Special Machines

Stepper Motor
A stepper motor is a pulse driven motor that changes the
angular position of the rotor in steps.
Square wave pulses in to a precisely defined increment in the
shaft position.
Its an electromechanical device
One one relationship between the input pulses and step
movement of the shaft.
Angle through which the motor turns for each pulse step
angle.
It is widely used in low cost, open loop position control
systems.

Types of stepper motors

Variable reluctance stepper motors
Low torque
No PM

Permanent Magnet stepper motors

Employ permanent magnet
Low speed, relatively high torque

Hybrid stepper motors

Variable reluctance stepper motor

Stator 3 phase windings
Stator six salient pole with concentrated windings
Laminated and assembled in a stack
Number of poles in the stator and the rotor are different
bidirectional rotation and self-starting capability
Rotor slotted steel laminations

Operation of Variable
reluctance Motor
Based on variable reluctance positions
When any phase of stator excited,
produces magnetic field and axis lies along
the poles, phase around which is excited
Rotor moves and takes a position where
the axis of rotor matches with that of stator

 If i is the current through the phase of the stator winding, then the
torque developed by the motor is given by

Permanent Magnet stepper motors

Stator multipolar
Exciting coils are around the
poles
Rotor salient or smooth
cylindrical
Rotor Ferrite material
Permanently magnetized

 90 deg rotation
Stepper motor with PM with large no. of poles can not be
manufactured in small size
Small steps are not possible

Hybrid stepper
motors

 Applications

X-Y plotters
Floppy disk drives
Machine tools
Process control systems
Robotics
Printers
Tape drives
Etc.,

Hysteresis Motor
It is a synchronous motor which does not require any
dc excitation to the rotor and it uses non
projected poles
Stator Main and auxiliary winding to produce
rotating magnetic field split phase type
Stator shaded pole type
Rotor smooth cylindrical type made up of chrome
steel or alnico for high retentivity
high hysteresis loop area
Rotor does not carry any winding

Cross sectional view of hysteresis motor

Hysteresis loop of the rotor material

Working
Stator energised , produces rotating magnetic field

Main and auxiliary fields supplied continuously to maintain rotating

magnetic field
Due to hysteresis phenomenon of the rotor material, rotor pole axis lags
behind the axis of RMF
Rotor poles attracted towards the moving stator field poles torque is
exerted on rotor Hysteresis torque - Torque constant at all speeds
Initially rotor has both hysteresis and eddy current torques
When the rotor speed is near synchronous, stator pulls rotor in to
synchronism
Relative motion between rotor and stator vanishes eddy torque vanishes
High retentivity of rotor, ensures the continuous magnetic locking of the
stator and rotor motor runs at synchronous speed.

Mathematical analysis

Torque speed characteristics

Starting torque and the running
Torque is almost equal
Direction of rotation can be
reversed by interchanging the
terminals of either main winding or
auxiliary winding

 Applications

Universal Motors
A universal motor is a special type of motor which is designed
to run on either DC or single phase AC supply.
Generally series wound (armature and field winding are in
series), and hence produce high starting torque.
Universal motors generally comes built into the device they are
meant to drive.
They run at lower speed on AC supply than they run on DC
supply of same voltage, due to the reactance voltage drop which
is present in AC and not in DC.
Types of universal motor :
(i) Compensated type and (ii) uncompensated type

Construction and working

Universal
motors
have
high
starting torque, can run at high
speed, and are lightweight and
compact.
The universal motor is very similar
to a DC series motor in
construction, but is modified
slightly to allow the motor to
operate properly on AC power.

 When current flows in the field winding, it produces an

electromagnetic field. The same current also flows from the
armature conductors. When a current carrying conductor is
placed in an electromagnetic field, it experiences a mechanical
force. Due to this mechanical force, or torque, the rotor starts
to rotate. The direction of this force is given by Fleming's left
hand rule.
When fed with AC supply, it still produces unidirectional torque.
Because, armature winding and field winding are connected in
series, they are in same phase. Hence, as polarity of AC changes
periodically, the direction of current in armature and field
winding
reverses
at
the
same
time.
Thus, direction of magnetic field and the direction of armature
current reverses in such a way that the direction of force
experienced by armature conductors remains same. Thus,
regardless of AC or DC supply, universal motor works on the
same principle that DC series motor works.

