Switched Reluctance Motor

MODELLING AND CONTROL OF SWITCHED
RELUCTANCE MOTOR
A project report submitted in partial fulfillment for the award of degree of
BACHELOR OF TECHNOLOGY
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
SUBMITTED BY
KANDIPATI RAJANI (07391A0217)

PRIYATAM AVINASH NAMBURI (07391A0232)
SHAIK MASTANBI (07391A0256)
KOPPULA RAVI CHAITANYA (08395A0203)
Under the Esteemed guidance of
Mr.P.V.S.Sobhan
M.E
Associate Professor
Department of Electrical & Electronics Engineering

VIGNAN’S ENGINEERING COLLEGE
NAAC ‘A’ Grade, NBA Accredited, ISO Certified
(Affiliated to Jawaharlal Nehru Technological University, Kakinada, A.P.)
VADLAMUDI, GUNTUR, 522213, A.P.
2007-2011
Vadlamudi, Guntur 522213
DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING
CERTIFICATE
This is to certify that the project work titled “MODELLING AND

CONTROL OF SWITCHED RELUCTANCE MOTOR” by
KANDIPATI RAJANI (07391A0217), PRIYATAM AVINASH
NAMBURI (07391A0232), SHAIK MASTANBI (07391A0256),
KOPPULA RAVI CHAITANYA (08395A0203) during the academic
year 2010-2011 under the guidance of P.V.S.Sobhan is submitted in
partial fulfillment for the award of the degree of Bachelor of
Technology in Electrical & Electronics Engineering.
Mr.P.V.S.Sobhan Dr.G.R.K.Murthy
Project Guide Head of Department

Department of Electrical and Electronics Department of Electrical and
Engineering Electronics Engineering
ACKNOWLEDGEMENT
I express my profound sense of gratitude and sincere thanks to

Mr. P.V.S.Sobhan M.E Associate Professor, Department of Electrical
and Electronics Engineering, for initiating me into this work and
guiding me in the successful completion of this project
I express my thanks to Dr.G.R.K Murthy Head of the
Department of Electrical and Electronics Engineering, providing all the
facilities in the Department..
We wish to express our profound gratitude and appreciation to
our principal V.Madhusudhan Rao for extending the official support
for the progress of the project.
I take this opportunity to thanks all the people who aided me in
the completion of the project work, directly or indirectly, for their
continuous encouragement and extended services
Finally, I would like to thanks my parents, for their support and
encouragement, which helped me to complete this project with full
enthusiasm.
KANDIPATI RAJANI (07391A0217)

PRIYATAM AVINASH NAMBURI (07391A0232)
SHAIK MASTANBI (07391A0256)
KOPPULA RAVI CHAITANYA (08395A0203)
TABLE OF CONTENTS
LIST OF FIGURES i
ABSTRACT iii
Chapter 1: Introduction
1.1 Introduction 01
1.2 SRM Controller 01
1.3 Organization of Thesis 02
Chapter 2: Principle of Operation of the Switched Reluctance Motor
2.1 Introduction 03
2.2 Construction of Switched Reluctance Motor 03
2.3 Types of SRM 05
2.4 Advantages and Disadvanatges of SRM 06
2.5 Applications of SRM 07
2.6 Elementary Operation of the Switched Reluctance Motor 08
2.7 Principle of Operation of the Swtiched Reluctance Motor 09
2.8 The Relationship Between Inductance and Rotor Position (NON LINEAR ANALYSIS) 12
Chapter 3: Converters For SRM Drives
3.1 Power Converter Topology 19
3.2 Converter Configurations 20
3.3 Asymmetric Bridge Converter 21
Chapter 4: Modelling and Control of SRM
4.1 Mathematical Model 25
4.2 PID controller 27
4.3 General Block Diagram 29
4.4 Block Diagram of Traditional Feedback Control 29
Chapter 5: Simulation and Result Analysis
5.1 Switched Reluctance Motor Specifications 30
5.2Results 31
CONCLUSION 42
REFERENCES 43
LIST OF FIGURES
Figures 2.1 Switched Reluctance Motor Configuration
(a) One tooth per pole
(b) Two tooth per pole
Figure 2.2 Type of SRM
Figure 2.3 Operation of SRM
Figure 2.4 Solenoid and its characteristics
(a)A Solenoid
(b)Flux Vs MMF characteristics
Figure 2.5 Derivation of Inductance Vs rotor position from rotor and

stator Pole arcs for an unsaturated SRM
(a)Basis rotor position definition in a two pole SRM
(b)Inductance profile
Figure 3.1 Classification of Converter based on their configuration
Figure 3.2 asymmetric converters for SRM with freewheeling and

Regeneration capability
Figure 3.3 Operational waveforms of asymmetric bridge converter
Figure 4.1 Single phase equivalent circuit of SRM
Figure 4.2 Structure of PID controller
Figure 4.3 General Block diagram
Figure 4.4 Block diagram of traditional feedback control
Figure 5.1 MATLAB/simulink model of SRM
Figure 5.2 output speed tracking reference speed
1
Figure 5.3 Stator winding phase Inductance
Figure 5.4 Stator winding phase Inductance (Magnified view)
Figure 5.5 Stator winding 3-phase current
Figure 5.6 Stator winding 3-phase current (Magnified view)
Figure 5.7 Electromagnetic torque developed
Figure 5.8 Electromagnetic torque developed (Magnified view)
Figure 5.9 Output speed tracking reference speed for low reference speed
Figure 5.10 Stator winding phase Inductance for low reference speed
Figure 5.11 Stator winding phase Inductance (Magnified view) for low
reference speed
Figure 5.12 Stator winding 3-phase current for low reference speed
Figure 5.13 Stator winding 3-phase current (Magnified view) for low
reference speed
Figure 5.14 Electromagnetic torque developed for low reference speed
Figure 5.15 Electromagnetic torque developed (Magnified view) for low

