EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Unit – I
1. What is stepper motor?
2. Define the term step angle. [May/June 2007, May 2008, Nov/Dec 2013 April/May 2013]
3. What are the main features of stepper motor which are responsible for its wide spread use? [April/May 2008
Nov/Dec 2013]
4. Give the classification of stepper motor. [Nov/Dec 2009 April/May 2010]
5. Define slewing. [Nov/Dec 2009 April/May 2010]
6. Write down the formula for motor speed of stepper motor.
7. Define resolution.
8. State some applications of stepper motor. [May 2017]
9. What are the advantages and disadvantages of stepper motor? (Nov/Dec-13)
10. What are the different modes of excitation in a stepper motor? [May/June 2012]
11. What is meant by full-step operation? Nov/Dec-14
12. What is meant by half- step operation? Nov/Dec-14
13. Sketch the diagram of a VR stepper motor
14. What is meant by micro stepping in stepper motor? [Apr/May 2015]
15. What is the main application of micro stepping VR stepper motor? [Nov/Dec2014]
16. What is a multi - stack VR stepper motor?
17. What are the advantages and disadvantages of VR stepper motor?
18. What are the advantages & disadvantages of permanent magnet stepper motor?
19. What is hybrid stepper motor? [Nov/Dec2007,2011]
20. What are the advantages and disadvantages of hybrid stepper motor?
21. Draw the typical static characteristics of a stepper motor
22. Differential between VR, PM and hybrid stepper motor.
23. Define holding torque. [Nov/Dec 2007 April/May 2011]
24. Define detent torque. [May/June 2007 May 2011]
25. Define torque constant. [ Nov/Dec 2012]
26. Draw the typical dynamic characteristics of a stepper motor.
27. Define pull-in torque.
28. Define pull-out torque.
29. Define pull-in rate.
30. Define pull-out rate.
31. What is a response range?
32. What is a slewing range?
33. What is synchronism in stepper motor?
34. Draw the block diagram of the drive system of a stepping motor
35. What is logic sequencer?
36. What is meant by power drive circuit in stepper motor? [May/June 2013]
37. Distinguish the half step and full step operations of a stepping motor. [Nov/Dec-14]
38. Write the principles of operation of a VR motor. [Nov/Dec-14]
39. Compare single stack and multi stack configuration in stepping motors. [May/June 2012]
40. Draw the equivalent circuit of a winding in stepper motor. [Nov/Dec 2010 May 2017]
41. What is the step angle of a 4-pole stepper motor with 12 stator teeth and 3 rotor teeth? [April/May 2010]
42. What is the step angle of a 4-phase stepper motor with 12 stator teeth and 3 rotor teeth? [April/May 2010]
43. Name the various driver circuits used in stepper motor. [April/May 2015]
44. Write the factors of stepper motor which are responsible for its wide spread use? [Nov/Dec 2013]
45. Define lead angle.[Nov 2016]
46. What is the use of suppressor circuits? [Nov 2016]

1. Explain the construction and various modes of excitation of PM stepper motor. (16) [May 2014 May 2010 Nov
2016]
2. Explain the construction and working principle of Hybrid Stepper motor. [May 2007 May 2008 Nov 2014]
3. State and explain the static and dynamic characteristics of a stepper motor. [May 2010 May 2014 May 2015 Nov
2016] (or) Draw and explain the torque pulse rate characteristics of stepper motor. [May 2007 May 2010] (or)
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
Explain torque verses stepping rate characteristics of a stepping motor. Also explain about slew rate and
damping. [May 2008]
4. Explain in detail about different types of power drive circuits for stepper motor. [May 2014 May 2017] (OR) Draw
the drive circuits for stepper motor and their characteristics. [Nov 2007] (OR) Write a detailed note on the bipolar
dives for stepper motors. (8) [Nov 2012]
5. Derive the reluctance torque of a stepper motor [May 2010 May 2015]
6. With a neat block diagram explain microprocessor control of stepping motor. [Nov 2013 May 2017]
7. Explain the working of single and multi-stack configured stepping motor. [May 2015 Nov 2016]
8. Explain the construction and operation of VR stepper motor. Also explain about micro stepping. [Nov 2007 May
2008 Nov 2012 Nov 2013 May 2010 May 2017]

1. What is stepper motor?

A stepper motor is a digital actuator whose input is in the form of programmed energization of the stator
windings and whose output is in the form of discrete angular rotation.

2. Define the term step angle. [May/June 2007, May 2008, Nov/Dec 2013 April/May 2013]
Step angle is defined as the angle through which the stepper motor shaft rotates for each command pulse. It
is denoted as β.
Formula for step angle (β)
N s−N r 360
β= × 360=
N s∗N r mN r
Where: Ns – No. of stator poles or stator teeth Nr – No. of rotor poles or rotor teeth m – No. of stator phases

3. What are the main features of stepper motor which are responsible for its wide spread use?
[April/May 2008 Nov/Dec 2013]
1) It can driven open loop without feedback
2) It is mechanically simple
3) It requires little or no maintenance
4) Responds directly to digital control signals, so stepper motors are natural choice for digital computer
controls.

4. Give the classification of stepper motor. [Nov/Dec 2009 April/May 2010]

1) Variable reluctance stepper motor:
(i) Single Stack
(ii) Multi Stack

2) Permanent Magnet Stepper Motor

(i) Hybrid Stepper motor
(ii) Claw pole Motor.

