Stepper motor

A stepper motor is a special electrical machine

which rotates in discrete angular steps in
response to a programmed sequence of input
electrical pulses.

Working Principle
A magnetic interaction takes place between the
rotor and the stator, which make rotor move.
Construction
• The stator has windings
• The rotor is of salient structure without any
windings, and it may or may not have
permanent magnets
Application
•Application of stepper motor in diverse areas
ranging from a small wrist watch to artificial
satellites.
• Power range 1W to 2.5KW
• Torque range 1µN to 40Nm
 Stepper motor

(1) Variable (2) Permanent (3) Hybrid stepper (4) Other type
magnet motor (HSM)

reluctance

(1.1) Single stack VRStepper (1.2) Multi stack VR

Motor Stepping motor
 (1)Variable reluctance motor
Variable reluctance stepper motor works on the principle that a
magnetic material placed in magnetic field experience a force to
align minimum reluctance path
Variable reluctance motor

(1.1) Single stack VR (1.2) Multi stack VR

Stepper Motor reluctance Stepping
motor
 (1.1) Single stack VR Stepper Motor
Construction
• Stator
1. The stator made up of silicon steel stampings.
2. It has projecting poles,usaly even no of poles.
3. The pole carry concentric windings
• Rotor
1. Usually made up of silicon steel.
2. Solid silicon steel also used for core of rotor.
3. The rotor has projecting teeth on its outer periphery.

The no of rotor teeth and stator pole should not be equal. this make
motor self starting
Working
 Switching sequence

Angl
Phase S-1 S-2 S-3 S-4
e
(Deg
)
A 1 0 0 0 0

B 0 1 0 0 15

C 0 0 1 0 30

D 0 0 0 1 45

A 1 0 0 0 60
Rotor position for phaseexcitation
Modes of excitation
a) Single phases or full step ONmode
b) Two phase ON mode
c) Half step mode
d) Micro step mode
(b) Two phase ONmode

S-1 S-2 S-3 S-4 Angle

1 0 0 0 0
1 1 0 0 7.5
0 1 1 0 22.5
0 0 1 1 37.5
1 0 0 1 52.5
1 1 0 0 67.5
The excitation sequence for various modesof
operations are

Excitation sequnce
1-phase ON 2-phase ON 2-1-2-1-phase ON
Clockstate R 1 2 3 4 5 6 7 8 9 10 R 1 2 3 4 5 6 7 8 9 10 R 1 2 3 4 5 6 7 8 9 10
Phase-A 1 1 0 0 0 1 0 0 0 0 1 1 1 0 0 1 1 0 0 0 0 0 1 1 0 0 0 0 0 1 1 1 0
Phase-B 0 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1
Phase-C 0 0 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0
Phase-D 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 1 0 0 0 0 1 1 0 0 0 0 0 1 1 1 0 0 0
(1.2 ) Multi-stack VRsteppermotor
•Multistack VRstepper motor has higher torque to volume ratio.
•More efficiency compare to the Single stack VRsteppermotor.
•Comparison between Multistack and single stack motor are asfollow

•Construction
•Each phase has separate stator and rotor section calledstack.
•The stator stack consisting of salient poles wires winding.
•All the coils in the stator connected in series.
•Magnetic circuit of each stack is independent from that of others
•The Rotor stack are unwound and have projecting teeth.
Stator and Rotor stack relative position
Stator and Rotor stack relative position
The logic sequence for one phase ON mode and the
timing diagram

Step A B C
1 1 0 0
2 0 1 0
3 0 0 1
4 1 0 0
(2) Permanent Magnet Stepper motor
•Permanent magnet (PM) stepper motor is another version ofstepper motor.
•Its construction is similar to that of a VRstepper motor.
•Stator consist of a salient poles wound with concentric coils.
•The rotor carries no winding but has permanent magnets.
•The rotor can be made in the form a PM spider cast integral or an assembled structureof
PM as shown in fig.
 Due to the difficulty in manufacturing small PMs, the number of poles in the rotor is limited and the step
size is relatively large in the range 300 to900

Working
To study the principle of operation of PM stepper motor, a two phase motor isconsidered.
•It has four stator poles and two rotor poles.
•The stator has winding on its poles.
•The motor structure is shown in fig.

