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Investigation of torque and sensitivity analysis of a two-phase hybrid stepper motor

Mohammadreza Hojati
Mohammadreza Hojati
, 
Amir Baktash
Amir Baktash
 e 
Subhas C. Mukhopadhyay
Subhas C. Mukhopadhyay
   | 20 lug 2024
International Journal on Smart Sensing and Intelligent Systems's Cover Image
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Article Category: Research article
Pubblicato online: 20 lug 2024
Pagine: -
Ricevuto: 24 mag 2024
DOI: https://doi.org/10.2478/ijssis-2024-0020
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© 2024 Mohammadreza Hojati et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Figure 1:

A two-phase HSM, (A) Whole motor, (B) Rotor, and (C) Stator [28]. HSM, hybrid stepper motor.
A two-phase HSM, (A) Whole motor, (B) Rotor, and (C) Stator [28]. HSM, hybrid stepper motor.

Figure 2:

Stepper motor testbed, (A) Front view, (B) Back view, 1: Stepper motor, 2: Weights carrier arm, 3: Arduino and LCD shield, 4: Load cell, 5: Weights [28].
Stepper motor testbed, (A) Front view, (B) Back view, 1: Stepper motor, 2: Weights carrier arm, 3: Arduino and LCD shield, 4: Load cell, 5: Weights [28].

Figure 3:

Real motor and simulated model output torque [28].
Real motor and simulated model output torque [28].

Figure 4:

HSM computer model. HSM, hybrid stepper motor.
HSM computer model. HSM, hybrid stepper motor.

Figure 5:

Linearized tooth to tooth arrangement and flux tubes [14, 15].
Linearized tooth to tooth arrangement and flux tubes [14, 15].

Figure 6:

Construction of a two-phase hybrid stepping motor [14].
Construction of a two-phase hybrid stepping motor [14].

Figure 7:

Comparison between torque curves in analytical and numerical simulation models.
Comparison between torque curves in analytical and numerical simulation models.

Figure 8:

A sample meshing used for 3D FEM analysis. FEM, finite element method.
A sample meshing used for 3D FEM analysis. FEM, finite element method.

Figure 9:

Motor torque for different magnet heights.
Motor torque for different magnet heights.

Figure 10:

Flux density, (A) magnet heights 9–21 mm, (B) magnet height is 21 mm, (C) magnet height is 9 mm.
Flux density, (A) magnet heights 9–21 mm, (B) magnet height is 21 mm, (C) magnet height is 9 mm.

Figure 11:

Motor torque for magnet heights from 21 mm to 9 mm when the stator coils are not excited.
Motor torque for magnet heights from 21 mm to 9 mm when the stator coils are not excited.

Figure 12:

Motor torque for different magnet diameters.
Motor torque for different magnet diameters.

Figure 13:

Flux density, (A) magnet diameter is 20.8 mm and (B) magnet diameter is 10.8 mm.
Flux density, (A) magnet diameter is 20.8 mm and (B) magnet diameter is 10.8 mm.

Figure 14:

Motor torque for magnet diameters from 29.8 mm to 24.8 mm when the stator coils are not excited.
Motor torque for magnet diameters from 29.8 mm to 24.8 mm when the stator coils are not excited.

Figure 15:

Motor torque for different magnetic flux densities.
Motor torque for different magnetic flux densities.

Figure 16:

Flux density distribution for two different air gaps- (A) 0.1 mm and (B) 0.05 mm.
Flux density distribution for two different air gaps- (A) 0.1 mm and (B) 0.05 mm.

Figure 17:

Motor torque for different air gaps.
Motor torque for different air gaps.

Figure 18:

Motor torque for different wire-turns in stator coils.
Motor torque for different wire-turns in stator coils.

Figure 19:

Rotor teeth depth influence on motor torque.
Rotor teeth depth influence on motor torque.

Figure 20:

Stator teeth depth influence on motor torque.
Stator teeth depth influence on motor torque.

Figure 21:

Both rotor and stator teeth depth influence on motor torque.
Both rotor and stator teeth depth influence on motor torque.

Figure 22:

Motor torque for different teeth width.
Motor torque for different teeth width.

Figure 23:

Fillet on the teeth edges.
Fillet on the teeth edges.

Figure 24:

The effect of teeth fillet on flux distribution, (A) Fillet radius = 0 mm and (B) Fillet radius = 0.125 mm.
The effect of teeth fillet on flux distribution, (A) Fillet radius = 0 mm and (B) Fillet radius = 0.125 mm.

Figure 25:

Motor torque with different fillet radiuses.
Motor torque with different fillet radiuses.

Figure 26:

Stator pole thickness.
Stator pole thickness.

Figure 27:

Stator pole thickness influence.
Stator pole thickness influence.

Stepper motor experiment results [28]

Current [A] Weights mass [g] Torque [mN/m]
1.05 218 130.8
1.53 297 178.2
1.96 373 223.8
2.35 433 259.8
2.73 477 286.2

Motor specifications [28]

Motor outer diameter 56.5 mm
Motor body height 52 mm
Stator outer diameter 54.1 mm
Stator inner diameter 30 mm
Number of teeth in each stator pole 5
Stator teeth depth 1.25 mm
Stator height 23 mm
Air gap 0.1 mm
Rotor outer diameter 29.8 mm
Each half-rotor height 10 mm
Distance between two half-rotors 3 mm
Number of teeth in each half-rotor 50
Rotor teeth depth 1.5 mm
Magnet diameter 20.8 mm
Magnet height 13 mm
Number of wire-turns per coil 32
Wire diameter 0.6 mm
Stator and rotor material Steel 1,008
Magnet material NdFe35 (1.3 T)
Stator and rotors teeth fillet radius 0.125 mm
Maximum nominal current 3A
Angle per step 1.8°
Rotor and stator teeth angle (pitch) 7.2°
Rotor and stator teeth width 3.6°(0.94 mm)
Stator pole thickness 2 mm

The motor parameters

Absolute permeability μ0 4π × 10−7 H/m
Slot thickness t 0.939 mm
Air gap length g 0.1 mm
Rotor and stator teeth depth d 1.375 mm
Tooth thickness s 0.939 mm
Number of teeth per stator pole Zs 5
Number of rotor teeth Zr 50
Number of wire-turns per stator winding Ns 32
Excitation current i 1.5 A
Rotor height h 20 mm
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