fartonalKilouat Motore

phase acfield windingR IA COn-

Aingle
A the ac supply
Aa ahown 1f the
nectedto magnitude AA
ofsufficient
signalis pair of ahaded-
error the relay, one
actn'te Ahorted and the rotor AMPLIEIER
to windingA18 to rotate
continues
polr rottat1ng and the error sig-
starts
nullisproduced or
untbl the weak And the relay drops out.
hecomes actu-
nal [Link] opposite polarity
errorphase-sensitive relay to Ahort.
An
etes the shaded-ole dia.
other par of
ercut the caUsing rotationin the $HADED-AE
tnbuted wind1ng8,
reversedirection.
Pig. 10.64
10.25. STEPPER MOTORS
precise positioning of an obect or precise controB f
many industrial situations which call for motors areideally suited to such taska
There are to resort to closed-loop feedback. Stepper to ts drive
speed without having
precise angular distance, one step, for each pulsethat is delvered shaft is to
a step angle of 7.5° per pulse and the gecessary
motor rotates a
Astepper, example, if a particular stepper motor has
[Link] a certain target position, then it is oniy
througb 225° in order to place an object in circuit. Because the step pulses can he counted
beturned 225/7.5 i.e. 30 pulses to the motor's drive hemsetves
tosupply the desired numnber have been delivered, stepping motors lend ia also ro
when niicro-computer. These motors c
digitallyand stopped a programmable controller or on-line
to digitalcontrol by

0009

0 SOLENCNQ
000
G BAR

Fx. l0.65
 solely by the step pulea
ther rotational apeod ia determined
control. smee through a spec1he
precIse opeu loop speed rotate
Vde ndependentofload. synchronoIA motor whichis lesignod to stops aro 2,2.5.5,75 and
fiqucucy. unit. Typical
is a form of received by itacontrol with
The stopper motor
cach cloctricalpulae rapil as 1. 200 pulsOA per second and
number ofdegreesfor to follow aignals na
Stepper motors Are builtkilowvntt. movomant
15'per pulse.
upto sovoral motor which turns indiscrete
cquivalcnt power ratings incrmentol moion mchine i.e. the does not rotate
continuously, as a
steppcr motor is an motor. Stoppr inotor
A known as the stoppor
(called the steps) is by
(onvent10nal motor doos.
ofoperationofa stoppor motor canbo eas1ly expla1ned as
The principle bar (rotnr),
10.25.1. Operating Principle. or electronagnets nrranged in acircle and an irondeveloped nthem
considerng aseries of solenoids solenoids are onergizod in sequence, the mmf w1se ree.
illustrated in fig 10.65. When these
counter-clock
turn either in clockwi9e or
rotor)and causos it to
Interact wth the iron bar (or
switching sequenco.
tion, depend1ng uponthe The construction of the stepper motor is quite
Features and Working.
10.26.2. Constructional with a multi-pole, nulti-phase winding
that I8 not
simple and consists of a slottod stator equipped wind1ng They
windings of the conventional machinos and a rotor structure that carries no requred
unlikethe number of poles being determined by the
typically use threc and four phase windings, theeither of tho permanent magnet type or the var1able
angular change per input pulse. The rotors are drive logic circuit; asa train of pulse 1S app1ed
reluctanc type. Stepper motorsoperate with an external appropriate currents to the stator windings of the
to the input of the drive circuit, the circuit delivers input pulses. Depending upon
motor to make the axis of the air-gap field around in coincidence with the the axis of air-gap magnetic
the pulse rate and load torque, including inertia effects, the rotor follows i.e. permanent
field by virtue of the permanent magnet torque and/or the reluctance torque. Both types
magnet and the variable reluctance type stepper motors operate on the same basic magnetic prnciple.
1. Permanent Magnet Stepper Motor. The representative structure of a pernanent magnet type
stepper motor having 4stator poles
and 6 rotor poles producing a full step +V, USUALLY 10-50V dc
angle of 30" is shown in fig 10.66. The
end terminals of all the windings are
brought out to the terminal box for dc
excitations. The rotor of such a motor
has even number of poles made of high
retentivity steel alloy (Alnico). Both
rotor andstator may employ salient
or non-salient pole construction. Usu
ally the stepper motors having small
stepping angles are of non-salient pole D
construction. In the motur illustrated
in fig 10.66, the stator pole windings
are wrapped in such a way that clo
Bure of any winding's control switeh
causes that winding's pole to become
magnetically north. If the siX pole ro
Lor 1s permanently magnetized ag
shown, and if only a single slator
ing is energized atone time, thenwind the
rotor will always orient so that the
nearest rotor south pole is aligned with 1-Stator.l'ole, 6-Rotor-Pole Permgnent Magnet Stepper lotor
the energized stator Fig. l0.66
pole.
For instance if
"he figure. Ifswitch switch
A is closed,
Ais opened and theenergizing stutor polo winding A, the rotor will align as
switch B is then closed. so that ouly shown+ha
in
vinding R is anoveinnd
 IhtlowttMotors

