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Simulation of Switched Reluctance Starter/Generator System


Based on Simplorer

Zhuping Cheng, Deliang Liang


Department of Electrical Engineering, Xi'an Jiaotong University, Xi'an 710049, China

Abstract In this paper, control strategies to be used the


switched reluctance motor (SRM) as a starter/ generator
(SRS/G) are researched and simulated. The variation pa-
rameters speed PI control and the current chop (CC) control
are used when SRM operates in the state of a starter in low
speed, whereas the variation parameters voltage PI control
and the current PWM method are used in the state of a gen-
erator. The dynamic performance is simulated by using An-
soft Simplorer 6.0 in starter and generator respectively. The
results of the simulation show the good feasibility of the de-
sign.
Fig. 1 Structure of SRM System
Keywords switched reluctance, starter/generator, control, As current is passed through one of the stator windings,
simplorer. torque is generated by the tendency of the rotor to align
with the excited stator pole. Continuous torque can be
I. INTRODUCTION produced by intelligently synchronizing each phase's ex-
The switched reluctance motor (SRM) is emerging as citation with the rotor position.
an effective solution for variable-speed applications on The torque generated by the unsaturated SRM is ide-
account of their several advantages. Most prominent ally, as expressed in the following formula
among these are the simple structure of the motor and the T(O, i)=I i2 d(
2 dO
convenient controllability. Moreover, the inherent four- where i is the phase current, L is the phase inductance,
quadrant operation of the drive together with the good
performance of the motor in terms of torque/inertia ratio, and 0 is the rotor angle.
efficiency and maximum working speed can meet the Several general conclusions can be drawn from this
demands of a number of applications. formula: Torque direction is independent of the sign of
The SRM can also be considered the dual of the the current, so the phase currents can be unidirectional,
switched reluctance generator (SRG). It is wide used as a and the sign of the torque is determined by state of the
starter/ generator (SRS/G). To date, these applications phase current relative to the change of phase inductance
include sourcing aerospace power systems, starter/gen- dL dO.
erator for hybrid vehicles, and wind turbine applications. Fig.2 shows the curves of different working currents
However, the control of a SRS/G system is completely corresponding to inductance variation. Fig.2 (b) shows the
different from that of the conventional DC and AC drives, idealized phase inductance variation, corresponding to the
and necessitates the introduction of the strategies of con- relative position of the stator and the rotor, as shown in
trol. In spite of the novelties, there are few papers thor- Fig.2 (a). For motoring operation the current is turned on
oughly analyze the control strategies of a SRS/G. The
attempt of this paper is to carry out such an analysis, ex- ()J v Stator
l
plaining the working principles, discussing different con- ~~VN I Rotor
trol strategies according to different states, establishing i) 2)
I
11f X-I
system models based on Simplorer respectively, and pre- (b)
senting simulation results of these models.
Inmductance
II. WORKING PRINCIPLES OF SRS/G g y~~~I
(C) i, ,
The SRM is a brushless synchronous machine with sa-
lient rotor and stator poles, concentrated phase windings, Ir
Ii t Generator
and no permanent magnets or rotor windings. A diagram vt
I/

of the machine with a power converter is shown in Fig. 1.


