Post on 19-Dec-2015
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motors
Cleverness with Magnets and Coils
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motors
Different types of stepper motors
Differences in Characteristics
Snubbing for Stepper Motors
Stepper Drive Techniques
Stepper Dynamics
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Permanent Magnet (PM) Stepper Motor
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
PM Stepper Operation
S
N
S N
S
N
SN
S
N
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Torque v.s. Angular Displacement
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Variable Reluctance (VR) Stepper Motor
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Hybrid Stepper Motor
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
The Hybrid Motor Rotor
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Offset Teeth in Hybrid Rotor
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Variations in Output Torque
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motor Wiring
1 23 45 6
c
d
e
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Winding Direction is Important
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
2-Phase Universal Wound v.s. 4-Phase
a b
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving Stepper Motors
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
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving Full Step
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Sequences: Wave Drive
V+
G nd
S
NS N
S
NSN
S
N
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving: Wave Drive
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
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Driving: Half-Step
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
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Generating the Drive
LogicSequencer
CoilDrive
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepping Dynamics
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Load Affects the Step Dynamics
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Drive Affects the Step Dynamics
ab
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Stepper Motor Performance Curves
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Current Dynamics
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
L/nR Drive
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Current Rise in Detail
0
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Performance Improvement with L/nR Drive
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
2-Level Drive
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Chopper Drive
Vo
ltage
Cur
ren
t
t0
t0
t1
t1 tim e
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Diode Snubber for an H-Bridge
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Zener Diode Snubber for and H-Bridge
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
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
CMPE 118 MECHATRONICSCMPE 118 MECHATRONICS
Affects of Snubbing on Performance