The development of stepper motors has primarily gone through the following important stages:
In the 19th century, stepper motors originated from research in magnetism. Principle models based on electromagnetism emerged between 1830 and 1860, and they were first used in electrode conveying mechanisms for argon arc lamps around the 1870s, which is considered the earliest form of stepper motors. In the early 20th century, advancements in electronic technology promoted their application in industrial and scientific fields. Early motors consisted of magnets, coils, and rotors, achieving rotor stepping motion by changing the direction of electric current.
In 1918, American inventor Frank W. Wood’s patent for five sets of stator coils laid the foundation for stepper motor development, which was approved in 1922. In 1919, C.L. Walker invented the reactive stepper motor with a stator-rotor tooth structure, obtaining a British patent. In 1920, C. B Chicken and J. H Tain’s "sandwich structure" design was granted a U.S. patent. In the 1930s, the British Navy applied reactive stepper motors to remote control systems for warship guns and cannon pointing systems. During World War II, U.S. Navy ships were also widely equipped with them.
In 1952, General Electric (GE) in the U.S. developed low-speed synchronous motors for adjustable transformers and rheostats, which were later acquired by Superior Electric. In 1961, Snowden and Madsen improved upon synchronous motors by controlling speed through changing the frequency of input signals, forming the hybrid stepper motor. Meanwhile, Sigma Instruments also introduced a similar design, and eventually, the 1.8-degree HB (Hybrid) stepper motor took shape.
In the mid-20th century, the development of semiconductor technology and microelectronics brought significant innovations. The introduction of stepper drivers and microprocessor control systems improved the performance and precision of stepper motors. In the 1960s, rare-earth cobalt alloy magnetic steels emerged. Although costly, they brought technological breakthroughs. The invention of semiconductor metal-oxide-semiconductor (MOS) devices in 1964, integrated circuits in 1965, and the practicalization of large-scale integration (LSI) in 1967 catalyzed the maturity of drive circuits and expanded application fields.
In the early 1970s, stepper motor technology gained academic attention, and the first IMCSD conference was held at the University of Illinois, U.S. After 1977, two-phase stepper motors gradually applied to floppy disk drives and hard disks. The stepper motor designed by Don MacLeod for AMP stood out in competition, with Japan’s Tamagawa Company acting as an OEM to enter the industry, and the U.S. Seagate Company also started through this. In the early 1980s, HB stepper motors broke through as the main force in the stepper motor industry, taking computer peripheral devices as the key application. The development of neodymium alloy magnetic steels in 1982 reduced the cost of rare-earth magnets, promoting widespread use of stepper motors.
In the 21st century, with the popularization of digital control technology, digital stepper motors have replaced traditional analog ones, featuring higher precision, more stable performance, and lower energy consumption. Meanwhile, with the development of artificial intelligence and IoT technologies, stepper motors have become more intelligent and networked. They also tend to integrate multiple functions, combining sensors, actuators, and communication interfaces to meet needs in different industries and scenarios.
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