United S ta tes Pa tent [ 1 9 1

S a ka moto
[ 1 1 ] Pa tent Number:
[ 4 5 ] Da te of Pa tent:
5 , 0 3 2 , 7 4 7
J ul . 1 6 , 1 9 9 1
[ 5 4 ] S TEPPING MOTOR
[ 7 5 ] Inv entor: Ma s a f umi S a ka moto, Gnmna , J a p a n
[ 7 3 ] A s s ig nee: J a p a n S erv o C o. , L td. , Toky o, J a p a n
[ 2 1 ] A p p l . No. : 5 8 6 , 2 4 7
[ 2 2 ] F il ed: S ep . 2 1 , 1 9 9 0
[ 3 0 ] F oreig n A p p l ic a tion Priority Da te
Ma r. 1 5 , 1 9 9 0 [ J P] J a p a n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 6 2 5 7 4
[ 5 1 ] Int. C l . 5 . . . . . . . . . . . . . . . . . . 1 . . . . . . . . . . . . . . . . . . . . . . . . . . H0 2 K 3 7 /0 0
_ [ 5 2 ] US . C l . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1 0 /4 9 R; 3 1 0 /1 6 2 ;
3 1 0 /1 8 5 ; 3 1 0 /2 5 4 ; 3 1 0 /2 6 1
[ 5 3 ] r1 6 1 0 6 1 S ea rc h . . . . . . . . . . . . . . . . . . . . . 3 1 0 /4 9 R, 1 6 2 , 1 6 3 ,
3 1 0 /7 1 6 4 , 1 7 9 , 1 3 5 , 1 9 8 , 2 5 4 , 2 6 1 , 2 6 9 , 1 8 0 , 1 8 1 ,
1 1 3 4 , 2 0 0 , 2 0 1 , 2 0 2 , 2 0 3 , 2 0 4 , 2 0 5 , 2 0 6 , 2 0 7
[ 5 6 ] Ref erenc es C ited
U. S . PA TENT DOC UMENTS
4 , 7 6 1 , 5 7 4 8 /1 9 8 8 Na ka g a wa . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1 0 /1 2
4 , 8 4 3 , 2 7 0 6 /1 9 8 9 Dijken . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1 0 /2 0 8
4 , 8 5 7 , 7 8 2 8 /1 9 8 9 Tokio et a l . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1 0 /1 2
Prima ry Ex a miner S tev en L . S tep ha n
A s s is ta nt Ex a miner-Edwa rd H. To
A ttorney , A g ent, or F irm Ni1 l es & Nil l es
[ 5 7 ] A BS TRA C T
A s tep p ing motor wherein a f ol l owing f ormul a is s a tis
? ed:
where W3 2 is a tooth width of ma g netic p ol e of a s ta tor,
1 1 2 1 s a n interv a l of a dja c ent ma g netic p ol es of the s ta tor,
W, ; is a tooth width of p ol e tooth or a rotor, y ; is a n
interv a l of a dja c ent p ol e teeth of the rotor, a nd n is a n
integ er not l es s tha n 2 .
6 C l a ims , 2 Dra wing S heets
/' 2 ' -3 2 -4
If
4 oI-Io ol l -2 l o
0 1 :2 1 ? _ 0 1 1 1 5 2 3
l l l l l L J l l l l l J
3 -Y - 3 -1 3 -2 3 -3 3 -4 3 -5 3 -6 3 -7
1 J 1
3 -8 1
US . Pa tent J ul y 1 6 , 1 9 9 1 S heet 2 of 2 5 , 0 3 2 , 7 4 7
L
On 3
1 w
2 %
a mv js l nh
2 5 V ,
WBJ L .
3
_ 6
2 _ . _ Q
2
X 2
Q WL J H
2 2
H8 4
my
3 ul na
_
8 w .
4 2
4 3
8 4 .
/ 3 W
4 S W
|G. 4 (o)
3 -5
A
! G . 4 (c )
PRIOR A RT
F
F G . 4 b)
PRIOR A RT
X I
5 , 0 3 2 , 7 4 7
1
S TEPPING MOTOR
BA C KGROUND OF THE INV ENTION
1 . F iel d of the Inv ention
This inv ention rel a tes to a s tep p ing motor a nd, more
p a rtic ul a rl y , rel a tes to a n imp rov ement of a s tep p ing
motor c omp ris ing a s ta tor ha v ing ma g netic p ol es , ea c h
of s a id ma g netic p ol es ha v ing a winding wound
thereon, a nd a rotor ha v ing p ol e teeth f a c ing s a id s ta tor
ma g netic p ol es throug h a g a p .
2 . Des c rip tion of the Prior A rt
F IG. 4 (a ) is a n ex p a nded v iew of a c onv entiona l
s tep p ing motor il l us tra ting the rel a tion p os itions of the
s ta tor a nd the rotor thereof .
Ref erenc e numera l 1 denotes a y oke of the' s ta tor.