reference speed
Figure 5.16 Output speed tracking reference speed before and after
applying Load of 10 N-m at 1sec for reference speed 200rpm
Figure 5.17 Output speed tracking reference speed before and after
applying Load of 10 N-m at 1.5sec for reference speed 200rpm
Figure 5.18 Output speed before and after applying loads of 5 N-m at
0.75sec and 10N-m at 1.5sec
Figure 5.19 Output speed before and after applying loads of 5 N-m at
1.7sec and 10N-m at 2.0sec
Figure 5.20 Output speed tracking variable reference speeds for low speeds
Figure 5.21 Output speed tracking variable reference speeds for high
speeds
2
ABSTRACT
Nowadays, switched reluctance motors (SRMs) attract more and more attention. The
switched reluctance motor consists a salient pole stator with concentrated coils, and a salient
pole rotor, which has no conductors or magnets. Simplicity makes the SRM inexpensive and
reliable, and together with its high speed capacity and high torque to inertia ratio, makes it a
superior choice in different applications.
The motor's double salient structure makes its magnetic characteristics highly
nonlinear and the flux linkage is also a nonlinear function of stator currents as well as rotor
position. All these make the control of the SRM a tough challenging.
This work briefly describes the constructional features, principle of operation,

applications and mathematical model of the switched reluctance motor.
The aim of this project work is to design a conventional PI controller for a 6/4 SRM
using MATLAB/SIMULINK. The effectiveness of the designed controller is to be analyzed
by comparing the responses (speed) with and without controller under different load
conditions
3
1. INTRODUCTION
1.1 INTRODUCTION
Switched Reluctance (SR) motors are relatively new additions to a group of well-
established variable-speed electrical motors. The major difference that distinguishes them
from other conventional drives is simple, low cost, and rugged constructions. The simplicity
of the mechanism is the result of their torque production principle, so called variable
reluctance principle. SRM produce torque without any permanent magnets and with no
concentrated windings on their shaft. This unique torque production principle allows SRM to
have the benefits of reliability and capability of four-quadrant operation in a wide speed
range. Other advantages of SRM are also known to be the high torque-to-inertia ratios and
high torque-to-power ratios. These attractive features have led SRM to be potential
candidates for applications in industrial and commercial markets.
Despite the simple mechanism and attractive capabilities, SRM have some
limitations. Unlike other conventional electrical machines, they cannot operate directly from
main AC or DC supply and require current-pulse signals for proper torque production.
Hence, they require an power electronic controller that regulates commutation of coi1
excitations and the waveform of current signals. Another drawback of SRM is that their
dynamics are inherently nonlinear due to their magnetic characteristics depending on both the
shaft angle and current magnitudes, and thus, in order to design controllers with desired
stability properties, one has to resort to somewhat complicated nonlinear control tools.
Furthermore, the nonlinearities cannot be neglected because in practice the machines are
operated at high current levels (where saturation of core material occurs), so as to maximize
their torque density.
1.2 SRM CONTROLLER

Besides guaranteed stability, it is desirable for SRM controllers to have features such
as parameter insensitivity, quick precise dynamic responses, and rapid recovery from load
disturbances. Traditionally, SRMs are controlled by the combination of a conventional PI
controller and switching controllers. The traditional control scheme is sensitive to variations
MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 1

in plant parameters and operating conditions. Hence, there have been demands for rigorous
nonlinear control design methods for SRM to meet the performance criteria.
The objectives of this work are as follows:

• To study and analyze the principle and operation of srm
• To obtain the mathematical model of srm
• To design a PI controller for speed controller
1.3 ORGANIZATION OF THE THESIS

The presentation is organized as follows.
Chapter 1: This chapter introduces the SRM and explains the need of the controller
Chapter 2: This chapter briefly describes the constructional features, the principle of
operation and also applications of SRM
Chapter 3: This chapter explains the need for converter, various types and basic converter
operation of SRM
Chapter 4: This chapter gives the details of the mathematical modeling and design of PI
controller for SRM
Chapter 5: This chapter deals with the simulation of the SRM using MATLAB / SIMULINK
and comparision of results (speed responses) with and without PI controller.

2. PRINCIPLE OF OPERATION OF THE SWITCHED

RELUCTANCE MOTOR
2.1 INTRODUCTION
The switched reluctance motor (SRM) drives for industrial applications are of recent
origin. Since 1969, a variable reluctance motor has been proposed for variable speed
applications. The origin of this motor can be traced back to 1842, but the “reinvention” has
been possible due to the advent of inexpensive, high-power switching devices. Even though
this machine is a type of synchronous machine, it has certain novel features.
2.2 CONSTRUCTION OF SWITCHED RELUCTANCE MOTOR
SRMs are made up of laminated stator and rotor cores with Ns=2mq poles on the
stator and Nr poles on the rotor. The number of phases is m and each phase is made up of
concentrated coils place on 2q stator poles. Most favored configuration amongst many more
options are 6/4 three phase and 8/6 four phase SRM’s as shown in the figure 2.1(a).
These two configurations correspond to q=1(one pair of stator poles (and coils) per
phase) but q may be equal to 2, 3 when, for the three phase machine, we obtain 12/8 or 18/12
topologies applied either for low speed high torque direct drives or for high speed stator
generator systems for aircraft. The stator and rotor pole angles βs and βr are, in general,
almost equal to each other to avoid zero torque zones.
It has wound field coils of a dc motor for its stator windings and has no coils or
magnets on its rotor. Both the stator and rotor have salient poles, hence the machine is
referred to as a doubly salient machine. Such a typical machine is shown in Figure 2.1(a),
and a modified version with two teeth per pole is shown in Figure 2.1(b).

Figure 2.1 Switched reluctance motor configurations. (a) One tooth per pole. (b) Two teeth per pole
(12/10 poles).

