IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 62, NO.

1, JANUARY 2013 185

Fast Flux Linkage Measurement for Switched

Reluctance Motors Excluding Rotor Clamping
Devices and Position Sensors
Lei Shen, Jianhua Wu, Shiyou Yang, and Xiaoyan Huang, Member, IEEE

Abstract—It is essential to experimentally determine the profile required. Therefore, experimental determinations of the flux
of flux linkage, current, and position of a switched reluctance mo- linkage profile are essential in practice. On this issue, several
tor (SRM) in both design verifications and high-performance con- approaches [4]–[15] were proposed. In [4]–[6], a dc voltage
trol implementations. In this paper, a fast measurement method of
the flux linkage profile is proposed. In the proposed method, the was applied to the phase winding, while the curves of current
rotor is first rotated to the aligned position, and then, the voltage response were recorded to calculate the flux linkage. A similar
pulses are applied to all phases simultaneously. The dc voltage method was also reported in [7], in which the virtual instrument
and phase current waveforms are recorded to estimate the flux technology was employed, and the phase resistance variation
linkage curves at three different positions. These curves are used was continuously measured to reduce the flux linkage estima-
to calculate the coefficients of a second-order Fourier series flux
linkage model, which represents the entire flux linkage profile of tion error. In [8], a capacitor-based pulse injection method was
an SRM. The feasibility and accuracy of the proposed method are proposed; the capacitor was first charged by an ac/dc converter,
verified by experimental study with an 8/6 SRM. The impacts of then the capacitor was discharged through the phase winding,
rotor misalignment and phase couplings are investigated. A com- and the discharge current was used to estimate the flux. In [9],
parative study with the well-recognized rotor clamping method is the phase winding was excited by an ac power supply, while
given to demonstrate the advantages of the proposed method. The
proposed method eliminates the requirements on rotor clamping the steady-state terminal voltage and line current were used to
devices or position sensors; therefore, it is suitable for product test calculate the flux. Although satisfactory results can be obtained
in massive production and fast field measurement. with these methods, they had the following disadvantages:
Index Terms—Flux linkage measurement, position sensor, rotor
clamping device, switched reluctance motor (SRM). 1) A rotor clamping device is generally required to fix the
rotor during the test. However, such a device is usually
prohibited if the motors are already in service.
I. I NTRODUCTION
2) High-precision position sensors are also needed. These
sensors require additional cost and extra space. Moreover,
A SWITCHED reluctance motor (SRM) possesses a lot of
advantages in terms of low cost, simple structure, and
high efficiency and has found wide applications in industry,
it is extremely difficult to install sensors such as absolute
encoder, incremental encoder, or resolver for a motor with
military, and consumer electronics. Recently, as the price of a large shaft diameter.
rare-earth permanent magnets increases, even more attention 3) It is time consuming to measure the flux linkage profile
has been attracted by SRMs. However, due to its doubly salient for a motor. In low-cost massive production with loose
structure, the flux linkage profile exhibits strong nonlinearity tolerance, the flux linkage profile for every motor varies.
with phase current and rotor position. It is necessary to know As a result, it is impractical to test every motor with above
the flux linkage profile in order to achieve high-performance methods, even if the automatic measurement technique is
speed control, torque control, and sensorless control for an employed.
SRM. Although the profile can be calculated using a finite-
element method [1]–[3], it is difficult to accurately model the In summary, although the existing methods are efficient in
magnetic nonlinearity, and experiment verification is generally prototype motor tests, they are not practical in manufacture
test and field measurement. To overcome the aforementioned
disadvantages, a fast flux linkage profile estimation method
excluding clamping devices and position sensors is proposed.
The entire flux linkage profile is represented by a second-
Manuscript received February 17, 2012; revised July 1, 2012; accepted order Fourier series model. The Fourier series coefficients are
July 2, 2012. Date of publication September 7, 2012; date of current version estimated with current response curves at three different angles,
December 12, 2012. The Associate Editor coordinating the review process for
this paper was Dr. J. Ureña. which are obtained by injecting voltage pulses into each phase
The authors are with the College of Electrical Engineering, Zhejiang Univer- simultaneously when the rotor is at an aligned position. The
sity, Hangzhou 310027, China. feasibility is verified by measuring the flux linkage profile for
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. an 8/6 SRM. Moreover, the influences of rotor misalignment
Digital Object Identifier 10.1109/TIM.2012.2212598 and phase couplings are also investigated.
0018-9456/$31.00 © 2012 IEEE

