1 2

1
mm.namaziesfahani@ec.iut.ac.ir
2
saghaian@cc.iut.ac.ir
3
315.amir@gmail.com

. 4kw 8/6 SRM

.
.

.
SRM .
]1. [2
-1
-2


-3


-4 .




.



.

-1

.
.

. SRM



DC



.


.
.


1

1787

 j
i j .
:

.


.

j ( , i j ) d

dt

)(2

ij

)(3

Tej

Te

i 1

SRM
.

.



.
. 1 8/6 SRM ]. [3

dt

)(4

d 1
Te TL D
dt J
1

di j

vj
R ji j

dt i j

J D
Te TL
.
.

. v j
j .

y .

]: [5

:1 8/6 SRM

. SRM
].[4

1
m

d 1 Tej j
R ji j j v j

dt J i j i j

j 1

)(5

m T

1
ej
Tu D


J

j 1

-1-2 SRM

:
)(1

dt

SRM :

-2 SRM

, j 1, 2 , , m

j ( , i j ) di j

v j R ji j

) d j ( , i
dt

x 1
x2
d dt affine
:

v j R ji j

i j Rj v j
) j ( , i
.

)(6

2
1788

dx1
x2
dt
dx2
f gu
dt
y x1

)(7

.

.
8/6 SRM 1
3
].[6

y f gu
1
m

1 Tej j
R ji j j
f
J i j i j

j 1

m T

1
ej
Tu D

J

j 1

) (8

. 1 8/6 SRM

T
fn u
J
1

)(9

, j 1,2,3, or 4.

1 Tej j
g
J i j i j

Tu ) (10


:
)(10

40

0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0

)(12

j ( , i j ) di

60

Tu

-50
20
15

60
10

40
5

20

)Rotor Position (Degree

)Current (Ampere

:3 8/6 SRM

.
. 4 5
j i j
j Tej i j
Tej .
0.2
0.15

5 4 2
1

0.1

181716
1514
7

131211 98

10

0.05
0
20

Te

80

15

0
60

10

40

20

)Rotor Position (Degree

) (13

Partial derivative of Flux to Current

)(13

1817

1615

1413

1211
109

87
65

43

21
0

.
) (12
:

)Flux (Wb-turn

50

0.5

)Rotor Position (Degree

Wf

Wf ,i j

0
1

40

.

:
i2

10

20

j ( , i j )

20

)Electromagnetic Torque (N.m

)(11

30

0.9

f
f f n f f n
f f .

.
:

v j R ji j dt

0.7

9A

1500 rpm

4kW

8/6

)Current (Ampere

dTL
dt

)Current (Ampere

:4

3
1789

1817

1615

1413

1211

109

7
654

2
1

Partial Derivative Of Flux to Position

0.05

)(15

i 0 .

)(16

-0.05
20
15

80
60

10

40

20

)Rotor Position (Degree

0
-2
-4
20
15

60
10

40
5

20

)Rotor Position (Degree

)Current (Ampere

1817
161514

131211
10
98

6
5
4
3
21
0

0
-5
-10
20
15

60
10

40
5

20

)Rotor Position (Degree

)(17

)(18

1
i i x sign e
Ke f x ref

g x
i 1

K 0 i
i
:

)(19
i i i x e
i 0, i 1, 2,, p

)Current (Ampere

:5

.
.

) (18
.

) (sign
.


.

.


~ ~ n 1
)(20
sx, t d dt x , x x xref

-3

.

.

:
)(14

Tu t i Tu t : Tu t i

i 0 .
u

ref .
e ref

.

Partial derivative of Torque to position

10

Partial Derivative Of Torque to Current

18

17
1615

1413

1211

10

98

7
6

5 4 21 0
3

x f x x t g x u t

f x g x
t

)Current (Ampere

i t i i t : i t i

x f x 1 x 1 t p x p t g x u t

f x g x
. i 1, 2, , p
i x i t
. :

sat s signe
)(21
]7.[8
4

1790

)(21

)Motor & refrence Speed (RPM

210

)Motor & refrence Speed (RPM

f ref 2 e
1

Ke
g x
f ref e 1 exp 1t

250
200

150
100
50

1
i 2 x e
i 2

i x e i ( 2 / p) exp 2 t
g x
i 1

0.1

) (21 ) (19

ref
.
) (21 .
1 2 1 2



.

