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Theory of operation:
When energizing a certain stator phase a magnetic field in direction of the stator
phase is induced, this field produces a torque over the rotor causing the rotor to
rotate until is aligns with the field.
Electrical Equations:
Assume a 2 phase (a and b) Stepper motor
Each phase can be represented by this equation
𝑑𝑖𝑎
𝑉𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑒𝑎
𝑑𝑡
𝑒𝑎 = −𝐾𝑚 𝜃̇ sin(𝑁𝑟 𝜃)
Where
𝑉𝑎 : Phase a applied Voltage [Volt].
𝑅𝑎 : Phase a winding Resistance [Ohm].
In the Stepper Motor case the Torque developed over the rotor is the sum of the
torque induced from each phase.
The Torque developed by each stator phase is dependent on the position of the
rotor in reference to that phase (as mentioned before) maximum torque when
the phase induced magnetic field is perpendicular on the rotor (rotor field line
which connects the rotor poles) and minimum torque is when the rotor is
aligned with the phase magnetic field.
this relation is represented by a sinusoidal wave (sine for first phase and cosine
for next phase as it varies with 90 mechanical degree )
So:
𝑒𝑎 𝑒𝑏
𝑇𝑚 = −𝐾𝑚 (𝑖𝑎 − ) sin(𝑁𝑟 𝜃) + 𝐾𝑚 (𝑖𝑏 − ) cos(𝑁𝑟 𝜃)
𝑅𝑚 𝑅𝑚
Where:
𝜃: Rotor Position
𝐾𝑚 : Motor Torque Constant [𝑁. 𝑚⁄𝐴𝑚𝑝]
𝑁𝑟 : Is the number of teeth on each of the two rotor poles. The Full step
size parameter is (π/2)/Nr.
𝑅𝑚 : Magnetizing Resistance in case of neglecting iron losses it’s assumed to
𝑒
be infinite which causes the term ( 𝑎 = 0 ).
𝑅𝑚
2. Field Control.
Armature Controlled Dc Motor Mathematical Model:
Electrical Equations:
𝑑𝑖𝑎
𝑉𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑉𝑏𝑒𝑚𝑓
𝑑𝑡
𝑉𝑏𝑒𝑚𝑓 = 𝐾𝑏𝑒𝑚𝑓 𝜃̇
Where:
𝑉𝑎 : Voltage applied over Motor Armature [Volt].
𝑅𝑎 : Armature Resistance [Ohm].
𝑖𝑎 : Armature Current [ampere].
𝑖𝑎 (𝑠) 1
Current volt Transfer Function
𝑉𝑎 (𝑠) −𝐾𝑏𝑒𝑚𝑓 𝜃̇ (𝑠)
=𝑅
𝑎 +𝑠𝐿𝑎
𝑇𝑚 = 𝐾𝑖𝑎 𝑖𝑓
The Strength of the magnetic field is constant as its armature controlled so:
𝑇𝑚 = 𝐾𝑚 𝑖𝑎
Where:
𝐾𝑚 : Motor Torque Constant [𝑁. 𝑚⁄𝐴𝑚𝑝]
In Field Controlled Dc motor the armature current is kept constant, the torque is
controlled by modulating the magnetic flux.
The magnetic field is controlled by controlling the voltage applied on the field
winding (𝑉𝑓 ) so in this case the manipulated variable is field winding Voltage
(𝑉𝑓 ).
Electrical equation:
𝑑𝑖𝑓
𝑉𝑓 = 𝑅𝑓 𝑖𝑓 + 𝐿𝑓
𝑑𝑡
𝑉𝑓 : Voltage applied over Motor field winding [Volt].
𝑅𝑓 : Field winding Resistance [Ohm].
Electromechanical Torque:
As armature current is constant
𝑇𝑚 = 𝐾𝑚 𝑖𝑓
𝐾𝑚 : Motor Torque Constant [𝑁. 𝑚⁄𝐴𝑚𝑝]
𝑑𝑑𝑎𝑛𝑐𝑒𝑟
𝐹𝑡1
𝑇𝑙 = 𝐹𝑡1 𝑟𝑤𝑖𝑛𝑑𝑒𝑟
𝑇𝑙 :Load Torque over the winder Driver
𝐹𝑡1: Web Tension force at Winder Region (Control Variable).
𝐹𝑡0: Web Tension force at unWinder Region (assumed constant).
𝑉𝑜 : Winder Tangential Velocity.
𝑉1 : unwinder Tangential Velocity.
𝑑𝑑𝑎𝑛𝑐𝑒𝑟 : Displacement of Dancer.
𝑟𝑤𝑖𝑛𝑑𝑒𝑟 :Raduis of winder cylinder.
𝑑𝑑 𝑑𝑎𝑛𝑐𝑒𝑟
𝑉𝑑 : Dancer Velocity𝑉𝑑 = .
𝑑𝑡
Model Assumptions:
1. The paper velocity from the unwinder is constant
2. The cross section area of the web is uniform
7. The speed of the dancer is negligible compared to the speed of the web
𝑉𝑑 <<𝑉1
10. The change of roll radius does not change the web length between the
winders:
as one radius is increasing the other is decreasing therefore the changing
radius is estimated to only having little influence on the web length and
is therefore neglected.
Mechanical Equations:
In our case we have two torques opposing the torque from the motor:
1. The tension in the web is acting as the load on the winder motor
𝑇𝑙 = 𝐹𝑡1 𝑟𝑤𝑖𝑛𝑑𝑒𝑟
𝑇𝑐𝑜𝑢𝑙
∑ 𝑇 = 𝐽𝜃̈
In the following the Voigt model is used to explain arising stress and with the before
mentioned assumptions, control volume analysis and continuum mechanics it is shown how
the stresses are related to 𝑉𝑜 and 𝑉1 .
