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Unit-3
Switched Reluctance Motor
Introduction
Switched Reluctance Motors (SRM) have inherent advantages such as simple structure
with non winding construction in rotor side, fail safe because of its characteristic which has a
high tolerances, robustness, low cost with no permanent magnet in the structure, and possible
operation in high temperatures or in intense temperature variations. The origin of the reluctance
motor can be traced back to 1842,but the reinvention has been possibly due to the advent of
inexpensive, high-power switching devices.
The torque production in switched reluctance motor comes from the tendency of the
rotor poles to align with the excited stator poles. The operation principle is based on the
difference in magnetic reluctance for magnetic field lines between aligned and unaligned rotor
position when a stator coil is excited, the rotor experiences a force which will pull the rotor to
the aligned position. However, because SRM construction with doubly salient poles and its
non- linear magnetic characteristics, the problems of acoustic noise and torque ripple are more
severe than these of other traditional motors. The torque ripple is an inherent drawback of
switched reluctance motor drives.
Construction of a switched reluctance motor (SRM):
Switched reluctance motor (SRM) drives are simpler in construction compared
to induction and synchronous machines. Their combination with power electronic controllers
may yield an economical solution . The structure of the motor is simple with concentrated coils
on the stator and no coils or magnets on its rotor. SRM is a type of synchronous machine. It
can be seen that both the stator and rotor have salient poles; hence, the machine is a doubly
salient, singly excited machine.
Stator windings on diametrically opposite poles are connected in series or
parallel to form one phase of the motor. Several combinations of stator and rotor poles are
possible, such as 6/4 (6 stator poles and 4 rotor poles), 8/4, 10/6 etc. The configurations with
higher number of stator/rotor pole combinations have less torque ripple.
The Switched Reluctance Motor drives present several advantages as high efficiency,
maximum operating speed, good performance of the motor in terms of torque/inertia ratio
together with four-quadrant operation, making it an attractive solution for variable speed
applications. The very wide size, power and speed range together with the economical aspects
of its construction, will give the SRM place in the drives family. The performances of switched
reluctance motor strongly depend on the applied control.
-----------------------(2)
For the case of constant excitation (i.e., when the mmf is constant), the incremental
mechanical energy is equal to the change of magnetic coenergy, Wf:
--------------------------(3)
By the theory of electromagnetic field, if no magnetic saturation exists, the coenergy
at any position in the motor can be expressed by:
---------------------------(4)
where L(, i) is the stator inductance at a particular position, and i the stator phase
current. Hence, the electromagnetic torque is:
------------(5)
Equation (5) has the following implications:
1. The torque is proportional to the square of the current and hence, the current can be unipolar
to produce unidirectional torque. This is a distinct advantage in that only one power switch is
required for the control of current in a phase winding and thereby makes the drive economical.
2. Since the torque is proportional to the square of the current, it has a good starting torque.
3. Because the stator inductance of a stator winding is a function of both the rotor position and
stator current, thus making it nonlinear, a simple equivalent circuit development for SRM is not
possible.
4. A generation action is made possible with unipolar current due to its operation on the
negative slope of the inductance profile. As a result, this machine is suitable for four-quadrant
operation with a converter.
5. Because of its dependence on a power converter for its operation, this motor is an inherently
variable-speed motor drive system.
SRM Configurations:
Switched reluctance motors can be classified as shown in Fig.3. The initial classification is
made on the basis of the nature of the motion (i.e., rotating or linear).
FIG. 7.6. Elementary reluctance motor showing principle of torque production: (a) primitive motor;
(b) field energy and coenergy.
If magnetic saturation is negligible, then the relationship between flux linkage & current at
the instantaneous rotor position is a straight line whose slope is the instantaneous inductance
L. Thus
Curre nt Regulation:
For motoring operation the pulses of phase current must coincide with a period of
increasing inductance, i.e. when a pair of rotor poles is approaching alignment with the stator
poles of the excited phase. The timing and dwell of the current pulse determine the torque, the
efficiency, and other parameters. In d.c. and brushless d.c. motors the torque per ampere is
more or less constant, but in the SR motor no such simple relationship emerges naturally. With
fixed firing angles, there is a monotonic relationship between average torque and r.m.s. phase
current, but in general it is not very linear. This may present some complications in feedbackcontrolled systems although it does not prevent the SR motor from achieving 'near-servo
quality' dynamic performance, particularly in respect of speed range, torque/inertia, and
reversing capability.
The general structure of a simple control scheme is much the same as that of the brushless d.c.
drive (Fig. 7.14). More complex controls are required for higher-power drives, particularly
where a wide speed range is required at constant power, and microprocessor controls have been
developed and used very effectively, (Chappell et al. 1984; Bose et al. 1986). Because the
characteristics of the SR drive are essentially controlled by the phasing of switching instants
relative to the rotor position, digital control is not only very natural but can be implemented
extremely effectively with flexibility or 'programmability' of the characteristics and with
reliable, repeatable results.
It is characteristic of good operating conditions that the conversion loop fits snugly in
the space between the unaligned and aligned magnetization curves, as in Figs 7.15 and 7.19.
Figure 7.15(b) corresponds to high-speed operation where the peak current is limited by the
self-e.m.f. of the phase winding. A smooth current waveform is obtained with a peak/r.m.s.
ratio similar to that of a half sine wave.
At low speeds the self-e.m.f. of the winding is small and the current must be limited by
chopping or p.w.m. of the applied voltage. The regulating strategy employed has a marked
effect on the performance and the operating characteristics. Figure 7.17 shows a current
waveform controlled by a 'hysteresis-type' current-regulator that maintains a more or less
constant current throughout the conduction period in each phase. Figure 7.20(a) shows
schematically the method of control. As the current reference increases, the torque increases.