The rotor is aligned whenever diametrically opposite stator poles are excited. In a
magnetic circuit, the rotating member prefers to come to the minimum reluctance position at
the instance of excitation. While two rotor poles are aligned to the two stator poles, another
set of rotor poles is out of alignment with respect to a different set of stator poles. Then, this
set of stator poles is excited to bring the rotor poles into alignment. Likewise, by sequentially
switching the currents into the stator windings, the rotor is rotated. The movement of the
rotor, hence the production of torque and power, involves switching of currents into stator
windings when there is a variation of reluctance; therefore, this variable speed motor drive is
referred to as a switched reluctance motor drive.
2.3 TYPES OF SRM
Figure 2.2 Types of SRM

2.4 ADVANTAGES AND DISADVANATGES OF SRM

2.4.1 Advantages
The SRM possess a few unique features that makes it a vigorous competitor to
existing AC and DC motors in various adjustable-speed drive and servo applications. The
advantages of an SRM can be summarized as follows:
• Machine construction is simple and low-cost because of the absence of rotor winding
and permanent magnets.
• Bidirectional currents are not necessary, which facilitates the reduction of the
number of power switches in certain applications.
• The bulk of the losses appears in the stator, which is relatively easier to cool.
• The torque–speed characteristics of the motor can be modified to the application
requirement more easily during the design stage than in the case of induction and PM
machines.
• The starting torque can be very high without the problem of excessive in-rush current
due to its higher self-inductance.
• The maximum permissible rotor temperature is higher, since there are no permanent
magnets.
• There is low rotor inertia and a high torque/inertia ratio.
• Extremely high speeds with a wide constant power region are possible.
• There are independent stator phases, which do not prevent drive operation in the case
of loss of one or more phases.
2.4.2 Disadvantages
The SRM also comes with a few disadvantages among which torque ripple and
acoustic noise are the most critical. The higher torque ripple also causes the ripple current in
the DC supply to be quite large, necessitating a large filter capacitor. The doubly salient
structure of the SRM also causes higher acoustic noise compared with other machines.
The absence of permanent magnets imposes the burden of excitation on the stator
windings and converter, which increases the converter KVA requirement. Compared with
PM brushless machines, the per unit stator copper losses will be higher, reducing the

efficiency and torque per ampere. However, the maximum speed at constant power is not
limited by the fixed magnet flux as in the PM machine, and, hence, an extended constant
power region of operation is possible in SRMs.
2.5 APPLICATIONS OF SRM
The simple motor structure and inexpensive power electronic requirement have made
the SRM an attractive alternative to both AC and DC machines in adjustable-speed drives.
Few of such applications are listed below.
• General purpose industrial drives;
• Application-specific drives: compressors, fans, pumps, centrifuges;
• Domestic drives: food processors, washing machines, vacuum cleaners;
• Electric vehicle application;
• Aircraft applications;
• Servo-drive.
Below are some specific real world applications.

• CompAir Broomwade Limited uses switched reluctance motors in some of its
variable speed compressors.
• Besam AB uses switched reluctance motors in its Besam EMD 3000 sliding door
operating system
• Smallfry utilises a compact SRM in its “next generation of food processors”.
• SR Drives Manufacturing Ltd manufactures switched reluctance motors for use in
hazardous environments such as mines.
• Automotive applications such as power steering.

2.6 ELEMENTARY OPERATION OF THE SWITCHED RELUCTANCE

MOTOR
Consider that the rotor poles r1 and r1′ and stator poles c and c′ are aligned. Apply a
current to phase a with the current direction as shown in Figure 2.3(a). A flux is established
through stator poles a and a ′and rotor poles r2 and r2′ which tends to pull the rotor poles r2
and r2′ toward the stator poles a and a’, respectively. When they are aligned, the stator current
of phase a is turned off and the corresponding situation is shown in Figure 2.3(b). Now the
stator winding b is excited, pulling r1 and r1′ toward b and b′, in a clockwise direction.
Likewise, energization of the c phase winding results in the alignment of r2 and r2′ with c and
c′, respectively. Hence, it takes three phase energizations in sequence to move the rotor by 90 0
and one revolution of rotor movement is effected by switching currents in each phase as
many times as there are number of rotor poles. The switching of currents in the sequence acb
results in the reversal of rotor rotation is seen with the aid of Figures 2.3(a) and (b).
Figure 2.3 Operation of an SRM. (a) Phase c aligned. (b) Phase a aligned.

2.7 PRINCIPLE OF OPERATION OF THE SWTICHED RELUCTANCE

MOTOR
The torque production in the switched reluctance motor is explained using the
elementary principle of electromechanical energy conversion in a solenoid, as shown in
Figure 2.4(a). The solenoid has N turns, and when it is excited with a current i the coil sets up
a flux φ.Increasing the excitation current will make the armature move towards the yoke,
which is fixed. The flux vs. magneto motive force (mmf) is plotted for two values of air gap,
x1 and x2, where x1 > x2 and is shown in Figure 2.4(b).The flux vs. mmf characteristics for x 1
are linear because the reluctance of the air gap is dominant, making the flux smaller in the
magnetic circuit. The electrical input energy is written as:
dN φ
We = ∫ e i dt = ∫ i dt = ∫ N i dφ = ∫ Fdφ .................................. (2.1)
dt
Where e is the induced emf and F is the mmf. This input electrical energy, We is equal to the
sum of energy stored in the coil, Wf , and energy converted into mechanical work, Wm . It is
written as:
We =W f +Wm ................................................................................ (2.2)
When no mechanical work is done, as in the case of the armature starting from position x1,
the stored field energy is equal to the input electrical energy given by equation (2.1). This
corresponds to area OBEO in Figure 2.4(b). The complement of the field energy, termed co
energy, is given by area OBAO in Figure 2.4(b) and mathematically expressed as ∫φ dF
.Similarly, for the position x2 of the armature, the field energy corresponds to area OCDO
and the co energy is given by area OCAO. For incremental changes, equation (2.2) is written
as:
δ We = δW f + δWm .................................................................... (2.3)

Figure 2.4 solenoid and its characteristics, (a) A solenoid. (b) Flux v. mmf characteristics.
For a constant excitation of F1 given by the operating point A in Figure 2.4b, the various
energies are derived as:
φ2
δWe = ∫ F1 dφ = F1 (φ1 − φ2 ) = area ( BCDEB ) .................................... (2.4)
φ1
δ W f = δ W f | X = X −δ W f | X = X = area (OCDO ) − area (OBEO ) ........

