This document summarizes a research paper on implementing smooth transitions between optimal control modes in a switched reluctance motor (SRM). It begins with introductions to SRM technology and an overview of the paper contents. It then covers the operating principles, characteristics, control strategies, and modes of operation of SRMs. The document describes the development of a Simulink model for a proposed optimal controller, including subsystems for pulse width modulation and single pulse control. Simulation results are presented and analyzed for no-load operation, with load, and under speed and torque dynamics. The analysis shows the controller varies turn-on and turn-off angles optimally under different operating conditions to reduce ripple and enable smooth transitions between control modes. The conclusion
A reluctance motor is a type of electric motor that induces non-permanent magnetic poles on the ferromagnetic rotor. The rotor does not have any windings. It generates torque through magnetic reluctance.
Reluctance motor sub types include synchronous, variable, switched and variable stepping.
Reluctance motors can deliver high power density at low cost, making them attractive for many applications. Disadvantages include high torque ripple (the difference between maximum and minimum torque during one revolution) when operated at low speed, and noise due to torque ripple.
The motor which runs at synchronous speed is known as the synchronous motor. The synchronous speed is the constant speed at which the motor generates the electromotive force. The synchronous motor is used for converting the electrical energy into mechanical energy.
he stator and rotor are the two main parts of the synchronous motor. The stator is the stationary part, and the rotor is the rotating part of the machine. The three-phase AC supply is given to the stator of the motor.
This presentation provides information about Synchronous Motor.
A synchronous motor is electrically identical with an alternator or AC generator.
A given alternator ( or synchronous machine) can be used as a motor, when driven electrically.
Some characteristic features of a synchronous motor are as follows:
1. It runs either at synchronous speed or not at all i.e. while running it maintains a constant speed. The only way to change its speed is to vary the supply frequency (because NS=120f/P).
2. It is not inherently self-starting. It has to be run up to synchronous (or near synchronous) speed by some means, before it can be synchronized to the supply.
3. It is capable of being operated under a wide range of power factors, both lagging and leading. Hence, it can be used for power correction purposes, in addition to supplying torque to drive loads.
A reluctance motor is a type of electric motor that induces non-permanent magnetic poles on the ferromagnetic rotor. The rotor does not have any windings. It generates torque through magnetic reluctance.
Reluctance motor sub types include synchronous, variable, switched and variable stepping.
Reluctance motors can deliver high power density at low cost, making them attractive for many applications. Disadvantages include high torque ripple (the difference between maximum and minimum torque during one revolution) when operated at low speed, and noise due to torque ripple.
The motor which runs at synchronous speed is known as the synchronous motor. The synchronous speed is the constant speed at which the motor generates the electromotive force. The synchronous motor is used for converting the electrical energy into mechanical energy.
he stator and rotor are the two main parts of the synchronous motor. The stator is the stationary part, and the rotor is the rotating part of the machine. The three-phase AC supply is given to the stator of the motor.
This presentation provides information about Synchronous Motor.
A synchronous motor is electrically identical with an alternator or AC generator.
A given alternator ( or synchronous machine) can be used as a motor, when driven electrically.
Some characteristic features of a synchronous motor are as follows:
1. It runs either at synchronous speed or not at all i.e. while running it maintains a constant speed. The only way to change its speed is to vary the supply frequency (because NS=120f/P).
2. It is not inherently self-starting. It has to be run up to synchronous (or near synchronous) speed by some means, before it can be synchronized to the supply.
3. It is capable of being operated under a wide range of power factors, both lagging and leading. Hence, it can be used for power correction purposes, in addition to supplying torque to drive loads.
Torque Production & Control of Speed in Synchronous Motor.
Speed of synchronous motors can be controlled using two methods called open loop and close loop control.
Open loop contol is the simplest scalar control method where motor speed is controlled by independent frequency control of the converter.
