Direct Torque Control for the 4-phase Switched Reluctance Motor Drives
B. H. Jeong', K. Y. Lee, J. D. Na, G. B. Cho, H. L. Baek
'Department of Electrical Engineering, Chosun University, Gwang-Ju, South Korea
Abstract This paper presents a novel control method
for the sensor-less four phase Switched Reluctance Motor
drives, i.e 8 stator and 6 rotor. The sensor-less control is
based on Direct Torque Control with direct flux compensa-
tion (DFC) for switched reluctance motor drives. The use of
direct torque control, implemented in AC drives with a var-
ies degree of success, has yet been completely applied for
SRM especially 8/6, 4-phase SRM. Direct torque control
strategy implemented to control unit, well known advan-
tages such as simple and robust structure, wide torque speed
range and no maintenance. In this paper, We propose a
novel way to utilize the 8/6 4 phase switched reluctance mo-
tor and the paper then explains the algorithm to be em-
ployed in new DTC scheme in SRM drives with simulation
results are presented.
I. INTRODUCTION
Switched reluctance motors are rugged and inexpen-
sive motors. They are known to have high peak torque to
inertia rations and the rotor mechanical structure is well
suited for high speed application. However, Switched
reluctance motor application filed have been strongly lim-
ited in their use due to the high ripple content of torque
inherent in their doubly salient design.[1]-[4] This is par-
ticularly due to the advantages such as their simple and
robust structure, low manufacturing cost, excellent overall
performance and uni-polar operation which avoided cur-
rent shoot-though faults in the drivers. More recently, the
advent of digital signal processors and power semi-
conductors, in conjunction with some emerging control
paradigms, such as neural networks, fuzzy logic, Al, and
observers, provides a aspect of opportunity to revisit and
exploit the many advantages the switched reluctance mo-
tor have to offer.[3]-[10] But inherent torque ripple,
acoustic noise and nonlinearity characterizes switched
reluctance motor technologies yet. The doubly salient
geometry of the machine in addition to the nonlinearities
of the magnetic characteristics are main reasons for this
attribution. In particular, at low speeds torque ripple can
generate speed oscillations and may stimulate resonant
frequencies in the mechanical parts of a drive train.
Therefore some of techniques have been proposed so far
for torque ripple minimization in switched reluctance mo-
tor drives.[4] Some of method for Torque ripple minimi-
zation provided pervious studies for example, mechanical
method which is rotor skewing, pole shaping, and bifur-
cated teeth with asymmetrical air gap and Control tech-
nologies which is current or flux linkage control, on-line
calculation of current profiles, flux linkage profiling with
off-line calculation of profiles, harmonic current injection
and Instantaneous torque control. [3]
In practically, applied SRM drives provide from
many problems. For example, the firing and extinguishing
524
angles of phase current have been found to be very critical
for good efficiency and torque performance. The determi-
nation of optimum values for these angles depends on
many factors such as load level, rotor speed and rotor
position and demands an accurate model of the motor
itself.
The main problem of 8/6 4-phase SRM can be sum-
marized in four main points, the first is an unconventional
non-sinusoidal excitation to which the popular rotating
field theory is no longer applicable, the second is highly
nonlinear characteristics of the motor; third is the interac-
tion between different phases at current commutation and
the forth is 4 phase vector transformation problem. It has
been realized only recently that due to parameter variation
and drift, the phase inductance profile can significantly
differ from the design data. [2]
This paper proposes a novel DTC scheme for 8/6, 4-
phase switched reluctance motor in an attempt to resolve
the above problems by introducing a new control strategy
configuration in the motor and new driving techniques
with simulation.
II. DIRECT TORQUE CONTROL
A. Conventional DTC Methodfor AC machine
Direct torque control based on the theories of field
oriented control. Field oriented control(Vector Control)
uses space vector theory to optimally control magnetic
field orientation and direct self control establishes a
unique frequency of inverter operating given a specific dc
link voltage and a specific stator flux level. The operating
principle of DTC is to select stator voltage vectors ac-
cording to the differences between the reference torque
and stator flux linkage and the actual values. The princi-
ples of DTC in the ac machine can be derived by examin-
ing the motor equations. The stator flux linkage vector
can expressed as below equation.[8]
= (v- i R)dt
IVs (1)
While the electromagnetic torque T can be expressed as
equation [2]
3 L'l -X
T= p fs fr (2)
2 oTLSLr
B. New Control Scheme for SRM
In the switched reluctance motor, the motor phases
are driven by switched currents which are non-sinusoidal
and expected normally highly nonlinear. Furthermore, the
phase of the motor are excited completely independently
of each other. Thus, conventional ac machine rotating
field theory cannot be directly applied to the switched T dWm (7)"II
reluctance motor. This combined with the motor's highly dO
nonlinear magnetic and torque characteristics has been Thus by substituting equation (6) into equation (7) the
one of the major problems in the widespread adoption of expression for instantaneous torque production of an SR
switched reluctance motor drives in industry. However, motor phase can be written as
by re-examining the torque equation of the switched re- ia
luctance motor, a new control technique can be found T (O
(,i) dWf (
8)
which uses a similar philosophy as the conventional DTC o dO
of ac machines. As in conventional DTC, the control
scheme directly controls the amplitude of the flux and C. Classic Converter for Control SRM
torque within hysterisis bands. However, the motor phase
switching strategy is based instead on the non-uniform Classic Converter have main distinctive features
torque characteristics of the SR motor. To drive the new which is various control strategy implemented, can con-
control scheme for the SR motor, the non-uniform torque trol with superposition current to adjacent phase, lower
characteristics will firstly be examined. The motor torque rated voltage, higher capacity and have two switches per
output can be found using the motors electromagnetic phase.
equation.
v= Ri+ dqi(0,i) (3)
Where, Lff(O, i) =the nonlinear function of phase flux
linkage as a function of rotor position 0 and current i.
Fig. 3 shows stator current versus flux linkages character-
istics of normal switched reluctance motor.

