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Abstract—Low-cost motor drives are being sought for efficiency as well as delivering higher efficiency over the
high-volume energy-efficient home appliances. Key to the re- entire speed range and, hence, the interest in variable-speed
alization of such low-cost motor drives is the reduction of the motor drives for applications that have traditionally remained
power electronic converter to the barest in terms of its compo-
nents, particularly the active devices, finding the motor with the constant speed or with a few set speeds in home appliances.
least complexity for manufacturing and a controller that can While a variable-speed universal motor drive may become
extract the desired performance from the machine and converter acceptable in some appliances, the industry wants to move
combination. These and other factors such as self-starting, speed away from brush and commutator-based machines for reasons
control over a wide range, and, most of all, the crowning as- of reliability, safety, longevity of operation, acoustic noise, and
pect of four-quadrant operation with a bare minimum number
of controllable switches remain as formidable challenges for overload capability for longer durations. Hence, the search for
low-cost motor drive realization. An innovative four-quadrant a simpler and lower cost four-quadrant brushless motor drive
switched reluctance motor (SRM) drive with only one controllable has intensified with the prospective oncoming variable speed
switch is realized in this paper, for the first time, in the opinion applications in home appliances and hand tools contributed to
of the authors. The motor drive is realized using a two-phase by both federal regulations and competition among appliance
machine and a single controllable switch converter. The theory
and operation of the proposed four-quadrant SRM drive with manufacturers to introduce newer features and enhance system
the proposed control algorithm for its realization are described. efficiency.
The motor drive is modeled, simulated, and analyzed to verify its Many solutions have been proposed for low-cost motor
feasibility for self-starting, speed control, and for four-quadrant drives and most of them revolve around the use of single-phase
operation, and the simulation results are presented. Experimental
switched reluctance motor (SRM) with parking permanent
results confirm the validity of the proposed control algorithm for
four-quadrant control of the SRM drive. The focus of the paper magnets on the stator and two-switch-based asymmetric con-
is mainly directed toward the control algorithm for realizing the verter, or two-phase SRM with three-switch-based converter
four-quadrant operation of the two-phase SRM drive with a single and single-phase permanent-magnet brushless dc motor drives
controllable switch converter. with four-controllable-switch-based converter, to mention a
Index Terms—Motor drives control, power electronics, switched few [1], and other variations in the literature too numerous to
reluctance motor (SRM) drives. mention here. Use of single-phase and three-phase induction
motors with four-controllable-switch-based inverters has been
I. PROPOSED MOTOR DRIVE FOR FOUR-QUADRANT OPERATION attempted. Many of these solutions, though providing highly
desirable performance, are yet to be embraced as their cost is
with a one-controllable-switch universal motor drive for versity, Blacksburg. Power electronics and controller were
one-quadrant application in many low-performance vari- packed within 3 in 3 in 1.5 in with standard off-the-shelf
able-speed applications. components for a 1-hp motor drive, though versions under
4) A two-controllable-switch-based converter (which seems development are expected to have a volume reduction of 50%
to have gained some traction) is still expensive as com- in the packaging. While such packaging may be of critical
pared to a one-controllable-switch-based brush dc or ac importance in commercial and industrial applications, this
universal motor drive system with limited one-quadrant will not be pursued in detail, as imparting four-quadrant op-
variable-speed application. erational capability with this converter-based drive system
5) Though the proposed brushless and commutatorless so- is considered much more important. It is highly significant
lutions as compared to brush-type machines in appliances as it bestows for the first time a four-quadrant operation on
are welcome, being brushless alone is not the determining a brushless motor drive with only a one-controllable-switch
factor in the selection of a motor or a motor drive in the converter. This alters the current state of art, as there is no other
low-cost applications which is a key fact of life in this in- motor drive which can have a four-quadrant operation with
dustry segment. that bare minimum of controllable-switch-based converter. For
6) In high-speed ( 20 000 r/min) motor drives, the per- the first time, such a development points to the realization of
manent-magnet brushless machines are believed not to the lowest cost brushless motor drive that may be ideal for
provide low-cost solutions even though there may be a many applications. Some of these applications have eluded
slight efficiency advantage in these machines, if not at introduction of variable-speed and four-quadrant operation due
high speeds, but certainly at low and medium speeds. to the higher cost of the total motor drive package. Note that
In appliances, higher efficiency is desirable but cost-ef- a conventional four-quadrant SRM drive requires a minimum
fective and high-efficiency solutions are much more of two or more controllable switches and, as well, so do brush
desirable and acceptable is a fact to be noted (as a few dc and ac universal motor drives. Therefore, the key aspect of
point difference in percent efficiency is not a significant four-quadrant operability with a wide variable-speed control
factor). will be the focus of this paper. It is believed with this fully
7) In many instances, four-quadrant drive operation is not nec- four-quadrant and variable-speed operation incorporated in
essary but will be an important feature for future product the single-controllable-switch-based SRM drive, a low-cost
development of appliances. Some of the proposed conven- brushless variable-speed motor drive has been realized for the
tionalthree-phaseortwo-phaseacandSRMdrivessolutions first time in the literature.