In case of close loop self control mode, instead of controlling the inverter frequency independentaly, the frequency and the phase of the output waveform are controlled by an absolute position encoder mounted on the machine shaft giving an account of position of the rotor.
Mr. C.S.Satheesh, M.E.,
Servomotor
Control motors
Two Phase AC Servo Motor
Three Phase AC Servo Motor
DC Servo Motor
AC Servo Motor
Control Type Synchro.
Torque Transmission Type Synchro
Synchros
Electric Drives and Controls Unit 1 IntroductionDr.Raja R
Electric Drives and Controls
Unit 1 Introduction
Block Diagram of Electric Drive
Power Source
Power Modulator
Load
Control Unit
Sensing Unit
Motor
Classification of Electrical Drives
Advantages of Electrical Drives
Disadvantages of Electrical Drive
Applications of Electrical Drives
Permanent Magnet Synchronous motor (PMSM) or Permanent Magnet AC motor:
Introduction to PMSM motor.
Types of PMSM Motor.
Mathematical modelling of PMSM motor.
Advantages and dis Advantages of PMSM motor
Torque Production & Control of Speed in Synchronous Motor.
Speed of synchronous motors can be controlled using two methods called open loop and close loop control.
Open loop contol is the simplest scalar control method where motor speed is controlled by independent frequency control of the converter.
In case of close loop self control mode, instead of controlling the inverter frequency independentaly, the frequency and the phase of the output waveform are controlled by an absolute position encoder mounted on the machine shaft giving an account of position of the rotor.
Mr. C.S.Satheesh, M.E.,
Servomotor
Control motors
Two Phase AC Servo Motor
Three Phase AC Servo Motor
DC Servo Motor
AC Servo Motor
Control Type Synchro.
Torque Transmission Type Synchro
Synchros
Electric Drives and Controls Unit 1 IntroductionDr.Raja R
Electric Drives and Controls
Unit 1 Introduction
Block Diagram of Electric Drive
Power Source
Power Modulator
Load
Control Unit
Sensing Unit
Motor
Classification of Electrical Drives
Advantages of Electrical Drives
Disadvantages of Electrical Drive
Applications of Electrical Drives
Permanent Magnet Synchronous motor (PMSM) or Permanent Magnet AC motor:
Introduction to PMSM motor.
Types of PMSM Motor.
Mathematical modelling of PMSM motor.
Advantages and dis Advantages of PMSM motor
Content:
Introduction to Stepper Motors
Types of Stepper Motors
Main components of a stepper motor
How do these components work together
Control sequence to turn a stepper motor
Advantages and disadvantages of stepper motors
Practical Applications of stepper motor
Step Angle
Summary
For more information Email us:
Engineeringgaragevir@gmail.com
Regards;
xubair khan
Speed control in 3 phase induction motorKakul Gupta
Speed control in induction motors is required for efficient operation
Various methods of speed control through semiconductor devices:
1. Stator voltage control
2. Stator frequency control
3. Stator voltage control
4. Stator current control
5. Static Rotor Resistance Control
6. Slip Energy Recovery Control
Motor Control Relay, Pwm, DC and Stepper MotorsDevashish Raval
In this presentation, a brief introduction of relay, optoisolaters, interfacing and working of stepper motor and DC motor is given.
The contents are referred from the book of mazidi.
Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies are used to develop machines that can substitute for humans and replicate human actions
1. Smooth transition between optimal
control modes in
SWITCH RELUCTANCE MOTOR
By- Badal Patnaik - 1001227260
Sanjit Debta - 1001227317
D. Gouri Sankar - 1001227269
Debendra Kido - 1001227267
Ananya Subhadarsinee - 1001227255
2. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
3. Introduction
• Concept of SRM-1938
• Practical realization-mid 1960s,after the evolution of power
electronics & computer aided EM design
• Also known as : -Variable Reluctance Motor
-Brushless Reluctance Motor
-Commutated Reluctance Motor
4. Construction
It’s a doubly-salient, singly-
excited, independent stator
exited motor
The stator is same as PM
motor but the rotor is
simpler having no permanent
magnet
Stator windings on
diametrically opposite poles
are connected in series or
parallel to form one phase
6. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
8. Principle of Operation
• Inductance of stator phase winding varies with rotor
position
• Torque is produced only during variation of inductance
• Current is made available only during this variation, hence
the need for rotor position feed back sensor
9. Periodic change of inductance with
Rotor position
Rotor
Unaligned Position
Lu
La
Inductance Profile
Stator
Aligned
PositionRotor
θ1 θ3θ2 θ4
θ
L
10. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
11. Characteristics of SRM
All these characteristics cannot be obtained at a
single operating point.
HENCE THE NEED OF OPTIMAL CONTROL STRATEGY
12. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
14. Voltage Source control
Both transistors are switched on at θ0and both are switched off at θcConducts through D2 and D1 when negative voltage is applied between θc and θq
17. Hysteresis current control
• Power switches are switched off or on according to the current is
greater than or less than a reference current.
• The instantaneous phase current is measured and fed back to
summing junction.
• The error is used directly to control the states of power
transistors.
19. SRM with hysteresis current controller
iref
Hysteresis Current
Controller
Converter
6/4
SRM
V
i
i
20. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
22. Optimum Performance in Single Pulse mode
L, Ψ
La
L
Lu
Ψc
Ψ
θ
θuθaθqθcθ1
θu
θ0
θ01
θ
βs
βr
αp
θqθcθ1
θu
θ0
θe1 θe2
-Vdc
Vdc
23. Optimum turn-on & turn-off angle in
single Pulse mode
11 e
opt
o c
11 1 e
opt
c c
24. Optimum Performance in PWM mode
La
Lu
L
θ
θ
θ1θu
θ01
i
θ0 θc θq
θe
θa
Vdc
iref
Ψc
-Vdc
θu
βs
βr
αp
25. Optimum turn-on & turn-off angle in
PWM mode
dc
refu
V
iL
10
e
esk
opt
c
01
1 12
26. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
31. Parameters of the 6/4 SRM
• Voltage = 240V dc,
• Current = 450A max,
• Rating of the SRM = 60 kw
• No. of phases = 3
• No. of stator poles =6
• No. of stator poles =4
• Rotor pole pitch = 90 deg
• Stator pole arc = 36.00 deg
• Rotor pole arc = 38.50 deg
• Rotor position at which stator
and rotor pole corners starts
overlap =52.50 deg
• Aligned inductance =23.6x10-
03 H
• Unaligned
inductance=0.67x10-03 H
• Max flux linkage=0.486 V.s
• Stator resistance=0.05 ohm
• Inertia=0.05 Kg.m.m
• Friction=0.02 N.m.s
• Base speed = 3100 rpm
32. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
39. Analysis of simulation results on No-load
Type of controller
at steady state rpm
0f 6560
PWM mode Single pulse mode
Turn-on
(degree)
Turn-off
(degree)
Current
ripple
(Amps)
Torque
ripple
(Nm)
Turn-on
(degree)
Turn-off
(degree)
Current ripple
(steady state)
(Amps)
Torque ripple
(steady state)
(Nm)
Basic 45 75 0 to 200
(200)
36 to 148
(112)
45 75 0 to 30.5 (30.5) 10 to 18
(8)
Developed 52.5 to
52.3
104 to 81 0 to 230
(230)
30 to 100
(70)
45.2 72 to 75 0 to 30
(30)
10 to 17.5
(7.5)
40. Analysis on No-load
• The developed controller operates with varied turn-on and turn-of
angles.
• The torque ripple is reduced in both PWM and single pulse mode
when the SRM is used with the developed controller.
• This is one aspect of the optimal performance of the SRM with the
developed controller.
• While operating at steady state in single pulse mode, the
maximum current/current ripple is less when the SRM is used with
the developed controller.
