Basic SRM Principles

Cross sectional view of a four-phase SRM.

The switched reluctance motor with its passive rotor has a
simple construction. However, the solution of its
mathematical model is relatively difficult due to its dominant
non-linear behaviour. The SRM is characterized by its
geometrical layout, the characteristic of the magnetic material
and electrical parameters. The cross-sectional view of a four-
phase SRM is shown in Figure.
The selection of the stator and rotor teeth number Ns and Nr is
made with the respect to several constraints as rotor
deformation, capability of torque production at all rotor
positions and four-quadrant operation. The number of phases
is identified from the stator and rotor pole numbers:

Once the number of poles is chosen, the next parameters are stator βs and rotor βr pole arcs in order to minimize
the inductance, maximize the inductance ratio, avoid dead zones and allow four quadrant operation. The stator
and rotor pole tapering angles αs and αr are direct functions of the number of stator and rotor teeth:

The control scheme is based on the torque-speed characteristic (Figure). Three basic modes of operation of
switched reluctance motor based on the torque speed characteristic. Currents in the stator circuits are switched
on and off in accordance to the rotor position. With this simplest form of control, the switched reluctance motor
inherently develops the torque speed characteristics typical of d.c. machine.

A torque is produced when one phase is energized and the magnetic circuit tends to adopt a configuration of
minimum reluctance, i.e. the rotor poles aligned with the excited stator poles in order to maximize the phase
inductance. As the motor is symmetric, it means that the one phase inductance cycle is comprised between the
aligned and unaligned positions or vice versa (Figure).
The aligned position (La)
Consider a pair of rotor and the stator poles to be aligned. Applying a current to phase establishes a flux through
stator and rotor poles. If the current continues to flow through this phase, the rotor remains in this position, the
rotor pole being ”stuck” face to face to the stator pole. This position is called aligned position, and the phase
inductance is at its maximum value (Lmax or La) as the magnetic reluctance of the flux path is at its minimum.
 Inductance profile of SRM.
Intermediate rotor positions (Lint)
At intermediate positions the rotor pole is between two stator poles. In this case the induction is intermediate
between the aligned and unaligned values. If there is any overlap at all, the flux is diverted entirely to the closer
rotor pole and the leakage flux path starts to increase at the base of the stator pole on one side.
The unaligned position (Lu)
In the unaligned position, the magnetic reluctance of the flux path is at its highest value as a result of the large
air gap between stator and rotor. The inductance is at its minimum (Lmin or Lu). There is no torque production in
this position when the current is flowing in one the adjacent phases. However, the unaligned position is one of
unstable equilibrium.

Figure shows the idealised inductance profile of one phase as a function of the rotor position for a pair of stator
poles. The number of cycles of inductance variation per revolution is proportional to the number of rotor pole
pairs, and the length of the cycle is equal to the rotor pole pitch. In reality the rotor pole arc βr is always larger
than the stator pole βs if Ns > Nr. The value of the interval αr − βr between the rotor teeth is larger than βs in order
to have the
minimum value of the inductance Lmin as low as possible. For the calculation, the value of the air gap is
considered to be constant in the interval where the stator and rotor teeth are face to face.
The equation of the inductance profile can be rewritten as:

where k is the slope of the profile in the zone of increasing inductance:

The torque developed by a phase in which current flows tends to move the rotor in such a direction as to
increase the phase inductance, i.e. the aligned position. This means that the motoring torque can be produced
only in the direction of the rising inductance. The instantaneous torque is obviously not constant, as shown
further, depending of the rotor position and the instantaneous phase current. Note that the torque is independent
of the direction of current flow, the motoring or braking torque production only depending of the rotor position,
suggesting the existence of the impact of switching angles of the power electronic switches.
This first mode is the natural one with fixed supply voltage and fixed switching angles. The operating region is
the constant torque region, below rated speed. Base speed (ωb) is defined as the highest speed at which
maximum current can be supplied to the motor (Imax) at rated voltage, with fixed switching angles. There is, of
course, a family of characteristics for varying supply voltages. At given speed the flux is proportional to the
voltage U, and the torque varies with the current squared. The chopping voltage control is able to control an
SRM drive only in the mode below rated speed where the generated voltage, being larger than the back-EMF,
forces the drive states on the sliding surface.