2 1
(2.5)
Using Eqs. (2.3) to (2.5), the incremental mechanical energy is derived as:
δWm = δWe − δW f = area (OBCO ) ............................................. (2.6)
and that is the area between the two curves for a given magneto motive force. In the case of a
rotating machine, the incremental mechanical energy in terms of the electromagnetic torque
and change in rotor position is written as:
δWm = Te δθ ............................................................................. (2.7)
Where Te is the electromagnetic torque and δθ is the incremental rotor angle. Hence,
the electromagnetic torque is given by:
δWm
Te = .................................................................................. (2.8)
δθ

For the case of constant excitation (i.e., when the mmf is constant), the incremental
mechanical work done is equal to the rate of change of co energy, W f ′ which is nothing but
the complement of the field energy. Hence, the incremental mechanical work done is written
as:
δWm = δW f ′ ............................................................................. (2.9)
Where
′
W f = ∫φ dF = ∫φ d ( N i ) = ∫ ( Nφ) di = ∫ λ(θ , i ) di = ∫ L(θ , i ) i di ...................
(2.10)
Where the inductance, L, and flux linkages, λ, are functions of the rotor position and
current. This change in co energy occurs between two rotor positions, θ 2 and θ1. Hence, the
air gap torque in terms of the co energy represented as a function of rotor position and
current is
′
δWm δW f δW f ′ (i, θ )
Te = = = |i =cons tan t ....................................... (2.11)
δθ δθ δθ
If the inductance is linearly varying with rotor position for a given current, which in
general is not the case in practice, then the torque can be derived as:
dL (θ , i ) i 2
Te = ......................................................................... (2.12)
dθ 2
Where
dL (θ,i )
L(θ2 , i ) − L(θ1 , i )
= | i =cons ............................................. (2.13)
dθ θ2 −θ1 tan t
and this differential inductance can be considered to be the torque constant expressed in
N.m/A2. It is important to emphasize at this juncture that this is not a constant and that it
varies continuously. This has the implication that the switched reluctance motor will not have
a steady-state equivalent circuit in the sense that the dc and ac motors have.

The following are the implications of equation (2.12)

• The torque is proportional to the square of the current; hence the current can be
unipolar to produce unidirectional torque. Note that this is quite contrary to the case
for ac machines. This unipolar current requirement has a distinct advantage in that
only one power switch is required for control of current in a phase winding. Such a
feature greatly reduces the number of power switches in the converter and thereby
makes the drive economical.
• The torque constant is given by the slope of the inductance vs. rotor position
characteristic. It is understood that the inductance of a stator winding is a function of
both the rotor position and current, thus making it nonlinear. Because of its nonlinear
nature, a simple equivalent circuit development for this motor is not possible.
• Since the torque is proportional to the square of the current, this machine resembles a
dc series motor; hence, it has a good starting torque.
• A generating action is made possible with unipolar current due to its operation on the
negative slope of the inductance profile.
• The direction of rotation can be reversed by changing the sequence of stator
excitation, which is a simple operation.
2.8 THE RELATIONSHIP BETWEEN INDUCTANCE AND ROTOR

POSITION (NON LINEAR ANALYSIS)
Since the torque characteristics are dependent on the relationship between flux
linkages and rotor position as a function of current, it is worthwhile to conceptualize the
control possibilities and limitations of this motor drive. For example, a typical phase
inductance vs. rotor position is shown in Figure 2.5 for a fixed phase current. The inductance
corresponds to that of a stator-phase coil of the switched reluctance motor neglecting the
fringe effect and saturation. The significant inductance profile changes are determined in
terms of the stator and rotor pole arcs and number of rotor poles. The rotor pole arc is
assumed to be greater than the stator pole arc for this illustration, which is usually the case.
From Figures 2.5(a) and (b), the various angles are derived as:

1  2π 
θ1 =  − ( β s + β r ) ............................................................ (2.14a)
2  Pr 
θ2 = θ1 + βs ............................................................................. (2.14b)
θ3 = θ2 + ( βr − β s ) .................................................................. (2.14c)
θ4 = θ3 + β s ............................................................................ (2.14d)
2π
θ5 = θ 4 + θ1 = .................................................................... (2.14e)
Pr
Where βs and βr are stator and rotor pole arcs, respectively, and Pr is the number of rotor
poles.
Four distinct inductance regions emerge:
FIGURE 2.5 Derivation of inductance vs. rotor position from rotor and stator pole arcs for an
unsaturated switched reluctance machine. (a) Basic rotor position definition in a two pole SRM.
(b) Inductance profile.

1. 0 − θ1 and θ4 − θ5: The stator and rotor poles are not overlapping in this region
and the flux is predominantly determined by the air path, thus making the
inductance minimum and almost a constant. Hence, these regions do not
contribute to torque production. The inductance in this region is known as
unaligned inductance, Lu.
2. θ1 − θ2: Poles overlap, so the flux path is mainly through stator and rotor
laminations. This increases the inductance with the rotor position, giving it a
positive slope. A current impressed in the winding during this region produces a
positive (i.e., motoring) torque. This region comes to an end when the overlap
of poles is complete.
3. θ2 − θ3: During this period, movement of rotor pole does not alter the complete
overlap of the stator pole and does not change the dominant flux path. This has
the effect of keeping the inductance maximum and constant, and this inductance
is known as aligned inductance, La. As there is no change in the inductance in
this region, torque generation is zero even when a current is present in this
interval. In spite of this fact, it serves a useful function by providing time for the
stator current to come to zero or lower levels when it is commutated, thus
preventing negative torque generation for part of the time if the current has been
decaying in the negative slope region of the inductance.
4. θ3 − θ4: The rotor pole is moving away from overlapping the stator pole in this
region. This is very much similar to the θ1 − θ2 region, but it has decreasing
inductance and increasing rotor position contributing to a negative slope of the
inductance region. The operation of the machine in this region results in
negative torque (i.e., generation of electrical energy from mechanical input to
the switched reluctance machine).
It is not possible to achieve the ideal inductance profiles shown in Figure 2.5 in an
actual motor due to saturation. Saturation causes the inductance profile to curve near the top
and thus reduces the torque constant. Hence, saturating the machine beyond a point produces
a diminishing return on torque and power output.

