Stepper Motor

Stepper Motor
1
S
N
2 2
S
N
1
what is a stepper motor?
Stepper motors are DC motors whose position can be changed in
discrete steps. In most applications stepper motor moves in steps
instead of rotating continuously
OR AN OTHER WORD
stepper motor is a pulse-driven motor that changes the angular
position of the rotor in steps. Due to this nature of a stepper motor, it is
widely used in low cost, open loop position control systems
Definitions
• N = Number of equivalent poles per phase = number of rotor poles

ph
• Ph = Number of phases
• N = Total number of poles for all phases together
• Step Position Error
• The maximum positive or negative position error caused when the motor has rotated one step from the
previous holding position.
• Step position error = measured step angle – theoretical angle
• Positional Error
• The motor is stepped N times from an initial position (N = 360 /step angle) and the angle
0
• from the initial position is measured at each step position. If the angle from the initial
• position to the N-step position is ɸN the error is ∆ɸN where:
• ΔQn= ɸN -(step –angle) * N
• The positional error is the difference of the maximum and minimum but is usually
• expressed with ± sign. That is:
• positional error = ±0.5*(∆ɸmax-∆ɸmin)
• Types of stepper motors:
• Permanent Magnet
• Employ permanent magnet (Low speed, relatively high torque)
• Variable Reluctance
• Does not have permanent magnet (Low torque)
Variable Reluctance Motor
• The cylindrical rotor is made of soft steel and has four poles It has
four rotor teeth, 90⁰
• six stator poles, 60⁰.
• Electromagnetic field is produced by
activating the stator coils in sequence.
It attracts the metal rotor.
• When the windings are energized in
• a reoccurring sequence of 2, 3, 1
• the motor will rotate in a 30⁰ step angle. In the non-energized
condition, there is no magnetic flux in the air gap, as the stator is an
electromagnet and the rotor is a piece of soft iron; hence, there is
no detent torque. This type of stepper motor is called a variable
reluctance stepper.
• Permanent magnet (PM) stepper motor
• In this type of motor, the rotor is a permanent magnet. Unlike the
other stepping motors
• PM motor rotor has no teeth and is designed to be magnetized at a
right angle to its axis.
• 90⁰ PM motor with four phases (A-D).
Applying current to each phase in sequence
will cause the rotor to rotate by adjusting
to the changing magnetic fields.
it operates at fairly low speed, the PM motor has a relatively high
torque characteristic. These are low cost motors with typical step angle
ranging between 7.5⁰ to 15⁰
• Hybrid stepper motor
• Hybrid stepping motors combine a
permanent magnet and a rotor with
metal teeth to provide features of the
variable reluctance and permanent
magnet motors together. The number
of rotor pole pairs is equal to the
number of teeth on one of the rotor's
parts. The hybrid motor stator has
teeth creating more poles than the
main poles windings
• otation of a hybrid stepping motor is produced in the similar
fashion as a permanent magnet stepping motor, by energizing
individual windings in a positive or negative direction. When a
winding is energized, north and south poles are created,
depending on the polarity of the current flowing. These
generated poles attract the permanent poles of the rotor and
also the finer metal teeth present on rotor. The rotor moves one
step to align the offset magnetized rotor teeth to the
corresponding energized windings. Hybrid motors are more
expensive than motors with permanent magnets, but they use
smaller steps, have greater torque and maximum speed
Advantages / Disadvantages
Advantages:-
Low cost for control achieved
Ruggedness
Simplicity of construction
Can operate in an open loop control system
Low maintenance
Less likely to stall or slip
Will work in any environment
Disadvantages:-
Require a dedicated control circuit
Use more current than D.C. motors
High torque output achieved at low speeds
•
Rotor
Construction
Stator
Outside Casing
Coils Stator
Rotor
1
2 2
S
Internal components of a Stepper Motor
1
Cross Section of a Stepper Motor
1 Stators
S
N
2 2
S
N
1
Rotor
Step1:
Stepper motor sequence Apply Vcc to B1, GND to B2, (A1,
A2 are NC)
NOTE: Here NC means “Not
Connected”
B1
Step 2: Apply Vcc to A2, GND to A1, B2

B1=B2=NC
Step 3: Apply Vcc to B2, GND to B1,
A1=A2=NC
Step 4: Apply Vcc to A1, GND to A2, B1=B2=NC

Step5: Apply Vcc to B1, GND to B2, A1=A2=NC
NOTE: Step 5 is identical to Step 1
Alternative Full Step Control
• It make by applying voltage
• to both windings at the same time
• Results in higher torque than energizing
only one winding
• This is the usual method for full step
driving the motor. Both phases are always
on. The motor will have full rated torque.
Using the first method, the stepper
motor will typically have less then the fully
Rated torque
Improving Resolution with More Phases on
the Stator
the number of wires (and thus
control signals) needed to control
the motor has increased
Improving Resolution with More Permanent
Magnets
Advantages and Limitations:
The advantage is that we keep
same number of control signals
with increased resolution.
This disadvantage is increased
cost of permanent magnets
• Resolution is the number of steps required to complete a revolution (360
degrees)
• 2-pole motor takes 4 steps
• 6 pole motor takes 12 steps
• Angular Resolution =360/no. of steps
• 2-pole motor had resolution of 90
• 6-pole motor had resolution of 30
• Equation for angular resolution of 2 phase motors is:
• Angular Resolution =360/(2 × (no. of poles))
• Equation for angular resolution of an n phase motors is:
• Angular Resolution =360/n × (no. of poles)
Half-Stepping Sequence
CHARACTERISTICS OF STEPPER MOTOR
 Static Characteristics
 1) Torque- Angle curve: The torque increases, almost sinusoidal with angle from equilibrium
position as shown in Figure below. θS is the step angle (deg) and θM is the maximum angle.
 2) Holding torque (TH): It is the maximum load torque which the energized step per motor can
withstand without slip from position
 3) Detent torque (TD): It is the maximum load torque which an unenergized step per motor can
withstand without slipping and is also known as cogging torque. It is due to residual magnetism
and about 5 -10% of holding torque. Detent torque is typically fourth
TYPES OF DRIVERS
 Unipolar Driver
 Winding has three leads each at the end and one in the middle. Half of the winding only is used in motor
operation at any instant of time. To change the direction of rotation, end leads are chosen and the current
flows in the same direction. Unipolar winding driver circuit is simple
Bipolar Driver
• bipolar winding current flows in both directions as shown in Figure
below. Unipolar winding can be configured into bipolar if the center
lead is ignored. Bipolar drives are most widely used drives for
industrial applications (bipolar refer to principle where the current
direction in one winding is changed by shifting the voltage polarity
across the winding terminal. To change polarity, a total of four
switches are needed forming an H-bridge. The bipolar drive method
requires one winding per phase. The motor winding is fully energized
by turning on one set (top and bottom) of the switching transistors.
Comparison between different drivers is tabulated

Stepper Motor

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Stepper Motor

• N = Number of equivalent poles per phase = number of rotor poles

Step 2: Apply Vcc to A2, GND to A1, B2

Step 4: Apply Vcc to A1, GND to A2, B1=B2=NC

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