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  • 2.6 Stepper Và Servor Motor

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    The document compares stepper motors and servo motors. [1] Stepper motors rotate in discrete steps by a fixed angular amount, while servo motors can precisely control angular position and velocity through closed-loop feedback. [2] Stepper motors provide open-loop control and full torque at standstill, but have issues with resonance at high speeds. [3] Servo motors have high efficiency and precision but require more complex control systems.

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    2.6 Stepper và Servor Motor

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    The document compares stepper motors and servo motors. [1] Stepper motors rotate in discrete steps by a fixed angular amount, while servo motors can precisely control angular position and velocity through closed-loop feedback. [2] Stepper motors provide open-loop control and full torque at standstill, but have issues with resonance at high speeds. [3] Servo motors have high efficiency and precision but require more complex control systems.

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    14 views14 pages

    2.6 Stepper Và Servor Motor

    Uploaded by

    Chí Thiện
    The document compares stepper motors and servo motors. [1] Stepper motors rotate in discrete steps by a fixed angular amount, while servo motors can precisely control angular position and velocity through closed-loop feedback. [2] Stepper motors provide open-loop control and full torque at standstill, but have issues with resonance at high speeds. [3] Servo motors have high efficiency and precision but require more complex control systems.

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    © All Rights Reserved
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    of 14

    2.6.

    Servo vs Stepper Motor

    www.hcmute.edu.vn
    Stepper Motor
    Stepper motor shaft rotates by performing steps, that is, by moving by a
    fixed amount of degrees
    Define
    – β = the step angle (per input pulse)
    – Resolution = the number of steps per revolution
    – θ = total angle traveled by the rotor
    θ = β * # of steps
    – n = the shaft speed = (β * fp) / 360 °
    fp = # of pulses/second
    Three basic type of stepper motor:
     Variable-reluctance motor
     Permanent magnet motor
     Hybrid motor www.hcmute.edu.vn
    www.hcmute.edu.vn
    Variable-Reluctance Stepper (VR)

    Principle of Operation:
    Reluctance of the magnetic circuit formed
    by the rotor and stator teeth varies with
    the angular position of the rotor
    Here, energize coils A and A’ (Phase A)
    Rotor “steps” to align rotor teeth 1 and 4
    with stator teeth 1 and 5

    www.hcmute.edu.vn
    www.hcmute.edu.vn
    Variable-Reluctance Stepper (VR)
    Energize coils B and B’ (Phase B)
    Rotor steps “forward”
    Rotor teeth 3 and 6 align with Stator teeth 1 and 5
    Let Ns = # of teeth on the stator
    Nr = # of teeth on the rotor
    β = Step Angle in space degrees

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    www.hcmute.edu.vn
    Variable-Reluctance Stepper (VR)
    Energize Phase C Energize Phase D

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    www.hcmute.edu.vn
    Permanent Magnet Stepper (PM)

    The rotor carries no winding but


    has permanent magnets
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    www.hcmute.edu.vn
    Permanent Magnet Stepper (PM)

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    www.hcmute.edu.vn
    Hybrid Stepper Motor (HSM)

    HSM operation based on the combined principle of both PM and VR


    stepper motor

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    www.hcmute.edu.vn
    Hybrid Stepper Motor (HSM)

    HSM operation based on the combined principle of both PM and VR


    stepper motor

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    www.hcmute.edu.vn
    Hybrid Stepper Motor (HSM)
    Consider a four pole, two phase HSM with 15 rotor teeth on each rotor section
    • Coils wound on poles A and A’ are connected in series to form phase A
    same as for phase B.
    • The step angle is 360/(2x2x15)=6°
    • The tooth pitch is 360/15=24°

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    www.hcmute.edu.vn
    Stepper Motor
    Advantages
    1. Excellent response to starting/stopping/reversing
    2. It is possible to achieve very low speed synchronous rotation with a load
    that is directly coupled to the shaft
    3. The motors response to digital input pulses provides open-loop control,
    making the motor simpler and less costly to control. The motor has full
    torque at standstill (if the windings are energized)

    Disadvantages
    1. Resonances can occur if not properly controlled
    2. Not easy to operate at extremely high speeds
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    www.hcmute.edu.vn
    Servo Motor
    What is a Servo motor?
    • A self-contained electrical device, that rotate parts of a machine with high
    efficiency and with great precision
    • The output shaft can be moved to a particular angle, position and velocity

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    www.hcmute.edu.vn
    Servo Motor

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    www.hcmute.edu.vn
    Stepper Motor vs Servo Motor

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    www.hcmute.edu.vn

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