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‫‪27‬‬
 Dr. Ahmed A. Salem
Email: Ahmed.elased@su.edu.eg

sinaiuniversity.ne
t
@Sinaiunieg info@su.edu.eg www.su.edu.eg
 Electrical Special Machines
Course Code: ENE 5179
Lec.2
Dr. Ahmed A. Salem, PhD
Electrical Engineering Department, Faculty of
Engineering, Suez Canal University

Contact:
002-01002484169
ahmed_ salem@eng.suez.edu.eg
ahmed.elsaed@su.edu.eg 2023
Multi-Stack Variable Reluctance Stepper Motors

Multi-stack variable-reluctance-type stepper motors are widely used to give smaller

step sizes. The motor is divided along its axial length into magnetically isolated
sections (“stacks”), and each of these sections can be excited by a separate winding
30 (“phase”).
• The stator teeth have a different orientation
between stacks.
• Both stator and rotor have the same number
of teeth
• Therefore, when a particular phase is
excited, the position of the rotor relative to
the stator in that stack is accurately defined

Let x be the number of rotor teeth and N the number of stacks or phases.

Fig. 7 Teeth position for a 3-phase, 12-teeth, three-stack, variable

31 reluctance stepper motor when phase a is energized.
 • Energizing phase (stack) A: when stack A winding is energized, the rotor teeth will

move to align themselves with the stator teeth is stack A .

• Energizing phase (stack) B: when stack B winding is then energized while stack A

winding is de-energized, the rotor teeth will move to align themselves with the stator

teeth is stack B. This will result in a clockwise rotation of the rotor by 10°.

• Energizing phase (stack) C: when stack C winding is then energized while stack B

winding is de-energized, the rotor teeth will move to align themselves with the stator.

Teeth is stack C. This will result in another clockwise rotation of the rotor by 10°.

• and so on.

32
 Example
Consider a four-phase, 8/6 VRM. If the stator phases are excited sequentially,
with a total time of To sec required to excite the four phases (i.e., each phase is
excited for a time of T0/4 sec), Find
• The angular velocity of the stator flux wave
• The corresponding angular velocity of the rotor.

Neglect any system dynamics and assume that the rotor will instantaneously
track the stator excitation

33
 Stator flux wave rotates with 45 o clockwise with excitation for each phase
𝟐𝝅 𝝅

𝟖
=
𝟒
= 45 o
each phase is excited for a time of T0 /4 sec
1
𝜔 = 2𝜋 𝑓 𝑓=
𝑇
So for each excitation
𝜋 𝑇0
𝜔= /
4 4 𝜋
So the angular velocity of the stator flux wave = 𝜔= clockwise
34 𝑇0
 The rotor rotates with 15 o anticlockwise with excitation for each phase
𝝅
So the rotor step
𝟏𝟐

each phase is excited for a time of T0/4 sec

So for each excitation
−𝜋 𝑇0
𝜔= /
12 4
−𝜋 anticlockwise
∴𝜔=
3𝑇0
In this case the rotor travels one third the angular velocity of stator
35
excitation and in opposite direction
Permanent magnet stepper motor

• The permanent magnet stepper motor has a stator

construction similar to that of the single stack
variable-reluctance type, but the rotor is made of a
permanent magnet material

FEATURES OF PM STEPPER MOTOR

• The polarity is important in the permanent magnet

stepper motor, because it decides the direction in
which the motor will move.
• It is difficult to make a small permanent magnet
rotor with a large number of poles, and therefore
stepper motors of this type are restricted to larger
step sizes in the range 30 degree to 90 degree.

36
 • Permanent magnet stepper motors have higher inertia and therefore slower

acceleration than variable-reluctance stepper motors..

• The maximum step rate for permanent magnet stepper motors is 300

pulses per second, on the other hand, 1200 pulses per second for variable-

reluctance stepper motors.

• The permanent magnet stepper motor produces more torque per ampere

stator current than the variable-reluctance stepper motor

37
• When phase-A excited by a constant current,
tooth 1 acts as a south pole. This makes the
north pole of the PM rotor align with the south
pole of the stator.
• When phase B winding is activated causing a
90“ displacement in the counterclockwise
direction to align the rotor's north pole with
stator tooth 2.
• If we reverse the polarity of the applied current
and start exciting phase-A again, the rotor will
further rotate 90" along the anticlockwise
direction, this time to align the rotor's north
pole with the stator tooth 3.
38
 Hybrid Stepper Motors

• The stator construction of a

hybrid step motor is no
different from that of a
variable reluctance or a PM
step motor.
• However, the rotor
construction integrates the
design of the rotors of a
variable-reluctance and a
PM step motor.

39
• The rotor of a hybrid step motor consists of two
identical stacks of soft iron as well as an axially
magnetized round permanent magnet.
N
• Soft iron stacks are attached to the north and
south poles of the permanent magnet.
• The rotor teeth are machined on the soft iron
stacks. Thus, the rotor teeth on one end become
the north pole, while those at the other end
become the south pole.
• The rotor teeth at both north and south poles are
displaced in angle for the proper alignment of
the rotor pole with that of the stator.
• The operating mode of the hybrid step motor is
40 very similar to that of a PM step motor.
 Effect of Inertia and Mechanical load

41
 Effect of Inertia

normal

42
 Inertia is increased

43
 Damped effect

44
 Because of the need to
high starting torque

45
Stepping time or overshot
Settling time

46 Stepping time
 THANK
YOU
For any questions feel free
to contact me by mail
Email: Ahmed.elased@su.edu.eg

Dr. Ahmed A. Salem

Email: Ahmed.elsaed@su.edu.eg
002-01002484169