Each phase of the motor is made up of two coils wound
around diametrically opposed stator poles and electrically I a
~~~~Motor
connected in series.
The basic operating principle of the SRM is simple. Fig.2 Different Working Currents
Corresponding to Inductance Variation

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while the rotor and stator poles are unaligned, as shown in Systems in which process dynamics will change in
Fig.2 (d). In this region the phase inductance is increasing predictable ways during operation often benefit from gain
(dL dO>O), and the torque acts in the direction of rotor scheduling. Too low a value of Kp can cause drift, and too
motion. Alternatively, to generate electrical power the high a value will cause oscillations. A very high value of
current must be on while the poles are being pulled away K, will also invoke oscillations or instability. When the
from alignment, as shown in Fig.2 (c). In this region the command changes, the system needs a large control input
phase inductance is decreasing, dL dO<O and the torque for fast response. To produce a large control input, the PI
opposes the rotor motion. The work done by the mechani- controller should have a large Kp, small K,. When the
cal system to pull the poles apart is returned as energy to motor reaches the command value, a small Kp is needed
the DC link. Because the sign of the torque is independent to avoid overshoot and a large K, to reduce steady state
of current direction, the power converter can be config- error. Thus, the PI parameters can be developed as a func-
ured so that current flows only in one direction through tion ofthe speed error as follows:
the phase winding. In this way, the SRM differs from k -k
most other brushless machines which require bi- k =k + pmam p, min e
directional phase currents. pmax
ki = k1,max ki,mam -ki,min (2)
III. CONTROL STRATEGIES OF SRS/G
emax
In a switched reluctance system, the controllable vari- When the motor start, it operates at low speed, both
ables are the upper and lower phase current chopping the back-EMF and the effective incremental reactance of
thresholds, the duty ratio of the phase current, and the the motor are reduced proportionately; consequently, with
rotor angle at which the phase current is turned on or off, the same applied voltage, the current will rise to a higher
which are accordingly called current chop (CC) control, level than that at high speed. To prevent the current from
current pulse-width modulation (PWM), and angle posi- exceeding the ratings of the switching devices, it can be
tion (AP) control. controlled simply using CC control by turning on and off
The control algorithms must give a responsive system the switching device.
that will remain stable throughout the operating range. The reference current, subject to an absolute maxi-
That means, as a starter, the machine should operate at a mum, is adjusted from the outer speed feed-back loop to
stable speed ultimately in order to change to a generator satisfy the load condition. The phase excitation can be
later, and, as a generator, it's necessary to generate turned on as soon as the circuit condition permits (called
electric energy of good quality. So controllers for A I CC control), or after some fixed off-time that is
regulating SRS speed and SRG output load voltage are longer than the minimum off-time required by switching
needed, and both of these two controllers are based on the devices (called A T CC control). The key of these two
variation parameters PI control. types control is defining the upper and lower chopping
A. Start Mode Control limits of the phase current, especially for a high speed
system. The demanded speed (idle speed) and the switch-
In start mode, the speed PI control is adopted as the ing capability of the switching devices should be consid-
outer loop, while the CC control as the inner closed loop, ered when the limits are defined.
as shown in Fig.3. When the SRS is operated at high speed, the back-
Speed is regulated in a closed-loop manner by com- EMF becomes dominant. As a result, the current peaks
paring the command shaft velocity ( X cmd) to the esti- before commutation, so CC control is not applied. AP
mated shaft velocity ( X ) and then compensating the error control is available then, controlling the firing and the
(e). A PI control is used for the velocity loop compensa- dwell angles properly, in order for the torque to satisfy the
tion, so that the steady-state velocity error is zero. The PI load condition and to be as smooth as possible [2]. How-
coefficients are determined using linear analysis. The ever, when the idle speed is not high, CC control with the
coefficients of the proportional part (Kp) and integral part suitable fixed turn-on ( 0 on) and turn-off ( 0 off) angles is
(Ki) can be solved by calculation [1] or set experimentally. enough.
CIITellt, C CphtlAI B. Generate Mode Control
t
In generate mode, a dual closed-loop control is
CCplt.A
adopted, with voltage PI control as the outer loop, current
PWM and AP control as the inner loop, as shown in Fig.4.
The voltage control is needed when it is necessary to sup-
ply stable output [3]. The voltage control is achieved by
comparing the command load voltage (Ucmd) to the meas-
ured output load voltage (Uload) to derive an error signal,
which then controls the armature currents of the generator
through a current PWM controller. The variation parame-
IphC ters PI control is also used here.
