Dr.

Babasaheb Ambedkar Technological University,

Lonere

ELCTRICAL ENGINEERING DEPARTMENT

SUB: ELECTRICAL MACHINE : 1
UNIT:06 SPECIAL MACHINES

-PROF. A. R BHAVSAR
2022-23
Stepper Motor
A stepper motor is an electromechanical device it converts electrical
power into mechanical power.
Also, it is a brushless, synchronous electric motor that can divide a
full rotation into an expansive number of steps.
The motor’s position can be controlled accurately without any
feedback mechanism, as long as the motor is carefully sized to the
application.
Stepper motors are similar to switched reluctance motors.
The stepper motor uses the theory of operation for magnets to
make the motor shaft turn a precise distance when a pulse of
electricity is provided.
The stator has eight poles, and the rotor has six poles.
The rotor will require 24 pulses of electricity to move the 24
steps to make one complete revolution. Another way to say this is
that the rotor will move precisely 15° for each pulse of electricity
that the motor receives
 Construction
The construction of a stepper motor is fairly related to a DC motor. It includes a permanent
magnet like Rotor which is in the middle & it will turn once force acts on it. This rotor is
enclosed through a no. of the stator which is wound through a magnetic coil all over it. The
stator is arranged near to rotor so that magnetic fields within the stators can control the
movement of the rotor.

The stepper motor can be controlled by energizing every stator one by one. So the stator will
magnetize & works like an electromagnetic pole which uses repulsive energy on the rotor to
move forward. The stator’s alternative magnetizing as well as demagnetizing will shift the
rotor gradually & allows it to turn through great control.
 Working Principle
The stepper motor working principle is Electro-Magnetism. It includes a
rotor which is made with a permanent magnet whereas a stator is with
electromagnets. Once the supply is provided to the winding of the stator then
the magnetic field will be developed within the stator. Now rotor in the motor
will start to move with the rotating magnetic field of the stator. So this is the
fundamental working principle of this motor.

In this motor, there is a soft iron that is enclosed through the electromagnetic
stators. The poles of the stator as well as the rotor don’t depend on the kind of
stepper. Once the stators of this motor are energized then the rotor will rotate to
line up itself with the stator otherwise turns to have the least gap through the
stator. In this way, the stators are activated in a series to revolve the stepper
motor.
 Types of Stepper Motor
There are three main types of stepper motors, they are:
• Permanent magnet stepper
• Hybrid synchronous stepper
• Variable reluctance stepper

Permanent Magnet Stepper Motor

Permanent magnet motors use a permanent magnet (PM) in the rotor and
operate on the attraction or repulsion between the rotor PM and the stator
electromagnets.
This is the most common type of stepper motor as compared with different
types of stepper motors available in the market. This motor includes
permanent magnets in the construction of the motor. This kind of motor is
also known as tin-can/can-stack motor. The main benefit of this stepper motor
is less manufacturing cost. For every revolution, it has 48-24 steps.
 Variable Reluctance Stepper Motor

Variable reluctance (VR) motors have a plain iron rotor and operate
based on the principle that minimum reluctance occurs with minimum
gap, hence the rotor points are attracted toward the stator magnet poles.
The stepper motor like variable reluctance is the basic type of motor
and it is used for the past many years. As the name suggests, the rotor’s
angular position mainly depends on the magnetic circuit’s reluctance
that can be formed among the teeth of the stator as well as a rotor.
 Hybrid Synchronous Stepper Motor

Hybrid stepper motors are named because they use a combination of

permanent magnet (PM) and variable reluctance (VR) techniques to achieve
maximum power in small package sizes.
The most popular type of motor is the hybrid stepper motor because it gives a
good performance as compared with a permanent magnet rotor in terms of
speed, step resolution, and holding torque. But, this type of stepper motor is
expensive as compared with permanent magnet stepper motors. This motor
combines the features of both the permanent magnet and variable reluctance
stepper motors. These motors are used where less stepping angle is required
like 1.5, 1.8 & 2.5 degrees.
Reluctance Motor
This is one kind of advanced motor which includes both the stator and the rotor similar to a
normal electric motor. These motors work with a precise rotating magnetic field (RPM) by
synchronizing the speed of the rotor using the RMF of the stator. The power density
delivered by these motors is high at low cost to make them attractive in several
applications. The working principle of reluctance motor is, whenever a magnetic
material is located within the magnetic field, then it always brings into line in the less
reluctance way.

