394 111/111 693

PC-SRD User's Manual

4-July-2014
Copyright 2014 Computational Dynamics Ltd. CD-adapco
Typefaces and conventions used in SPEED manuals
Item Format Example or explanation
Main text Courier New 10 pt Switched reluctance motor
Parameters Courier New Bold Slots, Poles, Torque
Menu items
Arial 10pt bold
Menu items, functions, or items in
dialog boxes.
Parameter values Courier New BLV, ToothFlux
Emphasis Italic
Short-cut keys [Bold] [Ctrl+S]
Design sheet
extracts
Courier New 9pt Design sheet extracts
Related Technical Notes and Manuals
1 PC-SRD GoFER Manual
2 Explanation of UG98 Parameters
3 Multi-stroke dynamic simulation
4 Fully-pitched windings
Abbreviations
E degrees
.. Two dots following a parameter indicate an input value, to
distinguish it from an option or an output parameter with
the same name.
AWG American wire gage
d,q Direct and quadrature axes
e.g. exempli gratia, "for example"
EMF Electro-motive force (volts)
FE, FEA Finite-element, finite-element analysis
FEA-SR-MGC Special mag. curve calculator that uses PC-FEA 1 and provides
complete sets of mag. curves, or just a few points, for
comparison with PC-SRD's internal mag. curves.
GDF Geometry Definition Format. .gdf files are text files used
for transferring geometric and other data between
SPEED programs and PC-FEA and other finite-element programs.
GoFER lit. "Go to Finite-Elements and Return". The finite-element
link. This acronym emphasizes the particular feature of
SPEEDs finite-element links, in that they automate the
entire process of a range of specific finite-element
calculations and return data to the motor design program.
lb (or lbf) pound (or pound force). 1 lbf = 4.45 N
mag. curves Magnetization curves
Match MGC Mag. curve viewer
mm millimetre. 25.4 mm = 1 inch
MMF Magneto-motive force (amperes)
i.e. id est, "that is"
lit. "literally"
p.u. Per-unit
PWM Pulse-width modulation
q.v. quod vide, lit. "which see": in other words, "go and look
that up too"
RMS Root-mean-square
SEM SPEEDs Electric Motors, the theory manual of SPEED. The
chapter number may be indicated; e.g., SEM/4.
Ted Template editor
L Parameter or function not available in Distributor versions.
Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2. PC-SRDsfunctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1 Outlineeditor[Ctrl+1] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Templateeditor,Ted[Ctrl+3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Selectingmaterials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 Dynamicdesign(Singlestroke)[Ctrl+2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 ThermalTransient[Ctrl+T] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.6 Multi-stroketransientsimulation[Ctrl+K] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.7 Windagelosscalculation[Ctrl+W] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.8 Auto-search[Ctrl+A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.9 Statictorquecurves[Ctrl+Y] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.10 Ranging[Ctrl+B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.11 Torque/Speedcharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.12 Designsheet[Ctrl+4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.13 Customdesignsheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.14 Results|Graphs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.15 Realignmag.curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.16 Usingfinite-elementswithPC-SRD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.17 Finite-elementlinks[Ctrl+L]and[F11] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.18 Fully-pitchedwindings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.19 Multi-stroketransientsimulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3. Definitionofparameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.1 InputparametersintheOutlineeditor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.2 DefinitionofUnimeshparameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.3 InputparametersinTed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.4 Outputparametersinthedesignsheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
3.5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
3.6 Referencediagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
4. Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
PC-SRD 9.04 User's manual 1. Introduction Page 1
Fig. 1 "Manual" design process
1. Introduction
Function
PC-SRD is intended for designing and calculating switched reluctance machines
including their electronic control. The theory behind PC-SRD can be found in SPEEDs
Electric Motors, the text that is used with the SPEED training courses, [1].
Intended use
PC-SRD is a PC-based CAD program for the design and performance calculation of
switched reluctance motors, including basic parameters of the drive and its control.
The program is designed to be fast in operation, with an efficient user interface.
Its main use is in
(a) studying/learning the switched reluctance motor and drive;
(b) sizing or preliminary design;
(c) calculating parameters for system simulation; and
(d) recording and modifying designs of production motors.
PC-SRD can be calibrated using adjustment parameters to improve the agreement
between calculation and measurement.
How do I use PC-SRD?
Starting from a performance requirement, the motor is designed by a cut-and-try
process of assigning parameters to one of PC-SRD's predetermined motor models or
templates, and then calculating the performance using one of PC-SRD's calculating
procedures, Fig. 1.
The process is repeated until the objectives are achieved. To make the motor design
fast and efficient, PC-SRD has an outline editor for modifying the cross-section and
other motor dimensions. There is a template editor for electrical parameters, drive
parameters, and several other inputs. PC-SRD also includes a material database for
steels. The performance calculation or analysis is either at a single operating
point, or over a whole speed/torque range. It includes a time-stepping model of
the drive, so that current and torque waveforms can be obtained. There is a design
sheet containing a wide range of performance parameters including the dimensions,
and details of the winding and the drive. All this data is presented in the
successful format used for many years in the SPEED Laboratory.
Page 2 1. Introduction PC-SRD 9.04 User's manual
Fig. 2 Automation, scripting, and database relationships
Scripting
The scripting language can be used to automate many processes, or to create new
algorithms or processes not already embedded in the program. It can also be used to
interface PC-SRD to other software. Fig. 2 shows how scripting can be used to
automate the variation of design parameters and the successive execution of PC-SRD.
(For studying the effect of simple parameter variations over a specified range of
values, the simpler internal ranging function can be used within PC-SRD).
Finite-element analysis
PC-SRD has two types of finite-element link or "GoFER" (lit., "Go to finite-elements
and return"):
(a) The Unimesh GoFER [Ctrl+L] excecutes a specialized "mag. curve
calculator" FEA-SR-MGC which relies on PC-FEA and the "Unimesh"
definition of boundary nodes generated within PC-SRD itself. Although
this uses an earlier version of PC-FEA, it is optimized for the
calculation of mag. curves and is recommended for that purpose.
(b) The GDF GoFER uses the GDF editor, which can also provide links to
other finite-element programs. The PC-FEA link is particularly useful
because of its speed. Fig. 2 shows the finite-element calculation
supporting the performance calculation.
What PC-SRD doesn't do
Design with PC-SRD is interactive and fast. However, PC-SRD doesn't synthesize
optimized designs by itself. The user produces them, using PC-SRD as a calculating
tool rather like a specialized spreadsheet program. PC-SRD improves the productivity
of the design engineer, but it doesn't do his/her job. As with any computer
program, the user should continually question the accuracy and check the results,
preferably against measurements.
PC-SRD 9.04 User's manual PC-SRDs functions Page 3
Fig. 3 PC-SRDs main menu
2. PC-SRDs functions
The common functions of all SPEED Windows programs are described in the
WinSPEED manual. This section provides further information specific to PC-SRD.
Function Hotkey Purpose
File, Options, Window, Help, Outline, Template, Design Sheet, Information, Scripting, Steel Database,
Calculator, Unit Converter
See WinSPEED manual
Data
Outline editor Ctrl+1 Display and edit the cross-section geometry
Template editor, Ted Ctrl+3 Edit non-geometric parameters
Materials Ctrl+M Select materials
External data files Ctrl+E Specify locations and names of external data
files
I/O Units Ctrl+U Select units
Titles Create or edit title, subtitle, and comment
to go with each datafile
Custom editor Ctrl+
Shift+3
Create, edit, or select a floating template
editor containing a subset of PC-SRDs
parameters. See WinSPEED manual.
Analysis
Dynamic design Ctrl+2 Calculate operating point at constant speed
Thermal simulation Ctrl+T Transient thermal calculation
Multi-stroke Ctrl+K Multi-stroke dynamic simulation (variable
speed)
Windage Ctrl+W Calculate windage loss
Ranging Ctrl+B Calculate a range or batch of cases or
designs
Autosearch Ctrl+A Automatic search for preset torque
Static torque curves Ctrl+Y Calculate static torque curves
Page 4 PC-SRDs functions PC-SRD 9.04 User's manual
Results
Design sheet Ctrl+4 Complete listing of input and output
parameters
Custom design sheet Custom listing of parameters, formatted
according to the template contained in the
text file Custom.dss; for formatting
instructions, see WinSPEED manual.
Tabbed design sheet Ctrl+
Shift+F4
The design sheet formatted in tabbed pages
Custom output Ctrl+
Shift+4
Create, edit, or select a floating design
sheet containing a subset of PC-SRDs
parameters. See WinSPEED manual.
Thermal design sheet Listing of thermal parameters formatted
according to the template contained in the
text file Thermal.dss; for formatting
instructions, see WinSPEED manual.
Graphs/waveforms Ctrl+G,
Ctrl+
Shift+G
Graphical output
Harmonic analysis Ctrl+H Harmonic analysis of PC-SRDs waveforms
Tools (See WinSPEED manual).
Calculator F4 Simple arithmetic operations on PC-SRDs
parameters
Scripting F7 Open the script editor
Unit converter Utility for converting units
Steel database Ctrl+5 Execute the Steel Database Manager for
editing or creating records of steel data
Realign mag curves Re-align external mag. curve data in PC-
SRD format
Current profile
editor
Ctrl+7 Open the current profile editor
GoFER (Unimesh) Ctrl+L Execute finite-element link via Unimesh and
FEA-SR-MGC
GoFER (FE link) F11 Execute finite-element link via GDF
(geometry definition file)
Match MGC Ctrl+F11 View, compare, and adjust mag. curves
FEA Viewer View the flux-plot produced by the Unimesh
GoFER
Export data Data transfer to other programs
PC-SRD 9.04 User's manual Data * Outline editor Page 5
Fig. 4 The outline editor
2.1 Outline editor [Ctrl+1]
The outline editor is for editing the motor cross-section.
Dimensions are defined in 3 and in the reference diagrams.
When you change a parameter, PC-SRD checks the validity of the new value. If the
data is invalid, an error message may appear and the drawing may disappear.
Unfortunately this may deprive you of visual clues as to what is wrong, so it is
advisable to proceed cautiously with careful changes, starting with a valid design.
Error-checking is not exhaustive, so it is advisable to check the drawing visually.
The cross-section can be copied to the Windows clipboard using [Ctrl+C]. The zoom
function is described in the WinSPEED manual. Use [F8]and/or [F6] to change the
appearance of the display.
Hotkeys
A/U Aligned/unaligned positions
O Origin (= previous aligned
position if units of control
angles are Emech; or previous
unaligned position if units are
Eelec. [Ctrl+U])
F/R Forward/reverse 1/4 stroke
D/E Forward/reverse 1 mechE
[/] Turn-on angle Th0/ Turn-off
angle ThC
{/} Reference firing angles (multi-
stroke simulation) (on/off)
(/) Braking angles (on/off)
J/N Start/end of pole overlap
K/M Start/end of maximum overlap
Z zero-volt loop angle ThZ
H/L Start/end of wide-pole overlap
(stepped-gap rotors)
C Centre: midway between U and A
V Valley point (JRH108)
Page 6 Data * Outline editor PC-SRD 9.04 User's manual
Angle sets the rotor in any defined position. Angle is in mechE or elecE according
to the selection of default units for control angles ([Ctrl+U], CtrlAng), and is
consistent with Th0, ThC and ThZ (3), so it can show the rotor at particular firing
angles. The centrelines on the active rotor and stator poles line up when the rotor
is in the aligned position, if Ntp = 1. Angle is saved with the other motor
parameters when you save the datafile.
If the number of stator or rotor poles is changed, reset the rotor angle using [A].
To change the polarity of any coil, left-click on the polarity label (N or S) when
Outline | Show coils is selected. PC-SRD automatically changes the polarity of all the
pole-coils in the same phase winding.
Outside-rotor (exterior-rotor) motors can be modelled if Rsh > R0 > R1 > R2 > R3,
i.e., Rsh becomes the largest radius and R3 becomes the smallest radius. There is
no need to change the sign of Gap, and no other changes are necessary. An example
is provided with File* New*Examples.
PC-SRD 9.04 User's manual Data * Template editor Page 7
Fig. 5 The template editor, Ted .
2.2 Template editor, Ted [Ctrl+3]
Ted contains all the input parameters of the motor and control, including the
dimensional parameters that appear in the outline editor. For parameter
definitions, see 3. Use [F8] to change the appearance of the display.
The data is divided into tabbed pages: for example Simulation parameters and Thermal
parameters are on separate pages. Ted does no error-checking, so any errors will not
