Torque and Speed control of switched reluctance machine using the

linearization feedback technique

Abstract: In this paper, a linearization feedback controller design is proposed for torque ripple minimization
and speed controller in switched reluctance motor (SRM) drive systems. The proposed controller is based on a
dynamic model system of equations in SRM. The control strategy is formed by two loops. The aim of the first
loop is to control the speed of the machine and generated the torque reference. In addition, the second loop is
used to control the converter feed SRM. The proposed control strategy validation was carried out by simulation,
using MATLAB-Simulink tools. To highlight the supremacy of the proposed controller, its performances are
compared with those of conventional linear (PI) regulator. the obtained results validate the proposed controller
robustness and efficiency.

Keywords: SRM; torque ripple; speed control; feedback linearization; PI regulator.

1. Introduction

The switched reluctance motor (SRM) is a type of electric motor that operates by the principle of
reluctance torque [1]. In an SRM, the stator consists of multiple electromagnets arranged in a circular
pattern, and the rotor has no windings or permanent magnets. Instead, it is made up of a simple iron
core with protruding poles [2]. However, SRMs are commonly used in applications such as electric
vehicles, industrial automation, and household appliances. They have some advantages over other
types of motors, such as high torque density, high efficiency, and good performance at high speeds.
However, they also have some disadvantages, such as high acoustic noise and vibration levels, which
can limit their use in some applications [3].

Numerous studies have been carried out to minimize the high torque ripple and speed control in
SRMs. In general, reducing torque ripple is successfully accomplished by optimizing the SRM
structural parameters. Numerous academics have suggested novel structures, such as the 18/15/6 pole
[4], the design principles and performance optimization for segmented-rotor switched reluctance
motors [5], and a switched reluctance machine (SRM) with the minimum possible stator core [6].
Besides, many techniques have been proposed in the literature for torque ripple and speed control of
SRM using artificial intelligence. Accordingly, fuzzy logic and neural networks for speed control [7].
In [8], neural networks and PID are used for minimizing torque ripples in SRM. In addition, a fuzzy
adaptive controller has been provided to optimize the torque ripples [9]. Another hand, the issue of
decreasing torque ripples has been solved by a number of control-based techniques such as the
optimization of the excitation angles [10] and the control of the currents absorbed by the machine [11].
In fact, an adaptive control technique is proposed for the best turn-on and turn-off angles of SRM over
a wide range of speed control [12]. However, another approach for torque optimization used fuzzy
adaptive controller is developed in [13]. In [14], off-line Transfer sharing function is proposed for
copper loss reduction and torque ripple. It is well known that various nonlinear controllers have been
developed in the past decades while considering the SRMs saturation. For example, predictive
controller, intelligent nonlinear controllers, sliding mode controllers, etc. Predictive control gives
lower torque ripple compared to other methods [15]. This work aims to develop a new controller
based on the machine’s dynamic equations. The suggested control approach includes two block
speed/current controllers. The nonlinear block controllers are developed using the linearization
feedback technique. A specific SRM 8/6 MATLAB model, is adopted to evaluate by simulation of the
proposed controller. The test results prove the effectiveness of the proposed controller as well as its
robustness and accuracy when the load torque changes. To test the efficiency and robustness of the
proposed controller we are comparing its performances with those of a conventional PI regulator.

2. SRM MODELING

Among the machines that can operate at high speed and has a large constant power range
is switched reluctance machine (SRM). this latter, consists with stator and rotor phase.
Furthermore, SRM features prominent poles on both the stator and rotor, with coils wrapped
around the stator poles and coupled in diametrically opposing pairs to generate the motor's
phases (as shown in Figure 1) [16]Kadi et al., 2020. This machine has the advantages. Among
these advantages this machine being stimulated by current pulses applied independently to
each phase and low losses. By delivering current pulses to a specified place on the rotor using
asymmetrical converter, the motor creates torque in the direction of increasing inductance.
Furthermore, the electromagnetic torque in SRM is created by employing each phase's rotor
location. A reluctance torque is created when a phase is activated, which tends to align the
stator and rotor poles.