clockwise. This stey will incur due to tho tendency of the annth pnla norost rhe
mtorwil) step 30° riththe north stator pole
al1gn
Bt o
IfthesWItch B1s then
wnd1ng opened and swilch C subsequ1ently closod, the rntnr will mako a sernnt i
tendency of tho north stator pole (C)for the rotor pale noarogt it It i
clockwsestep,due to attractiveAwitching sequence ABCDis repeated continsally tho rotor ahaft wl
that when t he
see switch closure. If the gwitching aequence 1a royartod oAD
hard ([Link], one 30° step per
to
not
ont1nue to shaft would turn in opposite
i.e. counter-clockwise direction
rotor allow the selectionof full steps or half steps. This sa acrompithed hg
[Link] steppig motor designs simultaneously energize twO stator coils during every 1ernnd timng
Many Switching sequence to the effecta of monng the tatnr
the
altering Smultaneous energization of two stator windings creates
interval. between the two poles.
north to a position switching is accomplished by trangistors rather than mechancai z9teh-
magnetic winding develop its rated torre
real1ty. stator motor needs 1 to 10 A of winding current in order to
typical stepper transistors must be high power devices.
ng. 4 switching stepper motor i8
Therefore. the Stepper Motor. The stator of a variable reluctance the rotor and the
Variable-Reluctance magnet on
magnet stepper motor. It has nopenmanent
permanent multi-toothed one
tothat of a àe
similar ferro-magnetic magnetic reluctances that ex1st betweentends
oIgr emploved is a developed due to large differences in some statGr col
The torque is stationary field developed by the direct current in
quadrature axis. The
rotor to move tothe position
where the reluctance of the ux gath
drect and causes the
torque which n
odevelop a
reluctance stepper motor is shown schematacailv
Is minmum.
6-tooth rotor variable of 6-poles.
the rotor gives the effects magnet type ox
A4-phase. 8-stator pole, 4-phase winding and
provided with (1.e. permanent
fg 10.67. The stator is as, irrespective the type of stepper motor
Stepping angle is given
reluctance type) 360 .(10.63)
360°
poles
Number of phases X number of
In the above case
360° = 15°
4x 6
STATOR
keeping other coils
When the phase 1-1' is energized, the figure. If now
unexcited. the rotor alígns as shown in
phase 2-2' is switched
the phase 1-1' is switched off and south pole at coil
oaito develop north pole at coil 2 and
align the axes of
Z,a reluctance torque is produced to
of stator poles of phase 2
H rotor poles 2-5 with the axiscounter-clockwise. Succes
[Link] rotor advances 15° advance
a total
siVE excitation of phases 3. 4. 1' yields repetition of this
of 60 1.e. on rotor pole pitch. Six-times
revolution of the shaft.
ning Sequencecompletes one clockwise direction
otor can be made to rotate in
eversing the switching sequence i.e. in sequeice
4,3,2", 1'.
3, Hybrid Stepper Motor. This is in fact a permaneut
features of
maagnet with constructional
stepperusedmotor variable
toothed reluctance stepper mo
rotor 4-pole
tor. A2-phase, 1n stator, G-tooth rotor hybrid step- 6 l'outh Rutu i
ible
360
/-Phuse, 8:Pule Slulur,
Reluetunee Stepper Mutor
per, motor is shown in fig 10.68. Stepping angle is
30
 588 AC Mochines
PHASE 2
When yphaao 1-1' ia Rwitchod on, kerping phaAO
2-2' unrxrited, the rotor aligns AA Ahown in fg
10 68 Tf now thr phase 1-1 i9 Awitched ofT and
phase 2-2' is closrd auch that lowerpole hecomea
sOuth pole Ard upper pole becomneA north, thia
would cAURC rotor to tun in rounte-rlockwiRO
direction by 30" and the rotor will ge locked into
the new pos1tion The rotor will mrnin oppoaite
ROTOR,
1
.e. clockwise drection if the phase 2-2' wero op
positely ercited.
The man advantage of the hybrid motor is
tha ifthe stator excitation is removed, the rotor pHASE
continu°es to irmain locked into the sane posi.
tion. as beforr removalof excitation. This is due
to the reASOn that the rotor is prevented to move
1n eithe direction by the torque because of the
permanent nagnel excitation.
Hybr1d type stepper motor is used in appli
cat1ons where stepping angle is small (e.g.1.5,
STATOR
2.5 degrees).
The var1able reluctance stepper motor'sstep
angles are small., making possible finer resolu 2-Phase, 4-Pole Stator, 6-Tooth Rotor
tion than that is obtainable with the permanent Hybrid Stepper Motor
magnet type. Maximum stepping rates usually Fig. 10.68
are higher than in permanent magnet stepper
motor.
T'ypicalpermanent stepper motor operates at larger steps, up to60, and at maximum rates of 300
pulses per second.
10.25.3. Operational Features. The stepper motor's performance can be visualised from fig 10.69.
Every time a pulse issupplied to the motor, the rotor steps forward or backwara by a defnite angle.
known as the step angle. It is seen that the rotor overshoots its final position and comes to rest after
series of oscillations. Thisperformance is true for low stepping rate. With the increase in pulse rate. the
average velocity of the rotor increases and when the pulse rate becomes very high, ie. the interval
between pulses falls below that the rotor setting time, then the rotor behaves, as illustrated in fg 10.70.

