Special Purpose Motors and

Control Devices
Permanent Magnet Motors
Permanent Magnet Motors
A brushless electric motor is an electric motor driven by an electrical input,
which lacks any form of commutator or slip ring. Depending on their design they
can be either AC or DC driven.
Generally the term 'brushless motor' will refer to a permanent-magnet
synchronous motor (PMSM) or permanent-magnet motor (PMM), a
synchronous motor which uses permanent magnets rather than windings in the
rotor. PMSMs are either axial flux, radial flux, transverse flux, or flux switching
depending on the arrangement of components, with each topology having
different tradeoffs among efficiency, size, weight, and operating speed.
Alternative designs may use reluctance rather than magnets. Asynchronous
induction motors are also brushless motors.
The brushless DC motor is a brushless AC motor with integrated inverter and
rectifier, sensor, and inverter control electronics. The AC inverter/controller
electronics are a modern age invention, only available since roughly 1984 and
were developed by inventor Miro Zoric.
- Wikipedia, the free encyclopedia
Classification and Characteristics
CLASSIFICATION CHARACTERISTICS
Conventional PM Motor
Similar to wound rotor DC motor
Coreless PM Motor
Has no iron or steel in the rotor
Torque PM motor
Runs for a long time at the stalled or
low speed condition

The characteristic of permanent
magnet motor depend on the
material of the magnet. The
material control the flux density
and coercivity.
Coercivity - is a measure of a
ferromagnetic or ferroelectric material
to withstand an external magnetic or
electric field.

MATERIALS USED IN MAGNETS
Alcino
Has high flux density and low coercivity
Ceramic or ferrite
Has low flux density and high coercivity
Rare Earth
Has high flux density and high coercivity

Conventional PM Motors
Also known as wound rotor PM motor, is like a shunt wound-rotor DC motor.
Its rotor is assembled with laminated core, windings are coiled in the rotor
slots, a commutator, and brushes. The difference is that the magnetic field is
set by permanent magnets in the PM Motor as opposed to electromagnets
in the DC motor.
Permanent magnetized along their length or width.
MAGNETIZATION ALONG LENGTH MAGNETIZATION ALONG WIDTH
Conventional PM Motors have applications in electrical equipment that
require high efficiency, high power and minimal size.
Motorized forklifts
Wheel chairs
Scooters

Applications
Coreless PM Motor
The coreless PM motor, also known as the ironless-rotor and the moving coil
motor, has no iron or steel in the rotor, as its name suggests. This lack of
iron provides the following benefits:
It has lower inertia and thus respond quickly to changes in speed.
It has less armature inductance and thus respond quickly to changes in input voltage.
It has no eddy current and hysteresis losses and thus produces high efficiency.
It has no tendency to remain in any particular location relative to the structure, which
eliminates the cogging effect. The cogging effect occurs when the rotor slips into a
rotational position and stalls there until the torque makes it advance.

Two types of Coreless PM Motor structures
SHELL STRUCTURE
The shell structure, also called the
cup structure or the can structure,
is a thin hollow cylinder with one
attached to the shaft next to the
commutator and the other fitted
between the permanent magnets.
The cylinder typically made of fiber
glass with copper wires bonded on
both interior and exterior surfaces;
wire segments on the end of the
cylinder connect the surface wires.
DISK STRUCTURE
The disk structure for a coreless PM
motor consist of thin, donut
shaped fiberglass board with
copper conductors on both sides,
and six permanent magnets thar
are attached to the end plates.
Torque PM Motors
Torque PM motors, sometimes called torquers, are designed to operate at a
low speed or at a stalled condition for long time. Not all DC motors are
designed for this type of operation. Torque PM motors can dissipate heat
from the large amount of current flow. Torque PM motors have three main
industrial application:
Spooling, where the torque PM motor runs at a stalled condition, exerting tension or
pressure for machine operation.
Opening and closing valves, where the torque PM motors turn only a few revolutions at a
low speed.
Driving tape transports, where the torque PM motor must run continually at a low speed.
Brushless DC Motor
Brushless DC Motor
The brushless DC motor is an electronically commutated DC motor with a
position sensor whose output is used in the control of commutation. The
sensor system signals the controller on rotor position, and the controller
sequences the electronic commutator, which in turn drives the stator
windings.