5. Define slewing. [Nov/Dec 2009 April/May 2010]

The stepper motor may be operated at very high stepping rates i.e., 25000 steps per second. A stepper motor
operates at high speeds is called slewing.
6. Write down the formula for motor speed of stepper motor.
Motor speed
β ×f
n= o
∈rps
360
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
Where: - Step angle, f – Stepping frequency or pulse rate in pulses per second (pps)

7. Define resolution.
It is defined as the number of steps needed to complete one revolution of the rotor shaft.

8. State some applications of stepper motor. [May 2017]

1) Floppy disk drives
2) Quartz watches
3) Camera shutter operation
4) Dot matrix and line printers
5) Machine tool applications
6) Robotics

9. What are the advantages and disadvantages of stepper motor? (Nov/Dec-13)

Advantages:
1) It can driven open loop without feedback.
2) Responds directly to digital control signals, so stepper motors are natural choice for digital computer
controls.
3) It is mechanically simple.
4) It requires little or no maintenance.

Disadvantages:
1) Low efficiency with ordinary controller.
2) Fixed step angle.
3) Limited ability to handle large inertia load
4) Limited power output and sizes available.

10. What are the different modes of excitation in a stepper motor? [May/June 2012]
1. 1 - Phase on or full - step operation
2. 2-phaseonmode
3. Half- step operation (Alternate 1-phase on and 2-phase on mode)
4. Micro stepping operation

11. What is meant by full-step operation? Nov/Dec-14

It is the one-phase on mode operation. It means, at that time only one winding is energized. By energizing
one stator winding, the rotor rotates some angle. It is the full-step operation.

12. What is meant by half- step operation? Nov/Dec-14

It is the alternate one-phase on and 2-phase on mode operation. Here, the rotor rotate an each step angle is
half of the full-step angle.

13. Sketch the diagram of a VR stepper motor

EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
14. What is meant by micro stepping in stepper motor? [Apr/May 2015]
Micro stepping means, the step angle of the VR stepper motor is very small. It is also called mini - stepping.
It can be achieved by two phases simultaneously as in 2- phase on mode but with the two currents
deliberately made unequal.

15. What is the main application of micro stepping VR stepper motor? [Nov/Dec2014]
Micro stepping is mainly used where very fine resolution is required. The applications are printing and photo
type setting. A VR stepper motor with micro stepping provides very smooth low - speed operation and
high resolution.

16. What is a multi - stack VR stepper motor?

Micro stepping of VR stepper motor can be achieved by using multi stack VR stepper motion. It has three
separate magnetically isolated sections or stacks. Here the rotor and the stator tooth are equal.

17. What are the advantages and disadvantages of VR stepper motor?

Advantages
1) Low rotor inertia 4) Capable of high stepping rate.
2) High torque to inertia ratio 5) Ability to freewheel
3) Lightweight

Disadvantages
1) Normally available in 3.6° to 30 step angles.
2) No detente torque available with windings de – energized

18. What are the advantages & disadvantages of permanent magnet stepper motor?
Advantages:
1) Low power requirement
2) High detente torque as compared to VR motor
3) Rotor do not require external exciting current
4) It produces more torque per ampere stator current

Disadvantages:
1) Motor has higher inertia
2) Slower acceleration

19. What is hybrid stepper motor? [Nov/Dec2007,2011]

The hybrid motor is operated with the combined principles of the permanent and variable reluctance motor in
order to achieve a small step angle and a high torque from a small size.

20. What are the advantages and disadvantages of hybrid stepper motor?
Advantages:
1) Less tendency to resonate
2) Provide detent torque with windings de-energized
3) Higher holding torque capability
4) High stepping rate capability

Disadvantages:
1) Higher inertia and weight due to presence of rotor magnet.
2) Performance affected by change in magnetic strength.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
21. Draw the typical static characteristics of a stepper motor

22. Differential between VR, PM and hybrid stepper motor.

SN VR Stepper motor PM Stepper motor Hybrid stepper motor

1 Low rotor inertia Less High inertia High inertia
2 Less weight More weight More weight
3 No detente torque Provides detente torque Provides detente torque with
available windings de- windings de- energized
energized
4 Rotor has no permanent Rotor have permanent Rotor have permanent
magnet magnet magnet
5 Rotor has a salient pole Rotor has a cylindrical Rotor has a salient pole type
type type

23. Define holding torque. [Nov/Dec 2007 April/May 2011]

Holding torque is the maximum load torque which the energized stepper motor can withstand without
slipping from equilibrium position.

24. Define detent torque. [May/June 2007 May 2011]

Detente torque is the maximum load torque which is unenergized stepper motor can with stand without
slipping. It is also known as cogging torque.

25. Define torque constant. [ Nov/Dec 2012]

Torque constant of the stepper motor is defined as the initial slope of the torque current curve of the stepper
motor. It is also called as torque sensitivity.

26. Draw the typical dynamic characteristics of a stepper motor.

EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

27. Define pull-in torque.

It is the maximum torque the stepper motor can develop in start - stop mode at a given stepping rate F
(steps/sec), without losing synchronism.
28. Define pull-out torque.
It is the maximum torque the stepper motor can develop at a given stepping rate F (steps/sec), without losing
synchronism.
29. Define pull-in rate.
It is the maximum stepping rate at which the stepper motor will start or stop, without losing synchronism,
against a given load torque.

30. Define pull-out rate.

It is the maximum stepping rate at which the stepper motor will slow, without losing synchronism against a
given load torque.

31. What is a response range?

It is the range of stepping rates at which the stepper motor can start or stop with losing synchronism, at a
given load torque. Response range spans stepping rates the pull in rate.

32. What is a slewing range?

It is the range of stepping rates at which the stepper motor can run in the slow mode, with losing
synchronism, at a given load torque.