show up until a Dynamic design is run.
Page 8 Data | Materials PC-SRD 9.04 User's manual
Fig. 6 Selecting steel [Ctrl+M]
Fig. 7 Specifying external datafiles
2.3 Selecting materials [Ctrl+M]
The materials associated with the current design datafile can be selected using
Data*Materials [Ctrl+M]; see the WinSPEED manual.
Units [Ctrl+U]
Default units for input/output can be selected using Data * I/O Units [Ctrl+U]; see the
WinSPEED manual.
External data files [Ctrl+E]
Some of PC-SRDs analysis functions require external data that is usually provided
in ASCII text files; also, PC-SRD writes data in this form. Use [Ctrl+E] to
specify the locations and names of these files. The Show before simulation checkbox
determines whether the filenames will be displayed before a calculation is
undertaken.
PC-SRD 9.04 User's manual Analysis * Dynamic design Page 9
1
Also known as the i-psi loop, because it is an xy-plot of current (i) and flux-linkage (psi or ).
2
Default colours when the graph background is black.
Fig. 8 Waveforms of phase currents (i
1
, i
2
, i
3
); normalized flux-linkage
(psi), per-unit overlap, and torque, vs. rotor position.
Press [Enter] to step through subsequent graphs. Press [L] to see
the legend; or [G] to see the graticule.
2.4 Dynamic design (Single stroke) [Ctrl+2]
Dynamic design is the main calculating procedure of PC-SRD. It calculates the
performance by simulating the operation over one stroke at constant speed.
After a Dynamic design, waveforms of current, torque, flux-linkage and related
quantities can be viewed by Results | Dynamic Design Graphs | Current + Torque, etc. The
two most important graphs are the current and torque waveforms, Fig. 8; and the
energy-conversion loop,
1
Fig. 9.
Currents, flux-linkage and torque [Ctrl+G]
Phase currents i
1
,i
2
,i
3
,... i
5
[A} Red, Yellow, Blue, Green, Magenta
2
Phase 1 normalized flux-linkage Cyan
Phase 1 p.u. overlap between rotor and stator poles Dark red
Phase 1 electromagnetic torque (T
1
, T
1x
: see p. 10) Colours depend on MagCurv
Total electromagnetic torque White
Average electromagnetic torque Green
DC Link current Yellow
The trapezoidal waveform of per-unit overlap between the active stator poles and the
active rotor poles corresponds to the ideal inductance profile that would be
obtained with no fringing flux around the pole corners, no interference between
phases, and no magnetic saturation. The overlap profile is scaled so that the
aligned value has the same ordinate as the peak current. The ratio between its
maximum and minimum values is approximately equal to the unsaturated inductance
ratio. It is provided solely for guidance in determining firing angles, and is not
used in calculations.
The aligned (A) and unaligned (U) positions are marked with vertical lines; in Fig.
8, A ' 90E and U ' 45E. The range of the graphs can be set with GRange, p. 66.
Page 10 Analysis * Dynamic design PC-SRD 9.04 User's manual
Fig. 9 Energy-conversion loop
T
e[avg]
'
Strokes/rev WConv
2B
. (1)
Energy-conversion loop and average electromagnetic torque
The energy-conversion loop is an xy-plot of flux-linkage and current i in one
phase. In Fig. 9 it is superimposed on the magnetization curves, which represent
the static flux-linkage/current characteristics of one phase (with no current
flowing in any other phase).
The mean electromagnetic torque is calculated from the area of the energy-conversion
loop, WConv in Fig. 9, according to the equation
This equation is the preferred method for calculating average electromagnetic
torque, because it does not rely on localized differentiation of the coenergy or
stored field energy. See below.
The dynamic loop in Fig. 9 should not extend too far to the right, because
magnetization curve data above im is extrapolated, and becomes progressively less
accurate as im is exceeded. If you are working with internal mag curves, im can be
increased by increasing Bm (3).
Instantaneous torque
The torque waveform T in Fig. 8 represents the total instantaneous electromagnetic
torque calculated by 'shifting and adding' the torques of the individual phases: no
account is taken of mutual coupling between phases. The torque waveform is highly
variable and depends on speed, load, and firing angles. This is an inherent
characteristic of the SR motor.
Fig. 8 also shows the instantaneous torque of one phase calculated by two methods,
both of which are based on the differentiation of co-energy with respect to rotor
position [SEM/4]. T
1
is based on an approximate "gauge curve" model of the mag.
curves (see p. 67; also [6,14] and SEM/4); but T
1x
is based on a piecewise curve-fit
of the mag. curves using cubic splines. T
1x
is available only when MagCurv is Extl,
Froh/X, Univ/X or UG98/X,and it should be regarded as more rigorous and probably
more accurate than T
1
. Especially when MagCurv = Froh, the instantaneous torque
waveform is not rigorous and may become inaccurate at light load, if the machine is
unsaturated. It can be checked by comparing TLoop with Twfm (3).
PC-SRD 9.04 User's manual Analysis * Dynamic design Page 11
Magnetization curves
Magnetization curves ("mag. curves") represent the static flux-linkage of a phase
winding as a function of current over the whole range of rotor positions between the
unaligned and aligned positions. A typical set of mag. curves is shown in Fig. 9,
together with the dynamic i- loop: that is, the locus of the point (i, ) during
one stroke. Mag. curves are essential for the Dynamic design calculation.
PC-SRD can calculate the mag. curves from the geometry, the winding details, and the
B/H data of the stator and rotor steels. Alternatively it can import mag. curves
obtained by measurement or finite-element analysis. Because of the importance of the
mag. curves, PC-SRD has an inbuilt facility for displaying, comparing and adjusting
sets of mag. curve data in different formats, Match MGC, [Ctrl+F11].
With "internal" mag. curves, PC-SRD approximates the mag. curves with the "gauge
curve" model, which it uses to compute the entire energy-conversion stroke very
quickly "on the fly". In this case, very few parameters are needed to characterize
or calibrate the mag. curves. With "external" mag. curves, however, PC-SRD curve-
fits the mag. curves with a set of cubic splines, with up to 900 data points. As
well as flux-linkage, stored field energy is also represented in this curve-fit.
The "external mag. curve" simulation algorithm is more rigorous than the "internal"
one, but for improved accuracy it can be applied to internally-generated mag. curves
using "/X" values of MagCurv. The options are summarized in the following table:
MagCurv
Internal mag. curves Froh
Univ
UG98
The nonlinear algebraic relationship between
current, flux-linkage, and position is solved
locally using a fast interpolation algorithm
based on so-called "gauge curves". This method
is optimized for speed.
External mag. curves Extl The nonlinear algebraic relationship between
current, flux-linkage, and position is solved
using a cubic-spline representation of
externally-generated mag. curves. This method is
optimized for accuracy, but it is much slower.
/X procedures Froh/X
Univ/X
UG98/X
The same as External mag. curves, except that the
mag. curves are calculated internally by PC-
SRD and are not imported from an external source.
Mag. curve files
When Dynamic design runs with internal mag. curves, it writes them to an ASCII file
whose default name is "IPSI.psi". This file is called the "IPSI file" or i- file.
With external mag curves, a valid IPSI file must be specified for the current design,
using [Ctrl+E]. The format of the IPSI file is defined in the File Formats manual.
By default, it has the filename extension .psi. The i- data is also written to
a second ASCII file called "IPSI.mgc", whose format is more convenient for
comparison with finite-element calculations or test data. Files in .mgc format can
be converted into .psi format via Tools | Realign mag curves. Both formats can be viewed
with Match MGC, [Ctrl+F11]. Only the static mag. curves are stored in the IPSI file.
Magnetic coupling between phases
Except with fully-pitched windings, PC-SRD neglects mutual inductance between
phases, and superimposes flux-linkages and torques from different phases after the
fully nonlinear calculation of a single phase has been completed. The effect of
coupling between phases can be assessed to a certain degree using the Unimesh
finite-element analysis with a second phase excited, or with the [F11] GoFER; but
the results of this magnetic analysis cannot be used in PC-SRD.
Page 12 Analysis * Dynamic design PC-SRD 9.04 User's manual
Fig. 10 Simple thermal
equivalent circuit
Fig. 11 Thermal circuit when
HTC is nonzero.
Thermal calculations in Dynamic design
The steady-state thermal model in PC-SRD is based
on a simple thermal equivalent circuit whose
parameters are DegCW, HTC, and ct_Liner. If HTC =
0, the model has a single thermal resistance DegCW
as shown in Fig. 10. The temperature rise is
calculated as TempRise = DegCW WTotal, and it can
apply to any point T in the machine, provided that
DegCW is specified with the appropriate value. By
default, T is assigned to the winding conductor
temperature T_Cond. Then DegCW should be specified
as the total thermal resistance from the winding
conductors to ambient. The model gives no
information about the temperature distribution
within the machine, because all the losses are
lumped together and injected at a single point. It
makes no distinction between temperatures inside
the machine and at the frame surface.
A slightly more complex thermal model is shown in Fig. 11. In this case PC-
SRD calculates the thermal resistance ThRFS from the frame surface to the ambient
as ThRFS = 1/(HTC FSArea), where HTC is the specified heat transfer coefficient
and FSArea is the frame surface area. DegCW is now considered to be in series with
ThRFS, and can be used to represent an internal thermal resistance.
A further refinement is that if ct_Liner is non-
zero, PC-SRD calculates the thermal resistance of
the slot liners using the inside surface area of
the slot SSArea: thus
ThRslot = ct_Liner Liner / SSArea / Ns
where SSArea is for one slot. This thermal
resistance is combined with DegCW. Because the
coilsides have contact with the slot liner over
only a fraction of the area SSArea, it may be
necessary to compensate for this by increasing the
value of DegCW, or by modifying the value of
ct_Liner. For example, if thermal contact is
maintained over only 30% of the inside area of the
slot, then the correct value of ThRslot will be
equal to the calculated value divided by 0@3. This
could be corrected by augmenting DegCW by (1/0@3
!1) ThRslot = 2@33 ThRslot. Alternatively,
ct_Liner could be increased by the factor 1/0@3.
If TempIt = true, the thermal calculations are
iterative. The Dynamic design is repeated with a
new value of winding resistance which is
recalculated from the temperature rise at every
iteration. The iteration continues until the
winding temperature converges to a final value. The
result is assigned to T_Cond and it is at point
T in Fig. 11.
PC-SRD also calculates the thermal capacity of the entire motor C_motor [kJ/EC], and
the thermal time-constant thermTC [min]. The components of C_motor are available
separately when the transient thermal calculation is run.
Note: In previous versions ThermTC was calculated using ThRFS only, but this has been changed to the sum
of all thermal resistances in series. Also, in previous versions with TempIt = true, the increase in
resistivity of copper was incorrectly calculated unless T_Wdg = T_amb.
PC-SRD 9.04 User's manual Analysis | Thermal Page 13
Fig. 12 Thermal transient equivalent circuit
2.5 Thermal Transient [Ctrl+T]
Analysis | Thermal [Ctrl+T] is an independent transient calculation in which the losses
are assumed to be constant at the values calculated in the most recent Dynamic
design. The calculation uses a thermal equivalent circuit whose parameters can be
edited in Ted/Thermal; see Fig. 12.
Thermal capacitances are calculated by PC-SRD from the weights and specific heats
of the various materials in the motor. They can be modified by the addition of
supplementary thermal capacitances.
Thermal resistances representing heat transfer by conduction, radiation, convection,
and direct cooling are, in the main, required to be provided by the user although
some are calculated from rule-of-thumb formulas.
By switching off the losses (XLoss = 0), cooldown can be modelled from a defined set
of initial temperatures.
Page 14 Analysis | Multi-stroke PC-SRD 9.04 User's manual
Fig. 13 Speed vs. time in multi-stroke simulation
Fig. 14 Currents and torque during
multi-stroke simulation
Fig. 15 Energy-conversion diagram showing
multiple-loops
2.6 Multi-stroke transient simulation [Ctrl+K]
Whereas Dynamic design is restricted to constant speed and load, multi-stroke
transient simulation covers several revolutions with variable speed, variable load,
and variable control parameters. Several additional control parameters must be
correctly specified for this simulation to run successfully: see Ted/2. The block
diagram used by PC-SRD is described in a separate technical note, "MultiStroke".
The main uses of multiple-stroke simulation are:
1. to study motion control, e.g. step responses, "trapezoidal moves",
speed changes etc.;
2. to simulate the effects of load torques that vary with rotor position;
3. to study the effects of changes in control system parameters, including
variable firing angles and PID control of the current;
4. to study the effects of discretization (i.e. digital representation)
of speed and other parameters; finite encoder resolution; and
processing delays; and
5. to study the effects of faults and disturbances.
The output is in the form of graphs showing the currents, speed, etc. throughout the
simulation. Multi-stroke simulation can use external files containing tables of
control data. Their formats are given in a separate document.

