SR

1 .

.

.

SR
.
.
-1 VR

SR
.
-2
SR .
SR .
SR

.

. ) (1 4 8 6
.
1838 David Sou
.
.
)- Switched Reluctance Motor (SRM


SR . 1980
SR
SR .
SR Lawrenson
1980 .

) :(1 SR )(6/8

SRM
SRM -1
.
rpm 100000
.

-2 SR
.
-3
.

 -4 SR - .
-5 .
SR
. 2.
-6
.
-7

.
.

40 50 .
) Servo CNC( .
.
-1 ) (FEM
.
-2
DSP .

:
:3
) . .(2
.
- Fault Tolerant
- Aligned Position

2
3

 ) :(2 SR 6/4 ) (1 1

.
) (
.
:4
.
.

- Un aligned position

 ) (3 SR .

) :(3 SR 6/4 1

) (4
.

.

.

 5 .
:

.

.


) (4

dL
) 0

.
. SR
.
1 dL
T ( , i ) i 2
2 d

SR
SR SR

SR .

- Pole Pitch

 SR 6
. SR

: .

SR Nr

Nr

.
:
.
.
:7 .
2
m.Nr

m .
A :
m
. SR 1

2

. 1

.
: SR
. s ) s r r (

s A 1

dip
) (.

- Regular
- Stroke angle

6
7

 A 1.5 m= 3 1 . SR

4 8 4) . +
+
(.
) (4 4-6 .

) :(4 6/4

) (+ .

s
Strok/rev 12 6/4 30 1

E 6

6
6

s 30

0.5

A .

Ns 6

Nr 8

) (5 .

- 4 - quadrant

 ) :(5 6/8
Stroke/rev 24 Draft

Master HP .

Nr Ns 2

Nr Ns 2

Nr

9
.

.
Stroke .
6/4 6/2 .
SR 6/12 6/6 .

6/8 ) (6 .
- Inductance ratio

 ) :(16-2 4 8/6
) :(6 6/8

Stroke / rev 24

Stroke 15

E 1.33 A 2

s 21

. dip
. OULTON
Grask by controls .
) . m

0.013 7.5 . OULTON 12

(.
Stroke/rev

.
4 Stroke/rev
.
) (7 .
) absolute torque zone
Nr 180 ( .

 ) :(7 5 4 3

dip 3



SR
.
10
.
.
.

.

.
AC DC
SR .
AC


.

) (8 .
SR .

- Unipolar

10

 ) :(8 2

.

. 3
. DC ) GTO
(SSR
Stroke . AC
) (SCR
. 3 1 2 .
.
) (9
.

 ) :(9

.

dc .
.
.
.

R-DUMP
) (10 .
T1

CS

R . A

.
.
.

 ) :(10 SRM

) (11

11

) :(11 SRM bifilar

12 ) . (
- Regenerative
- bifilar

11
12

 A T emf

.
.

DC
.
) .(12

) :(12 SRM DC

SR
) ( )
( .

 q 2q
) (13

13 .

14 .

) :(13

q 2q
) (14 .

DC



.

- Fast
- Slow

13
14

 ) :(14 1 SR

:
q q-1 DC DC

q .
. .

Vdc 2

.
SR 2q
q+1 .
SR
q .

q+1

15

) (15 .

- Equal sharing

15

 ) :(15 q+1

) (q-1
.
SR

:
.
4 .
)(q+1
q DC .
q+1 .
) (16 2q q
.

Da

Db

Dc

Dd

. 4
.
.

 ) :(16 )(8-3
C-DUMP

16 .
Cd Tr

Lr Dr DC .
Vo Cd
VDC . ) (17 .

) :(17 Cdump

Vo
. Cd DC T

r Lr Dr . .
- Energy Recovery

16

 C-DUMP
C-DUMP SR .
SR .
.
DC . DC
.
.
.
Cd .
DC
.
C-DUMP

. )(18
.