The slewing range spans stepping rates

33. What is synchronism in stepper motor?

It is the one-to-one correspondence between the number of pulses applied to stepper motor controller and the
number of steps through which the motor has actually moved.

34. Draw the block diagram of the drive system of a stepping motor

35. What is logic sequencer?

Logic sequence generator generates programmed logic sequences require for operation of a stepper motor.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
36. What is meant by power drive circuit in stepper motor? [May/June 2013]
The output from the logic sequence generator signals are low level signals which are too weak to energize
stepper motor windings. To increase the voltage, current and power levels of the logic sequence output by
using power semiconductor switching circuit. This circuit is called power drive circuit.
37. Distinguish the half step and full step operations of a stepping motor. [Nov/Dec-14]

Half Step Full Step

It is the alternate one-phase on and 2- It means, at that time only one winding is
phase on mode operation. Here, the rotor energized. By energizing one stator
rotates each step angle is half of the full- winding, the rotor rotates some angle. It
step angle is the full-step operation.
38.Write the principles of operation of a VR motor. [Nov/Dec-14]
The reluctance in the airgap can be varied based on the excitation of winding’s excitation. The torque exerted by the
reluctance motor because of the tendency of the salient poles to align themselves in the minimum reluctance
position. This torque is called reluctance torque

39. Compare single stack and multi stack configuration in stepping motors. [May/June 2012]
In Single Stack: Stator is single stack of steel laminations winding would wound around poles. Stator and
rotor poles may be different. The rotating step angle is 30°.
Multi stack: it is divided along its axis into a number of stacks each energized by separate phase. Number
of stacks and phases will be 3-7. Stator and rotor poles are equal. The rotating step angle is 10°.

40. Draw the equivalent circuit of a winding in stepper motor. [Nov/Dec 2010 May 2017]

39. What is the step angle of a 4-pole stepper motor with 12 stator teeth and 3 rotor teeth? [April/May 2010]
N s−N r 12−3
Step angle  or  ¿ ×360= × 360=¿ 90
N s∗N r 12∗3
41. What is the step angle of a 4-phase stepper motor with 12 stator teeth and 3 rotor teeth? [April/May
2010]
No. of phases = 4
No. of teeth in rotor Nr = 3
360 360 360
Step angle   = = =30
mN r 4∗3 12
42. Name the various driver circuits used in stepper motor. [April/May 2015]
1) Resistance (or) L/R drive
2) Dual voltage (or) bi level driver drive.
3) Chopper driver circuit

43. Write the factors of stepper motor which are responsible for its wide spread use? [Nov/Dec 2013]
(a) When definite numbers of pulses are applied to the motor, the rotor rotates through definite known angle
(b) Control of stepper motor is simple because neither a position or a speed sensor nor feedback loops are
required for stepper motor to make the output response to follow the input command.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
44. Define lead angle.[Nov 2016]
 The angle of difference between the phase to be de-energized to bring the stepper motor to the
position of equilibrium(stopping the motor) and energization of next phase winding to start the
motor during closed loop operation is known as lead angle.
 The relation between the rotor's present position and the phase(s) to be excited is specified in
terms of lead angle.

45. What is the use of suppressor circuits?[Nov 2016]

These circuits are used to ensure fast decay of current through the winding when the transistor is turned
off.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
Part -B
1. Explain the construction and various modes of excitation of PM stepper motor. (16)
[May 2014 May 2010 Nov 2016]
The permanent magnet stepper motor has a stator construction similar to that of single stack variable
reluctance motor. The rotor is cylindrical and consists of permanent magnet poles made of high retentivity
steel. The field coils of opposite poles are connected in series to have one phase winding.
Principle of operation:
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Fig. Principle of operation of PM motor

(a) Single phase energization:

Two phases 4 pole stepper motor can be considered. When phase A is energized with positive voltage
applied, it sets up a magnetic field FA in the direction as shown in fig (a). The rotor will position itself in
such a way as to lockits N-pole to stator S-pole and vice versa.
Now phase A is de-energized and phase B is energized by applying positive voltage to it. Now FA will be
zero and stator magnetic field FB will be in the direction as shown in fig.(b).
Then the rotor moves through 90° (step angle) in counter clockwise direction so as to align with the stator
field axis FB.Rotor will position in such a way that its S-pole lock with stator N-pole.
Then phase Bis de-energized and a reverse voltage (-v) is applied to phase A. This results in the stator
magnetic field FA as shown in fig.(c) Now the rotor rotates through 90° in counter clockwise direction and
aligns with FAas shown in fig.(c).

Now phase A is de-energized and a reverse voltage (-v) is applied to phase B. This results in the stator
magnetic field FB as shown in fig. (d). Rotor further rotates by 90° in counter clockwise direction and align
with FB vector. The above sequence is single phase energization sequence in which only one stator
winding is energized at any time.

Two phase energizations:

In this initially positive voltage is applied to phase A. This gives rise to a stator magnetic field vector FAas
shown in fig.(a). The rotor. N-pole lock with S-pole of stator and vice versa.
With winding A energized as before, positive voltage is applied to phase B causing pole B to be N-pole and
B' to be S- pole. This produces another stator magnetic field FB as shown in fig. (e). The resulting stator
magnetic field will be + 45 degree from its former position. Hence rotor will move through a fixed angle
of+ 45 degree as shown in fig.(e).