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 186 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 62, NO. 1, JANUARY 2013

The Fourier series coefficients can be calculated as

⎡ ⎤ ⎡ ⎤−1 ⎡ ⎤
f0 (i) 1 cos θ0 cos 2θ0 ψ(i, θ0 )
⎣ f1 (i) ⎦ = ⎣ 1 cos θ1 cos 2θ1 ⎦ ⎣ ψ(i, θ1 ) ⎦ . (3)
f2 (i) 1 cos θ2 cos 2θ2 ψ(i, θ2 )

C. Flux Linkage Profile Estimation

To determine the coefficients of the model, the flux linkage
curves at three different positions must be measured. For this
purpose, former studies [4]–[9] employed the clamping devices
to fix the rotor and the position sensors to acquire the rotor angle
Fig. 1. An 8/6 SRM and its converter. information. As previously demonstrated, such approaches are
either impractical or prohibited in massive production tests
or field measurements. To address this issue, a novel pulse
II. F LUX L INKAGE P ROFILE M EASUREMENT E XCLUDING injection method is proposed. In the proposed method, the
ROTOR C LAMPING D EVICES AND P OSITION S ENSORS motor was first rotated to the aligned position by exciting
A. Brief Introduction of SRM the selected phase, and then, voltage pulses are applied to all
phases simultaneously. When the current of the aligned phase
An SRM consists of a salient pole stator and a salient pole reached the limit value Ilimit , all phase are turned off. The
rotor, while concentrate coils are wound on the stator only. flux linkage profile can be calculated using the phase current
When one phase is excited, the torque will be generated to curves from
rotate the rotor to the aligned position at which the reluctance
is minimized. A detailed operation principle of SRM can be t
found in [16]. Fig. 1 shows an 8/6 SRM together with a unipolar ψ(t) = [U (t) − Ri(t)] dt (4)
asymmetric half-bridge power converter for one phase. In the 0
figure, Phase A is at the aligned position, whereas Phase C is
where U is the dc bus voltage, and R is the phase resistance.
at the unaligned position. Although the mechanic structure of
The influence of the power switch ON-state resistance is ne-
the motor is very simple, the magnetic characteristic is quite
glected, since it is much smaller than R.
complicated. The motor flux linkage nonlinearly varies with
It should be noted that under an ideal condition at the aligned
current and rotor position. The flux linkage profile is important
position, due to the symmetrical magnetic characteristics of the
for both motor designs and control.
motor, the total torque generated is zero, and no movement will
be induced in the rotor.
B. Second-Order Fourier Series Flux Linkage Model If the number of phases for the motor is greater than three,
at least three flux linkage curves at different positions can be
The nonlinear flux linkage–current–position characteristic of
measured, which can be employed with (3) to calculate the
an SRM is described by a 2-D lookup table in previous studies.
Fourier series coefficients.
The precision of the model depended on the test intervals of
currents and positions. Therefore, a large amount of data points
should be measured to obtain an accurate flux linkage profile, D. Issues in Engineering Applications
increasing the complexity and the time of the measurement. In
1) Rotor Misalignment: In SRM design, the rotor pole arc
this paper, the flux linkage of an SRM is modeled by using a
βr is usually larger than the stator pole arc βs to guarantee
simplified second-order Fourier series [16] as
self-start capability. Considering the linear SRM model, there
will be a zero torque region whose width is βr − βs around the
ψ(i, θ) = f0 (i) + f1 (i) cos(θ) + f2 (i) cos(2θ) (1) aligned position. The torque generated in this area is too small
to rotate the rotor to the aligned position, causing misalignment
where ψ is the flux linkage, i is the current, fk (k = 0, 1, 2) of the rotor. The maximum misalignment angle is (βr − βs )/2.
is the Fourier series coefficient, and θ is the electric angle of To the aligned phase (Phase A in Fig. 1, for example) and the
the rotor (0◦ for the aligned position, 180◦ for the unaligned unaligned phase (Phase C), the impacts of misalignments on
position). the flux linkage are very small, whereas to the other phases in
Under a specific current i, provided that the flux linkage the overlap region, the influence cannot be neglected since the
curves at three different positions (θ0 , θ1 , θ2 ) are known, one flux linkage significantly varies with the rotor angle. To solve
may get this problem, a remedy technique is proposed and used.
⎡ ⎤ ⎡ ⎤⎡ ⎤ More concretely, under the rotor misalignment condition,
ψ(i, θ0 ) 1 cos θ0 cos 2θ0 f0 (i) the flux linkage profile for the symmetrical phases (e.g.,
⎣ ψ(i, θ1 ) ⎦ = ⎣ 1 cos θ1 cos 2θ1 ⎦ ⎣ f1 (i) ⎦ . (2) Phase B and Phase D) at overlap positions are ψ(i, θ + θbias )
ψ(i, θ2 ) 1 cos θ2 cos 2θ2 f2 (i) and ψ(i, θ − θbias ), respectively. The flux linkage exhibits an