If fixed switching angles are maintained at speeds above ωb, the torque falls as 1/ω. This is the second
important mode of operation, when the machine speed is above base speed (ωb). A control alternative for the
switched reluctance motor is to reduce the conduction angle θc = θoff − θon at constant voltage. In this mode, the
voltage generator is fully applied across the phase till θoff and the current decreases.
There is a practical limitation of increasing the conduction angle. If it were increased so that the turn-off angle
corresponds to the next cycle turn-on angle, then the flux level would not return to zero at the end of each pulse.
In this case, the net flux in the phase winding would increase until the machine became continuously saturated.
This corresponds to a rotor speed ωp. Running above this sped implies a fall of the torque production as 1/ω2.

POWER SEMICONDUCTOR SWITCHING CIRCUITS FOR SRM (POWER CONTROLLERS)

The selection of controller (converter) depends upon the application. One of the main aspects of the
research in SRM drives has been the converter design. The main objectives of the design of the
converter are improve the performance and reduce the cost of the drive.

The power semiconductor switching circuits used are

1. Two power semiconductor switching devices per phase and two diodes.
2. (n+1) power semiconductor switching devices (n+1) diodes.
3. Phase winding using bifilar wires.
4. Split-link circuit used with even-phase number.
5. C-dump circuit.

1. Two Power Semiconductor Switching Devices per phase and two diodes
As shown in fig 3 phase winding A is connected to the dc supply through power
semiconductor devices T1 and T2. Depending upon the rotor position, when the phase
winding A is to be energized the devices T1 and T2 are turned ON. When the phase winding is
to be disconnected from the supply (this instant is also dependent on the position of the
shaft) the devices T1 and T2 are turned off. The stored energy in the phase winding A tends to
maintain the current in the same direction. This current passes from the winding through
D1 and D2 to the supply. Thus the stored energy is fed back to the mains.

Similarly phase winding B & C are also switched on to the supply and switched off from the
supply in a cyclic manner. This circuit requires 2 power switching devices and 2 diodes for
each phase winding. For high speed operation it is required to see that the stored energy
can be fed back to the mains within the available period.

Usually the upper devices T1, T3 and T5 are turned on and off from the signals obtained from
the rotor position sensor. The duration of conduction or angle of conduction θ can be
controlled by using suitable control circuitry. The lower devices T2, T4, T6 are controlled from
signals obtained by chopping frequency signal. The current in the phase winding is the result
of logical AND of the rotor position sensor and chopping frequency. As a result, it is possible
to vary the effective phase current from a very low value to a high value. For varying the
following methods are available.

1. By varying the duty cycle of the chopper.

2. By varying the conduction angle of the devices.

Merits
 Control of each phase is completely independent of the other phase.
 The converter is able to free wheel during the chopping period at low speeds which
helps to reduce the reduce the switching frequency and thus the switching losses of
the converter.
 The energy from the off going phase is feedback to the source, which results in
utilization of energy

Demerits
  Higher number of switches required in each phase, which makes the converter
expensive and also used for low voltage applications.

2. (n+1) power switching devices and (n+1) diodes

This circuit makes use of a smaller number of power switching devices and diodes as shown
in fig 3.5. When the (SCRs) switching devices T and T1 are turned on phase winding A is
energized from the dc supply. When these devices are turned off the stored energy in the
phase winding is fed back to the mains through diodes D and D1. When devices T and T 2 are
turned on the phase winding B is energized. When they are turned off ,the stored energy in
B phase winding C is switched on and off from the mains. The cycle gets repeated.

This circuit makes use of (n+1) power switching devices and (n+1) diodes where n is equal to
the number of phases.

