Simulation of a Switched Reluctance Motors Using Matlab / M-file
Chong-Chul Kim Jin Hur
Dept. of Electrical Engineering Mechatronics Research Center, Korea
Hanyang Univ., 17, Hangdang-dong Electronics Technology Institute
Seongdong-gu, Seoul, Korea 451.865, Korea
chll120~,ho1mail.com hur;in@,korea.com
AbsfracI - Thispaperpresenls a new analylical represenlalion and
sirnulotion of fhe phase inductance of I? Swilched Reluctance
Molor (SRM) using Maflab / M-file. This simulafion melhod has
many odvanlages: if is free from expression, can be npplied widely,
demonsfrates inducfanee profile using molorparamefer only, and
saves run rime. Moreover, this simulolion melhod can easily realize
various SRMmodel unlike fhe exisling method that limiled itserfto
one modeL And analyfical expression for induclance is welcome as
il allows far easier analysis of the motor, for if can bring insight in
if wwrking, in formulaling conlrol slrafegies and in achieving high
nccuraq in performance compulalions.
I. INTRODUCTION
Profits that one can have with a simulation analysis taking
account of the complete modelling a system is no longer
necessary to prove. Indeed, the simulation of a system is
important in view of its design and experimental realization.
Most studies concerning dynamic simulation of switched
reluctance motor (SRM) have been achieved from the
programming. Even software designed to simulate electric
network systems as the EMTDC and EMTP have been used.
These techniques, although very useful, have lack of
flexibility ifnew elements are brought, causing the increase of
cost because of supplementary programming effort. However,
very few simulation studies of the SRM have been achieved
with circuit-based languages such as Spice, Simulink, Matrix,
Vissim, and Mathcad. The first simulations have been made
thanks to the software Spice. But this technique is not “clear”
bec,ause Spice is especially adapted to electronic circuit
simulation. Lately, there has been considerable progress in
simulation software such as Matlab, which allows a high
flexible modelling surrounding to electrical machinery [ 1][4].
In this point of view, Matlab / M-file is free from expression
and it can be applies in any form. Also, Matlab / M-file has an
open system environment that supported with a combination
of other language like C languages or Fortran, and linear, log,
polar, bar chart, contour plots can show the many types of
graphic style. And analytical expression for inductance is
welcome as it allows for easier analysis of the machine, for it
can bring insight in its working, in formulating control
strategies and in achieving high accuracy in performance
computations as differentiation is easier to perform. Therefore,
this paper presents a new analytical representation and
simulation of the phase inductance of a SRM using Matlab I
M-file. Unlike the existing method that limited itself to one
model, this simulation method can easily realize various SRM
model. Section I1 introduces the main characteristics of SRM.
In section Ill, inductance modelling used Fourier series. The
detsrmination Switching signal of SRM and the operation of
0-7803-7474-61021$17.00 82002 IEEE
Dong-Seok Hyun
Dept. of Electrical Engineering
Hanyang Univ., 17, Hangdang-dong
Seongdong-gu, Seoul, Korea
dshvun@hanvanz ac.kr
converter simulation is presented in section IV and V. Section
VI shows simulation results.
11. CHARACTERISTICS OF SRM
The SRM is a doubly-salient singly-excited reluctance
motor. This means that it has salient poles on both the rotor
and the stator, but only member carries windings. The rotor
has no windings, magnets, or cage winding, but is built up
from a stack of salient-pole laminations [3][4]. Fig.1 shows
typical 4 phase 816 SRM. The SRM motion is produced
because of the variable reluctance in the air gap between the
rotor and the stator. When a stator winding is energized,
produced by the tendency of the rotor to move to its minimum
reluctance position. When a rotor pole is aligned with a stator
pole, there is no torque because field lines are orthogonal to
the surfaces. In this position, the inductance is maximal since
reluctance is minimum. Such as SRM have been shown to
offer high-efficiency, reliable, robust, easy to manufacture,
and inexpensive motor. However, SRM requires expensive
position sensors and produces vibrations and acoustic noise as
well as high torque ripple [6].
Fig. 1. Typical 816 SRM
111. INDUCTANCE MODELLING
The operation of SRM is strongly affected by the nonlinear
characteristics of the magnetic used, with high levels of
saturation occurring cyclically as the rotor continuously
moves from unaligned to aligned positions with reference to
energized stator phase. This posed the difficult task of first
calculating the winding inductances in the machine design
phase, and secondly, mathematically representing them for
analysis and control purposes. The nonlinear relationship
between flux linkages and currents has made it very difficult
to analytically represent the phase inductance or phase flux
linkages as a function of current and position for the entire
range of operation. Therefore, calculations of related machine
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variables are typically performed using look up table, on-line The constant term a, is obtained as
interpolation algorithms and estimation techniques that use
data obtained from experimental tests or finite element
methods. Whenever possible, analytical expression for
inductance is welcome as it allows for easier analysis of the
machine, for it can bring insight in its working, in formulating
control strategies and in achieving high accuracy in
performance computations as differentiation is easier to
perform now [21.

