9th WSEAS International Conference on AUTOMATION and INFORMATION (ICAI'08), Bucharest, Romania, June 24-26, 2008

Two Hybrid Stepper Motor Models

Drago DEACONU, Aurel CHIRIL, Valentin NVRPESCU,
Mihaela ALBU, Constantin GHI and Claudia POPESCU
University Politehnica of Bucharest Electrical Engineering Department, 313,
Splaiul Independenei, Bucharest, Romania

Abstract - The paper is focused on the modeling and simulation of a Hybrid Step Motor (HSM). Starting from a real
life HSM and using information from technical literature two HSM models have been developed. The first of them is
used to analyze HSMs response to different types of commands. The second model is used for the HSMs
electromagnetic field analysis.
Key-Words: - Stepper motor, hybrid steppers, modelling, simulation

1. Introduction

Hybrid Step Motors (HSM) or Hybrid Stepper Motors

as they are generally referred in the technical literature
are commonly used in high precision dc electrical drives
applications. A HSM combines the advantages of a
Variable Reluctance Motor (VRM) and a Permanent
Magnet Motor (PMM). As a result a HSM has the
movement precision of a VRM and the torque of a PMM.
The main components of a HSM are the stator and the
rotor. Usually the stator is made of toothed magnetic
poles on which windings are placed (wounded stator) and
the rotor is made of different magnetic cores (also
toothed) that are separated by permanent magnets.
HSM manufacturers usually provide only a few of the
motors parameters such as: rated power, rated voltage,
rated current and the step angle. In order to properly
design an industrial electrical drive a lot of other
parameters are needed (such as: inertial moment, detent
torque, electrical phase resistance, phase inductance etc.).
In some cases it is difficult to identify these parameters
therefore it is not easy to develop precise HSM models.
This paper shows two HSM models. One refers to the
dynamic behavior of the motor and the other one to the
electromagnetic field quantities within the motor.

provide an additive torque generation on the shaft [1],

[2]. The HSMs rated parameters (given by the
manufacturer) are presented in Table I.

Fig. 1. The modeled HSM.

2. Hybrid Step Motor Models

A. The Modeled HSM

In this case the modeled HSM is one of the main
components of a large knitting equipment.
Fig. 1 shows the modeled HSM. The main parts of this
HSM are depicted in Fig. 2 and Fig. 3. It can be seen that
the stator is made of toothed magnetic poles on which
windings are placed and the rotor is made of two iron
cores that are separated by a permanent magnet. The
rotor iron cores are offset by one-half tooth pitch to

ISBN: 978-960-6766-77-0

129

Fig. 2. The HSMs main parts general view.

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9th WSEAS International Conference on AUTOMATION and INFORMATION (ICAI'08), Bucharest, Romania, June 24-26, 2008

d (L(ia ) ia )
+ ea
dt
d (L(ib ) ib )
ub = R ib +
+ eb
dt
u a = R ia +

d m d am
=
dt
dt
d bm
d
eb ( m ) = p m sin( p m ) m =
dt
dt
2
Te = p m ia sin( p m )
ea ( m ) = p m sin( p m )

d
p m ib sin( p m ) m
2
dt
Td = Tdm sin( 2 p m )
d m
= Te Td TL B m
dt
360
p=
2 m m, n

Fig. 3. The HSMs stator and rotor parts.

TABLE 1
THE HSMS RATED PARAMETERS
Parameter

Symbol

Value

Number of phases

Excitation type

bipolar

Voltage per phase

Un

11 V

Current per phase

Mechanical step
angle
Electrical phase
resistance
Phase inductance

In

0.71 A

m, n

1.8

Rn

14.7

Ln

40 mH

Jn

30010-7 kgm2

Inertial moment

(1)

C. The HSMs Electromagnetic Field Analysis Model

The model that is used for the HSMs electromagnetic
field analysis was created in Infolytica MagNet 6.24.1 3D
simulation software [4]. The starting point in the
development of this model was the measurement of the
HSMs geometrical dimensions. Then the HSMs main
parts (the stator and the rotor) were drawn in MagNet.
Fig. 4 and Fig. 5 depict these parts.

B. The HSMs Dynamic Behavior Model

The mathematical model of the HSM [3] is described
by the following equations (1).
where: R winding resistance/phase,
L winding inductance/phase,
m maximum flux linkage,
J total inertial momentum,
B friction coefficient,
Tdm maximum detent torque,
TL load torque,
am , bm the flux linkage generated by the
permanent magnet into the stators phases.
This mathematical model was implemented into
MATLAB/Simulink environment.

ISBN: 978-960-6766-77-0

Fig. 4. The HSMs stator in MagNet.