Merits
 The converter uses low number of switching devices, which reduces the cost of the
converter.
 The converter is able to freewheel during the chopping, thus reducing the switching
frequency and losses.
 Voltage rating of all the switching devices and the diodes are V dc, which is relatively low.
 The energy for the off going phase is transferred back into the source, which results in useful
utilization of the energy and also improves the efficiency.

Demerits
 Disability to magnetize a phase while the off going phase is still demagnetizing which
results in higher torque ripple during commutation.
 At higher speeds of the off going phase cannot be de-energized fast enough because
the common switch ―T‖ keeps turnings on intermediately, disabling forced
demagnetization.
 The common switch conducts for all the phases and thus has higher switching stress.

3. Phase winding using bifilar wires

Each phase winding has two exactly similar phase windings as shown in fig. For this bifilar
wires are used. Each phase consists of two identical windings and are magnetically coupled
when one of them are excited.

In stepper motor, the purpose of bifilar winding is for bipolar excitation with a reduced
number of switching elements.

When T1 is turned on the dc current passes through the phase winding A. when the devices
T1 is turned off the stored energy in the magnetic field is fed back to the dc source through
the winding A‘ and D1 to the supply.

The three devices operate in a sequential way depending upon the signals obtained from the
rotor position sensor and the chopping signals for PWM technique obtained from the
controller.

Merits
 The converter uses lower number of switching devices thus reducing the cost on the
converter.
 The converter allows fast demagnetization of phases during commutation.

Demerits
 Bifilar winding suffers from double number of connections.
 A poor utilization of copper.
 Freewheeling is not possible during chopping as the phases have -Vdc. this causes of
higher ripples in current and torque during chopping.
 The imperfection in the coupling between the two winding causes voltage spikes
during turn off.
 The copper loss associated with the auxiliary winding is unacceptable high for many
applications.

4. Split – link circuit used with even phase number

The circuit shown in fig. is used in a range of highly efficient drives (from 4-80kw).

The main power supply is split into two halves using split capacitors. During conduction,
energy is supplied to the phases by one half the power supply. During commutation period,
the phases demagnetize into other half of the power supply.
When switch T1 is turned on, phase winding 1 is energized by capacitor c1. When switch T2
is turned off, the stored energy in the phase winding 1 is fed back to the capacitor c2
through diode D4.

When T4 is turned on by capacitor C2 and phase winding 4 is energized. When switch T4 is

turned off, stored energy in the winding 4 is feedback to the capacitor C1 through diode D1.
The similar operation takes place in the remaining winding also.

Merits
 It requires lower number of switching devices.

 Faster demagnetization of phases during commutation.

Demerits
 During chopping, freewheeling is not possible as the phaser have the voltage Vdc/2.
This causes higher switching frequency and more losses.
 This is not feasible for low voltage application.
 The converter is fewer faults tolerant as fault in any phase will unbalance the other
phase that is connected to it.

5. C-Dump circuit
In the C dump circuit shown in fig. the device count is reduced to ‗n‘ plus one additional
devices to bleed the stored energy from the dump capacitor C back to supply via the step
down chopper circuit. The mean capacitor voltage is maintained well above the supply to
permit rapid defluxing after commutation.
A control failure in the energy-recovery circuit would result in the rapid build-up of charge
on the capacitor and if protective measures were not taken the entire converter could fail
from over voltage.

Demerits
 Dump capacitor voltage is maintained ―2 Vdc‖ to allow fast demagnetization. But use of
a capacitor and an inductor in the dump circuit and also the voltage rating of other
devices is twice the bus voltage
 Monitoring of the dump capacitor voltage 'C‘ and control of dump switch T makes the
converter very complicated and also the converter does not allow freewheeling.

