Torque ripples in stepping motor driven systems

Stepping motor operation is characterized by torque ripples. In this paper it is shown these torque ripples are caused by both the stepping motor drive algorithms and the toothed construction of rotor and stator of the studied hybrid stepping motors. These torque ripples are analyzed, discussed and measured. The torque ripples are measured in the complete operating range of the motor and depicted in this paper for full- half- and micro-stepping. By doing this, the paper provides insight in the vibrating behavior of a stepping motor driven system and possible solutions to overcome this are placed in the right perspective.