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 SHEN et al.: FAST FLUX LINKAGE MEASUREMENT FOR SWITCHED RELUCTANCE MOTORS 187

Fig. 2. Schematic diagram of the proposed method.

approximately linear relationship with the position in this area.

The flux linkage curve at the correct angle can be calculated by

ψ(i, θ + θbias ) + ψ(i, θ − θbias )

ψ(i, θ) ≈ (5)
2

where θbias is the misaligned angle. θ is the original correct

angle.
2) Power Switch Gate Drive Consideration: One purpose
of the proposed method is to perform field flux linkage
measurement with an SRM controller. Most SRM controllers
use a bootstrap circuit as the power supply for the up-
per leg of the asymmetric half bridge (Q1 in Fig. 1). The
pulsewidth is limited by the bootstrap capacitor. To guaran-
Fig. 3. Test bench.
tee the pulse current of the aligned phase to reach Ilimit , a
large bootstrap capacitor is required. Usually, capacitors above at a frequency of 20 kHz. A 16-bit absolute encoder is mounted
30 uF are preferred for a low-power insulated-gate bipolar on the motor only for verification purposes. The rated current of
transistor/metal–oxide–semiconductor field-effect transistor. the SRM is 0.7 A; thus, Ilimit was set to 1 A. The flux linkage
3) Determination of Current Limit Ilimit : The flux linkage results are transferred to the personal computer via the DSC
profile is usually used in implementing high-performance con- in-circuit emulator REAL ICE.
trols such as servo control and sensorless control. Although it is A current chopper is used to align Phase A by gradually
ideal to represent the characteristics of an SRM with a large flux increasing its pulsewidth modulation duty cycle. After a certain
linkage profile table over a wide current range, it costs a lot of amount of time when the rotor is stable at the aligned posi-
memories of the controller to store the data. Under large-current tion, voltage pulses are applied to all phases simultaneously.
condition, the flux linkage increases almost linearly with the Fig. 4 shows the dc bus voltage and phase current waveforms.
current. Therefore, an extrapolation technique can be used to At the unaligned position (Phase C), the inductance is small;
estimate the flux linkage under large current with acceptable therefore, the current slew rate is large. While for the midway
accuracy. Considering all the aspects above, the current limit (Phase B, D) and aligned positions (Phase A), the inductance
Ilimit is recommended to be 1.5 times the rated current. is large; hence, the current amplitude is reduced. Moreover, as
a result of the saturation effect, the current rises faster as the
inductance decreases.
III. E XPERIMENT V ERIFICATIONS AND D ISCUSSIONS
During the motor design, the upper limit of the current
To validate the proposed method, a prototype system is hysteresis band for the motor under test is 6 A. Although the
constructed. The schematic diagram and the test bench are current amplitude of the unaligned phase is quite large, it is
shown in Figs. 2 and 3, respectively. Compared with the test still within the current operation range of the motor. Moreover,
bench as reported in previous studies, the complexity and the the pulse duration is short; the generated heat was too small to
cost of the proposed one are reduced due to the absence of rotor damage the windings. Another issue is the mechanical stress;
clamping devices and position sensors. The motor under test is a although the current rises fast, the magnetic density is relatively
90-W 8/6 SRM. The dc bus voltage is 120 V. Four asymmetric weak at the unaligned position. The force acting on the phase
half bridges are employed to apply voltage pulses to all four windings is quite small. Therefore, it is safe and reliable to
phases. The dc bus voltage and phase current are measured with measure the flux linkage profile with the proposed method.
Hall effect sensors. The algorithm is implemented in a low-cost It should be also noted that due to the existence of rotor
digital signal controller (DSC) dsPic30F4011 from microchip, misalignments, the curves are slightly different for the sym-
which offers 10-bit analog/digital (A/D) converters. The A/D metrical phases (Phase B, Phase D). The effect of winding
converter samples the currents and the voltage simultaneously resistance variation can be neglected as the temperature of

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 188 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 62, NO. 1, JANUARY 2013

Fig. 4. DC bus voltage and current waveforms.

