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Stepper motorStewartHeitmann ,PulinGongandMichaelBreakspear(1)SchoolofPsychiatry,TheUniversityofNewSouthWales,Randwick,NSW,2031,Australia(2)BlackDogInstitute,Randwick,NSW,2031,Australia(3)SchoolofPhysics,TheUniversityofSydney,Camperdown,NSW,2006,Australia(4)FacultyofMedicine,TheUniversityofSydney,Camperdown,NSW,2006,Australia(5)QueenslandInstituteofMedicalResearch,Herston,QLD,4029,Australia(6)RoyalBrisbaneandWomensHospital,Herston,QLD,4029,AustraliaStewartHeitmannEmail:.auPublishedonline:18July2011Heitmannetal;licenseeBioMedCentralLtd.2011Steppermotoristheelectricpulsesignalsintoangulardisplacementorlineardisplacementoftheopen-loopsteppermotorcontrolelementpieces.Inthecaseofnon-overloaded,themotorspeed,stoppositiondependsonlyonthepulsefrequencyandpulsenumber,regardlessofloadchanges,whenthedriverreceivesasteppulsesignal,itwilldriveasteppermotortoSetthedirectionofrotationofafixedangle,calledthestepangle,whichtheangleofrotationisfixedstepbystepoperation.Numberofpulsescanbecontrolledbycontrollingtheangulardisplacement,soastoachieveaccuratepositioningpurposes;thesametimebycontrollingthepulsefrequencytocontrolthemotorrotationspeedandacceleration,toachievespeedcontrolpurposes.Work:Inductionmotorisasteppermotor,doesitworkistheuseofelectroniccircuits,theDCpowersupplyintoatime-sharing,multi-phasetimingcontrolcurrent,thiscurrentsteppermotorpowersupply,thesteppermotortoworkproperly,Thedriveissharingpowersupplyforthesteppermotor,thepolyphasetimingcontrollerAlthoughthesteppermotorhasbeenwidelyused,butthesteppermotordoesnotlikeanormalDCmotor,ACmotorintheconventionaluse.Itmustbedouble-ringpulsesignal,powerdrivercircuitcomposedofthecontrolsystemcanbeused.Therefore,itisnoteasywithagoodsteppingmotor,whichinvolvesmechanical,electrical,electronicsandcomputers,andmanyotherspecializedknowledge.Asthesteppermotoractuators,electromechanicalintegration,oneofthekeyproducts,widelyusedinavarietyofautomaticcontrolsystems.Withthedevelopmentofmicroelectronicsandcomputertechnology,increasingdemandforsteppermotor,hasapplicationsinallareasofthenationaleconomy.Categories:Nowmorecommonlyusedincludethereactionofstepmotorsteppermotor(VR),permanentmagnetsteppermotor(PM),hybridsteppermotors(HB)andsingle-phasesteppermotor.PermanentmagnetsteppermotorPermanentmagnetsteppermotorisgenerallytwo-phase,torque,andsmaller,usually7.5degreestepangleor15degrees;Permanentmagnetsteppermotoroutputtorque,dynamicperformance,butalargestepangle:ReactionStepperMotorReactionisgenerallythree-phasesteppingmotorcanachievehightorqueoutput,stepangleof1.5degreesisgenerally,butthenoiseandvibrationarelarge.Reactionbythesteppermotorrotormagneticcircuitmade ofsoftmagneticmaterials,anumberofthestatorphaseexcitationwinding,theuseofpermeabilitychangesintorque.StepMotorsimplestructure,lowproductioncosts,stepangleissmall;butthedynamicperformanceispoor.Hybrid.SteppingMotorHybridStepMotorcombinesreactive,permanentmagnetsteppermotorsofboth,itsasmallstepangle,contributealarge,dynamicperformance,iscurrentlythehighestperformancesteppermotor.ItisalsosometimesreferredtoasPermanentMagnetInductionSteppingMotor.Itconsistsoftwophasesandthefive-phase:thegeneraltwo-phasestepangleof1.8degreesandthegeneralfive-phasestepangle0.72degrees.ThemostwidelyusedStepperMotor.SteppermotordriveforenergysavingThree-phasesteppermotordrivespecialfeatures:180%lowtorqueoutput,lowfrequencycharacteristicsofagoodrunMaximumoutputfrequency600Hz,high-speedmotorcontrolfullrangeofdetectionofprotection(overvoltage,undervoltage,overload)instantaneouspowerfailurerestartacceleration,deceleration,suchasdynamicchangeinthestallprotectionfunctiontopreventElectricaldynamicparametersofautomaticrecognitionfunctiontoensurestabilityandaccuracyofthesystemquickresponseandhigh-speedshutdownabundantandflexibleinputandoutputinterfaceandcontrol,versatilityuseofSMTproductionandthreefull-mountanti-painttreatmentprocess,productstabilityandhighfullrangeofSiemensIGBTpowerdevicesusingthelatest,toensurethequalityofhigh-qualityBasic