1 -1 -1 -4 a re s ta tor' ma g netic p ol es p rov ided on the y oke
1 eq uidis ta ntl y a p a rt f rom one a nother. 2 -1 -2 -4 a re s ta
tor winding s , ea c h wound a round ea c h of s a id s ta tor
p ol es . Numera l 3 is the rotor, 3 -1 -3 -5 a re p ol e teeth
p rov ided on a n outer p erip hery of the rotor 3 , _ a nd 4 is
a g a p between the s ta tor ma g netic p ol es a nd the rotor
p ol e teeth.
In the c onv entiona l s tep p ing motor s hown in F IG.
4 (a ), a tooth width W of ea c h of the s ta tor ma g netic
p ol es 1 -1 -1 -4 is s ubs ta ntia l l y the s a me a s a tooth width
W? of ea c h of the rotor p ol e teeth 3 -1 -3 -5 f a c ing the
s ta tor ma g netic p ol es , mea s uring in a p erip hera l direc
tion thereof . The number of s ta tor ma g netic p ol es is 4 ,
i f or ex a mp l e, a nd they a re dis p os ed with a n interv a l x 1
between them. The number of rotor p ol e teeth is 5 , f or
ex a mp l e, a nd they a re dis p os ed with a n interv a l y l be
, tween them whic h is dif f erent f rom s a id interv a l x 1 . The
interv a l s x , a n, or x 2 a re mea s ured f rom the c enter of one
s ta tor ma g netic p ol e, a round whic h a c oil is wound, to
the c enter of the a dja c ent s ta tor ma g netic p ol e, a round
whic h a c oil is wound, a nd the interv a l y ; is mea s ured
f rom the c enter of one rotor p ol e to the c enter of the
a dja c ent rotor p ol e.
The s ta tor winding s 2 -1 , 2 -2 , 2 -3 , a nd 2 -4 a re div ided
into f our g roup s .
In the s tep p ing motor s hown in F IG. 4 (a ), the rotor is
rota ted s tep wis e by a n a ng l e when a n el ec tric c urrent is
p a s s edv s uc c es s iv el y throug h ea c h of the f our s ta tor
winding g roup s . The motion thereof v wil l be ex p l a ined
in deta il hereunder. F IG. 4 (a ) s hows a s ta te in whic h the
p ol e tooth 3 -1 of the rotor 3 is a l ig ned with s a id s ta tor
ma g netic p ol e 1 -1 f a c ing s a id p ol e tooth 3 -1 throug h a
g a p by a n el ec tric c urrent f l owing throug h the s ta tor
winding 2 -1 to g enera te a n el ec troma g netic f orc e on
s a id s ta tor ma g netic p ol e 1 -1 . In this s ta te, s ta tor ma g
netic p ol e 1 -2 a nd rotor p ol e tooth 3 -2 p a rtia l l y ov erl a p
to ea c h other by s ubs ta ntia l l y a ha l f of one tooth width,
s o tha t a p ortion of the p ol e tooth 3 -2 of the rotor 3
p rojec ts l ef twa rdl y of the s ta tor ma g netic p ol e 1 -2 .
S imil a rl y , the s ta tor ma g netic p ol e 1 -4 a nd the rotor
p ol e tooth 3 -5 p a rtia l l y ov erl a p ea c h other by s ubs ta n
tia l l y a ha l f of one tooth width, s o tha t a p ortion of the
p ol e tooth 3 -5 of the rotor 3 p rojec ts rig htwa rdl y of the
s ta tor ma g netic p ol e 1 -4 rig htwa rds . The s ta tor ma g
netic p ol e 1 -3 , howev er, does not ov erl a p a ny p ol e
2
the rotor rig htwa rds by one ha l f of one tooth width
until the p ol e 1 -2 a nd p ol e tooth 3 -2 a re f ul l y ov erl a p
p ing .
In order to mov e the rotor a n a dditiona l s tep rig ht
wa rds , it is s uf ? c ient tha t el ec tric c urrent f l ow throug h
the s ta tor winding 2 -3 a nd not ? ow throug h s a id s ta tor
winding 2 -2 . By doing s o, the s tep p ing motor s hown in
F IG. 4 (a ) c a n be rota ted s tep wis e ea c h time a s uc c es s iv e
s ta tor winding is energ iz ed. S uc h a driv ing s y s tem is a
' s o c a l l ed one-p ha s e ex c iting s y s tem, whic h is the ba s ic
driv ing s y s tem.