PC-SRD 9.04 User's manual Analysis * Windage loss Page 15
Fig. 17 Auto-search
Fig. 16 Windage loss parameters
2.7 Windage loss calculation [Ctrl+W]
PC-SRD can calculate the windage loss based on a NASA report by James Vrancik [12].
The result can be saved into the main datafile via the parameters Wf0, RPM0. The
calculation allows various options, for example, to change the density or viscosity
of the air and to adjust constants in Vranciks equations.
2.8 Auto-search [Ctrl+A]
Auto-search provides a limited degree of automation in which the set-point current
iHi or the turn-on angle Th0 can be varied to achieve a target value of torque. If
the search fails, PC-SRD displays an appropriate message.
Page 16 Analysis | Static torque curves PC-SRD 9.04 User's manual
Fig. 18 Static torque curves: torque vs. rotor position for currents up to iTTh.
Fig. 19 Static flux-linkage curves, showing flux-linkage vs. rotor position for
currents up to iTTh.
2.9 Static torque curves [Ctrl+Y]
PC-SRD calculates the static torque curves, i.e., curves of electromagnetic torque
vs. rotor position from the unaligned to the aligned position over a range of
currents from 0 to iTTh; see Fig. 18. The calculation also makes available a set
of curves of flux-linkage vs. position (psi!theta curves), Fig. 19. Use Results * T-
theta Graphs to view the curves.
PC-SRD 9.04 User's manual Analysis * Ranging, Torque/Speed Page 17
2.10 Ranging [Ctrl+B]
Ranging is the calculation of a batch of designs, in which a number of parameters
are stepped through a series of values. The design sheets are available for all
steps, and graphs can be plotted showing the variation of any parameter against any
other parameter. Ranging is intended to assist in the selection of an optimum value
for one or more parameters. It is described in the WinSPEED manual. A variation
range can be assigned to an individual parameter using [Ctrl+R] in Ted. Note that
ranging has no intelligence: it merely grinds out a repetitive series of
calculations quickly and presents the results efficiently.
2.11 Torque/Speed characteristics
The torque/speed characteristic cannot be calculated automatically in PC-SRD as it
can in the other SPEED motor design programs, because it depends on several
parameters (such as firing angles) which must vary as the speed and torque vary, and
there is no standard way in which these variations are implemented. A torque/speed
characteristic can, however, be obtained using ranging. In a simple example, the
turn-on angle Th0 would be varied linearly as the speed increases.
Page 18 Results * Design sheet PC-SRD 9.04 User's manual
2.12 Design sheet [Ctrl+4]
PC-SRD 8.8 (8.8.0.1) 13-Apr-2008 18:14:51
d:\test\sr1.srd
SPEED Laboratory
PC-SRD main title
PC-SRD sub-title
Dimensions:--------------------------------------------------------------------
Rsh 12.5 mm Ntp 1 Gap 0.3 mm
R0 30 mm Nph 3 Lstk 50 mm
R1 45 mm Nr 4 BetaR 32 mDeg
R2 65 mm Ns 6 BetaS 30 mDeg
R3 80 mm D1s 2 mm D2s 2 mm
fil_R 2 mm tpr_R 3 mDeg tab 0 mm
fil_S 2 mm tpr_S 3 mDeg tpr_T 4 mDeg
Stroke 30 mDeg SPW 23.449 mm RPW 24.807 mm
StepGap NoStep FluxPths Normal Jag Normal
FrLgth 75 mm FrThk 5 mm CapThk 5 mm
Lshaft 150 mm Dshaft 25 mm
ASlam 9768.59 mm^2 ARlam 3910.791 mm^2 ARslot 489.914 mm^2

Winding Data:------------------------------------------------------------------
Np 150 T_Cond 144.245 C Rph 2.398 ohm
Paths 1 SFill 0.3 Lau 208.736 mH
NSH 1 M.L.T. 202.05 mm Lu 15.331 mH
Aslot 648.462 mm^2 NwkPP 1 Lau/Lu 13.616
SFill 0.3 SFill 0.3 WireSpec SFill
WDia 0.909 mm ACond 0.648 mm^2 L/ends 94.349 mm
Coils/Ph 2 Tph 300 Nss 2
Ext 0 mm Polarity NSN
Rcc 0 ohm Lcc 0 mH

Control Data:------------------------------------------------------------------
Vs 150 V iHi 30 A DuCy 1
rpm 1000 rpm iLo 30 A Dwell 30 m
Th0 50 m Rq 0 ohm %Dwell 33.333 %
ThC 80 m Vq 1 V Strk/Rev 12
ThZ 65 m Vd 0.6 V Fph 66.667 Hz
VsMax 180 V Rs 0 ohm
tq_ON 0 usec tq_OFF 0 usec fChop 11 kHz
Regulate Current CProfile false Chopping Soft
NChops 0 NCL 0 NVD 0
fChopAct 0 kHz fChopAvg 0 kHz fChopEst 0 kHz
CtsCond false tDwell 5 ms HBAmps 0 A
ISLA 1 Tol 8 PhEnable 1 1 1

Performance:-------------------------------------------------------------------
TorqSh 8.227 Nm WCu 254.736 W Q_rms 4.527 kVA/kW
PowerSh 861.564 W WIron 17.911 W Q_pk 9.322 kVA/kW
Eff 75.962 % Wwf 0 W WCucc 0 W
sigma 1.873 psi WTotal 272.647 W TempRise 124.245 C
PLoop 879.475 W PElec 1134.211 W Doing Motoring
Vdc 150 V

Currents:----------------------------------------------------------------------
IWPk 11.748 A IWMean 3.784 A IWrms 5.952 A
IQchPk 11.748 A IQchMean 3.165 A IQchRMS 5.705 A
IQcmPk 11.748 A IQcmMean 3.165 A IQcmRMS 5.705 A
IDchPk 10.635 A IDchMean 0.619 A IDchRMS 1.698 A
IDcmPk 10.635 A IDcmMean 0.619 A IDcmRMS 1.698 A
Jrms 9.179 A/mm IDC(wfm) 7.636 A DCripple 4.916 A
continued/...
PC-SRD 9.04 User's manual Results * Design sheet Page 19
Iron Losses:-------------------------------------------------------------------
Rotor: M19 24 gage
WlbFeRY 3.147 W/kg RCfCh 8.500E-03 RCfa 1.308
WlbFeRP 3.142 W/kg RCfCe 4.820E-06 RCfb 0.356
PRYE 1.214 W PRYH 1.515 W BRYMax 1.213 T
PRPE 0.814 W PRPH 1.022 W BRPMax 1.711 T

Stator: M19 24 gage
WlbFeSY 4.248 W/kg SCfCh 8.500E-03 SCfa 1.308
WlbFeSP 2.366 W/kg SCfCe 4.820E-06 SCfb 0.356
PSYE 4.832 W PSYH 5.938 W BSYMax 1.415 T
PSPE 1.133 W PSPH 1.444 W BSPMax 1.81 T
WEC 7.992 W WHYS 9.919 W XFe 1
Stf 0.97 IronLoss Orig
WFe0R 3.157 W/kg WFe0S 3.157 W/kg

Steady-State Thermal Model:----------------------------------------------------
T_Cond 144.245 C TFrame 91.5 C T_amb 20 C
TempRise 124.245 C TempIt true T_Wdg 23.7 C
ct_Liner 0.2 W/m C Liner 0.2 mm SlotPeri 35.666 mm
DegCW 0.1 C/W ThRslot 0.093 C/W SSArea 1783.322 mm^2
HTC 42 W/mC ThRFS 0.262 C/W FSArea 90792.028 mm^2
C_motor 4.046 kJ/C ThermTC 30.73 min

Supplementary Output:----------------------------------------------------------
Settings...
MagCurv UG98/X FluxPths Normal FluxWfms Real

Weights and mechanical..
WtCu 1.048 kg WtFe 5.076 kg Wt_Tot 6.124 kg
WtFrame 1.23 kg WtShaft 0.574 kg
RotJ 1.330E-03 kg-m RotJsh 4.487E-05 kg-m

Force and torque..
TRFbase 1482.403 N TRFpk 1578.779 N FUnbal 1111.802 N
TRPP 10.012 Nm TRrms 3.293 Nm TVR 25.865 kNm/m^3
TRPPpu 1.192 TRrmspu 0.392 Tpk 35.438 Nm

Energy conversion loop..
TLoop 8.398 Nm Twfm 8.401 Nm WConv 4.397 J
MagLdg 0.269 T ElecLdg 52.535 kA/m MagGear 2
OPK 1.847 Kus 0.732 ERatio 0.733
VAsMax 7.239 J UConvMax 6.009 J WConvMax 5.333 J
Ks 0.887 Ku 0.825 RConv 1.602 J
ERmax 0.737 VAWmin 1.357 TLoopMax 10.185 Nm

Mag curves..
Bm 2 T Bs 1.3 T Lau0 206.252 mH
Psim 716.542 mVs Psis 465.752 mVs Lu0 10.785 mH
im 11.523 A i_s 2.231 A Lss 1.134 mH
Xim 1 XLu 1 ETFCalc V5+Lss
X_Np 1 X_Lstk 1
dLu 4.546 mH dLau 2.484 mH a_ETF 1
L_min 15.331 mH L_max 208.736 mH Lmax/min 13.616
Pg 5.060E-03 mWb/At Lg 113.86 mH Ag 1172.45 mm^2

Electrical..
PsiMax 630.856 mVs ThQ 104.188 m
Th_X 80 m Th0_gen 75.813 m ThC_gen 100 m
RhoT 2.564E-08 ohm-m TFRho 1.488 ConvLoss 21.219 W
InnerAcc true IDC(pwr) 7.703 A