though provide a four-quadrant operation, the cost associ- A two-phase SRM, one-controllable-switch converter, and a
ated with the converter/inverter is high. digital signal processor (DSP) controller are the building blocks
Anchored with these industry inputs, the authors have identi- of the low-cost motor drive considered in this paper. The proposed
fied the following common features of low-cost motor drives control algorithms for starting, four-quadrant operation and
required for high-volume applications: variable-speed control of an SRM drive with single controllable
switch are the key to the realization of the low-cost motor drive.
1) brushless motor (can be ac or permanent-magnet brush- The proposed system is modeled, simulated, and analyzed for
less dc or SRMs); validating the proposed control algorithms. Experimental results
2) high-speed operational capability; fromalaboratoryprototypeconfirmthefeasibilityoftheproposed
3) high-efficiency operability over a wide speed range; low-cost motor drive four-quadrant control and operation.
4) four-quadrant operational capability; This paper is organized as follows. Section II describes the con-
5) minimum number of controllable switches (preferably sidered SRM and its features, and also the converter and its opera-
less than two) to reduce the cost of power electronic tion with the SRM. Section III gives the realization of self-starting
circuit as well as to minimize the cost of the attendant of the motor drive without parking magnets. Section IV details
circuits such as gate drives and logic power supplies and the control algorithm for the realization of a four-quadrant motor
also to minimize the volume of heat sinks; drive. Based on these developments, the complete drive system,
6) rotor position sensor-free operation; its modeling, simulation, and analysis are presented in Sections V
7) smallest footprint for controller and converter layout to and VI. Experimental results are presented both for self-starting
reduce the volume, weight, and cost of the power elec- and for four-quadrant operation in Section VII. Conclusions are
tronics and controller. drawn and presented in Section VIII.
To address these issues to the fullest possible level, some
solutions have already been proposed even though they have II. CONSIDERED MACHINE AND POWER CONVERTER
not come into the literature. A single-controllable-switch-based
Rationale for the selection of the electric machine and a
brushless motor drive solution is highly desirable for many of
description of the one-controllable-switch-based converter are
the low-cost applications and such a set of solutions existed
given in this section.
[2], [3] prior to this publication for SRM drive systems. One of
the variations can be found in [4]. A number of single-quadrant
SRM drives with single-switch power converter topologies A. Machine
have been under research and development for more than The machine selection was based on factors such as the fol-
four years at Virginia Polytechnic Institute and State Uni- lowing [1], [10]:
KRISHNAN et al.: THEORY AND OPERATION OF A FOUR-QUADRANT SRM DRIVE 1049
and to the capacitor depending on the charge state of the capac- moves from the aligned position toward the unaligned position.
itor. This results in the auxiliary winding producing a torque. During this time, the kinetic energy in the machine is transferred
That torque may be enough to move the rotor poles away from to the dc-link source via the auxiliary winding. Note that the ma-
their aligned position with the main stator poles. When the main chine is still in the CW direction of rotation but its speed rapidly
winding current decays, note that the auxiliary capacitor sup- decreases toward standstill.