principlesUsuallyforthepermanentmagnetrotormotor,whencurrentflowsthroughthestatorwindings,thestatorwindingsproduceamagneticfieldvector.Themagneticfieldwillleadtoarotorangleofthemagneticfieldmakesthedirectionofarotorandthestatorsmagneticfielddirection.Whenthestatormagneticfieldvectorrotatingatanangle.Astherotormagneticfieldisalsotransferredfromanotherperspective.Anelectricalpulseforeachinput,themotorturningapointforward.Itistheangulardisplacementoftheoutputandinputthenumberofpulsesproportionaltospeedandpulsefrequencyisproportionalto.Powertochangetheorderofwinding,themotorwillreverse.Therefore,thenumberofavailablecontrolpulse,frequencyandpowerthemotorwindingsofeachphaseinordertocontrolthesteppermotorrotation.ReactionStepperMotorAstheresponsetosteppingmotorworksisrelativelysimple.Thefollowingdescribesthefirstprincipleofthree-phasesteppingmotorresponse.1,thestructure:uniformlydistributedrotorwithmanysmallteeth,thestatorexcitationwindingsofthreeteeth,thegeometricaxisoftherotortoothaxisinorderwerestaggered.0,1/3 ,2/3 ,(adjacenttothetwoaxesoftherotortoothpitchdistancebetweenthe said),thatis,withtheteetharelativelyhomogeneousA,Bandstaggeredtooth2totheright1/3 ,Candtherighttostaggertooth32/3 ,Aandthetooth5isrelativelyhomogeneous,(AisA,isthegearteeth51)Thefollowingistherotorsexpansionplan2,rotation:IftheA-phasepower,B,Cphaseisnotenergized,themagneticfield,alignmentofteeth1andA,(withoutanypoweroftherotorarethesamethefollowing).SuchastheB-phasepower,A,Cphaseisnotenergized,gear2,andBshouldbealigned,whentherotorovertotheright1/3 ,thistimeoffsetteeth3andC1/3 ,teeth4andAshift( -1/3te)=2/3 .SuchastheC-phasepower,A,Bphaseisnotenergized,gear3,andCshouldbealigned,thistimerightofftherotorYouxiang1/3 ,4andAgearshifttimeis1/3 alignment.SuchastheA-phasepower,B,Cphaseisnotenergized,4andA-alignedteeth,therotorYouxiangrightover1/3 soafterA,B,C,Aareenergized,gear4(ie,theprevioustooth1teeth)totheA-phase,rotortotherightaroundapitch,ifyoucontinuetopresstheA,B,C,A.power,themotorforeachstep(perpulse)1/3 ,RotateRight.SuchasbyA,C,B,A.power,themotortoreverse.Thisshowsthat:thelocationandspeedofmotorconductiontimesbythe(numberofpulses)andfrequencyintoonerelationship.Thedirectiondeterminedbytheconductivityoftheorder.However,outoftorque,smooth,noiseandreducetheangleconsiderations.OftenwithA-AB-B-BC-C-CA-Athisconductivestate,sothateachsteptheoriginal1/3changedto1/6Eventhroughdifferentcombinationsoftwo-phasecurrent,so1/3 into1/12 ,1/24,te,whichisthebasictheoryofthemotor-drivenbasisforsubdivision.Easilyintroduced:mphaseonthestatorexcitationwindings,theaxisoftherotortoothaxiswereoffset1/m,2/m.(m-1)/m,1.Andconductivityatacertainphasesequencereversingmotorcanbecontrolled-thisistherotationofthephysicalconditions.Aslongaswemeetthisconditioncantheoreticallycreateanyphasesteppermotor,becauseofcost,andmanyotherconsiderations,themarketgenerallytwo,three,four,five-phaseismore.3,thetorque:themotoronceenergized,willproducebetweenthestatorandrotormagneticfield(magneticflux)whentherotorandstatorstaggerangletoproduceforceFand(d/d)isproportionaltoSthemagneticflux=Br*SBrforthefluxdensity,FandSforthemagneticareaof