Proceedings of the 2008 International Conference on Electrical Machines

Paper ID 1110

Dynamic Simulation of Maximizing the Starting Torque for Super-High-Speed Drive of a 4/2 Switched Reluctance Motor
Ismet Rahmad Kartono, Kouta Kajiwara, and Hideo Dohmeki*, Member, IEEE
Dept. of Electrical and Electronic Engineering, Musashi Institute of Technology 1-28-1, Tamazutsumi, Setagaya, Tokyo 158-8557, Japan Tel : (+81)-3-3703-3111, Fax : (+81)-3-5707-2215 e-mail* : dohmeki@ee.musashi-tech.ac.jp
Abstract-modification of the structure and the operation principle of Switched Reluctance Motor (SRM) would make it possible to obtain super-high-speed drive. Therefore, we adopt 4/2 structure of SRM. In this paper, we examine the optimum design and the dynamic characteristics of 4/2 SRM for super-high-speed drive by maximizing the starting torque. In this design, the parameters, such as the outside diameter of stator and the length of gap, are fixed. We analyze the structure of 4/2 SRM for maximizing the starting torque using the two-dimensional finite element method (2D FEM), and simulate the dynamics model of 4/2 SRM at the maximum starting torque using MATLAB/SIMULINK.

I.

INTRODUCTION

Recently, there is a demand for a super-high-speed motor drive system. There are two reasons. First, the load machine of electric motor or the drive machines of a generator essentially need to be driven at super-high speed. Secondly, production cost reduction is required. Therefore, the electric machines such as the small gas turbine, the direct connection turbo compressor, motor driver for hybrid cars must be smaller and lighter. The motors used in these machines are usually the permanent-magnet synchronous motor (PMSM) and the induction motor (IM). However, these kinds of motor are not entirely suitable for super-high-speed drive according to their characteristics. In the PMSM, the scattering of the permanent magnet occurs because of installation of a permanent magnet on the surface of the rotor. A maintenance ring becomes necessary to prevent the scattering. Therefore, the permanent magnet makes the structure of the rotor complex and this leads to an increase in the production cost. Moreover, the existence of the permanent magnet on the rotor also causes an increase in heat. However, although the structure of the IM is stronger then that of the PMSM, the existence of wiring in the rotor makes the rotor even hotter. Moreover, these two motors have a large induced electromotive force that increases the rotating losses. Therefore, attention is paid to the switched reluctance motor (SRM). So far, SRM was only used in limited-purpose applications, such as starters and the fuel pumps in aircraft. However, lately, it is hoped that the SRM can be used in many applications such as drive motor of the electric vehicles and

vacuum cleaners, following the improvement of power electronic technology in recent years and the progress of element technology, such as silicon steel sheets. One of the characteristics of SRM is that, the rotor and stator are assembled by laminated silicon steel sheet in a salient-pole shape. Therefore, compared to the PMSM and the IM, the SRM do not utilize a permanent magnet or a winding on the rotor that makes the structure more simple and solid. Moreover, in addition to the fact that the SRM can become smaller and lighter, the cost is low and the rotation inertia is small. And also, since SRM does not have a permanent-magnet, it can be used in severe environmental conditions such as hightemperature engine rooms. Furthermore, it also has a small induced electromotive force and low rotary losses. For these reasons, the SRM is considered to be suitable for the superhigh-speed motor drive systems. This research studies the motor drive system for a superhigh-speed drive that adopted a 4/2 structure of SRM (4/2 SRM) consist of 4 poles in the stator and 2 poles in the rotor. This papers report a result study about maximum starting torque of rotor shape with a fixed gap length, by using the two dimension finite element method (2D FEM). Moreover, it also reports a result study about the dynamic simulation of SRM using MATLAB/SIMULINK at maximum starting torque. II. OVERVIEW OF 4/2 SRM The structure and the parameters of 4/2 SRM are shown in Fig. 1 and Fig. 2, respectively. The winding on the stator consist of two phases winding that serial connection with concentrated-type of winding at each pole. The winding at each pole made of 16-turn coils with winding resistance is 0.19 , Inductance value is 0.34 mH (1 kHz) and the thickness of the both rotor and stator is 0.2 mm. The shape of the rotor is asymmetrical because this 4/2 SRM is designed to rotate in a counter clockwise direction (CCW). III.
ANALYSIS OF 4/2 SRM STARTING TORQUE

The static magnetic field is analyzed by 2D FEM at maximum starting torque. The analysis model is shown in Fig. 2. it is assumed that the unaligned position of the rotor in Fig. 2