Applications:
Universal motors find their use
in various home appliances like
vacuum cleaners, drink and food
mixers,
domestic
sewing
machine etc.
The higher rating universal
motors are used in portable
drills, blenders etc.

Speed / load
characteristics

 Disadvantages

Maintenance problems
Short life commutator
EMI due to sparking

Repulsion Motor
A repulsion motor is a type of electric motor for use on
alternating current (AC)
Its a single phase motor
Stator and Rotor - no electrical connection between the two
Commutator and brush arrangement
Stator windings are connected directly to the AC power supply
and the rotor is connected to a commutator and brush
assembly, similar to that of a direct current (DC) motor.
When stator winding is excited by a single phase supply, rotor
current is generated by induction.

 Brush axis parallel to field

Armature behaves like an electromagnet
The net torque in this condition is zero. Both the N-poles repel each other and both
the S-poles repel each other. The two repulsion forces are in direct opposition to
each other and hence no torque will be developed.
Brush axis at right angles to field
The magnetic axis is perpendicular to the brush axis
The voltage induced in the other coils between the brush terminals is neutralized and
the net voltage is zero. Since there is no induced emf, there is no current in the
circuit and the net torque developed is, again, zero.
Run positions
If the brush axis is displaced at an angle to the magnetic axis, a net voltage is
induced at the brush terminals which will produce current in the armature.
The current in the armature circuit will produce its own magnetic field, with North
and South poles, but in this condition, the North Pole is not directly under the North
pole of the magnetic axis and the South Pole is not directly above the South Pole of
the magnetic axis.
The poles of the armature are slightly displaced from those of the stator. In this
condition, the N-pole of the stator field will repel the N-pole of the rotor field and
the S-pole of stator field will repel the S-pole of the rotor field, so the rotor starts
rotating.

 Direction of rotation

The direction of rotation is determined by the position of the brushes

with respect to the magnetic field of the stator.
If the brushes are shifted clockwise from the main magnetic axis, the
motor will rotate in a clockwise direction.
If the brushes are shifted counter-clockwise from the main magnetic
axis, the motor will rotate in a counter-clockwise direction.

Torque and speed control

The starting torque of a repulsion motor is determined by the angle of

brush shift from the main magnetic axis. The maximum torque is obtained
from a brush shift of 45 degrees. Brush shift can also be used to control
the speed of a repulsion motor.

Applications

Repulsion motor applications included:

High speed lifts
Fans and pumps
Printing presses
Textile machines
Film winding machines

Permanent Magnet motors

PMDC motors

Efficiency good
Speed torque st. line
Input current increases linearly
Speed control armature voltage control supply voltage

PMSM Motors
Permanent-magnet synchronous motor (PMSM) or permanent-magnet
motor (PMM) is a synchronous motor that uses permanent magnets
rather than windings in the rotor.
Electronic excitation control with integrated power inverter and rectifier,
sensor, and inverter electronics is required for practical operation.

BLDC
Brushless DC electric motor (BLDC motors, BL motors) also known as
electronically commutated motors (ECMs, EC motors) are synchronous motors
that are powered by a DC electric source via an integrated inverter/switching
power supply, which produces an AC electric signal to drive the motor.
A bi-directional current -Additional sensors and electronics control the inverter
output amplitude and waveform (and therefore percent of DC bus
usage/efficiency) and frequency (i.e. rotor speed).
The rotor part of a brushless motor is often a permanent magnet synchronous
motor.

 A typical brushless motor has permanent magnets which rotate

around a fixed armature, eliminating problems associated with
connecting current to the moving armature. An electronic
controller replaces the brush/commutator assembly of the
brushed DC motor, which continually switches the phase to the
windings to keep the motor turning.
Brushless motors - computer hard drives and CD/DVD players
and in Small cooling fans in electronic equipment