Analytical Models of Switched Reluctance Motor Based on Two

Dimensions Finite Element Analysis Results

PĂDURARIU Emil1, SOMEŞAN Liviu1, VIOREL Ioan-Adrian1,
SZABÓ Loránd1, CORNEA Octavian2
1
Department of Electrical Machines, Marketing and Management,
Technical University of Cluj-Napoca, Faculty of Electrical Engineering,
28 Memorandumului Street, 400114 Cluj-Napoca, E-Mail: emil.padurariu@mae.utcluj.ro
2
Department of Electrical Engineering, “Politehnica” University of Timisoara, Faculty of Electrotechnics,
2 Victoriei Square, 300006 Timisoara, E-Mail: octavian.cornea@et.upt.ro

Abstract – In the paper three analytical models of
switched reluctance motor (SRM) based on two
dimensions finite element method (2D-FEM) results
are discussed. For an existing and tested sample SRM
the flux linkage and the torque characteristics were
calculated via all considered models and the results
were compared with the finite element method (FEM)
analysis based calculated characteristics. Finally the
merits and the weak points of each model were
evinced.
Keywords: analytical models, switched reluctance
motor.
I. INTRODUCTION
The switched reluctance motor (SRM), which was
baptized by Nasar in the late sixties last century, looks
like a new comer in the electric machine family but has
a long history since the first SRM was built by Davidson
in 1838 in Great Britain. The SRM with true electronic
commutated phases synchronized with rotor position has
been described by its essential features in the 70’s last
century. The SRM cannot be separated from its
electronic supply device, controlled function of rotor
position and phase current.
The various advantages of the SRM like its simple
and robust construction, wide speed range capability,
high starting torque and low cost, for example, make it
an attractive alternative to the conventional motors
[1, 2].
The SRM’s drive performance is strongly dependent
on its design and control. The motion of the SRM is
affected by the nonlinear characteristics of the magnetic
materials, with high levels of saturation passing
cyclically as the rotor continuously moves from
unaligned to aligned positions with reference to
energized stator phases. This obstacle requires first the
calculation of the flux linkages in the machine design
phase, and secondly, mathematically representing them
for analysis and control purposes. Therefore, the
machine’s mathematical model is very important and
has to be accurate and easy to implement. A key factor
for all SRM models is constituted by the flux linkage
versus current characteristics calculation, which can be
done analytically, via numerical field analysis by
employing usually the finite element method (FEM), or
by combining the analytic and numeric calculation.
Many valuable works dealing with the SRM’s
mathematical models were published in the last years, as
[3, 4, 5, 6] where the analytical model is created using
FEM analysis results.
In this paper three analytical models based on FEM
calculated flux linkage characteristics will be discussed.
In all cases the flux linkage versus current for different
rotor positions and torque characteristics were computed
and compared with the results obtained via 2D-FEM
calculation for a sample 6/4 SRM.
The second part is dedicated to SRM’s analytical
models obtained by using few flux linkage versus
current characteristics computed via 2D-FEM analysis
[3, 4, 5, 6] or measured on the test bench [7, 8]. Firstly
the model proposed in [3] is shortly discussed. It follows
a model proposed by Chi [4], based on a Fourier series
aproximation of the flux linkage current characteristics.
The third model, based on the concept presented in
[5, 6], uses, as in [4], three flux linkage versus current
characteristics calculated via 2D-FEM analysis to obtain
an analytical model which fully consider the core
saturation and rotor position influence.
In the third part the flux linkage and torque
characteristics calculated via the previously presented
models are given in comparison with the ones obtained
via 2D-FEM analysis for the same 6/4 sample SRM. The
conclusions regarding the accuracy, the simplicity and
the usefulness of the discussed models are ending the
paper.
II. SRM’S MODELS BASED ON MAGNETIC FIELD
ANALYSIS RESULTS
Nowadays the magnetic field analysis, via a
numerical method, usually finite element method (FEM)
in two or three dimensions, is a useful tool in the design
process of conventional or unconventional electric
machines. Therefore, the flux linkage and torque versus
current and rotor position characteristics can be
calculated easily during the design process employing a
2D-FEM analysis procedure. Since the flux linkage
characteristics calculated via FEM analysis are
available, they can be used to develop analytic models.
These models have a quite good accuracy and are easy
to be obtained.
The model developed by Roux [3] is simple and very
useful for fast sizing and initial valuations in computer-
aided designs. The magnetization curves are
approximated by three equations. One can be used to
approximate the magnetization curve for the unaligned
position, and the other two for the aligned position.
The unaligned flux linkage characteristic is
approximated by a straight line:
λu = Lu I
where the unaligned phase inductance, Lu, is the
characteristic slope and I is the phase current.
The curve for the aligned position is split in two
parts.
When the phase current I<Is the flux can be
determined as:
λ a ( I) = L a I (2)
where La is the phase inductance in aligned position and
Is is the saturated current.
For the saturated region (I>Is) the flux curve is
estimated by using the equation:
λ a (I) = λ S0 + 4a (I − I S0 )
where a, λS0, IS0 are constants to be determined as in [3].
The final equation of the flux can be expressed as a
function of λa, λu and θ as:
1 The aligned flux linkage characteristic is given by a
λ (I, θ) = [λ a (I) − λ u (I)] ⋅ [cos(θ) + 1] + λ u (I)
2 polynomial ratio as in (8), with the coefficients
The instantaneous torque developed by one phase
can be determined as usual by using the following
equation:
∂ ⎛⎜
I ⎞
T= ∫ λdi ⎟ (5)
⎜
∂θ ⎝ 0 ⎟
⎠ III. CALCUALTED RESULTS
In the model proposed by Chi and others [4] the
phase flux linkage is given by a Fourier series with
limited number of terms:
λ(I, θ) = λ 0 + λ 1 cos(θ) + λ 2 cos(2θ), θ = Q r α (6)
where Qr is the rotor number of poles, α is the angular
rotor displacement, and the coefficients λ0, λ1, λ2 are
calculated function of aligned (λa), average (λav) and
unaligned (λu) flux linkage values:
λ 0 = 0.5[0.5(λ a + λ u ) + λ av ]
λ 1 = 0.5(λ a − λ u ) (7)
λ 2 = 0.5[0.5(λ a + λ u ) − λ av ]
The estimation of the flux linkage characteristics
function of phase current is done by a polynomial ratio,
I
λ= 2
(8)
aI + bI + c
a, b, c coefficients being calculated via a curve fitting
procedure for the three considered flux linkage
characteristics, even the unaligned one can be
(1) approximated also by a straight line, (1).
The torque is calculated with the usual equation (5).
The model introduced in [5, 6] proposes a different
estimation of the flux linkage characteristics, even it
uses the same three basic aligned, average and unaligned
flux linkage characteristics calculated as in [4] via 2D-
FEM analysis. The flux linkage characteristics
estimation is given by:
l
λ = λ a 0r (9)
k sr
The unsaturated inductance ratio l0r, which does not
depend on current, and the saturation function ratio ksr
that depends both on current and rotor position are given
by the functions:
(3) l 0 r (θ) = a l + b l cos(θ) (10)
k sr (I, θ) = a s (I) + b s (I) cos(θ) (11)
The coefficients al, bl and the polynomial functions
as(I), bs(I) are obtained via a specific curve fitting
procedure applied step by step [5, 6].
(4)
adequatelly calculated via a curve fitting procedure. The
torque is calculated via the usual equation (5), with a
numerical estimation technique that employs the
Newton-Cotes method with interpolating Lagrange
polynomials of first degree [5].
In order to check the models’ viability and accuracy
they were applied on a sample 6/4 SRM which was
designed, constructed and tested [7, 8]. The sample
SRM main data are given in Table 1. In [7, 8] a
comparison between the SRM’s characteristics obtained
via 2D-FEM analysis and respectively on the test bench
the motor is made evincing the fact that they are in a
quite good agreement. Considering the fact that the 2D-
FEM calculated characteristics are smoother than the
tests obtained once, since the number of the calculated
values are much larger than the one obtained by tests,
the characteristics calculated via analytical models will
be compared with the 2D-FEM calculated
characteristics.
TABLE 1. Main geometric dimensions and parameters of SRM