With winding B energized as before winding A be de- energized, FA becomes zero, leaving FB as before.
The rotor, will move through another 45° to align itself with FB as in fig. (b).
With phase B energized as before, a negative voltage is applied to phase A. This reverse stator magnetic
field FA as in fig.(f). The resulting vector F shifts by another 45° causing the rotor to follow suit. With phase
A energized as before phase B is de- energized the vector- FA alone be there and FB = 0. The rotor
occupies the position as shown in fig.(c).

With phase A energized as before, negative voltage is applied to phase B, the rotor occupies the position as
shown in fig. (g). With B phase energized as before as A phase is de- energized, the rotor occupies the
position as shown in fig. (d). With B phase energized as before and positive voltage applied to A.

The resulting vector F shifts the rotor by another 45° as shown in fig.(g).
Fig.(a, b, c and d) corresponds to single phase energization.
Fig. (e, f, g and h) corresponds to. two phase energizations.
Both the above sequences are four step sequences, since the rotor moves through 90°. With single phase
sequence, rotor positions are ·90°, 180°, 270° and 360°, while rotor positions are 45°, .135°, 225° and .315°
in the case of two-phase sequence.

Fig.(a to h) constitute 8-stepsequence in which the rotor moves through 45° per step. Here one and two
phases are energized alternatively. This sequence is known as mixed, hybrid (or) (1-2) sequence.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

2. Explain the construction and working principle of Hybrid Stepper motor. [May 2007 May 2008
Nov 2014]
Hybrid stepper motor:
Another type of stepping motor having permanent magnet in its rotor is the hybrid motor. The term
"hybrid" derives from the fact that the motor is operated with the combined principles of the permanent
and variable reluctance motors, in order to achieve a small step angle and a high torque from a small size.
The stator core structure is the same as or very close to that of variable reluctance motors. The important
feature is the rotor structure. A cylindrical or disk-shaped magnet lies in the rotor core and it is magnetized
lengthwise to produce a unipolar field as shown in fig. (a). Each pole of the magnet is covered with
uniformly toothed soft steel end caps. Teeth on the two end caps are misaligned with respect to each
other by a half-toothed pitch. The toothed end caps are normally made of laminated silicon steel. The
magnetic field generated by stator coil is a heteropolar field as shown in fig. b).

(a) (b)
Fig. Magnetic paths in a hybrid motor

The flux due to the rotor's producing a unipolar field

The heteropolar distributed flux due to the currents. Principle of Operation:
Most widely used hybrid motor is the two phase type as shown in fig. This model has four poles and
operate on one phase on excitation.

Fig. Cross-section of a two-phase hybrid motor.

The coil in pole l and that in pole 3 are connected in series consisting of phase A, and pole 2 and 4 are for
phase B.
Fig. shows the process of rotor journey as the winding currents are switched in one phase ON excitation.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
Fig. One-phase-on operation of a two-phase hybrid motor.

The poles of phase A are excited the teeth of pole 1 attract, some of the rotors north poles, while the teeth
of pole 3 align with rotor’s south poles. Current is then switched to phase B, the rotor will travel a quarter
tooth pitch so that tooth alignment takes place in 2 and 4.
Next current is switched back to phase A but in opposite polarity to before, the rotor will make another
quarter tooth journey. The tooth alignment occurs in opposite magnetic polarity to state 1.
When current is switched to phase B in opposite
 EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
polarity state (4) occurs as a result of another quarter tooth pitch journey.
The structure of two phase motor considered in fig. will not produce force in a symmetrical manner with
respect to the axis. The monitor having 8 poles in the stator shown in fig. considered as the structure in
which torque in generated at a symmetrical position on the rotor surface.

Fig. Two phase hybrid motor with 8 stator poles.

3. State and explain the static and dynamic characteristics of a stepper motor. [May 2010 May 2014 May
2015 Nov 2016] (or) Draw and explain the torque pulse rate characteristics of stepper motor. [May
2007 May 2010] (or) Explain torque verses stepping rate characteristics of a stepping motor. Also
explain about slew rate and damping. [May 2008]
Characteristics of Stepper motor:
Stepper motor characteristics
Static characteristics (stationary positions of the motor)
Dynamic characteristics (running conditions of motor)
Torque displacement characteristics
Torque current characteristics

Electromagnetic torque (T) (vs) Displacement angle ()

(a) Holding Torque (TH):

 It is the maximum load torques which the energized stepper motor can withstand without slipping
from the equilibrium position.
 If the holding torque is exceeded the motor suddenly slips from the present equilibrium position and
goes to the next static equilibrium position.
 It is the maximum load torque upto which the energized stepper motor can withstand without slipping.
 It is due to residual magnetism and it is 5-10% of holding torque. It is a fourth harmonic torque also
known as caging torque.

 Relationship between TH and I (Holding torque)

 Initially curve is linear and then slope decreases as the magnetic circuit saturates.
 Initial slope of T.I curve also known as Torque sensitivity.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Dynamic characteristics:
 It gives the information regarding the torque stepping rate. The characteristics relating to motors
which are in motion (or) about to start are called dynamic characteristics.
 Selection of stepping rate is important for proper controlling of stepper motor.
 A stepper motor is said to be operating in synchronism when there exists strictly one to one
correspondence between number of pulses applied and the number of steps through which the
motor has actually moved.
 In stepper motors when the stepping rate increases, the rotor gets less time to drive the load from
one position to other. If stepping rate is increased beyond certain limit, the rotor cannot follow the
command and starts missing pulses.

Two modes of operation:

(i) Start stop mode
(ii) Slewing mode

(i) Start stop mode

 This start stop mode is also called as pull in curve (or) single stopping rate mode.
 In this mode of operation, a second pulse is given to the stepper motor only after the rotor attained
a steady (or) rest position due to first pulse
 The region of start-stop mode of operation depends on the torque developed and the stepping rate
(or) stepping frequency of the stepper motor.