Speed control of SRM

The position of rotor is sensed by the rotor position sensor and it provides its corresponding output
to the error detector. Error detector compares reference speed and actual speed to generate error
signal which is given to controller block. The controller either fuzzy or PI gives control signal to the
converter according to the error signal. The speed of the motor is controlled by the converter
through proper excitation of their corresponding windings. The variation between the set points and
the measured variable sets the manipulated variable in the proportional controller. If the variation is
high, the manipulated variable will get affected and it cannot stabilize higher order processes. Large
gain is needed to improve the steady state error, when proportional controller is used. If proportional
gain is high then the system is said to be unstable. If gain is low, it is said to be stable system.
Proportional controller does not eliminate the error just reduces it. The combination of proportional
and integral terms is essential to refine the speed of the response and also to eliminate the steady
state error. By giving feedback to the converter the performance of the PI controller can be improved
and it conquers the disturbances. The forced oscillation and steady state error can be eliminated in PI
controller during the operation of P controller and on-off controller respectively.

SRM current control

One of the most applications of SRM in aircraft is using the SRM coupled with DC generator through
high-speed gear box to drive the generator. This DC generator may be interfaced with a three-phase
lines through a four-quadrant drive to be used in another aircraft application. The SRM is operated as
a source of torque, and the DC generator regulates the system speed. The SRM is driven by its
converter synchronized by the control and the resolver on the motor’s shaft. This electric drive
system has been recognized to provide benefits in system efficiency, weight and size, and flexibility in
speed control of SRM. Fig. 1 shows the basic components of the motor drive system. These
components are 3-ph 6/4 SRM, asymmetric DC-DC IGBT converter, gear box, DC machine works as
generator and also the electronic control that contain comparator, and the current controller.

PRINCIPLE OF HYSTERESIS CURRENT CONTROL

Hysteresis/chopping current control is a control strategy used with SRM for controlling the phase’s
currents to be within a band around a reference value [8]. This strategy is preferable over wide speed
range for SRM operation because the desired current can be easily reached. The control strategy
based on turning on the switches of the converter when the phase current is lower than a lower
band limit, and turning off these switches when the current is above an upper band limit. The lower
limit and the upper limit can be obtained according to the control requirements and the switching
frequency of the power converter of SRM. The hysteresis control implemented through using two
modes; soft and hard chopping which are illustrated in Fig. 2a, 2b. The soft chopping and hard
chopping that can be easily used with the asymmetric bridge converter. Fig. 2c shows the asymmetric
converter has two switches per phase and the hysteresis band. It achieves all forms of control,
including hard and soft chopping. In chopping control of Fig. 2c; the phase current is controlled
between two levels (i.e., the upper limit and the lower limit) equal to iref,j ± Δi/2, where iref,j is the
reference current of each phase and Δi/2 is the hysteresis band that has an acceptable range around
the reference current.
This hysteresis current control is achieved with a closed-loop control by one of the two modes of a
chopping action; hard chopping mode or soft chopping mode.
 In soft chopping mode: Fig. 2a, the phase voltage is switched between (zero) and (+U) value. For
phase of inductance L1, the lower switch T2 is left on during phase conducting period and the upper
switch T1 is chopped according to the pulsed signal. It allows not only control of the current but also
minimize the ripple current. Also, it produces lower acoustic noise and less electromagnetic
interference (EMI). Therefore, soft switching is often preferred for motoring operation.

 In hard chopping mode: Fig. 2b, the phase voltage is switched between (–U) and (+U) value. For
phase inductance L1, both switches T1 and T2 are switching on during the conducting period. So,
(+U) voltage is applied to conducting phase when T1 and T2 are on, and (–U) voltage is applied when
T1 and T2 are off before the phase current drops to zero. It has large value of current ripples. It can
be applied in braking operation.