A . Linear modelling

As a function of position from Fig.2 the equations that The coefficient a, where n is the order of harmonic is
represent the inductance can be written as derived as

+(*) zme,
2 [cos--cos-)]] 2 ~ 3 ,

2m 6 e,

2me, 2me2
2m

(4) L0e3-L U e2 .-[sm--sin-]]

e, . 2 7 4 zme2
e, -e2 2m ST 0,
[
Where,
L. : aligned position inductance
+ L , .-
e,
2m
sin--sin-
2;,er . zme,
0, I (9)

L,, : unaligned position inductance We can demonstrate inductance profile of rotor position
The equations that represent the Fourier series written as through adjusting (8) and (9) equations. As using above
Fourier series, the simulation result can be verified by
MatlabiM-file.

B. nonlinear modelling
Due to the waveform symmetry, the Fourier series will
comprise only cosine terms, therefore The dependency of Q on the rotor position 0 is
approximated by a simple sine wave oscillating between its
maximum value Q.(i) and its minimum value @"(i). The
L(e)=a, + Z ( a n cosn- (7) equation of the flux can be expressed as
2ze!
4

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 1 negative torque is generated by variation of rotor position
@(i,S)=$$,Ai)- h(i))(cos(Zp@) + 1) + @"(i) (10)
where, p is the stator and pair of poles on the rotor. Using
this model is a time saver, as only one point in the unaligned
magnetization curve is to be measured since it is linear, while
two points are needed in the aligned magnetization curve [6]
Fig.3 shows approximation flux-current curves.
Fig. 3 approximation flux-current curves
1V. DETERMINATION SWITCHING SIGNAL OF SRM
When current flows in a phase, it is axiomatic that the
torque tends to move the rotor in such a direction as to
increase the inductance, until it reaches the position where the
inductance has a maximum value. Provided that there is no
residual magnetization in the steel, the direction of current is
immaterial. The direction of the torque is always towards the
nearest aligned position. Therefore, positive torque can he
produced only if the rotor is between the unaligned position
and the next aligned position in the forward position 131. This
shows Fig.4 Consequently, at this simulation method, we
differentiate inductance value, which is from Fourier series.
Fig. 4 SRM phase inductance and torque profile
The torque equation is as follows,
As we can find out at the above equations, positive and
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movement. That is, if there isn't a proper switching, the
torque ripple is generated. Therefore, at this simulation
method, we made a proper switching signal from differential
value of inductance profile by Fourier series. There are three
sections in the program: an inductance increasing section, an
inductance decreasing section, and an inductance flat section.
These three inductance sections are from feedback value of
rotor position.
V. OPERATION OF CONVERTER
Fig.5 shows the asymmetric half-bridge converter. The
asymmetric half-bridge converter has three modes of
operation [7]. In positive voltage loop, both phase winding
switches are on and current in the phase winding rises rapidly.
At this time circuit equation is as follows,
Fig. 5 Asymmetric half-bridge converter
di, dL
V, = R,i, + L, -+ i, -.!. . o
dt dt
w=-
dt
dB
where,
R, : phase resistance
L,: phase inductance
I o.. initial
"' value
In zero voltage loops, one switch only is on while current
flows in winding. Current continues to flow through one
switch and one diode. Energy is not transferred from the dc
source. In negative voltage loop, both switches are off and
energy is returned to the dc source via the freewheeling diodes.
At this time circuit equation is as follows,
 di, dL
- V, = R,i, + L, -+ i, 2. w (16)
dt dt

VI. SIMULATION RESULTS

This model presents enormous advantages, hut makes some

assumptions. The simulation results of this paper are from
Matlah / M-file program. Fig.6,7 show linear region
inductance profile of rotor position. Fig. 6 (a) and (h) shows
linear inductance profile of 3phase 614 SRM. We simulated
them that rotor pole arc is 50, stator pole arc is 30, aligned
position inductance is as 0.47[H], unaligned position is as
0.07[H], and the order of harmonic is 10 and 100 each. The
figure shows that a reasonable profile can he obtained
considering only a small number of harmonics thus speeding
up the computation.
0L
. .
I] Irn
. ,
lyl
.
m Z
m m
1
3m

@) n=10

Fig. 7 816 SRM Inductance Profile

Fig.8 show nonlinear region inductance profile of 3phase

614SRM. The range of currents is 0 to 10A(red : 1A,5A pink :
2A,7A ,blue : 3A,7A). From the waveform, we know that the
inductance variation reduces more and more until it is free
from current.