]9.[10

0.09

0.08

0.07

0.04
0.05
0.06
)Time (Second

0.03

0.01

0.02

-50
0

205
200
195

0.05

0.045

0.025
0.03
0.035
)Time (Second

0.04

0.02

190
0.01

0.015

: 7 ) (

8 4
.
3 N.m .
0
9 9 .

SRM .

) (18 K 1000.

3 N. m
6 .

0.1

0.09

0.08

0.07

0.06

0.05

0.04

0.03

0.02

-5
0

0.01

)Time (Second
25
20
15
10
5

10
5

0.1

0.09

0.07

0.06

0.05

0.04

0.03

0.02

0.01

0
0

)Load Torque (N.m

15

0.08

)Electromagnetic Torque (N.m) Four Phase Currents (Ampere

-4

10

0.1

0.06

0.08

0.04

0
0

0.02

)Time (Second

: 8 4
10

)Time (Second

x 10

: 6

200 RPM
7
.
0.014

.

-1

0.1

0.09

0.08

0.07

0.04 0.05 0.06

)Time (Second

0.03

0.02

0.01

Signal Control

-2
0

: 9

1791

x 10

.
.

10

15

5
Load Torque (N.m)

Control Signal

15

0
-5
0

0.01

0.02

0.03

0.04
0.05
0.06
Time (Second)

0.07

0.08

0.09

0.1

10

0
0

0.01

0.02

0.03

0.04

0.05

0.06

0.07

0.08

0.09

0.1

Time (Second)

: 10

0
-2
-4
0.01

0.02

0.03

0.04
0.05
0.06
Time (Second)

0.07

0.08

0.09

11
.
.

0.1

: 13

-5


SRM




.

Motor & refrence Speed (RPM)

-6
0

250

Motor & refrence Speed (RPM)

Control Signal

210

200
150
100
50
0
-50
0

0.01

0.02

0.03

0.04
0.05
0.06
Time (Second)

0.07

0.08

0.09

0.1

205
200
195
190
0.01

0.015

0.02

0.025
0.03
0.035
Time (Second)

0.04

0.045

0.05

( ) :11

R. Krishnan, Switched Reluctance Motor Drives, Boca Raton,

FL:CRC Press, 2001.
[2] C. Chen and T. Liu, Nonlinear Controller Design for Switched
Reluctance Drive System IEEE Trans. Aerospace And Electronic
Systems ,Vol. 39, NO. 4, 2003.
[3] Miller. T.J.E,
Electronic Control of Switched Reluctance
Machine, Newnes, 2001.
[4] M. Zribi and Muthana T. Alrifai, Robust Controllers for Variable
Reluctance Motors, the Journal of Mathematical Problems in
Engineering, Vol. 2005 ,pp.195 - 214 ,2005 .
[5] M.T. Alrifai, M. Zribi and H.S.Ramirez, Static and dynamic
sliding mode control of variable reluctance motors INT. J.
CONTROL, VOL. 77, NO. 13, pp 1171 1188, 2004.
[6] V. Ramanarayanan and D.Panda, Mutual Coupling and Its Effect
on Steady-State Performance and Position Estimation of Even and
Odd Number Phase Switched Reluctance Motor Drive IEEE
Trans. Magnetics, Vol 43 ,pp.34453456, 2007.
[7] J.J.E. Slotine and W. Li, Applied Nonlinaer Control, Prentice
Hall, pp. 339-342, 2002.
[8] Koofigar. H.R., Hosseinnia. S and Sheikholeslam. F, Robust
adaptive nonlinear control for uncertain control-affine systems and
its applications Nonlinear Dynamics, Springer Science
Publishing, Vol. 56, No.1, pp. 13-22, 2009.
[9] Cai. Z, Queiroz. M.S, and Dawson. D.M, Robust adaptive
asymptotic tracking of nonlinear systems with additive
disturbance IEEE Trans. Autom. Control 51, 524529, 2006.
[10] R. Marino and P. Tomei, "Adaptive tracking and disturbance
rejection for uncertain nonlinear systems. IEEE Trans. Autom.

4 12

. 8
.
. 13
Four Phase Currents (Ampere)

[1]

10

-5
0

0.01

0.02

0.03

0.04 0.05
0.06
Time (Second)

0.07

0.08

0.09

0.1

0.01

0.02

0.03

0.04 0.05 0.06

Time (Second)

0.07

0.08

0.09

0.1

Electromagnetic Torque (N.m)

25
20
15
10
5
0
0

Control 50, 9095, 2005.

4 : 12

6
1792