GURU GOBIND SINGH POLYTECHNIC

NASHIK.
Date:
Department of Electronics & telecommunication Engineering
Micro-Project Report on
“Stepper motor”
Towards Fulfilment of the Third year Diploma in E&TC of institute Guru
Gobind Singh Polytechnic (Code:0369) We have successfully Complete the
micro-project Under the Guidance of Prof. S. V. Karande in the subject
Embedded system(22532) for the academic year 2024-2025 as prescribed in
the MSBTE curriculum.
Submitted by,

Sr. No Name of Student Roll No Enrollment No. Exam seat no.

1 Pallavi sutar 43 2203690431
2 Mayuri bhujude 57 23611180492
3 Kedar Bhagyashri 61 23611180499
4 Amruta naik 62 23611180501

Prof. S. V. Karande Prof. S. V. Karande

Subject Teacher Head of the Department

Seal of
the
Institute
 Annexure-1A

GURU GOBIND SINGH POLYTECHNIC, NASHIK

PART-A
MICRO-PROJ ECT PROPOSAL
Academic year 2024-25 semester - 5I
Micro-project: - Stepper motor
This Micro-project aims at: -

1. Precise Position and Speed Control: Stepper motors allow for accurate control of
movement and speed in embedded systems by converting electrical pulses into discrete
mechanical steps.
2. Open-Loop Operation: They offer reliable motion control without the need for feedback
mechanisms, making them simple and cost-effective for many applications.

Action Plan: -
SR. DETAILS OF PLANNING PLANNING NAMES OF
NO. ACTTIVITY DATE FINISH DATE RESPONSIBILITY
TEAM MEMBERS
1. Introduction Of Micro 03/09/2024 03/09/2024 Bhujade Mayuri
Project
2. Discussion Of Basic 10/09/2024 10/09/2024 Naik Amruta
Idea of Micro Projects
3. Final selection of Idea 12/09/2024 12/09/2024 Kedar Bhaghyashri
of Micro Projects
4. Micro Project Material 26/09/2024 26/09/2024 Sutar Pallavi
Collection &
Preparations
5. First Review Report 28/09/2024 28/09/2024 Bhujade Mayuri
6. Second Review Report 04/10/2024 04/10/2024 Naik Amruta
7. Preparation of Report 15/10/2024 15/10/2024 Kedar Bhaghyashri
8. Demonstration of 25/10/2024 25/10/2024 Sutar Pallavi
Micro Project
 Resources Required: -

SR. NO. NAME OF RESEARCH SPECIFICATION QUANTITY REMARK

MATERIAL
1 Intel 8051 Microcontroller 1
2 External Clock Source (Crystal Osci 1
llator)
3 Pull-up Resistors 4
4 Power Supply (5V Regulated) 1
5 Decoupling Capacitors 2
6 LEDs 8
7 Current-Limiting Resistors for LED 8
s
8 Breadboard or PCB 1
9 Connecting Wires - Assorted
10 Push Button Switches (Optional) 2
11 Programmer 1
12 Software (Keil uVision) 1
13 Supporting Header Files and Librar 1
ies

1. Introduction to Stepper Motors

Definition and Working Principle:

A stepper motor is an electromechanical device that converts digital electrical pulses
into mechanical shaft rotation. Unlike conventional DC motors, which rotate
continuously when voltage is applied, stepper motors rotate in discrete steps. Each
digital pulse moves the motor by a fixed angle, allowing for precise control of angular
movement. For example, if a motor has 200 steps, each pulse will rotate the motor shaft
by 1.8 degrees (360°/200)
Applications:
Stepper motors are widely used in applications that require precise control over the
position, such as 3D printers, robotic arms, CNC (computer numerical control)
machines, cameras, and automotive gauges. The ability to control the rotation angle,
speed, and direction makes them ideal for systems where accurate positioning is
essential, such as medical devices (e.g., infusion pumps) and manufacturing
equipment.
Example:
In 3D printers, stepper motors control the movement of the print head and the bed. Each
movement must be precisely coordinated to ensure accurate layer deposition, which
results in a highly detailed 3D object.
2. Principles of Stepper Motor Operation
Stator Windings:
The stator of the stepper motor is the stationary part and contains multiple windings.
These windings are energized in a specific sequence to generate a rotating magnetic
field. The number of windings, and how they are connected, determine the type of
stepper motor (unipolar or bipolar). Energizing these windings causes a magnetic
interaction with the rotor.
Rotor Interaction:
The rotor is the moving part of the motor. It’s made of permanent magnets or soft iron,
depending on the motor type. When the stator windings are energized, the rotor aligns
with the changing magnetic field, rotating in precise increments (steps). The rotor’s
movement is driven by the attraction to the stator’s energized coils.
Step Angle:
The step angle refers to the degree of rotation per step. This is a key feature of stepper
motors, as it determines how finely the motor can divide a complete 360-degree
rotation. For instance, a motor with a step angle of 1.8° would require 200 steps to
complete a full rotation (360°/1.8° = 200 steps). This feature allows for highly precise
control of rotational movement.