Fig.1. The cross section of a 8/6 SRM.

As mentioned in the introduction, to improve the SRM performances, it is necessary to

consider the magnetic saturation in the machine modelling development. For this, the SRM
parameters should be expressed as a function of the phase current and the rotor position.
Based on the real SRM 8/6 magnetic characteristic (see Figure 2).
By using the fundamental laws of dynamics and the usual electrical laws, one can develop the
following dynamic system of equation:

The voltage equation of a phase winding is given by:

dφ(θ , i)
U ( t )=Ri+
dt

where R is the resistance per phase and φ is the flux linkage per phase given by:

φ ( θ , i )=L ( θ ,i ) .i

Finally, the voltage equation is given by:

U ( t )=
di
dt (
L ( θ ,i ) +i
∂i )
∂ L(θ , i)
+ Ri+ iω
∂ L(θ ,i)
∂θ

So, the variation of current in each phase is given by:

d ik
=−δ 1 i k −γ k ω i k + β k U k (1) where 1 ≤ k ≤ 4
dt

dω −f Te TL
= ω− + (2)
dt J J J

Where U k is la lois de commande; i k the phase current; ω the rotor speed; T e the
electromagnetic torque; T L the load torque; J the moment of inertia; and f the viscous friction
coefficient. The model parameters δ 1, γ k and β k are given by:

( ) ( )
−1 −1
∂ Lk ∂ Lk
β k = Lk +i 1 ; δ k =R k Lk +i 1
∂ ik ∂i k

( )
−1
∂ Lk ∂ Lk (θ , i k )
γ k = Lk +i 1
∂i k ∂θ

∂ Lk ∂ L k (θ ,i k )
Where Rk is the machine phase winding resistance, and parameters are online
∂ ik ∂θ
computed from the analytical expression developed in [mon papier].

3. CONTROL STRATEGY OF SRM

3.1 PI CONTROLLER

Using the PI controller approach, the speed controller design is established. In intervalley
proposed of θ we have these equations:

d i1
=−δ 1 i 1−γ 1 ω i 1+ β 1 U 1 (3)
dt
 dω −f Te TL
= ω− + (4)
dt J J J

In equation (2) the speed is commanded by T e and also the system is linear so we can utilize
the PI controller to generated the torque reference. The speed tracking error:

ε ( t )=¿ ω ¿−ω (5)

Where ω ¿ and ω the speed reference and speed of SRM respectively.

In equation (4):

dω
T e =J + fω+ T L (6)
dt
¿
However, T e is not a true control is as a virtual command. Therefore, let us denote by T e the
torque reference signal so.

¿ dω
T e =J + fω+ T L (7)
dt

The PI controller is given follows:

u ( t )=k p ε ( t )+ K i∫ ε ( t ) dt (8)

Where ε ( t ) present the error between the desired speed and the true speed. So in the equation
¿
(8) we are replaced u ( t ) with the torque reference T e we get.

T ¿e =k p ε ( t )+ K i∫ ε ( t ) dt( 9)

Finally, we will replace the equations (5) and (7) in (9) we find the following formula.

dω
+ fω+T L =k p ( ω −ω ) + K i∫ ( ω −ω ) dt(10)
¿ ¿
J
dt

We are considered the load torque and the reference speed is constant. In the equation (10) we
will remove the parti of integrator.

J ( )
d dω
dt dt
+( f + k p )
dω
dt
+ K i ω=K i ω¿ (11)

So we have in equation of second order. The Laplace transformation of this equation is given
¿ ¿
by, W ( s) and W (s ) are the Laplace transform successively of w (t) and w (t ).