L*D*BrcoreisproportionaltoL,effectivelength,DisrotordiameterBr=NI/RNIwasexcitedwindingampereturns(currentxturns)Rforthemagneticresistance.Torque=force*radiusofthetorqueandthemotorturnstheeffectivevolume*An*isproportionaltothefluxdensity(onlyconsiderthelinearstate),therefore,thegreatertheeffectivevolumeofthemotor,thegreatertheexcitationampereturns,thesmallerairgapbetweenstatorandrotor,themotortorque,andviceversa.InductionSteppingMotor1,features:Induction,comparedwiththetraditionalreactive,structuralreinforcedwithapermanentmagnetrotor,inordertoprovidetheworkingpointofsoftmagneticmaterials,andthestatorexcitationmagneticfieldchangesonlyneedtoprovidetoprovidetheoperatingpointoftheconsumptionofmagneticmaterialsenergy,sothemotorefficiency,current,lowheat.Duetothepresenceofpermanentmagnets,themotorhasastrongEMF,thedampingeffectofitsowngood,itisrelativelystableduringoperation,lownoise,lowfrequencyvibration.Inductioncanbeseenassomewhatlow-speedsynchronousmotor.Afour-phasemotorcanbeusedforfour-phaseoperation,butalsocanbeusedfortwo-phaseoperation.(Mustbebipolarvoltagedrive),whilethemotorisnotsoreactive.Forexample:fourphase,eight-phaseoperation(A-AB-B-BC-C-CD-D-DA-A)canusetwo-phaseeight-shotrun.NotdifficulttofindtheconditionsforC=,D=.atwo-phasemotorsinternalwindingconsistentwiththefour-phasemotors,smallpowermotorsaregenerallydirectlyconnectedtothesecondphase,thepoweroflargermotor,inordertofacilitatetheuseandflexibletochangethedynamiccharacteristicsofthemotor,itsexternalconnectionsoftenleadtoeight(four-phase),sothatwhenusedeitherasafour-phasemotorsused,canbeusedfortwo-phasemotorwindinginseriesorparallel.2,classificationInductionmotorscanbedividedinphases:two-phasemotor,threephasemotor,four-phasemotor,five-phasemotor.Theframesize(motordiameter)canbedividedinto:42BYG(BYGtheInductionSteppingmotorcode),57BYG,86BYG,110BYG,(internationalstandard),andlike70BYG,90BYG,130BYGandsoarethenationalstandards.3,thesteppermotorphasenumberofstaticindicatorsofterms:verydifferentlyontheN,Sthenumberofmagneticfieldexcitationcoil.Commonmsaid.Beatnumber:completethenecessarycyclicalchangesinamagneticfieldpulsesorconductingstatewithnsaid,orthatturnedapitchangleofthemotorpulsesneededtofour-phasemotor,forexample,afour-phasefour-shotoperationmodethatAB-BC-CD-DA-AB,shoteightfour-phaseoperationmodethatA-AB-B-BC-C-CD-D-DA-A.Stepangle:correspondstoapulsesignal,theangulardisplacementoftherotorturnedwithsaid.=360degrees(therotorteethnumberofJ*runshot),theconventionaltwo,four-phase,therotorteeth50toothmotorasanexample.Foursteprun-timestepangle=360/(50*4)=1.8degrees(commonlycalledthewholestep),eight-shotrunningstepangle=360/(50*8)=0.9degrees(commonlyknownashalfstep.)Locationtorque:themotorisnotenergizedinthestate,itslockedrotortorque(aswellasbythemagneticfieldprofileofharmonicscausedbymechanicalerror)statictorque:themotorundertheratedstaticelectricity,themotorwithoutrotation,themotorshaftlockingtorque.Themotortorqueisameasureofvolume(geometry)standards,anddrivevoltageanddrivepower,etc.hasnothingtodo.Althoughthestatictorqueisproportionaltotheelectromagneticmagnetizingampereturns,andfixedairgapbetweentherotorteethon,butover-useofreducedairgap,increasetheexcitationampere-turnstoincreasethestatictorqueisnotdesirable,thiswillcausethemotorheatingandmechanicalnoise. 