(a) n=100

(a) I = 1,3,7

(b)n=IO

Fig. 6 614 SRM Inductance Profile

Fig.7 (a) and (b) show linear region inductance profile of

4phase 816 SRM. We simulated them that rotor pole arc and
stator pole arc are as the equal, aligned position inductance is
as 0.47[H], unaligned position is as 0.07[H], and the order of I . . I
harmonic is IO and 100 each. From the waveform, we know m I m I J O m m m 3 m

modelling expression for inductance is welcome as it allows (b) I = 5,6,7

for easier analysis of the SRM.
Fig. 8 Phase Inductance Profile (nonlinear region)

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 Dynamic behaviour of the SRM is illustrated in a case characteristic on the phase torque. Torque is calculation for
where the hysteresis current controller is employed. Fig.9 currents from I to 3A, in steps of 1A.
shows phase inductance profiles as function of rotor position
for a 614 rotating’SRM by Matlabhl-file. With attention to the
aligned position it is seen that the maximum values of
inductance vary considerably. Fig. IO shows the influence of
the hysteresis current control on the shape of phase current.
The hysteresis current controller is used for low and middle
speeds because one has enough time to be able to control the
phase current. The potential of the proposed method for rapid
and precise simulation in conditions has been demonstrated.
Fig.] 1 shows the phase torque. Therefore, we know that the
simulated results are good agreement with the theoretical
analysis.
Fig. 12 Phase Inductance Profile

. . . . . . . . .
... .....
...... ...... ......
.....
, ..... .....
............
.....

. , .
0 I d 6 8 111 12 18 I6 ,I rn
_*
I

Fig. 9 Phase Inductance Profile

Fig. 13 Phase torque
.... .... .... .... .... .... .... .... ....
. . . . . . . . .
....
VII. CONCLUSION
....
. . .... .... ...... ...... A new analytical representation and simulation of the phase
inductance of a SRM using Matlab / M-file proposed in this
paper and its validity was demonstrated through the
.... ...... .... ....... interesting simulation results. The inductance computed from
the analytical expression gives a fairly good estimation of its
actual value. This simulation method had enormous advantage.
0 I 1 6 8 10 I. I$ IS m
mm,
1,
It is free from expression, can be applied widely, demonstrates
Fig. 10 Phase currenf inductance profile using motor parameter only, and saves run
time. Moreover, this simulation method can easily realize
various SRM model unlike the existing method that limited
itself to one model. And analytical expression for inductance
is welcome as it allows for easier analysis of the motor, for it
......
can bring insight in it working, in formulating control
strategies and in achieving high accuracy in performance
computations. We consider this simulation method would be a
.......
foundation for analysing and developing design program tool
....... of SRM.

2 d 6 8 10 21 11 ,8 (8 in
V. REFERENCES
,urn

Fig. I I Phase torque F.SOARES, P.J. COSTA BRANCO, “Simulation of a

6/4 Switched Reluctance Motor Based on
In Fig. 12 the winding inductance profile versus position is Matlab/Simulink Environment,” Aerospace and
shown. The range of currents is 0 to 3A(red : IA, pink : Electronic Systems, IEEE Transactions on, Vol. 31, no. 3
2A ,blue : 3A). Fig. 13 shows the electromagnetic torque as a July 2001 page(s): 989-1009
function of rotor position and phase current values. The figure D.A. Andrade, R. Krishnan, “Characterization of
shows the influence of the nonliearity of the magnetic Switched Reluctance Machines Using Fourier Series

1070
 Approach,” Industry Applications Conference, 2001.
Thirty-Sixth IAS Annual Meeting Conference Record of
the 2001 IEEE, Volume: I , 2001 Page(s): 48-54
[3] Miller, T. J.’E. “Switched Reluctance Motors and Their
Control,” Clarendon Press, Oxford, 1993
[4] R. KRISHMAN, “Switched Reluctance Motor Drives:
Modeling, Simulation, Analysis, Design, and
Applications,” CRC Press, 2001
[5] Johnson,J.P., Rajarathnam,A.V., Toliyat,H.A.,
Gopalakrishnan,S., Fahimi,B., “Torque Optimization for
a SRM Using Winding Function Theory with a
Gap-Dividing Surface,” Industry Applications
Conference, 1996. Thirty-First IAS Annual Meeting,
IAS ‘96., Conference Record ofthe 1996 IEEE , Volume:
2 , 1996 Page(s): 753-760
[6] Christophe Roux, M. M. Morcns, “A Simple Model for
Switched Reluctance Motors,” IEEE Power Engineering
Review, Volume: 20 Issue: IO, Oct. 2000, Page@): 49
-52
[7] Mike Barnes and Charles Pollock, “Power Electronic
Converters for Switched Reluctance Drives,” Power
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November 1998 Page(s): 1100 -I 1 1 I

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