MODELLING OF SWITCHED RELUCTANCE

MACHINES: STATE OF THE ART

F. D`hulster,
*
K. Stockman,
*
and R. J. M. Belmans,
**
Abstract
This paper gives an overview oI diIIerent modelling techniques
to describe the nonlinear behaviour oI both saturated switched
reluctance machine (SRM) and power electronic converter. The
current research contributes by comparing the de-coupled single-
phase superposition method (lookup-tables) with a coupled
analysis between drive model in Matlab/Simulink

and Iinite
element model oI the SRM motor in Flux2D

. Experimental
characterization techniques as well as Iinite element techniques
are used to obtain the single-phase Ilux-linkage data. Transient
electromagnetic analysis using the Iinite element method,
coupled with a drive model and optimization strategy in
Matlab/Simulink

, results in a more accurate SRM modelling.

These results are more accurate because the mutual coupling
between diIIerent phases is taken into account. Using this direct
coupling, a complete analysis oI the motor behaviour (local
saturation, iron losses, .) can be modelled with the Iinite
element soItware, keeping the complex drive and control
strategy in Matlab/Simulink

. At every time-step oI the discrete

solver, data is exchanged between the drive model and the
coupled electric circuit oI the Iinite element analysis.
Simulation results are compared with measurements oI Ilux-
linkage, torque, phase current and iron losses. Pro`s and contra`s
oI the coupled and de-coupled modelling technique are
discussed.
Key Words
switched reluctance machine, advanced modelling, Iinite
elements, electric drive optimization
1. Introduction
Designers oI electromechanical devices are Iacing ever-
increasing demands to model complete and sometimes
complex systems, including the electromagnetic device,
power electronic converter (supply, inverter,.), control
system and the kinematics oI the mechanical load.
Switched reluctance machines are relatively simple
electric machines but are diIIicult to model and control.
Due to their control-complexity, SRM-drives are only
integrated in a Iew market-segments. Because oI some
particular advantages, SRM-drives could be implemented
in applications where Ieatures as robustness, wide speed
range, eIIiciency or high dynamics are required. DiIIerent
papers have been published |1-8|, dealing with diIIerent
aspects oI SRM-modelling. SRM-drive optimization Ior
diIIerent customer demands (maximum eIIiciency,
maximum torque, minimum noise and vibration, .)
results in need Ior an automated identiIication and
optimization platIorm. This platIorm must be based on an
accurate nonlinear model. Using the model, rules can be
deducted between diIIerent drive parameters and the input
Iunctions oI the optimization platIorm. The nonlinear
SRM-behaviour can be incorporated into the drive model
using oIIline single phase characterization data or through
a direct coupling between the drive model in
Matlab/Simulink

and a Iinite element analysis oI the

SRM geometry in Flux2D

. This coupling results in more

accurate Ilux-linkage estimation, taking into account the
mutual coupling oI all phases. Both techniques are
analyzed and discussed in this paper.
2. Basic principles of SRM`s
The concept oI a switched reluctance machine is very
simple. It consists oI stator and rotor poles, made oI
laminated steel with high magnetic permeability. Only the
stator poles are excited by coils. A typical conIiguration is
shown in Iig. 1, with 8 stator en 6 rotor poles, a so-called
8/6 SRM`. With 8 coils on the stator, 4 phases are created
with the corresponding coils in parallel. Two extreme
rotor positions are deIined: unaligned (-30) and aligned
(0), as can be seen in the Ilux distribution plots oI Iig. 1.
unaligned (-30) aligned (0) positive torque (-10)
Figure 1. Flux-distribution at diIIerent SRM rotor-positions Ior a single
phase excitation
A sequence oI anti-clockwise excitations oI the phases
results in a clockwise rotation oI the rotor due to a
positive torque generation. SRM`s are characterized by a
*
Hogeschool West-Vlaanderen, dept. PIH, 8500 Kortrijk,
Belgium; e-mail: Irederik.dhulsterhowest.be
**
Katholieke Universiteit Leuven, dept. ESAT, 3001 Leuven,
Belgium; e-mail: ronnie.belmansesat.kuleuven.ac.be
Ilux-linkage and inductance L, varying with position
and current. The position-dependent behaviour is due to
the geometry oI the overlapping stator and rotor teeth.
In most SRM-applications, saturation occurs, resulting in
a nonlinear inductance and Ilux-linkage. This nonlinear
behaviour explains the diIIiculty in modelling and
controlling SRM-drives. Fig. 3 shows a typical Ilux-
linkage versus current i graph oI a single phase Ior
diIIerent rotor positions . This graph Iully characterizes
the electromagnetic behaviour oI the SRM. In the aligned
position, Ilux density is much higher due to low magnetic
reluctance, resulting in saturation, even at low current
levels. In the unaligned position, the magnetic reluctance
is so high that saturation never can be achieved. This
characterization oI a single phase can be obtained by
measurements or Iinite element modelling (FEM).
3. Electromagnetic system equations
In a 8/6 SRM conIiguration, there are always one or two
phases excited. During a phase-excitation, the DC-link
voltage u is applied and
the resulting current
depends on the resistance
R and the time-derivation
oI the Ilux-linkage . Fig.
2 represents the electrical
equivalent oI a stator
phase. All derived
Iormulas are valid Ior one
excited stator phase. The
voltage-equation oI a
stator phase can be
written, using partial
derivatives ( rotor position ;
m
rotor speed):
( ) ( )
m
i
dt
di
i
i
i R u