ALIGNED INDUCTANCE AND UNALIGNED INDUCTANCE

Let LA be the aligned inductance of a coil/Phase and LU be the unaligned inductance
of the coil / phase. βs and βr are stator and rotor pole arcs, respectively. Let us assume that βr
> βs and LA >LU.
CASE I: When θ=00
Axis of the stator pole is in alignment with the stator pole as shown in the figure below.
Therefore the inductance of the coil is LA, because the stator reference axis and rotor
reference axis are in alignment. At this position flux linkage of phase winding of stator has
maximum value and hence inductance of phase winding has maximum value for given
current.

βr − βs
CASE II: When θ =
2
βr − βs
The rotor reference axis makes angular displacement of θ = stator reference axis
2
one edge of rotor pole is along the edge of stator pole. At this position reluctance is
minimum. Then the inductance of the coil continues to be LA. When θ varies from 0 to
βr − βs
. At this position also L=LA.
2
βr + βs
CASE III: When θ =
2
2π
Pole pitch of the rotor =
Nr
π βr + βs π
Half the pole pitch of the rotor = Assume θ = <
Nr 2 Nr
In this position, the flux pattern is such that the flux linkages / unit current of the stator is less
than the previous case but not minimum. Therefore L < LA and L > LU.
βr − βs β + βs
LU < L < LA <θ < r
2 2
At
π
CASE IV: When θ =
Nr
βr + βs π
For ≤θ ≤ L=Lu
2 Nr

βr + βs π 2π β r + β s
CASE V: When θ = after (or) θ = − as far as the rotor pole is
2 N r Nr 2
considered. After which stator pole comes under the influence of the rotor pole 2. Now the
inductance variation is from LU to LA as the rotor pole moves towards so as to cover the stator
pole.

3. CONVERTERS FOR SRM DRIVES
3.1 POWER CONVERTER TOPOLOGY
As indicated by its name, phase-to-phase switching in the SRM drive must be

precisely timed with rotor position to obtain smooth rotation and the optimal torque output.
Rotor position feedback, or the so-called "sensor less" feedback method, is needed for proper
control. It is well known that this phase-to-phase switching is realized by power
semiconductors. The so-called power converter topology refers to different circuit structures
by power semiconductors, which can meet the SRM's switching operation mode requirement.
It is well known that the power converter topology has great influence on the SRM's
performance.
There are many researches on power converter topology for the SRM drive.
Generally speaking, there are two main classes: independent and dependent structure,
according to the criterion whether it makes the control between the successive excited phases
independent or not. In most cases, the dependent structure topology needs less power
semiconductors than the independent structures. Also, another key difference between them
is that they have different dwell angle requirements. Especially for the dependent structures,
there are certain limitations on the dwell angles for proper motor control. These limitations
directly affect the commutation strategy, which is the main reason why the converter
topology has considerable influence on the SRM's performance.
Since the torque in SRM drives is independent of the excitation current polarity, the
SRM drives require only one switch per phase winding. This is contrary to the ac motor
drives where at least two switches per phase are required for current control. Moreover, the
windings are not in series with the switches in ac motor drives, leading to irreparable damage
in shoot-through faults. The SRM drives always have a phase winding in series with a
switch.
In case of a shoot-through fault, the inductance of the winding limits the rate of rise in
current and provides time to initiate protective relaying to isolate the faults. The phases of the

SRM are independent and, in case of one winding failure, uninterrupted operation of the
motor drive operation is possible, although with reduced power output.
3.2 CONVERTER CONFIGURATIONS
The mutual coupling between phases is negligible in SRMs. This gives complete
independence to each phase winding for control and torque generation. While this feature is
advantageous, a lack of mutual coupling requires a careful handling of the stored magnetic
field energy. The magnetic field energy has to be provided with a path during commutation
of a phase; otherwise, it will result in excessive voltage across the windings and hence on the
power semiconductor switches leading to their failure. The manner in which this energy is
handled gives way to unique but numerous converter topologies for SRM drives. The energy
could be freewheeled, partially converting it to mechanical/electrical energy and partially
dissipating it in the machine windings. Another option is to return it to the dc source either by
electronic or electromagnetic means. All of these options have given way to power converter
topologies with q, (q+1), 1.5q, and 2q switch topologies, where q is the number of machine
phases.
3.2.1 Classification of Converter Configurations

Figure 3.1 Classifications of Converter Configurations
3.3 ASYMMETRIC BRIDGE CONVERTER
Figure 3.2a shows the asymmetric bridge converter considering only one phase of the
SRM. The rest of the phases are similarly connected. Turning on switches T1 and T2 will
circulate a current in phase A of the SRM. If the current rises above the commanded value,
T1 and T2 are turned off. The energy stored in the motor winding of phase A will keep the
current in the same direction until it is depleted. Hence, diodes D1 and D2 will become
forward biased leading to recharging of the source. That will decrease the current, rapidly
bringing it below the commanded value. This operation is explained with the waveforms of
Figure 3.2(b).
Assuming that a current of magnitude Ip is desired during the positive inductance
slope for motoring action, the A -phase current command is generated with a linear
inductance profile. Here, phase advancing both at the beginning and during commutation are
*
neglected. The current command ia is enforced with a current feedback loop where it is
compared with the phase current, ia. The current error is presumed to be processed through a
hysteresis controller with a current window of ∆i .When the current error exceeds −∆i , the
switchesT1 and T2 are turned off simultaneously.
Hysteresis current controller is considered here due to its simplicity in concept and
implementation. At that time, diodes, D1 and D2 take over the current and complete the path
through the dc source.