End of Design sheet------------------------------------------------------------
Page 20 Results * Design sheet PC-SRD 9.04 User's manual
The design sheet shows all the input and output design parameters of the motor and
drive, and their relevant units. Use the [8],[9] keys or the mouse to scroll
through the data. The help line displays information about the highlighted
parameter. If the help line is not visible, use the mouse cursor to select the
parameter. The output parameters are described in 3. Input and output parameters
have different colours, which can be changed using Design sheet | Options [F8].
Hard copy of the design sheet can be obtained using File * Print [Ctrl+P].
Alternatively, [Ctrl+C] can be used to copy the window to the clipboard. The design
sheet can also be saved to a text (.txt) or Rich Text Format (.rtf) file using
Design sheet * Save Design sheet.
The calculator [F4] accepts arithmetic expressions such as Power/746. For
parameters with names containing punctuation marks, use double quotes, e.g.
"%Dwell".
2.13 Custom design sheet
A custom design sheet can be set up by first creating a template file containing the
names of variables that are normally available in the standard design sheet,
together with user-defined expressions as in the design sheet calculator [F4] . The
custom design sheet can include complete pre-defined sections from the standard
design sheet.
The custom design sheet can be displayed whenever the main design sheet is
available. It has all the same features as the main design sheet including the
calculator [F4] and printing facilities.
To identify the custom design sheet file (*.DSS file) to PC-SRD, use Options|General.
The custom design sheet template file can be created or edited using a text editor.
Check the release disk for *.DSS files to see an example. It should have the
filename extension .DSS. It can contain 4 main types of formatting information:
plain text, predefined sections, standard variables and user-defined expressions.
Any number of template files may be created.
The syntax of the custom design sheet is described in the WinSPEED manual. The
custom design sheet can include whole sections from the normal design sheet by
entering the specific section name on a separate line in the .DSS template file.
The section names are those used in the design sheet, preceded by the @ symbol:
@DIMENSIONS
@WINDINGDATA
@CONTROLDATA
@CURRENTS
@PERFORMANCE
@IRONLOSSES
@SUPPLEMENTARYOUTPUT
@THERMALANALYSIS
@USERDEFINEDFORMULA
@STEADYSTATETHERMALMODEL
PC-SRD 9.04 User's manual Results * Design sheet Page 21
Fig. 20 Stator pole flux waveforms
2.14 Results | Graphs
After an Analysis such as Dynamic design, etc., several graphs are usually available
such as those in Figs. 8 and 9. When the graph window is active, the Graph menu
appears, with options such as [Z] (show zero), [G] (show grid), [L] (show legend),
[F8] (Options), [Ctrl+C] (copy to clipboard), Save graph data and Edit Graph. Note
that [Ctrl+C] simultaneously copies data in a numerical format that can be pasted
into a spreadsheet. Save graph data writes the data to a file.
Flux waveforms
The number of flux waveforms for stator poles is equal to the number of phases. The
number of flux waveforms for stator yoke sections depends on the number of poles and
phases. For example, in a three-phase 6/4 motor there are six stator yoke sections,
but there are only three different waveforms of stator yoke flux. After the first
three stator yoke sections, the waveforms repeat. The first three sections form a
"base sequence". PC-SRD plots the curves only for the base sequence. The number of
different flux waveforms for rotor poles and rotor yoke sections is determined in
a similar way.
The flux waveforms are normalized to the peak flux in one stator pole. They are
either "ideal" or "real", depending on the value of FluxWfms, (Ted/2). Ideal flux
waveforms are made up of straight line segments constructed geometrically from the
firing angles and the numbers of poles and phases, taking the winding polarities
into account. Real flux waveforms are constructed point-by-point from the actual
simulated flux-linkage waveform calculated during Dynamic design.
The file formats for flux and tooth radial force waveforms are given in the File
Formats manual.
Page 22 Tools * Realign mag curves PC-SRD 9.04 User's manual
Fig. 21 Realign mag curves
30 0 0
31
0.000E+0000 0.000E+0000
1.558E+0000 2.388E-0002
. . . . . . . . . . . . .
. . . . . . . . . . . . .
4.674E+0001 7.165E-0001
31
0.000E+0000 0.000E+0000
1.558E+0000 2.388E-0002
. . . . . . . . . . . . .
. . . . . . . . . . . . .
4.674E+0001 7.165E-0001
. . . . . . . . . . . . .
. . . . . . . . . . . . .
31
0.000E+0000 0.000E+0000
1.144E-0001 2.388E-0002
. . . . . . . . . . . . .
. . . . . . . . . . . . .
1.152E+0001 7.165E-0001
.mgc file format
2.15 Realign mag. curves
Realign mag curves converts mag. curve data in the external .mgc file format into the
internal .psi format used in PC-SRD. It is used when it is required to use external
mag. curve data, for example, from meaurements or finite-element calculations.
The .mgc file contains a series of curves, each of which is at a constant rotor
position. The example above is for 30 curves (i.e., 30 positions), starting with
the unaligned curve and ending with the aligned curve. Each curve contains 31
points. Within each of the 30 blocks, each line has a pair of numbers (i, ) in
order of increasing current at the same rotor position. This format is considered
convenient for FE data or measured mag. curve data. In contrast, the internal .psi
file format represents the curves at constant flux-linkage levels, because PC-SRD
uses flux-linkage as the independent variable. (See File Formats manual).
Realign can scale the (i,) data as it is read in. For example, if the psi-values
are in mV-s, enter an "adjustment factor" of 0@001 for so that PC-SRD will read
values in V-s. Another use of the scale factors is when you change the number of
turns per pole. For example, if you double the number of turns per pole, the -
values should be doubled (2) and the i-values should be halved (0@5). Again, if the
size of the motor is scaled up, you can apply appropriate scaling factors. In this
way the same set of mag. curves can be used to cover a range of designs.
Automatic addition of end-effects
It can add PC-SRDs internally-calculated end-effects during the conversion, so that
mag. curve data from 2D finite-element analysis can be modified for end-effects.
This provides a half-way-house between full 3D FE analysis and simpler 2D FE
analysis, which is generally not accurate for switched reluctance motors, especially
around the unaligned position.
End-effects are added as the data is read from the original .mgc file. They are
expressed as additional inductances computed in the most recent Dynamic design with
internal mag. curves. For each point there is a current i and a flux-linkage .
As is read from the .mgc file, it is scaled by the adjustment factor ScPsi; the
current is scaled by the scale factor Sci, and an additional flux-linkage is added
to account for end-turn inductance dL at the corresponding rotor angle:
Psi := ScPsi * X_Lstk * Psi + dL * (Sci * i)
The factor X_Lstk is a scaling factor for stack length. dL varies from dLu at the
unaligned position to dLau at the aligned position. These are displayed (together
with the method of end-effect calculation) in the dialog box, Fig. 21.
PC-SRD 9.04 User's manual Tools * Realign mag curves Page 23
Fig. 22 DC offset C ExtIfd and external mag. curve data
At intermediate positions between unaligned and aligned, PC-SRD uses an exponential
"roll-off" function to vary dL from the larger value dLu at the unaligned position
to the smaller value dLau at the aligned position. The "Roll off" can be adjusted
in Fig. 21, or by means of the parameter a_ETF which is in Ted/2.
If a_ETF = 1, the roll-off is nearly linear. If a_ETF = 10, the roll-off is sharp.
Fractional values (e.g. 0@1) can be used to get a straight roll-off, but zero is not
admitted. Probably the best value is about 1. This is not too sharp, but allows
the end-effects to fall off quickly between the tip-to-tip position (J in Fig. 71
on p. 103) and the unaligned position.
Re-alignment of external mag. curve data with DC offset
When dcOffset = true, external mag. curve data may be in the form shown in Fig. 22,
where i is the phase current and psi is the phase flux-linkage. Because of the DC
offset current ExtIfd, the flux-linkage values at zero current are non-zero. PC-SRD
cannot re-align this mag. curve data directly. It requires that every mag. curve
include the point (0,0), so that the set of mag. curves looks like an ordinary set
with origin OO instead of O.
During re-alignment, the point (0,0) is added to every mag. curve as it is read in,
and the current ExtIfd is added to every value of current in the file. This places
all the curves to the right of the origin OO by the amount ExtIfd. The offset
current ExtIfd must be included in the .mgc file on the first line: thus
NCurves ExtIfd
instead of
NCurves
The current ExtIfd (external Ifd) is referred to the phase winding using the turns
ratio described under IOffs in Ted/2; it is not the actual current in the DC
winding. If ExtIfd is zero or absent from the .mgc file, PC-SRD will assume that
it is zero, and the results will be unpredictable.
Page 24 Tools * Realign mag curves PC-SRD 9.04 User's manual
Re-alignment of nonsymmetric mag curves
When StepGap = Stepped and NonSym = true, the first line of the .mgc file must
contain iUC as well as ExtIfd and NCurves : thus
NCurves ExtIfd iUC
where iUC identifies the curve for the unaligned position (or the nearest curve
to the unaligned position).
Summary of re-alignment procedure
(a) Run PC-SRD with the main datafile for the motor whose mag. curves are to be re-
aligned, with ETFCalc set to the desired method and all other parameters
(including X_Lstk and X_Np) at their desired values, and with MagData = Froh
or UG98. (It doesn't particularly matter whether you run with internal or
external mag. curves: all you are doing here is calculating the values of dLu
and dLau, the end-turn "inductances").
(b) Execute the realignment procedure and check or edit the parameters in the
dialog box, Fig. 21.
(d) Run PC-SRD with MagData = Extl (external mag. curves) and the .psi file you
have just created (containing the re-aligned curves).
Note : PC-SRD also writes a file called Realignd.mgc which contains the re-aligned
mag. curves in the .mgc format. This data includes the scaling factors and the
end-turn adjustments, and corresponds exactly to the new .psi file, but it is in the
same format as the original .mgc data. If you have plotted those curves, perhaps
with software like a spreadsheet, this will make it easy to plot the new re-aligned
curves by the same method. The .mgc files can also be compared with mag. curves
calculated by PC-FEA, using Match MGC, [Ctrl+F11].
PC-SRD 9.04 User's manual Tools * Realign mag curves Page 25
3
PC-SRD fits straight lines OU and OS, and a parabola SA, and interpolates all other points.
Fig. 23 Adjusting the mag. curves. Simple finite-element calculations can be used to
adjust key points such as the three "magic points" U,S and A. See also Fig. 57.
2.16 Using finite-elements with PC-SRD
Finite-element results can be used with PC-SRD in three main ways:
A. To check particular points on the mag. curves, for example, the three "magic
points" U,S, and A in Fig. 23. With the simplest internal mag. curve models
PC-SRD calculates only the three points U, S and A.
3
These points can be
calculated quickly using FE analysis, and then adjusted via the adjustment
factors XLau, Xim, XPsim, XLu, etc. This approach is fast and efficient.
B. To calculate complete sets of external mag. curves for use with PC-SRD. This
requires many more finite-element calculations but is desirable when it is
necessary to study the intermediate mag. curves and their effect on the current
waveforms. If the finite-element calculations are 2D, PC-SRDs internally
calculated end-effect factors can be applied using the Re-align function.
C. The [F11] GoFER (p. 28) has a powerful set of analysis capabilities including
the ability to calculate with current in several phases at the same time. It
uses PC-FEA 5.5 and is compatible with the i-psi GoFER in PC-BDC.
Switching off the end-effects in PC-SRD
For comparison with 2D FE calculations, the end-effects can be switched off in PC-
SRD by setting ETFCalc = Off & Lss. This is legitimate when optimizing the shape
of a lamination, but the end-effects should be switched on again before running
Dynamic design or any other Analysis procedure.
The U,S,A points are important in the sense of confirming the boundary within which
the energy conversion loop will lie, and the more accurate they are, the less likely
it is that there will be an error in the basic sizing of the machine.
When adjusting the A point, it is advisable to try to arrange the FE solution so
that adjustments can be made via Xim rather than XPsim, because the core losses are
calculated from flux-densities derived from the corrected value of Psim and
therefore it is not advisable to vary XPsim far from 1.
Page 26 Finite-element links PC-SRD 9.04 User's manual
Fig. 24 Unimesh nodes in the outline editor appear only when the rotor is between the
unaligned [U] and aligned [A] positions. Set FELinkID = PCFEA.
Fig. 25 Unimesh GoFER. The Run button executes the original FEA-SR-MGC process
using PC-FEA 2. The PC-FEA button executes a similar process using the
latest version of PC-FEA.
2.17 Finite-element links [Ctrl+L] and [F11]
PC-SRD has two different kinds of finite-element link: an older one for fast,
automatic calculation of the mag. curves, and a newer one with additional GoFER
functions similar to those found in other SPEED programs.
1. Tools*GoFER (SRD Unimesh) [Ctrl+L]
The Unimesh GoFER is for automatic finite-element calculation of a single position
or for generating a complete set of mag. curves. Details are given in the PC-SRD
GoFER manual, but a summary is shown here, including the use of Match MGC to compare
the FE results with PC-SRD's mag. curves. The FE calculations are done by PC-FEA 2.
Step 1 setting up the Unimesh boundary nodes
Use the Unimesh tabbed page in the outline editor to adjust the distribution of
boundary nodes where necessary. The parameters are defined in 3 and Fig. 51.
Step 2 selecting the Unimesh GoFER option
The example uses the "USA points" option.
PC-SRD 9.04 User's manual Finite-element links Page 27
Fig. 27 Progress of the Unimesh finite-
element calculation
U
A
S
im
End-effect error
in FE result
Fig. 28 The USA points computed by PC-FEA are superimposed on PC-SRD's mag. curves
in Match MGC. The U point is computed at the same current im as the A
point; this current results from the particular choice of Bm. Likewise the
S point is defined by the choice of Bs.
Fig. 26 The link to PC-FEA displays the
location of the data files.
Some of the problem parameters can be
edited in the FESRD.INI file. Click on
the FELink line to edit this file.
Step 3 Running the PC-FEA MGC calculator
All three points are calculated automatically.
Step 4 Checking the results in Match MGC
The agreement between PC-FEA and PC-SRD is very good at the S and A points on the
aligned mag. curve, but there is a noticeable discrepancy at the U point because of
the end-effects (which are not switched off in the PC-SRD mag. curves in this
example). The tabbed page "Parameters" can be used to make adjustments (including
setting ETFCalc = Off & Lss). Run PC-SRD again with [Ctrl+2]to see the effect of
adjustments.
Page 28 Finite-element links PC-SRD 9.04 User's manual
Fig. 29 F11 GoFER : Single load-point
Fig. 30 The GDF editor. Adjustments can be made here to the boundary node
distribution, material assignments, excitation levels and other details
before passing control to the finite-element program.
2. Tools*GoFER (FE Link) [F11]
The [F11] GoFER uses PC-FEA 5.5 and is the standard method adopted with all the
other SPEED motor design programs. It is described in detail in the PC-SRD GoFER
manual. It creates a geometry definition file (.GDF) which has a published format
and is designed for users and third-party finite-element developers to create links
independently of the SPEED Laboratory. The standard FE link [F11] is described in
the WinSPEED manual. The .GDF file links efficiently to SPEEDs own finite-element
program PC-FEA 5.5. For more details about the PC-FEA finite-element program
itself, consult the PC-FEA manual.
Step 1 Create the GDF file [F11]
First complete a Dynamic design calculation with PC-SRD, [Ctrl+2]. Then select
Tools|GoFER|FE Link [F11]. The GoFER dialog will appear:
Select Single load point. Options [F6] are described in the PC-SRD GoFER manual. Use
Whole motor for the solution domain, with Stator tooth on x-axis. Click OK or press
[F11] again. The GDF Editor opens, Fig. 30.
PC-SRD 9.04 User's manual Finite-element links Page 29
Fig. 31 Finite-element mesh in PC-FEA using GDF link [F11]
Fig. 32 Single load-point flux-plot in PC-FEA using GDF link [F11],
with current in more than one phase.
Step 2 Run PC-FEA
Press [F11] again to run PC-FEA. When PC-FEA is run from the GDF editor, it starts
in the script window, where further adjustments can be made to the problem
definition, but at a more detailed level than in PC-SRD or the GDF editor. From the
script window, click Run or press [F11] to create the mesh, Fig. 31. Click Continue
or press [F8] to complete the solution, as shown in Fig. 32.