Fig. 5. Flux linkage results from the proposed method and the rotor clamping
method at three different positions.

the coils nearly remains constant. The accuracy of the Fourier

series flux linkage model depends on the flux linkage curves
at three different positions. Fig. 5 shows the three different flux
linkage curves by the proposed method together with the results Fig. 6. Contour flux line plot at an aligned position. (a) Single-phase excita-
tion. (b) Four-phase simultaneous excitation.
from the rotor clamping method. The results at θ = 90◦ are
obtained from (5). The reason for choosing the rotor clamping aligned phase travels in two groups, and almost returns
method is that it is widely recognized to provide satisfying flux in the two overlap phases, but little flux flows into the
linkage profiles in previous reports [5]. unaligned phase due to its large reluctance of the loop.
It is obvious that the results of the proposed method and the The coupling between phases is very complex. Fig. 7
rotor clamping method match closely. However, some small shows the flux linkage curve at an aligned position for
differences can still be observed in the compared results. Causes these two cases using FEA. The same current was applied
of the differences are as follows. to each winding for multiphase excitation. Due to the
1) Magnetic coupling between phases: In previous ap- magnetic coupling, the flux linkage for the single-phase
proaches, there is no phase coupling since only one excitation is greater than that of the multiphase excitation
phase is excited during the test. However, in the proposed at the aligned position, particularly under large-current
method, the voltage pulses are applied to all phases at the conditions. This explains the errors at θ = 0◦ , 1 A in
same time; therefore, the coupling effect cannot be ne- Fig. 5. However, as the angle increases, the impacts of
glected. Fig. 6 shows the contour flux linkage line plot at the magnetic coupling gradually reduce, and finally can
the aligned position using finite-element analysis (FEA) be neglected.
for both single phase excited and four phase simultane- 2) Rotor misalignment: Since the flux linkage varies with
ously excited situations. The single-phase excitation leads the rotor angle, rotor misalignment will result in errors in
to a long flux path. While for the multiphase excitation flux linkage measurement. For the motor under test, the
case, a short flux path is formed. The flux through the stator arc and the rotor arc are 21◦ and 24◦ mechanical

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 SHEN et al.: FAST FLUX LINKAGE MEASUREMENT FOR SWITCHED RELUCTANCE MOTORS 189

Fig. 7. FEA results of the flux linkage by single-phase excitation and four-
phase excitation at three different positions.

Fig. 9. Second-order Fourier series flux linkage results. (a) Coefficients of the
second-order Fourier series model. (b) Profile of flux linkage.

least significant bit is usually erroneous, which means

the effective resolution of the A/D converter is reduced
Fig. 8. Flux linkage difference between aligned and misaligned conditions
using FEA. to 9 bits. The analog signal input range is 0–5 V.
The conversion ratio of the current sensor is 0.7 V/A.
degree, respectively. The maximum misalignment angle The maximum current measurement error introduced by
is 1.5 mechanical degree (9 electrical degree). The influ- the A/D converter is given by (6); for the test in this
ence of the rotor misalignment is investigated with FEA. paper, it is 0.014 A. Thus
The flux linkage differences between the aligned and InputRange
misaligned conditions are shown in Fig. 8. The maximum error = . (6)
(29 − 1) · ConversionRatio
error is 0.592e-3 Wb near the unaligned position. It can
be also observed that the results for symmetrical phases The error caused by the sampling rate depends on the slew
at overlap position (θ = 90◦ ) are quite small, validating rate of the current. The maximum error is about 0.11 A at the
the feasibility of the proposed remedy technique of (5). unaligned position. The fast rising current consists of high-
Rotor misalignment may also lead to rotor movements. frequency harmonic components. Due to the skin effect, the
In this case, the back electromotive force can be intro- phase resistance increases; this reduces the pulse current am-
duced, leading to the overestimated results. However, the plitude. It is particularly significant for the unaligned phase.
mechanic time constant is much larger than the electrical The flux linkage is estimated by (4). The flux value is
time constant during the pulse injection; the movement relatively small; however, the values of voltage and current are
of the rotor is quite small. The average rotation angle large. Although errors may be introduced during the test, the
measured is 0.044◦ by repeating the measurement ten flux linkage measurement results are still acceptable. Extensive
times. Thus, the influence of the rotor movement can be experiments indicate that the flux linkage estimation errors are
neglected. within ±5% comparing to the reference curves.
3) Measurement errors caused by electromagnetic interfer- Fig. 9 gives the calculated Fourier series coefficients and flux
ence (EMI), limited resolution of an A/D converter, low linkage profile using the second-order Fourier series model. The
sampling rate, skin effect, etc. A 10-bit A/D converter results of the proposed method agreed well with those of the
is provided by the DSC; however, due to the EMI, the rotor clamping method, as shown in Fig. 9(b). The time required