x
And so classic converter most wide spread to control
switched reluctance motor. Fig.2 shows the classic con-
verter.
(D
+Vdc +Vdc +Vdc

*Unaligned Position

0 Stator current
Fig. 1 Stator current vs. flux linkages characteristics
linearization
The nonlinear flux linkage term can be expanded into
partial fractions, thus the equation for power flow can be (a)Positive Volts (b)Zero Volts (c)Negative Volts
written as
Fig. 3 Switched reluctance motor Phase Voltage States
vi= Ri2
i=
+.i80
+1
(O,i)
~
di +8i(O,i) dO
+1&(4
8i dt ao dt It is can be seen in Fig 3, each motor phase can have three
Thus in a differential time dt, the differential electrical energy possible voltage states for a unidirectional current. The
dWe transferred from the source to the magnetic field and me- voltage state Sq for a given phase is defined as 1 when
chanical power output can found. To find an expression for both switches in a motor phase are turned on. In this case
the motor torque production the energy equation is first positive voltage is applied to the motor phase. When cur-
written as rent is flowing and one device is turned off, a zero voltage
dWe = dWm + dWf (5) loop occurs and the state sequence is defined as 0. Finally,
when both device are turned off, there is no current or a
where dWm and dWf are the differential mechanical and freewheeling current flows through the upper diodes. In
field energy respectively. The field energy can be separated into this case negative voltage is experienced by the motor
its constituent components and from consideration of the stored phase and the state sequence is defined as negative volt-
field energy it can be shown. age.
One of the eight possible states in chosen at any one
dWm = i Y -(OJ) dO _ W dO (6) time in order to keep the stator flux linkage and the motor
torque within hysterisis bands. As in the conventional
The instantaneous torque is defined by bellows. DTC scheme, if the stator flux linkage lies in the k-th

525
zone, the magnitude of the flux can be increased by using
the switching vectors v(k+1) and v(k-1) and can be de-
creased by using the vectors v(k+2) and v(k+2). Hence
whenever the stator flux linkage reaches its upper limit in
the hysterisis band, it is reduced by applying voltage vec-
tors which are directed toward the center of the flux vec-
tor space and vice-versa.
The motoring torque is controlled by an acceleration
or deceleration of the stator flux relative to the rotor
movement. Hence, if an increase in torque is required,
voltage vectors that advance the stator flux linkage in the
direction of rotation are selected. This corresponds to se-
lection of vector v(k+1) and v(k+2) for a stator flux link-
age in the k-th zone. If a decrease in torque is required,
voltage vectors are applied which decelerate the stator
flux linkage vector. This corresponds to the vectors v(k- 1)
and v(k-2) in the zone k.
Switching table for controlling the stator flux linkage and
motor torque can be defined as shown in Tablet .
Table 1 Switching Table for DTC
Torque Increase Increase Decrease Decrease
Flux Inrease Decrease Increase Decrease
V(k+ 1) V(k- 1) V(k+2) V(k-2)
In order to control the flux and torque within the hystere-
sis bands, the instantaneous torque and stator flux vector
magnitude must be known. In the SR motor voltages in
the motor are highly non-sinusoidal and thus more effec-
tive insight may be gained by firstly finding the individual
flux linkages of each phase using the voltage. In this case
the magnitude of the individual phase flux linkages varies
with time, but the direction is always along the stator pole
axis. Torque look up table estimated previous and stored
processor for adjustable Dwell angle.
III. IMPLEMENTAION OF SRM DTC CONTROLLER
A. 4-phase to a -/ vector transform
Based on the principles, which is explained above, a
controller for the SR motor was developed in Fig. 5
shows the overall block diagram of the developed DTC
based SR motor drive.
Hyteresis
Comiara-
Torque .
ref.
Fig. 4 Block diagram of proposed direct torque
control scheme
526
In this system the phase currents and voltages for each
phase are measured using voltage and current sensors and
the phase flux linkages are then calculated with below.
t < o o
-*
Vs= f(Vs-Rs is) + S (9)
0
Control switching table is used to select the voltage
command based on the present zone of the flux linkage
that can be determined by the angle. It can be defined n-
dimensional vector for 8/6, 4-phase switched reluctance
motor structure. For the first time, Considering 4phase
motor, vector number is four and so combination of vec-
tor is zero with appear on rectangular plane. In real sys-
tem arbitrary phase will be excited first to detect the ini-
tial rotor position . Rotor position move to arbitrary
aligned position. Therefore we solve this problem with let
to initial value 45 degree on 4 phase. Fig. 5 shows the
vector diagram with 4phase to 2 phase solution.
0
ky
Kx
-k -
K
c
Fig. 5 Definition of two frame reference axis
Then torque can be calculated using the components
of the estimated flux and measured currents. In order to
control the torque using hysterisis bands DTC requires the
feedback and to calculate the instantaneous for feedback
we can use bellows.
T = p(Aa I,8 - Ax3I ) (I10)
a
Where p is the number of pole pairs and the o-P sub-
script refer to transformation components in the stationary
frame of reference and the i is the stator current compo-
nent. Fig. 6 shows the voltage vector relationship refer to
the flux and current reference frame.
Flux rotation direction
iss
ia k
Fig. 6 Voltage vector relationship
 Fig.