Slewing Mode:
(a) In start stop mode, the stepper motor always operate in synchronism and the motor can be started and
stopped without losing synchronism.
(b) In slewing mode, the motor will be in synchronism but it cannot be started (or) stopped without losing
synchronism.
(c) To operate the motor in slewing mode, first the motor is to be started in start-stop mode and then to be
transferred slewing mode.
(d) Similarly to stop the motor operating in slewing mode, first the motor is to be bought to the start stop
mode and then to be stopped.
(e) In slewing mode of operation, the second pulse is given to the motor before the motor has attained steady
(or) rest position due to the first pulse.
(f) Consequently, the motor can run as a much faster rate in slowing mode than in start stop mode.
(g) However, the motor cannot start slewing from rest nor it can stop immediately when the pulses applied
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
have been stopped.
Slewing Mode of Operation Torque – Speed Characteristics:
Torque developed by the stepper motor and stepping rate characteristics for both mode of operations is
shown.
Curve ABC “Pull-in characteristics”
Curve ADE “Pull-out characteristics

Area “DABCD” Region: Start -stop mode of operation. At any operating point in the region the motor
can start and stop without losing synchronism.
Area “ABCEDA” Region: Slewing mode of operation. At any operating point without losing
synchronism to attain an operating point in the slewing mode at first the motor is to operate at a point in
the start-stop mode any then stepping rate is increased to operate in slewing mode, similarly while
switching off it is essential to operate the motor from slewing mode to start-stop mode before it is
stopped.

Pull in torque:
It is the maximum torque developed by the stepper motor for a given stepping rate in the start-stop mode
of operation without losing synchronism.
LM - pull in torque, TPI corresponding to the stopping rate f (i.e.,) OL.

Pull out torque:

It is the maximum torque developed by the stepper motor for a given stepping rate in the slewing mode
without losing synchronism.
LN - pull out torque. Tpo corresponding to F (i.e,) DL.

Pull in range:
It is the maximum stepping rate at which the stepper motor can operate an start-stop mode developing a
specific torque without losing synchronism.
P1T1-pulls in range for a torque of T. (i.e) or
This range is also known as response. Range of stepping rate for the given Torque T.

Pull out range:

It is the maximum stepping rate at which the stepper motor can operate in slewing mode developing a
specified torque without losing synchronism.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
P1P0-pull out range for a torque of T. Range P1P0 is known as slewing range. Pull in rate (FPI):
It is the maximum stepping rate at which the stepper motor will start or stop without losing synchronism
against a given load torque T.
Pull out rate (FPO):
It is the maximum stepping rate at which the stepper motor will slew, without missing steps, against load
torque T.
Synchronism:
This term means one to one correspondence between the number of pulses applied to the stepper motor
and the number of steps through which the motor has actually moved.

4. Explain in detail about different types of power drive circuits for stepper motor. [May 2014 May
2017] (OR) Draw the drive circuits for stepper motor and their characteristics. [Nov 2007] (OR)
Write a detailed note on the bipolar dives for stepper motors. (8) [Nov 2012]

A Drive Circuits for Stepper Motor is usually driven from a low voltage dc source. When a phase is to be
energized, the dc source is connected to the phase by a semiconductor switch S (Fig. 4).

The phase current builds up at the rate decided by the phase winding’s electrical time constant. When the
phase is to be de-energised, switch is turned off, which transfers the current to freewheeling diode D F. The
current drops to zero, again at the rate decided by the time constant of the phase winding. Motor torque,
which is a function of iph, builds up and decays in the same manner. In order to maximize torque capability
of a step motor, Drive Circuits for Stepper Motor should be such that the current builds up and decay as
fast as possible, ideally as shown by dotted lines in Fig. 4(b). This is specially important when high stepping
rates are required, as demonstrated in Fig. 4(c). The Drive Circuits for Stepper Motor are designed to
incorporate this requirement.

Unipolar Drive for Variable Reluctance Motors:

In case of variable reluctance motors, phase currents need

only be switched on or off and the current polarity does not
matter. Unipolar drive, which is capable of supplying current
only in one direction, is sufficient. A simple unipolar drive
circuit suitable for low power two phase variable reluctance
motor is shown in Fig. 4.1.

When switch S1 is closed, phase A winding is connected to the

dc source Vd and the phase current builds up and when it is
opened the phase current decays in the freewheeling path consisting of phase A, D F and RF. The external
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
resistor RE reduces the electrical time constant, thereby speeding up the current build-up. Value of external
resistor RE is chosen to fix the value of the electrical time constant and then the source voltage V d is chosen
to produce the rated current IR in the phase winding. Thus

where RP is the phase winding resistance.

During on period of the switch, phase current also flows through the external resistor R E, causing major
proportion of the energy drawn from the source to be dissipated in R E. Further, energy stored in the phase
winding inductance during the on period of the switch is all dissipated in free-wheeling circuit resistances
when the switch is turned off. Because of these energy losses, the unipolar circuit of Fig. 4.2 is highly
inefficient, and therefore, is suitable only for low power Drive Circuits for Stepper Motor.

An efficient unipolar drive circuit capable of providing fast current build-up and decay is shown in Fig. 4.2.
It uses chopper principle. Circuit shown is only for one phase. Each other phase will employ a similar
circuit. The dc source voltage can now be much larger than in the Drive Circuits for Stepper Motor of Fig.
4.2.

