2). where 𝑘𝑘 = .
𝑘𝑘𝜇𝜇
The pie chart shows:
For the SEM under consideration, the following main modes
• � and the segment 𝑂𝑂𝑂𝑂
the angle 𝜑𝜑 between the vector 𝑈𝑈 of rotation with a steady speed can be distinguished,
� and the current
is the phase angle between the vector 𝑈𝑈 characterized by the limiting values of the variables in equations
̅
component 𝐼𝐼𝑈𝑈 ; (1):
• the angle between the positive direction of the axis d • minimum loss mode at 𝑖𝑖𝑑𝑑 = 0; 𝑖𝑖𝑞𝑞 = 𝑖𝑖;
� is the load angle 𝜃𝜃𝐿𝐿 ;
and the vector 𝑈𝑈
• idle mode при 𝑖𝑖𝑑𝑑 = 𝑖𝑖; 𝑖𝑖𝑞𝑞 = 0;
• the segment pq is equal, on the accepted scale, to the
dimensionless electromagnetic power in the motor • limiting regime [18], according to the stability
mode; conditions at 𝑖𝑖𝑑𝑑 ≠ 0; 𝑖𝑖𝑞𝑞 = 𝑖𝑖𝑞𝑞 макс ;

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 2021 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)
• self-commutation mode [19,20,21], which in a The study of the obtained expression for the extremum of the
particular case is equivalent to a DC motor with brushes function 𝜔𝜔м , gives [7]
located on the geometric neutral at 𝑈𝑈𝑑𝑑 = 0; 𝑈𝑈𝑞𝑞 = 1.
2
III. MINIMUM LOSS MODE η   
ωM =
. MAX   −2 + 4 +   (11)
The regime under consideration takes place at 𝑖𝑖𝑑𝑑 = 0 and   η 
corresponds to the system of equations:
𝜘𝜘
In motor mode, the function limit ωм.макс when → 0 and
𝜂𝜂
 
− ωм iq = cos θ L ; braking load is
η  (8)
=iq sin θ L − ωм .  2
η  
lim −2 + 4 +   =0,5
Solution (8) for current 𝑖𝑖𝑞𝑞 
η
→0  η 

ωм + 1 + ( / η ) ωм2 − ( / η ) ωм4

2 2 Analysis shows that under accelerating load in motor mode,
iq = (9) the function 𝜌𝜌𝐸𝐸 has no extremum.
1 + ( / η ) ωм2
2

Substitution of (11) into (10) allows to obtain an expression

for the maximum electromagnetic power
In expression (9), the minus sign corresponds to the braking
load, and the plus sign - to the accelerating load.
2
Fig. 3 shows a circular vector diagram for this mode with  
−2 + 4 +  
characteristic parameters: η 
ρ E .MAX = k ρ 2
(12)
 
( / η )ω м = 0,5 and 𝜔𝜔м = 0,3. η 
 

From the analysis (12) it follows that the power depends only
on the ratio of the parameters /𝜂𝜂 . Consequently, the limiting
values of the maximum electromagnetic power developed by the
SED in the motor mode are respectively equal to:

lim ρ E .MAX = 0, 25

→0
η

and

lim ρ E .MAX = 0

→∞
η

Thus, if the load on the step electric motor shaft corresponds

to the expression

2
η   
=µ E kµ   −2 + 4 +   ,

  η 

then at a speed of rotation defined as

Fig. 3. Pie chart for minimum loss mode 2

η   
ω м   −2 + 4 +  
= .
To determine the maximum electromagnetic power   η 
developed by the SEM in this mode, it is necessary to substitute
the current iq (9) in the expression for the electromagnetic power
SED develops maximum power
ρ E = k ρ ω м iq (10)

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 2021 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

2
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