Developing an educational simulation program for the PM stepping motor

A simulation program for the claw-pole permanent-magnet (PM) stepping motor was developed for use in a college sheet classroom. Based on circuit equations and equations of motion, it aims to impart to the student the ability to develop insight into the PM stepping motor, which operates on simple principles but displays sophisticated characteristics when electronically driven. The step-position error caused by cogging torque and assembly error, and measures to reduce such errors, are discussed. It is concluded that this software can provide a useful tool for practical mechatronics design.