Figures 4.2(a) (b) and (c) show drive circuit, phase voltage and current waveforms respectively. To energize
the phase, semiconductor switches S 1 and S2 are closed at t = t o. This connects phase winding to the dc
source voltage Vd and phase current iph builds up fast. When it crosses the rated current I R by a prescribed
amount, S1 is switched off. The phase current freewheels through S 2 and D2 and decreases below IR. After a
fixed interval, S1 is turned on. Phase current iph increases. When it exceeds the rated current I R by the
prescribed amount, again S1 is turned off. Thus, alternately turning the switch S 1 on an off, the phase
current value is maintained to be nearly I R. At t = t0 + T, the phase is de-energized by turning off both S 1 and
S2. Phase current now flows through the path consisting of D 1, source Vd and D2 and major proportion of
energy stored in the phase winding inductance is fed back to the source V d. Since, phase current has to
flow against a large voltage Vd, it decays fast to zero.

Bipolar Drive for Permanent Magnet and Hybrid Motors:

A simple bipolar drive circuit for one phase is shown in Fig.

4.3. Each other phase will employ a similar circuit. The phase
winding carries a positive current when semiconductor
switches S1 and S2 conduct and it carries a negative current
when S3 and S4 conduct.

The phase winding is energized with a positive current when

S1 and S2 are turned on. The external resistance R E reduces the
electrical time constant allowing rapid build-up of phase current. V d and RE are chosen to satisfy Eq. (4.1).
The phase is de-energized by turning off S 1 and S2. Winding current now flows through the path consisting
of D3, source Vd and D4. The major proportion of energy stored in phase winding inductance is fed back to
the source and phase current decays rapidly to zero. Due to the presence of external resistance R E, the
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
drive circuit is inefficient, although it is more efficient than the unipolar drive circuit of Fig. 4.1.

By eliminating RE, and using the chopper principle, an efficient bipolar drive circuit is obtained. The circuit is
then operated as follows.

To energize the phase winding with a positive current, S1 and S2 are turned on. The phase current builds up
rapidly. When it exceeds the rated current by a prescribed amount (Figs. 4.2 (b) and (c)), S 1 is turned off.
The phase current freewheels through S 2 and D4. After a fixed interval, S 1 is turned on again. Thus, phase
current fluctuates around the rated value I R. When phase is to be de-energized, both S 1 and S2 are turned
off. Winding current flows through the path consisting of D 3, source Vd and D4. Phase current decays rapidly
and energy stored in the winding inductance is recovered by the supply.

5. Derive the reluctance torque of a stepper motor [May 2010 May 2015]

Theory of Torque Prediction:

Flux linkages can be varied by,

(i) Varying flux (ϕ)
(ii) Varying the current “I”
(iii) Varying reluctance “s”

Consider a magnetic circuit as shown

The stator consists of magnetic core with two pole arrangement stator core carries a coil rotor is also made
up of ferrous material. The rotor core is similar to a two salient pole machine.

Let the angle between the axis of stator pole and rotor pole be .

Case I: Angular displacement  = 0o

The airgap between stator and rotor is very small. Therefore, the reluctance of the magnetic path is least.

Due to minimum reluctance, the inductance is maximum (Lmax)

Case II:  = 45 o
In figure (b), in this only a portion of rotor poles cover the stator poles. Reluctance of the magnetic path is
more than case I. Due to which the inductance becomes less than Lmax
Case II:  = 90 o
The airgap between the stator and rotor has maximum values.  Reluctance has maximum value yielding
minimum inductance (Lmin).
Variation in inductance with respect to the angle between the stator and rotor poles is
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Variation in inductance w.r.t to 

Derivation of reluctance torque:
As per faradays’s law of electromagnetic induction an emf is induced in an electric circuit when there exists
a change in flux linkage.

The rate of change of energy transfer due to variation is stored energy (or) power.

Mechanical power developed/consumed = power received from the electrical source – power due to change
in stored energy in the inductor - (a)
Power received from the electrical source = ei from (1)

Substitute (2) & (3) in (a)

Mechanical power developed

Sub (4) in (5),

Note:

6. With a neat block diagram explain microprocessor control of stepping motor. [Nov 2013 May 2017]

Stepper motor can be easily controlled by microprocessor and microcontroller, in market many µc and µp
are available,
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Interfacing
Even a small stepper motor requires a current of 400 mA for its operation. But the ports of the
microcontroller cannot source this much amount of current. If such a motor is directly connected to the
microprocessor/microcontroller ports, the motor may draw large current from the ports and damage it. So,
a suitable driver circuit is used with the microprocessor /microcontroller to operate the motor.

Motor Driver Circuit (ULN2003)

Stepper motor driver circuits are available readily in the form of ICs. ULN2003 is one such driver IC which is
a High-Voltage High-Current Darlington transistor array and can give a current of 500mA.This current is
sufficient to drive a small stepper motor. Internally, it has protection diodes used to protect the motor
from damage due to back emf and large eddy currents. So, this ULN2003 is used as a driver to interface the
stepper motor to the microcontroller.

Operation
The important parameter of a stepper motor is the step angle. It is the minimum angle through which the
motor rotates in response to each excitation pulse. In a four-phase motor if there are 200 steps in one
complete rotation then then the step angle is 360/200 = 1.8O. So, to rotate the stepper motor we have to
apply the excitation pulse. For this the controller should send a hexa decimal code through one of its ports.
The hex code mainly depends on the construction of the stepper motor. So, all the stepper motors do not
have the same Hex code for their rotation. (refer the operation manual supplied by the manufacturer.)