Page 30 Finite-element links PC-SRD 9.04 User's manual
Fig. 33 i-psi diagram with superimposed finite-element calculation from the
[F11] i-psi GoFER; end-effects applied
Fig. 34 i-psi diagram with superimposed finite-element calculation from the
[F11] i-psi GoFER; no end-effects applied to the finite-element data
The i-psi GoFER
The i-psi GoFER is selected in Fig. 29. The options, GDF Editor, PC-FEA script and
PC-FEA mesh windows are similar to those of the Single load point GoFER, and only
typical results are described here.
Fig. 33 shows the normal i-psi diagram after running the i-psi GoFER. In the Graph
menu, when this window is active, select Show FE i-psi loop. The example was run with
Regulate = iHi, and with rq_dLau = 0 and rq_dLu = 0, which causes PC-SRD to apply
its own end-effect factors to the 2D finite-element data. Fig. 34, on the other
hand, was run with rq_dLau = rq_dLu = 0@0001, which effectively disables the
addition of end-effect factors to the finite-element data. A third option is to run
PC-SRD with ETFCalc = Off & Lss, which removes the end-effects from PC-SRD,
permitting a comparison of pure 2D calculations from both programs.
PC-SRD 9.04 User's manual Finite-element links Page 31
Fig. 35 i-psi diagram with finite-element calculation from the [F11] i-psi
GoFER; no end-effects are applied to the finite-element data
Fig. 36 Flux-linkage waveform with finite-element calculation from the [F11]
i-psi GoFER; no end-effects are applied to the finite-element data
After running th i-psi GoFER, Tools|FE Results|IPL viewer can be used to open the graphic
windows in Figs. 35 and 36. These windows are in the classic style of the MatchFE
window in PC-BDC, and they have a similar function : to compare PC-SRD's calculation
with the finite-element calculation. No end-effects are applied to the finite-
element data, so it is possible to compare only the 2D part of PC-SRD's calculation
and this can be done by setting ETFCalc = Off & Lss.
While Fig. 35 shows the complete i-psi loop, Fig. 36 shows the flux-linkage
waveform (plotted vs. rotor position).
In this example, only Phase 1 is conducting. However, it is possible to perform
this calculation with current in the other phases, and also to display the i-psi
loops of the other phases in Fig. 36. This is described in the PC-SRD GoFER manual.
Page 32 Fully-pitched windings PC-SRD 9.04 User's manual
4
Note: SPEED does not have any commercial interest or research programs in this field: these aspects
should be pursued directly with the patentholder. The calculations in PC-SRD are based entirely on the
composite phase concept, as used previously in connection with short fluxpaths. The composite phase
is a physically derived concept, based purely on the physical distribution of ampere-turns: its
implementation in PC-SRD is based solely on this principle and does not use the matrix theory in this
section (originally published as a release note with PC-SRD 6.95 in June 1998). The matrix theory is
included here as an alternative viewpoint, to help express the composite phase in the correct context
with respect to the original work of [13].
Fig. 37 Conventional short-pitched
winding with 2 coils/pole in series;
i.e., Paths = 1. Each coilside occupies
only of the slot area. The ampere-
conductor distribution shown here lasts
for 30E in a 6/4 or 15E in a 12/8; i.e.,
60E elec.
Fig. 38 Fully-pitched winding with 2
phases conducting. The particular
ampere-conductor distribution shown here
is represented by a single composite
phase that conducts for 30E in a 6/4 or
15E in a 12/8; i.e., 60E elec., but the
individual phase currents are maintained
for twice this, i.e., for 120 E elec.
2.18 Fully-pitched windings
PC-SRD can model one of the configurations of fully-pitched windings (fpw) described
by Dr. B. Mecrow in Ref. [13] and U.S. Patent 5545938.
4
The particular
configuration is the one corresponding to "excitation A" in Ref. [13], that is, 2
phases conducting for 2/3 of a cycle with unipolar currents. Because PC-SRD models
only one phase at a time, it treats the fpw configuration internally as a single
composite phase connected as shown in Fig. 2, with both the dotted and the solid-
line coils connected together in parallel. It is restricted to 3-phase motors that
are eligible for this winding configuration, notably the 6/4 and the 12/8. The
fully-pitched winding option is selected by setting FluxPths = fpw.
The numbers of coils/phase, coils/pole, and turns/coil remain the same as in the
conventional short-pitched winding (spw). In the 6/4 machine, two Np-turn coils
occupy the same slots and the end-windings are laid in opposite directions, making
a double-layer winding. The normal configuration of pole-coils assumed by PC-SRD is
shown in Fig. 38, with Paths = 1, i.e., all coils in series.
The i-Psi diagram is plotted with the composite phase current i
A
; text files
containing current waveforms also contain this current. However, several parameters
in the design sheet and the template editor refer to only one of the two phases in Fig. 39
(such as phase c shown in solid line). These parameters are prefixed with "fp":
for example fpIWrms is the r.m.s. winding current in one of the two fully-pitched
phases in Fig. 2. At low speeds, it is assumed that the current-regulators keep the
two phase currents equal at all instants, as indicated by the separate current-
sensor symbols in Fig. 2. At high speeds, if the currents are not chopped, they
cannot be assumed equal and the results will be meaningless.
Simplified account of the fully-pitched winding
In the normal operation of a 3-phase switched reluctance motor, each phase winding
occupies about 1/3 of the available slot area and at low speed it conducts for only
about 1/3 of the time. The simplest notion of fully-pitched windings is to replace
the ampere-conductors of each original phase by a distribution of ampere-conductors
from 2 phases wound with fully-pitched coils. The particular scheme described in
[13] does this in such a way that the whole area of each slot is used for 2/3 of the
PC-SRD 9.04 User's manual Fully-pitched windings Page 33
Fig. 39 Creating a fully-pitched
coil of 2N
p
turns from
the two short-pitched
N
p
-turn coils of a
normal phase winding.
W
Cu
' R
c
I
2
A
N
ph
'
R
ph
2
(I
a
2)
2
N
ph
' R
ph
I
2
a
N
ph
. (3)
time (i.e., 120E conduction instead of only 60E). If the current-density and copper
cross-section were kept the same, the MMF/pole would increase by a factor of 2.
However, the copper losses within the slots would also increase by a factor of 2.
To retain the same copper losses, the phase current must be reduced by the factor
1//2, but even so the MMF/pole is still increased by /2.
Because the fully-pitched windings have longer end-turns, the phase resistance is
increased by a certain ratio f
R
, so that for equal copper losses the phase current
must be reduced by 1//(2 f
R
)
.
The factor f
R
depends on the L/D ratio of the motor
and on the number of poles, and decreases towards unity as the L/D ratio increases.
If f
R
is greater than the "break-even" value of 2, any gain in MMF/pole will be at
the expense of increased copper losses. The value of f
R
is calculated and displayed
as fpRR.
A fully-pitched coil can be formed from two
short-pitched coils by "dragging" one
coilside from each pole-coil to a position
180 Eelec away to create a single coil of
180E pitch, with 2N
p
turns in series. The
wire size, the slot-fill factor, and the
number of turns in series per phase remains
the same. See Fig. 3.
The resistance of the fully-pitched coil
increases only as a result of the increase
in end-turn length; its value is 2f
R
R
coil
,
where f
R
> 1 is the ratio of mean turn-
length in the fpw and spw coils, and R
coil
is the resistance of one short-pitched
coil. In Fig. 2 or Fig. 3, with only one
fully-pitched coil per phase, R
ph
=
2f
R
R
coil
. In general with N
s
stator poles
and N
ph
phases, there will be N
ss
/2 =
N
s
/N
ph
/2a coils in series per phase, where
a is the number of parallel paths, and R
ph
= f
R
N
ss
R
coil
. For the SPW winding, there
are N
ss
coils in series per phase and R
ph
= N
ss
R
coil
. Therefore all the increase in
R
ph
in the fpw winding is due to the increase in mean turn-length, provided that the
turns are as shown in Figs. 1 and 2.
The composite phase is made up of two fully-pitched coils in parallel, Fig. 2. The
effective resistance is R
c
= R
ph
/2. The r.m.s. current I
a
in one fully-pitched coil
is
The /2 multiplying factor comes from the fact that one fully-pitched phase
contributes to two composite phases; in one electrical cycle it carries two pulses
of current, normally operating for 2/3 of a rotor pole-pitch instead of only 1/3.
The factor comes from the antiparallel connection, such that each fully-pitched
phase carries only half the current of the active composite phase.
The total copper loss and the current density in the copper are given by
and
The composite phase in Fig. 2 is magnetically equivalent to the SPW phase in Fig.
1. It has the same inductance except for the increased end-winding inductance in
the fpw coils. With nonlinear steel, this property is unaltered, and all the PC-
SRD parameters, Lu, Lau, im, Psim and Psis are identical for the spw phase and the
composite phase in Figs. 1 and 2. Moreover, 1A in the composite phase produces
exactly the same MMF/pole and exactly the same flux-pattern with the same flux-
densities, as it does in the spw phase in Fig. 1. With the same voltage source, if
the conduction angle in the composite phase connection is the same as for the normal
I
a
' 2
1
2
I
A
' I
A
/ 2 (2)
J ' I
a
/A
cond
(4)
Page 34 Fully-pitched windings PC-SRD 9.04 User's manual
5
The current-regulator set-point iHi refers to the current in one fully-pitched coil, and not in the
terminal leads to the composite phase since these are fictional. PC-SRD assumes that the individual
fully-pitched phase currents are switched and regulated independently; the composite phase connection
is therefore an effective or virtual connection, not a physical one. For equal copper losses iHi must
be reduced by the factor 1//(2f
R
) compared to the value used with the SPW winding.
2N
p
i
1
' 2N
p
i
a
& 2N
p
i
b
& 2N
p
i
c
(5)
i
1
' i
a
& i
b
& i
c
(6)
i
1
i
2
i
3
'
1 &1 &1
&1 1 &1
&1 &1 1
@
i
a
i
b
i
c
(7)
Fig. 40 Orientation
of phases
and pole
fluxes
phases in the spw machine, with the same current-limit, then the torque/speed
characteristics of the two machines in Figs. 38 and 39 will be identical, apart from
the effect of end-turn inductance and the increase in resistance represented by f
R
.
These values are not the same for the fully-pitched phases a,b,c. 1A of composite
phase current requires only A of fully-pitched phase current, but since this flows
in 2N
p
turns/pole and two phases are conducting at once, the MMF/pole is the same
as with 1A flowing in two N
p
-turn spw coils.
PC-SRD displays the parameters Lu, Lau, im, Psim and Psis for the composite phase
and not for the individual fully-pitched phases. The reason for this is to make it
easier to see the essential difference between the fpw and spw machines, conferring
the same advantages as a good per-unit system would: that is, to show that the
fundamental behaviour is independent of the number of turns and really only depends
on the quantities of copper and iron and the degree to which they are worked (i.e.,
the electric and magnetic loadings).
PC-SRD also displays the i-Psi diagram (energy-conversion diagram) in terms of the
composite-phase current and flux-linkage. The composite phase comprises two
"component" fully-pitched phases that are temporarily in parallel and therefore have
the same flux-linkage as each other, both being equal to the flux-linkage
A
of the
composite phase; see eqn. (46) below. On the other hand the instantaneous composite
phase current is the sum of the currents in the two component fully-pitched phases;
since these are assumed to be equal, the instantaneous composite phase current is
twice the instantaneous current in each fully-pitched component phase; see eqns.
(31!32) below.
5
Relationships between windings expressed by connection transformations
The relationships between the SPW phases 123 and the FPW
phases abc can be expressed by connection matrices, as
indicated by Mecrow in Ref. [13]. The matrix equations
can be extended to include the composite phases, as
shown here. For the simple cases modelled in PC-SRD,
the matrix equations do not add any new understanding.
They are included here so that comparisons can be made
with Mecrows papers, in which different numbers of
turns per phase were used, giving different matrix
coefficients. The matrix equations would be useful in
future if the PC-SRD model is extended to some of the
more complex cases described by Mecrow.
The reference locations and orientations of the fully-
pitched phases are shown in Fig. 41, together with the
directions of the pole fluxes
1
,
2
,
3
, which are
aligned with spw phases 1,2,3 respectively (see Fig.
38, which shows spw phase 1).
Since spw phase 1 links only flux
1
flowing in the
poles at 12 oclock and 6 oclock, evidently
i.e.,
Repeating this for spw phases 2 and 3, we get
PC-SRD 9.04 User's manual Fully-pitched windings Page 35
i
a
i
b
i
c
'
0 & &
& 0 &
& & 0
@
i
1
i
2
i
3
(9)
[i
abc
] ' [C]
&1
@[i
123
] (10)
[i
123
] ' [C]@[i
abc
] (8)
[R
abc
] ' [C]@[R
123
] . (15)
2N
p
i
c
' & N
p
i
1
& N
p
i
2
(11)
i
c
' &
1
2
i
1
&
1
2
i
2
(12)
Fig. 41 Formation of
fully-pitched coil
from short-pitched
coils.
R
a
R
b
R
c
'
1 &1 &1
&1 1 &1
&1 &1 1
@
R
1
R
2
R
3
(14)
R
a
' 2N
p
M
1
& 2N
p
M
2
& 2N
p
M
3
' R
1
& R
2
& R
3
(13)
which can be written
where [C] is the 33 matrix in eqn. (27) and [i
123
] and [i
abc
] are column vectors.
The inverse of eqn. (28) is
which can be written
Another way of looking at the equivalence between the fully-
pitched and short-pitched windings is shown in Fig. 42. The
"go" and "return" coilsides of the coils in spw phases 1 and
2 are bunched together and assigned to fpw phases abc
according to the following table:
SP
Phase
Coil Go Return
1 1 !c +b
1 2 !b +c
2 1 !a +c
2 2 !c +a
Evidently
giving
and likewise for i
b
and i
c
. These relationships concur with eqns. (30) and (31).
For the flux-linkage, by inspection from Fig. 40 or Fig. 41,
and for all three fpw phases
which can be written
Page 36 Fully-pitched windings PC-SRD 9.04 User's manual
' &i
b
& i
c
'
i
1
i
3
2

