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42 views26 pages

Exp 7

Uploaded by

sindhuja.m
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EXP-7 STEPPER MOTOR

Dr.M.Sindhuja
Assistant Professor(Senior Grade-1)
SENSE, VIT, Chennai
MOTOR BASICS

Motorsconvert electric energy to


mechanical motion.

 Eitheran AC or DC electrical energy source serves


as the input to the motor.

 The result is mechanical motion of the output


shaft, that is a rotation about or a translation
along the shaft, provided the load carried by the
shaft does not exceed the maximum load the
motor is designed to carry.
MOTOR BASICS
 Motors are powered by electricity, but rely on
principles of magnetism to produce
mechanical motion.

 Inside a motor we find:


 Permanent magnets,
 Electro-magnets,
 Or a combination of the two.
MAGNETS
A magnet is an object that possesses a magnetic field,
characterized by a North and South pole pair.
 A permanent magnet (such as this bar magnet)
stays magnetized for a long time.

 An electromagnet is a magnet that is created when


electricity flows through a coil of wire. It requires a
power source (such as a battery) to set up a magnetic
field.
A SIMPLE ELECTROMAGNET
 A Nail with a Coil of Wire

 Q – How do we set up a magnet?


 A – The battery feeds current through the coil of
wire. Current in the coil of wire produces a
magnetic field (as long as the battery is
connected).
A SIMPLE ELECTROMAGNET
 A Nail with a Coil of Wire

S N

+ -
 Q - How do we reverse the poles of this
electromagnet?
 A – By reversing the polarity of the battery!
THE ELECTROMAGNET IN A
STATIONARY MAGNETIC FIELD
 If we surround the electromagnet with a stationary magnetic
field, the poles of the electromagnet will attempt to line up
with the poles of the stationary magnet.

OPPOSITE
POLES
ATTRACT!

 The rotating motion is transmitted to the shaft, providing


useful mechanical work. This is how DC motors work!
CHOOSING A MOTOR
 There are numerous ways to design a motor, thus
there are many different types of motors.
 The type of motor chosen for an application

depends on the characteristics needed in that


application.
 These include:

◦ How fast you want the object to move,


◦ The weight, size of the object to be moved,
◦ The cost and size of the motor,
◦ The accuracy of position or speed control needed.
TYPES OF MOTORS
 Thedifferent types of motors possess different
operating characteristics.

◦ Heavy Industrial applications: AC motors


◦ Mobile robotics & hobby robots: dc motor, dc servo
motor, and stepper motors

 Brief overview of the operation characteristics of:


◦ AC motors
◦ DC motors
◦ DC servo motors
◦ Stepper motors
AC AND DC MOTOR
CHARACTERISTICS
 When power is applied, AC and DC motors turn in
one direction at a fixed speed.
 Inexpensive and commonly available

 Optimized to run at a fixed, usually high RPM.

 If the applied load is greater than the capacity of

the motor, the motor will stall and possibly burn


out.
DC SERVO MOTORS
 DC servo motors consist of a DC motor combined
with feedback for either position or speed.
 A system with a motor, feedback, and a controller

which constantly adjusts the position or speed to


in reaction to the feedback is called a closed-loop
system
STEPPER MOTORS
 Requires a separate controller circuitry or it will not turn
when power is applied.
 Stepper motors fall somewhere in between a regular DC
motor and a servo motor.
 Servo motors are usually limited to 0-180 degree rotation,
while a stepper motor can rotate continuously like dc motors.
 Each step in a stepper motor moves 1.8 degree and hence it
takes 200 steps for a rotor to finish a single rotation.
 stepper motors are also available with step angles 30, 15, 5,
2.5 and 2.
 Precise positioning is possible by keeping count of steps
requested, even without feedback.
WHAT IS STEPPER MOTOR?

 A Stepper Motor or a step motor is a


brushless, synchronous motor which divides
a full rotation into a number of steps.

 Number of input as pulses given to the motor


decides the steps angle and hence the
position of the shaft is controlled by
controlling the number of pulses.

 Suitable for open loop control system and it


can be controlled with or without feedback.
CONSTRUCTION

 Stepper motor is made up


of the stator and rotor.
 The rotor is central gear

shaped piece of iron that


actually spins and
provides work. It is a
permanent magnet.
 The stator is stationary

part of motor that houses


rotor and consist of
multiple coils act as
electromagnet when
electric current is passed
through them.
HOW A STEPPER MOTOR WORKS?
 Stepper motor works on the principle of
electromagnetism.
 The magnetic rotor shaft is surrounded by the

electromagnetism stators.
 Whenever the stators have energized the rotor,

it moves to align itself along with the stator.


 stators are energized in the sequence at
different poles to rotate the stepper motor.
ENERGIZING MODES OF STEPPER MOTOR

FULLSTEP

HALF STEP
CLASSIFICATION
APPLICATION
 CNC milling machines,
 medical imaging machinery,

 printers,

 car side mirror tilts,

 security cameras,

 robotics, and

 more recently, 3D printers.


API USED
Stepper(steps, pin1, pin2, pin3, pin4)

This function creates a new instance of the Stepper class that


represents a particular stepper motor attached to your
Arduino board

steps: the number of steps in one revolution of your motor. If


your motor gives the number of degrees per step, divide that
number into 360 to get the number of steps (e.g. 360 / 1.8
gives 200 steps).
pin1, pin2: two pins that are attached to the motor
pin3, pin4: optional the last two pins attached to the motor, if
it's connected to four pins
Stepper: setSpeed(rpms)
Sets the motor speed in rotations per minute (RPMs). This
function doesn't make the motor turn, just sets the speed at
which it will when you call step().
rpms: the speed at which the motor should turn in rotations
per minute - a positive number.

Stepper: step(steps)
Turns the motor a specific number of steps, at a speed
determined by the most recent call to setSpeed().

steps:the number of steps to turn the motor - positive to


turn one direction, negative to turn the other
LAB TASK-1

 Control the number


of steps and stepping
speed
 Write a code to

achieve 100 steps


with a rotation speed
of 50 steps/sec.
DESIGN & PROGRAM
SAMPLE CODE
#include <Stepper.h>
const int stepsPerRevolution = 200;
// initialize the stepper library on pins 8 through 11:
Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
int stepCount; // number of steps the motor has taken
void setup() {
// initialize the serial port:
Serial.begin(9600);
}
void loop()
{
for (stepCount = 0; stepCount<=360;stepCount=stepCount+90)
//360 is number of steps and stepping speed is 90steps/5millisecond
{
myStepper.step(1);
Serial.print("steps:");
Serial.println(stepCount);
delay(5);
}

}
LAB TASK-2
Control the stepping speed with a potentiometer
LAB TASK 3
 Number of steps=360; step speed=90
steps/sec. Serial monitoring to be done to
verify the same
 Write a program. For every 360 steps

completed a buzzer with 3sec should be


heard.

Hint- use this segment of code, buzzer in circuit

tone(10,500,100);delay(300);
MyMotor.step(~stepCount); //Step one revolution in
another direction

delay(3000);
LAB TAK 4 CHALLENGING TASK
 Do the same task 3 with LCD display- motor
step and speed

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