Scribd
Upload
822 views21 pages

Lecture 2 - Variable Reluctance Stepper Motor

Variable reluctance stepper motors work by magnetizing stator poles to align rotor teeth in a position of minimum reluctance. A single stack VR stepper motor has a stator with concentric windings forming phases and a rotor with salient teeth, while a multi-stack version contains multiple independent stator-rotor pairs to provide higher torque. In both, energizing phases in sequence causes the rotor to move in small angular steps.

Uploaded by

Vaibhav Sansare
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
822 views21 pages

Lecture 2 - Variable Reluctance Stepper Motor

Variable reluctance stepper motors work by magnetizing stator poles to align rotor teeth in a position of minimum reluctance. A single stack VR stepper motor has a stator with concentric windings forming phases and a rotor with salient teeth, while a multi-stack version contains multiple independent stator-rotor pairs to provide higher torque. In both, energizing phases in sequence causes the rotor to move in small angular steps.

Uploaded by

Vaibhav Sansare
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 21

Variable Reluctance Stepper

Motor
Module-01, Lecture-02
Subject: Special Electrical Machines
TE Electrical Sem-VI

Prof. V. A. Sansare
Department of Electrical Engineering
FAMT, Ratnagiri
Outline
• Classification of Stepper motor

• Variable Reluctance (VR) Stepper Motor

• Single Stack VR Stepper Motor


Types of Stepper Motor

1. Variable Reluctance Stepper Motor.

a) Single Stack VR Stepper Motors

b) Multi-stack Variable Reluctance Stepper Motor.

2. Permanent Magnet Stepper Motor.

3. Hybrid Stepper Motor.


Variable Reluctance Stepper Motor
• Works on principle that a magnetic material placed in a
magnetic field experiences a force to align it in a path of
minimum reluctance.
• Stator with salient poles
• Stator has concentric windings which form different
phases
• Excited by current pulse to establish a magnetic field
• Rotor has salient structure with projecting teeth
• Rotor has no winding or permanent magnet
Single Stack VR Stepper Motor
Construction
• Stator is made up of silicon steel stamping
• It has even number of projecting poles
• Pole carries concentric windings
• The winding (Even poles) on opposite poles are connected
in series.
• The currents in winding establish a magnetic flux that aid
each other
• Such type of winding connection forms different phases of
the motor
• Stator with odd pole, number of phases and poles are equal
Single Stack VR Stepper Motor
Construction
• Rotor and rotor core are made of laminated silicon steel
• Material for stator & rotor should be of high permeability
• Rotor has projecting teeth on outer periphery
• No winding or permanent magnet
• The number of rotor teeth and stator poles should not be
equal
• This is to make the motor self starting and to have
bidirectional rotation of the rotor
Single Stack VR Stepper Motor
Construction

• Four phase eight pole single stack VR stepper motor is shown in Fig. 1.1
• It has six rotor teeth
• Fig. 1.2 shows switching circuit for stator phase excitation
Picture courtesy: Special Electrical Machines by E. G. Janardanan
Single Stack VR Stepper Motor
Working

• Rotor teeth can assume any position until the stator winding is energized
• All switches S1 to S4 in OFF position
• If switch S1 is turn ON, so phase A is energized
• This will make stator pole A and A’ as north & south magnetic poles
Picture courtesy: Special Electrical Machines by E. G. Janardanan
• Stator pole attract rotor teeth
• Rotor moves to occupy a position of
minimum reluctance
• Rotor teeth 1 and 4 take rest position as
shown in Fig.1.3

• Switch S1 is turned OFF and S2 is


turned ON
• De-energised phase A and excites phase
B.
• Stator pole s B and B’ get magnetized.
• Rotor move in such direction to occupy
minimum reluctance path by travelling
minimum angular distance
Picture courtesy: Special Electrical Machines by E. G. Janardanan
• This is achieve by movement of the
rotor in clockwise (CCW) direction by
• Rotor will take equilibrium position as
shown in Fig 1.4
• Angle through which rotor moves for
a switching operation is called step
angle.

Where is the number of stator phases


is the number of rotor teeth
Here,

Picture courtesy: Special Electrical Machines by E. G. Janardanan


• With S2 OFF and S3 On rotor moves again by in CCW as shown in 1.5
• With S3 OFF and S4 ON rotor moves by in CCW as shown in 1.6
• By continuing this switching operation in sequence S1, S2, S3, S4, S1, …...
rotor moves in CCW direction with step angle of
Picture courtesy: Special Electrical Machines by E. G. Janardanan
• Final position of rotor corresponds to the last switch in ON position
• Closed swich should remain in ON position to hold the rotor in that
position to prevent further movement due to external disturbances
• Rotor remains in this position till an external torque is greater than holding
torque
• Due to inertia of rotating part certain oscillations are observe in rotor.
• These oscillations are dies out due to bearing friction
• Inertia also increases stepping time
• To get fast response inertia should be as small as possible
• Viscous damping is used to suppress oscillations
• Stepping time can be reduced by increasing stator current
• Limitations due to thermal considerations and copper losses
• Operation of the single stack stepper motor is shown in truth table

S1 S2 S3 S4
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0

• For reversing the direction of rotation, switching is done in the sequence


S1, S4, S3, S2, S1, ………..
Multi-Stack VR Stepper Motor
Construction
• It has higher torque to volume ratio and more efficiency as
compared to single stack VR stepper motor.
• Each phase has separate stator and rotor sections called
stack.
• Stator stack consists of salient poles wired winding.
• All the coils in stator stack are connected in series.
• All the poles facing the rotor become north or south.
• The magnetic circuit of each stack is independent that of
others.
Multi-Stack VR Stepper Motor
Construction
• Stator poles have subteeth.
• The rotor stacks are unwound and have projecting teeth.
• The pitch of rotor and stator teeth is equal.
• The rotor stack are mounted on the shaft in such a way that
their teeth are mechanically displaced by tooth pitch,
where is number of phases.
• The stator stacks are in alignment w.r.t. their teeth.
• Fig shows three phase,
two pole multi-stack
VR stepper motor with
eight rotor teeth.
• The stator pole has
three subteeth.
• Three stator stacks
carry winding that
corresponds to three
phases.

Picture courtesy: Special Electrical Machines by E. G. Janardanan


• Rotor teeth of stack A is displaced by from stack B and from
stack C.
• Rotor teeth of phase B and C also have mechanical offset.

Picture courtesy: Special Electrical Machines by E. G. Janardanan


• Initial position of rotor stacks is as shown in Fig. 1.10
• This position can be achieved by exciting phase B (by closing
switch) with all other phase unenergized.
• Next, phase C is excited by closing switch S3, while switch S2 is
opened
• This operation magnetises pole of phase C and rotor stack C
moves in CCW by
• Next phase A is excited by closing switch S1 and opening switch
S3
• This switching makes the rotor moves in the same direction again
by in CCW direction.
• The movement of the rotor is illustrated in Fig.1.11
Picture courtesy: Special Electrical Machines by E. G. Janardanan
• For reversing the direction of rotation, the switching sequence is done in
sequence S1, S3, S2, S1,……
• The logic sequence for one-phase ON mode is given in table

Step A B C
1 1 0 0
2 0 1 0
3 0 0 1
4 1 0 0

Picture courtesy: Special Electrical Machines by E. G. Janardanan


Thank You

You might also like