Professional Documents
Culture Documents
5, Sept&r/Octo&r
1975
IBM Corporation
Endicott, New York
1. INTRODUCTION
The principle by which step motOK operate i s as old as
James Clark Maxwell's famous treatise on Electricity and Magnetis~dllpublished in themiddleof
the 19th century. The effectof teeth in thedynamo-electric machines was studied in
detail by C a r t e u i nthe early part of the 20th century.
In the 193O's, the British Navy developed the first practical device that madeuse of the centering effect exhibited by
o w e d ironteeth when energized electricallyi7.8]. Thede
vice wasused for remote positioning systems in transmitting the
rotation of a shaft driven by a mechanically operated trammitter. DuringWorld War II, the U.S. Navy applied this device
in various naval equipment such as a gyro compass repeater.
published by Robinson[13]n1969. A modified version waspublkhed in the IEEE Transactions on Industrial Electronics and 1 1
ControlInstrumentation
in 19691141. In the report,
Robinson
presents bath single and multi-step response using the constant
current and phase plane techniques. From the analysis he concludes: (1) that a step motor can be defined in terms of a naturalfrequency and adampingratio;
(2) thatthe motor cannot
respond if the applied toque is greaterthan 0.707 times the
stall toque and(3)
thatthe motor cannot follow a sequential
set of stepcommands i f the rotor lags the command position by
more than two steps.
In his derivationofthe
motor toque, Robinsonuses a
permanentmagnet dipole as therotor.
With this model, the
resulting toque i s sinusoidal, which i s correct in form; however, i t should be mentioned that actual rotors are far from being permanentmagnets.Consequently,
theaccumteelectromagnetic phenomena takingplace i n thetoothed gap cannot
be explained with this model.
".'*
1508
plFl
- Norton's Equivalent
Fig. 2
Circuit of Fig. 1
2. TORQUE
The toque on the rotor i s
Figure 1 shows a magneticequivalent circuitof a K phasestepmotor.The
branchcontaining permeance P
, and
magneto-motive force F
, simulatesapermanentmagnet
i n PM
motors.For
VR motors that branch does not exist. A detailed
explanationleading totheequivalentcircuitgiven
i n Fig. 1
i s given elsewhere[l6]; therefore it w i l l not be repeated here.
By using the equivalent circuit, we develop an expression for a toque on the rotor. W e can obtain the mmf drop aF, very quickly using the Norton's
cross the coil andthegap
equivalent circuit (Fig. 2). From the Figure wesee that
+ F,P,
P, Fi
R.
1
-,
Pi
reluctance
qi
(F
where
pole i s
F, ) P i
= N(li
Iia )
Equations (2) and (4) determine the fluxes and the rotor
F, i s a given
torque once the necessaryparametersareknown.
or calculablequantity.
P, and F, are relatedto permanent
magnet which can be estimated. PI i s the gap penneancewith
properties that
Fo
...,
(One tooth
. ..
#1,
N,en,
1.
It i s periodicwith respect to Be
2.
PzP,,
, ... Pk
ments.ForaK-phosemotor,
placement i s 360/K.
Thenwe
series giving
p i = P,
can expresspermeance
m
,P cos m
m=1
citation source.
ti
i n terms of a Fourier
P ~ sin
' n t,
(5)
n= 1
where
Fig. 1
Motor
=
1509
Be
- (i- 1)- 2n
K
i = 1, 2 ,
...K
(6)
In practice,teeth
have even symmetry.Thus
sinecoefficients are zero. Also it is shown i n the appendix that d o m
inant components are d-c and 1st h a m i c terms.The 4th harmonic component gives rise to the cogging toque found i n PM
motors. We can
then write permeance as
8 = Po +
K-1
pK
Po
P C O S Be
+ P
('e
P4
2*-)
COS
K-1
and
,P are zero.
find for
40,
+ P4
cos 4 ('e
- 2 r T)
3. INDUCTANCES
Xi
n=l
ch
inductancebetween i
and n , coil:
and nmcoil
where n" and nmcoilr
occupying same n * pole;and Xi,
is
coil due to the permanent magnet.
Kg,
represents aself-inducedterm
i n the i" coil,
represents acoupling term,andKgimrepresents
coupling
due to the permanent magnet,
Kgij
- N2Pli I -
Kgii
The partialderivativesof
gives inductances which are
4i
Lip
K,
= N Pi
( 9 )with
KPo + P,
Kgif
(1
= Kp N
Po
Plj
2Kp Po)sin
[(sin
5,
ti
+sin
Kp Psin 2 f i ]
tj ) +
P
sin
PO
[ 1-KP{
'
respect to current
and (13a)
I-
KPo
1510
Id PIi.
[ (1 - 2Kp Po ) sin 5 , - K,
P sin 2Si)
mootrs.