Parameter Signification Units Value

ps/pr Stator/rotor pole number - 6/4
β Stator/rotor pole width degree 30
der Exterior rotor diameter mm 100
g Air-gap length mm 0.4
hps/hpr Stator/rotor pole height mm 17/28
lstk Axial stack length mm 50
Number of series turns
Np - 174
per pole

Firstly the flux linkage characteristics are compared

in Figs. 1, 2 and 3 considering all the three discussed
models [3, 4, 5, 6]. The phase current was incremented
by 0.5 A from 0 to 5.5 A while the rotor position was Fig. 2 Flux linkage characteristics, model [4] and 2D-FEM
changed from unaligned position to aligned one.
In order to develop the flux linkage characteristics
via model [5, 6], the unsaturated inductance ratio, l0r and
the saturation function ratio, ksr, are calculated as:

l 0 r (θ) = 0.4178 − 0.4529 cos(θ) (12)

k sr (I, θ) = a s (I) + b s (I) cos(θ) (13)

where a s (I) = 0.0167 ⋅ I 2 − 0.195 ⋅ I + 1.402 and

b s (I) = −0.0149 ⋅ I 2 + 0.06959 ⋅ I + 0.1251 .
In Fig. 4 the saturation functions variation versus
rotor position at different current values are presented. It
is clear that the saturation becomes quite unimportant
when the phase current value is small.
In Figs. 5, 6 and 7 the torque versus rotor position at
different current values are shown for the same sample
SRM. The characteristics calculated based on 2D-FEM Fig. 3 Flux linkage characteristics, model [5, 6] and 2D-FEM
analysis results are compared in each figure with the
characteristics obtained by employing the discussed
models. The torque characteristics are calculated for five
phase current values from 1 A at the bottom to 5 A at the
top, the current increment being 1 A.

Fig. 4 Saturation functions versus rotor position, model [5, 6]

Fig. 1 Flux linkage characteristics, model [3] and 2D-FEM


Fig. 5 Torque characteristics, model [3] and 2D-FEM
Fig. 6 Torque characteristics, model [4] and 2D-FEM
Fig. 7 Torque characteristics, model [5, 6] and 2D-FEM
IV. CONCLUSIONS
In the paper some SRM’s analytical models are
presented and discussed. The flux linkage and torque
characteristics are calculated for a sample SRM,
designed, constructed and tested [7, 8].
From these three models based on 2D-FEM analysis
results the simplest, and less accurate one, is that
proposed on [3]. It uses only two flux linkage
characteristics, the aligned and unaligned ones, but both
the calculated flux linkage and torque characteristics are
not that accurate. It is a good model for a first estimation
of the SRM performance.
The other two models based on 2D-FEM analysis
results, given in [4] and respectively in [5, 6] benefit of a
higher degree of accuracy concerning the calculation of
the flux linkage characteristics, Figs. 2 and 3, and offer
quite accurate torque characteristics, Figs. 6 and 7.
The model proposed in [5, 6] gives more accurate
results than the one proposed in [4] and evinces clear the
influence of the rotor position and core saturation on the
flux linkage characteristics, but its implementation is
more complicated.
In fact each discussed model, with its merits or weak
points, can be a good tool for a designer, with only one
condition, to use the model adequately on the purpose.
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