.
,
.
,
.
c
c
+
c
c
+ = (1)
The electromagnetic system equation (1) can be rewritten
to:
( )
( )
(

c
c

c
c
=
m
i
i R u
i
i dt
di

.
,
. .
,
1
(2)
For a given SRM characterization (Ilux-linkage (i,)),
the phase current i can be calculated Irom (2).
In order to derive an expression Ior the electromagnetic
torque oI a SRM, an energy-balance must be written. The
electrical energy is used Ior electromagnetic torque
production or is stored into the magnetic Iield. Magnetic
co-energy W
co
is used to derive a general Iormula Ior the
electromagnetic torque production:
( )
( ) ( )
}
c
c
=
c
c
=
=
i
cst i
co
m
di
i i W
i T
0
.
, ,
,

(3)
Equation (3) gives an expression Ior instantaneous torque
in terms oI the diIIerential change in co-energy with
respect to position, evaluated at a constant phase current.
Graphically, the mechanical energy W is the surIace,
enclosed in the energy-conversion graph, by exciting a
phase. Fig. 3 shows an example (
m1
100 rad/s,
m2

250 rad/s, i
reI
10 A, u 310 V). Due to the high back-
emI at rotor speed
m2
, the reIerence current cannot be
sustained. The average torque is equal to the area
enclosed by the change in co-energy divided by the
change in position. The instantaneous torque is the
diIIerential co-energy as the change in position tends
toward zero. Each phase produces a torque, according to
(3). The global electromagnetic torque generation T
SR
oI a
SRM can be approximated by (superposition method):
( ) ( ) , ,
1
i T i T
S
n
k
mk SR
=
= (4)
with: n
S
number oI excited stator phases
20 30 40 50 60 70 80
0
2
4
6
8
10
12
rotor position ()
p
h
a
s
e

c
u
r
r
e
n
t

(
A
)
0 2 4 6 8 10 12
0
0.2
0.4
0.6
0.8
phase current (A)
f
l
u
x
-
l
i
n
k
a
g
e

(
W
b
)
wm1 = 100 rad/s
wm2 = 250 rad/s
W1
W2
Figure 3. Phase current and energy conversion during single-phase
excitation (m1 100 rad/s, m2 250 rad/s, ireI 10 A, u 290 V,
optimal aON and aOFF Ior maximum torque)
Using (4) as an expression Ior the electromagnetic torque
production, a three-dimensional graph, representing the
electromagnetic torque Ior one phase, can be built (Iig. 4).
Two calculation methods can be used to construct this
torque-graph:
- partial derivative (to ) oI the co-energy
- integral over current-range oI the partial
derivative (to ) oI the Ilux-linkage (Iurther called
p

(i,))