Figure 3.2 (a) Asymmetric converter for SRM with freewheeling and regeneration capability.
Note that the voltage of phase A is then negative and will equal the source voltage,
Vdc. During this interval, the energy stored in the machine inductance is sent to the source,
thus exchanging energy between the load and source repeatedly in one cycle of a phase
current. After the initial startup, during turn-on and turn-off of T1 and T2, the machine phase
winding experiences twice the rate of change of dc link voltage, resulting in a higher
deterioration of the insulation. This control strategy (strategy I) hence puts more ripples into
the dc link capacitor, thus reducing its life and also increasing the switching losses of the
power switches due to frequent switching necessitated by energy exchange. These can be
ameliorated with an alternate switching strategy.

Figure 3.2 (b) Operational waveforms of the asymmetric bridge converter (strategy I);
(c) Operational waveforms of the asymmetric bridge converter (strategy II).
The energy stored in the phase A can be effectively circulated in itself by turning off,
say, T2 only (strategy II). In that case, the current will continue to flow through T 1, phase A,
and D1, the latter having forward biased soon after T2 is turned off. The voltage across the
winding becomes zero if the diode and transistor voltage drops are neglected as shown in
Figure 3.2c. That will take the phase current from I P + ∆i to I P − ∆i in a time greater than
had it been forced against the source voltage using the previous strategy. This particular fact
reduces the switching frequency and hence the switching losses.

When the current command goes to zero, both T1 and T2 are turned off
simultaneously. During this interval, the voltage across the winding is −Vdc as long as D1 and
D2 conduct (i.e., until ia goes to zero) and thereafter the winding voltage is zero. The voltage
across T2 during its off time and when T1 is on is equal to the source voltage, Vdc. Hence, the
power switches and diodes have to be rated to a minimum of source voltage at least. The
current ratings of the switches are equal to or less than I P q by interchanging the off times
between T1 and T2 in one cycle of phase conduction.

Similarly, the current rating of the diodes can be evaluated. While such a self-
circulation will keep the current going for a longer time compared to recharging the source
voltage, it has the advantage of converting the stored energy to useful mechanical work.
While this form of control can be used for current control, the recharging of the source is
advantageous when the current has to be turned off rapidly.
Such an instance arises when the inductance profile becomes flat or is starting to have
a negative slope. Any further conduction of current in such regions entails a loss of energy or
production of negative torque, thus reducing the average motoring torque. Note that this
converter requires two transistors and two diodes for each phase, resembling the conventional
ac motor drives.

4. MODELLING AND CONTROL OF SRM
4.1 MATHEMATICAL MODEL
An elementary equivalent circuit for the SRM can be derived neglecting the mutual
inductance between the phases as follows. The applied voltage to a phase is equal to the sum
of the resistive voltage drop and the rate of the flux linkages and is given as:
dλ(θ , i )
V = RS i + ..................................................................... (4.1)
dt
Where Rs is the resistance per phase, and λ the flux linkage per phase given by:
λ = L(θ, i ) i .......................................................................................
(4.2)
Where L is the inductance dependent on the rotor position and phase current. Then, the phase
voltage is:
dL (θ, i ) i di dθ dL (θ, i )
V = RS i + = RS i + L(θ, i ) +i
dt dt dt dθ
.......................
di dL (θ, i )
= RS i + L(θ, i ) + ωm i
dt dθ
(4.3)
In this equation, the three terms on the right-hand side represent the resistive voltage
drop, inductive voltage drop and induced emf, respectively. The induced emf, e, is expressed
as:
dL (θ , i )
e= ωm i = K bωm i ........................................................... (4.4)
dθ
Multiplying both sides of the equation (4.3) with the current gives the instantaneous power.
di dL (θ , i )
Pi =Vi = RS i 2 + L(θ , i )i + ωm i 2 ....................................(4.5)
dt dθ

The energy stored by an inductor is given by

1
W = L i 2 ................................................................................ (4.6)
2
Power in an inductor is given as the change in energy over time. The product rule gives
d  1 2  1 2 dL d i 1 2 dL di
PL =  Li  = i + Li = i ω + Li ..................
dt  2  2 dt dθ 2 dθ dθ
(4.7)
Using the law of conservation of energy the mechanical power can be found by
subtracting the power loss due to the winding resistance and the inductor. Subtracting
equation (4.7) and Ri2 from equation (4.5) will give
1 dL (θ , i )
Pi = ωm i 2 .............................................................. ...........
2 dθ
(4.8)
Hence, the induced voltage contains information about the rotor position. This property can
be exploited for position feedback without a shaft sensor. With constant current, (4.4) is linked to
both increase in magnetic field energy and produced mechanical power. In unsaturated conditions,
both terms equal each other, and torque can be expressed as:
i 2 dL (θ , i )
T = ......................................................................... (4.9)
2 dθ
dL
When >0 the torque is positive and electrical power is converted into mechanical
dθ
dL
output (motoring), while when < 0 the torque is negative and mechanical power is converted
dθ
into electrical power (generating). Note that the produced torque is independent of the direction of the
current, since i2 always positive. With the machine driven in saturation, although (4.9) being no
longer valid, these conclusions remain true.
Fig.4.1 illustrates the equivalent circuit for one phase of the SRM.

Figure 4.1 Single phase equivalent circuit of SRM
4.2 PID CONTROLLER

It is well known that a conventional proportional integral-derivative (P1D) type
controller is most widely used in industry due to its simple control structure, easy of design
and inexpensive cost. PID Controller was regarded as the standard control structures of the
classical control theory and fuzzy controllers positioned themselves as a counterpart of
classical PID controllers. More than 90% of the control loops were of the PID type. The PID
Controller formulas are simple and can be easily adopted corresponding to different
controlled plant.
A PID controller attempts to correct the error between a measured variable and a
desired variable by calculating and then outputting a corrective action that can adjust the
process accordingly. The general structure of PID Controller is as shown in the fig.4.2.
Figure 4.2. Structure PID Controller

