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PERFORMANCE SIMULATION OF SWITCHED RELUCTANCE MOTOR DRIVE SYSTEM OPERATING WITH FIXED ANGLE CONTROL SCHEME

Jawaharlal Nehru Technological University . EYE 2005

Presented by
P.Vinutha (02741A0238) C.TRIVENI(03745A0204) IV B.Tech EEE EEE INTEL Engg College College
E-Mail:-vinu_pullarevu@yahoo.com

IV B.Tech INTEL Engg

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INTEL Engg College

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Abstract
This paper presents the performance of a 4kW 8/6-pole configuration SRM drive with fixed turn-off angle control scheme. DC supply will be given to the 8 coils wound over the stator teeth successively though electronics switches which gives rotation on the rotor through 15 in each step based on the minimum reluctance path between stator and rotor teeth. Turn-off angle plays an important role in developing electromagnetic torque in Switched Reluctance Motor (SRM) and leads to stable or unstable operation of the drive. The value of turn-off angle is usually variable and depends upon the motor speed and other parameters of the inverter that excites the SRM. However, this study is conducted for full-load and partial load starting and operation of the drive with fixed turn-off angle control scheme. The simulated performance of SRM drive system is presented to analyze the effect of fixed value of turn -off angle on transient and steady state performance of the drive in terms of speed, current and torque response. The advantages inherent in fixed turn-off
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angle control scheme are emphasized.

INTRODUCTION
switched Reluctance Motor (SRM) for variable speed application is a robust, reliable and almost maintenance free electric drive suitable for industrial, transport and domestic sector [1]. The specific advantages of SRM have made it a worthy competitor to converter/inverter fed AC/DC drives. The high level performance expected from a variable speed drive includes minimum torque ripple, low steady state error, reduced speed overshoot, low starting time and reduced speed oscillation. Such a performance is not easy to meet, as it is required to accommodate a large number of system nonlinearities. The electromagnetic torque developed by the SRM is a nonlinear function of stator current and rotor position . For forward motoring, the appropriate stator phase winding must remain excited only during the period when rate of change of phase inductance is positive. Else, the motor would develop braking torque or no torque at all. The inductance of a stator phase is maximum when its pole is directly opposite the rotor pole and is minimum when the inter-polar rotor region is opposite it. The stator phase must be excited when its
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inductance starts rising and must be de-excited when the phase inductance ceases to increase. The switching function thus must ensure that current in phase winding reaches its reference value at the desired instant of inductance rise and is again brought to zero when inductance reaches its maximum and does not increase further. Due to delay in current rise and fall on account of winding inductance, the switch must be closed at a turn-on angle (also called advance angle) on and must similarly be opened at a turn -off angle off. These switching angles are variable and depend mainly on speed and desired current in phase windings of SRM [2]. Various researchers have presented their findings on switching angles of SRM. A few papers [3]-[7] have elaborated on the performance of SRM with angle control. Orthmann and Schoner [3] have discussed the on-line calculation of turn-off angle for optimum torque output of SRM. Fixed switch-on and switch-off angle control scheme with flat-topped current has also been reported [4] which emphasizes on the development of a proper voltage excitation scheme to form the required flattopped current. Torque ripple reduction by turn-off angle compensation [5], reduction of SRM vibrations by random variation of control angles [6] and self-tuning of switching angle for speed control of SRM [7] has been reported. However, it is observed from the available literature that any investigation on the relative performance of SRM drive, while turn -off angle is varied, has not been reported. The present work analyzes the performance of SRM drive with different values of fixed turn-off angles and recommends an optimum value that gives an acceptable performance of the drive. The turn -on angle remains fixed throughout the study. The drive performance in terms of speed, winding current and electromagnetic torque is presented. Simulated results pertaining to starting time, overshoot, steady state error,
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settling time, speed ripple and torque ripple are also presented. Comparative study [8] of PID (Proportional, Integral and Differential), sliding mode and fuzzy logic control for fourquadrant operation of SRM has suggested that the PID controller offers a simple control structure to achieve an optimum performance. Hence, in this study, PID controller has been used in speed loop for predicting the drive performance. II. SWITCHED RELUCTANCE MOTOR DRIVE This section describes the control requirements of a typical

(a)

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(c)

