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SRM

Principle of operation
Switched Reluctance Motor

Stator

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Rotor A typical 8/6, four-phase switched reluctance motor.
Notice that when rotor poles 3 and 6 are aligned with
stator poles B and B’, all other rotor poles are out of
alignment with the stator poles.
SRM- working

Four phase six Phase A Excited


pole SRM

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Phase B Excited Phase C Excited


SRM & Stepper Motor
Switched reluctance motors operate by
switching currents in the stator windings in
response to changes in the magnetic circuit
formed by the rotor and stator.
The stator of a switched reluctance motor
contains windings, similar to a brushless DC
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motor, but the rotor is simply made of steel
that is shaped into salient poles, with no
windings or magnets.
To avoid a situation where all the poles of the
rotor and the stator line up simultaneously
(and no torque is produced), switched
reluctance motors have fewer poles on the
rotor than on the stator.
SRM & Stepper Motor
• When the rotor and stator poles are out of alignment, the magnetic circuit
between them has a high reluctance.
• As the stator pole pairs are energized, the rotor turns to align with the
energized stator poles, which minimizes the reluctance of the magnetic
circuit.
• This tendency of the rotor to move to a point of minimum reluctance
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produces what is referred to as reluctance torque.
• Energizing of the stator poles must be precisely timed to ensure that it
occurs as the rotor pole is approaching alignment with the energized stator
pole.
• Unlike stepper motors, which can, and for most purposes do, operate in
open-loop mode, switched reluctance motors require position feedback
from an encoder or Hall effect sensors, to control commutation of the
stator currents based on the precise rotor position.
SRM & Stepper Motor
• Switched reluctance motors have fewer poles and a larger stepping angle
than stepper motors. While stepper motors are typically chosen for
positioning applications, where step integrity and high resolution are
important, switched reluctance motors are used in applications where
power density is a primary concern.
• Because switched reluctance motors have rotors with no magnets or
windings, they have lower inertia and can therefore achieve higher
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accelerations and speeds than motors with permanent magnet rotors, such
as stepper motors. The lack of magnets on the rotor provides other
benefits like the ability to withstand higher temperatures and simple,
lower-cost construction than permanent magnet motors.
• In a switched reluctance motor, there is no overlap of coils between
successive phases – in other words, the phases are independent of one
another. This means that if one or more phases fail, the motor will still be
operable, although with reduced torque output.
SRM & Stepper Motor
• Switched reluctance motors produce more audible noise than stepper
motors. The primary source of noise is distortion of the stator due to
radial forces that occur when the stator pole pairs are energized. The
energized pole pairs are attracted to one another, causing radial
forces strong enough to distort the stator.

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• Torque ripple is also a common issue with switched reluctance motors.
While both switched reluctant and stepper motors exhibit torque
ripple, this effect is minimized in stepper motors with a higher
number of phases (5 phases versus 2, for example).
• In a switched reluctance motor, torque ripple can be reduced by using
a higher number of poles in both the rotor and the stator, but this
decreases the motor’s average torque output, requiring a tradeoff
between torque production and acceptable torque ripple.
S R M wo r ks o n t h e p r i n c i p l e o f va r i a b l e
Principle of operation reluctance that means, the rotor of this motor
constantly tries to align through the lowest
reluctance lane.
Switched Reluctance Motor
The formation of the rotary magnetic field can
be done using the circuit of power electronics
Stator switching.
In this, the magnetic circuit’s reluctance can

TRACE KTU mainly depend on the air gap. Therefore, by


modifying the air gap among the rotor as well
as a stator, we can also modify the reluctance
of the motor.
Reluctance can be defined as resistance
toward the magnetic flux.
Rotor
SRM

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Reluctance of the magnetic circuit is depending upon the air gap.

