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Abstract-The inherent vulnerability to mechanical failures, extra storing the magnetic characteristics of SRMs, and 3) methods
cost, and size associated with external position sensors such as based on models such as for example a method based on state
optical encoders and Hall sensors has motivated many
researchers to develop sensorless control techniques for SRM observers, the method based on signal strength measurement
drives. In this paper a flux linkage method and dual layer technique based inductance model, methods using neural
controller is developed to estimate rotor position and speed of a networks and fuzzy logic, etc., which require a very fast
low-voltage Switched Reluctance Motor (SRM) drive. The basic processor, such as floating point digital signal processors.
concept of this application is that of a sensorless speed closed Ideally, it is desirable to have a sensorless control scheme,
loop with an inner current loop using flux linkage position
estimation. The voltage drop on the power devices is more which uses only terminal measurements and does not require
significant in case of low voltage then in case of the high voltage additional hardware or memory resources. Recent advances in
drive. This voltage drop needs to be considered in the algorithm. the development of very fast and cost-effective digital signal
Simulations and real-time experimental results given in this processors have opened a new era in the sensorless control of
paper shows that the proposed position estimation method can SRM motor drives.
provide accurate and continuous position information over a
wide range of speeds, even in low speed applications. To ensure a Recently, there has been a significant interest in SRM
sure operation, a start up algorithm is also included. The drives for low-voltage applications, such as in automotive,
proposed method was implemented and tested by using a digital battery-operated drives and appliances [12].
signal processor 56F807EVM from Freescale Semiconductor The starting point is an algorithm developed by Freescale
Company and an 8/6 switched reluctance motor coupled with a Semiconductor for high-voltage (110-230V) switched
brushless DC motor as load. The software has been developed in
C language. reluctance motor control. It is implemented also a data
acquisition program for flux, current and control signals.
In this paper an intermediate magnetization curve technique
I. INTRODUCTION is used for rotor position estimation [3]-[7]. Experimental tests
are carrying out using a Freescale Semiconductor DSP
Switched reluctance motor (SRM) drives are beginning to
56F807EMV.
penetrate the growing market of adjustable-speed motor
drives. The SRM drives have been found to be suitable for II. SENSORLESS TECHNIQUE
automotive applications, household goods, electric vehicles The method implemented in this application is based on the
(EVs) and hybrid electric vehicles (HEVs), compressors, etc. comparison of the estimated flux linkage and the reference
Rotor position detection is an integral part of SRM control flux linkage in order to define turn-off (commutation)
because of the nature of reluctance torque production. In fact, position. The block diagram of the control scheme is
excitations of the SRM phases need to be properly presented in Fig.1.
synchronized with the rotor position for effective control of
speed, torque and torque ripple. A shaft position sensor is
usually used to provide the rotor position. By adding discrete
position sensors not only add complexity and cost to the
system but also tend to reduce the reliability of the drive
system. Also, there are certain applications, where the
ambient conditions do not allow the use of external position
sensors and, in these cases on apply a sensorless technique.
Several sensorless control methods have been reported in the
literature over the past two decades [1]–[10]. The various
methods of control without sensors can be classified as
follows: 1) intensive methods based on hardware that requires
external circuitry for further signal injection, 2) intensive
methods based on data, such as for example techniques based Fig. 1. Block diagram of the control scheme.
on the integration stream, which require large tables for
When the estimated flux linkage reaches the desired First, the rotor needs to be aligned to a known position to
reference flux linkage it indicates that the commutation be able to start the motor in the desired direction of rotation.
position was reached, Fig.2. The active phase is turned off The method of eliminating the starting hesitation presented in
and the following phase is turned on. Reference flux linkage this paper is based on the initial rotor position estimation
is obtained from the magnetization characteristic as a function realized in the following steps.
of phase current for the desired commutation position. 1) Excite two phases for a very short moment (0.5 ms).
Then the reference flux linkage is obtained from the flux 2) Find the phase having the largest current.
linkage in the aligned position of the rotor. Flux linkage is 3) Choose a phase next to the phase having the largest
calculated and it is compared with the reference level from current to be the optimal phase for the rotor position
the reference magnetization curve. When the estimated flux estimation. In theory, the phase either right or left next to the
linkage is higher than the reference flux linkage, it indicates phase with the largest current can be chosen as the optimal
that the switching position has been reached and the phase. To avoid ambiguity, the right phase is always chosen
commutation can be performed. as the optimal phase in this paper. For example, if phase A
has the largest current, phase B is chosen to be the optimal
phase.
4) Compute the flux linkage for the chosen optimal phase.
5) Estimate the initial rotor position from a pre-stored
magnetizing characteristics table based on the current and
flux linkage of the chosen optimal phase.
Variation of inductance and current during start up are
shown in Fig.3 and Fig. 4.
Fig. 2. Angle control method.
#define SPEED_CONTROLLER_P_SCALE 7
/* proportional scale */
#define SPEED_CONTROLLER_P_GAIN 900
/*proportional gain */
#define SPEED_CONTROLLER_I_SCALE_12V 16
/* integration scale */
#define SPEED_CONTROLLER_I_GAIN 100
/*integration gain */
#define I_PHASE_MAX 28.5
/*high limit of ph. current */
#define I_PHASE_MIN 5.5
#define CURRENT_CONTROLLER_P_SCALE 12
/* proportional scale */
#define CURRENT_CONTROLLER_P_GAIN 100
Fig. 11. Programming diagram with speed condition bloc.
/* proportional gain */
#define CURRENT_CONTROLLER_I_SCALE_12V 4
Moving from one layer to another is a function of reference /*integration scale*/
speed (Fig.11). One is used to control motor in case of low #define CURRENT_CONTROLLER_I_GAIN 120
speed and the other in case of medium and high speed. By /*integration gain*/
using these layers, a very good comportment of the motor #define DUTY_CYCLE_MAX 100.0
during dynamic regime is obtained. Reference speed is 400 #define DUTY_CYCLE_MIN 8.0
IV. EXPERIMENTAL TESTS AND SIMULATIONS TABLE I
SRM SPECIFICATIONS
Experimental tests are carrying out in Freescale Nr Type SR40N
Semiconductor DSP 56F807EMV platform. The block diagram 1 Power rating 100 [w]
of the experimental setup is presented in Fig. 12. 2 Voltage 10 [v]
3 Max. Current 28.5 [A]
4 Speed 1200 [rpm]
5 Number of poles 6/4
6 Phase resistance 0.03 [ohm]
7 Inertia 0.82 [kgcm2]
8 Duty cycle 15%
To verify the effectiveness of the estimation and control from standstill and, at an approximate speed of 350 rpm. The
algorithms in a more comprehensive operating condition, SRM drive then accelerates to a steady state speed of 700
following figures presents the operation of the SRM with the rpm as shown in Fig. 18 and 20. In Fig.17, and 19 are shown
proposed algorithm. By implementing the proposed the results from the simulation in the same conditions. Tests
sensorless technique, in the experimental SRM, it started are carried out in conditions of fully load.
Fig. 17. Speed variation al 350rpm simulation results.
Fig. 21. Speed variation using first control loop.