i
1
i
2
2
' i
1

i
2
i
3
2
' i
1
& i
a
' (23)
[v
123
] ' [Z
123
][i
123
] (18)
[v
abc
] ' [C]
!1
[v
123
] ' [Z
123
][C][i
abc
] (19)
[i
123
]
t
[R
123
] ' [[C] [i
abc
]]
t
[C]
&1
[R
abc
] ' [i
abc
]
t
[C]
t
[C]
&1
[R
abc
]
' [i
abc
]
t
[R
abc
] .
(17)
[v
abc
] ' [C]
!1
[Z
123
][C][i
abc
] ' [Z
abc
][i
abc
] (20)
[Z
abc
] '
Z
1
Z
2
Z
3
!Z
1
!Z
2
Z
3
&Z
1
Z
2
!Z
3
!Z
1
!Z
2
Z
3
Z
1
Z
2
Z
3
Z
1
!Z
2
!Z
3
&Z
1
Z
2
!Z
3
Z
1
!Z
2
!Z
3
Z
1
Z
2
Z
3
.
(21)
R
a
' (L
1
L
2
L
3
) i
a
(!L
1
!L
2
!L
3
) i
b
(!L
1
L
2
!L
3
) i
c
(22)
R
A
' 2N
p
M
1
2N
p
M
2
& 2N
p
M
3
' R
1
R
2
& R
3
. (25)
[i
ABC
] ' [i
123
] , (24)
The inverse is
and the power invariance of the transformation is established by
The impedance transformation can be derived as follows. Given that
where [Z] is the diagonal matrix diag{Z
1
,Z
2
,Z
3
}, we can substitute for [i
123
] from
eqn. (28) and use eqn. (36) to transform [v
123
] into [v
abc
] : thus
Premultiplying by [C]
-1
, we get
where [Z
abc
] is the non-diagonal matrix
Z can represent the resistance or in fact any impedance operator, and if flux-
linkage is substituted instead of voltage, it represents inductance. Thus one can
write equations of the form
where all the inductances are functions of rotor position : L
1
=L
1
(), L
2
=L
2
(),
and L
3
=L
3
(). They are also functions of all three currents, which makes the
solution very complicated. This equation identifies the relative size of the mutual
inductances between fpw phases a,b,c; and it can easily be interpreted physically
in terms of the linkages arising in Fig. 41 when each of the respective fpw phases
is excited in turn. The foregoing theory shows that the fpw phases can be replaced
by a set of spw phases with a diagonal inductance matrix, indicating that there is
no magical discovery of "additional torque from mutual inductance". The analysis
can be carried out in either reference frame, fpw or equivalent spw; mutual
inductances appear in the former but not in the latterwhich is why Mecrow himself
used the transformation to an equivalent spw winding. The practical advantages of
the scheme fundamentally have nothing to do with mutual inductance between phases,
but arise from possible improvements in the utilization of the copper as a result
of its rearrangement and reconnection.
Composite phase currents and flux-linkages
If only two fpw phases are excited at any time, we can write equations of the form
in which the reference-frame transformations have been used to pass between [i
abc
]
and [i
123
]. Thus
provided that only two FPW phases are excited at any time. For the flux-linkage,
[R
123
] ' [C]
&1
@[R
abc
] (16)
PC-SRD 9.04 User's manual Fully-pitched windings Page 37
[i
abc
] '
1
2
[C][I
abc
] '
& &
& &
& &
@
i
a
i
b
i
c
(30)
[i
123
] '
1
2
[C][C][i
abc
] '

3
2
&
1
2
&
1
2
&
1
2

3
2
&
1
2
&
1
2
&
1
2

3
2
@
i
a
i
b
i
c
(31)
R
A
' & R
c
' & R
b
' R
1
. (26)
L
A
' L
1
. (28)
With only two fpw phases excited, only one composite phase is excited and
2
=
3
= 0, from which
and
The equality of
b
and
c
reflects the parallel connection of fpw phases b and c.
Without going through an impedance transformation (which is trivial) it is clear
from eqns. (43) and (46) that the inductance of any composite phase is equal to the
inductance of the corresponding spw phase, for example
This confirms the result which was derived earlier by physical arguments.
More generally, if current is allowed to flow in all three fpw phases,
the inverse of which is
or
However, it is not obvious that a unique or unambiguous transformation can be
derived for the flux-linkages of the composite phases, and this aspect remains to
be investigated. It becomes important only if we want to model cases where all
three fpw phases are excited at the same time.
[i
ABC
] ' 2[C]
&1
[i
abc
] ' 2[C]
&1
[C]
&1
[i
123
] '
1
1
1
@
i
1
i
2
i
3
(29)
[R
ABC
] ' [R
123
] . (27)
Page 38 Multi-stroke transient simulations PC-SRD 9.04 User's manual
Fig. 42 Basic structure of multi-stroke simulation in PC-SRD. The
probe points 1,2... are selectable test points that can
be assigned to the parameters PX and PY in Ted/2. They
are listed in Table 2.
Fig. 43 Multi-stroke load model
2.19 Multi-stroke transient simulations
The basic structure of the model is shown in Fig. 43. In the middle, the block labelled "SR motor and
drive" includes the power electronic converter and the SR machine. This block represents the
single-stroke model used in DYNAMIC DESIGN. Its control parameters are the currents iU and iL, which
define the upper and lower limits of the hysteresis band of the current-regulator, and the firing angles
Th0 and ThC.
The basic control model is a velocity loop in which the set-point currents iU and iL are derived from
the speed error via a PID controller, Figs. 43 and 45. The output of the PID current regulator is limited
to iHi and passed to the drive model. (Multistroke parameters are in Courier font).
The speed error is the parameter wmErrHold which is the output of a sample-and-hold block that has
a sampling interval tY. The analog signal representing shaft speed is obtained from the motor model
in two stages. First, the mechanical equations of motion are integrated to get the angular velocity T
m
and the rotor position 2. The load torque can be modelled in a variety of ways as shown in Fig. 44. The
position signal is processed by an encoder model and a speed estimator, Fig. 43, before being subtracted
from the set-point or reference speed rmpR to give the speed error.
The firing angles Th0 and ThC are derived from the speed error if the actual speed rpm is less than
rpmX; or from the actual speed if rpm > rpmX. In both cases there is provision for variation of firing
angles; see Figs. 46!48.
PC-SRD 9.04 User's manual Multi-stroke transient simulations Page 39
Fig. 44 PID current-regulator in Multi-stroke transient
simulation model
Fig. 45 Firing angles computed from actual speed (when rpm < rpmX)
Fig. 46 Firing angles computed from speed error (when rpm > rpmX)
Page 40 Multi-stroke transient simulations PC-SRD 9.04 User's manual
TimingIn MULTI-STROKE TRANSIENT SIMULATION, PC-SRD uses a variable integration step-length. The
integration is with respect to time, not angular rotation as in ordinary DYNAMIC DESIGN. The time-step
varies according to the speed. The initial time-step dt is made equal to d2/T
i
, where T
i
(rad/s)
corresponds to the initial speed rpm in Ted, and d2 = 0.2 deg. If the speed increases above rpm, the
time-step is adjusted to d2/T, where T is the actual speed in rad/s.
An encoder cycle is the period between two encoder pulses. The number of encoder pulses per revolution
(PPR) is Enc. If Enc = 0, the encoder resolution is taken to be infinite and the encoder cycle is then equal
to one integration timestep. Otherwise, the integration timestep is adjusted so that there are at least 100
integration steps in one encoder cycle at the higher of the two speeds rpm and rpmR. No adjustment
is necessary unless the encoder PPR is greater than 18. If the encoder PPR is large (e.g. 1000) the
simulation will be considerably slower and may become less accurate.
At the end of each encoder cycle, the following calculations are made:
! A digital estimate of the speed T
mEnc
is formed from the encoder pulse-train. To approximate the
average time-interval over the previous ZEnc pulses, the sum of the most recent ZEnc time intervals
is estimated as
where dt is the most recent time-interval between encoder pulses and T
ZEnc!1
is the value of T
ZEnc
from
the previous encoder cycle. The digital speed estimate is obtained from the equation
where "
Enc
is the encoder pitch. The time dt is counted as an integral number of integration timesteps
and PC-SRD does not reverse its integration to seek the exact time when an encoder pulse is received.
That is why the integration step is adjusted at the beginning, so that there are always at least 100
integration steps per encoder pulse, and the time-discretization error is small. However, the mis-match
between the arrival of every encoder pulse and the end of the most recent integration timestep is
estimated and carried forward to the next encoder pulse interval, where it is used to correct the next
value of dt. In this way, the time-discretization error is prevented from accumulating.
Note that the true speed is also available to PC-SRD from the integration of the differential equations,
and this is plotted as a continuous red line. The digital estimate is intended to model the operation of
a digital controller, and it is plotted as a stepped green line.
At the beginning of a simulation, the number of encoder pulses builds up from zero to ZEnc. During this
period T
mEnc
is estimated from the equations
where NEnc is the number of encoder pulses so far received. When NEnc reaches ZEnc, the full
averaging formula takes over.
! The per-unit speed error is evaluated as
where T
mRef
is the reference angular velocity (= 2B rpmR/60 if no external reference speed waveform
file is specified).
There are two other timing intervals besides the encoder cycle. tX is the sample-and-hold period for
updating the firing angles. tY is the sample-and-hold period for updating the speed feedback loop. tX
and tY are in milliseconds.
At the end of every hold period tX, the firing angles are adjusted. The adjustments depend on the
firing-angle algorithm selected. If Braking = None, the alogrithms are as follows:

mErr
'