At low currents the torque is roughly proportional to current squared, but at higher currents it
becomes more nearly linear. At very high currents saturation decreases the torque per ampere
again. This type of control produces a constant-torque type of characteristic as indicated in Fig.
7.21. With loads whose torque increases monotonically with speed, such as fans and blowers,
speed adjustment is possible without tachometer feedback, but in general feedback is needed to
provide accurate speed control. In some cases the pulse train from the shaft position sensor
may be used for speed feedback, but only at relatively high speeds. At low speeds a larger
number of pulses per revolution is necessary, and this can be generated by an optical encoder
or resolver, or alternatively by phase-locking a high- frequency oscillator to the pulses of the
commutation sensor (Bose 1986). Systems with resolver- feedback or high-resolution optical
encoders can work right down to zero speed. The 'hysteresis-type' current regulator may require
current transducers of wide bandwidth, but the SR drive has the advantage that they can be
grounded at one end, with the other connected to the negative terminal of the lower phaseleg
switch. Shunts or Hall-effect sensors can be used, or alternatively, 'Sensefets' with in-built
current sensing. Much of the published literature on SR drives describes this form of control.
Figure 7.20(b) shows an alternative regulator using fixed-frequency p.w.m. of the voltage
with variable duty-cycle. The current waveform is similar to that shown in Fig. 7.13, except
that after commutation the current decays through the diodes somewhat more rapidly because
the reverse voltage applied is effectively 1/d times the forward voltage applied before
commutation. (d = duty cycle). The torque and energy-conversion loop are similar to Figs 7.14
and 7.15. The duty-cycle (or 'off- time') of the p.w.m. can be varied by a simple monostable
circuit. This form of control is similar to armature-voltage control in a d.c. motor.
FIG. 7.20. Schematic of curre nt-regulator for one phase, (a) Hysteresis-type, (b)
Voltage-p.w.m. type (duty-cycle control).
core losses and windage losses increase quite rapidly with speed. This is shown in Fig. 7.22
between points B and P. The angle D is the 'dwell' or conduction angle of the main switching
device in each phase. It should generally be possible to maintain constant power up to 2-3
times base speed.
The increase in conduction angle may be limited by the need to avoid continuous
conduction, which occurs when the conduction angle exceeds half the rotor pole-pitch. It may
be limited to lower values by the core loss or other factors. At P the increase in D is halted
and higher speeds can now only be achieved with the natural characteristic, i.e. torque
decreasing with speed squared.
At very low speeds the torque/speed capability curve may deviate from the flat-torque
characteristic. If the chopping frequency is limited (as with GTO thyristors, for example), or if
the bandwidth of the current regulator is limited, it may be difficult to limit the peak current
without the help of the self-e.m.f. of the motor, and the current reference may have to be
reduced. This is shown in curve (i) in Fig. 7.22. On the other hand, if this is not a problem, the
very low windage and core losses may permit the copper losses to be increased, so that with
Prepared by P.Srihari M.Tech, M.I.S.T.E @Asst.Prof. Of EEE Dept
higher current a higher torque is obtained, as shown in curve (ii). Under intermittent
conditions, of course, very much higher torques can be obtained in any part of the speed range
up to base speed. In Fig. 7.23 this can be seen by extrapolating the constant-duty-cycle curves
above the maximum current locus.
It is important to note that the current which limits the torque below base speed is the motor
current (or converter output current). The d.c. supply current increases from a small value near
zero speed to a maximum value at base speed. Basically this is because the power increases in
proportion to the speed as long as the torque is constant. With fixed d.c. supply voltage at the
input to the converter, the d.c. supply current is then proportional to the speed. If the torque is
less than maximum, of course the d.c. supply current is also smaller.
As shown in the figure, a revolving shutter with a 120 electric angle gap is installed on the
rotor shaft, rotating with the rotor of the SRM. Phototransistors of the same number as the
motor phases (three phases in the figure) are fixed on the stator. When the gap is aligned with
the phototransistor PT1, the phototransistor will generate a current due to the light, while
phototransistor PT2 and PT3 have only a very small leakage currents because the light is
blocked by the revolving shutter. In this case, the stator phase associate with PT1 should be
turned on. Similar situation will occur when the gap of revolving shutter is aligned with PT2 or
PT3.
Hall Position Sensors
The function of a Hall sensor is based on the physical principle of the Hall effect named
after its discoverer E. H. Hall: It means that a voltage is generated transversely to the current
flow direction in an electric conductor (the Hall voltage), if a magnetic field is applied
perpendicularly to the conductor. A typical structure of Hall position sensor for three phase
motor is illustrated in Fig.15. It is made up of three Hall components and a rotating plate with
permanent magnet fixed on the rotor shaft. Similar to the gap of the phototransistor sensors, the
permanent magnet on the rotating plate is installed suitably so that the output of the Hall
components can indicate the proper rotor position for the phase current control.
10
11
12
current in the same direct until it is depleted. The waveforms are shown in Fig.10b and c with
different switching strategies.
13
are shown in Fig.12b. It is shown that the voltage across the power switch can be very much
higher than the source voltage. A disadvantage of this drive is that the SRM needs a bifilar
winding, which increases the complexity of the motor.
C-Dump Converter
The C-dump converter is shown in Fig.13a with an energy recovery circuit. The stored
magnetic energy is partially diverted to the capacitor Cd and recovered from it by the single
quadrant chopper comprising of Tr, Lr and Dr and sent to the DC source. This configuration has
the advantage of minimum power switches allowing independent phase current control. The
main disadvantage is that the current commutation is limited by the difference between voltage
across Cd , v o and the DC link voltage. Furthermore, the energy circulating between Cd and the
DC
link
results
in
additional
losses
in
the
machine.