Permanent Magnet Stepper

Motor
Module-01, Lecture-03
Subject: Special Electrical Machines
TE Electrical Sem-VI

Prof. V. A. Sansare
Department of Electrical Engineering
FAMT, Ratnagiri
Outline
• Permanent Magnet Stepper Motor

• Working:
Single-phase ON Mode

Two-phase ON mode

Alternate one phase and two phase mode or half-step mode

 Construction
• Construction is similar to VR stepper motor
• Stator consists of salient poles wound with concentric coils
• Coils are grouped and connected in series to form different phases
• Rotor carries no winding but has permanent magnets
• Rotor can be made in form a PM spider cast integral or assembled
structure

Picture courtesy: Special Electrical Machines by E. G. Janardanan

• Motor has permanent magnet, it has detent torque.
• Rotor will remain in the position corresponding to last phase
energized even if motor is unexcited.
• Position maintained until the external torque exceeds a limiting
value
• Higher torque to volume ratio compared to VR stepper motor
• Due to higher inertia, PM motors cannot be accelerate as VR
motor
• Due to difficulty in manufacturing small PMs, number of poles in
the rotor is limited and step size is relatively large in range of to
• Axially magnetized PMs of disc type are available
 Working
• Two phase motor is considered for study principle of operation
• It has four stator poles and two rotor poles
• The motor structure is shown in Fig. 1.14
• Two stator coils each are connected to form two phases of motor
• The exciting circuit is shown in Fig. 1.14

Picture courtesy: Special Electrical Machines by E. G. Janardanan

• When phase is energized, it set up a magnetic flux and rotor will
position to lock its N pole and S pole to stator S pole and N pole
respectively.
• Three modes of operation
1. Single-phase ON mode
2. Two-phase ON mode
3. Alternate one-phase and two-phase mode or half-step mode
 Single-phase ON mode
• Phase A is energized by closing switch S1 to position 1.
• Rotor and stator field makes rotor move and occupy the position
shown in Fig. 1.14
• N pole of rotor and S pole form on stator phase A get interlocked
and further movement of rotor is arrested.

Picture courtesy: Special Electrical Machines by E. G. Janardanan

• Now S2 is moved to position 1 and S1 is opened.
• The rotor moves by in clockwise direction and takes position as
shown in Fig.1.15
• Now S1 is closed to position 2 and S2 is opened.
• The rotor moves by in a same direction and rest in the position as
shown in Fig 1.16

Picture courtesy: Special Electrical Machines by E. G. Janardanan

• This sequence is repeated so that for each operation the rotor
moves in clockwise direction with step angle of
• Truth table for single-phase ON mode is
S1 S2

+ 0
0 +
- 0
0 - + is Position 1
+ 0
- is Position 2
Two-phase ON mode
• Let initial position of rotor is as
shown in Fing 1.16
• Here switch is at position 1.
• With S1 in position 1, S2 is
switched to position 1 so that
both phases are excited.
• The rotor moves by in CW
direction and rest at position
shown in Fig.1.17

Picture courtesy: Special Electrical Machines by E. G. Janardanan

• With S2 in same position, S1 is moved to
position 2.
• The rotor advanced by in the same direction
and rest at position as shown in Fig.1.18
• With S in position 2, S2 in moved to
position 1.
• Results in movement of rotor in same
direction by
• Rotor rest at position shown in Fig1.19
• The truth table for CW direction is as given

Picture courtesy: Special Electrical Machines by E. G. Janardanan

 S1 S2

+ +
- +
- -
+ -
+ -

+ is Position 1
- is Position 2
Picture courtesy: Special Electrical Machines by E. G. Janardanan
Thank You