Design of SRM motor

Design procedures for Switched Reluctance Machines

A specification of an SRM machine consists of requirements (e.g. torque, speed) and
constraints (e.g. dimensions or supply voltage). The design is based on the compliance of a
number of prescriptions or agreements at the valid heating, mechanical stress, operational
safety and the compliance of electrical limits. The designer’s goal is the determination
of the main dimensions and the electric and geometric data of all electromagnetic claimed
parts from the required properties.
2.1 Machine data
The design data for a SRM comprises of the required rated power output Pn, rated speed
nn, allowable peak phase current ip and available dc bus voltage Vdc for the system.
Knowing the speed and power output will automatically fix the rated torque Tn to be
developed:
Pn
T n= 2.1
2 π . nn

Improving material productivity of SRM manufacturing involves optimized utilization

of machine and drives active materials, including iron and copper, drive electronics and
control aspects for cost minimization.
2.2 Sizing of main dimensions

The size of the active part of an electrical machine depends on two factors: the
required torque and the effectiveness of the cooling system. For a given torque, the
machine size may be reduced to some extend by improving the cooling effectiveness.
But such improvement would increase the machine manufacturing cost. Once a means of
cooling compatible with the fabrication cost has been chosen, the only parameter that
determines the motor size is the magnitude of torque. In general, electrical machines
are designed starting from the output equation, which relates the bore diameter D (inner
stator diameter), rotor length l, rated speed n, and magnetic and electric loadings to the
rated output power P:

2.3 Pole selection

Usually, the designer determines a common number of stator and rotor poles Ns and Nr
and deviates from this fixed value only for very special applications because then
converter configurations and feedback devices can be standardized. There are many
possible combinations for the number of poles resulting in different phase numbers. The
choice of the
number of phases mainly depends on the desired application and their required properties.
Generally, it is preferred to have the ratio between Ns and Nr is a noninteger. T he stator
and rotor pole combinations common in industrial designs are given below:
Table 2.1 Typical stator and rotor pole combinations

Poles
Stator Ns 4 6 12 8 12 10
Rotor Nr 2 4 8 6 10 8

This thesis primarily focuses on the popular combinations of two 3-phase prototypes
with 6 stator and 4 rotor poles and one 4-phase motor with 8 stator and 6 rotor poles.
The 8/6- machine has the advantage of smaller torque ripple than the 6/4 machine
while having the disadvantage of using more switches in the converter, two extra
terminals and higher core losses (assuming the same rotor speed) because of higher
remagnetization frequency.

2.4 Air gap

To maintain balanced phase currents and minimize acoustic noise, the SRM needs a
uniform air gap. The machine also requires a small air gap to maximize specific torque
output and minimize the volt-ampere requirement in the converter. A small air gap
decreases the minimum reluctance in the zone of stator-rotor-pole-overlapping and
therefore increases the achievable torque. So the air gap should be chosen in such a way
that the machine works reliable under common operating conditions in every operating
point.
 2.5 Stator and rotor pole angle selection

The pole arcs of stator and rotor s and r define the width of stator and rotor poles ts and tr:

The choice of the pole arcs basically depends on two criteria:

1. Self-starting requirement
2. Shaping of static torque vs. rotor position characteristics
These requirements can be included into the machine design by computing the minimum
rotor and stator pole arcs r and s to achieve self starting.
The minimum pole arcs are equal to the stroke angle sk, ensuring that in the ideal
case with no fringing flux, torque can be produced at all rotor positions. An upper limit
is placed on the overlap of stator and rotor teeth:

2.6 Ratio of pole width to pole pitch

Guidelines for the selection of stator and rotor pole arcs can be varied for a given current and
their effect on the average torque and aligned respectively unaligned inductance was studied to
give a clearly identifiable range of practical pole arc values. A characteristic value for the pole
geometry is the ratio of pole width to pole pitch t/τ.

2.7 Determination of other internal dimensions

Once the main dimensions, pole numbers and preliminary pole arcs are fixed, the
design of rotor and stator pole length, stator and rotor yoke thickness and shaft
diameter finishes the first roughly design step. That parameter can be obtained as follows.

