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1、DevelopmentofaNovelDriveTopologyforaFivePhaseStepperMotorT.S.WeerakoonandL.SamaranayakeDept.ofElectricalandElectronicEngineering,FacultyofEngineering,UniversityofPeradeniya,SriLankaAbstract-Inthispaper,anoveldrivetopologyforafivephasesteppermotorisdescribedindetail.Commerciallyofft
2、heshelf,lowcost,standardsteppermotordriveICsareusedtoderiveanoveldrivetopologyforfivephasesteppermotorswhichenablesclosedloopspeedandpositioncontrolpoweredbyinnercurrentcontrolloop.Itisprovedthatthederivedtopologycanbegeneralizedtoanysteppermotorwithhigheroddnumberofphases.Thedesig
3、neddriverconsistsoffullstep,halfstep,clockwiseandcounterclockwisedrivemodeswiththespeedcontrolandcurrentcontrol.I.INTRODUCTIONInmostoftheroboticsandautomationengineeringdesignsvarioustypesofsteppermotorsareusedtoobtaintherequiredmotionprofiles.Steppermotorsarepreferred,astheydonotr
4、equirefrequentmaintenanceandduetotheirabilitytooperateinmanyharshenvironments.Selectionofthemotorsandtheirdrivecircuitsdependontherequiredperformancecharacteristicsoftheapplications.Thetwophaseandfourphasesteppermotorsarethemostcommontypesavailableinthemarket.However,forapplication
5、srequiringhighprecision,lownoiseandlowervibration,FivePhaseStepperMotorsareused.Duetosmallerstepangle,fivephasesteppermotorsofferhigherresolution,lowervibrationandhigheraccelerationsanddecelerations.Thereforeitisessentialtomakesurethatthesemotorcharacteristicscanbeobtainedfromthede
6、signeddrivetopology.Becausethefivephasesteppermotorsareararelyusedtypeintheroboticapplicationsandtheconstructionistypicallycomplicated,itisverydifficulttofinddriverICs,whicharemanufacturedexclusiveforthem.Asaresult,theavailableDrivercircuitsforfivephasesteppermotorsareveryexpensive
7、.UsingtheavailabledrivecontrolICsmanufacturedforcommonkindsofsteppermotorssuchas2phasedand4phasedandusingtheminmodelingnewdrivertopologyforothersteppermotorswouldbeacosteffectiveapproach.TheICL297integratesallthecontrolcircuitryrequiredtocontrolbipolarandunipolarsteppermotors.TheL2
8、98NdualHbridgedriveformsac