The next step in the development of the model was the
defining of the materials. Three types of materials were
used: one for the stator and rotor cores, one for the stator
windings and one for the permanent magnet.
The final step in the models development was the
defining of the voltages that were applied on the stator
windings.

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Based on this model three kinds of simulations may be

performed using MagNet software: 3D static, 3D
transient and 3D transient with motion. The paper
presents the results that were obtained for the 3D static
analysis.

Fig. 7. The experimental set-up.

The following data was considered for the
MATLAB/Simulink simulations (see also Table I):
R = Rn , L = Ln , m = 11.5 10 4 Wb , J = J n no load

Fig. 5. The HSMs rotor in MagNet.

the HSM, B = 10 3 N m s ,
Tdm = 0.0135 N m , TL = 0 no load operation.
As it can be seen above the MATLAB/Simulink model
uses a maximum detent torque of 0.0135Nm. This value
was approximated by using a clamp, five coins and a
sling caliper (see Fig. 8). The maximum detent torque
( Tdm ) was determined by fixing the clamp to the HSMs
shaft (the HSM was not supplied) and adding the coins
on this clamp until the shaft moved. The coins weight
( mcn ) was taken from [6]. Using the sling caliper we
measured the distance ( l ) from the HSMs shaft and the
point on the clamp where we added the coins. Therefore:
was

Fig. 6 depicts the general view of the HSM in MagNet.

considered

for

TL = mcn g l = 21.38 9.81 63 10 6 = 0.0135 N m

Fig. 6. The HSMs general view in MagNet.

(2)

3. Simulations and Experimental Results

As already mentioned the HSMs dynamic behavior

model (1) was implemented into MATLAB/Simulink
environment. In order to verify the accuracy of this
model an experimental set-up was created in which the
HSM was controlled by two Programmable Logic
Controllers (PLCs Moeller Easy Family the code that
was implemented into the PLCs was created with the help
of Moellers Easy Soft 6.20 Pro [5]).
Fig. 7 depicts the experimental set-up. For the dc
supply two Protek DC Power Supply DF1731SL3A
sources were used. The measurements were done with a
Sefram Digital Storage Oscilloscope 5062DC and two
voltage (GMW GE1521) and current (Tektronix A622
AC/DC) probes.

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Fig. 8. Objects that have been used to determine the

maximum detent torque.

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9th WSEAS International Conference on AUTOMATION and INFORMATION (ICAI'08), Bucharest, Romania, June 24-26, 2008

Taking into account that the excitation type of the

HSM has to be bipolar and that a full step motion was
desired (1.8/step) the following voltages were applied on
the stator windings (see Fig. 9 and Fig. 10). Fig. 9 shows
the MATLAB/Simulink results and Fig. 10 shows the
experimental
(measured)
results
(the
voltage
amplification coefficient was 10V/div for both channels
and the time base was 1s/div).

Fig. 11. The HSMs stator voltage and phase current simulation.

Fig. 9. The HSMs stator voltages - simulation.

Fig. 12. The HSMs rotor position - simulation.

Fig. 10. The HSMs stator voltages - experimental.

Fig. 11 shows the MATLAB/Simulink results for the
HSMs stator voltage and phase current. Fig. 12 depicts
the time variation of the HSMs rotor position (in
MATLAB/Simulink). It can be seen that a full step
motion was obtained (each step represents 1.8).
Fig. 13 depicts the experimental (measured) results for
the stator voltage and phase current (the voltage
amplification coefficient was 10V/div for channel 1 and
2V/div 5V/A for channel 2 and the time base was
0.5s/div).

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Fig. 13. The HSMs stator voltage and phase current experimental.
Fig. 14 and Fig. 15 show a close-up of the raising edge
of the HSMs stator voltage and phase current seen in

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Fig. 11 and Fig. 13. In Fig. 15 the voltage amplification

coefficient was 5V/div for channel 1 and 2V/div 5V/A
for channel 2 and the time base was 0.005s/div.

Fig. 18 shows the HSMs phase inductance variation

with respect to the phase current and rotor position. This
surface was obtained by solving 81 3D magneto-static
problems.

Fig. 14. The HSMs stator voltage and phase current

simulation close-up.
Fig. 16. The mesh used by MagNet.

Fig. 15. The HSMs stator voltage and phase current

experimental close-up.
Using the HSMs electromagnetic field analysis model
the field quantities within the motor were determined.
Before starting the calculus (using the finite element
method) MagNet divides the domain (see Fig. 6) into
mesh elements [7]. Fig. 16 presents the mesh that was
used in this case.
As already mentioned this paper presents the results
that were obtained for the 3D static analysis. This type of
analysis is based on the following hypotheses: the time
derivatives are zero (i.e. stator currents are constant), the
iron losses are neglected and the HSMs rotor is supposed
to be in a fixed position. In Fig. 17 one can see the
HSMs magnetic flux density map. In order to have a
better view (of the magnetic flux density) one of the
HSMs rotor magnetic core is not visible in Fig. 17.

