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p
Motor Drive System
y
By:
Dr. Rosmiwati Mohd-Mokhtar
Stepper motors are special motors that are used when motion
and position have to be precisely controlled.
It is a digital electro-mechanical device where each step
command pulse (electrical pulse input) results in movement of
the shaft by a discrete angle called step angle of the motor.
By varying the pulse rate, the motor can be made to advance
very slowly, one step at a time, or to rotate stepwise (clockwise
& counter clockwise) at speeds as high as 4000 rpm.
rpm
The behavior of a stepper motor depends greatly upon the
power supply that drives it.
Application: Precise positioning device in machine tools, X-Y
plotters, typewriters, tape-decks, valves, robotics and printers.
Advantages:
1.
Compatible with digital systems and do not require D/A conversion at the
input.
2.
Simple open-loop control is good enough to control position and speed.
3.
Wide range of step angles is available (1.8
(1 8 to 90).
90) The range of torque is from
1 Nm (tiny wristwatch motor) to 50 Nm (machine tools application).
4.
Bidirectional control is available.
5.
Max torque occurs at low pulse rate. Thus, stepper motor can accelerate its
load easily.
6.
Low speeds are possible without a reduction gear.
7.
Moment of inertia is usually low.
8.
Starting current is low.
9.
Multiple stepper motors driven from the same source can maintain perfect
synchronisation.
synchronisation
Disadvantages:
1.
Efficiency is low.
2
2.
Proper matching between load
load, motor and its drive is required
required.
3.
Resonance can be a problem with variable reluctance motors.
The pull-out
pull out curve corresponds to
the slewing characteristics; the pullin curve corresponds to the startwithout-error characteristic.
Vd I R RE R p
Step
Q1
Q2
On
On
Q3
Q4
On
Q5
Q6
On
Q7
Q8
On
Q1
Q2
On
On
On
Q3
Q4
On
On
Q5
Q6
On
On
On
Q7
Q8
On
On
Step
Q1
Q2
On
On
On
On
Q3
Q4
On
On
On
Q5
Q6
On
On
On
Q7
Q8
On
On
On
but
better
than
Power developed,
Time constant,
n
P
9.55
L
T0
R
Jn
9.55t
a)
b)
7 .5
60 187.5 rpm
360
9.55 Pm
n
n
187.5 30 10 3
Pm
0.59 W
9.55
9.55
c)
W Pm t 0.59 3 1.77 J
d)
From the p
pull out g
graph,
p max slew speed
p
= 350 pps
I rotation
In
i
per minute,
i
n 350
e)
7 .5
60 437.5 rpm
360
Time constant
constant,
L 46.8 10 3
T0
8.93 10 4 sec
R
52.4