Fig. 3
- PM 4
Fi =
Here
-F,
= -NI.
= 4
N, = 5
8e =
5
8
,
K,
--e
4P0
+ ,P
where T,
- -1
4P0
and A T includeshigher-order
terms. Notethatthe
cogging
torque i s independent of the energization, but is dependent.on
P
I t h a s a4-cyclevariation
overatooth pitch (Fig. 4). E+
(hjreveals that in theory i t i s possible to eliminate the cogging
t o q u e by proper tooth design to el iminate P,
This elimination
canbeusefulforthe
motor application in office
environment
from human factors point of view.
where
Lo =
;f
Tc I
Po
Stable Points:
Back EMF Coefficients are from (14)
- II
Llsin f i
Kgii
Kglj
= I j [ T1(sin
ti
Fig. 4
- L2 sin 2 f i 1
+ s i n f j ) + Lzsin
8,
(ti
+ fj
)1
- Cogging Toque
Fig. 5 shows the toque profile with single phase energization as i n ( 1 6 ) for the case where only the first harmonic
term i s considered. Stablepointsare at 8, = 0 and 3
6
0
' and
unstable point at Be = 180'.
This toque profile is validonly
when the energizing current i s small such that
where
1511
where T,
$ NI
NI,
0,
and
Fig. 5
Energization (F,
= -NI)
e,
- 45'.
fief
6. SINGLE-STACK VR MOTORS
Fig. 7 shows a simple VR motor with 4-pole stator, 5tooth rotor,and 4-phase windings. An obvious difference between this motorand the PM motordiscussed previously is the
absence of the permanent magnet.
,P
Here
F,
= 0.
Fig. 7
U
Stator, 5-tooth Rotor and
4-Phase Windings
Fig. 6
- Toque Profile of
Energization
F1=
NI
45
P (N1)'sin
32
ee
F1 = - F 3
NI
Fig.
1512
E,
= R,I,
dxa
dt
EO
kh
q-
Eb
x,
x,
x, - 1 3
x 2 - x,
I, = I, = - I 3
I, = I, = -I*
I
I
sider X,
x,
+ L33
= (LI1
, ,L,
1 I,
2L13
and La,
, we
con-
From (14)
La,
= 2L0
2
I
EO
2
3L"
= -L
3
Eb
9
E,
RC
= RcI,
Laa-
d Ia
dt
de e
+ K sin Be
dt
R,, ,,L
K are all constants.
where the
coefficients
g
equation for Eb i s in a similar form.
E,
= R,Ib
+ Lbb
dt
dlb
-
dt
where
KgCOS',
(26)
The
d e
(27)
Laa = Lbb
1513
F, = - F 3 =
- NI coswt
F2 = - F
- NI
sin wt
(28)
set
ee = w e t
'e
where
we = Electrical angular velocity of rotor
Se
Then
wt
- Be
= wt
wet
6,
(30)
Note that the average toque supplied by the motor is zero un-
I e55
w
= w e = 5wm
The
like a synchronousmotor
Thus PM stepmotorbehaves
with manypoles. In this particular example (NR = 5) with the
60 Hz excitation frequency (w = 3600 rpm), therotor vel*
city wm i s 720
If the number of teeth on the rotor i s 5 0
(corresponding to 1.8 stepmotor),
therotor velocity will be
72 rpm. In largecontroloperations (such as radar trackingor
milling machines) where speed of operation i s low, a stepmotor has advantages over a synchronous motor because of a simplified gear reduction mechanism,
rpm.
8. BIFILAR-WOUND PM
MOTORS
Fig. 10
A bifilar winding is probably the most widely used winding scheme for PM motors. Its winding schematic i s shown i n
Fig, l o a . Two separate coils are woundaround each pole and
connected to a simple power supply i n such a way that flux reversal in each polecanbeattained.
This scheme avoidsthe
need for a bipolar drive circuit which requires more electronic
components.
$1
RS
V,
- Bifilar-Wound Motor
= R, (Im+
In) +
Rclm+
dt
V,
$+!
= RI(lm
I n ) + Rc',
- M-
L-
+ Em
(32)
dt
+ L-
M-
dt
'In
+ E
dt
I i-21
+;find
sw3
(a) WindingSchematic
1514
E,
a,d t
- KgsinBe-
d e
dt
= Kgsin 8,
E,
E* = -
e,
sw1
sw2
ON
ON
ON
Mode
sw3
sw4
d e
ON
(34)
dt
4
After s a m e manipulation (32) 8.
ON
ON
3
ON
ON
9. SUMMARY
form
where J, K,
TL
T,,
are, respectively, inertia, dawping constant,
friction toque, and lead toque.
Kt =
(11
-52
1 3 ) sin 8,
N (Fm
Pm)
(I,
- I*)c d e I
(39)
P
-
Po
I, = I, and I,.