In s uc h a one-p ha s e ex c iting s y s tem, howev er, onl y
one s et of s ta tor winding s is energ iz ed a t a ny one time
whil e the rema ining s ets of s ta tor winding s a re deener
g iz ed. Outp ut, theref ore, is rel a tiv el y l ow. A c c ording l y ,
a two-p ha s e ex c iting s y s tem wherein two a dja c ent ma g
netic p ol es a re ma g netiz ed a t the s a me time ha s been
2 5
3 5
5 0
5 5
tooth of the rotor 3 . In order to mov e the rotor one s tep ,
f rom the s ta te s hown in F IG. 4 (a ), it is s uf ? c ient tha t
el ec tric c urrent f l ow throug h the s ta tor winding 2 -2 a nd
not f l ow throug h the s ta tor winding 2 -1 . By doing s o,
the s ta tor ma g netic p ol e 1 -2 a ttra c ts the p ol e tooth 3 -2
of the rotor 3 , whic h op p os es a nd ov erl a p s s ta tor ma g
netic p ol e 1 -2 by one ha l f of one tooth width, by mov ing
6 5
us ed. In the two-p ha s e ex c iting s y s tem, el ec tric c urrents
a re s ent throug h the s ta tor winding s 2 -1 a nd 2 -2 s imul ta
neous l y a s s hown in F IG. 4 (b). In this s ta te, the p ol e
tooth 3 -1 ' of the rotor 3 is a ttra c ted to the s ta tor ma g
netic p ol e l -1 a nd the p ol e tooth 3 -2 is a ttra c ted to the
s ta tor ma g netic p ol e 1 -2 s o tha t the rotor 3 s top s a t a
p os ition where a ttra c ting f orc es ex erted on both of s a id
p ol e teeth of the rotor 3 a re ba l a nc ed. The rel a tions hip
between the a ng ul a r p os ition of the rotor 3 a nd a torq ue
T of rota tion thereof is s hown in F IG. 4 (a ). A s s hown in
F IG. 4 (a ), the torq ue of rota tion T is g enera ted a s a
res ul ta nt torq ue of a torq ue of rota tion T1 g enera ted by
the s ta tor ma g netic p ol e 1 -1 a nd a torq ue of rota tion T2
g enera ted by the s ta tor ma g netic p ol e 1 -2 , whic h is
l a rg er tha n tha t obta ined in the c a s e of the one-p ha s e
ex c iting s y s tem.
Howev er, emp l oy ing the c onv entiona l s tep p ing
motor in the two-p ha s e ex c iting s y s tem a s mentioned
a bov e, the torq ues of rota tion T1 a nd T2 a re in p rop or
tion to the el ec tric c urrent v a l ue f l owing throug h ea c h
winding , a nd rel a te to the a ir g a p between the s ta tor
ma g netic p ol es a nd the rotor p ol e teeth op p os ing ea c h
other s o tha t the rotor 3 s top s a t a p os ition where the
torq ues of rota tion T1 a nd T2 a re ba l a nc ed. A c c ord
ing l y , the s top p os ition of the two-p ha s e ex c iting s y s tem
is g enera l l y not a s p rec is e a s tha t of the one-p ha s e ex c it
ing s y s tem. S p ec i? c a l l y , if the torq ues of rota tion T1 a nd
T2 a re dif f erent f rom ea c h other, the res ul ta nt torq ue T
c a n not be p a s s ed throug h the orig in of the c oordina te
in F IG. 4 (a ), s o tha t p os itioning errors oc c ur.
S UMMA RY OF THE INV ENTION
A n objec t of the p res ent inv ention is to p rov ide a
s tep p ing motor whic h el imina te the def ec ts mentioned
a bov e. '
A nother objec t of the p res ent inv ention is to p rov ide
a s tep p ing motor c omp ris ing a s ta tor ha v ing ma g netic
p ol es , eq uidis ta ntl y a p a rt f rom one a nother, ea c h of s a id
ma g netic p ol es ha v ing a winding wound thereon, a nd a
rotor ha v ing p ol e teeth, eq uidis ta ntl y a p a rt f rom one
a nother f a c ing s a id s ta tor ma g netic p ol es throug h a g a p ,
wherein the f ol l owing f ormul a is s a tis ? ed:
where Ws z is the s ta tor ma g netic p ol e tooth width. x ; is
a n interv a l of a dja c ent ma g netic p ol es of s a id s ta tor,
5 , 0 3 2 , 7 4 7
3
W, ; is the rotor p ol e tooth width, y ; is a n interv a l of
a dja c ent p ol e teeth of s a id rotor, a nd n is a n integ er not
l es s tha n 2 .
A c c ording to the s tep p ing motor of the p res ent in
v ention, torq ues of rota tion g enera ted a t the a dja c ent
s ta tor ma g netic p ol es , res p ec tiv el y , a re eq ua l to ea c h
other, s o tha t f ring ing ef f ec t oc c urs a nd the s tep a ng l e
error is reduc ed.
Thes e a nd other objec ts a nd f ea tures of the p res ent
inv ention wil l bec ome a p p a rent f rom the f ol l owing
des c rip tion in c onjunc tion with the a tta c hed dra wing s .
