Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, 18-21 August 2005

THE SIMULATION STUDY FOR SWITCHED RELUCTANCE MOTOR DRIVES BASED ON MATLAB6.5
YU-LONG CUI1, XIN-CHANG YU2, HAO-LIANG FAN3, JIAN-BO FAN3
1

School of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China 2 Hebei Provincial Electrical Apparatus Research Institute, Hebei University of Technology, Tianjin 300130, China 3 Baoding Hongri Electric Co., LTD, Baoding 071051, China E-MAIL: cuiyl@mail.buct.edu.cn, yuxinchang790124@163.com

Abstract:
This paper studies non-linear mathematic model of Switched Reluctance Motor (SRM) based on phase winding inductance. Matlab6.5 is used as simulation tool to establish simulation model of Switched Reluctance Motor Drives (SRD) based on model of SRM. Current Chopping Control (CCC) strategy is used at low-speed and Angle Position Control (APC) strategy is used at high-speed in experimental study. Experiments implement on a 4 phases, 8/6, 3kW model motor. The simulation and experiment results show that the non-linear mathematic model based on phase winding inductance has the advantages of high precision, high reliability and high practicability and provide theoretical support for the study of performances of SRM.

Keywords:
Switched Reluctance Motor; non-linear mathematic model; simulation study; SRD

piece-wise linearization. It is based on the assumption that the phase currents waveform is flat topped one. But for an actual operating performance of SRM, it is only an ideal model. Compared to linear model, quasi-linearity precision is higher, but still an approximate model. So, in order to analyze SRM precisely and quantitatively, non-linear mathematic model is the best ideal selection [5]. First this paper studies the non-linear mathematic model of SRM and the control strategies of SRD. Then the simulation model of SRD is established. Finally the simulation results using Matlab6.5 are presented. At the same time, we do experimental study on a 4 phases, 8/6, 3kW model motor. The simulation and experiment results show that the non-linear mathematic model based on inductance phase winding has the advantages of high precision, high reliability and high practicability and is suitable to study the performances of SRM. 2. 2.1. Mathematic Model of SRM Non-linear mathematic model of phase winding inductance

1.

Introduction

Switched reluctance motor (SRM) drives (SRD) are new developing adjustable speed motor drives in recent years. They have many superior features, including simple and rugged construction, high robustness, high speed capability and high torque to inertia ration. They have attracted many researchers interests all over the world. But because of the complexities of magnetic field distribution of SRM and controllable parameters of circuit and the severe non-linearity of phase winding inductance, it is very difficult to establish practical and reliable non-linear mathematic model [1]. The mathematic model of SRM has experienced three stages [2], [3], [4]. First is linear model. Linear mathematic model is simple and easy of implementation, but its precision is poor. Second is quasi-linear mathematic model. In this model, the magnetic characteristic curve is 0-7803-9091-1/05/$20.00 2005 IEEE

First, according to [2], the Fourier Series of phase winding inductance is given by

L( ) = L0 + [ Ln cos n( N r 0 )]
n =1

(1)

where N is the number of the highest harmonization; N r is the number of rotor poles;

is the beginning phase

angle of inductance curve. Expanding (1), the following equation is obtained

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Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, 18-21 August 2005

L( ) = L0 + ( L1 + L3 )[1 cos( Nr 0 )] + L2 [cos 2( Nr 0 ) 1] + L3 [cos3( Nr 0 ) 1] (2) where L0 = Lmin , Lmin is the minimum phase winding L Lmin inductance; L1 = max , Lmax is the maximum 2 phase winding inductance; L2 and L3 are the coefficients
of absolute pole width and relative pole width of stator-rotor respectively. From (2), we can see N = 3 . Increasing the number of high harmonization N may improve calculating precision of the inductance, but if the number of harmonization is too large, calculating the inductance of SRM will be more complicated. In [3], for fitting curve of L = L( , i ) , equation (3) is given by

d (8) dt where U k , Rk , i k and k are voltage, resistance,

current, and flux linkage of the phase winding respectively; is rotor position angle; is rotational velocity; Tek and

Te

are electromagnetic torque of phase winding and

SRM respectively;

m is the number of phase; TL is load

angular force; D is viscous friction coefficient; J is moment of inertia of rotor and load of SRM. When ignoring phase winding mutual-inductance, k is not only the function of current ik and rotor position angle of per phase winding, but also the multiplicative product of per phase winding inductance Lk and current ik , i.e.

