17. Variable reluctance
stepper motors
What is Reluctance ?
Electrical Domain: Resistance
The property of a conductor by virtue of which it opposes
the flow of electric current through it is called resistance.
Resistance opposes Current
Magnetic Domain: Reluctance
Reluctance opposes Flux
Speed breaker opposes speed of the Vehicle
18.
19. Permanent Magnet Stepper Motor
Variable Reluctance Stepper Motor
Create High and Low Reluctance areas
21. • In Permanent Magnet Stepper Motors,
Attraction and Repulsion forces were used for generating Torque.
In Variable Reluctance Stepper Motors,
Un even air gaps were used for generating Torque.
Reluctance Torque
38. TORQUE CHARACTERISTICS
ASSOCIATED WITH STEPPER MOTORS
• Holding torque is the amount of torque required to move a step motor out of
position in an energized state. It becomes the “holding torque” at rest and equals
the motor torque sensitivity (Kt) times the current applied to the motor windings. If
you try to turn it forcibly while stopped, you experience a resistive force.
39. TORQUE CHARACTERISTICS
ASSOCIATED WITH STEPPER MOTORS
• Pull-out torque is the maximum torque that can be delivered without losing steps.
It reaches its maximum at the lowest frequency or speed, and decreases as
frequency increases. If the load on the stepping motor during rotation increases
beyond the pull-out torque, the motor will fall out of step and accurate operation
will not be possible. Pull-out torque is typically the most emphasized of the four
characteristics and is represented by the pull-out torque curve or slew rate
showing torque vs speed (frequency).
• Pull-in torque is the maximum torque at which a motor can start rotating
at a given frequency. The stepper cannot start rotation with the load
torque exceeding the pull-in torque. The pull-in torque also decreases as
the frequency increases and is represented by the pull-in torque curve
showing torque vs speed (frequency).
40. TORQUE CHARACTERISTICS
ASSOCIATED WITH STEPPER MOTORS
• Detent torque is the torque present in the unenergized state due to the interaction
of the permanent magnets and stator teeth. A noticeable disturbance or cogging
can be felt by rotating the motor by hand.
When the pull-out torque is insufficient…
Generally, a stepper motor will lose synchronization when the pull-out torque is exceeded due to
overload. Motors are often selected and evaluated using pull-out torque values above the
requirements for the application to prevent lost counts or motor stalls.
When the pull-in torque is insufficient…
The motor must be gradually accelerated from a low frequency, and it is not possible to make a quick
start/stop. The greater the inertia (mass) of the load, the harder it will be to start and stop.
When the holding torque is insufficient…
It will not be possible to hold the position while the power is on.
When the detent torque is insufficient…
The motor will spin freely.