In Section 7 i t i s shown that with two-phase a-cexcitation, PM stepmotors behave like synchronousmotors with
it is
many p o l e s , thus providing slow-speed operation.Also
shown i n Sections 7 8. 8 that with proper winding connections
the effect of mutual coupling terms can be minimized resulting
i n greatly simplified electrical equations,
'
1515
prm.
rotatedat 72
Higher rpm w i l l result in higherfrequency
output. With the energyshortagearound
us, stepgenerators
withtheir simple,rugged,
reliable constructions may be attached to windmills or water wheels to generate useful electric
power.
10.
Bailey, S. J.,
"Incremental Servos,
Part
II: Operation and Analysis, " Control Engineering, Vol. 7, pp. 9 7
102, Dec.1960.
11.
12.
Snowdon, A. L. and
Modsen,
E. W.,
"Characteristics
of a Synchronous Inductor Motor, I' AlEE Tmnsactions,
Applications and Industry, Vol. 81, p p 1-5, March 1962.
13.
14.
Robinson,D.
J. andTaft, C. K., "ADynamic Analysis of Magnetic Stepping Motors, I' IEEE Transactions on
Ind. Elect, and Control Instr., Vol.IECl 16, No. 2, p p
111-125,Sept.1969.
15.
Singh, G.,
"MathematicalModelingof
Step
Motors;
Symp.Proceedings,
Incremental Motion Control Sys
terns andDevices,Part
I, pp. 60-148, Dept. of Elect.
Engr., Univ. of Illinois,March 27-31, 1972.
16.
Chai, H. D.,
"Magnetic Circuit and Formulation of
Static Toque forSingle-Stack
Permanent Magnet and
VariableReluctance StepMotors, 'I Symp.
Proc.,
Incremental MotionControl Systems andDevices,Dept.
of Elect. Engr., Univ. of Illinois, April 16-18,1973.
17.
Chai, H.
D.,
"Permeance Model & ReluctanceForce
Incremental
BetweenToothedStructures, " Symp.Proc.,
Motion Control Systems & Devices, Dept. of Elect. Engr.
Univ. of Illinois, April
16-18,1973.
18.
REFERENCES
1.
Maxwell, J. C.,
"Electricity andMagnetism,
University
ford
Press, N. y., 1892.
I'
Ox-
2.
Carter, F. W.,
"Note on Air-Gap and Interpolar I n duction, '' JIEE, Vol. 29, pp. 925-941, 1900.
3.
Carter, F. W.,
168-170,
1910.
4.
"PoleFace
Loss,
I'
JIEE, Vol.
5.
6.
Carter, F. W.,
ElectricMachine,
1926.
7.
Proctor, J.,
"SteppingMotorsMove
ineering, Vol. 34, pp.74-88,Feb.1963.
'I
54,
pp.
Elect. World,
In,
''
Prod.Eng-
8.
Kieburtz, R.B.,
"The Step Motor The Next Advance
in Control Systems, 'I IEEE Transactions on AutomaticCow
trol. pp.98-104,
Jan.1964.
9.
1516
Discussion
REFERENCE
[AIPickup,
I.E.D. and Tipping D.: Methodfor
predicting the
dynamic response of a variable-reluctance stepping motor,
Proceedings of I.E.E., Vol. 120, No. 7,July1973, pp.757-65.
H.D. Chai: The author appreciates the discussors point that the term
Pm in the paper represents two different parameters. Pm in Equation 5
representsa mth coefficientof the cosine series. Pm appearing elsewhere signifies permeance of a permanent magnet.
The sentence containing a reference to an appendix should have
been deleted. In order to reduce the length of the paper, the appendix
was omitted from the final manuscript. However, based on the authors
unpublished work and Reference 17 in the paper, it can be stated that
dominant permeance components are d-c and first harmonicterms.
Therefore, the paper neglects the higher order componentsin discussing
specific cases.
The 4th harmonic component was intentionally included to show
that the cogging torque for 4-phase PM motors, which are widely used
in industry, is due to this component. For other phases, the cogging
torque will be due to other component as the discussor pointed out.
By single phase energization, theauthor means that only one
winding is energized. In practical motors, Coil 1 and3 in Fig. 3 are
connected in series into a one continuous winding to an appropriate
power supply.
Ka = 0 in Fig. 6 approximately holds when the air gap flux due to
the permanent magnet dominates over that due to the energization flux.
Therefore, in practical operations where the energization flux is high a
pure sinusoidal torque is not attainable.
The idealized mathematical model. developed in the paper gives
basic insights intothe
operationof
step motors. Next areas of
investigation should includeeffects of eddy currentand non-linear
magnetic circuit.
Manuscript received April 2, 1975.
151 7