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‫علا ْمتَنَا ۖ‬
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‫‪20‬‬
 Dr. Ahmed A. Salem
Email: Ahmed.elased@su.edu.eg

sinaiuniversity.ne
t
@Sinaiunieg info@su.edu.eg www.su.edu.eg
 Electrical Special Machines
Course Code: ENE 5179

Asso.Prof Ahmed A. Salem, PhD

Electrical Engineering Department, Faculty of
Engineering, Suez Canal University

Contact:
002-01002484169
ahmed_ salem@eng.suez.edu.eg
ahmed.elased@su.edu.eg 2023
 Quiz

23
 Characteristics of stepper motor

Static characteristics

Dynamic characteristics
Torque Angle curve

Torque current curve

Start-Stop Mode

Slew Speed Mode

Torque-speed characteristics

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 Static characteristics

Torque Angle curve

The angle – torque characteristics show the relationship between the angular
displacement of the rotor and the torque externally applied to the motor shaft while
the motor is excited at the rated current. The curve for these characteristics is shown
below

Stable Points: Points where the rotor stops, with the stator teeth and rotor teeth
are exactly aligned. These points are extremely stable, and the rotor will always
25 stop there if no external force is applied
 1 5

1 5

9
 9

27
28
Modes of Operation
There are two main modes of operation of stepper motors :
• Start-Stop Mode:
• In this mode the motor is controlled to settle down (rest) after each step before
advancing to the next step.
• The rotational speed will be in the form of pulses that drops to zero at the end each
step while the rotor position will be in the form of pulses also but with an increasing
steady state value with time as shown in the Figure.

29
 • The torque speed characteristic for this mode of operation represented by:
➢ Curve 1: Low inertia. If the motor drives a load of 1.4 N.m then the maximum permissible pulse
rate is 500 steps per second.
➢ Curve 2: Higher inertia. If the motor drives a load of 1.4 N.m then the maximum permissible pulse
rate is 400 steps per second.

30
 Slew Speed Mode:
• In this mode the motor is controlled to rotate at a constant uniform speed without
stopping at the end of each step and the rotor position varies linearly with time.
• The torque speed characteristic of this mode will not be affected by the system inertia
because of the constant speed. Moreover, for a specific pulse rate (500 steps per
second) this mode allows the motor to drive higher torque load compared to the start-
stop mode as shown in Fig. 16.

31
 • It is not possible to state categorically that one type is ‘better’ in all

situations.

• Hybrid motors have a small step length (typically 1.8◦), which can be a

great advantage when high resolution angular positioning is required.

• A survey of manufacturers’ data revealed that the torque-producing

capability for a given motor volume is greater in the hybrid than in the

variable-reluctance motor,

• so the hybrid motor is a natural choice for applications requiring a small

step length and high torque.

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 • Variable-reluctance motors have two important advantages :

• when the load must be moved a considerable distance, e.g. several

revolutions of the motor (for example step lengths (15◦ ) are longer

than in the hybrid type so fewer steps are required to move a given

distance.

• A reduction in the number of steps in VRM implies fewer excitation

changes consequently, limits the time taken to move the required

distance.

• variable-reluctance stepping motor has a lower rotor mechanical

inertia than the hybrid type, because there is no permanent-magnet

33
on its rotor (a reduction in this inertia permits faster acceleration ).
 THANK
YOU
For any questions feel free
to contact me by mail
Email:
Ahmed.elsaed@su.edu.eg

Dr. Ahmed A. Salem

Email: Ahmed.elsaed@su.edu.eg
002-01002484169