plies the auxiliary winding with the current, resulting in some
positive torque production by the auxiliary phase winding. B. Counter Clockwise (CCW) Direction Motoring and
However, the starting problem will persist if the rotor poles Regeneration
align with the stator main poles exactly and the starting torque
When the speed reversal command is obtained, the control
produced by the auxiliary winding is insufficient to turn the rotor
goes into the CW regeneration mode as explained in the para-
poles away from the aligned position with the main poles. In that
graph above. That brings the rotor to the standstill position. In-
case, multiple turn-on and turn-off of the controllable switch
stead of waiting for the absolute standstill position, continuous
builds a larger current in the main winding and, also, the auxil-
energization of the main phase is attempted during the time rotor
iary winding, resulting in starting of the machine. The number
poles move from aligned to unaligned rotor positions. This not
of multiple turn-on and turn-off signals is determined by many
only slows the rotor to standstill rapidly but also provides an op-
factors including the thermal capability of the machine as well
portunity for reversal if the rotor poles come to a stop between
as by the way the two machine phases are arranged spatially with
the main and auxiliary poles. Therefore, there is the necessity for
respect to each other or how the rotor is constructed so that there
determining the instant when the rotor of the machine is ideally
is an overlap of torque characteristics of phase windings over
positioned for reversal. Hall-effect sensors are used to ascertain
the rotor position. Invariably, all these factors are influenced by
the rotor position and speed and they are located at the main
the intended application and its starting torque requirement. It is
winding and auxiliary winding. From the Hall sensor outputs,
critical to ensure that the desired direction of rotation is enforced
it is determined whether the machine has reversed its direction.
quickly when single-pulse or multiple-pulse starting is applied,
Crucial to this is finding the aligned rotor position of the rotor
so that the rotor does not traverse noticeably over a significant
poles with the auxiliary poles. This is the ideal moment for en-
angular distance in the unintended direction.
ergizing the main stator phase so that the machine can start mo-
toring in the CCW direction.
IV. FOUR-QUADRANT CONTROL AND OPERATION OF THE 1) Delay Time: After sensing the unaligned position, the
CONSIDERED SRM DRIVE pulsewidth-modulation (PWM) signal is cleared and a reversal
A large amount of literature [1], [11]–[14] exists on four- start pulse can be implemented. Sufficient time for the reversal
quadrant control of conventional SRM drives with high degree start pulse, which may be named the delay time, is required
of freedom in the machine converter , and none exists for SRM due to the fact that the rotor does not move from its aligned
drives with a single-controllable-switch power converter. This position with the stator main poles as it does not produce any
is due to the absence of the converter itself on the scene so far. torque at this detent position. Best position to insert the start
Significant features peculiar to this converter are limited direct pulse for reverse rotation is when the rotor poles are in between
current control of the main phase and its heavy dependence on the main stator poles and the auxiliary stator poles. The way to
the auxiliary phase winding and auxiliary capacitor state. Like- get the rotor in to such a position is achieved by the procedure
wise, the auxiliary winding current control is dependent on the described below.
duty cycle of the controllable switch, motor speed and load, The start pulse for reverse rotation consists of one turn-on
and state of the auxiliary capacitor. These constraints have to switch signal and one turn-off switch signal. When the turn-on
be managed very tightly in order to implement a four-quadrant signal is given to the controllable switch, current flows into the
variable-speed operation in this motor drive. It is discussed in main winding. During turn-off of the controllable switch, cur-
this section. rent in the main winding flows into the auxiliary winding after
charging the capacitor to a value equal to the dc-link voltage.