BRIEF DES C RIPTION OF THE DRA WINGS
F IG. 1 (a ) is a n ex p a nded v iew s howing the rel a tiv e
p os itions between a s ta tor a nd a rotor of a s tep p ing
motor; '
F IG. 1 (b) is a n enl a rg ed v iew of the s tep p ing motor
s hown in F IG. 1 (a ); '
F IG. 1 (c ) is a v iew s howing the rel a tions hip between
the a ng ul a r p os ition of the rotor a nd the torq ue of rota
tion;
F IG. 1 (a ' ), F IG. 1 (e) a nd F IG. 1 0 ) a re v iews il l us tra t
ing other embodiments of the s tep p ing motor of the
p res ent inv ention; /
F IG. 2 is a p ers p ec tiv e v iew of the rotor;
F IG. 3 is a n ex p a nded v iew s howing the rel a tiv e
p os itions between the s ta tor a nd the rotor of a f urther
embodiment of the s tep p ing motor of the p res ent inv en
tion;
F IG. 4 (a ) is a n ex p a nded v iew s howing the rel a tiv e
- p os itions between the s ta tor a nd the rotor of a c onv en
tiona l s tep p ing motor;
F IG. 4 (b) is a n a l terna te v iew of a c onv entiona l s tep
p ing motor of a two-p ha s e ex c iting s y s tem: a nd
F IG. 4 (c ) s hows the rel a tions hip between the a ng ul a r
p os ition of the rotor a nd the torq ue of rota tion.
DES C RIPTION OF THE PREF ERRED
EMBODIMENTS
A n embodiment of this inv ention wil l be ex p l a ined
with ref erenc e to F IGS . 1 (a ) throug h 1 (a ).
In F IG. 1 (a ), the p a rts of the s tep p ing motor of the
p res ent inv ention whic h a re s imil a r to c orres p onding
p a rts of the p rior a rt s tep p ing motor s hown in F IGS .
(0 ) to 4 (0 ) ha v e been g iv en c orres p onding ref erenc e
numera l s a nd need not be f urther redes c ribed.
In the s tep p ing motor of this inv ention, s ta tor ma g
netic p ol es a nd rotor p ol e teeth a re a rra ng ed s o a s to
s a tis f y the f ol l owing f ormul a ,
where W, ; is the s ta tor ma g netic p ol e tooth width, x ; is
a n interv a l of a dja c ent ma g netic p ol es of the s ta tor, W, ;
is the rotor p ol e tooth width, y ; is a n interv a l of a dja
c ent rotor p ol e teeth of s a id rotor, a nd n is a n integ er
eq ua l to or more tha n 2 .
The s tep p ing motor of the p res ent inv ention op era tes
a s f ol l ows . -
In the s tep p ing motor of the p res ent inv ention, when
el ec tric c urrents a re p a s s ed throug h s ta tor winding s 2 -1
a nd 2 -2 in c a s e of the two-p ha s e ex c iting s y s tem, the
rotor p ol e teeth 3 -1 a nd 3 -3 a re a ttra c ted to the ma g ne
tiz ed s ta tor ma g netic p ol es l -l a nd 1 -2 , res p ec tiv el y , s o
a s to op p os e the s ta tor ma g netic p ol es a s s hown in F IG.
1 (a ), both rig ht s ide f a c es of -the s ta tor ma g netic p ol e 1 -1
a nd the rotor p ol e tooth 3 -1 being a l ig ned with ea c h
other a nd both l ef t s ide f a c es of the s ta tor ma g netic p ol e
2 0
2 5
3 5
4 0
5 0
5 5
6 5
4
1 -2 a nd the rotor p ol e tooth 3 -3 being a l ig ned with ea c h
other.
A c c ording l y , in the p res ent inv ention, p rec is e p os i
tioning of the rotor c a n be inc rea s ed a t both rig ht a nd
l ef t s ide f a c es thereof .
The rel a tions hip between the a ng ul a r p os ition 0 a nd
the torq ue of rota tion T of the rotor wil l be ex p l a ined
with ref erenc e to F IGS . 1 (b) a nd 1 (a ). -
A s s hown in F IG. 1 (b), the rig ht s ide f a c es of the
s ta tor ma g netic p ol e 1 -1 a nd the rotor p ol e tooth 3 -1 a re
a l ig ned with ea c h other s o tha t the torq ue of rota tion a t
this p os ition bec omes z ero. S imil a rl y , the l ef t s ide f a c es
of the s ta tor ma g netic p ol e 1 -2 a nd the rotor p ol e tooth
3 -n+l a re a l ig ned with ea c h other s o tha t the torq ue of
rota tion a t this p os ition bec omes z ero. A c c ording l y , the
a ng ul a r p os ition of the rotor is determined ba s ic a l l y by
the a bov e rel a tions hip a nd a f f ec ted l ittl e by the dif f er
enc e between el ec tric c urrent v a l ues ? owing throug h
thev s ta tor winding s 2 -1 a nd 2 -2 , res p ec tiv el y .
F urther, the res tora tion torq ue of rota tion g enera ted
when the rotor rota tes by a v ery s ma l l a ng l e f rom the
s top p os ition is l a rg er tha n tha t in the c onv entiona l
s tep p ing motor s hown in F IG. 4 (a ). This is the res ul t of
the f ring ing ef f ec t due to the ma g netic f l ux is s ued f rom
the p ortion of the s ta tor ma g netic p ol e whic h dev ia tes
f rom the s ide f a c e of the rotor p ol e tooth, a nd ma inta ins
the s ta tor ma g netic p ol e a nd the rotor p ol e tooth in
a l ig nment with ea c h other s o tha t s top p os ition p rec i
s ion is enha nc ed.