( )
dt
i d ,
Figure 2. Electrical equivalent oI a
stator phase
-
3
0 -
2
6 -
2
2 -
1
8 -
1
4 -
1
0
-
6
-
2
2
6 1
0 1
4 1
8 2
2 2
6 3
0
0
4
8
1
2
-25
-20
-15
-10
-5
0
5
10
15
20
25
E
M

t
o
r
q
u
e

(
N
.
m
)
Rotor position ()
Phase
current (A)
Figure 4. Single phase torque behaviour oI a SRM (Flux2D

)
This graph Iully describes the torque behaviour oI a SRM
as Iunction oI phase current and rotor position. Fig. 4
clearly shows that most oI the torque generation is
concentrated in a narrow interval between unaligned and
aligned position. (2) and (3) are the Iundamental
equations to represent the behaviour oI phase current and
electromagnetic torque during the rotation oI a SRM.
These equations depend on both current and position
dependant partial derivatives p
i
and p

, being:
( )
( )
( )
( )

c
c
=
c
c
=
,
, ;
,
,
i
i p
i
i
i p
i
(5)
Instead oI characterizing a SRM by means oI its Ilux-
linkage graph (i,), another approach consists oI using
the partial derivatives p
i
(i,) and p

(i,). Parameter p
i
(i,) represents the phase inductance (Fig. 5) and p

(i,)
the back-emI coeIIicient (Fig. 6). The inductance p
i
(i,)
remains nearly constant when phase current is high, due
to the high saturation in the overlapping poles. For low
phase current levels, no saturation occurs and a linear
relation between inductance and rotor position exists
during pole overlapping.
0
4
8
1
2
3
0 3
3 3
6 3
9 4
2 4
5 4
8 5
1 5
4 5
7 6
0 6
3 6
6 6
9 7
2 7
5 7
8 8
1 8
4 8
7 9
0
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
p
i
(H)
phase
current (A)
rotor position ()
Figure 5. Flux-linkage partial derivative pi (i,) (inductance)
3
0 3
3 3
6 3
9 4
2 4
5 4
8 5
1 5
4 5
7 6
0 6
3 6
6 6
9 7
2 7
5 7
8 8
1 8
4 8
7 9
0
0
4
8
1
2
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
p
[Wb/rad]
rotor position ()
phase
current (A)
Figure 6. Flux-linkage partial derivative p (i,) (back-emI coeIIicient)
Using these partial derivatives, diIIerent control strategies
could be analyzed and Iinally optimized. E.g. the start oI
the inductance raising can be used to calculate an eIIicient
turn-on angle a
ON
to activate the phase. BeIore this pole
overlap, the torque generation is minimal compared to the
Joule-losses in the phase winding. Another optimization
could be perIormed Ior maximum mean torque production
using the area in the energy-conversion diagram.
4. SRM single-phase characterization
The Ilux-linkage partial derivatives (5) Iully describe the
SRM electromagnetic behaviour. This data can be
achieved using Iinite element modelling with measured
material magnetization (BH)-data or by Ilux-linkage
measurement on an experimental test setup.
4.1 Finite element analysis
A multiparametric (i,) model is built and solved through
magnetostatic computation with two-dimensional
triangular elements. The uniIorm mesh pattern is created
using mesh
density on
points. Due to
symmetry, only
halI a 8/6 motor
has to be
modelled. Fig. 7
shows a part oI
the meshed
SRM. A rotating
airgap (0.38 mm) connects the stator with the moving
rotor. Fig. 1 shows the equiIlux-lines at diIIerent rotor
positions. Because oI the length oI the rotor, which is 3
times the rotor diameter, a two-dimensional model is
used. For shorter SRM`s, the end-eIIects can be modelled
by a current and position dependant correction Iactor K
ee
(|14|).
Figure 7. Two-dimensional FE-model (Flux2D

)
( ) ( ) ( ) , . , ,
2
i K i i
ee D
= (6)
Using a stacking Iactor oI 0.97, the eIIective stack iron
length is taken into account. The magnetization (BH)-data
oI the stack material is measured on a standard Epstein
Irame and is stored in the materials database oI the FE-
analysis. The eIIect oI punching on the magnetic material
characteristics is quite complex (|16|) and can be
modelled by modiIying the permeability in the aIIected
zone. This modiIied permeability is Iunction oI the
induction and the distance to the punched border.
4.2 Experimental test setup
DiIIerent papers are published in which automated SRM-
characterization systems are presented (|9-10|). A test
setup is built using a PMSM load machine and torque
transducer (Iig. 8). The load machine operates in speed-
control mode and the SRM in current-control mode. A
braking resistor at the load machine side (generating)
dissipates the energy Irom the SRM (motoring). The test
setup is equipped with a DS1104 dSpace