Fig.8
8

Matlab Simulink
model coded
link is

of rotor

[degree].
rect
the
= [VDCAt

poles
Torque

shows the
characteristics. This is
table for control.

Proposed
IV.
3@1'~ .
=YA f(V-iARA)dt
RAiAcdt + AO ]SA

control

150 [V]
vs.
-

The flux-linkage for phases B , C and D can be found by

inspection.

B. Proposed Control Strategy for 4-phase SRM

rotor

forms
-J

Fig. 7 Block diagram of direct torque control strategy

Fig. 7 shows the control proposed strategy block dia-
gram of direct torque control. The adaptive motor model
is assuming that the mutual coupling between any phases
due to individual short flux loops used is small and ne-
glecting iron losses, the voltage vector and torque equa-
tion can be rewritten equation (1)

position

applied torque
original data

SIMULATION
characteristics

versus

algorithm Simulation executed with

produced by Mathwork co. Ltd. Motor
by Matlab in-file function. Input voltage DC
number

is 6 and torque
of stator poles

producing angle
Table 2 shows the other main parameter for di-

torque control simulation.

rotor

for the torque

RESULT

is 8
(1 1)

wave-

position
lookup

number

is the 16

527
Table 2 Important simulation parameter for DTC
Air-gap
Radius to the air-gap at the rotor
Radius to the outside rotor yoke
Radius to the outside rotor yoke
Shaft radius
Shaft radius
Number of phases
Hysterisis width
Maximum switching frequency

Fig. 9 shows output waveform for the A-phase current

which is controlled with top flat shape for optimal current
characteristics. Fig.10 shows output waveform of the 4
phase voltage combination which is synchronous with
current waveform. Fig. 11 shows output waveform of the
sensor-less position detection for rotor position control.
Fig. 12 shows output waveform of the Torque generation
which is depend on Dwell angle. Fig. 13 shows output
waveform of the Speed characteristics

X~

Fi.9Otu
Fig.S
avefo

aeoso

Fig. 10 Output waveform of the 4 phase Voltage

0.00025 [m]
0.041805 [m]
0.0311 [m]
0.0311 [m]
0.016565 [m]
0.016565
4
3 [A]
10 [kHz]

XSU~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

h -hs ufn

Fig. 11I Output waveform of the sensor-less position
detection
-w
Fig. 12 Output waveform of the Torque generation
Fig. 12 Output waveform of the Speed characteristics
V. CONCLUSION
In this paper, a novel control strategy for the 8/6 SR
motor was derived form analysis of the torque characteris-
tics of the motor. In this method, Torque is directly con-
trolled through the control of the magnitude of the flux
linkage and the change in speed of the stator flux vector.
Although the strategy is based on the nonlinear character-
istics of the motor torque output during operation, the
strategy does not require the nonlinear magnetization
characteristics to be used in the real time torque control.
Furthermore, the scheme is not dependent on the accuracy
of the estimated model parameters as no model calcula-
528
tion is required during operation. Hence this overcomes
the disadvantages and difficulties faced by conventional
linear or nonlinear controllers of the SR motor.
In the future we will implement this theory and result
to experiment and practice motor drive for switched reluc-
tance motor torque control and other applications.
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