Now, the a rra ng ement of the ma g netic p ol es a nd the
p ol e teeth s hown in F IG. 1 (a ) is c omp a red with tha t
s hown in p rior a rt F IG. 4 (a ). In F IG. 4 (a ), the tooth
width W5 1 of the s ta tor ma g netic p ol es a nd the tooth
width W, 1 of the rotor p ol e teeth a re s ubs ta ntia l l y eq ua l
to ea c h other, but the interv a l x 1 of the a dja c ent s ta tor
ma g netic p ol es a nd the interv a l y l of the a dja c ent rotor
p ol e teeth a re dif f erent f rom ea c h other. On the c on
tra ry , in F IG. 1 (a ), the s ta tor ma g netic p ol es a nd rotor
p ol e teeth a re a rra ng ed s o a s to s a tis f y the f ol l owing
f ormul a ,
Wr2 = W:2 (-_ t2 ' 1 y 2 ) (l )
where n is a n integ er not l es s tha n 2 .
The rea s on why it is the integ er not l es s tha n 2 is tha t
in the a c tua l s tep p ing motor it is nec es s a ry to des ig n the
number of rotor p ol es to be a t l ea s t twic e the number of
the s ta tor ma g netic p ol es . This enha nc es the res ol v ing
p ower by reduc ing the s tep a ng l e a nd c a rry ing out the
p os itioning of the rotor by numerous p ul s es (p rec is enes s
of p os itioning c a n be inc rea s ed if , f or ins ta nc e, where
the des ired a ng ul a r c ha ng e of p os ition is 1 8 , the motor
is p os itioned in ten s tep a ng l es of 1 . 8 ra ther tha n in one
l a rg e motor s tep a ng l e of 1 8 ). In other words , if the
tooth width of the rotor is reduc ed by (x g -ny g ) c om
p a red with the tooth width of the s ta tor a s tep p ing
motor ha v ing the op timum p rec is ion in the two-p ha s e
ex c iting s y s tem c a n be obta ined.
F IG. 1 (d) s hows a nother embodiment of the s tep p ing
motor of the p res ent inv ention wherein the f ring ing
ef f ec t in the two-p ha s e ex c iting s y s tem is obta ined a t the
outs ide f a c es of the s ta tor ma g netic p ol es 1 -1 a nd 1 -2 .
In this embodiment, when the s ta tor ma g netic p ol es
1 -1 a nd l -2 a re ma g netiz ed in the two-p ha s e ex c iting
s y s tem by el ec tric c urrents ? owing throug h the s ta tor
winding s 2 -1 a nd 2 -2 , the l ef t s ide f a c es of the s ta tor
ma g netic p ol e 1 -1 a nd the rotor p ol e tooth 3 -1 a re
a l ig ned with ea c h other a nd the rig ht s ide f a c es of the
5 , 0 3 2 , 7 4 7
5
s ta tor ma g netic p ol e 1 ' -2 a nd the rotor p ol e tooth 3
(n+1 ) a re a l ig ned with ea c h other, s o tha t the f ring ing
ef f ec t c a n' be obta ined a s in the s tep p ing motor s hown in
~ F IG. 1 (b). In this c a s e, the f ol l owing f ormul a is s a tis ? ed,
Wr3 = W:2 +(X 2 ny 2 ) (2 )
where W, 3 is rotor p ol etooth width.
Tha t is , if the rotor p ol e tooth width W, 3 is inc rea s ed
by (x 1 - ny 2 ) c omp a red with the tooth width W3 2 of the
s ta tor ma g netic p ol e, op timum p rec is ion c a n be_ ob
ta ined in the two-p ha s e' ex c iting s y s tem.
F IG. 1 (e) s hows a f urther embodiment of the p res ent
inv ention wherein rotor p ol e teeth s a tis f y ing the f ormu- '
l a s (l ) a nd (2 ) a re p rov ided.
In this embodiment, a rotor p ol e tooth ha v ing tooth
width W3 s a tis f y ing f ormul a (1 ) a nd a rotor p ol e tooth
ha v ing tooth width W, 3 s a tis f y ing the f ormul a (2 ) a re
s up erp os ed in the a x ia l direc tion of the rotor with the
c enter l ines thereof being a l ig ned. A c c ording l y , the
' rig ht s ide f a c e of the rotor p ol e tooth 3 -1 ha v ing the
tooth width W? ' a nd the l ef t s ide f a c e of the rotor p ol e
tooth ha v ing the tooth width W, 3 a re a l ig ned to the
rig ht a nd l ef t s ide f a c es of the s ta tor ma g netic p ol e 1 -1 ,
res p ec tiv el y , wherea s the l ef t s ide f a c e of the rotor p ol e
tooth 3 -(n +1 ) ha v ing the tooth width W, ; a nd the rig ht
s ide f a c e of the rotor p ol e tooth ha v ing the tooth width
-W' , 3 a re a l ig ned to the l ef t a nd rig ht s ide f a c es of the
s ta tor ma g netic p ol e 1 -2 , res p ec tiv el y , s o tha t the f ring
ing ef f ec t bec omes twic e tha t in the f ormer embodi
ments in the two-p ha s e ex c iting s y s tem. ' .