-controller
board. This setup enables the measurement oI static
torque, Ilux-linkage and torque-speed characteristics.
PMSM
load machine
torque
transducer
SRM
test machine
reduction
Figure 8. Experimental test setup
Miller |11| describes a direct method to measure the
magnetization curves (-i-) using the voltage equation:
( )
dt
i d
i R u
,
. + = (7)
Flux-linkage is calculated by integrating the source
voltage minus the resistive voltage drop. To obtain proper
results, the resistance R must be chosen careIully to obtain
zero Ilux at zero current (Iig. 9).
0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055
-60
-40
-20
0
20
40
60
time [s]
M
e
a
s
u
r
e
d

q
u
a
n
t
i
t
i
e
s

[
V
]

;

[
A
]

;

[
W
b
]
phase voltage
phase current (x2)
flux-linkage (x40)
Figure 9. Single phase Ilux-linkage characterization (aligned position)
(measurement)
Automation is achieved through a position controlled load
machine, which gradually moves the rotor oI the SRM.
Low voltage excitation is used to minimize the eIIect oI
induced currents in coupled conducting paths.
Fig. 10 compares the calculated single-phase static torque
with the measurements on the test setup.
0
2
4
6
8
10
12
14
-30 -25 -20 -15 -10 -5 0
Rotor position ()
T
o
r
q
u
e

(
N
.
m
)
5A meas. 5A FEM 10A meas. 10A FEM
Figure 10. Single-phase torque generation (simulation vs. measurement)
5. SRM drive modelling techniques
A model oI the complete SRM with drive consists oI the
motor-model (electromagnetic system equation (2) and
(4)), a phase-activation control strategy, a hysteresis
current controller, a speed controller and a load-model.
The hysteresis current controller uses soIt-chopping (ON,
FREEWHEEL and OFF-state) to maintain the reIerence
current. In all simulation results, these angles are
optimized to obtain maximum mean torque Ior every
speed and reIerence current. A Iirst technique uses the
single-phase Ilux-linkage characterization data, obtained
Irom measurements or FE-analysis. For multiple phase
excitations, a superposition oI the torque generation oI
each single phase is used. A second and more accurate
modelling technique calculates the torque-generation at
every time-step using a direct coupling between a model
oI the SRM-drive and a FE-analysis oI the SRM-
geometry.
5.1 Superposition of single-phase
characterization data
The SRM with drive is modelled in Matlab/Simulink

using the superposition method, yielding complete Iour-

quadrant control. The single-phase Ilux-linkage partial
derivatives are stored in lookup tables. The global
electromagnetic torque is calculated using superposition
oI the single-phase torque characteristics, according to
(4). All phase currents are calculated using the
electromagnetic system equation (2). The simulation
results, containing the phase current, the instantaneous
and mean motor torque and the energy conversion are
summarized in Fig. 11.
0 10 20 30 40 50 60 70 80 90
0
5
10
15
rotor position (deg)

p
h

(
A
)
0 1 2 3 4 5 6 7 8 9 10
0
0.2
0.4
0.6
0.8

ph
(A)
F
l
u
x
-
l
i
n
k
a
g
e

(
W
b
)
0 10 20 30 40 50 60 70 80 90
6
8
10
12
rotor position (deg)
T

(
N
m
)
phase current
phase inductance (*100)
Figure 11. SRM control using superposition oI single-phase
characterization data (Matlab/Simulink

