National Polytechnic Institute of Cambodia
Department of Electronics Engineering
Assignment
Subject : Stepper Motor Lecturer: Bo Prak Member in group : Sun Chanras,Lim Hoklay
Submit :29th February 2012 Present :29th February 2012
Content
I-Introduction II-Stepper motor type III-Using IV-Basic operation V-Calculation and parameter VI-Interface with PIC microcontroller
Content
VII-Reference
I-Introduction
Fig 1.1: Stepper motor
I-Introduction
Stepper motor is an electromechanical device which
convert electrical pulse into discrete mechanical movement.
The shaft of a stepper motor rotates in discrete step
when electrical command pulses are applied to it in the proper sequence.
II-Stepper motor types
There are three basic stepper motor type . They are: Variable-reluctance(VR) Permanent-magnet(PM) -Hybrid(HB)
II-Stepper motor types
Variable Reluctance(VR): This type of stepper motor has been around for along
time. Its probably the easiest to understand from a structural point of view.
Figure 2.1 shows a cross-section of a typical variable-
reluctance stepper motor.
II-Stepper motor types
Figure 2.2 shows The variable-reluctance stepper motors.
Fig 2.1 : Cross-section of variable reluctance stepper motor
Fig 2.2 :Variable-reluctance stepper motor
II-Stepper motor types
Permanent Magnet(PM): The permanent-magnet stepper motor is a low cost and
low resolution type motor with typical step angles of 7.5 to 15 degree.
Figure 2.3 show the cross-section of permanent-magnet
stepper motor.
II-Stepper motor types
Figure 2.4 show the permanent-magnet stepper motor.
Fig 2.3 : Cross-section of Permanent-magnet stepper motor
Fig 2.4 :Permanent-magnet stepper motor
II-Stepper motor types
Hybrid(HB): The hybrid stepper motor is more expensive than the PM
motor but provides better performance with respect to step resolution , torque and speed.
Typical step angle for the HB stepper motor rang from 3.6
degree to 0.9 degree
II-Stepper motor types
The hybrid stepper motor combines the best features of
both the PM and VR type stepper motors.
Figure 2.5 show the cross-section of hybrid stepper motor. Figure 2.6 show the hybrid stepper motor.
II-Stepper motor types
Fig 2.5 : Cross-section of Hybrid stepper motor
Fig 2.6 :Hybrid stepper motor
III-Using
There are a lot of stepper motor application such as: Robot arm control. Car mirror controls Automated door windows
IV-Basic operation
Stepper motors consist of a permanent magnet rotating
shaft, called the rotor.
Electromagnets on the stationary portion that surrounds
the motor, called the stator.
At position 1, we can see that the rotor is beginning at the
upper electromagnet, which is currently active.
IV-Basic operation
Fig 4.1 : Show position 1
IV-Basic operation
To
move
the
rotor
clockwise
(CW),
the
upper
electromagnet is deactivated and the right electromagnet is activated.
causing the rotor to move 90 degrees CW, aligning itself
with the active magnet.
IV-Basic operation
Figure 5.2 show this operation.
Fig 4.2 : Show position 2
IV-Basic operation
This process is repeated in the same manner until we
once again reach the starting position..
Figure 4.3 and 4.4 show the position 3 and position 4
IV-Basic operation
Fig 4.3 : Show position 3
Fig 4.4 : Show position 4
V-Calculation and parameter
Step sequence: Stepper motors can be driven in two different patterns or
sequences . namely:
Full Step Sequence Half Step Sequence
V-Calculation and parameter
Full step sequence: In the full step sequence, two coils are energized at the
same time and motor shaft rotates. The order in which coils has to be energized is given in the table below.
V-Calculation and parameter
Table 5.1 show the step sequence in full mode:
Table 5.1 : Full step sequence
V-Calculation and parameter
Half step sequence: In Half mode step sequence, motor step angle reduces to
half the angle in full mode. So the angular resolution is also increased i.e. it becomes double the angular resolution in full mode. Also in half mode sequence the number of steps gets doubled as that of full mode.
V-Calculation and parameter
Table 5.2 show the half step sequence:
Table 5.2 : Half step sequence
V-Calculation and parameter
Step angle: To calculate step angle , simply divide 360 by number of
steps a motor takes to complete one revolution.
Step Angle = 360 / 4 = 90 and in case of half mode step angle gets half so 45.
VI-Interface with PIC microcontroller
Connecting Stepper Motor with Microcontroller
(PIC16F887) using ULN2003
Simulate in proteus Figure 6.1 show the simulation in proteus.
VI-Interface with PIC microcontroller
Figure 6.1 : Simulation in proteus
VI-Interface with PIC microcontroller
Full step programming: void main() { ANSEL = 0; // Configure AN pins as digital I/O ANSELH = 0; PORTD = 0; TRISD = 0; // Configure PORTD as output while(1) { PORTD=0x09; Delay_ms(500); PORTD=0x0C; Delay_ms(500); PORTD=0x06; Delay_ms(500); PORTD=0x03; Delay_ms(500); } }
VI-Interface with PIC microcontroller
Half step programming: void main() { ANSEL = 0; // Configure AN pins as digital I/O ANSELH = 0; PORTD = 0; TRISD = 0; // Configure PORTD as output while(1) { PORTD=008; Delay_ms(500); PORTD=0x0C; Delay_ms(500); PORTD=004;
VI-Interface with PIC microcontroller
Delay_ms(500); PORTD=006; Delay_ms(500); PORTD=002; Delay_ms(500); PORTD=003; Delay_ms(500); PORTD=001; Delay_ms(500); PORTD=009; Delay_ms(500); Delay_ms(500); } }
VI-Reference
http://ssecganesh.blogspot.com/2008/05/driving-stepper-
motor-using-uln2003.html
http://www.engineersgarage.com/articles/stepper-motors http://www.circuitspecialists.com/stepper-motor
End of presentation