3. Types of Stepper Motors

Permanent Magnet Stepper Motors:
These stepper motors use a permanent magnet in the rotor. The magnetic poles of the
rotor interact with the electromagnetic poles in the stator, generating movement. These
motors offer high torque at low speeds, making them suitable for applications where
precision at lower speeds is required, such as in plotters or small robotics.

Variable Reluctance Stepper Motors:

In this type, the rotor is made from soft iron and does not have any permanent magnets.
It relies on the attraction between the stator’s magnetic field and the rotor’s teeth to
rotate. These motors are typically cheaper but offer lower precision than hybrid stepper
motors. They are often used in devices where speed is prioritized over precision.
Hybrid Stepper Motors:
A hybrid stepper motor combines the benefits of both permanent magnet and variable
reluctance motors. The rotor consists of a permanent magnet with iron teeth to enhance
the magnetic interaction. This design allows for higher precision and torque compared
to other types of stepper motors. Hybrid stepper motors are commonly used in 3D
printers and other precision-controlled devices.
4. Interfacing Stepper Motors with Microcontrollers
Microcontroller:
A microcontroller generates the pulses required to control the stepper motor. It is the
brain of the operation, sending digital signals that determine the step sequence,
direction, and speed of the motor. Common microcontrollers include Arduino,
Raspberry Pi, and PIC microcontrollers.
Driver Circuit:
The driver circuit amplifies the signals from the microcontroller. Since
microcontrollers can only supply a limited amount of current, the driver circuit boosts
this to provide enough power to the motor windings. The driver also helps control the
flow of current through the windings, ensuring proper motor operation.
Stepper Motor:
The motor itself rotates based on the pulse sequence from the microcontroller. Each
pulse corresponds to a step, and the speed of rotation is determined by the pulse
frequency.

5. Unipolar vs. Bipolar Stepper Motors

Unipolar Stepper Motors:

In unipolar stepper motors, each phase (or coil) of the motor has a center tap, which
simplifies the drive circuitry. Unipolar motors can switch the current in the coils more
easily, but they generally provide lower torque compared to bipolar motors. This
simplicity makes unipolar motors popular in applications that don’t require high torque,
such as printers.

Bipolar Stepper Motors:

Bipolar motors have a single winding per phase and require a more complex drive
circuit, such as an H-bridge, to reverse the current in each phase. However, they offer
higher torque and efficiency. This makes them suitable for applications where
performance is critical, such as in CNC machines or robotics.
Trade-offs:
The choice between unipolar and bipolar motors comes down to the application’s needs.
If simplicity and lower cost are more important, a unipolar motor may be ideal.
However, for higher torque and performance, a bipolar motor is the better choice.
6. Step Sequencing Algorithms
Full Step Sequencing:
Full step sequencing is the simplest method of driving a stepper motor. In this method,
only one phase is energized at a time, causing the rotor to move by the full step angle
(e.g., 1.8° per pulse). This method provides maximum torque and is often used in
applications where speed is prioritized over smoothness.
Half Step Sequencing:
Half step sequencing alternates between energizing one phase and two phases. This
reduces the step angle by half, increasing the motor’s resolution. For example, a motor
with a full step angle of 1.8° will move by 0.9° per pulse in half-step mode. This
provides smoother operation and finer control over movement.