)
5.2 Direct coupling with FE-analysis
Previous modelling technique uses single-phase Ilux-
linkage data to calculate the torque, generated by
simultaneously excited phases, by superposing the shiIted
torque characteristics. In this way, the computationally
intensive electromagnetic Iinite element analysis is de-
coupled Irom the time-stepping simulation. In reality, due
to adjacent excitations, diIIerent polarization oI the stator
occurs, resulting in diIIerent Ilux-paths. This results in a
higher reluctance Ior excitation combination AD,
compared with AB, BC and CD. Fig. 12 illustrates some
Ilux-patterns during simultaneous phase excitations.
C
+
C
-
B
-
B
+ D
+
D
-
A
+
A
-
C
+
C
-
B
-
B
+ D
+
D
-
A
+
A
-
C
+
C
-
B
-
B
+ D
+
D
-
A
+
A
-
excitation CD (11) excitation AB (41) excitation AD (55)
Figure 12. Simultaneous phase excitations
The coupling between drive model and FE-analysis is
represented in Iig. 13. The input parameters Ior the FE-
analysis are the applied phase-voltages and the rotor
speed. The output parameters are the phase-currents and
the instantaneous electromagnetic torque. At every time-
step (t
s
50 s), data is exchanged between the drive
model and the FE-analysis. The coupled electric circuit
model consists oI phase coils with a programmable
voltage source and a switch to obtain a unidirectional
current. A transient magnetic analysis is used, in which a
time-stepping process is employed. This technique allows
to split the drive and load model in Matlab/Simulink

Irom the motor model in Flux2D

. This method has the

great advantage that a complex drive model can be used
in combination with accurate Ilux-linkage calculation,
taking into account the mutual coupling between adjacent
phases and induced voltages in inactive phases. The
disadvantage is the higher calculation time due to a time-
consuming FE-calculation at every time-step.
Figure 13. Direct coupling between drive model and FE-analysis oI
motor geometry
5.3 Validation of both modelling techniques
The model validation is perIormed through current- and
torque-measurements on the test setup. Fig. 14 compares
the measured and simulated soIt-chopping oI the
hysteresis current controller at low and high rotor speed.
The inIluence oI modelling technique (superposition
method direct coupling) on the current waveIorm is
negligible.
30 35 40 45 50 55 60 65 70
0
1
2
3
4
5
6
rotor position ()

p
h

(
A
)
w
ref
= 150 rad/s - sim.
w
ref
= 150 rad/s - meas.
w
ref
= 250 rad/s - sim.
w
ref
= 250 rad/s - meas.
Figure 14. Validation oI hysteresis currentcontroller ( iref 6A)
2 current transducers (simulation with superposition method vs.
measurements)
With the topology oI a Iour phase SRM, a choice between
two (A-C and B-D) or Iour (one Ior each phase) current
transducers can be made. The number oI current
transducers has a signiIicant inIluence on the torque
perIormance oI the SRM drive. Fig. 14 clearly shows that
chopping already starts beIore the reIerence phase current
is achieved, due to a remaining current in the alternating
phase. This loss oI surIace in the energy-conversion plane
results in a loss oI mean torque production.
Fig. 15 compares the instantaneous torque calculation oI
both modelling techniques with the measurements. The
torque-dip Ior AD excitation is clearly visible in the FE-
coupling and the measurements but does not appear in the
single-phase superposition method. This torque dip is
caused by the increased reluctance due to equal
polarization oI phases A and D (Iig. 12). The diIIerence
between measurement and simulation is due to the
material uncertainties, such as eIIect oI punching,
temperature, .
18
20
22
24
26
28
30
0 10 20 30 40 50 60
Rotor position ()
T
o
r
q
u
e

(
N
m
)
measurement FE-coupling Superposition
AD AB BC CD
Figure 15. Torque during simultaneous excited phases
(iref 14A ; m 50 rad/s ; u 290 V ; aON 32.9 ; aOFF 58.8)
5.4 Estimation of iron losses in SRM`s
The losses in a switched reluctance motor mainly consist
oI iron and copper losses. The prediction oI copper losses
is relatively simple when the current waveIorm is known.
Estimation oI iron losses is much more complicated. The
iron losses are Iunction oI the peak value and time-
derivative oI the induction (B) waveIorm in the stack
material. Figure 16 illustrates the iron losses oI stack
material during sinusoidal excitation with varying
Irequency and induction peak value, measured on a
standard Epstein Irame.
1
10
100
1000
10000
100000
10 100 1000
frequency (Hz)
P