Rotor pole height hr

Generally, a short rotor pole leads to a small inductance ratio La/Lu but allows a longer
stator pole if the envelope dimensions of the magnetic core remain unchanged (e.g.
diameter of stator and rotor yoke, shaft diameter and stator outer diameter). The bore
diameter varies in this case. Hence more space for the stator windings is available. A
larger rotor pole increases the air gap radius rg, but at the same time the stator poles must
be shorter.
Rotor yoke thickness yr
The rotor yoke thickness yr is determined by the need of mechanical stiffness and the
operating flux density. In a SRM with a two-pole flux pattern the main flux divides into
two equal parts when it leaves the rotor pole and enters the rotor yoke. Therefore, yr
should be at least half of the stator pole width in order to carry the peak rotor flux
without saturating. Regarding the fact that sections of the rotor yoke are shared between
different phases which may overlap, it is to choose the rotor yoke thickness about 20-40%
more than tr/2.
The range of values to be chosen from has to account for the interpolar air gap to
provide a sufficient high inductance ratio La/Lu, but also sufficient mechanical stiffness.
Shaft diameter Ds
 In order to maximise the lateral stiffness a large shaft diameter Dsh is favorable. This also
contributes to the minimization of acoustic noise and raises the first critical speed. If the height
and width of the rotor poles and the rotor yoke thickness are fixed, then the shaft diameter can
be obtained with the outer rotor diameter Dr as follows:
Dsh Dr 2hr yr 

Stator yoke thickness ys

The stator yoke thickness ys is determined on the basis of maximum flux density and by the addition
factor of vibration minimization and reducing acoustic noise. These mechanical problems are caused
mainly by the effect of ovalisation, which is explained in more detail in [33]. The stator yoke flux
density is approximately half of that of the stator poles. Concerning that sections of the yoke are
shared between different phases which may overlap, it is proposed to choose the stator yoke
thickness about 20-40%

Stator pole height hs

The stator pole height hs should be as large as possible in order to maximise the winding area and
to make it easy to insert enough copper for minimized copper losses. One note that the stator
coil has to be held in place and therefore small space is required near the pole face.

Cross section of an 8/6-SRM showing stator and rotor dimensioning parameters

The selection of various coefficients related to the motor geometry, magnetic and
electric properties.

The final machine design is achieved through an iterative process of analytical steady-
state and dynamic performance calculations, numerical FEM calculations and simulations.

2.8 Winding design

The slot area can be calculated by subdividing the stator slot into two geometric
 sections, as shown in Fig. (a) has a trapezoidal cross section; the cross section of
section (b) is a segment of circle.

Fig. 2.3 Stator slot area

The cross section of the trapezoidal section A(a) can be calculated with:

The parameter t is the stator pole width at the pole base regarding tapered (trapezoidal) pole
s,y
shapes. With respect to Fig.b it can be calculated with the tapering angle of the stator pole side
γ as follows:
s

The number of turns per phase respectively the number of turns per pole can be roughly
estimated with the assumption that the conduction (‘dwell’) angle Θ of the SRM at a particular
d
speed has a certain value, maybe the stroke angle. Under the condition of single pulse operation
with no current chopping the maximum flux value is given by the law of induction (recessive
voltage drops are neglected) with the dc supply voltage V .
s

The winding cross sectional area of one coil A is

wc

SENSOR LESS OPERATION OF SRM

The accurate knowledge of the rotor position is required for good performance of the switched
reluctance motor drive. The entrance of SRMs in the sensitive applications industries has proved the
need for highly reliable and fault tolerant rotor position sensing methods. The need for the rotor
angle information in SRM has been traditionally satisfied by the use of some form of rotor position
sensor. Rotor position sensing is an integral part of SRM control because of the nature of reluctance
torque production. In fact, excitations of the SRM phases need to be properly synchronized with the
rotor position for effective control of speed, torque and torque pulsation. But it needs a mechanism
to detect rotor position for correct operation. An encoder, resolver, or Hall shaft position sensors are
usually employed to determine the rotor position. However, these discrete position sensors not only
add complexity and to the system but also tend to reduce the reliability of the drive system.
However, in recent years, there have been extensive research activities to eliminate direct rotor
position sensors, simply by indirectly determining the rotor position. To avoid additional cost size and
unreliability associated with external position sensors developing a reliable, precise, and low-cost
position sensor less control seem necessary Principle of Operation of the SRM Sensorless Scheme