The specifications of reluctance motor are a type of phase, pole ratio of the stator to the
rotor, rated power or torque, torque ripple, and constant torque speed range. The power
factor of reluctance motor is lagging PF and the machine efficiency can range from 55 to
75%.
 Construction of Reluctance Motor
The construction of this motor is shown below. The designing of this can be done by
removing the teeth in four locations to form a four-pole structure.
The rings at two ends are short-circuited. Once the stator of the motor is aligned to a single-
phase supply, the motor works like a single-phase induction motor. Once the motor’s speed
reaches the highest level of synchronous speed, then a centrifugal switch will detach the
auxiliary winding. The motor increases the speed like a single-phase motor through the
major winding in process.

The torque of this motor can be generated because of the rotor tendency to connect itself in
the least reluctance position, once the motor speed is nearer to the synchronous speed.
Therefore, the rotor drags in synchronism. The inertia of load must be in the limits for
suitable effectiveness. At synchronization, the torque of induction will disappear, except the
rotor remains in synchronization because of the torque in synchronous reluctance.
 Working of Reluctance Motor
The essential parts of this motor are the stator and the rotor. These two are
stationary parts that are separated through an air gap. Based on the motor type, the
motor construction will be changed but the basic working principle will be the
same. The stationary part like stator includes salient pole-pairs which can be
formed through flowing current using a wire. The rotor can be formed with
ferromagnetic metal and it includes its own poles.
These poles follow the outlines of the magnetic field of the stator. Once the salient
pole of the rotor connects to the salient pole of the stator, then the rotor is in the
least reluctance position. So the magnetic resistance amount is less at this end.
When a stator pole connects to the slots or notches of the rotor, then the rotor will
be in the highest reluctance position. Because of energy protection, the rotor will
constantly move toward the least reluctance position. So when the rotor is not
aligned fully, then a reluctance torque can be generated. This torque will drag the
rotor toward the adjacent salient stator pole to cause rotation.
 Types of Reluctance Motor
Reluctance motors are classified into different types like synchronous and switched.
Synchronous Reluctance Motor
These motors run precisely at synchronous speed and this can be achieved with the help of a
three-phase stator winding as well as a rotor to implement salient rotor poles & inner
magnetic flux walls. The rotor frequently executes a modified squirrel cage in the region of
salient poles, so that it helps from the effect of induction to turn into self-starting. Once the
motor activates, it is moved near to synchronous speeds through induction, after that it locks
into synchronization through the reluctance torque which is generated from the barriers of
rotor flux.
Switched Reluctance Motor
Switched reluctance motor is one kind of stepper motor including some poles. The
construction of this motor cost is less as compared with an electric motor due to its simple
structure. These motors are mainly used where the rotor is kept inactive for long periods in
explosive environments like mining because it works without a mechanical commutator.
These motor phase windings are isolated electrically with each other and result in higher
fault tolerance as compared with AC induction motor driven by an inverter.
Advantages
The advantages of reluctance motor include the following.
1. It doesn’t require DC supply.
2. Stable characteristics
3. Maintenance is less
4. Less heat
5. No magnets
6. Speed control

Disadvantages
The disadvantages of reluctance motor include the following.
1. Efficiency is less
2. Power factor is poor
3. Frequency control
4. The capacity of these motors is less to drive the loads
5. Less inertia rotor is required.
Applications
The applications of the reluctance motor include
the following.

1. Signaling Devices
2. Control Devices
3. Automatic regulators
4. Recording Devices
5. Clocks
6. Tele printers
7. Gramophones
8. Analog electric meters
9. Electric vehicles
10. Power tools like drill lathes, band saws &
presses