• The transition is smooth in terms of flux, current, torque or speed
when the motor shifts its operation from PWM mode to single
pulse mode.
• SRM delivers better performance when used with a controller
having varied turn-on and turn-off angles
• The turn-on and turn-off angles are varied at every instant in
synchronization with the formulae for optimal condition.
50. With torque dynamics : turn-off angle
Tu
rn
off
an
gle
(de
g)
Time (sec)
1 2 3 4 5 6 7
60
70
80
90
100
110
51. Analysis of Simulation results on Load
Application PWM mode Single-pulse mode
Turn-on
angle (degree)
Turn-off
angle(degree)
Turn-on
angle (degree)
Turn-off
angle(degree)
80 Nm of load at 6560 rpm ref speed 52.5 to 52 128 to 72 43 to 32.2 64 to 78
Steep increase of load from 5 to 20
Nm at 6560 rpm ref speed
52.5 to 52.2 104 to74 41.2 to 40 to 40.2
to 35.8
66 to 68 to73
Steep increase of speed from 6560 to
8000 rpm at 5 Nm of load
52.5 to 52.2 104 to74 41.2 to 40 to 40.2
to 34.4 to 36
67 to 68 to 75 to
73
52. Analysis on Load
• The controller operates by varying the turn-on and turn-off angles at every
instant as per the requirement of that operating point.
• When the operation of the motor shifts from PWM mode to single pulse
mode, the turn-on angle is advanced to cater to the torque demand as the
overlapping of the phases is reduced.
• When there is a sudden increase of load from 5 Nm to 20 Nm or sudden
increase of speed from 5650 rpm to 8000 rpm the turn-on angle is advanced
and the turn-off angle is retarded to balance the new torque demand.
• The emphasis is made to show that to maintain optimal operating condition
the turn-on and turn-off angles vary to make the transition smooth between
the two optimal control modes
• It is proved now that the developed controller is able to control the SRM
over its entire speed and torque range.
53. Content
• Introduction
• Principle of operation
• Characteristics
• General control strategy
• Modes of operation
• Simulink model for proposed controller
• Simulation results and Analysis
• Conclusion
• References
54. CONCLUSION
• This project studies optimal control modes of the SRM by striking
a balance between maximum efficiency and minimum torque
ripple and thus calculates the optimum switch on angles and
switch off angles.
• The turn on and turn off angles are calculated through simple
formulas and implemented through Simulink building blocks.
• The optimum controller determines the turn-on and turn-off
angles at every instant and accordingly the converter switches are
fired to cater to the torque and speed demand of that instant.
• To validate the effectiveness of the controller, simulation is carried
out on a variety of load and speed combination and the
effectiveness is verified.
55. REFERENCES
[1] C.J. Van Duijn, “Development of methods, algorithms and soft wares for optimal design of
switched reluctance drives”
[2] F. Soares and P.J. Costa Branco, “Simulation of a 6/4 switched reluctance motor based on
Matlab/Simulink environment
[3] R Krishnan,” Switched Reluctance Motor Drives; Modeling, Simulation, Analysis, Design and
Applications”
[4] Han-Kyung Bae, “Control of Switched Reluctance Motors considering mutual inductance”
[5] Ardeshir Motomedi-Sedeh, “Speed control of switched reluctance motors”
[6] M. T. DiRenzo, "Switched Reluctance Motor Control – Basic Operation and Example Using the
TMS320F240, Texas Instruments Application Note," 2000.
[7] C. Mademlis and I. Kioskeridis, “Performance optimization in switched reluctance motor drives
with online commutation angle control,” IEEE
[8] C. Mademlis and I. Kioskeridis, “Maximum efficiency in Single Pulse Controlled switched
reluctance motor drives,” IEEE
[9] C. Mademlis and I. Kioskeridis, “Smooth Transition between Optimal Control Modes in switched
reluctance motoring,” IEEE
[10] Matlab R 2008a, Version 7.6