The fundamental principle of operation of a SRM is based on the variation in flux linkage with the
change in the angular position of the rotor. The sensorless scheme relies on the fuzzy based rotor
position estimator model of the SRM drive. The dynamics of the SRM drive can be represented by a
set of non-linear first-order differential equations. The block diagram of the sensorless scheme is
shown in figure. It consists of various sub-systems necessary for PID speed controlled SRM drive with
fuzzy logic used as a rotor position estimator. The flux estimator produces flux linkage by using phase
voltage and current as inputs. The experimental data of flux linkage and phase current are used as
inputs to fuzzy estimator and map them in fuzzy rule base for estimating the angle as an output. The
suitable type of low pass filter has been used to produce refined estimated angle for inverter
operation and simultaneously used to obtain estimated speed for comparison.

CONTROL CIRCUITS FOR SRM

Complex controls are required for higher power drives, particularly where a wide speed
range is required at constant power, and microprocessor controls are used. As high-speed
operation, the peak current is limited by the self-emf of the phase winding. A smooth
current waveform is obtained with a peak/rms ratio similar to that of a half sinewave.

At low speed, the self-emf of the winding is small and the current must be limited by
chopping or PWM of the applied voltage.

Two types of control circuits used are:

 1. Hysteresis type to maintain constant current
2. Voltage pulse width modulation control (or) duty cycle control.

Hysteresis Type Current Regulator

As by this control circuit current is maintained

more or less constant like ―hysteresis‖
throughout the conduction period in each phase it is
known as hysteresis type control. Fig shows the
current waveform controlled by the hysteresis type
current regulator. The schematic arrangement of the
control circuit is shown in fig.

As shown in fig. the transducer (a tachogenerator) is

connected from the rotor and then the output signal
from the transducer is given as a feedback signal at the base of transistor T2. From the
emitter of transistor T2, the portion of the feedback signal (current) is fed at the input of the
operational amplifier (O.A). There it is compared with the reference current and
correspondingly after amplification the feedback signal is given at the base of transistor T 1.
This signal in combination with collector current will flow from the emitter of transistor
T1 through A phase winding of the machine. Thus the current through A phase winding can
be controlled depending on the requirement. CLR is the resistance for limiting the current as
per the design.

As the current reference increase the torque increases. At low currents the torque is roughly
proportional to current squared but at higher current 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 characteristics.

With loads whose torque increases monotonically with speed, such as fans and blowers,
speed adjustment is possible without tachometer feedback but general feedback is needed
to provide accurate speed control. In some cases, the pulse train from the soft position
sensor may be used for speed feedback, but only at relative high speeds.

As low speeds, a larger number of pulses per revolution are necessary and this can be
generated by an optical encoder or resolver for alternatively by phase-locking a high
frequency oscillator to the pulses of the commutation sensor. System 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 phase leg switch. The sensors
used are shunts or hall-effect sensors within build current sensing.

Voltage PWM Type Current Regulation

The schematic arrangement of PWM type control circuit is shown in fig.

Through transducer (tacho generator) the

mechanical signal (speed) is converted into
electrical signal (current), which is fed from at the base of
transistor T2. Thos base current combining
with collector current flows the emitter of
transistor T2 through CLR to the negative of
the supply. Based on the feedback signal, the
voltage at phase A changes. This feedback
voltage is given as one input to the operational
amplifier where it is compared with the
reference voltage, correspondingly the
difference is amplified and fed to the mono stable circuit.
This circuit modulates the pulse width of the incoming
signal based on the requirement and the modulated signal is given at the base of T1. This
signal combines with collector current of T1 and flows through phase A as modulated
current based on the requirement. Thus the current is regulated or controlled using pulse
width modulation and rotor feedback.

A desirable future of both control methods is that the current wave form tends to retain the
same shape over a wide speed range.