978-1-4244-1736-0/08/$25.00 2008 IEEE

Proceedings of the 2008 International Conference on Electrical Machines is at 0o and the aligned position is at 90o. The static magnetic field is analyzed by supplying DC current to the A-phase and changing it to a CCW direction every 3.6o, from 0o to 90o. The analysis result of static characteristic is shown in Fig. 3. From this figure, the torque is small in the interval 0o to 30o. It means starting is difficult unless the torque is added from outside. Therefore, the starting torque is defined from 0o to 30o, the stator is analyzed by a 2-D FEM when starting torque is at the maximum condition with some fixed parameters, such as the outside diameter of the stator and the gap length. The parameters which varing are the width of the stator yoke Wsy, the width of the stator pole Wsp, the width of the rotor pole Wrp, the height of the rotor pole Hrp, the opening of the rotor pole Orp, and the width of the rotor Wr. the static magnetic field is analyzed by only paying attention to one parameter at one time. First, attention is paid to the parameter of the stator. The width of the stator yoke is varied every 1 mm from 16 mm to 19 mm, and the width of the stator pole every 1.3 mm from 6.2 mm to 10.1 mm. Fig. 4 and Fig. 5 show when the width of the stator yoke and the stator pole are varied, respectively. From Fig. 4, a remarkable increase of the starting torque is not observed. However, in Fig. 5, an increasing is seen. It means that the generate place of torque waveform and maximum torque is shifted because the generated magnetic flux that excited from the stator pole increases. However, the starting torque increase, the characteristic of the torque waveform it self changed. Here, the static magnetic field is analyzed when the generated magnetif flux assumes to be constant. Moreover, the generated place of maximum torque shifted because the maximum torque is generated when the stator and the rotor poles are nearly the aligned position. After that, attention is paid to the parameters of the rotor. The width of rotor is varied every 1.3 mm from 6.2 mm to 10.1 mm, the height is varied at 1 mm intervals from 0 mm to 6 mm, the opening of the rotor pole is varied every 6o from 66o to 90o, and the width of the rotor is varies every 1.1 mm from 11.8 mm to 18.4 mm.

Fig. 1. The structure of 4/2 SRM

Items Stator outside diameter D s [mm] Stator yoke width W sy [mm] Stator salient pole width W sp [mm] Stator yoke thickness T sy [mm] Air gap width W air [mm] Rotor outside diameter D r [mm] Rotor salient pole width W rp [mm] Rotor salient pole height H rp [mm] Rotor yoke thickness T ry [mm] Rotor salient pole opening O rp [deg] Rotor width W r [mm] Shaft diameter D sh [mm]
TABLE I The parameters of 4/2 SRM

Dimensions 60 16 7.5 40 0.2 21.5 7.5 2 40 66 14 6

90deg

Coil

0.30 0.25 Torque T [Nm] 0.20 0.15 0.10 0.05 0.00 0 15

.
Rotor

Measured

Analysis

0deg

30

45

60

75

90

Rotor position [deg]

Fig. 2. Analysis model of 4/2 SRM Fig. 3. Analysis result of static characteristic

Proceedings of the 2008 International Conference on Electrical Machines Fig. 6, Fig. 7, Fig.8 and Fig. 9 show when the width of the rotor pole, the height of the rotor pole, the opening of the rotor pole and the width of the rotor are varied, respectively. From Fig. 6, a remarkable increase of the starting torque was not observed, although the generated part of maximum torque is shifting. The maximum torque is generated when the rotor pole and the stator pole are nearly the aligned. This result is similar to the variation in the width of the stator pole. From Fig. 7, the starting torque increased exceedingly at 1 mm intervals. According to this, the starting torque is considered to increase because of the asymmetry of the rotor shape. The generated place of maximum torque is shifted because of the change of the rotor pole width at 0 mm. From Fig. 8, starting torque increase within all ranges from 0o to 30o in 78o. Therefore, 78o seems suitable. From Fig. 9, the starting torque increase from 0o to 30o within all ranges in 15.1 mm. therefore, 15.1 mm seems suitable. According to these, varying the height of the rotor pole is useful to increase the starting torque because it is considered that the shape of the rotor becomes more asymmetrical. The static magnetic field is analyzed with all combinations of the parameters. The combination of three parameters, the the height of the rotor pole, the opening of the rotor pole and the wide of the rotor, produces a remarkable increase of the starting torque Those three combination parameters and height of the rotor pole is fixed at 1 mm, and after that the opening of the rotor pole is varied. And, parameter of the obtained result is fixed, after that the width of the rotor is varied. The variation of the value applies with the above-mentioned value. Fig. 10 and Fig. 11 show the analysis result of static characteristic and inductance characteristic when three of the parameters are varied, respectively. Type 1 of the 4/2 SRM is the original of experimental machine. Type 2 is the modification type when three parameter of type 1 is varied. The parameters of the type 2 are the height of the rotor pole is 1 mm, the opening of the rotor pole is 84 o and the width of the rotor is 12.9 mm.. From Fig. 10, Torque (peak to peak value) of type 2 increases 0.06 Nm compare to type 1. According to this, there is also strong evidence from Fig. 11 that the slope of inductance value increases. From the above-mentioned, high expectation of high starting torque can be obtained from enlargement of the rotor pole opening and shortened the width of the rotor and the height of the rotor pole. The obtained results above is a static characteristic. Therefore, the dynamic characteristic also should be evaluated. Then, The obtained shape result of maximum starting torque is applied to the simulation model and dynamic simulation is carried out in section IV.