W ( s ) ( J s + ( f + k p ) s + K i )=¿ K i W ( s)
2 ¿
(12)

The transfer function of closed loop system is given by:

 Ki
W ( s) J
G ( s )= ¿ = (13)

( )
W ( s) 2 f + K p K
s+ s+ i
J J

So we are identified the system given by equation 13 with second order system. Finally, the K i and
K p as given follows:

K i=2 m wo J −f

K p =w20 J

figure 2, describes the adopted strategy control of the first loop.

Kp
¿
ω
T ¿e
Ki Integrator

Fig. 3. Proposed controller based on PI controller.

3.2 linearization feedback

The linearization feedback method is a technique used to design controllers for

nonlinear systems by linearizing the system's dynamics around a specific operating point
[reference]. The method involves finding the linearized dynamics of the system by Taylor
series expansion around the operating point and then designing a linear controller for the
linearized system. The controller is then implemented on the nonlinear system to control
its behavior. The main advantage of the linearization feedback method is that it is
relatively simple to implement and can be used to design controllers for a wide range of
nonlinear systems. Additionally, the design process of linear controller is well-established
and it can be designed using various methods such as pole placement, LQR, or linear-
quadratic-gaussian (LQG) control. However, the method has some limitations. One of the
main downsides is that the linearization is only valid around the specific operating point
where the linearization was performed, and the controller may not perform well when the
system is operating away from that point. Additionally, it can be sensitive to measurement
noise and model uncertainties, which can lead to poor performance in practice. Overall,
the linearization feedback method is a powerful technique that can be used to design
controllers for nonlinear systems. However, it is important to carefully consider its
limitations when applying it to practical systems and to validate the performance of the
controller in different operating conditions.
After generated the torque reference with the first loop. The Transfer charring function TSF
¿ ¿ ¿ ¿ ¿
bloc generates from the virtual command T e for torque references T 1, T 2, T 3 and T 4 that they
are transformed to for current references via the torque to-current inverse lookup table. in the
second loop, we are utilized the linearization feedback to control the converter of SRM (see
fig.3). The idea of this method is to design a state feedback controller such that the error ε ( t )
converge to zero.

On Proposed the state variable x=i so according to equation (1) we have:

ẋ=−(δ ¿ ¿1+ γ 1 ω) x+ β 1 U 1 ¿ (14)

U 1=β 1 ( ( δ 1 +γ 1 ω ) x+ v )
−1
Let use chose

where v is the intermediate input. Finally, equation (14) given by:

ẋ=v

In the case the la loi de commande is given by:

U 1=β 1 ( ( δ 1 +γ 1 ω ) x+ v )
−1

SRM

Kp
ω¿ T ¿e Ti
¿
Torque to i ¿i Curent U
TSF AHB
Current Controller

Ki Integrator
ii
ω

d θ
dt
Edcuowehj BAOROS

dec

Figure 3, describes the adopted strategy for the SRM control. There are two nested loops: an
outer speed loop and an inner current loop. The current references are directly deduced from
the corresponding torque setpoints.

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4. simulation and results

To validate the proposed controller performances, an accurate SRM simulator (provided

by MATLAB Simulink: SRM 8/6 taking into account the magnetic saturation was used for
simulations tests. In fact, the performances of the proposed controller are compared to those
of a conventional PI-type regulator. Finally, the robustness of the proposed controller with
respect to the load torque variation is evaluated.

the proposed controller is tested in several case:

- first case: variable speed (200rpm to 300rpm)

- second case: in speed constant= 200rpm and load constant= 50Nm.

- Thrilly case: in variable load (50Nm to 70Nm),

Reference:
1. OUANNOU, Abdelmalek, BROURI, Adil, KADI, Laila, et al. Identification of switched reluctance
machine using fuzzy model. International Journal of System Assurance Engineering and Management,
2022, p. 1-14.
2.
17- L. Kadi, A. Brouri, A. Ouannou, and K. Lahdachi, “Modeling and determination of switched reluctance
machine nonlinearity,” in CCTA 2020 - 4th IEEE Conference on Control Technology and Applications, Aug.
2020, pp. 898–902. doi: 10.1109/CCTA41146.2020.9206337.