STEPPER MOTOR

Presented by: 1) Supriya Rakshit 2) Monika Soni

Contents
1. Introduction 2. Comparison Between Servo & Stepper Motor 3. Types Of Stepper Motor
a. Variable Reluctance Stepper Motor b. Permanent Magnet Stepper Motor c. Hybrid Stepper Motor

4. Applications 5. Advantages & Disadvantages 6. Simulation in Matlab

1. Introduction
A stepper motor is a pulse-driven motor that changes the angular position of the rotor in steps.
Rotor
Stator Outside Casing

Coils
1

Stator
Rotor

N
2 2

S
1

Internal components of a Stepper Motor

Cont.
A stepper (or, stepping) motor is an electromechanical device which converts electrical pulses into discrete mechanical movements. Stepper motors work on the principle of electromagnetism. There is a soft iron or magnetic rotor shaft surrounded by the electromagnetic stators. The rotor and stator have poles which may be teethed or not depending upon the type of stepper. When the stators are energized the rotor moves to align itself along with the stator (in case of a permanent magnet type stepper) or moves to have a minimum gap with the stator (in case of a variable reluctance stepper). This way the stators are energized in a sequence to rotate the stepper motor.

2. Compare With a Servo

Stepper motors are similar to servo motors as we can perform position control with both. However, Servo motors require some form of analog feedback whereas stepper motors are often open loop. Stepping motors can be used in simple open-loop control systems; these are generally adequate for systems that operate at low accelerations with static loads, but closed loop control may be essential for high accelerations. For high accelerations with variable loads, all rotor information is lost, and we require closed loop for accurate control Servo motors are not subject to this problem

3. Types Of Servo Motor

PERMENANT MAGNET MOTOR VARIABLE RELUCTANCE MOTOR

STEPPER MOTOR

HYBRID MOTOR

Cont.
Permanent Magnet
Employ permanent magnet Low speed, relatively high torque

Variable Reluctance
Does not have permanent magnet Low torque

Hybrid
multi-toothed stator poles and a permanent magnet rotor High static and dynamic torque

PERMANENT MAGNET MOTOR

Cutaway diagram of a typical permanent magnet stepper motor.

Canstack rotor that is used in permanent magnet stepper motors.

Cont.
The rotor and stator poles of a permanent magnet stepper are not teethed. Instead the rotor have alternative north and south poles parallel to the axis of the rotor shaft. When a stator is energized, it develops electromagnetic poles. The magnetic rotor aligns along the magnetic field of the stator. The other stator is then energized in the sequence so that the rotor moves and aligns itself to the new magnetic field. This way energizing the stators in a fixed sequence rotates the stepper motor by fixed angles. The resolution of a permanent magnet stepper can be increased by increasing number of poles in the rotor or increasing the number of phases.

VARIABLE RELUCTANCE STEPPER MOTORS

The variable reluctance stepper has a toothed non-magnetic soft iron rotor. When the stator coil is energized the rotor moves to have a minimum gap between the stator and its teeth.

Cont..
The teeth of the rotor are designed so that when they are aligned with one stator they get misaligned with the next stator. Now when the next stator is energized, the rotor moves to align its teeth with the next stator. This way energizing stators in a fixed sequence completes the rotation of the step motor. The resolution of a variable reluctance stepper can be increased by increasing the number of teeth in the rotor and by increasing the number of phases.

HYBRID MOTOR
A hybrid stepper is a combination of both permanent magnet and the variable reluctance. It has a magnetic teethed rotor which better guides magnetic flux to preferred location in the air gap.

Cont.
The magnetic rotor has two cups. One for north poles and second for the south poles. The rotor cups are designed so that that the north and south poles arrange in alternative manner. Check out the insight of a Hybrid Stepper Motor. The Hybrid motor rotates on same principle of energizing the stator coils in a sequence.

4. APPLICATIONS
Stepper motors are also used for cruise control, military antenna positioners, automated sensing devices

Cont.
1.Step motors are used inside medical scanners, multi-axis stepper motor microscopic or nanoscopic motion control of automated devices, dispensing pumps, 2.samplers, and chromatograph auto-injectors. Also found inside digital dental photography, fluid pumps, respirators, and blood analysis machinery.

Cont..
Stepper motors are incorporated inside PC based scanning equipment, data storage tape drives, optical disk drive head driving mechanism, printers, bar-code printers, scanners. Stepper motors in cameras for automatic digital camera focus and zoom functions.

5. STEPPER MOTOR ADVANTAGEC

The rotation angle of the motor is proportional to the input pulse. The motor has full torque at standstill (if the windings are energized). Precise positioning and repeatability of movement since good stepper motors have an accuracy of 3 to 5% of a step and this error is non-cumulative from one step to the next. Excellent response to starting/stopping/reversing. Very reliable since there are no contact brushes in the motor. Therefore the life of the step motor is simply dependent on the life of the bearing.

Cont..
The stepper motors response to digital input pulses provides open-loop control, making the motor simpler and less costly to control. It is possible to achieve very low speed synchronous rotation with a load that is directly coupled to the shaft. A wide range of rotational speeds can be realized as the speed is proportional to the frequency of the input pulses.

5. STEPPER MOTOR disadvantage

Require a dedicated control circuit

Use more current than D.C. motors

High torque output achieved at low speeds

6. SIMULATION cIRCUIT

Output Waveforms

Phase Current of A

Cont.

Phase Voltage

Cont.

Torque

Cont.

Angular Speed

Cont.

Angular Position

Thank You