0.30 0.25 Torque T [Nm] 0.20 0.15 0.10 0.05 0.00 0 15 30

16mm

19mm

45

60

75

90

Rotor position [deg]

Fig. 4. The variation of the stator yoke width

0.30 0.25 Torque T [Nm] 0.20 0.15 0.10 0.05 0.00 0 15 30 45 60 75 90 Rotor position [deg]
Fig. 5. The variation of the stator pole width

6.2mm 7.5mm 8.8mm 10.1mm

0.30 0.25 Torque T [Nm] 0.20 0.15 0.10 0.05 0.00 0

6.2mm 7.5mm

8.8mm 10.1mm

15

30

45

60

75

90

Rotor position [deg]

Fig. 6. The variation of the rotor pole width

0.30 0.25 Torque T [Nm] 0.20 0.15 0.10 0.05 0.00 0 15 30 45 60 75 90 Rotor position [deg]
Fig. 7. The variation of the rotor pole height

0mm

1mm 2mm

3mm

6mm

Proceedings of the 2008 International Conference on Electrical Machines

0.30 Torque T [Nm]

0.30

0.20 0.15 0.10 0.05 0.00 0

72deg 78deg 84deg 90deg

15 30 45 60 75 90

Torque T [Nm]

0.25

66deg

0.25 0.20 0.15 0.10 0.05 0.00 0 15

Type2

Type1

30

45

60

75

90

Rotor position [deg]

Fig. 8. The variation of the pole opening

Rotor position ? [deg]

Fig. 10. The analysis result of static characteristic (the variation of three parameters)

0.30
InductanceL [mH]

0.25 Torque T [Nm] 0.20 0.15 0.10 0.05 0.00 0

11.8mm 12.9mm 14mm 15.1mm 18.4mm

26.0 19.5 13.0 6.5 0.0

Type1 Type2

15

30

45

60

75

90

15

30

45

60

75

90

Rotor position [deg]

Fig. 9. The variation of the rotor width

Rotor position [deg]

Fig. 11. Inductance characteristic (the changed of three parameters)

IV. DYNAMIC SIMULATION

OF 4/2 SRM STARTING TORQUE

2 Flux linkage [T] 1.5 1 0.5

90deg

In dynamic simulation, the simulation model of 4/2 SRM should be constructed considering the non-linearity because the non-linearity of 4/2 SRM is strong. Then, the nonlinearity is determined by applying the result of 2D FEM to the simulation model. The static magnetic field was analyzed using a 2D FEM. The analytical result of a magnetic characteristic and the static characteristic of type 1 are shown in Fig. 12 and Fig. 13, respectively. Meanwhile, analysis results of magnetic and static characteristic of type 2 are shown in Fig. 14 and 15, respectively. The analysis model of 4/2 SRM is the same as the model that is mentioned in Fig. 2 and phase-A is supplied with dc current source from 0 ~ 50 A at 5 A intervals. From Fig. 12 and Fig. 14, the linearly and smallest slope of magnetic field characteristic could be observed when the rotor position at 0o or unaligned position. The reason is, the stator pole is arranged between rotor poles, even an equal current was supplied, the generated electromagnetic was small. Therefore, the slope of the generated electromagnetic is small moreover, since the electromagnetic density is not increase, the slope is linear. Meanwhile, the magnetic characteristic of the rotor is the largest slope and nonlinear when position completely at 90o since or aligned position the current is saturating at 25 A.

0deg
0 0 10 20 30 40 50 Current i [A]
Fig. 12. The analysis result of magnetic field characteristic (type 1)

1.00 Torque T [Nm] 0.75 0.50 0.25 0.00 0 15 30 45 60 75 90 Rotor position [deg]
Fig. 13. The analysis result of Static characteristic (type 1)

50A

5A

Proceedings of the 2008 International Conference on Electrical Machines the induce voltage of the winding to calculate flux linkage, it is expressed by (4.1). 90deg
1.5 1 0.5

2 Flux linkage [T]

= (v ri ) dt

(4.1)

0deg
0 0 10 20 30 40 50 Current i [A]
Fig. 14. The analysis result of magnetic field characteristic (type 2)

Here, r represents one-phase winding resistance. In the current look-up table, Fig. 12 and Fig. 14 are stored as the 2D look-up table, and are assumed to be an index, and i is the output. In the torque look-up table, Fig. 13 and Fig. 15 are stored as 2D look-up table, i and are assumed to be index and phase torque t is the output. All reluctance torque Tall is resultant of the torque of each phase. In the speed calculation, the angular speed is calculated by (4.2)

1.00 Torque T [Nm] 0.75 0.50 0.25 0.00 0 15 30 45 60 75 90 Rotor position [deg]

50A

1 J

(T

all

T L D ) dt

(4.2)

5A

Here, J is Inertia moment, TL is a load torque, and D is viscous resistance. In the rotor position calculation part, the rotor position is calculated by using (4.3).