Electronic
Commutator
Controller
Stator Rotor
Sensor System
Construction
A
B D
C
S
N
A
B D
C
S
N
S N
A
B D
C
S N
A
B D
C
S N
S
N
A
B D
C
N S
S
N
A
B D
C
N S
N
S
Sensor System
Two popular sensor system is Hall effect sensor system (electrical) and
Optical sensor system (mechanical).

Hall Effect
When a magnet was placed perpendicular to one side of a current carrying conductor, a
voltage appeared on the opposite side of the conductor. This voltage is usually in millivolt
range.



Optical sensor
The optical sensor is a device that combines a disc mounted on the shaft of the motor,
with light emitting diode and light detectors mounted mounted around shaft.

Power Control Systems
Voltage Control System
Vary the voltage to the commutator switches, which in effect for a series regulator, thus controlling
the voltage that is switched to the stator windings.
Current Control System
Allow the commutator switches to vary the current to motor, which means either operating the
switches in a constant current mode, or use a pulse width modulation scheme that adjust the on-
time and off time of the switches.



Brushless DC Motor Applications
Because the Brushless DC Motor has high reliability and low maintenance
and runs at a high speed, it is well suited for the aerospace and biomedical
industries.
Aerospace industry
Gyroscopes; tape drives for rugged, high reliability video recorders; tape transport system
Biomedical industry
Artificial heart pumps, cryogenic coolers



Stepper Motors
Stepper Motors
A stepper motor converts
electronic digital pulses into
mechanical rotational steps. When
the motor receives a digital pulse
that energize the stator winding,
the shaft of stepper motor
turns(steps) a specific angular
distance, then remains at that
position until next incoming digital
pulse. The shaft can be driven
clockwise or counterclockwise at
various pulse.
Stepping rate
The maximum number of steps the motor can make in one second.
Step angle
The number of degrees the motor moves per step
Holding torque
The maximum load originating torque that the motor can stand without moving from its
position with the stator energized.
Detent torque
The maximum load originating torque that the motor can stand without moving from its
position with the stator de-energized. Its value is typically 10 percent of the holding
torque.

Permanent Magnet Stepper Motors

Variable Reluctance Stepper Motors
The variable reluctance stepper
motor consist of electromagnetic
stator winding and non magnetized
toothed rotor. The motor shaft
rotates to a position that minimizes
the magnetic reluctance of the flux
path.
Variable reluctance motor have
much less holding torque and
effectively zero detent torque
compare to PM motors because the
rotor is non magnetic.
Operation and excitation modes
Rest Mode
The stator windings are de-energized, the rotor is not turning, resisting movement until
load originating torque exceeds detent torque.
Stall Mode
The stator windings are energized, the rotor is not turning, resisting movement until load
originating torque exceeds holding torque.
Bidirectional Mode
The rotor turns continually, then stops. It can continue in the same direction or the reverse
direction.
Unidirectional Mode
The rotor is accelerated(ramped up) beyond directional rate and cannot be reversed
instantaneously. Also called Slew Mode.
Speed-torque curves for operational modes.
The excitation modes of the stepper motor can be categorized as follows:

Two-phase and two phase modified mode
Half-stepping and microstepping modes
Three phase and three-phase modified modes.
Two-phase and two phase modified mode
Two phase modified mode
Half step mode for stepper motor
Three phase and three-phase modified modes: Rotor rotation
Applications
Computer peripherals
Printers
Plotters
Disk drives.
Business machines
Lens positioning
Paper feed
Process control
Parts positioning in assembly lines
X-Y positioning in laser trimming operations.
Machine tool
Axis positioning for robots
Milling machines and lathes
End