STEPPER MOTOR

Under the Guidance of [guide teacher name] By Dishant Kumar (2K8/EE/824)

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INTRODUCTION TO STEPPER MOTOR Electromechanical device which converts electrical pulses into discrete mechanical movements Shaft of a stepper motor rotates in discrete step increments when electrical pulses are applied Sequence of the applied pulses is directly related to the direction of motor shafts rotation. Speed of rotation is directly related to the frequency of input pulses applied

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STEPPER MOTOR THEORY OF OPERATION PM type stepper motor permanent magnet is rotor and coils are put on stator. The rotor will move precisely 90 degrees for each pulse of electricity that the motor receives

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CLOCKWISE & COUNTERCLOCKWISE CONTROL

Clockwise Rotation Counter Clockwise Rotation

Control Sequence

Control Sequence

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THEORY When current flows holding torque is produced Without power, rotor will detent or align to magnetic poles ,here 4 Such positions are present. changing the current flow to the next stator winding, the magnetic field will be changed 90& rotor will move 90 before its magnetic fields will again align with the change in the stator field. The turn of the motor is controlled by the electric current which pours into different stator terminals [5]

STEPPER MOTOR TYPES

There are three basic stepper motor types. Variable-reluctance Permanent-magnet Hybrid

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VARIABLE-RELUCTANCE TYPE Consists of a soft iron multi-toothed rotor and a wound stator. When the stator windings are energized with DC current &the poles become magnetized Rotation occurs when the rotor teeth are attracted to the energized stator poles.
Crossectional view

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PERMANENT MAGNET (PM) TYPE

Crossectional view

Rotor of PM type

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HYBRID TYPE Step Angles For Hb Stepper Motor Range From 3.6to 0.9 Degree With100 400 Steps Per Revolution Detent, holding and dynamic torque characteristics of the motor are better compared to both the VR and PM types.

Crossectional View

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APPLICATION

Used in controlled rotation angle, speed, position applications. Printers, Plotters, High End Office Equipment, Hard Disk Drives, Medical Equipment, Fax Machines, Robotics, automotive And Many More.

Paper drive mechanism Using stepper machine

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SOME PRACTICAL FIGURES

Used in Dot Matrix Printer

Used in CD-ROM Drive

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STEPPING MODES

Full Step Drive ----200 full steps per revolution and 1.8 full step angle Half Step----- 400 full steps per revolution and 0.9 full step angle Microstepping (Continiously varying motor currents )----more than 50000 full steps per revolution and (1/256) full step angle

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TORQUE VS ROTOR ANGLE & SPEED CHARCTERISTICS

Torque vs. Rotor angle graph

Graph between Torque and speed

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SINGLE STEP RESPONSE

The curve shows behavior of rotor with one step pulse step time dependent on the ratio of torque to inertia & the type of driver used Acceleration causes overshoots & ringing as shown This behavior is reduced by microstepping

Positional Accuracy Of A Stepper Motor

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STEP ANGLE ACCURACY Stepper motor is popular due to its accuracy and repeatability Step angle accuracy is 35% of one step Positional Error Step Position Error
Positional accuracy of a stepper motor

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ADVANTAGES OF STEPPER MOTORS

The rotation angle of the motor is proportional to the input pulse Excellent response to starting, stopping/reversing The motors response to digital input pulses provides open-loop control It is possible to achieve very low speed synchronous rotation A wide range of rotational speeds can be realized Very reliable since there are no contact brushes in the motor Accuracy of 3 5% of a step and this error is non cumulative from one step to the next

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CONCLUSION

All types and characteristics of a stepper motor are studied throughout this paper. These are very popular in our day to day life due to a lot of advantages and also in digital control circuits, such as robotics because they are ideally suited for receiving digital pulses for step control

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THANK YOU
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