A. Clockwise (CW) Motoring and Regeneration When the controllable switch is again turned on, the current in
the auxiliary winding goes to the dc-link source, resulting in
In order to achieve motoring in the forward direction, for ex- its prolongation. With the increase of auxiliary current by this
ample, the CW direction, the stator winding should be excited process of charging and discharging from the main winding,
when the rotor is moving from the unaligned to the aligned posi- the rotor starts moving from its aligned position. The energy
tion. Assuming that the rotor poles reach the unaligned position in the capacitor will increase the current through the auxiliary
(almost in alignment with the auxiliary stator poles) of the main winding, thus producing a torque moving the rotor poles toward
phase winding and such a position is detected, the main phase the stator auxiliary pole pair and eventually aligning the rotor
winding is energized. When the rotor poles have reached near with the auxiliary poles and enabling rotation in the CCW di-
he aligned position with the main poles, the current in the main rection of rotation.
phase is turned off. The machine spins then, for example, in the
CW direction and, during this time, the main winding is ener-
V. DRIVE SYSTEM CONTROL
gized as the rotor poles move from the auxiliary stator poles to
the main stator poles. The regenerative braking, on the contrary, With the understanding gained over the discussion of the
is achieved by excitation of the stator windings when the rotor self-starting and four-quadrant control, the drive system control
KRISHNAN et al.: THEORY AND OPERATION OF A FOUR-QUADRANT SRM DRIVE 1051
schematic is derived as in the following and shown in Fig. 2. If speed command indicates regenerative braking has to be
The drive system senses current and two discrete rotor posi- performed then it takes a different route. If the rotor speed is
tions, spaced 45 apart. A DSP accepts the Hall position signals above a certain set low speed, only the PI current controller is in
and the analog current signal. From the discrete rotor position force and nothing is tampered with. If the rotor speed is lower
signals, rotor speed is estimated. The analog current signal is than the set low-speed threshold, then the controller gives a re-
filtered before it is fed to the DSP where it is digitized through versal pulse to act upon directly and circumvents the PI current
its analog-to-digital converter (ADC). controller during this period. Once the speed is reversed, then
A startup signal is issued for the machine to activate its speed automatically the controller goes into motoring mode in the op-
command. Depending on the speed command, which consists of posite direction and the PI current controller comes into play
the magnitude and direction, the operational mode corresponding in dynamically determining and controlling the PWM signal
to motoring or braking is evaluated. If it is motoring mode, the which serves as the gate control signal.
speed error is found from the difference of the speed and its com- The software implementation of the control algorithm is
mand which then is processed by thespeed controller, in this case a shown in Fig. 3 at macrolevel. With the explanations provided
proportional plus integral (PI) controller. Then, the output of the in this and previous sections, this figure becomes self-explana-
speed controller forms the current command. The current com- tory. Note that SSSRM stands for single-switch SRM drive
mand is enforced by means of current feedback control having a system.
current controller which again is a PI type. The output of the cur-
rent controller is a control signal that is proportional to the duty A. Four-Quadrant Control Algorithm
cycle of the controllable switch in the converter. This is updated The flowchart for four-quadrant control implementation is
for every carrier period in the PWM control. shown in Fig. 4. The purpose of the quadrant controller is to set
1052 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 41, NO. 4, JULY/AUGUST 2005
Q1 OFF
(9)
(10)
(11)
(12)
(13)
(14)
Fig. 10. Four-quadrant speed control performance of the drive system (scale:
= = =
speed and its command 5000 r/min/div; current 10 A/div; time 5 s/div).
VIII. CONCLUSION
For the first time, a two-phase SRM drive with a single con-
trollable switch was presented for four-quadrant operation and
control. The proposed system and its control structure for four-
quadrant operation is validated with simulation and proven with
experimental work. The invention is believed to be original.
The invention is fundamental as it changes the paradigm of
low-cost motor drives. The presented system is considered to
be the lowest cost four-quadrant motor drive system with the
self-starting feature. The position-sensorless control has been
Fig. 8. (a) Multiple pulses for self-starting from standstill at aligned position.
(b) PWM signals for motoring operation to 5 000 r/min (scale: motor speed = incorporated in this motor drive for one-quadrant operation [9].
=
2000 rpm/div, and time 200 ms/div). It has immense use in appliance applications.
KRISHNAN et al.: THEORY AND OPERATION OF A FOUR-QUADRANT SRM DRIVE 1055