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 ENGINEERING
By
M.SHANKAR
R.No: 08871D7514

Under the esteemed guidance of

CH. RAMULU
Assistant Professor.

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

RAMAPPA ENGINEERING COLLEGE
(Approved by AICTE) (Affiliated to JNTUH) (Accredited by NBA)
HUNTER ROAD, WARANGAL. 506004
2009-2010
 DEPARTMENT OF ELECTRICAL &ELECTRONICS ENGINEERING
RAMAPPA ENGINEERING COLLEGE
(Approved by AICTE) (Affiliated to JNTUH) (Accredited by NBA)
HUNTER ROAD, WARANGAL. 506004

CERTIFICATE

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.
 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 full
bridge pulse width modulation converters reduce the primary current
during the freewheeling period in different ways, the primary current is
reset by utilizing a dc blocking capacitor and adding a saturable inductor in
the primary, in spite of simple additional circuit this converter is not
suitable for high power applications due to the core loss of the saturable
inductor, the primary current is reset by employing an active clamp in the
secondary side. The active clamp circuit not only clamps the secondary
rectifier voltage, but also provides zero current switching condition for the
lagging leg switches. Even though the reset time can be controlled
optimally by the active clamp circuit, the additional switch deteriotes the
overall efficiency due to the hard switching and increases cost and
complexity.

However, it has several drawbacks such as narrow zero voltage

switching range, reduction of effective duty cycle, and severe voltage
ringing in the secondary rectifier side. In an effort to improve the zero
voltage switching full-bridge PWM converter, a number of zero-voltage and
zero-current switching full-bridge PWM converters have been proposed for
the last several years. The zero voltage switching of the leading-leg
switches is achieved by a similar manner as that of the conventional phase
shifted zero voltage switching full-bridge PWM converters, while the zero-
current switching of the lagging-leg switches is achieved by resetting the
primary current during the freewheeling period.

In the previous works, the ZVS operation of the ZVZCS full-bridge

PWM converter has been known to be same with that of the ZVS full-bridge
PWM converter, and only a few studies on the detailed analysis of the soft
switching mechanism are found in the literatures. Since the ZVS
mechanism of the ZVZCS full-bridge PWM converters is different from that
of the conventional ZVS full-bridge PWM converter, different design
considerations are required.

This project proposes a novel ZVZCS FB PWM that improves the

drawbacks of the previously proposed ZVZCS FB PWM converter. The
proposed ZVZCS FB PWM converter employs a simple auxiliary circuit and
uses neither lossy components nor active switches. The voltage stress of
the secondary rectifier diode is kept at the same value with that of the
conventional full bridge PWM converter, and the circulating for zero current
switching is kept at the minimum values. The circulating current to charge
and discharge the holding capacitor is self adjusted according to the load
conditions. The diode Dc of the auxiliary circuit is softly commutated by
resonance and its reverse is minimized. The principles of operation, design
considerations are illustrated and verified on 4KW, 80KHZ.
 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 commutation………………………………11
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 MATLAB………………………………………………………47
4.2 Typical Mathematical Studies………………………………………………..49
4.3 What is Simulink……………………………………………………………....50
4.4 Simuink vs other M-file Programs
4.5 MATLAB
 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 MATLAB
4.6.2 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
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-wave

19
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 transformer

primary 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 the

previous method converter
34

Fig.3.3.3(b) Waveform for transformer secondary voltage across

Vab,Fig.3.3.3(c) Waveform for transformer secondary current across
switch IS2
35

Fig.3.3.3(d) Waveform for transformer secondary voltage across

switch VS2,Fig.3.3.3(e) Waveform voltage across charging capacitor
VCC 36
Fig3.4.(a) , Circuit topology of the proposed zero voltage and zero
current full bridge PWM converter with coupled output inductor
37

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

ch during freewheeling
38

Fig-3.4( c) operating waveforms

39

fig 3.4.2(a),fig 3.4.3(b)Mode-1 & Mode 2

40

fig 3.4.4(c),fig 3.4.5(d)Mode-3 &Mode-4 ,fig 3.4.6(e),Mode-5

41-44

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 different
VH values 48
Fig .3.5.2(a) Reset of the primary current for different Ch values
49

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

50

Fig-3.6(b) maximum efficiency

51

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

primary voltage
52

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

primary current
53

Fig 3.6.3(a) Mat lab/simulink main circuit connection for the recent
method converter and its wave forms
54

Fig 3.6.3(b)Transformer secondary voltage(100v/div),Fig

3.6.3(b)Holding capacitor voltage(100v/div)
55

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

56

Fig 3.6.3(e) Voltage of S2,Fig 3.6.3(f) Current of S1

57

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

capacitor voltage(50v/div)
58
Fig 3.6.3(h)Holding capacitor voltage(50v/div),Fig 3.6.3(i)Holding
capacitor voltage(50v/div)
59

DECLARATION
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 &Science’s
Khammam