A nother embodiment of the s tep p ing motor wherein
s top p os ition p rec is ion in the one-two p ha s e ex c iting
s y s tem c a n be enha nc ed is s hown in F IG. 1 (/). In the
one-two p ha s e ex c iting s y s tem, one-p ha s e ex c iting a nd
two-p ha s e ex c iting a re rep ea ted. In other words , the
one-p ha s e ex c iting a nd the two-p ha s e ex c iting a re re
. p ea ted f or the winding s in a s eq uenc e of the winding
(2 -1 ), (2 -1 a nd 2 -2 ), (2 -2 ), (2 -2 a nd 2 -3 ), (2 -3 ), v (2 -3 a nd
2 -4 ), (2 -4 ), (2 -4 a nd 2 -1 ), a nd (2 -1 ) in F IG. 1 (a ), f or
ex a mp l e.
In this embodiment, a rotor p ol e tooth ha v ing tooth
width W, ; (or W, -3 ) s a tis f y ing f ormul a (1 ) or (2 )) a nd a
rotor p ol e tooth ha v ing tooth width W, 4 whic h is s imi
l a r to the tooth width of the s ta tor ma g netic p ol e 1 -1 a re
s up erp os ed in the a x ia l direc tion of the rotor with the
c enter l ines thereof being a l ig ned. _
In this embodiment, when onl y the s ta tor ma g netic
p ol e 1 -1 is ma g netiz ed by el ec tric c urrent f l owing
throug h onl y the s ta tor winding 2 -1 both s ide f a c es of
the rotor p ol e tooth ha v ing tooth width WM a re a l ig ned
with both s ide f a c es of the s ta tor ma g netic p ol e, bec a us e
the rotor p ol e tooth is the s a me width a s the s ta tor
ma g netic p ol e s o tha t the f ring ing ef f ec t c a n be ob
ta ined. When both s ta tor ma g netic p ol es 1 -1 a nd 1 -2 a re
ma g netiz ed by el ec tric c urrents ? owing throug h both
s ta tor winding s 2 -1 a nd 2 -2 the s ta tor ma g netic p ol e 1 -1
is a l ig ned with the rotor p ol e tooth 3 -1 ha v ing tooth
width W, ; a t the rig ht s ide f a c es thereof a nd the s ta tor
ma g netic p ol e 1 -2 is a l ig ned with the rotor p ol e tooth
3 -(n+l ) ha v ing tooth width Wrz a t the l ef t s ide f a c es
thereof s o tha t the f ring ing ef f ec t c a n be obta ined a nd of
1 5
3 0
6 0
s top p os ition p rec is ion c a n be enha nc ed in the one-two _
p ha s e ex c iting s y s tem.
F IG. 2 is a p ers p ec tiv e v iew of the rotor s hown in
1 F IGS . 1 (e) or 1 (/). Ref erenc e numera l 5 denotes a rotor
p ol e tooth ha v ing tooth width w, ;, 6 denotes a rotor
p ol e tooth ha v ing tooth width W, 3 or W, 4 . This rotor
c a n be f ormed a s a rotor of the v a ria bl e rel uc ta nc e ty p e
6 5
6
ha v ing no p erma nent ma g net, f or ex a mp l e, or of the
hy brid ty p e wherein rotors 3 a nd 3 a re p rov ided on
both s ides of a p erma nent ma g net 7 ma g netiz ed into two
p ol es in the a x ia l direc tion thereof . The rotor s hown in
F IG. 2 is of the hy brid ty p e. In this c a s e, the c enter l ines
of the p ol e teeth 5 a nd 6 of the rotors a t both s ides of the
p erma nent ma g net 7 dev ia te in the p erip hera l direc tion
by y z /z f rom ea c h other. The f ring ing ef f ec t c a n be
obta ined in the two-p ha s e ex c iting s y s tem if the tooth
widths of the s ta tor ma g netic p ol es whic h a rema g ne
tiz ed by the s a me winding s a re s et s imil a r to thos e of the
rotor p ol e teeth s a tis f y ing the f ormul a s (l ) a nd (2 ), or if
the tooth width Ws z of the s ta tor ma g netic p ol e s hown
in F IGS . 1 (d) a nd 1 (e) is s et s imil a r to the tooth width of
the rotor p ol e tooth, f or ex a mp l e.