6
HIGH ^TEPPING RATE
STEP
NUMBER STEP
NMBER

OwsTEPPING RATE

2
PULGES PULSES

(a) (b)
Fig. 10.69
 along.
drivesmiing,
metering, 1996] Refer
For
AnsArt10.2
&4! 10.3 10.3 10.3
& 10.3 t0.3 10.3
teleprint
589 motor.
disk usualy Summer
VERY
SLOW andcomputer
equipmnent. reluctance two1995)on 1996] 1997) 1995)phase1996]
induction phase
motors.
torque- higher1997]
inductian
started.
1996)
motor
Applications
typewritersapplications, produces based
10.7O
Fig. II, ll, Nov: Winter
controller. as Nov
operationEngineering
single Give
its Suminer
this is Sumner
Machines slip
in machining
such variable II phaso
II that phase
single
heads supply Machines Maahines a Mahiuos full-load
field
in
motors
functions
medical Special single of 8how
Mnchines
Elec. 1994;
based [Link] zero.
the
characteristic
recording 16-tooth phas8e Discuss Elec. torque. torque? its Sumner
controlled a a
of
computer
feed and For =7.5°
Ans. U.P. Elec,is of Elec. [Link]
induction why
other single I.E.S.
motor characteristics
Machines
B. EXERCISES operation
Univ. starting 8tarting
plotters, military3-stack,
-paper start.
(B.T.E. Univ. B. explainMachines
controlled many a explain
torquo-slip
Sec B.
rate, thewhen nec-high
issynchro-
pulse
the canclosed- a and
successive advantages numerically by self[Bharathiyarinduction
[U.P.S.C. Seo
motor
essentially
is /
micro-processor 16
3x Kamarajar
excited any[A.M.I.E. any induction
ing
motor.
When is stalling
ofsynchronism graphical
applicationg commercial,
perform a 360
not
of [[Link]
it intoa forI.E. principle producetheory Elec.
of as
machine-tool
control, precisely Sec does phase single
have torque-slip
slew.
pull-out start angle when
or motor the
following in switches8. 16 360 np (Madurai not theory.B.
error
And to =3 motor
to the
in
rate. to X-Ytools
employed [A. M. P= = winding singleand cannot does Sec
is
8aid stepper
the be of many steppingn
may with in phases,aangle, induction of 3-phase
the A,M,I.E.
pulse rate
pull-out to range
canarrangement. and controlled poles, fields. a featurestheory motor
rotor tendency stepper
the The pens of it once revolving
interfaced motor
has displacement
motor 8lewing
wide
tablesin torgue that revolving nature
themay incorporating
by
machine: heads,alsoetc. the or or Stepping
teeth
revolving
phase
theory. field
constructional
thisif corresponding
the
Oxceoded,
rotor
changes
[Link].
such
Similarly For Applications.
10.25.4. ahave workis stirring
andCalculate
readilyprint motor
stacks single-phase
fieldstarting revolving
prove Whydirection
thedouble
device feedback of
cyclmachies,nsystem,
icontrol
ngl0op conventional micro-processor single
opposite and field characteristic.
of explain
abruptaachieve cli m in ated control angular motors of Number
blending, Number
of nositioning revolving two either on
actondhigh,rate stepper a the induction
motor a
be nositioning 10.14. a why the double of
thatand the in andbased
that
veryslew are toesSAry positioThen anycanStenner
Tt
without BrarmpleSolution:
Explain
equal double.
Prove pain
Dnow motor. Using
Explain run
speed Sketch
that
din utting,
there The motor
than
At Bafe be
aover t9
e with
Z 6. 6.