mRef
!
mEnc

mRef
T
NEnc
' T
NEnc ! 1
dt and
mEnc
'
NEnc
Enc
T
NEnc

mEnc
'
ZEnc
Enc
T
ZEnc
T
ZEnc
'
ZEnc ! 1
ZEnc
T
ZEnc ! 1
dt
PC-SRD 9.04 User's manual Multi-stroke transient simulations Page 41
Fig. 47 Multistroke variation of firing angles
" The turn-on angle is adjusted to Th0 + X . (Th0R ! Th0),where X = (T
mEnc
! T
i
)/T
mRef
!T
i
) and T
i
is the initial angular velocity (= 2B rpm/60). If T
mEnc
> T
mRef
+ [T
mRef
! T
i
], the turn-on angle
is fixed at Th0R. In other words, between T
i
and 2T
mRef
!T
i
the turn-on angle is adjusted linearly
with speed. If T
mRef
> T
i
(rpmR > rpm) then Th0R will usually be less than Th0: i.e., the turn-on
angle will be advanced linearly with increasing speed. To operate with a fixed turn-on angle, set
Th0R = Th0. See Fig. 6.
" The turn-off angle is adjusted to ThC + X . (ThCR ! ThC). If T
mEnc
>T
mRef
+ [T
mRef
! T
i
], the
turn-off angle is fixed at ThCR. In other words, between T
i
and 2T
mRef
! T
i
the turn-off angle is
adjusted linearly with speed. If T
mRef
> T
i
(rpmR > rpm) then ThCR will usually be less than
ThC: i.e., the turn-off angle will be advanced linearly with increasing speed. To operate with a
fixed turn-off angle, set ThCR = ThC. See Fig. 6.
If any Braking mode is selected,
the firing angles are set to Th0B
and ThCB whenever the speed
exceeds the reference speed. At the
end of every hold period tY, the
speed loop is updated. The
adjustments depend on the braking
mode selected, as follows.
(i) The upper limit of the
hysteresis-band of the
current-regulator (iU) is
adjusted according to the
value of T
mErr
(see Fig. 49) :
T
mErr
< 0 No braking iU = 0
Linear braking iU = GProp T
mErr
Hard braking iU = iHi

(ii) The set-point current iU is augmented by an integral term and a derivative term forming a full
PID controller as defined below. For braking, the output of the PID controller is negated and
applied to the motor at the braking firing-angle settings.
(iii) The lower limit of the hysteresis-band (iL) is adjusted to iU!h, where h is the hysteresis band
parameter HB in Amperes. Both iU and iL have a lower limit equal to 0.01 iHi.
(iv) The sum of the current-demand signals is limited (clipped) to iHi before being passed to the
current-regulator.
Note that if T
mEnc
< T
mRef
, an accelerating torque is needed. If T
mEnc
> T
mRef
, a decelerating
torque is needed. The changeover from accelerating torque to decelerating torque cannot be achieved
by linear current control, as it can in DC or vector-controlled AC motors. This is because the torque of
the SR machine is not proportional to current, and negative phase current is not admitted. The direction
Page 42 Multi-stroke transient simulations PC-SRD 9.04 User's manual
Fig. 48 Proportional and integral
current gains
of the torque can be changed only by changing the firing angles.
The speed must remain positive, otherwise PC-SRD will halt and display an error message.
The updated values of the current set-points and the control angles are used immediately in the next
integration step: i.e., no additional transport delays are modelled.
PID controller
A digital implementation of a PID controller is
simulated. The controller includes
anti-windup in the integral term and
limitation of derivative gain. The PID
controller produces a reference signal < =
PIDSum for the current regulator. < is the sum
of a proportional term, an integral term, and a
derivative term, all derived from the current
estimate of the speed error wmErrHold (Fig.
45).
Although Figs. 43 and 45 show a current
regulator, PC-SRD substitutes a duty-cycle
regulator when the control mode is voltage
PWM.
The proportional term RefProp is equal to
the gain GProp multiplied by the per-unit speed error held by the sample-and-hold tY: T
mErr
=
wmErrHold: thus RefProp = GProp wmErrHold.
The integral term RefInt comprises a straight integral term plus an anti-windup term: thus RefInt
= IntwmErr ! AntiWD tY <. IntwmErr is updated at the end of each controller sampling interval
tY. Thus IntwmErr := IntwmErr + GInt tY wmRef wmErrHold.
The anti-windup term is necessary to prevent the integral from ramping past the regulator "saturation
limits". If the regulator is in current regulation mode, these limits are 0 and iHi. If the regulator is in
voltage PWM mode, the limits are the extreme duty-cycles 0 and 1. The anti-windup term is implemented
by generating an error signal between the PID controller output < and the regulator output u, and
feeding this error back into the integral term through a feedback gain AntiWD, Fig. 45.
PC-SRD 9.04 User's manual Multi-stroke transient simulations Page 43
Fig. 49 Bode plot for the derivative term of the PID controller with GDrv =
0.04 (!28 dB) and DFreq = 1000 rad/s. It shows the phase lead (90E)
for frequencies much less than DFreq, and the levelling-off of the
gain at frequencies above this value.
The integral term is therefore dependent on the controller output, PIDsum:
PIDsum <= 0 RefInt = IntwmErr ! AntiWD tY PIDsum
0 < PIDsum < iHi RefInt = Intwmerr
PIDsum > iHi RefInt = IntwmErr ! AntiWD tY ( PIDsum - iHi )
In the above table, iHi is replaced by 1 if the control mode is voltage PWM.
The derivative term incorporates a low-pass filter to remove the problem of high gain at high
frequencies. Its transfer function is
where s is the Laplace operator; T
d
is the time-constant of the low-pass filter characteristic, and N is the
maximum derivative gain. The Bode plot of the gain and phase for this transfer function is shown in
Fig. 50. At frequencies above DFreq, the phase delay approaches zero and the gain reduces. This is
necessary, because in a pure derivative term the gain increases with frequency, causing problems with
high frequency noise.
The derivative term is implemented digitally with the following equation
IRefDeriv = a IRefDeriv + b (wmEnc ! wmEncOld)
where wmEncOld is the value of wmEnc at the previous sample (tY milliseconds before), and a and b are
defined as follows; [see Astrm, K. J. and Steingrimmson, H., 'Implementation of a PID controller on a
DSP', in Ahmed, I. (ed.), 'Digital Control Applications with the TMS320 Family', pp 205-215, published by
Texas Instruments, 1991]:
Td = GDrv / DFreq
a = Td / (Td + GDrv tY)
b = GProp GDrv a.
The currents and the instantaneous torque are calculated by the same algorithms as those used in
single-stroke DYNAMIC DESIGN, and are subject to the same approximations when INTERNAL MAG CURVES
are used. For accurate results, EXTERNAL MAG CURVES should be used.
sT
d
'
sT
d
1
sT
d
N
Page 44 Multi-stroke transient simulations PC-SRD 9.04 User's manual
Control modes Chopping at low speed and Single-pulse at high speed
At speeds below rpmX, closed-loop speed control is effected by the current-demand signals iU and iL
in Fig. 43, or by the equivalent duty-cycle reference signals if voltage PWM is selected. These are
generated by the proportional-gain and integral-gain blocks from the per-unit speed error wmErrHold.
In this mode, the firing angles are determined as shown in Figs. 4 and 6, depending on the braking mode.
At speeds above rpmX, closed-loop speed control is effected by varying the firing angles according to
the speed error, Figs. 43 and 47. The reference or set-point values of the firing angles are taken from Fig.
48 at each speed, and then a variation is added depending on the speed error. The variation is
proportional to the per-unit speed error and the gain [in mechE or elecE per unit of speed error] is GTh0
for the turn-on angle, and GThC for the turn-off angle. Only proportional gain is simulated; there is no
integral- or derivative-gain term. If the speed error is positive (i.e. the speed is less than the reference
speed), then if GTh0 and GThC are positive the firing angles will be advanced. Otherwise they will be
retarded.
The dynamic values of the turn-on and turn-off angles are limited to a minimum value of zero mech or
zero elec (corresponding to maximum advance). The limit cannot be varied.
True open-loop operation may be simulated by setting GiHi = 0 and GTh0 = GThC = GInt = GDrv =
AntiWD = GAcc = GVel = 0. In this case, the current-limit is still active at the value iHi, but no
parameters will be varied in response to the speed error.
Long simulations
Use the following facilities to view long simulations:
csr1 and csr2 are two "cursors" that switch "plotting" on and off, so that only a fraction of the total
simulation is plotted. They must be set between 0 and 1, with csr1 < csr2.
NSkip causes PC-SRD to plot every n'th integration step, where n = NSkip.
The zoom facility in the graph-plotting permits further detailed inspection of the waveforms.
Braking
Three braking modes are provided. The selection is made with the Braking parameter.
No Braking This is single-quadrant operation. If the speed exceeds the reference speed rpmR,
the current-demand signal is reduced to 0.01 iHi (Fig. 49), but the firing angles
remain on the straight-line locus shown in Fig. 48. The PID controller remains
operational but any negative speed error is ignored. The integral gain term is
prevented from ramping up by the anti-windup algorithm.
Linear
Braking
The firing angles are set to Th0B and ThCB when the speed exceeds rpmR (Fig.
48). The output from the PID controller is negated and applied to the regulator at
the braking firing angles. Hard chopping is automatically activated.
Hard Braking The firing angles are set to Th0B and ThCB when the speed exceeds rpmR (Fig.
48). The output of the proportional term in the PID controller is set to iHi (or 1 if
voltage PWM is selected). Hard chopping is automatically activated.
Load torque variation with position
Certain loads, e.g. compressors, peristaltic pumps, etc., impose a torque that varies widely during one
revolution. PC-SRD can model such a load torque via an external ASCII data file containing the value
of the load torque as a function of rotor position. Note that the variable torque will be added to the fixed
load torque TL. The format of the ASCII load-torque file is given in 5.1.
PC-SRD 9.04 User's manual Multi-stroke transient simulations Page 45
Fig. 50 Reference speed
The reference speed waveform
After the load torque waveform is specified, PC-SRD prompts for a reference speed waveform file (5.1).
If the reference speed waveform file is skipped, the simulation will be a step increase of speed from rpm
to rpmR. T
mRef
is the dynamically varying reference speed (Fig. 9) obtained from the external reference
speed waveform file; or, if this file is skipped, from rpmR.
Load model
As shown in Fig. 44, XTL multiplies the total load torque, which is the sum of the constant parameter
TL and any external load-torque read from an ASCII file. The ASCII-file load torque is applied after the
time delay tLT, which must be specified in seconds. The load inertia JL must be in kg-m
2
if units are
metric, and in oz-ft-s
2
if units are inches.
Page 46 Multi-stroke transient simulations PC-SRD 9.04 User's manual
Probe locations
0 Disconnected
1 wm Speed, rad/s
2 wmEnc Speed estimate
3 wmErr Speed error
4 wmErrHold Speed error sample
5 RefDeriv Current setpoint contributed
by derivative gain term
6 RefProp Current setpoint contributed
by proportional gain term
7 RefInt Current setpoint contributed
by integral gain term
8 iU Upper limit of hysteresis band
of current setpoint
9 wmEncHold Sample of speed estimate
10 Th0 Turn-on angle
11 ThC Turn-off angle
12 Tshaft Shaft torque
13 Load torque Load torque
14 Iron torque Torque representing iron loss
15 W&F torque Windage and friction torque
16 dTh_Enc Angle between encoder pulses
17 Enc Pulse Encoder pulse count
18 Angle Rotor position, rad
19 Angle Rotor position, deg
20 i1 Phase 1 current
21 i2 Phase 2 current
22 i3 Phase 3 current
23 i4 Phase 4 current
24 i5 Phase 5 current
25 Psi1 Phase 1 flux-linkage
26 d1[1] Phase 1 transistor duty-cycle
d
1
27 d2[1] Phase 1 zero-volt-loop duty-
cycle d
2
28 d3[1] Phase 1 freewheel duty-cycle
d
3
29 CDuCy Current-regulator duty-cycle
30 rpmRef Reference speed
31 AngleRef Not used
32 Angle_Err Not used
TABLE 2
PROBE LOCATIONS
PC-SRD 9.04 User's manual Definition of parameters Page 47
3. Definition of parameters
Parameter definitions are grouped by the operations where they are first seen:
3.1 Input parameters first seen in the outline editor
3.2 Unimesh parameters
3.3 Input parameters first seen in Ted
3.4 Output parameters first seen in the design sheet
Parameters are described roughly in the order in which they appear in each section. Units are default
units. For dimensions see the Reference Figures in 3. Default values are enclosed in brackets {} or
underlined.
Page 48 3.1 Input parameters|Outline editor PC-SRD 9.04 User's manual
3.1 Input parameters in the Outline editor
Stator lamination shape
The basic shape of the stator lamination is defined by the parameters shown in Figs.
61 and 63 ! 64. With tab = 0, the stator slot bottom is a circular arc at radius
R2. More complex geometries are shown in Fig. 63, which shows three cases T1, T2
and T3. Not all of these modifications (Tab, tpr_T, or cwid) are included in PC-
SRD's internal magnetic circuit analysis, so FEA-SR-MGC should be used to check the
mag. curves with the more complex shapes.
R3 Stator outside radius.
R2 Radius to the bottom of the stator slot.
Gap Airgap length. The stator bore diameter is 2 (R1 + Gap).
Ns No. of stator poles; must be consistent with Nr and Nph. (Table 1).
BetaS Stator pole arc. [Emech]
tpr_S Stator pole taper (Fig. 64) [Emech]. If tpr_S is negative, the stator
pole is "undercut" and then D1s and D2s are used to define the
geometry. If tpr_S is positive, D1s and D2s are not drawn unless Ntp
> 1, but they are still used to define a segment of the pole edge in
which the number of Unimesh boundary nodes can be adjusted.
fil_S Stator pole fillet radius (Fig. 61).
Ntp No. of teeth per stator pole {1}. Most SRM designs have Ntp = 1, but
PC-SRD can model motors with up to 10 teeth per stator pole. Fig. 61
shows an example with Ntp = 2. The rotor tooth number Nr should be
made equal to (Ns Ntp) ! 2 when Ntp > 1. The alternative choice of
Nr = (Ns Ntp) + 2 is not supported. Generally the smaller value of
Nr is preferable because it permits a lower unaligned inductance and
lower switching frequency. Conventional single-tooth/pole designs run
with Ntp = 1 and D1s = D2s = 0. When Ntp > 1, the stator tooth arc is
made equal to BetaR. PC-SRD's internal calculation of mag. curves is
less accurate with multiple-teeth/pole.
D1s, D2s If Ntp > 1 or tpr_S < 0, D1s and D2s are definite dimensions of the
stator tooth (Figs. 61,63,64). If Ntp = 1 they are used to control
the coarse discretization of the internal magnetic equivalent circuit
used to calculate Lu and the saturation of the stator pole in the
aligned position, and may need to be adjusted empirically if more
accurate data is available. D1s and D2s are also used to control the
distribution of nodes near the pole-tip for FE analysis, and this
requires a finite value. If D1s = 0 or D2s = 0, PC-SRD uses 0.1 [R2
! (R1 + Gap)].
tpr_T Taper angle of tab (Fig. 63) [Emech]. If tab = 0, no tab is present
but then tpr_T is used as the arc subtended by an imaginary wedge
inserted between the two coil-sides occupying a slot. tpr_T can thus
be used to control the width of the coilsides.
tab Radial dimension of stator slot tab, Fig. 63. It determines whether a
stator slot tab is present. Note the three cases in Fig. 63. {0}
cwid Coil width. (Active only in case T3 in Fig. 63). {0}
SLam Shape of the outside edge of the stator lamination. Non-circular
laminations are not modelled in detail in PC-SRD's internal magnet
circuit analysis, but they are included in the data transfer in FE
links. The options are Circular, Square, Poly_T (Polygonal/pole in
centre of side); and Poly_V (Polygonal/pole aligned with vertex).
PC-SRD 9.04 User's manual 3.1 Input parameters|Outline editor Page 49
Nph Ns Nr NwkPP Stroke E Strokes/rev
2 4 2 1 90 4
2 8 4 2 45 8
3 6 2 1 60 6
3 6 4 1 30 12
3 6 8 1 15 24
3 12 8 2 15 24
4 8 6 1 15 24
5 10 4 1 20 18
Table 1: A selection of feasible combinations of Ns, Nr and Nph
Rotor lamination shape
The rotor lamination shape is defined by the parameters shown in Fig. 62.
R1 Rotor surface radius.
R0 Radius to the bottom of the rotor slot.
Nr No. of rotor poles; must be consistent with Ns and Nph. (Table 1).
BetaR Rotor pole arc. [Emech]
tpr_R Rotor pole taper (Fig. 62) [Emech]. tpr_R can be negative.
fil_R Rotor pole fillet radius (Fig. 62).
StepGap Selects stepped-gap rotor, (Fig. 62).
NoStep Normal rotor
Stepped Stepped-gap rotor. The step depth is SG and the overall
rotor pole-arc is SigmaR Emech. The pole-arc of the
narrow-gap section is BetaR Emech. PC-SRD's internal
calculation of mag. curves is less accurate with
stepped-gap geometry.
Skewed Both the rotor and the stator are skewed by the angle
Skew [Emech]. The outline editor draws one additional
pole outline at the far end of the stack.
NonSym (only if StepGap = Stepped). If true, the rotor is nonsymmetric such
that the narrow-gap section of the rotor pole is no longer in the
centre of the pole, but trails the wide-gap section. See Fig. 62.