) :(18 SR Cdump

 .
Tf .

.

) (19
.

.

) :(19 SR

.
( T1
(
(


.
.

Ip

Ip
q

) IP

(.

DC
) (q+1 SR
.
.

) (20 .

) :(20 DC SR

:
:
qSR q+1
.
.

Vdc

Vi.



.
C-DUMP
.
PMBrushless dc .
.
Vdc.
.

. :
2 .
Stepdown SR
.
Vi


. .
SR
.
.

DC

17

DC ) (21 4 .
.

- Buck - Boost

17


.

.


.
.
DC .

) :(20 DC

q 1.5
) (20 2 .
.

) :(20

SR DC VDC IP
.
dutycycle .
) (1

) :(1

 )(14-3

IP

)(12-3

)(10-3

)(6-3

IP

IP

)(4-3

)(3-3

)(2-3

IP
2

Vdc

Vdc

Wm

Wm

IP

IP

IP

Vdc

Wm

V Vdc -

Vdc
Vdc ( I p DI R
2

Wm

Wm

0.5Wm

) (Wm

Te

Te

Te

Te

PO

PO

PO

PO

Vdc

VO

Vdc

1.5

3.414Vdc I

2.7Vdc I bp

2.5 EI P

2Vdc I P

Te
PO

Te

0.5 PO

PO
Vdc

) Vdc Vdc R ( IP Di

Device

3Vdc I P

2Vdc I P 2Vdc I P 2 I P2 R

)(VTI

.
. ) (21
.
SR
. SR .

 18
.
. 19
/ /
.
.
dc dc SR
) KT/(
.
SR .
SR .
.

) : (21

) (22

. .
.
Phase leg .

Torque demand signal

Close loop

18
19

 ) : (22 Phase leg

dc
dc .
PWM
) ( . back-

EMF .
) ( .
20
.
. )
(PWM .
a.c d.c
. ) dc field

oriented (ac 21 .

Single Pulse mode

Orthogonality

20
21

 .
.
SR field oriented .
SR 22
.

.
.
)
MMF ( MMF

.
.

)
r

23 ( mN

) (.
.
.
.

dc.
dc (TI)
) (
Stroke

23 m Nr .

22

 .
field oriented .
.

.
.
field
oriented .


.
/ ) (27 ) (1
) (2 ) (3 )(4
) (5
.

EMF Vs
) ( .
Vs -Vs+ ) 0 (22
. )
(Vs-e-) (Vs-e ) (0 .(V-e=d/dt)

. ) (23 )
( 6/4 500rev/min
) . 23

 ( . ) (23
i 8A .
45

90

10 .

. .
23

90

.
Phase Leg )
.(22
.

) : (23
U 45
90 . J 24
.

23

. ) ( Phase

leg
Conjunction Position

24


J .

. )

( .
Vs
.

.

.
) 25 )
( . 6/4 30 )
3/1 ( . 23
.
W U A
UA . .
.

.
) ( .
rms
.

Torque Zone

25

 M1
/ 27 . M1 B

27
EMF .

EMF
.
) .
(. 24

1300rev/min .

) : (24

50 80 . 23
Vs
(di / dt Vs / Lu ) . back-

EMF .
back-EMF di/dt

 .
. "
" M2 / 27 .

c Vs /

. 25
.
25
) . (
45
90 ) (.

Vs

Vs

30
45 .

3900 / 1300 3 / 1

. 26 .
1300rev/min 3
3900rev/min . 3/1
25 26
.
3/1 .

 ) : (25

) : (26 3900rev/min ,1300

/
. /
27 .
) I
/
) .
(


. .
) II
back-EMF
. back-EMF

dl
d

) .

dl
d

e i

W
. PW P W W 0
. W / W /

.

) : (27 /

) II
.
.


.
) (3-2-4
/ .
) ( .

.

) (27 /
. .


26 .
.
/ .