Microstepping:
Microstepping is a more advanced technique where the current through the windings is
controlled to create intermediate steps between full steps. This results in smoother motor
movement and finer control of the position. Microstepping is ideal for applications that
require extremely precise positioning, such as in precision milling machines or
camera gimbals.

7. Stepper Motor Control Techniques

Open-Loop Control:
In an open-loop system, the stepper motor operates without feedback. The control
system assumes that the motor completes each step as commanded, making this
approach simple and cost-effective. However, it can lead to errors if the motor is
overloaded or misses steps. It’s commonly used in systems where the load is predictable
and low.
Closed-Loop Control:
Closed-loop control uses feedback from sensors, such as encoders or potentiometers,
to monitor the motor’s actual position. The control system can adjust the motor’s
operation in real-time, ensuring that it reaches the desired position. This system is more
complex and expensive but offers much higher accuracy and reliability.
Hybrid Control:
Hybrid control combines the simplicity of open-loop systems with the precision of
closed-loop control. It typically operates in open-loop mode but uses feedback to correct
errors when necessary. This is useful in applications where precision is critical, but
simplicity is also important.
8. Programming Stepper Motors in Embedded Systems
Stepper Motor Libraries:
Most microcontroller platforms, such as Arduino and Raspberry Pi, provide pre-built
libraries for controlling stepper motors. These libraries simplify the implementation of
step sequencing algorithms and reduce the complexity of writing motor control code
from scratch.
Step Sequencing:
Implementing step sequencing algorithms allows control over the motor’s speed,
direction, and step angle. For example, you can write code to switch between full step,
half step, or microstepping modes based on the application’s needs.
Feedback Mechanisms:
Incorporating position sensors or encoders enables closed-loop control, allowing the
motor to respond dynamically to changing conditions and ensuring precise positioning.
PROGRAM- Rotate Stepper motor continuously in clockwise direction

#include<Intel/8051.h>
#include<Standard . h>
#define PHASEA 0x09
#define PHASEB 0x0C
#define PHASEC 0x06
#define PHASED 0x03
void main ( )
{
while (1)
{
P1= PHASEA ;
delay_ms (100);
P1= PHASEB ;
delay_ms (100);
P1= PHASEC;
delay_ms (100);
P1= PHASED ;
delay_ms (100);
}
}

#include<reg51.h>
void delay ( );
void main (void)
{
unsigned char x, y, table[]=[0x09,0x0C,0x06,0x03]; // Clockwise
for(x=0;x<4;x++)
{
P1=table[x];
delay();
}
}
void delay( )
{
int j;
for( j=0; j<= 1000; j++)
}

#include<reg51.h>
void delay ( );
void main ( )
{
unsigned char x,y, table[]=[0x03,0x06,0x0C,0x09]; //Counter
clockwise
for(x=0;x<4;x++)
{
P1=table[y];
delay();
}
}
void delay( )
{
int j;
for( j=0; j<= 1000; j++)
}
#include<reg51.h>
void delay ( );
void main ( void )
{
unsigned char x, y,table[]=[0x09,0x08,0x0C,0x04,0x06,0x02,0x03,0x01] //half
for(x=0;x<8;x++)
{
P1=table[y];
delay();
}
}
void delay( )
{
int j;
for( j=0; j<= 1000; j++)
}
 Annexture – 2
Evolution Sheet for The Micro Project
Academic Year: - 2024/25 Semester: - 5th

Course: - ESY Course Code: - 22532

Title Of Project Stepper motor

COs Addressed by Micro Project: -

A Demonstrates understanding of embedded system principles by integrating and
controlling a stepper motor for precise movement.
B Develops practical skills in implementing motion control mechanisms, showcasing the
ability to control the stepper motor through programming and interfacing techniques.

Comments / Suggestions about Teamwork / Leadership / Inter-personal Communications

Roll No Name Of Student Mark out of 6 for Marks out of 4 for Total Out Of
performance in performance in 10
group activity Oral / Presentation
57 Ms. Bhujade Mayuri
61 Ms. Kedar Bhagyashri
62 Ms. Naik Amruta
43 Ms. Sutar Pallavi

Prof. S. V. Karande
Name & Signature of Faculty