4,thedynamicindicatorsandterminology:1,stepangleaccuracy:turnasteppermotorstepangleforeachactualvaluewiththetheoreticalvalueoftheerror.Expressedasapercentage:Error/StepAngle*100%.Itsvalueisthenumberofdifferentrunningdifferentbeat,fourbeatrunningshouldbewithin5%,eightrunsshouldtakelessthan15%.2step:themotorrunningoperationsteps,isnotequaltothetheoreticalnumberofsteps.Calledthestep.3,offsetangle:theaxisoftherotortoothoffsetangleoftheaxisofthestatorteeth,themotorisrunningtherewillbemisalignmentangle,theerrorcausedbythemisalignmentangle,usingdivisiondrivecannotbesolved.4,themaximumno-loadstartingfrequency:adrivemotorintheformofvoltageandratedcurrent,inthecasewithoutload,themaximumfrequencycanbestarteddirectly.5,themaximumoperatingfrequencyofload:adrivemotorintheformofvoltageandratedcurrent,themotormaximumspeedwithnoloadfrequency.6,runningtorque-frequencycharacteristics:themotorundertestconditionsinameasuredfrequencyofoperationbetweentheoutputtorqueandrunningtorquecurveiscalledthefrequencycharacteristiccurvewhichisthemotornumberofthemostimportantdynamicisthefundamentalbasisformotorselection.Asshownbelow:Thereusedtofrequencycharacteristicsofotherfeatures,startingfrequencycharacteristics.ElectricalOnceselected,themotortorquetodeterminethestaticanddynamictorqueisnotthecase,themotortorquedependsonthedynamicsoftheaveragemotorcurrent(ratherthanstaticcurrent),theaveragecurrentincreases,thegreatertheoutputtorqueofthemotor,thatmotorfrequencycharacteristicsofthemorehard.Asshownbelow:wherethemaximumcurve3current,orvoltages;curveaminimumcurrent,orvoltageisthelowestcurveandtheloadmaximumspeedoftheintersectionpointoftheload.Fortheaveragecurrent,voltageincreaseasmuchaspossible,sothattheuseofsmallinductorhighcurrentmotor.7,theresonancepointofthemotor:steppingmotorhasafixedresonanceregion,two,four-phaseInductionintheresonanceregionisgenerallybetween180-250pps(1.8degreestepangle)oraboutthe400pps(stepangle0.9degrees),thehigherthemotordrivevoltage,motorcurrentincreases,thelightertheload,thesmallerthesizethemotor,theresonanceshiftupward,andviceversa,themotoroutputtorqueislarge,yetfurther,andthewholesystemnoisereduction,thegeneraloperatingpointshouldbeoffsetmoreresonance.8,motorreversingcontrol:timingisenergizedwhenthemotorwindingsAB-BC-CD-DAor()isapositiveturn,powerthetimingfortheDA-CD-BC-ABor()whenreversed.SomeofthebasicparametersofthesteppermotorNaturalstepanglemotorItsaideachofthecontrolsystemsendsapulsesignal,themotorrotationangle.Motorfactory,astepangleisgivenavalue,suchas86BYG250Amotorsisgivenin0.9/1.8(half-stepworkthatis0.9,whentheworkofthewholestep1.8),thestepanglecanbecallednaturalstepanglemotor,whichisnotnecessarilytruewhentheactualworkthemotorstepangle,therealstepangleanddriveon.Steppermotorstepangleisusuallythegeneralcomputingcalculatedasfollows.=360/(ZmK)Where-steppermotorstepangle;Z-rotorteeth;m-phasesteppermotornumber;K-controlfactor,thefilmistheratioofthenumberofcoefficientswiththephasenumberPhasesteppermotorReferstothenumberofthemotorcoilgroup,thecommonlyusedtwo-phase,threephase,four-phase,five-phasesteppermotor.Differentnumberofmotorphases,thestepangleisdifferent,thegeneraltwo-phasemotorstepangleof0.9/1.8,three-phaseforthe0.75/1.5,five-phaseforthe0.36/0.72.Intheabsenceofsub-drive,theuserselectadifferentnumberofphasesdependsmainlyonthesteppermotorstepangletomeettheirownrequirements.Ifyouusethesub-drive,thephaseswillbecomemeaningless,theusersimplychangesinthesubdivisionnumberonthedrive,youcanchangethestepangle.Steppermotorisenergizedbutnorotation,thestatorlockedrotortorque.Itisthesteppermotoroneofthemostimportantparameters,usuallywhenthesteppermotortorqueatlowspeedneartheholdingtorque.Asthesteppermotorsoutputtorqueincreaseswiththespeedandcontinuousattenuation,outputpowerincreaseswiththespeedchange,sokeepthetorquesteppermotortobecomeameasureofoneofthemostimportantparameters.Forexample,whenpeoplesay2N.mthesteppermotorincaseofnospecialnoteistheholdingtorqueofthesteppermotorforthe2N.m.DETENTTORQUE:Steppermotorisnotenergized,thestatorlockedrotortorque.DETENTTORQUEtranslationinthecountrythereisnouniformway,easytomisunderstandus;thereactionisnotapermanentmagnetsteppermotorrotormaterial,soitdoesnot.Characterist