F urther, the f ring ing ef f ec t c a n be obta ined in the
one-two p ha s e ex c iting s y s tem if the rotor a nd s ta tor a re
ex c ha ng ed in tooth width with ea c h other in the s tep
p ing motor s hown in F IG. 1 (/). S uc h a s tep p ing motor
is s hown in F IG. 3 . In the s tep p ing motor s hown in
F IG. 3 , s ta tor ma g netic p ol e p ortions ha v ing dif f erent
tooth widths rel a tiv e to ea c h other a re p rov ided on
both s ides of ea c h of the s ta tor ma g netic p ol es 8 -1 , 8 -2 ,
8 -3 , . . . , s o a s to f a c e the rotor p ol e teeth. The rotor
p ol e teeth in F IG. 3 ha v e a n op timum width two-p ha s e
ex c iting s y s tem. S p ec if ic a l l y , in F IG. 3 , tooth width
W5 4 of the l ef t p ortion of the s ta tor ma g netic p ol e 8 -1 is
the s a me a s tooth width W, 3 s a tis f y ing the f ormul a (2 ),
a nd a tooth width W5 3 of the rig ht p ortion of the s ta tor
ma g netic p ol e 8 -1 is the s a me a s tooth width Wrz s a tis f y
ing the f ormul a (1 ), wherea s tooth width W, 4 of ea c h of
the rotor p ol e teeth 3 -1 , 3 -2 , 3 -3 , . . . is identic a l to tooth
width Ws z ex p l a ined in F IGS . 1 (a ), 1 (b), 1 (a ' ), 1 (e) a nd
1 (/).
When the s ta tor ma g netic p ol es 8 -1 a nd 8 -2 a re ma g
netiz ed in the two-p ha s e ex c iting s y s tem the f ring ing
ef f ec t c a n be obta ined a t the l ef t s ide of the rotor p ol e
tooth 3 -1 a nd the rig ht s ide of the rotor p ol e tooth 3 -2
with res p ec t to the s ta tor ma g netic p ol e 8 -1 , a s wel l a s
a t the rig ht s ide of the rotor p ol e tooth 3 -4 a nd the l ef t
s ide of the rotor p ol e tooth 3 -5 with res p ec t to the s ta tor
ma g netic p ol e 8 -2 , s o tha t hig h p rec is ion p os itioning c a n
be c a rried out in the two-p ha s e ex c iting s y s tem. F ur
ther, in the s tep p ing motor of the p res ent inv ention the
c ons truc tion bec omes s imp l e a nd the ma nuf a c turing
c os t c a n be reduc ed bec a us e it is not nec es s a ry to s up er
p os e the rotor p ol e teeth a s s hown in F IG. 1 (e) or 1 (/),
onc e the p res s mol d is p rep a red f or the s ta tor.
A s s ta ted a bov e, a c c ording to the p res ent inv ention
p rec is e p os itioning in the two-p ha s e ex c iting s y s tem or
the one-two p ha s e ex c iting s y s tem c a n be enha nc ed by
this v ery s imp l e c ons truc tion.
The p rec is enes s of the s tep a ng l e 1 . 8 in the s tep p ing
motor of the p res ent inv ention s hown in F IG. 1 (a ) be
c omes -_ * -l . 5 % , wherea s in the c onv entiona l s tep p ing
motor s hown in F IG. 4 (a ) bec omes 1 7 % . It is p ref era
bl e tha t the v a l ue of n in s a id f ormul a s (l ) a nd (2 ) is 2 to
1 0 p ra c tic a l l y , a nd more s p ec i? c a l l y , n is a bout 6 when
the s tep a ng l e is 3 . 6 a nd a bout 7 when the s tep a ng l e is
0 . 9 , f or ex a mp l e.
A c c ording to the p res ent inv ention, p rec is e p os ition
ing in the two-p ha s e ex c iting s y s tem c a n be inc rea s ed
a nd the error in the s tep a ng l e of the s tep p ing motor c a n
be reduc ed by the s tep p ing motor c ons truc tion of the
p res ent inv ention.
5 , 0 3 2 , 7 4 7
, 7 .
It s houl d be unders tood tha t embodiments of the
p res ent inv ention not dis c l os ed herein a re f ul l y intended
to be within the s c op e of the c l a ims .
Wha t is c l a imed is :
1 . In a s tep p ing motor c omp ris ing a s ta tor ha v ing
ma g netic p ol es , eq uidis ta ntl y a p a rt f rom one a nother,
ea c h of s a id ma g netic p ol es ha v ing a winding wound
thereon, a nd a rotor ha v ing p ol e teeth, eq uidis ta ntl y
a p a rt f rom one a nother, f a c ing s a id s ta tor ma g netic
p ol es throug h a g a p , the imp rov ement c ha ra c teriz ed in
tha t the f ol l owing f ormul a is s a tis ? ed:
where W5 ; is s ta tor ma g netic p ol e tooth width, x ; is a n
interv a l of a dja c ent s ta tor ma g netic p ol es , W, ; is rotor
p ol e tooth width, y ; is a n interv a l of a dja c ent rotor p ol e
teeth, a nd n is a n integ er not l es s tha n 2 .