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Fig. 1. (a) Cross section of 8-phase SRM. (b) Ideal inductance profile of SRM. (c) Turn-on and turn -off angles of any phase of SRM. Ideal inductance profile of the four phase windings of motor versus rotor position is shown in Fig. 1(b) where the different zones of inductance, namely minimum inductance zone, rising inductance zone, maximum inductance zone and falling inductance zone of different phases of SRM are seen. The inductance profile of a switched reluctance motor depends upon its configuration and pole geometry and therefore the profile of say a 6/4 pole configuration SRM will be different from that of a 8/6 pole configuration motor. In the present case, the motor is an 8/6-pole configuration SRM with 20 stator pole breadth, 24 rotor pole breadth, 45 stator pole pitch and 60 rotor pole pitch. This results in 16 minimum inductance zone, 20 rising inductance zone, 4 maximum inductance zone and 20 falling inductance zone. In motoring, the current is established for the positive slope region (rising inductance zone), as the developed torque is positive when dL/d is positive. The four phase windings should ideally become excited with reference current at instants 1, 2, 3 ,4, 5, 6, 7 ,8 respectively [Fig. 1(b)].The respective semiconductor switches therefore are closed at a turn-on angle, so that current in the particular phase rises to the reference current at the start of its rising inductance. Similarly, the respective switches are opened at a turn-off angle to ensure that the current in the particular phase decays to zero by the end of the end of the positive slope region. Zero turn-on angle corresponds to the instant when a rotor pole just enters the stator pole to be excited and hence is the instant when the inductance of the excited winding starts rising. Zero turn -off angle corresponds to the instant when a leading pole of the rotor just leaves the
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trailing pole of the excited stator phase. This is the instant when the inductance of the excited phase has attained its maximum value and remains at this value for some time depending on the overlap of stator and rotor pole widths. Later the inductance begins to fall as the rotor pole moves away from the stator pole. Fig. 1(c) presents the concept of turn-on and turn -off angles for any phase winding of switched reluctance motor. The practical range of turn-on angle and turn -off angle depends on the inductance profile and therefore on the configuration and pole geometry of the particular switched reluctance motor.

A. Control Philosophy The schematic of the closed loop drive system of a typical 4 phase SRM is shown in Fig. 2. It consists of outer speed loop comprising motor with rotor position sensor, speed controller and inverter. The inner current loop consists of current sensors, reference current generator, current controller and commutation logic. The working of the system is briefly discussed here so as to develop the control algorithm. Rotor position is sensed by position sensor, the derivative of which gives the rotor speed . The reference speed * is compared with the rotor speed . The error signal e is fed to the PID speed controller. The output of the speed controller is the reference torque T* which at any nth instant is T* (n), and is fed to the limiter. The output of the limiter is the reference current magnitude I* for all the four phases. The signals of reference current magnitude, rotor position , fixed turn -on angle on and fixed turn -off angle off are fed to the commutation logic block. The commutation logic decides the phase winding to be energized. The sign of reference torque
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signal indicates whether torque required is for motoring or braking purpose. Having identified the winding and the duration for which this winding is to be energized, the reference current magnitude I* is latched as the reference current, say I1*, I2*, I3* I4*, I5*, I6*, I7* or for the corresponding phase

windings. The winding current of each phase is sensed at the output of the inverter by the current sensor and compared with its reference counterpart in the current controller. The current controller then decides the switching (on/off) instants for the corresponding device of the inverter. In response to the sequentially controlled excitation of the windings through the inverter and controlled by the controller, the motor drives the load torque Tl at the reference speed *. Any change of state in the operating condition by way of change in reference speed, load torque, inverter voltage etc. is taken care of by appropriate control action generated by the speed controller in close interaction with current controller and commutation logic. The detailed specification of the motor used in this investigation is given in Appendix.
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III. MODELING This section briefly describes the modeling and simulation of motor and PID speed controller. The mathematical model of SRM is a set of differential equations obtained using dynamic electric machine theory. The mathematical description of electronic controller includes the modeling of inverter, current controller, commutation logic, and reference current generator. The detailed modeling of electronic controller has been presented elsewhere [9], and hence is not being presented here for brevity. A. Switched Reluctance Motor The SRM is a nonlinear control structure and therefore it is important to develop relevant model representing the plant dynamics under various operating conditions. The model equations of the SR motor are: dj/dt = -rij + v j (1) d/dt = (Te Tl)/J (2) d/dt = (3) where j=1, 2, 3, 4 represents the phase of the SRM, r is the

