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A Project on

NOVEL MODELING AND DAMPING TECHNIQUE FOR

HYBRID STEPPER MOTOR

A Project report Submitted in partial fulfillment of the

Requirement for the award of the degree of

MASTER OF TECHNOLOGY

IN

CONTROL SYSTEMS ENGINEERINGBy

M.SHANKAR

R.No: 08871D7514

Under the esteemed guidance of

CH. RAMULU

Assistant Professor.

DEPARTMENTOF ELECTRICAL & ELECTRONICS ENGINEERING

RAMAPPA ENGINEERING COLLEGE

(Approved by AICTE) (Affiliated to JNTUH) (Accredited by NBA)

HUNTER ROAD, WARANGAL. 506004

2009-2010


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DEPARTMENTOF ELECTRICAL &ELECTRONICS ENGINEERING

RAMAPPA ENGINEERING COLLEGE

(Approved by AICTE) (Affiliated to JNTUH) (Accredited by NBA)

HUNTER ROAD, WARANGAL. 506004

CCERTIFICATEERTIFICATE

This is to certify that the thesis/dissertation entitled NOVEL MODELING AND

DAMPING TECHNIQUE FOR HYBRID STEPPER MOTOR that is being submitted

by M. Shankar bearing R.No.08871d7514 in partial fulfillment of the award of the degree of

Master of technology in CONTROL SYSTEMS ENGINEERING to the Ramappa

Engineering College, Warangal is a record of bonafide research work carried out He

has worked under my supervision and guidance and has fulfilled the requirement for

submission for submission of the thesis. The results contained in this thesis have not

been submitted elsewhere to any other university or institute for the award of any

degree.

Internal Guide Head of the Department

CH. RAMULU K. RAMMOHAN REDDY

Asst. Professor Professor

Dept of EEE Dept of EEE

Ramappa Engineering College Ramappa Engineering College

Warangal. Warangal.


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ACKNOWLEDGEMENT

I sincerely thank my internal guide Sri. CH. RAMULU, Assistant Professor,

Department of Electrical and Electronics Engineering, Ramappa Engineering College,

Warangal, for their valuable guidance and cooperation throughout this project work. They have

been the principal motivating force behind this work and provided all kinds of possible help. I

am very much thankful for extending maximum possible helps at times of need them of EEE,

Ramappa Engineering College, Warangal, for his excellent guidance and support through out

my project work.

I express my indebtedness to. Dr.K.RAMMOHAN REDDY, Professor, Head of the

Department EEE, Ramappa Engineering College, Warangal, for generous support during

course of this work necessary facilities to carryout my project.

I am also thankful to all staff members in the Department of Electrical and Electronics

Engineering who extended all kinds of cooperation for the completion of this work.

M. SHANKAR

(08871D7514)

ABSTRACT

The previously proposed zero voltage zero current switching fullbridge pulse width modulation converters reduce the primary currentduring the freewheeling period in different ways, the primary current isreset by utilizing a dc blocking capacitor and adding a saturable inductor inthe primary, in spite of simple additional circuit this converter is not


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suitable for high power applications due to the core loss of the saturableinductor, the primary current is reset by employing an active clamp in thesecondary side. The active clamp circuit not only clamps the secondaryrectifier voltage, but also provides zero current switching condition for thelagging leg switches. Even though the reset time can be controlledoptimally by the active clamp circuit, the additional switch deteriotes the

overall efficiency due to the hard switching and increases cost andcomplexity.

However, it has several drawbacks such as narrow zero voltageswitching range, reduction of effective duty cycle, and severe voltageringing in the secondary rectifier side. In an effort to improve the zerovoltage switching full-bridge PWM converter, a number of zero-voltage andzero-current switching full-bridge PWM converters have been proposed forthe last several years. The zero voltage switching of the leading-legswitches is achieved by a similar manner as that of the conventional phaseshifted zero voltage switching full-bridge PWM converters, while the zero-

current switching of the lagging-leg switches is achieved by resetting theprimary current during the freewheeling period.

In the previous works, the ZVS operation of the ZVZCS full-bridgePWM converter has been known to be same with that of the ZVS full-bridgePWM converter, and only a few studies on the detailed analysis of the softswitching mechanism are found in the literatures. Since the ZVSmechanism of the ZVZCS full-bridge PWM converters is different from thatof the conventional ZVS full-bridge PWM converter, different designconsiderations are required.

This project proposes a novel ZVZCS FB PWM that improves thedrawbacks of the previously proposed ZVZCS FB PWM converter. Theproposed ZVZCS FB PWM converter employs a simple auxiliary circuit anduses neither lossy components nor active switches. The voltage stress ofthe secondary rectifier diode is kept at the same value with that of theconventional full bridge PWM converter, and the circulating for zero currentswitching is kept at the minimum values. The circulating current to chargeand discharge the holding capacitor is self adjusted according to the loadconditions. The diode Dc of the auxiliary circuit is softly commutated byresonance and its reverse is minimized. The principles of operation, design

considerations are illustrated and verified on 4KW, 80KHZ.


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CONTENTS

Page No.