Fig.3 Control Structure of the Starter

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Voltage PI Clumienlt PWM
P P ait P Pairt PWM
I -B
IG T IG B T

Dl 6 2 Diode i 0 4 DlodB 6 0 I

ie Op ed Ooit aicd Ooff


Diode A01 IG BT4 l clOd ; 0 IGST l Dlods CO S IG BT|

Fig.4 Control Structure of the Generator


PWM control is employed because it has faster re-
.A MAaM2 AWs

..........=HH
sponse than CC control, which made it available to be illlll.........ll -. .

used when the speed is high. Moreover, PWM control has prtLin e.

good controllability. There are two controllable parame- pollUonl AS S_ROT1


ters, the chopping frequency and the duty ratio. A suitable
chopping frequency is chosen to control the variance ratio Fig. 6 Generator System Model Based on Ansoft Simplorer
of phase currents, and it is fixed during the control proc- The phase currents and the speed curves of the starter
ess. The duty ratio has a linear relationship with the are shown in Fig.7 and Fig .8.
maximum phase current, so the magnitude of the phase
current can be controlled by adjusting the duty ratio. So 'I AM2.
Ai-1
EA)
I.,

both the variance ratio and the magnitude of the current


phase are controllable in PWM method.
AP control is employed together with PWM method
for current control, to fulfill the power supply as de-
manded by adjusting 0 on and 0 off. The influences of ad-
justing these two angles are different: the effect on the
profile of the current is not so visible by changing 0 o,
and the peak of the current changes homogeneously ac-
cording to the variation of 0 o, while the phase current
changes obviously as 0 off changed. Thus, adjustment of Tiine (s)
0 off is adopted only when the SRG operated in a wide Fig.7 Phase Currents of the Starter
speed range. In practice, fine tuning of 0 on with a suit-
able fixed 0 off is preferred, for advancing of 0 on results 2.k
1.3k
in higher output power by lengthening the interval of ex- 1.2k
1.1k V
citation. 1-,S
P, lk

Iz 0O.>8k
0 I
IV. SYSTEM SIMULATION u
=4 07k
u
;c 61
The strategies motivated in Section III were imple- o 5k
o 4k
mented in simulation to confirm their feasibility. The 03 l

SRS/G to which the simulation is applied is a 6/4 three- 0-2k


O1k
phase SRM designed as a 550 W 270 V model machine
for aerocraft application. The simulation model of the o o42 0.4 0.6
Tiine (s)
0.8 1 1.2 1.4 1 748

SRS/G system is constructed by using Ansoft Simplorer Fig.8 Speed Curve of the Starter
6.0 [4], and the model of the SRM is derived from Ansoft
RMxprt. The starter and the generator system models In this start mode, A I CC control is adopted, with a
based on Ansoft Simplorer are shown in Fig.5 and Fig.6. chopping limit of 4.2 to 5.8 A which is chosen according
to the characteristics of the machine. A speed of 1500 rpm
is set as the demanded speed. From Fig.8, a good result of
the variation parameters speed PI control can be seen,
achieving a stable state using no more than 1 second.
The generator system is operated at a changeable
given speed. Given the suitable 0 on and 0 off, the conse-
quence of the design is presented in diagrams.
The phase currents and the output DC voltage curves
of the generator are shown in Fig.9 and Fig. 10. Setting an
initial exciting voltage about above 40 V in filter capaci-
tor, a required output DC voltage of 270 V is easily
reached in less than 0.2 second, indicating the fast re-
Fig. 5 Starter System Model Based on Ansoft Simplorer sponse of the control strategy.

566
,244
I AMl2.1 I
V. CONCLUSION
In this paper, a system simulation of SRS/G is sug-
gested. Given the working principle of the switched reluc-
tance starter/generator system, the control strategies of
these two states are introduced respectively. Different
control strategies are needed for different applications, but
the strategies suggested here are applicable for the most
common applications such as starter/generator for hybrid
vehicles and aerospace power systems. The variation pa-
rameters PI control employed in the paper has faster re-
0 i--------
n1-
MI.......... i-/I E { sponse than common PI control, and it is easier to imple-
740
0202 0,282 O.284028 O.; 9
0
0283 0O29202955 ment and more practical than the adaptive fuzzy PI con-
Tiine (s)
Fig.9 Phase Currents of the Generator trol and the neural network control. The closed-loop con-
trol adopted here is proved to be feasible and stable.
REFERENCES
[1] Syed A. Hossain, "Modeling and four quadrant control of a sensor-
Olk
less switched reluctance motor driven actuator system," UMI,
3074833, 2002.
[2] Mehdi Moallem, Chee-Mun Ong, "Predicting the Steady State
t1 i 01 Sk
0 Performance of a Switched Reluctance Machine," IEEE Transac-
tions on IndustryApplications, vol.27, no.6, pp.1087-1097, 1991.
[3] Tadashi Fukao, Zhongqing Yang, Mikihiko Matsui, "Voltage con-
a 0.1k trol of super high-speed reluctance genetator system with a PWM
voltage source converter," IEEE Transactions on Industry Applica-
50 tions, vol.28, no.4, pp.880-886, 1992.
[4] Dr. Weizhong Fang, Dr. Uwe Knorr, Scott Stanton, "A complete
solution for electromechanical system design," Ansoft Corporation.
U I

0 smi 01 0A5 0 OU5 03121 [5] Liu Chuang, Zhu Xuezhong, Cao Zhiliang, Liu Diji, "Design and
Time (s) research of 6 kW switched reluctance starter/generator system,"
Fig. 10 Output DC Voltage of the Generator Journal of Nanjing University of Aeronautics & Astronautics,
vol.32, no.3, pp.245-249, 2000.

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