A standard PID controller is also known as the “three-term” controller, whose

transfer function is generally written in the ideal form as
1
G PID = K (1 + + Td s ) …………………………………………………….. (4.10)
Ti s
Where
K is the proportional gain
Ti is the integral time constant
Td is the derivative time constant
The following are the three-term functionalities:
• The proportional term is providing an overall control action proportional to the error
signal through the all-pass gain factor. A proportional gain (K) will have the effect of
reducing the rise time and will reduce, but never eliminate, the steady state error.
• The integral term is reducing steady-state errors through low-frequency compensation
by an integrator. The Integral term determines the reaction based on the sum of recent
errors
• The derivative term is improving transient response through high-frequency
compensation by a differentiator. The Derivative term determines the reaction to the
rate at which the error has been changing.
Effects of each of controllers K, K d, and Ki on a closed-loop system are

summarized in the table 4.1shown below. Change one of these variables can change the
effect of the other two variables.
Gain/Effects Rise Time Overshoot Settling Time S-S Error
K Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small Change Decrease Decrease Small Change

Table 4.1 Effects of each of controllers K, Kd, and Ki on a closed-loop system

4.3 GENERAL BLOCK DIAGRAM

wref
TL
Figure 4.3 General block diagram.
4.4 BLOCK DIAGRAM OF TRADITIONAL FEEDBACK CONTROL
Figure 4.4 Block diagram of traditional feedback control

5. SIMULATION AND RESULT ANALYSIS

The simulation of the SRM using MATLAB/SIMULINK and comparision of the
results with and without PI controller is dealt in this chapter.
5.1 SWITCHED RELUCTANCE MOTOR SPECIFICATIONS:
Stator resistance : 0.01 Ohm/phase
Inertia : 0.0082 Kg.m2
Friction : 0.01N m s
Initial speed : 0 rad/sec
Position : 0 rad
Unaligned Inductance : 0.7mH
Aligned Inductance : 20mH
Maximum Current : 450A
Maximum Flux Linkage : 0.486 weber-turn
The SRM with PI controller is simulated using MATLAB/Simulink as shown in fig 5.1
Fig 5.1 The SRM with PI controller is simulated using MATLAB/Simulink

5.2 RESULTS
Case (i): When the reference speed is high i.e ωr= 4000rpm and at no load i.e TL= 0.
The fig 5.2 shows that the SRM speed tracks the reference speed without any ripples.
It can be observed that the percentage maximum peak overshoot is below 7.5 and the settling
time is 0.9 sec (for 2% tolerance).This shows that the designed PI controller works
satisfactorily for high speed operation of SRM.
Fig 5.2 Output speed tracking Reference Speed

The fig 5.3 shows that the stator winding phase inductance is a function of angular
position of the rotor .It can be observe that the aligned Inductance is 18 mH and unaligned
Inductance is 0.8 mH
Figure 5.3 The stator winding phase Inductance
Figure 5.4 The stator winding phase Inductance (Magnified view)

Figure 5.5 The stator winding 3-phase current
Figure 5.6 The stator winding 3-phase current (Magnified view)


Case (ii): When the reference speed is low i.e ωr= 200rpm and at no load i.e TL= 0.
The fig 5.9 shows that the SRM speed tracks the reference speed with very low
ripples.It can be observed that the percentage maximum peak overshoot is 0 and the settling
time is 0.5sec.
Figure 5.9 Output speed tracking Reference Speed
From the figures 5.2 and 5.9, it can be observed that the SRM works satisfactorily for
high speed applications.

The fig 5.10 shows that the stator winding phase inductance is a function of angular
position of the rotor .It can be observe that the aligned Inductance is 18 mH and unaligned
Inductance is 0.8 mH
Figure 5.10 The stator winding phase Inductance
Figure 5.11 The stator winding phase Inductance (Magnified view)

Fig 5.12 the stator winding 3-phase current
Figure 5.13 The stator winding 3-phase current (Magnified view)


Case (iii): When the reference speed is low i.e ωr= 200rpm and a load of 10 N-m.
applied at 1sec.
The fig 5.16 shows that the SRM speed tracks the reference speed at 0.5 sec (Settling
time=0.5 sec) before the load is applied at 1sec and it can be observed that the srm speed
tracks the reference speed once again with low ripples.
Figure 5.16 Output speed tracking Reference Speed before and after applied a load of 10N-m at 1sec.
Case (iv): When the reference speed is high i.e. ωr= 4000rpm and a load of 10 N-m.
applied at 1.5sec.
The figure 5.17 shows that the SRM tracks the reference speed at 0.9 sec(2%
tolerance) before the load is applied at 1.5 sec and it can be observed that the SRM tracks the
reference speed once again.
Figure 5.17:Output speed tracking Reference Speed before and after applied a load of 10N- m at 1.5sec

Case (v): When the reference speed is low i.e ωr= 200rpm and a load of 5 N-m.is
applied at 0.75sec.and it is increased to 10N-m is applied at 1.5 sec.
The fig 5.18 shows that the SRM speed reaches the reference speed at 0.5 sec before
the different loads are applied at 0.75sec and 1.5sec and it can be observed that the srm speed
reaches the reference speed once again with low ripples.
Figure 5.18 Output speed before and after applied loads of 5N-m at 0.75sec and 10N-m at 1.5sec.
Case (vi): When the reference speed is high i.e ωr= 4000rpm and at load of 5 N-m.is
applied at 1.7sec another load of 10N-m applied at 2s.
The fig 5.19 shows that the SRM speed tracks the reference speed at 0.9 sec before
the load is applied at 1.7sec and another load is applied at 2s and it can be observed that the
srm speed tracks the reference speed once again with low ripples.
Figure 5.19 Output speed before and after applied loads of 5N-m at 1.7sec and 10N-m at 2sec.