[
m
W
/
k
g
]
0.2T 0.4T 0.6T 0.8T 1T 1.2T 1.4T 1.6T 1.8T 2T 0.1T 0.05T
Figure 16. Iron losses oI stack material during sinusodal excitation
(measurement)
The iron losses can be expressed using the Steinmetz
equation:

B f C P
m Fe
`
. . = (8)
with: C
m
, , : Steinmetz parameters
However, inside the stator and rotor oI a SRM, the Ilux
and induction distribution is not sinusoidal at all. The
induction waveIorms in diIIerent motor parts (rotor core,
rotor pole, stator core, stator pole) can be modelled using
the direct coupling with the FE-model or by an analytical
approach.
When applying the direct coupling between SRM-drive
and FE-model oI the motor geometry, the induction
waveIorms can be calculated Ior every operating point.
This is realized by integrating a single-turn coil in the
stator pole, stator core, rotor pole and rotor core (Iig. 17).
The induced coil voltage e
coil
is returned to
Matlab/Simulink

Ior the calculation oI the induction B,

using:
}
=
T
coil
dt e
A
B
0
.
1
(9)
with: A surIace, enclosed by coil
Figure 17. Single turn coils in FEM to calculate iron losses
This direct coupling has the advantage that induction
waveIorms in every point oI the motor geometry can be
analysed, even with a complex SRM drive control
strategy. Fig. 18 shows the coupled electric circuit Ior the
calculation oI phase currents and induced voltages in the
single turn coils.
phase A
phase B
phase C phase D
stator pole
stator core
rotor pole
rotor core
Figure 18. Coupled electric circuit in FEM, extended Ior calculation oI
iron losses
Another approach consists oI building the diIIerent Ilux
waveIorms by superposition the stator pole Iluxes oI the
diIIerent phases. In this way, the Ilux in other motorparts
can be deIined. This simpliIied method can be
implemented directly into the Matlab/Simulink

superposition model, resulting in very low simulation

time. The induction waveIorms in the diIIerent regions are
represented in Iig. 19.
0.005 0.01 0.015 0.02 0.025 0.03 0.035
0
0.5
1
1.5
B

[
T
]
0.005 0.01 0.015 0.02 0.025 0.03 0.035
-1
-0.5
0
0.5
B

[
T
]
0.005 0.01 0.015 0.02 0.025 0.03 0.035
-1
0
1
B

[
T
]
0.005 0.01 0.015 0.02 0.025 0.03 0.035
-1
0
1
time [s]
B

[
T
]
FE direct coupling
analytical waveform analysis
stator pole
stator core
rotor pole
rotor core
Figure 19. Induction waveIorms in stator and rotor parts oI the SRM
(iref 10 A ; ref 200 rad/s)
|13| describes a method to estimate the iron losses oI a
SRM, using a superposition oI harmonic components oI
the induction waveIorms. Fourier analysis is applied to
extract the ac components. Superposition oI the iron
losses oI each Irequency component, according to Iig. 16,
results in an estimation oI the total iron losses. This
approach is justiIied within small deviations Irom the
operating point since the nonlinear B-H characteristics
can be approximated by an inIinite number oI piecewise
linear characteristics.
A more accurate approach is described in |15|, using a
modiIied Steinmetz equation, containing the time-
derivative oI the induction instead oI Irequency Ior non-
sinusoidal induction waves:
( )
r eq m MS fe
f B f C P .
`
. .
1

= (10)
with:
( )
dt
dt
dB
B B
f
T
eq
2
0
2
min max
2
.
1
.
2
}
|
.
|

\
|

T
f
r
6
= (T: induction waveIorm period)
To validate the estimation oI iron losses, measurements oI
electrical, mechanical and Joule energy must be
perIormed on the test setup. Iron losses can be calculated
using (11):
Joule mech el Fe
P P P P = (11)
When analysing (11), the iron losses are very small
compared to the electrical and mechanical energy. This
error propagation can result in a global error on the iron
losses measurement oI up to 10. For this reason,
accurate measurement oI SRM iron losses is very
diIIicult. Fig. 20 compares the simulation results, using
the superposition oI harmonic components and the
modiIied Steinmetz equation, with the measurements on
the test setup. The simulation results, using the modiIied
Steinmetz equation, give the best results.
Iron Iosses
0
20
40
60
80
100
120
140
25,00 75,00 125,00 175,00 225,00
rotor speed (rad/s)
P
f
e