Hence, by changing the air gap between the rotor and stator, we can
change the reluctance of the motor.
SRM �� = stator slot angle in degrees

�� = rotor slot angle in degrees

�� = stator pole arc in degrees

�� = rotor tooth arc in degrees


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�� = number of stator poles

�� = number of rotor teeth


SRM

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SRM
0 < � < �� the inductance rises from
���� to ����

�� < � < �� the inductance remains


constant

2�
TRACE KTU 2�
�� < � < the inductance starts decreasing and reaches ���� at � =
�� ��

2� 2�
<�< the inductance remains constant ����
�� ��
Constraints on Pole Arc and Tooth Arc
The stator phase should be
switched on while inductance is
minimum
�� < � �
2�
�� < − ��
��
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�� + �� <
2�
��
To avoid –ve torque, there should be a dwell period
during maximum inductance

�� > ��
Stator slot angle should be less Step angle should be less than period when slope of L-θ
than stator slot pitch curve is positive Or Period when slope of L-θ curve is
2� positive should be more than Step angle
�� < 2� 2�
�� �� > −
�� ��
Torque
The induced emf per phase is
� � �� ��
�= �� = � � + �
�� �� �� ��
�� ��
� = � + ��
TRACE KTU �� ��
L=incremental inductance. (slope of the magnetization curve)
Power received from supply is
�� 2
��
�� = �� = �� + ��
�� ��
Energy stored in the magnetic field
�� = ��
1 2 Torque
2
Power due to variation of magnetic field is

� 1 � 2 1 �� 2
�� �� 1 2 ��
�� = � � = �� = �. 2. �. + � = �� + ��
�� 2 �� 2 �� �� �� 2 ��

Power developedTRACE KTU 1 2 ��


�� = �� − �� = ��
2 ��
Torque is given by
� 1 2 ��
�= = �
� 2 ��
• Hall effect sensors are solid-state, magnetic field sensors.
• They work on the principle that when a conductor with current
flowing through it is placed in a magnetic field, the magnetic field
induces a transverse (or sideways) force on the charge carriers, which
pushes them to the sides of the conductor—negative to one side and
positive to the other side.
• This buildup of charge on the sides of the conductor induces a
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voltage. This effect is referred to as the Hall effect
Current regulator
• At low speeds, back emf is small. T1
• So current must be regulated
T2

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Hysterisis type current regulator
Current regulator

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PWM Type current regulator


Sensorless control of SRM
• Estimation of inductance of the energised phase corresponding to the
instantaneous position of the rotor
• � � = � � − � � � ��
� �
•� � =
� � −� �TRACE KTU
Sensorless control of SRM
• Control scheme

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Home work
Back emf method of sensorless control
Fuzzy flux estimator

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For reference only


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For reference only


• Adaptive fuzzy sliding mode control

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For reference only


SRM
• Rotor construction simple- Low inertia rotor
• No winding in rotor- high permissible temperature.
• Major losses in stator – easy to cool.
• Easy to wind – no phase to phase crossover.
• Torque independent of the polarity of current – number of switches can be


reduced.
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Under fault- SCC and OCV are small
• High starting torque
• High speed applications Torque Ripple
• Both generator and motor modes Acoustic noise
• Self starting Current harmonics
• No shoot through fault in power circuits Need of position feedback
• A four phase eight pole SRM has six rotor teeth. Find the step angle
and commutation frequency for 6000 rpm
�� −��
• �� =
�� ��

TRACE KTU =
8−6
48
∗ 360
= 15°
360
• �� =
���
Commutation frequency � = �� ∗ ����� �� ���
= 600 ��
A three phase SRM has six stator poles and 4 rotor teeth. Draw the
feasible region for stator and rotor pole arcs. Design the pole arc and
rotor tooth arc. Sketch the L-θ profile.

• �� = stator slot angle in degrees �� = rotor slot angle in degrees


• �� = stator pole arc in degrees �� = rotor pole arc in degrees
• �� = number of stator poles = 6 �� = number of rotor teeth = 4
• Stator pole pitch = TRACE KTU
2�
��
= 60° Rotor pole pitch =
2�
��
= 90°
The constraints are �� + �� < 90°
�� < 60°
�� < ��
�� > ���� ����� 30°
• You may select 40% of rotor slot pitch as the rotor tooth arc
• �� = 0.4 ∗ 90 = 36°
• �� = 54°
• Allow a dwell of 3°
• �� = 36 − 3 = 33°

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• �� = 60 − 33 = 27°
SyRM
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Synchronous Reluctance Motor

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Working
When supply is given to the stator winding, the revolving magnetic field
will exert reluctance torque on the unsymmetrical rotor tending to
align the salient pole axis of the rotor with the axis of the revolving
magnetic field, because in this position, the reluctance of the magnetic
path would be minimum.
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If the reluctance torque is sufficient to start the motor and its load, the
rotor will pull into step with the revolving field and continue to run at
the speed of the revolving field.
Actually the motor starts as an induction motor and after it has
reached its maximum speed as an induction motor, the reluctance
torque pulls its rotor into step with the revolving field, motor now runs
as synchronous motor by virtue of its saliency.
Phasor diagram