k = (ik , ) = Lk ( , ik )ik
U k = Rk ik + k dik k d + ik dt dt

(9)

L ( , i ) = L0 + {( L1 + L3 )[1 cos( Nr 0 )] + L2 [cos 2( Nr 0 ) 1] + L3 [cos 3( Nr 0 ) 1]} a1 a1 + i

Substituting (9) into (4) yields the following equation

(3)

where the four coefficients L0L1L2 and L3 are constants related to the position of rotor . a1 is also constant related to the changing of current. (3) indicates that the non-linear inductance model can be expressed precisely by five coefficients L0L1L2L3 and a1 which can be obtained by calculating and experimenting. 2.2. Non-linear mathematic model of SRM

= Rk ik + ( Lk + ik

Lk dik L d ) + ik k ik dt dt

(10)

This paper studies a 4 phases8/6, 3kW SRM. When ignoring magnetic hysteresis loss, eddy current loss and phase winding mutual-inductance, the equations of SRM are given by [4]

(10) indicates that supply voltage consists of three voltage drops. In the right of (10), the first item is resistance drop of k phase circuit, the second is transformer electromotive force caused by flux linkage variation because of current variation, and the third which is directly related to electromechanical energy of SRM is motor force caused by flux linkage variation because of rotor position variation. According to fundamental law of electromechanical energy transition, the k phase electromagnetic torque is solved by

W Tek = k
where Wk =
'

k = const

d k U k = Rk ik + dt d i Tek = k dik d 0

(4) (5) (6)

Wk' =
ik

ik = const

(11)

ik ( k , )d k , Wk is winding stored
ik 0

energy ; Wk = winding

k dik = Lk ( , ik ) ik dik
0

, Wk is is

electromagnetic

co-energy;

Te = Tek
k =1

W k'

T = Te TL = J

d + D dt

(7)

electromagnetic co-energy incremental of coupled magnetic field caused by rotor position incremental . So the following expression is given

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Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, 18-21 August 2005
ik

Tek

Wk' = =

ik = const

k ( , ik ) dik
0

From (12) and (14), non-linear electromagnetic torque of per phase is obtained by

Tej = a1 [i j a1 ln(a1 + i j ) + a1 ln a1 ] [( L1 + L3 ) Nr sin( Nr 0 j ) 2 L2 Nr sin 2( Nr 0 j ) 3L3 Nr sin 3( Nr 0 j )]

where: j=1234 (15)

(12) Generalizing above expressions, for a 4 phases, 8/6, SRM, some assumptions are made as following: 1) DC voltage of main circuit keeps fixed constant; 2) Ignoring hysteresis and eddying effect of iron core, i.e. ignoring iron loss; 3) Per phase parameters are symmetric; two coins of per phase are positive-going connection in series; ignoring mutual-inductance between phase. The mathematic model of SRM can be obtained by

Lk ( , ik ) ik dik

0 j

di j 1 = L j ( , i j ) dt + L j ( , i j ) ij i j [ Ri i L j ( , i j ) + U ], j = 1, 2, 3, 4 j j j d = dt (13) d 1 = [Te D TL ] dt J where Te = Te1 + Te 2 + T e 3 +T e 4 Non-linear inductance model of per phase winding is given by L j ( , i j ) = L 0 + { ( L1 + L 3 )[1 c o s ( N r 0 j )] + L [c o s 2 ( N r ) 1] 2 0 j a1 + L 3 [c o s 3 ( N r 0 j ) 1]} a1 + i j L j = [( L1 + L 3 ) N r s in ( N r 0 j ) 2 L N r s in 2 ( N r ) 2 0 j a1 3 L 3 N r s in 3 ( N r 0 j )] a1 + i j (14) L j = { ( L1 + L 3 )[1 c o s ( N r 0 j )] i j + L 2 [c o s 2 ( N r 0 j ) 1] a1 + L [c o s 3 ( N r ) 1]} 3 0 j ( a1 + i j ) 2

0 / 2 = 3 / 2

j =1 j=2 j =3 j=4

Compared to other models, this model is simple. So this model is used to study dynamic performance of SRM. According to [5], we obtain the five coefficient values L0