(
W
)
Modified Steinmetz - 5A Harm. superposition - 5A measurement - 5A
Modified Steinmetz - 7.5A Harm. superposition 7.5A measurement 7.5A
Figure 20. Estimation oI iron losses (simulation vs. measurement)
6. Conclusion
DiIIerent nonlinear modelling techniques Ior SRM`s are
discussed in this paper. A Iirst method uses the
characterization data (measured or obtained by FEM) oI a
single phase and superposes the torque characteristics to
model simultaneous phase-excitations. A second method
uses a coupling between the drive model and a FE-
analysis to calculate the torque behaviour oI
simultaneously excited adjacent phases. Those results are
more accurate because the mutual inductance is taken into
account. Similarly, the induction waveIorm in diIIerent
motor parts can be calculated with higher accuracy using
the direct coupling. For optimization oI the SRM control,
this time-consuming method must be replaced by (less
accurate) analytical modelling techniques, programmed in
Matlab/Simulink

.
Control oI SRM`s can be deIined through diIIerent
strategies, which optimize one single parameter oI the
drive concept. A Ilexible optimization platIorm generates
optimized drive parameters through an input Iunction
(application demands) and a set oI rules (relations
between drive parameters and input Iunction). Those rules
are generated using the nonlinear model. The accuracy oI
the optimization procedure strongly depends on the model
accuracy.
8. Acknowledgement
The authors wish to thank the Flemish Government (IWT)
Ior granting the research project 'Bepaling van de
optimale stuur- en regelparameters voor systemen met
SR-motor aandrijving. Ontwerp van een
ontwikkelingsplatIorm.
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Biographies
F. Dhulster was born in Tielt,
Belgium, on April 25, 1974. He
received the degree oI industrial
engineer in mechanical
engineering Irom the Katholieke
Hogeschool in Ostend, Belgium,
in 1996, and the M. Sc. Degree
in mechanical engineering Irom
Katholieke Universiteit Leuven,
Heverlee, Belgium, in 1998.
Currently he is perIorming his
Ph.D.-study at the Hogeschool
West-Vlaanderen dept. PIH in cooperation with the
Katholieke Universiteit Leuven dept. ESAT. His
interests are optimization and modelling oI Switched
reluctance machines and voltage sags.
K. Stockman was born in
Kortrijk, Belgium, on September
24, 1972. He received the
degree oI industrial engineer in
electrical engineering Irom
'Provinciale Industriele
Hogeschool, Kortrijk, Belgium,
in 1994. Since 1995 he has been
with the department oI electrical
engineering oI the Hogeschool
West-Vlaanderen, dept. PIH,
Kortrijk, Belgium. Currently he
is perIorming his Ph.D.-study at the Katholieke
Universiteit Leuven. His interests are adjustable speed
drives, voltage sags and control engineering.
R. J. M. Belmans (S`77-M`84-
SM`89) received the M.S.
degree in electrical engineering
and the Ph.D. degree Irom the
Katholieke Universiteit Leuven,
Leuven, Belgium, in 1979 and
1984, respectively, and the
special Doctorate and the
Habilitierung Irom RWTH
Aachen, Germany, in 1989 and
1993, respectively.
He is currently a Full ProIessor
at the Katholieke Universiteit
Leuven, teaching in the areas oI electrical machines,
power electronics, and variable-speed drives. His
research interests include power quality, electrical energy
systems, electrical machine design, and vibrations and
audible noises in electrical machines. He was with the
Laboratory Ior Electrical Machines oI RWTH Aachen as
a Von Humboldt Fellow Irom October 1988 to September
1989. From October 1989 to September 1990, he was a
Visiting ProIessor at McMaster University, Hamilton,
ON, Canada. He obtained the Chair oI the Anglo-Belgian
Society at London University Ior 1995-1996. He is
currently a Visiting ProIessor at Imperial College,
London, U.K.
Dr. Belmans is a Fellow oI the Institution oI Electrical
Engineers, U.K., the International Compumag Society,
and the Koninklijke Vlaamse Ingenieursvereniging. He is
chairman oI the board oI Elia, the Belgian transmission
system operator.