28
.
.
.

Sense

26



.
.

) : (28 6/4

27

) on/off

( .

.
29 .
On Vs+
On Off 0
Vs .
.

Conduction modes

27

 ) : (29

) : (2

.
Vs+ 0 .
) (Ri

 dc
.
on/off .
Vs+ Vs .
dc
.
) 28 ( C .
back-EMF .
) (24
. back-EMF
back-EMF
. back-EMF

. c
. back-EMF

. back-EMF

.

PWM
:
PWM-

.
Conduction Pericd

28

 0 c .
. c

. c q

PWM
-PWM Phaseleg fchop
D D = ton.fchop= ton /Tchop ton Tchop
. -PWM
.
D.Vs D .
PWM

i Hi

Phaseleg .
PWM
. Q2

) ( D q 0

.(29 Q1 Vs
D2 Q2 Q1 .
D2 Q2 D1
)
0 c ( .
u
.
c D ( D u )Vs ( q c )( 1 u )Vs

 1 D
.
1 u

q 0 D

q - 0 r r ) .
( . :

1u
1 D

D r

6/4 u=0.2 D=0.5

D max 72

. /

29 )
(
. D
.
D max
. :

1 u
r
.
2 1 D
D max

36 .

1 u2
r 1 u
.
) (D D max r 2 u u
2 2
1
2

D .

PWM
. .
.
30 .

. .

.

braking torque

29

 ) : (30 -PWM

. f
D
.


. PWM
. PWM 31 .
D
. D
.

) : (31 PWM

31
.

 c .
.
) (
Over-Curreut .

Phase leg

i Hi

i i Hi iLo

i Lo

. 32

i i Hi

i i Lo

) : (32

14-4 .

. PWM
. ) -PWM (31

 " "I
.
-PWM ) ( .
32
.

) : (33

)
(

.

. *I
off *I on .
30 .

.

Sampling rate

30


.


.
.

r.m.s .
:
) I
) II )(PWM Modulation
back-EMF
.
.

.

)(
SR
. DC
.

 31 32
.

.
-1
-2


.

.

) (
) ( .
.
SR
.
SR
.

.

8
6

) (34 .

- Slotted Disk
- Resolver

31
32

 ) :(34 4

kW 5

.
.
SR
.

.
.

) (Niche Market
. .
SR
.

SR )
33(PM
- Permanent magnet

33

 .

.
:

.


. .


. SR
.

3 .
SR .
20000 .
-1 HP SR

N.m 1275/0 rpm 4000 52 .
SR

 -2 :Air-handler A.O. Smith Air handler 5/0

.
-3 :34 Radio Energic
SR .
kW 5/1 rpm 1500 4 .
rpm 3200 %82 . 4 Mosfet
. .

-4 :35 Besam

N.m 5

rpm 300 .
. .
-5 :36 SRM
. Maytag .

kW 300 . SR hp

10
. DC AC

SR
.
SR .
:

34

- Hand fork lift/pullet truck motor

- Door actuator system
36
- Washers and Dryers
35

 -1 :
140 .
-2 :37 Normal air Garret SRM

kW 40 rpm 30000 3
.
-3 38: British Jeffrey Diamond 150
kW 300 rpm 1500

SRM

4 .

SRM 1000
.
SRM
.

.
SR DC AC
. SRM
AC DC .

SRM
.

- Train air condintioning drivers

- Mining drive

37
38

 ) (PMS (PM) 39 .

.

.

. SR

PMS BLDC .
SR
.
:
-1 :Screw rotary SR

. SR

kW 75 rpm 4500

Comp AirBroomwade .
-2 : Beckman Instrument
SRM . SR
3

kW 5/2 rpm 30000.

-3 : SRM .
.40 SRM
27000 . SRM
.
rpm 27000 rpm 50000.

- Permanent magnet
- Jet engine strater motor generator

39
40

 SRM
.
.
SR

.
.


