OBSERATIONS

One phase on operation

Speed =148 rpm

Pulse width =8.5 ms

Two phase on operation

Speed = 148 rpm

 Pulse width = 17 ms

Half phase on operation

Speed = 75 rpm
Pulse width = 22 ms
CALCULATION:

1. Basic Step Angle for 6 / 4 pole 3 phase motor using manual switching sequence

6 - Number of poles in stator

4 - Number of poles in the rotor
3 - Number of phase to which stator poles are connected pole pair

Step Angle = 3600

(Rotor poles x Phase)

360
0
Basic step angle = 12 = 30

Number of pulses required for 6 / 4 pole 3 phase motor

Number of pulses required for 1 revolution = Number of rotor poles Number of phases
For 6/4 pole, 3 phase motor No. of pulses required = 4 x 3 = 12

Therefore, it can be observable that the practical valves and the calculate values are the
same.
 2. Basic Step Angle for 8 / 6 pole 4 phase motor using manual switching sequence

Using the manual switching sequence

No of switching signals required per revolution=24

360 0
Basic Step Angle =
24
0
=15

Basic Step Angle for 8 / 6 pole 4 phase motor

If the rpm of the motor is R and frequency of pulses is f,

60
s
Time for rotate one cycle = R
60
f
Pulses need for rotate one cycle = R
3600
60
f
Basic step angle = R

6R
= f degrees

One phase on operation

Basic step angle = 6 x 148 x 8.5 x 10-3
0
= 7.548
Two phase on operation
3
Basic step angle = 61481710

= 15.096 o

Half step operation

3
Basic step angle = 6752210
0
= 9.9
DISCUSSION
Detent Torque (DT):
Stepper motors using permanent magnets have a remnant position holding torque (called detent torque
or cogging, and sometimes included in the specifications) when not driven electrically. Soft iron
reluctance cores do not exhibit this behavior..

Holding Torque (HT):

The maximum torque produced by the motor at standstill.. It is the torque required to rotate the
energized motors rotor is called the holding torque.

Operation models of Stepper motor

Phase current waveforms

A stepper motor is a polyphase AC synchronous motor (see Theory below), and it is

ideally driven by sinusoidal current. A full step waveform is a gross approximation of a
sinusoid, and is the reason why the motor exhibits so much vibration. Various drive
techniques have been developed to better approximate a sinusoidal drive waveform:
these are half stepping and microstepping.

Different drive modes showing coil current on a 4-phase unipolar stepper motor
Wave drive (one phase on)
In this drive method only a single phase is activated at a time. It has the same number of
steps as the full step drive, but the motor will have significantly less than rated torque. It
is rarely used. The animated figure shown above is a wave drive motor. In the
animation, rotor has 25 teeth and it takes 4 steps to rotate by one tooth position. So there
will be 25*4 = 100 steps per full rotation and each step will be 360/100 = 3.6 degrees.

Full step drive (two phases on):

This is the usual method for full step driving the motor. Two phases are always on so the
motor will provide its maximum rated torque. As soon as one phase is turned off,
another one is turned on. Wave drive and single phase full step are both one and the
same, with same number of steps but difference in torque.

Half stepping :
When half stepping, the drive alternates between two phases on and a single phase on.
This increases the angular resolution. The motor also has less torque (approx 70%) at the
full step position (where only a single phase is on). This may be mitigated by increasing
the current in the active winding to compensate. The advantage of half stepping is that
the drive electronics need not change to support it. In animated figure shown above, if
we change it to half stepping, then it will take 8 steps to rotate by 1 teeth position. So
there will be 25*8 = 200 steps per full rotation and each step will be 360/200 = 1.8. Its
angle per step is half of the full step.