•When a phase is energized, it sets up a magnetic flux and rotor will position to lock its N pole and S
pole to stator Spole and N polerespectively.
Permanent magnet stepper motor can control by various method as follow

A. Single phase ON mode.

B. Two phase ON mode.
C. Alter one phase and two phase ONmode
(A) Single phase ON mode
The switching sequence table is given below
+ = position 1
S-1 S-2 Ф(degree)
- = position 2
+ 0 0 o =open
0 + 90
_ 0 180
0 _ 270
+ 0 360
(B) Two phase ON mode

The switching sequence table is given below

S-1 S-2 Ф(degree)

+ + 45
- + 135
- - 225
+ - 315
+ + 45
(C)Alter one phase and two phase ONmode

The switching sequence table is given below

S-1 S-2 Ф(degree)

+ 0 0
+ + 45
0 + 90
- + 135
- 0 180
- - 225
0 - 270
+ - 315
+ 0 360
Hybrid stepper motor
• Its operation based on the combined principle of both PM andVRstepper

motor.
•HSM is the best choice for the application where small step angles andhigh
starting torque are essential.

Construction
The construction details of a 5 phase, 10 pole HSM with 50 rotor teeth shownin
figure.
•The stator has 10 pole with subteeth.
•It made up of ironstampings.
•The poles are provided with windings.
Working
Consider a four pole, two phase HSM with 15 rotor teeth on each rotor section,as shown in
figure.

•Coils wound on poles A and A’ are connected in series to form phase A same as for phaseB.
•The step angle is 360/(2x2x15)=60
•The tooth pitch is 360/15=240
• The switching circuit for exciting the phases is shown infigure.

•The excitation sequence for one phase ON, Two phase ON and half step modes are given

in table
 One Phase ON method

S-1 S-2 S-3 S-4 S-5 S-6 S-7 S-8

1 0 0 0 0 1 0 0

0 0 1 0 0 0 0 1

0 1 0 0 1 0 0 0

0 0 0 1 0 0 1 0

1 0 0 1 0 1 1 0
 Two Phase ON method

S-1 S-2 S-3 S-4 S-5 S-6 S-7 S-8

1 0 1 0 0 1 0 1

0 1 1 0 1 0 0 1

0 1 0 1 1 0 1 0

1 0 0 1 0 1 1 0

1 0 1 0 0 1 0 1

0 1 1 0 1 0 0 1

0 1 0 1 1 0 1 0

1 0 0 1 0 1 1 0

1 0 1 0 0 1 0 1
 Half step method

S-1 S-2 S-3 S-4 S-5 S-6 S-7 S-8

1 0 1 0 0 1 0 1

0 0 1 0 0 0 0 1

0 1 1 0 1 0 0 1

0 1 0 0 1 0 0 0

0 1 0 0 1 0 0 0

0 0 0 1 0 0 1 0

0 0 0 1 0 0 1 0

1 0 0 1 0 1 1 0

1 0 0 0 0 1 0 0
(4) Other type stepper motor
•Single phase Stepper Motor
•Disc Magnet(DM)Stepper motor
•Claw Tooth or Can Stack permanent Magnet Stepper Motor
Single phase Stepper Motor
Disc Magnet(DM)Stepper motor
Windings in Stepper motor- Bipolar windings
Single phase On
Two phase ON
Half Step Mode
Unipolar winding
Torque equation
 Static characteristics of steppermotor
Torque versus step angle and torque versus current arecalled
static characteristics of stepper motor.
Dynamic characteristics of stepper Motor
Pull in and pull out characteristics are called dynamiccharacteristics.
Open loop Control of StepperMotor
Close loop Control of StepperMotor
Stepper motors have many industrial applications
such as
• Printers.
• Disk Drives.
• Machine Tools.
• Robotics.
• Tape Drives.