CMPE 118 MECHATRONICS Stepper Motors Cleverness with Magnets and Coils.
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Transcript of CMPE 118 MECHATRONICS Stepper Motors Cleverness with Magnets and Coils.
![Page 1: CMPE 118 MECHATRONICS Stepper Motors Cleverness with Magnets and Coils.](https://reader037.fdocuments.in/reader037/viewer/2022103123/56649d375503460f94a0fd97/html5/thumbnails/1.jpg)
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motors
Cleverness with Magnets and Coils
![Page 2: CMPE 118 MECHATRONICS Stepper Motors Cleverness with Magnets and Coils.](https://reader037.fdocuments.in/reader037/viewer/2022103123/56649d375503460f94a0fd97/html5/thumbnails/2.jpg)
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motors
Different types of stepper motors
Differences in Characteristics
Snubbing for Stepper Motors
Stepper Drive Techniques
Stepper Dynamics
![Page 3: CMPE 118 MECHATRONICS Stepper Motors Cleverness with Magnets and Coils.](https://reader037.fdocuments.in/reader037/viewer/2022103123/56649d375503460f94a0fd97/html5/thumbnails/3.jpg)
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Permanent Magnet (PM) Stepper Motor
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
PM Stepper Operation
S
N
S N
S
N
SN
S
N
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Torque v.s. Angular Displacement
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Variable Reluctance (VR) Stepper Motor
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Hybrid Stepper Motor
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Hybrid Motor Rotor
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Offset Teeth in Hybrid Rotor
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Variations in Output Torque
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motor Wiring
1 23 45 6
c
d
e
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Winding Direction is Important
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
2-Phase Universal Wound v.s. 4-Phase
a b
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving Stepper Motors
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Sequences: Full Step
V +
V +
G n d
G n d
S
N
S
N S
N
S
N
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving Full Step
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Sequences: Wave Drive
V+
G nd
S
NS N
S
NSN
S
N
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving: Wave Drive
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
V+
V+
G nd
G nd
A
B
C D
Stepper Sequences: Half-Step
S N
S
NS
N
S
N
SN
S
N
S
N
![Page 20: CMPE 118 MECHATRONICS Stepper Motors Cleverness with Magnets and Coils.](https://reader037.fdocuments.in/reader037/viewer/2022103123/56649d375503460f94a0fd97/html5/thumbnails/20.jpg)
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving: Half-Step
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Sequences: Micro-Stepping
V+
V+
G nd
G nd
A
B
C DS
N
S N
S
N
S
NS
N
S
N
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Generating the Drive
LogicSequencer
CoilDrive
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepping Dynamics
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Load Affects the Step Dynamics
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Drive Affects the Step Dynamics
ab
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motor Performance Curves
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Current Dynamics
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
L/nR Drive
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Current Rise in Detail
0
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Performance Improvement with L/nR Drive
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
2-Level Drive
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Chopper Drive
Vo
ltage
Cur
ren
t
t0
t0
t1
t1 tim e
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Diode Snubber for an H-Bridge
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Zener Diode Snubber for and H-Bridge
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Several other alternatives+V
12V
Ext F ile
0/0V 2N3055
1.2m H DIO DE
50
11.427
+V12V
E xt F ile
0 /0V 2N 3055
1.2m HDIO D E
ZE NE R
50
11 .4
+V
Ext F ile
0/0V 2N3055
1.2m H
1N474950
11.4
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Snubber Summary
3 0 3 u3 7 2 u 4 4 2 u 5 1 1 u 5 8 0 u 6 4 9 u 7 1 8 u- 1 . 0 6
- 8 7 5 m
- 6 9 0 m
- 5 0 6 m
- 3 2 1 m
- 1 3 7 m
4 7 . 6 m
R e f = G r o u n d X = 6 9 . 2 u S / D i v 2 4 1 %
Diode Only
Resistor + Diode
Diode + Zener
Zener Only
No Snubber
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CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Affects of Snubbing on Performance