Voigt Model:
The Voigt model consists of a viscous damper and an elastic spring in parallel as shown
𝐹𝑡
With this model the Stress on the material 𝜎 = is expressed as follows
𝐴
𝐹𝑡
𝜎= = 𝐸𝜀 + 𝐶𝜀̇
𝐴
Where
𝜎:Stress on web material
𝑡 𝐹
Taking Laplace Transform we get 𝜀 = 𝐴𝐸+𝐴𝐶𝑠 (1)
Mass Continuity Definition:
𝜌𝐴𝐿 = 𝜌𝐴𝑠 𝐿𝑠
Where
A: Normal Area of material
L: Normal length of material
𝐿 𝑠 :Stretched Length of material
∆𝐿 𝐿𝑠 −𝐿 𝐿𝑠
From Strain Definition 𝜀= 𝐿
= 𝐿
= 𝐿
− 1 (3)
𝐴
From (2) and (1) 𝐴𝑠 = (3)
(𝜀+1)
𝐴𝑠 = 𝐴(1 − 𝜀) (4)
Mass Conservation Law:
The definition of mass conservation states that the change in mass of the control
volume equals the difference between the mass entering and exiting the control
volume.
𝑑
𝜌𝐴𝐿 = 𝜌𝐴𝑜 𝑉𝑜 − 𝜌𝐴1𝑉1
𝑑𝑡
𝑑
In our case and since density constant 𝐴𝐿 = 𝐴𝑠𝑜 𝑉𝑜 − 𝐴𝑠1 𝑉1
𝑑𝑡
∴ 𝐿 = 𝐿𝑐 − 2𝑑
Where: 𝐿𝑐 :Constant Length of web.
𝑑 : Dancer Displacement.
𝑉1 𝐹𝑡𝑜 𝐴1
The Term . is constant due to assumptions 1, 2 and 9 and it
𝐿𝑛 𝐴2
represents the initial Tension force.
Finally we get the transfer function of tension force from inputs (paper Linear
velocities and dancer velocity)
𝐴
𝐹𝑡1 𝐿𝑛 (𝐶𝑠 + 𝐸)
=
𝑉1 − 𝑉𝑜 − 2𝑉𝑑 𝑉
𝑠 + 𝐿𝑜
𝑛
Dancer Mathematical Model
𝐹𝑡𝑜 𝐹𝑡1
𝑀𝑑 . 𝑔
∑ 𝐹𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 = 𝑀𝑎
𝑀𝑑 : Dancer mass
𝐶𝑑 : Dancer damping coefficient
𝐾𝑑 :Spring Stiffness
𝑑:Dancer Dsiplacment
𝑑 1
Dancer position Transfer function =
𝐹𝑡1 +𝐹𝑡𝑜 −𝑀𝑑 .𝑔 𝑀𝑑 𝑠2 +𝐶𝑑 𝑠+𝐾𝑑
Complete model Summary:
Stepper Motor:
𝑑𝑖𝑎
𝑉𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑒𝑎
𝑑𝑡
𝑒𝑎 = −𝐾𝑚 𝜃̇ sin(𝑁𝑟 𝜃)
𝑒𝑎 𝑒𝑏
𝑇𝑚 = −𝐾𝑚 (𝑖𝑎 − ) sin(𝑁𝑟 𝜃) + 𝐾𝑚 (𝑖𝑏 − ) cos(𝑁𝑟 𝜃)
𝑅𝑚 𝑅𝑚
𝜃 1
Mechanical Transfer Function : =
𝑇𝑚 −𝑇𝑐𝑜𝑢 −𝐹𝑡1 𝑟𝑤𝑖𝑛𝑑𝑒𝑟 𝐽𝑠2 +𝑏𝑠
𝐴
𝐹𝑡1 (𝐶𝑠+𝐸)
𝐿𝑛
Material Transfer Function: = 𝑉
𝑉1 −𝑉𝑜 −2𝑉𝑑 𝑠+ 𝑜
𝐿𝑛
𝑑 1
Dancer Transfer function: =
𝐹𝑡1 +𝐹𝑡𝑜 −𝑀𝑑 .𝑔 𝑀𝑑 𝑠2 +𝐶𝑑 𝑠+𝐾𝑑
Calculation of varying moment of inertia:
Length of winded material:
𝐿𝑤𝑖𝑛𝑑𝑒𝑑 = ∫ 𝑉1 𝑑𝑡
𝐿𝑤𝑖𝑛𝑑𝑒𝑑 . 𝑡
𝑟𝑤𝑖𝑛𝑑𝑒𝑟 =√ + 𝑟𝑐𝑜𝑟𝑒 2
𝜋
Material Mass:
𝑀 = 𝑀𝑣 . 𝜋. 𝑤(𝑟𝑤𝑖𝑛𝑑𝑒𝑟 2 − 𝑟𝑐𝑜𝑟𝑒 2 )
𝑀𝑣 : Material mass per unit volume
𝑟𝑐𝑜𝑟𝑒 : Winder Cylinder Core radius
Variable material Moment of inertia:
1
𝐽𝑤 = 𝑀(𝑟𝑤𝑖𝑛𝑑𝑒𝑟 2 + 𝑟𝑐𝑜𝑟𝑒 2 )
2
Total Drive moment of inertia:
𝐽 = 𝐽𝑤 + 𝐽𝑐
𝐽𝑐 : Winder Cylinder Core Moment of inertia