For example, let us consider the hex code for a stepper motor to rotate in clockwise direction is 77 H, BBH,
DDH and EEH. This hex code will be applied to the input terminals of the driver through the assembly
language program. To rotate the stepper motor in anti-clockwise direction the same code is applied in the
reverse order
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

7. Explain the working of single and multi-stack configured stepping motor. [May 2015 Nov 2016]
Multi-stack variable reluctance stepper motor:

Multi-stack variable reluctance stepper motor having m-stacks can be considered to be made of m identical
single-stack variable reluctance stepper motors with their rotors mounted on a single shaft.
In the multi-stack variable reluctance stepper motor, the stators and the rotors have the same number of
poles or teeth and hence the same pole pitch. Therefore, for an m-stack stepper motor, the stator poles in all
m-stacks are aligned, but the rotor poles are displaced by (1/m) of the pole pitch angle from one another.
All the stator pole windings in a given stack being energised simultaneously and thus, the stator winding of
each stack forms one phase. Hence, the stepper motor has the same number of phases as the number of
stacks.

The cross-sectional view of a three-stack variable reluctance stepper motor is shown in the figure. Let, in
each stack of the given stepper motor, stators and rotors have 12 poles. For a 12-pole rotor, the pole pitch is
being 30 and hence, the rotor poles are displaced from each other by (1/3) of the pole pitch i.e. by 10°. The
stator teeth in each stack are aligned.
When the phase winding A is energised, the rotor teeth of stack A are aligned with the stator teeth. When
phase winding B is excited and the phase winding A is de-energised, the rotor teeth of the stack B are
aligned with the stator teeth. This new alignment is made by the rotor movement of 10° in the anti-
clockwise direction. Hence, the rotor moves one step due to change of the excitation from stack A to stack
B.
Next, the phase C is excited and the phase B is de-energised, then the rotor moves by another step
of (1/3) of pole pitch in the anti-clockwise direction. Further change of excitation from stack C to stack A
will once more align the stator and rotor teeth in the stack A.
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
For a multi-stack variable reluctance stepper motor, if Nr is the number of rotor teeth and m is the number of
stacks or phases, then
Tooth or pole pitch=360° Nr Tooth or pole pitch = 360°𝑁𝑟
And the step angle is
Step angle=360°mNr Step angle=360°𝑚𝑁𝑟
In the above case,
Tooth or pole pitch=360°Nr=360°12=30° Tooth or pole pitch=360°𝑁𝑟=360°12=30°
Step angle=360°mNr=360°3×12=10° Step angle=360°m𝑁𝑟=360°3×12=10°
Multi-stack variable reluctance stepper motors are mainly used to obtain smaller step sizes (in the range of
2° to 15°). The multi-stack variable reluctance stepper motors have high torque to inertia ratio. The reduced
inertia enables the stepper motor to accelerate the load faster.

8. Explain the construction and operation of VR stepper motor. Also explain about micro stepping.
[Nov 2007 May 2008 Nov 2012 Nov 2013 May 2010 May 2017]

Working Principle of Stepper Motor:

The VR stepper motor is characterized by the fact that there is no permanent magnet either on the rotor or
the stator. The construction of a 3-phase VR stepper motor is shown in figure.

The stator is made up of silicon steel stamping s with inward projected even or odd number of poles or
teeth (usually the number of poles of stator is an even number). Each and every stator pole carries a field
coil or exciting coil. In case of even number of poles the exciting coils of opposite poles are connected in
series. The two coils are connected such that their MMF get added. The combination of two coils is known
as phase winding.

The rotor is also made up of silicon steel stamping s with outward projected poles and it does not have any
electrical winding. The number rotor poles should not be equal to the number of stator poles to have self
starting capability and bi-directional rotation. The width of the rotor teeth should be equal to the width of
stator teeth.

MICRO STEPPING CONTROL OF STEPPING MOTOR

Stepping motor is a digital actuator which moves in steps of θs in response to input pulses. such
incremental motion results in the following limitations of the stepper motor

Limited resolution
As θs is the smallest angle through which the stepper motor can move, this has an effect on position
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer
accuracy of incremental servo system employing stepper motors because the stepper motor cannot
position the load to an accuracy finer than θs.

Mid frequency Resonance

A phenomenon in which the motor torque suddenly drops to a low value at certain pulse frequencies as in
fig

A new principal known as micro stepping control has been developed with a view of overcoming the
above limitation .It enables the stepping motor to move through a tiny micro step of size ∆ θs << θs full
step angle is response to input pulses.

Principle of micro stepping

Assume a two-phase stepper motor operating in one-phase ON sequence. Assume also that only B2
winding is On and carrying current IB2 = IR, the rated phase current. All the other winding are OFF. In this
state the stator magnetic field is along the positive real axis as show in fig (a). Naturally the rotor will also
as be in θ = 0° position.

When the next input pulse comes, B2 is switched OFF while A1 is switched ON. In this condition IA1= IR
while all the phase current are zero. As a result, the stator magnetic field rotates through 90® in counter
clockwise direction as show in fig (a).

The rotor follows suit by rotating through 90° in the process of aligning itself with stator magnetic field.
Thus, with a conventional controller the stator magnetic field rotates through 90° when a new input pulse
is received causing the rotor to rotate full step.

However, in micro stepping we want the stator magnetic field to rote through a small angle θs << 90° in
respect to input pulse. This is achieved by modulating the current through

B2 and A1 winding as show in fig (b) such that

IA1= IR sin θ
IB1= IR cos θ

Then the resulting stator magnetic field will be at an angle θ ° with respect to the positive real axis.
consequently the rotor will rotate through an angle θs << 90° .