Case (vii): When the reference speed is low i.e ωr= 100rpm up to 1.5sec and it is increased
to 200 rpm after 1.5sec at no load.
The fig 5.20 shows that the SRM speed tracks the variable reference speeds one at 0.5
sec another at 2sec.
Figure 5.20 Output speed tracking variable Reference Speeds
Case (viii): When the reference speed is high i.e ωr= 2000rpm at 0sec and another 4000rpm
at 1.5sec at no load.
The fig 5.21 shows that the SRM speed tracks the variable reference speeds one at 0.5
sec another at 2.5sec
Figure 5.21 Output speed tracking variable Reference Speeds

CONCLUSIONS
The Switched Reluctance Motor's double salient structure makes its magnetic
characteristics highly nonlinear and the flux linkage is also a nonlinear function of stator
currents as well as rotor position. All these make the control of the SRM a tough challenging.
In This work the constructional features, principle of operation, applications and
mathematical model of the switched reluctance motor briefly described. A conventional PI
controller for a 6/4 SRM using MATLAB/SIMULINK is designed.
From the simulations it is being observed that the torque is developed during change
of inductance. For constant inductance (unaligned position) torque developed is zero. To get
positive torque , voltage should apply during + dL

dθ region where as negative torque will
develop during − dL
dθ region. Therefore exact switching (turn-on and turn-off angles) is
needed. Simulation helps to get exact switching angles. The simulation results shows that the
designed PI controller performs satisfactorily to track the reference speed for various cases
like no load , constant loads and variable loads at low , high speeds and variable speeds . It is
also observed that the designed PI controller completely eliminates ripples at high speeds.

REFERENCES
[1].Chong-Chul Kim, Jin Hur, Dong-Seok Hyun.“Simulation of a Switched Reluctance

Motors Using Mat lab / M File”, IEEE Proceedings Nov 2002.
[2].F. Soares and P.J. Costa Branco “Simulation of a 6/4 Switched Reluctance Motor
Based on Mat lab/Simulink Environment, Aerospace and electronic system”, IEEE
Transactions, Vol.37, July 2001.
[3].Henriques, L., Rolim, L., Suemitsu, W., Costa Branco, P. J., and Dente, J. A.“Torque
ripple minimization in a switched reluctance drive by neuro-fuzzy
compensation”.IEEE Transactions on Magnetics, 36, 5, Sept.2000.
[4].Osamu Ichinokura, Shohei Suyama, Tadaaki Watanabe, and Hai-Jiao Guo.“A new
Calculation Model of Switched Reluctance Motor for use on SPICE", IEEE Trans. on
Magnetics, Vol. 37, No. 4, pp. 2834-2836, 2001.
[5].Phop Chancharoensook, Muhammad FRahman. “Dynamic Modelling of a Four-
Phase 8/6 Switched Reluctance Motor Using Current and Torque Look-up Tables”,
IEEE Proceedings, Nov 2002.
[6].Wenzhe Lu, Ali keyhani, Harald Klode, Amuliu Proca. “Modelling and Parameter
Identification of Switched Reluctance Motors from Operating Data Using Neural
Networks”, IEEE Proceedings June 2003.
[7].Vikas S. Wadnerkar , Dr. G. TulasiRam Das , Dr. A.D.Rajkumar “PERFORMANCE
ANALYSIS OF SWITCHED RELUCTANCE MOTOR; DESIGN, MODELING AND
SIMULATION OF 6/4 SWITCHED RELUCTANCE MOTOR”. Journal of Theoretical and

Applied Information Technology, 2009.
[8].R. Krishnan: “Switched reluctance motor drives modeling, simulation, analysis,
design and Applications”, London, CRC Press, 2001.

[9].I.J.Nagrath and M.Gopal: “Control Systems Engineering”. New Age International

Limited, 5TH Edition,2009

Switched Reluctance Motor

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MODELLING AND CONTROL OF SWITCHED

A project report submitted in partial fulfillment for the award of degree of

KANDIPATI RAJANI (07391A0217)

Under the Esteemed guidance of

Department of Electrical & Electronics Engineering

This is to certify that the project work titled “MODELLING AND

Project Guide Head of Department

I express my profound sense of gratitude and sincere thanks to

KANDIPATI RAJANI (07391A0217)

Figures 2.1 Switched Reluctance Motor Configuration

(a) One tooth per pole

(b) Two tooth per pole

Figure 2.2 Type of SRM

Figure 2.3 Operation of SRM

Figure 2.4 Solenoid and its characteristics

(b)Flux Vs MMF characteristics

Figure 2.5 Derivation of Inductance Vs rotor position from rotor and

(a)Basis rotor position definition in a two pole SRM

Figure 3.1 Classification of Converter based on their configuration

Figure 3.2 asymmetric converters for SRM with freewheeling and

Figure 3.3 Operational waveforms of asymmetric bridge converter

Figure 4.1 Single phase equivalent circuit of SRM

Figure 4.2 Structure of PID controller

Figure 4.3 General Block diagram

Figure 4.4 Block diagram of traditional feedback control

Figure 5.1 MATLAB/simulink model of SRM

Figure 5.2 output speed tracking reference speed

Figure 5.4 Stator winding phase Inductance (Magnified view)

Figure 5.5 Stator winding 3-phase current

Figure 5.6 Stator winding 3-phase current (Magnified view)

Figure 5.7 Electromagnetic torque developed

Figure 5.8 Electromagnetic torque developed (Magnified view)

Figure 5.14 Electromagnetic torque developed for low reference speed

Figure 5.15 Electromagnetic torque developed (Magnified view) for low

This work briefly describes the constructional features, principle of operation,

1.2 SRM CONTROLLER

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 1

The objectives of this work are as follows:

1.3 ORGANIZATION OF THE THESIS

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 2

2. PRINCIPLE OF OPERATION OF THE SWITCHED

2.2 CONSTRUCTION OF SWITCHED RELUCTANCE MOTOR

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 3

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 4

2.3 TYPES OF SRM

Figure 2.2 Types of SRM

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 5

2.4 ADVANTAGES AND DISADVANATGES OF SRM

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 6

Below are some specific real world applications.

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 7

2.6 ELEMENTARY OPERATION OF THE SWITCHED RELUCTANCE

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 8

2.7 PRINCIPLE OF OPERATION OF THE SWTICHED RELUCTANCE

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 9

δ W f = δ W f | X = X −δ W f | X = X = area (OCDO ) − area (OBEO ) ........

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 10

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 11

The following are the implications of equation (2.12)

2.8 THE RELATIONSHIP BETWEEN INDUCTANCE AND ROTOR

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 12

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 13

MODELLING AND CONTROL OF SWITCHED RELUCTANCE MOTOR 14