�� ��� �� ���

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V

��
I

φ
Phasor diagram
• Neglect armature resistance

�� ���
�� ���

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V

��
I

φ
Torque equation

V= Terminal voltage/phase
I = Armature current

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��� = Direct axis synchronous reactance per phase
��� = Quadrature axis synchronous reactance per phase
�� = Direct axis current
�� = Quadrature current axis current
Torque equation
Power developed by the motor
� = ������
����� = �� ���

TRACE KTU ����� = �� ���


�� =
�����
���

�����
�� =
���
Torque
����� = �� ���� − �� ���� equation
����� ����� � 1 1
= ���� − ���� = ���2� −
��� ��� 2 ��� ���
�2 ��� − ���
� = ������ = ���2�
2 ��� . ���
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Three phase power
�=3
�2 ��� − ���
���2�
2 ��� . ���
Torque developed

3 �2 ��� − ���
�= ���2�
�� 2 ��� . ���
Torque developed

3 �2 ��� −���
�= ���2�
�� 2 ��� .���

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Control of SyRM
3 � �2 ��� −���
•�= ���2�
�� 2 2 ��� .���

� 2 ��� −���
•�= 3 �
2

• ���� =
��
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2 ��� .���
���2�

��
• ���� =

Control of SyRM
�� ��
• ���2� = 2�������� = 2
�2
�2 ��� −��� �� ��
•�= 3 � 2
2 2��� .��� �2

• �� = ��� ��
• �� = ��� ��
TRACE KTU
� �
•�=3 ��� − ��� �� �� = 3 �� �� − �� ��
2 2
Constant
direct
axis
current
control TRACE KTU
Advantages of SyRM
vIt has less torque ripple
vThe construction of rotors in this motor can be done by using low cost and
high strength materials.
vThe operation of this motor can be done using standard PWM AC inverters
vThis motor can survive in extremely high temperatures.
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vThe construction of this motor is rugged as well as simple
vThis motor has a high-speed capacity

vIn this motor, there is no necessary field excitation at zero torque so the
losses of electromagnetic spinning are removed.
vThere is no worry through demagnetization; therefore these motors are more
reliable as compared to permanent magnet motors.
vBecause of this motor’s simplicity, it can be used within the multi-motor drive
Disadvantages of SyRM
• These motors are expensive as compared to induction Motor.
• It requires synchronization of speed toward the o/p frequency of an inverter
through rotor position sensor as well as sensorless control.
• This motor as less power factor as well as it is heavier as compared to
induction motor
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• It works by using a variable frequency drive.
Applications of SyRM
• It is applicable in low-power applications like fiber spinning mills due to low
cost, construction is robust, inherent simplicity, etc.

• It is used in applications where constant speed is required like timing devices,


phonograph, control devices, recording instruments, etc.
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• It is used like proportioning devices within conveyors otherwise pumps.
• These motors are used in turntables, regulators, synchronized conveyors,
metering pumps, manufacturing devices of synthetic fiber.
• Used in the process of film material otherwise continuous sheet.
• Used in folding, wrapping machines, and auxiliary time machine
Fast torque Response Control

•�=3 ��� − ��� �� ��
2

3 �2
• = � ��� − ��� �� ��
2 �2

3
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• = � ��� − ��� �� ��
2
�2
�� 2 +�� 2

3 �2
• = � ��� − ��� �� ��
2 ��� 2 �� 2 +��� 2 �� 2

3 �2
• = � ��� − ��� �� �� 2
2 2 2 2 ��
For Maximum torque take derivative of torque with respect to ����
and equate to zero
��� ��
���� = =
��� ��
��� �� = ��� ��
�� = ��
��
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For optimum torque � =

��
= ���� = 1

4
Fast Torque Response control

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Rotor Flux oriented DTC of SynRM

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For reference only


DTC

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For reference only


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For reference only


Thank you
• Reference –
• E G Janardanan –Special Electrical Machines
• Internet sources

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• https://www.motioncontroltips.com
• A Review of Synchronous Reluctance Motor-Drive Advancements
MDPI -Hamidreza Heidari et al.

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