winding resistance per phase, vj, ij, j are applied voltage, current, and flux-linkage respectively of phase j, Te is electromagnetic torque developed by the motor, and Tl is the load torque. The net torque at any instant is the sum of the torque developed by all four phases, as given by Te=Tj(,ij) (4)
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The model equations are numerically solved to calculate the value of flux linkage , and from the experimental magnetization data [10], the value of current i is interpolated at any rotor position . The instantaneous torque is estimated for the known current and rotor position angle using measured static torque data [8] by quick interpolation. B. PID Speed Controller The rotor position is sensed by position sensor, the derivative of which gives the rotor speed. The rotor speed is compared with set reference speed and the speed error is processed in PID speed controller. The speed error at nth sampling instant is given by: e(n) = *- The output of the speed controller at n th sampling instant is given by: T(n) = T(n-1)+ Kp{e(n) -e(n-1)} + Kie(n) + Kd{e(n)-2e(n-1)+ e(n-2)} (5) where Kp, Ki and Kd are proportional, integral and derivative gain constant respectively of the speed controller, and e(n-1) and e(n-2) are the speed error at (n -1)th and (n-2)th sampling instants respectively. The values of Kp, Ki and Kd depend on the parameters of the drive system. The complex control structure of the SRM does not necessarily lead to optimum stable performance by conventional pole placement technique. Hence the controller gains are selected by comparing the effect of Kp, Ki and Kd on the speed response of the drive. The numerical values of PID controller gains providing the optimum performance of SRM drive are given in Appendix. A simulation algorithm has been developed [9] which makes use of the above set of differential equations, excitation conditions, switching pattern, commutation logic, and machine experimental data. Simulation of integrated mathematical model described above is carried out to compute the performance of
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the SRM drive system.

IV. RESULTS AND DISCUSSIONS Using the algorithm developed in the previous section, the performance of the drive system starting from standstill up to the reference speed is simulated for various fixed values of switching angles. The reference speed is set equal to the rated speed (1500 r/min) of the SRM. Speed within 1% of reference value is considered adequate for performance evaluation of the SRM drive system. The effect of variation of turn-off angle is evaluated in terms of the following performance indices: a) Time required by the motor (in accelerating from rest) to reach within 1% of reference speed (Rise time). b) Speed overshoot over and above 101% of reference value. c) Speed undershoot under and below 99% of reference value. d) Time required to reach and stay within 1% of reference speed (Settling time). e) Steady state speed ripple (peak to peak). f) Steady state torque ripple (peak to peak). The study is first conducted on full-load (25 Nm) for turnoff angles starting at 0 with increments of 1. The turn-on angle is fixed at 15 and remains unchanged throughout the study. The comparative speed response on full-load is shown in Fig. 3(a) wherein it is seen that the drive fails to pick up speed with 5 turn-off angle. The load torque is now reduced to find out the maximum value of load torque that can be accelerated from standstill to
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rated speed with 5 turn-off angle. The comparative speed response with this (5) turn-off angle for two different values of load torques is shown in Fig. 3(b). It is found that half-load (12.5 Nm) too is not supported by this value of turn-off angle. However a further reduction of 0.5 Nm in load torque to 12 Nm results in successful acceleration to rated speed with 5 turn

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torque to 12 Nm permits the use of higher turn-off angles and the maximum value of turn -off angle that ensures successful acceleration to rated speed is found to be 15. It is seen that when the phase excitation is switched off at
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the optimum turn-off angle, the positive dL/d zone i.e. the rising inductance zone of inductance profile is optimally used resulting in high starting torque. Consequently acceleration is high and speed builds up fast. The PID controller senses this and quickly decreases the value of reference torque, which consequently brings down the value of reference current I* as well. The phase current follows the reference current faithfully and quickly settles to a lower value, which is sufficient enough to sustain load torque at the reference speed. Turn-off angles lower than optimum value mean that the phase current may continue to flow in the region where positive dL/d zone is followed by zero dL/d and then negative dL/d zones. This results in either zero phase torque or negative phase torque being developed in the respective phase windings just before their respective phase currents finally die out. The total net torque magnitude therefore is adversely affected resulting in torque ripples and speed oscillations. Turn-off angles higher than optimum value me an that the phase winding is de-energized at an instant when sufficient positive dL/d zone is still available. Hence despite the currents being at their limiting values, the initial acceleration is very low. With still higher turn-off angles, the net torq ue developed remains too low to overcome the rigorous conditions put up by starting on load conditions and the drive fails. The maximum value of turn-off angle that ensures successful acceleration from start depends on the load-torque at start and thus while this value is 15 for 12 Nm it is only 4 for full-load (25 Nm).

