MATHEMATICAL MODEL SWITCHED

RELUCTANCE MOTOR

Ing. Martin MAŇA, Doctoral Degree Programme (2)

Dept. of Power Electrical and Electronic Engineering, FEEC, BUT
E-mail: mana@fect.vutbr.cz

Supervised by: Prof. Jiří Skalický

ABSTRACT
This paper describes a mathematical model of switched reluctance motor (SRM). Model
parameters were determined by measuring and finite element method. The model is created in
Matlab-Simulink.

1 INTRODUCTION

With the advent of modern control technology and power electronic, switched
reluctance motor drive are becoming increasingly popular. Because of high efficiency over
wide operating range, the absence of rotor windings, and the maintenance free type of motor,
SRMs have some advantages over other types of electrical machines. The work by Prof. Peter
Lawrenson of England in 1980 and Speed consortium of the University of Glasgow
substantially contributed to advancement of switched reluctance motor.

2 BASIC PRINCIP SRM

The switched reluctance motor is a

rotating electric machine where both, stator and
B' C'
rotor have salient poles. The stator consists of
simple concentric windings. There are neither
windings or bar wires on the rotor. Stator
windings on diametrically opposite poles are
connected in series form to a single phase.
When the stator pole pair is energized by the
phase winding, the nearest rotor pole pair is
attracted toward the position, where the C B
magnetic path has the minimum reluctance.
Thus, by energizing the consecutive stator
phases in sequence, it is possible to develop a A'
torque in either direction of rotation.
Obr. 1: 3-phases SRM
3 MATHEMATICAL MODEL THEORY

SRM is very non-linear system, therefore the torque generation process can be
described accurately only while using the non-linear mathematical model. The model is based
on the electrical diagram of one phase (Fig. 2) and following simplifications:
• The functions Ψ(i,Θ), M(i,Θ) and R for one phase are known.
• Magnetic material hysteresis is negligible.
• The mutual phase inductance is neglected.
• In time t = 0s is valid Wel = 0 J, Wmag = 0 J and Wmech = 0 J.

RA L (iA,Θ)

uA iA

Fig. 2: Electrical diagram for phase A.

According the diagram, any phase of the SRM can be described as:
∂Ψa (t ) dia (t ) ∂Ψa (t )
ua (t ) = Ra ⋅ ia (t ) + + ω (1)
∂ia(t) dt ∂Θ(t)
The mathematical model of SRM is based on the following system of differential
equations and described the electromechanical conversion of energy.
dΘ
=ω (2)
dt
dω 1  m  1
=  ∑ Tix (i x , Θ) − TL  = Td (3)
dt J  x =1  J
di x 1  ∂Ψx (i x , Θ) 
=  ux − R ⋅ i x − ω (4)
dt ∂Ψx (i x , Θ)  ∂Θ 
∂ix
ux = f (t ) (5)
Where Θ - rotor position angel, ω - angular velocity, Tix - phase x torque, TL - loading
torque, Td - dynamic torque, m - number of phases and ux - phase x voltage.

4 PARAMETRS DETERMINATION
Before realisation, it must be knew the model parameters: flux linkage Ψ (i,Θ), torque
characteristic M (i,Θ) and phase resistance R. Model structure and parameters is designed
according to a real prototype SRM (Fig.1). The prototype was developed in conjunction with
company MEZ. The results of measuring phase resistance and torque characteristic is taken
over from [1]. The flux linkage characteristic is determined by program FEMM3.0, which
uses the finite element method. FEMM is a suitable program for solving static and low
frequency, two-dimensional planar and axisymmetric magnetic problems. The program is
freeware and it is available download on http://femm.berlios.de/. The partial derivations is
solved by three-node formula.

Fig. 3: The flux linkage characteristics Fig. 4: The inverse partial derivation of
versus phasic current and rotor flux linkage characteristics
position. versus current and rotor
position.

Fig. 5: The partial derivation of flux Fig. 6: The phasic torque characteristics
linkage characteristics versus versus current and rotor
current and rotor position. position.
5 REALIZATION MATHEMATICAL MODEL

The block structure of mathematical model is shown in fig.7. This structure corresponds
to system of differential equations (2)…(5) and simplifications in part 3. Converter contains
some constants (Ud, Θon, Θoff, …) that determine control technique.

uA winding model iA A TL
TA = f (iA, )
phase A

B
uB winding model iB d
1
TB = f (iB, )
converter phase B J.p

C
uC winding model iC
TC = f (iC, C)
phase C

angle transformation 1
<-45,45> p

Fig. 7: The block structure of mathematical model SRM.

Fig. 8: The model of phases winding.

6 CONCLUSIONS

Using finite element method is good way, how determinate the mathematical model
parameters of switched reluctance motor without complicated and technically difficult
measurement. Functionality was checked on several simulations under difference conditions.
The phase voltage, current, dynamic torque and speed waveforms at starting are shown in
fig.9. Measured current waveform in fig.10 corresponds with simulated current waveform in
fig.9. This precise and effective mathematical model of motor is the suitable first step at
developing any new control algorithms.
 10
ua
ua [V], ia [V] 5
ia
0

-5

-10
0 0.1 0.2 0.3 0.4 0.5
time [s]

30
omg [rad/s], Md [Nm]

Md omg
20

10

0 0.1 0.2 0.3 0.4 0.5

time [s]

Fig. 9: The simulated voltage, current, torque and rotation speed waveforms (TL = 2Nm,
Ud = 30V, switching angles Θon = -40°, Θoff = -10°, shift switching angles ϕ = 0° )

Fig. 10: Measured current waveform on the prototype SRM.

ACKNOWLEDGEMENT
The paper has been supported by the research project MSM 262200010.

REFERENCES
[1] Chalupa, J.: Diplomová práce, Brno, 1994
[2] Rajashekara K., Kawamura A., Matsuse K.: Sensorless Control of AC Motor Drives,
ISBN 0-7803-1046-2, New York, IEEE Press, 1996.
[3] Maňa, M.: Pohon se spínaným reluktančním motorem, Diplomová práce, Brno, 2001
[4] Višinka, R.: On-fly phase resistance estimation of switched reluctance motor for
sensorless based control techniques, Ph.D Thesis, Brno, 2002.