. kW 30
250 .

5 .

SRM .
SRM
SRM .

SR .

 41
42 .

.


.
SRM

43 .
kW 5/7 72 6
20
.

SRM .
SR .
directdrive
leadscrew
SRM .
table DriveXY .


41

- Unti lock break drive

- Spindle
43
- Sensin Coil
42

44

SR
SR Search
) (.

SR
) (SRM
.
.
60000 .
SRM Japan Servo .
SRM :
P: 25 watt
Air gap thickness: 0.25 mm
Torque ripple: 40%
VDC: 24-30 V
Drive topology: tow switch per phase
)Control method: Pulse Width Modulation (PWM
)Sensor: Position sensor (Photo interrupter
Pole arrang: 6/4

120000 .
- Slide table

44

 ) (High speed
. ) (
. 45 HS 70000
20000 .

.
%40
.

.
SRM 2kW 32/24
rep 4000-200 .
.

1............................................................................................SR
) :(1 SR )2................................................................ (6/8
2........................................................................................................SRM

3....................................................................................................................

) :(2 SR 6/4 ) (1 1 4. .
) :(3 SR 6/4 5..........................................................1
6....................................................................................................SR
7..............................................................................................................................
High Speed

45

 8............................................................................................................ ) :(4 6/4 8................................................................................................

) :(5 6/8 9................................................................................................
9......................................................................................................... ) :(6 6/8 10...........................................................................................
) :(7 5 4 311.................................................................

12........................................................................................
12............................................................................................................

12....................................................................................................................
) :(8 2 13.................................................................
13.............................................................................................
) :(9 14...................................................................
14........................................................................
14....................................................................................................................R-DUMP
) :(10 SRM 15.....................................................................
15.....................................................................................................................
) :(11 SRM bifilar .
) (15.....................................................................................................
DC 16............................................................................................
) :(12 SRM DC 16...................................................................
q 2q17..........................................................................................
) :(13 17..........................................................................
q 2q 17..........................................................
) :(14 1 18..................................................SR
q+1 18...............................................................................
18....................................................................................................
) :(15 q+119...........................................................................
) :(16 )20............................................................................(8-3
20.........................................................................................................C-DUMP
) :(17 Cdump 20..............................................................
C-DUMP 21.....................................................................................
) :(18 SR Cdump 21...........................................................
22................................................................................................
) :(19 SR 22....................................................................

 DC 22............................................................................
) :(20 DC 23............................................................SR
DC 24...............................................................
) :(20 DC 25.............................................................
q 1.5 25..........................................................................................
) :(20 25.............................................................................
26........................................................................................
) :(1 26...............................................................................

27...........................................................................................
) : (21 27..............................................................................................
) : (22 28.............................................................................................Phase leg
30....................................

30..............................................................................................
) : (23 31.............................................
U 45
90 . J
31........................................................................................
33............................................................................................
) : (24 33..........................................................
34.....................................................................................
) : (25 34............................................
) : (26 35......................3900rev/min ,1300
/ 35.................................................................................
) : (27 /36....................................................................................
) II 36..........................................................................................................
37..............................................................................................................
) : (28 37..................................................6/4
38........................................................................................................
38...........................................................................
) : (29 38.................................................................................................
) : (2 39..................................................
PWM 40..................................................
40.........................................................................................PWM
) : (30 -PWM 42...........................................................
) : (31 42...............................................................................PWM

 43......................................................................................
) : (32 43.....................................................
) : (33 44.......................................................................
44.............................................................................................

)(45..........................................................................

46...................................................................................

) :(34 4

kW 5 46......................

47............................................................................................................

47.......................................................................................................

48..........................................................................................................
49.......................................................................................................
50............................................................................................................
50........................................................................................................
52...........................................................................................
52.......................................................................................................
52...........................................................................................................
53......................................................................................................
53...........................................................................SR

53..............................................................................

53.......................................................................................................... SR