步進馬達具有結構簡單、控制容易及定位精度高等優點，廣泛應用於自動化設備與精密定位系統。其中，頓轉轉矩（Detent Torque）為步進馬達在未通電狀態下所產生的轉矩，其特性會影響馬達的定位能力與運轉表現。然而，頓轉轉矩與永磁馬達齒槽轉矩（Cogging Torque）皆源自於轉子與定子間磁阻隨位置變化所產生的轉矩，因此兩者在特性與名稱上容易混淆。基於此，本研究以兩相混合型步進馬達為研究對象，釐清齒槽轉矩與頓轉轉矩特性差異，並探討頓轉轉矩週期特性與主要諧波成分。
本研究首先透過電機極對數比（Pole Ratio）概念，建立齒槽轉矩與頓轉轉矩分類方式，並針對既有量測平台所取得正、逆轉轉矩資料進行整理與處理，以取得頓轉轉矩波形，進一步以 Two-Port 形式描述量測系統與數學模型之間的對應關係。此外，本研究利用 Ansys Maxwell 建立有限元素模型，並與理論分析及實際量測結果進行比較。

Stepper motors are widely used in automation equipment and precision positioning systems because of their simple structure,straightforward control, and high positioning accuracy. This study investigates the detent torque of a two-phase hybrid stepper motor to clarify the differences between detent torque and cogging torque and analyze the periodic characteristics and dominant harmonic components of detent torque.
The pole ratio concept is introduced to describe the spatial relationship between the rotor and stator magnetic fields and to establish a classification framework for these two torque characteristics. The periodic characteristics of detent torque are further analyzed based on the motor tooth configuration, tooth-pitch angle, and Fourier representation. Clockwise (CW) and counterclockwise (CCW) torque data obtained from an existing measurement platform are processed to extract the detent torque waveform, while a two-port representation is used to describe the relationship between the measurement system and the mathematical model. In addition, a finite-element model is established in ANSYS Maxwell and compared with the theoretical and experimental results.
The results show that the fourth harmonic is the dominant component in both the measured and simulated detent torque responses. The finding demonstrate that the proposed analysis framework can effectively characterize the primary periodic behavior of detent torque and establish a correspondence among theoretical analysis, finite-element simulation, and experimental measurements.

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