* 2 . In a s tep p ing motor c omp ris ing a s ta tor ha v ing
ma g netic p ol es , eq uidis ta ntl y a p a rt f rom one a nother,
ea c h of s a id ma g netic p ol es ha v e a winding wound
thereon, a nd a rotor ha v ing p ol e teeth, eq uidis ta ntl y
a p a rt f rom one a nother, f a c ing s a id s ta tor ma g netic
p ol es throug h a g a p , the imp rov ement c ha ra c teriz ed in
tha t the f ol l owing f ormul a is s a tis ? ed:
where W3 2 is s ta tor ma g netic p ol e tooth width, x ; is a n
interv a l of a dja c ent s ta tor ma g netic p ol es , W, ; is rotor
1 p ol e tooth width, y ; is a n interv a l of a dja c ent rotor p ol e
teeth, a nd n is a n integ er not l es s tha n 2 .
3 . In a s tep p ing motor c omp ris ing a s ta tor ha v ing
ma g netic p ol es , eq uidis ta ntl y a p a rt f rom one a nother,
ea c h of s a id ma g netic p ol es ha v e a winding wound
thereon, a nd a rotor ha v ing p ol e teeth, eq uidis ta ntl y
a p a rt f rom one a nother, f a c ing s a id s ta tor ma g netic
p ol es throug h a g a p , the imp rov ement c ha ra c teriz ed by
a rotor wherein the f ol l owing f ormul a is s a tis ? ed:
Wr2 = Ws l (- 2 " y 2 ):
a nd a rotor wherein the f ol l owing f ormul a is s a tis ? ed:
WrZ = W:2 +(X 2 ? y z ),
where Wx z is s ta tor ma g netic p ol e tooth width, x ; is a n
interv a l of a dja c ent s ta tor ma g netic p ol es , W, ; is rotor
p ol e tooth width of s a id rotors , y ; is a n interv a l of a dja
c ent rotor p ol e teeth of s a id rotors , a nd n is a n integ er
not l es s tha n 2 , s a id two rotors a re s up erp os ed on ea c h
2 0
2 5
3 5
4 5
5 5
6 5
8
other in a n a x ia l direc tion thereof with the c enters of the
teeth of s a id rotors being a l ig ned with ea c h other.
4 . In a s tep p ing motor c omp ris ing a s ta tor ha v ing
ma g netic p ol es , eq uidis ta ntl y a p a rt f rom one a nother,
ea c h of s a id ma g netic p ol es ha v e a winding wound
thereon, a nd a rotor ha v ing p ol e teeth, eq uidis ta ntl y
a p a rt f rom one a nother, f a c ing s a id s ta tor ma g netic
p ol es throug h a g a p , the imp rov ement c ha ra c teriz ed in
tha t ea c h ma g netic p ol e of s a id s ta tor ha s a t l ea s t one s et
of tooth width p ortions s a tis f y ing the f ol l owing f ormu
l a s , res p ec tiv el y :
where W5 ; is s ta tor ma g netic p ol e tooth width, x ; is a n
interv a l of a dja c ent s ta tor ma g netic p ol es , W, 2 is rotor
p ol e tooth width, y ; is a n interv a l of a dja c ent rotor p ol e
teeth, a nd n is a n integ er not l es s tha n 2 .
5 . In a s tep p ing motor c omp ris ing a s ta tor ha v ing
ma g netic p ol es , eq uidis ta ntl y a p a rt f rom one a nother,
ea c h of s a id ma g netic p ol es ha v e a winding wound
thereon, a nd a rotor ha v ing p ol e teeth, eq uidis ta ntl y
a p a rt f rom one a nother, f a c ing s a id s ta tor ma g netic
p ol es throug h a g a p , the imp rov ement c ha ra c teriz ed in
tha t s a id s ta tor ha s a t l ea s t one ma g netic p ol e s a tis f y ing
the f ol l owing f ormul a :
a nd ha s other ma g netic p ol es ea c h ha v ing a tooth width
of w, ;, where W3 ; is s ta tor ma g netic p ol e tooth width,
x ; is a n interv a l of a dja c ent s ta tor ma g netic p ol es , W, ; is
rotor p ol e tooth width, y ; is a n interv a l of a dja c ent
rotor p ol e teeth, a nd n is a n integ er not l es s tha n 2 .
6 . In a s tep p ing motor c omp ris ing a s ta tor ha v ing
ma g netic p ol es , eq uidis ta ntl y a p a rt f rom one a nother,
ea c h of s a id ma g netic p ol es ha v e a winding wound
thereon, a nd a rotor ha v ing p ol e teeth, eq uidis ta ntl y
a p a rt f rom . one a nother, f a c ing s a id s ta tor ma g netic
p ol es throug h a g a p , the imp rov ement c ha ra c teriz ed in
tha t s a id s ta tor ha s a t l ea s t one ma g netic p ol e s a tis f y ing
the f ol l owing f ormul a :
a nd ha s other ma g netic p ol es ea c h ha v ing a tooth width
of W, ;, where W5 2 is s ta tor ma g netic p ol e tooth width,
x ; is a n interv a l of a dja c ent s ta tor ma g netic p ol es , W, 2 is
rotor p ol e tooth width, y ; is a n interv a l of a dja c ent
rotor p ol e teeth, a nd n is a n integ er not l es s tha n 2 .
i # i i