Abstract i

Contents iii

List of figures vi

CHAPTER-1 INTRODUCTION

Motivation for the present research work..1

1.1 Literature Review..2

1.2 Outline of chapters.......3

CHAPTER-2 INTRODUCTION OF STEPPER MOTOR

2.1 Stepper motor..4

2.2 Principle of Operation of Stepper Motor.....9

2.3 Characteristics of Stepper Motor..................................9

2.4 Open loop verses Closed loop commutation11

2.5 Types Of Stepper motor...13

2.6 Theory of Stepper motor..14

2.7 Applications of Stepper Motor 15

CHAPTER-3. MATHEMATICAL MODELLING OF STEPPER MOTOR

3.1 Model description.22

3.2 Stepper Motor Library............23

3.3 Dialog box and Parameters...27

3.4 Inputs and Outputs.34

3.5 How to get Stepper motor Parameters....45

CHAPTER-4 INTRODUCTION TO MATLAB

4.1 Introduction to MATLAB47

4.2 Typical Mathematical Studies..49

4.3 What is Simulink....50

4.4 Simuink vs other M-file Programs4.5 MATLAB


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4.5.1 MATLAB Positives

4.5.2 Strengths of MATLAB

4.5.3 Interaction with Simulink

4.6 History

4.6.1 History of MATLAB4.6.2 Features of MATLAB

1) Data Manipulation and Reduction

2) Mathematics

3) Graphics & Visualization

4) Programming

5) Toolboxes

6) User interface

4.6.3 Tool boxes and Utilities

4.6.4 Advantages and Disadvantages

Advantages

Disadvantages

REFERENCES 62


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LIST OF FIGURES

Page No.

Fig 2.1 DPS approach for high-power applications using three single

-phase

PFC Converters 7

Fig 2.2 simplified DPS approach for high-power applications

8

Fig 2.3 DPS approach for high-power application using the three-

phase six- switches boost rectifier as a PFC

converter 9

Fig2.4 simplification of the DPS for high-power application by using

the VIENNA rectifier as a PFC converter

10

Fig-2.5 DPS for high-power application

10

Fig-2.6 ZVS three-level dc/dc converter with PWM control and its

wave

forms 12

Fig-2.6 (a)ZVS three-level dc/dc converter with Phase shift control

and (b)wave forms

13

Fig 2.7.1 (a)ZVS circuit,(b)Half-wave circuit,(c) Full-wave19


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Fig2.7.4 Wave forms of Zero voltage switching

20

Fig2.8.1 L-Type,M-type

21 Fig 2.8.2 Half-wave types, Full-wave types, ZCS circuits

21

Fig 2.9.(a) P W M 22

Fig 2.9.2.(a) Saw tooth &(b)PWM wave form

23

Fig 3.1 Circuit topology of the proposed zero voltage and zero current

full bridge PWM converter with simple auxiliary circuit

25

Fig 3.2.1(a),Fig 3.2(b),Fig3.2(c) Simple Auxiliary circuits

27,28

Fig 3.2.1,start up clamp circuit

29

Fig 3.3.1, Experimental circuit diagram of the proposed circuit

31

Fig3.3.2(a), Mat lab/simulink circuit connection primary transformerprimary voltage

32

Fig 3.3.2(a) Transformer primary voltage Vab, Fig 3.3.2(a)Transformer primary current Ip

-33

Fig 3.3.3(a), 3 Mat lab/simulink main circuit connection for theprevious method converter

34

Fig.3.3.3(b) Waveform for transformer secondary voltage acrossVab,Fig.3.3.3(c) Waveform for transformer secondary current acrossswitch IS2

35

Fig.3.3.3(d) Waveform for transformer secondary voltage acrossswitch VS2,Fig.3.3.3(e) Waveform voltage across charging capacitorVCC 36


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Fig3.4.(a) , Circuit topology of the proposed zero voltage and zerocurrent full bridge PWM converter with coupled output inductor

37

Fig 3.4(b),charging of ch power during powering and discharging ofch during freewheeling

38

Fig-3.4( c) operating waveforms39

fig 3.4.2(a),fig 3.4.3(b)Mode-1 & Mode 240

fig 3.4.4(c),fig 3.4.5(d)Mode-3 &Mode-4 ,fig 3.4.6(e),Mode-541-44

fig 3.4.7(f),fig 3.4.8(g),fig 3.4.9(h)Mode-6 mode-7,Mode-8

45 Fig.3.4.9(i) ZVS range for differentVH values 48

Fig .3.5.2(a) Reset of the primary current for different Ch values49

Fig-3.6(a) Experimental circuit diagram of proposed converter50

Fig-3.6(b) maximum efficiency51

Fig3.6.2(a) Mat lab/simulink circuit connection primary transformerprimary voltage

52

Fig3.6.2(b) transformer primary voltage,Fig3.6.2( c) transformerprimary current

53

Fig 3.6.3(a) Mat lab/simulink main circuit connection for the recentmethod converter and its wave forms

54

Fig 3.6.3(b)Transformer secondary voltage(100v/div),Fig3.6.3(b)Holding capacitor voltage(100v/div)

55

Fig 3.6.3(c)Gating of S2,Fig 3.6.3(d)Current of S256

Fig 3.6.3(e) Voltage of S2,Fig 3.6.3(f) Current of S157

Fig 3.6.3(g)Holding capacitor voltage(50v/div),Fig 3.6.3(g)Holding

capacitor voltage(50v/div)58


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Fig 3.6.3(h)Holding capacitor voltage(50v/div),Fig 3.6.3(i)Holdingcapacitor voltage(50v/div)

59

DECLARATION


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This is certify that B.M.Ranjith , R.No.07024D0820,has done project work under my guidance

of Mr.B.J.Rajendra vara Prasad ,technical support towards the fulfillment for the award of

degree M.Tech, with specialization power systems emphasis with High voltage Engineering

during the year-2010.

External guide

Sri. B.J.Rajendra Vara Prasad

M.Tech,

Associative professor & H.O.D

Department of EEE

Bomma Institute of Technology &Sciences

Khammam

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