When the PWM duty cycle reaches 100%, the motor speed can be increased by increasing
the conduction period. These increases eventually reach maximum values after which the
torque becomes inversely proportional to speed squared but they can typically double the
speed range at constant torque. The speed range over which constant power can be
maintained is also quite wide and very high maximum speeds can be achieved, as in the
synchronous reluctance motor and induction motor, because there is not the limitation
imposed by fixed as in PM motors.

Rotor position measurement and estimation methods of SRM Motor

Sensorless strategies for initial and low speed

1. Inductance Method
Inductance method positioning is premised on the core saturation effect and the magnetization or
demagnetization effect produced by the magnetic field of permanent magnet in different directions
on the armature. If the change of inductance is detected, the rotor position can be detected as well at
zero and low speed.

Winding inductance is a function of rotor position and winding current. The rate of current change is subject to a
considerable impact from the inverse potential, which renders this method unsuited to the condition of high-
speed down-position estimation. It is indicated that since the method assumes that the motor conforms to the
ideal model, the inevitable process problems arising from production will lead to the deviation of the three-
phase inductance in the armature winding, and that armature, iron loss, copper loss and demagnetization motor
loss will undergo progressive changes as the running time of the motor is extended, thus making detection less
consistent.

2. High Frequency (HF) Injection Method

HF injection method is reliant on the salient features of the motor rotor position, rather than the motor model of
the counter electromotive force, which makes it the most effective rotor position estimation method for zero-
speed and low-speed operation of the PMSM. The HF injection method is adapted to the motor zero speed and
low speed control strategy. The injection method of HF pulse signal under the low speed operation is similar to
when the rotor is stationary. There are two differences. Firstly, the motor at low speed operation
is required to extract the HF response current through the high-pass filter. Secondly, the cross-saturation effect
shall be taken into consideration when the motor is running. The comparison of different HF injection methods
is shown in voltage pulse vectors with the same magnitude and opposite direction to the stator winding.

2.1. Rotating HF Injection Method

Due to its straightforward working principle, rotating HF carrier signal injection method has now been widely
used in the IPMSMS positionless sensor control. The rationale of this method is to inject three-phase
symmetrical high frequency sinusoidal voltage signal at the stator end of IPMSM, and then obtain the
information on rotor position by detecting and processing the HF response signal in a-b coordinate system;

2.2. Pulse HF Injection Method

The interior permanent magnet synchronous motor (IPMSM) contains a structural salient pole, while the surface
permanent magnet synchronous motor (SPMSM) contains a saturated salient pole. The initial rotor position can
be detected by means of HF pulse voltage injection.

2.3. Carrier Frequency Component Method

The diagram of carrier frequency component-based logic operation method is shown in Figure 4. To establish
the k-l shafting 45 degree in advance of the a-b axis and to conduct the transformation of the mathematical
model, the carrier frequency component current was obtained after filtering, whose envelope contained the
information on rotor position. The diagram of carrier frequency component-based logic operation
method is shown in Figure 4. To establish the k-l shafting 45 degree in advance of the α-β axis and
to conduct the transformation of the mathematical model, the carrier frequency component
current

2.4. Method Based on Rotor Fretting

In this method based on rotor fretting was proposed to detect the initial position of the rotor. The low frequency
rotating voltage vector was applied to the stator winding, which produced the pulsating torque and then made
the rotor fretting, thus exerting influence on the current response of the motor. Ultimately, the information on
the rotor position was extracted from the current response. With this method applied, however, the detection
error remained significant. Moreover, under certain load conditions, the rotor
could lose its balance during fretting, which restricts the application of the method in some exceptional
circumstances.

2.5. Compound Method

It is possible that a single position detection method is incapable to meet the needs of position detection or the
requirement on the accuracy of detection under various working conditions. The combined method of multiple
position estimation methods proves effective in improving the accuracy and reliability of detection. In the
meantime, however, the complexity of the algorithm could be increased to some extent.

Sensorless strategies for medium-high speed.