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 190 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 62, NO. 1, JANUARY 2013

for the entire measurements is less than 1 s. Although the high- [8] N. Radimov, N. Ben-Hail, and R. Rabinovici, “Inductance measurements
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of the proposed method is still satisfactory. linkage profile measurement methods for switched-reluctance motors and
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IV. C ONCLUSION [10] O. Ustun, “Measurement and real-time modeling of inductance and flux
linkage in switched reluctance motors,” IEEE Trans. Magn., vol. 45,
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[11] A. Ferrero and A. Raciti, “A digital method for the determination of
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into each phase for only one time instant. This greatly re-
duced the time required for the measurements. Moreover,
the effect of the winding resistance variation can be also
ignored as the temperature almost stays constant during
the short time test.
3) The flux linkage profile is represented with a second-
order Fourier series flux linkage model. Only a few Lei Shen received the B.S. degree in electrical
coefficients are needed to be calculated, which reduce the engineering from Zhejiang University, Hangzhou,
memory requirement of the controller on data storage. China, in 2007. He is currently working toward the
Ph.D. degree in electrical engineering at Zhejiang
The proposed method is suitable for product test in massive University.
productions and field flux linkage measurements. It also pro- His research interest includes motor design and
control with emphasis on switched reluctance motor
vides an opportunity to implement high-performance sensorless sensorless technique and motor vibration analysis.
control and servo control algorithms without any predefined
flux linkage parameters.

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Eng. Soc. Gen. Meeting, pp. 1–7. and the M.S. and Ph.D. degrees from Huazhong
[4] P. Zhang, P. A. Cassani, and S. S. Williamson, “An accurate inductance University of Science and Technology, China, in
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[5] R. Gobbi, N.C. Sahoo, and R. Vejian, “Experimental investigations on From 1983 to 1989, he was a Design Engineer
computer-based methods for determination of static electromagnetic char- with Guiyang Electric Company, Guiyang, China.
acteristics of switched reluctance motors,” IEEE Trans. Instrum. Meas., Since 2005, he has been a Professor with the Col-
vol. 57, no. 10, pp. 2196–2211, Oct. 2008. lege of Electrical Engineering, Zhejiang University,
[6] V. Kumar Sharma, S. S. Murthy, and B. Singh, “An improved method Hangzhou, China. His research interests include
for the determination of saturation characteristics of switched reluctance electric machine design and drives, including switched reluctance motors and
motors,” IEEE Trans. Instrum. Meas., vol. 48, no. 5, pp. 995–1000, permanent magnet machines for electric vehicle applications. He developed the
Oct. 1999. motor design software Visual EMCAD, which is widely used in China.
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 SHEN et al.: FAST FLUX LINKAGE MEASUREMENT FOR SWITCHED RELUCTANCE MOTORS 191

Shiyou Yang received the M.S. and Ph.D. degrees, Xiaoyan Huang (M’09) received the B.E. de-
both in electrical engineering, from Shenyang Uni- gree from Zhejiang University, Hangzhou, China,
versity of Technology, Shenyang, China, in 1990 and in 2003 and the Ph.D. degree in electrical ma-
1995, respectively. chines and drives from the University of Nottingham,
He is currently a Professor with the Col- Nottingham, U.K., in 2008.
lege of Electrical Engineering, Zhejiang University, From 2008 to 2009, she was a Research Fellow
Hangzhou, China. His research interest includes with the University of Nottingham. Currently, she is
computational electromagnetics. a Lecturer with the College of Electrical Engineer-
ing, Zhejiang University, where she is working on
electrical machines and drives. Her research interests
include PM machines and drives for aerospace and
traction applications and a generator system for urban networks.

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