This method of modulating current through stator winding so as to obtain rotation of stator magnetic field
through a small angle θ °
 EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Types of Drives
Stepper motor drives are primarily distinguished by three individual properties: motor winding
arrangement, drive circuitry, and step mode. The type of driver has a large influence on the stepper
motor system's overall performance, specifically its torque, output power, and speed. Distinguishing
between the different types is important for determining what driver is best suited for the application.

Winding Arrangement
In two-phase stepper motors, there are two basic winding arrangements. Stepper motor drives can be
classified based on the arrangement they are designed for.

Number of
Drive Mode Main Features
Wires (Leads)
Low cost, robust, simple, best at
Unipolar 5, 6, or 8
low speeds
High torque at low speed, low
Bipolar series 4, 6, or 8
torque at high speed
Flatter torque-speed profile, higher
Bipolar parallel 4 or 8
torque at high speed

Unipolar drives are designed for unipolar motors, which are motors with 6 leads (center-tapped coils).
Instead of reversing the current in each phase, the drive simply switches the current from one coil to
the other in each phase. Because of the winding configuration, this switching reverses the magnetic
fields in the motor. Unipolar motor drive mode is simpler to operate and lower cost, but generates
about 30% less torque than an equivalent bipolar motor, as only half the windings are used at any
given time. Unipolar motors are best used in low speed applications.

Bipolar drives are designed for bipolar motors, which are motors with four leads. The electronics in
the driver/controller alternately reverse the current in each phase to drive the rotor. Bipolar motors
generate greater torque than unipolar arrangements. The mechanism is a little more complex,
however, making the electronics more elaborate and sometimes more expensive. In the bipolar
arrangement, the motor can be wired in parallel or in series. Series wiring allows for higher torque at
low speed, while parallel can generate high torque at high speed.
 EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Wire connection diagrams for bipolar and unipolar arrangements" Credit: Osmtech

Drive Circuitry
Stepper motor performance is also very dependent on the drive circuitry, which can configured as
either constant voltage or constant current.

L/R drive circuits are called constant voltage drives because a positive or negative voltage is applied
to each winding to set the step position. L/R stands for the electrical relationship of inductance (L) to
resistance (R), which describes the rate of change of current in L/R circuit motors. Motor coil
impedance vs. step rate is also determined by these parameters. L/R drive circuits can be configured
to run both bipolar and unipolar stepper motors. The electronics are also simpler and less expensive
than those in chopper drive circuits.

Selection tip: The L/R drive should "match" the power supply output voltage to the motor coil voltage
rating for continuous duty operation. Most published motor performance curves are based on full rated
voltage applied at the motor leads. Power supply output voltage level must be set high enough to
account for electrical drops within the drive circuitry for optimum continuous operation.

Chopper drive circuits are constant current drives because they generate a relatively constant
current in each winding. The chopper gets its name from the technique of rapidly turning the output
voltage on and off (chopping) to control motor current. For this setup, the best performance is
delivered from low impedance motor coils and the maximum voltage power supply available. Chopper
drive circuits are used almost exclusively for bipolar motors. Compared to an L/R drive, a chopper
drive allows a stepper motor to maintain greater torque or force at higher speeds, albeit with additional
electronics for sensing and switching control.
Selection tip: As a general rule, to achieve optimum performance, the recommended ratio between
power supply voltage and rated motor voltage should be at least eight to one.

Step Mode
EE3009- SPECIAL ELECTRICAL MACHINES Unit 1 Question Bank and Question Answer

Stepper motor "step modes" include full, half and microstep. Step modes are a determining factor of
the stepper motor's output torque and its resolution (the amount of degrees the motor shaft rotates per
pulse). Some stepper motor drives may have switch-selectable step modes between half step and full
step. Microstepping drives may provide either switch-selectable or software-selectable resolutions.

Full step stepper motors move in increments of the actual magnetic "detent" positions, meaning there
is no electronic or control enhancement of resolution. In full step mode, essentially one digital pulse
from the driver is equivalent to one step. It is normally achieved by energizing both windings while
reversing the current alternately. Motors in full step mode will produce their full rated torque.

In half-step drive / control, one winding is energized and then two windings are energized alternately,
causing the rotor to rotate half the distance. In this way, angular resolution during drive is doubled, and
the motor will advance to the next magnetic position when power is disconnected. Although it provides
approximately 30% less torque, half-step mode produces a smoother motion than full-step mode at a
higher resolution. Another advantage of half stepping is that the drive electronics need not change to
support it.

Microstep is a relatively new stepper motor step mode incorporated into many bipolar motors. This
mode electronically controls the current in the motor winding to a degree that further subdivides the
number of positions between poles, subsequently dividing a full step into smaller steps. Like the half-
step mode, microstepping provides approximately 30% less torque than full-step mode. Also, the
noncumulative percentage of error in each microstep is slightly larger than in one full step.
Microstepping is typically used in applications that require accurate positioning and smoother motion
over a wide range of speeds.

Power Requirements
It is also important to consider the power requirements of the stepper motor drive during the selection
process. The most important specifications are:

 Supply voltage - the range of input voltage for which the drive or controller will operate, expressed
in either volts AC or volts DC.
 Input phase - the AC input phase, either single phase or three phase. Single phase is the more
commonly used AC type, usually but not exclusively for lower voltage applications. Three phase
input is typically used for high voltage power supplies.
 Input frequency - the AC input frequency, expressed in Hz.
 Continuous output current - the operational or intended current flow through the drive, expressed
in Amps.
 Peak output current - the capacity for current output of the drive for a very short period.