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V. CONCLUSIONS This paper analyzes the effect of fixed turn -off angle control scheme on the starting performance of switched reluctance motor drive system when it is started on load. The motor is modeled through experimental flux-linkage and static torque characteristic for different rotor positions. The effect of turnoff angle on the transient performance is demonstrated and it has been established that it has a very strong influence on speed, reference current, winding current, phase torque and net torque, ultimately affecting the performance of the drive system as a whole. Since full-load start is the most rigorous starting condition, the optimum turn-off angle corresponding to a pa reticular fixed turn-on angle should be determined for this condition and then used for all other loads, so as to ensure optimum performance of SRM drive for all loads. It is seen that the drive operates satisfactorily for the proposed fixed turn-off angle control and therefore this simple scheme should be preferred to variable turn-off angle control that requires high speed signal processing. The performance of the drive with lower values of fixed turn-on angles is under study to determine an optimum pair of fixed turn-on angle and turn-off angle for SRM drive and results of the study would be reported soon.

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REFERENCES [1] P. J. Lawrenson, J. M. Stephenson, P. T. Blenkinsop, J. Corda, and N. N. Fulton, Variable speed switched reluctance motors, IEE Proc., Vol. 127, Pt. B, No. 4, pp. 253-265, July, 1980. [2] B. K. Bose, T. J. E. Miller, P. M. Szczesny, and W. H. Bicknell, Microcomputer control of switched reluctance motor, IEEE Trans. on Industry Applications, Vol. IA-22, No. 4, July/August 1986, pp. 708-715. [3] R. Orthmann, and H. P. Schoner, Turn-off angle control of switched reluctance motors for optimum torque output, Record of European Power Electronics Conference EPE, 1993, Brighton, pp. 2025. [4] Jin-Woo Ahn, Young-Joo An, Cheol-Je Joe, and Young Moon Hwang, Fixed switching angle control scheme for SRM drive, IEEE Conference Record of Applied Power Electronics Conference APEC96, pp.963-967. [5] M. Rodrigues, P. J. Costa Branco, W. Suemitsu, Fuzzy logic torque ripple reduction by turn-off angle compensation for switched reluctance motors, IEEE Trans. Industrial Electronics, Vol. 48, June 2001, pp. 711-715 [6] T. Boukhobza, M. Gabsi, B. Grioni, Random variation of control angles, reduction of SRM vibrations, IEEE Conference Record of Electric Machines and Drives Conference IEMDC 2001, pp. 640-643 [7] Seo Jong-yun, Cha Hyun -Rok, Yang Hyong-yeol, Seo Jung-Chul, Kim Kwang-Heon,Lim Young-Cheol, Jang Do-Hyun, Speed
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control method for switched reluctance motor drive using selftuning of switching angle, Proceedings of IEEE Symposium on Industrial Electronics ISIE 2001, Vol. 2, pp. 811-815 [8] Bhim Singh, Virendra Kumar Sharma, and S.S.Murthy, Comparative study of PID, sliding mode, and fuzzy logic controllers for four-quadrant operation of switched reluctance motor, IEEE Conference Record of PEDES98, Australia, pp. 99 -105. [9] Bhim Singh, Virendra Kumar Sharma, and S.S.Murthy, Performance analysis of adaptive fuzzy logic controller for switched reluctance motor drive system, Proc. of 33rd Annual Meeting of IEEE Industry Applications Society, St. Louis, MO, USA, 1998, Vol 1, pp. 571-579. [10] Virendra Kumar Sharma, S. S. Murthy, and Bhim Singh, An improved method for the determination of saturation characteristics of switched reluctance motors, IEEE Trans. Instrum. Meas., Vol. 48, Oct. 1999, pp. 995-1000.

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