Actuators:

BLDC Motor
Switched Reluctance Motor
 Actuators
• Device converts energy into motion (linear or rotational) with
respect to the command signal
• Types:
– Hydraulic Actuator
– Pneumatic Actuator
– Electric Actuator
• Comparison:
 Brushless DC Motor Drive

• Stator – 3 phase winding (concentrated) – 120°

displacement – 2 pole permanent magnet rotor;
• Low cost drive – 3 transistors control winding
excitation with position encoder inputs ;
• Encoders – 3 opto-couplers displaced 120° defines
energizing sequences – abc / bac – phase sequence ;
• Torque will be pulsating due to step angle movement
i.e., T α sin δ – (1)
• 0<δ<120° - for 3 phase 2pole BLDC Motor ;
• Application – fans in computers, SMPS, and so on..
• Drawbacks – poor performance due to pulsating
torque
 Trapezoidal PM AC Motor Drive

• Stator – 3 phase
concentrated wdg with
120° displacement –
each wdg span 60° on
each side ; PM Rotor ;
 Torque Output
• 0<θ<60° :
• Power output (Po) :

• Torque output :

• i.e., torque is proportional

to 2Id ;
• Torque output in almost
constant & reduced ripple;
 Closed Loop Control of BLDC Motor Drive

Design and implementation methodology for rapid control prototyping of closed loop speed control for BLDC motor –
Journal of Electrical Systems and Information Technology , May 2018
 Switched Reluctance Motor Concept
• Energy stored in an inductor(magnetic field) :

• Torque output is a function of variation in

inductance can be expressed as,

• We know inductance (L)

 Switched Reluctance Motor
• Stator with 8 poles/slots
• Rotor with 6 poles/ slots –
no windings
• Self starting machine ;
• SRM has high
torque/weight ratio –
preferred in space
applications ;
• More rugged than squirrel
cage Induction motor
 Construction Details
• No of stator poles/slots = 8;
• No of rotor poles/slots = 6;
• we know pole arc/pole pitch = 0.4;

• Stator pole pitch = 360/8 = 45°

• Stator pole arc = 45°x 0.4 = 18°
• Stator slot arc = 45° - 18° = 27°

• Rotor pole pitch = 360/6 = 60°

• Rotor pole arc = 60° x 0.4 = 24°
• Rotor slot arc = 60° - 24° = 36°
Torque / Inductance Variation in SRM
• Let a coil is excited by dc source, neglecting losses,
voltage across the coil can be expressed as,

• Then air-gap flux will be,

• The current through the coil can be,

 Modes of Operation

• Below base speed – current control

• Above base speed – Angle control (keep current constant)
Speed – Torque Characteristics
Converters for SRM
Closed Loop Operation of SRM
Thank you