ISBN: 978-960-6766-77-0

Fig. 17. The HSMs magnetic flux density map.

One problem has as input data the phase current and
the rotor position. For every value of the phase current
(nine values were considered) nine values of the rotors
position were considered leading to a total of 81
magneto-static problems.

4. Conclusions

The paper presents two HSM models. The first one is

used to analyze the HSMs dynamic behavior. This

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model may be used for any type of 2-phase bipolar HSM

(as long as the user has information about the HSMs
parameters involved in (1)).
As (1) shows in order to get an accurate model, some
of the motors parameters have to be known (beside the
rated ones). In this case we managed to get all of these
parameters from the manufacturer data sheet with one
exception: the maximum detent torque. In most cases a
lot of other parameters have to be determined (such as:
inertial moment, detent torque, electrical phase
resistance, phase inductance etc.) in order to properly
design an industrial electrical drive.
Every so often it is difficult to identify these
parameters therefore it is not easy to develop precise
HSM models.

Fig. 18. The HSMs phase inductance variation with

respect to the phase current and rotor position.
When comparing the waveforms obtained with the
MATLAB/Simulink model and with the experimental
set-up one can see a difference only when looking at the
close-up of the raising edge of the HSMs phase current
(Fig. 14 and Fig. 15). The difference consists in the slope
and oscillations of the phase current.
This dissimilarity can be explained by the fact that the
MATLAB/Simulink dynamic behavior model does not
take into account the fact that both the stator magnetic
poles and rotor iron cores are toothed. Another reason for
this dissimilarity is that the maximum detent torque that
has been used in the MATLAB/Simulink model was not
determined very precisely (see section III).
The second model is used to determine the
electromagnetic field quantities within the HSM. This
model is a particular model because it involves the
drawing of a specific HSM (its specific dimensions). As
it was already mentioned three kinds of simulations may
be performed on this model using MagNet model
software: 3D static, 3D transient and 3D transient with
motion. The advantage of this model is that a

ISBN: 978-960-6766-77-0

manufacturer may optimize the geometry of a HSM

before actually building it. 3D transient and 3D transient
with motion analysis require increased computational
resources (e.g. for a complete rotation 3D transient with
motion analysis running on a Core2 Duo T7700
processor with 8GB RAM computer a time between 20
and 40 days is needed when the full geometry is used).
The paper presents a 3D static analysis. Besides the
magnetic flux density map (see Fig. 17) the HSMs phase
inductance variation with respect to the phase current and
rotor position was computed.
The surface presented in Fig. 18 is the result of 81 3D
magneto-static problems. For this calculus 6 days were
needed using a Core2 Duo T7200 64-bit processor with
2GB RAM computer (and the full HSM geometry).
Generally the time needed to complete a 3D field
analysis varies with the complexity of the models
geometry and with the analysis type (static, transient,
transient with motion). There are two ways to reduce the
computation time of a 3D field analysis. One of them
implies that only a part of the models geometry is
simulated (this method is applicable for objects that have
symmetrical geometry).
The other way is to determine which type of analysis
suites better the problem that has to be solved (some time
a parameter may be determined by solving a 3D static
problem therefore there is no need to solve a transient
problem).
The paper has also an educational side because it
presents a simple way in which a HSM may be modeled
using world-wide well known software (such as
MATLAB/Simulink).
The
second
model
(3D
Electromagnetic Field Analysis Model developed in
MagNet) may be used as an example for university
courses because it gives a visual representation of the
electromagnetic phenomena, consequently proving the
power of finite element analysis methods.
REFERENCES
[1] V. V. Athani, Stepperst motors: Fundamentals
Applications & Design, 1 ed., New Age Publishers,
1997.
[2] P. P. Acarnley, thStepping motors: A Guide to Theory
and Practice, 4 ed., Institution of Engineering and
Technology - IET, 2002.
[3] B. C. Kuo, A. Kelemen, M. Crivii, V. Trifa, Sisteme
de comand i reglare incremental a poziiei, Ed.
Tehnic, Bucureti, 1981.
[4] www.infolytica.com.
[5] www.moeller.net/en/.
[6] www.convertor.ro/stiri/Noile_monede_metalice/75.
[7] A.-I. Chiril, I.-D. Deaconu, C. Ghi, V.
Nvrpescu, Aplicarea metodei elementului finit
pentru determinarea cmpului electromagnetic dintrun transformator electric trifazat, in press.
[8] www.inovare.amcsit.ro/main/index.php.
[9] www.cnmp.ro:8083/pncdi2/program4/.
[10]
www.amcsit.ro/ceex.html.
[11]
www.mct.ro.

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