L1 L2 L3 and a1 for a 4 phases, 8/6 , 3kW model

motor. Above parameters are used in simulation.
3. Selection of Control Strategy

For SRD, there are two basic control strategies: Current Chopping Control (CCC) at low speed and Angle Position Control (APC) at high speed [6]. We select different control strategies in different practical applications. When SRD operating at low speed, the third item action of expression (10) - motor force is poor because angular velocity d dt is small and phase current increases quickly. In order to get phase current value not exceeding given current value and obtain high startup-torque, we select Current Chopping Control of two phases conducting at the same time and fixing conduction angle at low speed. When SRD operating at high speed, the phase motor force works chiefly and phase current changes slowly. So we select Angle Position Control to control phase current, i.e. phase current is controlled by controlling conduction angle on and shutoff angle off . From above analysis, the control strategy that combines Current Chopping Control and Angle Position Control can improve operating performance of SRM. Studies show that we select different control strategy according to different operating need. In specific operating area, we adopt voltage Pulse-Width Modulation (PWM) control strategy which can adjust speed by adjusting duty ratio to get optimal controlling result. We design a 4 phases, 8/6, 3kW model SRM and implement CCC below 1000rpm

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Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, 18-21 August 2005

and APC beyond 5000rpm.

4. Simulation Model of SRD

Simulation model of SRD includes SRM model, trigger logic circuit model, controller model and power converter model. First, trigger logic circuit models are established. Figure 1 shows trigger logic circuit model of two phases conduction. Trigger logic circuit model of single phases conduction is similar to two phases conduction and is not given in this paper.

rotational velocity . And In3 is position of rotor . Out1 is the output of single phase current. And Out2 is the output of electromagnetic torque of phase winding. Figure 3 is simulation mode of SRM for a 4 phases, 8/6 SRM. At last, simulation model of SRD is given as Figure 4. In Figure 4, Uj is the given excitation voltage. TL is load of SRM. Osicillograph T and i are the outputs of co-torque and current. Power converter model are not detailed in this paper, because they are detailed in many existing documents [7]. In this paper, we select PID as controller model.

Figure 1. Trigger logic circuit model of two phases conduction In figure 1, In1 is rotor position angle . Out1-Out4 are outputs of trigger logic.

Figure 3. Simulation mode of SRM

Figure 4. Simulation mode of SRD

5. Simulation Results and Analysis

Figure 2. Simulation model of single phase winding Then based on above mathematic model of SRM, we establish simulation models of single phase winding and SRM which are showed as Figure 2 and Figure 3. In Figure 2, In1 is phase winding excitation voltage. In2 is

Based on above simulation model of SRD, we give simulation results. Figure 5 is simulation result of single phase winding at low speed. Figure 6 is experiment result using CCC strategy at low speed on model motor. Figure 7 and Figure 8 are simulation and experiment results using

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APC strategy at high speed. From Figure 5 - Figure 8, we can see that simulation and experiment results are anastomotic. We study the output waveforms of co-torque with different excitation voltage and different load torque showed as Figure 9-Figure 14. From the waveforms, we can

Figure 9. Simulation results of co-torque at Uj=5TL=30

Figure5. Simulation results of current at low speed

Figure 8. Experiment results of current at high speed

Figure 6. Experiment results of current at low speed

Figure 10. Simulation results of co-torque at Uj=5TL=70

Figure 7. Simulation results of current at high speed see that pulsation is obvious when SRM operates from standstill to steady-state. When SRM operates in steady-state, there is still small pulsation because of its twin Figure 11. Simulation results of co-torque at Uj=10TL=30

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Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, 18-21 August 2005

and give the simulation results. We do experiment on a 4 phases, 8/6, 3kW model motor. The simulation and experiment results show that the non-linear mathematic model based on inductance of phase winding has the advantages of high precision, high reliability and high practicability and provide theoretical support for the study of features of SRM.
Acknowledgements

Figure 12. Simulation results of co-torque at Uj=10TL=70 salient pole construction. Figure 9 - Figure 14 show that when SRM operates in steady-state with high load torque, pulsation is smaller. Figure 9 and Figue 10 show that SRMs pulsation is smaller with low torque than with high load torque at the same excitation voltage. Figure 9, Figure 11 and Figure 13 show that with the same load torque, excitation voltage is smaller and SRMs start-up process is smoother. Compared to practical output of torque, the torque simulation results are satisfied [8].

This paper is supported by National Natural Science Foundation of China, and the number is 60272062.
References

Figure 13. Simulation results of co-torque at Uj=15TL=30

Figure 14 Simulation results of co-torque at Uj=15TL=70

6. Conclusions

This paper studies the non-linear mathematic model of SRM based on inductance of phase winding. And then we establish simulation model of SRD based on model of SRM

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