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CHAPTER 2
2.1 INTRODUCTION
The switched reluctance motor has both salient pole stator and rotor,
like variable reluctance motor (Nazar 1969), but they are designed for
different applications, and therefore, with different performance requirements.
A stepper motor is designed to make it suitable for open loop position and
speed control in lower applications, where efficiency is not an important
factor. On the other hand a switched reluctance motor is used in variable
speed drives and naturally designed to operate efficiently for wide range of
speed and torque and requires rotor position sensing.
where i is the independent input variable, i.e. the current flow through the
stator. The general torque expression is given by
W '
Te (2.2)
i cons tan t
i
W’= λ (θ, i) di (2.3)
0
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Where λ (θ, i) is the flux linkage with respect to angular position θ and current
‘i’. So the torque equation becomes
i (,i)
Te di (2.4)
0
1
Wf = W’= L(θ)i2 (2.6)
2
1 L
Te i 2 (2.7)
2
m
Te Tej (2.8)
j1
When the voltage is applied to the stator phase, the motor creates
torque in the direction of increasing inductance. When the phase is energized
in the minimum inductance position, the rotor tends to attain the forthcoming
position of maximum inductance. This movement is defined by the
magnetization characteristics of the motor.
d
V iR (2.9)
dt
where V is the bus voltage, ‘i’ is the instantaneous phase current, R is the
phase winding resistance and λ flux linking of the coil. Ignoring stator
résistance, the above equation can be written as
di dL()
V L() i * (2.10)
dt d
where ω is the rotor speed and L (θ) is the instantaneous phase résistance. The
rate of flow of energy can be obtained by multiplying the voltage with current
and can be written as
di 2 dl
Vi Li i * (2.11)
dt d
d 1 2 1 2 dl
P Li i * (2.12)
dt 2 2 d
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where, the first term of the above equation represents the rate of increase in
the stored magnetic field energy while the second term is the mechanical
output. Thus, the instantaneous torque can be written as
1 dL
T(,i) i 2 (2.13)
2 d
Thus positive torque is produced when the phase is switched on during the
rising inductance. Consequently, if the phase is switched on during the period
of falling inductance, negative torque will be produced.
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 a given speed the flux is proportional to the
voltage V, 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.
The energy recovery circuit is activated only when T1, T2, T3, or T4
switches are conducting to avoid freewheeling of the phase currents. The
control pulses to Tr end with the turn-off of the phase switches. The control
pulse is generated based on the reference and actual value of E with a window
of hysteresis to minimize the switching of Tr.
L1
C1
C2 A B C
L2
Vs Q1
DA DB DC
QA QB QC
D1
v1
i0,pk dTs (2.14)
Leq
L1L 2
where, L eq (2.15)
L1 L 2
i o,pk t don
io , avg
2Ts
v12 d 2 Ts
2L eq v
1
Io,avg o i o,avg dt
V12 d 2 Ts
(2.17)
4Leq v
35
v1 d 2 Ts
i1 I1 sin t (2.19)
2L eq
where,
V12 d 2 Ts
I1 (2.20)
2Leq
t on t don Ts (2.21)
n
d 1 sin t 1 (2.22)
M
are to be satisfied. So
d 2M K a (2.23)
2Leq
Ka (2.24)
RTs
RTs K a
L eq (2.26)
2
V1dTs L1L eq
L1 L2 (2.27)
Irip L1 Leq
1
C1 2
(2.28)
(L1 L 2 )
r
Two design examples are considered: One for the DCM case rated
200 W, and the other operating in CCM rated 500 W. The component values
are:
L1 = 700 µH, L2 = 30 µH
L1 = 980 µH,
L2 = 325 µH,
C1 = 8 µF.
Figure 2.14 Waveforms in CCM. (a) Input Voltage and Current, (b) Vs
and VC1, and (c) Phase Currents
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2.11 SUMMARY