= dt

(4.3)

The calculated is output to the converter and each look-up table part. The above-mentioned simulation model is Fig. 15. The analysis result of Static characteristic (type 2) constructed by MATLAB/SIMULINK. The dynamics of 4/2 SRM is simulated at maximum starting Fig. 16 shows the nonlinear simulation model. It consist of torque. First of all, the starting characteristic is simulated. ref the speed loop and the current loop. Angular velocity is is sets to 6000 rpm, and TL is assumed 0 Nm. calculated by differentiating the rotor position which is Fig. 18 shows the simulation result of starting characteristic. detected with a position sensor. The angular speed deviation From Fig. 18, type 2 is compared to type 1, the torque is derived from the angular speed and the reference angular decreases 0.0032 Nm in p-p and the time is 0.5 msec faster to speed ref. attain maximum torque. From that, compared to type 1, torque The angular speed deviation decides the reference current response of type 2 is faster, and considered to be easy to start. iref through the speed controller. The switching is done from After that, the acceleration characteristic is simulated. The deflection current i derived from actual current of the reference step that accelerates ref from 0 to 6000 rpm is set, reference current and the winding to rotor position, then 4/2 and TL is assumed 0 Nm at 0.2 msec. Furthermore, the amount SRM is driven. of overshoot to the reference value of type 1 and type 2 is The loop from the defection current to the drive system of compared. 4/2 SRM that is the part enclosed with the dotted line in Fig. 16, The simulation result of acceleration characteristic is shown is a non-linear simulation model of the motor part. Although in Fig. 19. From this figure, Type 2 has accelerated faster than there are various types of speed and current controller, in this type 1 regarding its reference value. According to this, type 2 research, the speed controller employs a PI controller and the that acceleration characteristic is faster than type 1, is current controller employs a hysteresis controller. The considered start easily. hysteresis controller determines a positive link voltage or a negative link voltage of the current deviation. V. CONCLUSION The non-linear simulation model of the motor is shown in Fig. 17. The Model consist of a converter, a magnetic flux This paper clarified from the minimum until the maximum calculation, a current look-up table, a torque look-up table, a starting torque of the 4/2 SRM with using analysis static speed calculation and rotor position calculation parts. magnetic field. However, the dynamic characteristic need to be In the converter part, the applied phase voltage v from the observed, the non-linear dynamic model of the motor is converter is decided from excitation start angular b, excitation simulated by using a MATLAB/SIMULINK. Furthermore, width w, to the rotator position. according to the dynamic simulation result, the highest torque In flux calculation part, flux linkages are calculated response and the easiest starting condition are achieved at the from voltage and current phase. Because it only has to integrate shape of the motor that the starting torques becomes maximum. 5

Proceedings of the 2008 International Conference on Electrical Machines REFERENCES

[1] [2] [3] T.J.E.Miller, Switched Reluctance Motors and their Control, Magna Physics Publishing Oxford Science Publications, pp.1-51(1992) F.Soares, P.J.Costa Branco, Simulation of a 6/4 Switched Reluctance Motor Based on Matlab/Simulink Environment, IEEE Transactions On Aerospace And Electronic Systems, vol.37, pp.989-1003(2001) Yu-Long Cui, Xin-Chang Yu The Simulation Study For Switched Reluctance Motor Drives Based On Matlab 6.5, Proceeding of the 4th International Conference on Machine Learning and Cybernetics, pp.10761081(2005)

0.008 0.006 Torque T [Nm] 0.005 0.003 0.002 0.000

Type2 Type1

Current sensor

-0.002

61

63

65

67

69

71

Time t [msec]
Fig. 18. Starting characteristics (simulation)

ref

Speed controller

iref

Current controller

Converter 4/2SRM

8000 Rotational speed N [rpm] 6000 4000 2000 0 0 0.1

Type2 Type1

d/dt

Position sensor

Reference value

Fig. 16. Non-linear simulation model

0.2

0.3 Time t [sec]

0.4

0.5

0.6

Converter

(v ri ) dt

Current lookup

Torque lookup

Fig. 19. Acceleration characteristics (simulation)

Equation (4.1)

Tall = t

= dt

1 J

(T

all

T L D ) dt

TL D

Equation (4.3)

Equation (4.2)

Fig. 17. Non-linear simulation model (motor part)