Plotting of mag. curves with nonsymmetric rotors Normally the mag. curves are
plotted from the unaligned (U) position to the aligned (A) position, and the
spacing between curves is 180E/Nr/(NCi!1). However, if StepGap = Stepped and
NonSym = true, they are plotted from the previous aligned position A' to the
aligned position A. The spacing between curves is still uniform and equal to
180E/Nr/(NCi!1). Two colours are used to distinguish the curves that lie
between A' and U from those that lie between U and A. With nonsymmetric rotors
U does not necessarily lie half-way between A' and A. Since the curves are
always at equal angular intervals, the curve at U may not be plotted and in
such cases the dynamic energy-conversion loop can have an excursion outside
the bounds of the mag. curves.
SigmaR Wide rotor pole-arc in stepped-gap rotor (Fig. 62) [Emech].
SG Step in surface of stepped-gap rotor (Fig. 56).
Angle Rotor position in Emech or Eelec.
Page 50 3.1 Input parameters|Outline editor PC-SRD 9.04 User's manual
Fig. 51 Unimesh nodes and regions
3.2 Definition of Unimesh parameters.
The nodes generally appear as follows:
Stator region (180 elec) red
"Go" coilside of master coil magenta
"Return" coilside of master coil yellow
"Go" and "return" coilsides of second phase yellow
Outer surface of airgap region, which lies along the inner
surface of the stator/coils.
blue
Rotor region (180 elec) green
Inner surface of airgap region, which lies along the
outer surface of the rotor
white
Dirichlet boundary nodes cyan
Periodic boundary nodes magenta
The nodes are drawn only if the rotor is between (or at) the unaligned and aligned
positions. Rotate the rotor to a different position to see the node density change
with the changing overlap between stator and rotor poles. An extension is added to
the airgap region when the rotor is displaced from the aligned or unaligned
position, in order to assure the symmetry necessary for the application of periodic
boundary conditions.
PC-SRD's Unimesh model always covers 180Eelec. If NwkPP (no. of working pole-pairs)
is 2, as in a 12/8 motor, the model will cover 90 Emech. Motors with NwkPP > 2 are
not supported. With the 180Eelec model, periodic boundary conditions are assigned
along the cut edge. This halves the number of elements and reduces the solution
time by a factor of four. Note that a Dynamic design is necessary before executing
the link [Ctrl+L], to determine the correct coil ampere-turns for the FE program.
A parameter preceded by "A" is a node spacing in Emech. A parameter preceded by "N"
is a number of nodes along that particular section. See Figs. 61 - 64.
PC-SRD 9.04 User's manual 3.1 Input parameters|Outline editor Page 51
A:Covered Angular spacing between nodes along that part of stator [rotor]
pole surface that is overlapped by a rotor [stator] pole.
A:Uncovered Angular node spacing on uncovered section of pole surface.
A:R3 Angular node spacing on the outside surface of the stator.
A:R2 Angular node spacing along stator slot bottom. Also used along
inside surface of coilside (arc KC in Figs. 63,64).
A:R0 Angular spacing between nodes along the circular-arc segments
of the rotor slot bottom.
A:Shaft Angular spacing between nodes along the shaft surface.
A:S c/L Nodes either side of the stator slot centreline are spaced by
2 (A:S c/L) to avoid duplicate nodes when half a stator slot
is mirrored about the slot centreline.
A:R c/L Nodes either side of the rotor slot centreline are spaced by 2
(A:R c/L).
N:Tooth No. of nodes along the details D1s and D2s. Note that the
details D1s and D2s are also artificially applied to the side
of the rotor poles, to provide additional control of the meshing
near the rotor pole corners. On the rotor, D1s and D2s have no
other function; they do not modify the rotor geometry.
N:Tab No. of nodes along the side of the Tab. If Tab is smaller than
a certain minimum value, no nodes will be added.
N:Fillet No. of nodes along the fillet arcs.
N:SPole No. of nodes along the stator pole side, excluding D1s, D2s, and
fillet arc.
N:RPole No. of nodes on the rotor pole side, excluding 'D1s, D2s', and
the fillet arc. The quotes are a reminder that the details D1s
and D2s applied to the rotor poles are imaginary, and do not
represent physical geometrical features.
N:Coilside No. of nodes on the coil side nearest the slot centreline.
N:S c/L No. of nodes on a stator pole, along its centreline.
N:R c/L No. of nodes on a rotor pole, along its centreline.
N:S-Polygon No. of nodes on half-side of polygonal stator. (See SLam).
2nd Pole Unimesh permits two phases to be excited. Phase 1 has
coilsides C and F, with currents in the same direction. Phase
2 always has coilsides D and E, and the currents in them always
flow in opposite directions. The coil DE of phase 2 can be
placed on any pole except the first or last pole. For example,
in a 6/4 motor the 180E model includes half of poles 1 and 4,
and all of poles 2 and 3. If 2nd Pole = 2, then phase 2 is on
pole 2. 2nd pole is not active for JRH108 motors.
Iph1 The current in phase 1, per unit of iHi. PC-SRD automatically
applies the total ampere-conductors Iph1 iHi Np to each
coilside C and F.
Iph2 The current in phase 2, per unit of iHi. PC-SRD automatically
applies the total ampere-conductors Iph2 iHi Np to coilside
D, and !Iph2 ihi Np to coilside E. Note that Iph1 and Iph2
can be positive, negative, or zero; and they can exceed 1. (Iph2
is inactive for JRH108 motors).
FE_Ni No. of non-zero current levels for which solutions are to be
obtained by FEA. They will be at equal intervals, the maximum
corresponding to Iph1 and Iph2 in each phase. Max. 29.
FE_NCi No. of rotor positions (including aligned and unaligned) for
which solutions are to be obtained. If FE_NCi = 1, the solution
is at the current rotor position defined by Angle. Max. 31.
NGLayer No. of airgap layers.
Rair Radius of air region outside the stator, normalized to R3.
Page 52 Input parameters | Ted PC-SRD 9.04 User's manual
A1
A2
A3
A4
Fig. 52 2-phase Stagger-tooth motor invented by W.A. Pengov [17,18 ]
3.3 Input parameters in Ted
Dimensional Parameters
Parameters already defined in 3.1 and 3.2 are not repeated here.
Stf Lamination stacking factor. The axial length of steel is taken to be
LStk Stf in magnetic-circuit and core-loss calculations. The stator
and rotor stack-lengths are assumed to be equal. {0.97}
Jag determines the "jag" or denticulation of the rotor and/or stator. The
vast majority of motors have regular denticulation, but two special
cases are included in PC-SRD:
Normal Normal rotor
JRH108 5-phase 10/8 with dual rotor pole-pitch ([2], p. 43)
JRH1210 3-phase 12/10 with dual stator pole-pitch ([2], p. 38)
Stagger Stagger-tooth motor, Fig. 52; see [17, 18]
The JRH108 configuration can be studied in PC-SRD by setting up a 5-
phase motor with 10 stator poles and 8 rotor poles, with Jag = JRH108
(following the initials of its inventor J.R. Hendershot). Again, the
aligned and unaligned positions are special to this configuration.
Note : When Jag = JRH108, use FluxPths = Normal.
PC-SRD 9.04 User's manual Input parameters | Ted Page 53
Winding Parameters
Np No. of turns per pole.
Nph No. of phases. See Table 1. {3}
Paths The number of parallel paths in the phase winding. The smallest unit
of winding is the coil on one pole. If Paths = 1, all the pole-coils
in one phase are in series. The maximum value of Paths is Ns/Nph. Users
must choose a feasible value: PC-SRD does not check it. For example,
with Ns = 8, Nph = 4, Paths can have only the values 1 or 2. PC-SRD
uses Paths in calculating phase resistance, flux-linkage, etc. {1}
NSH No. of "strands in hand" in one conductor. A conductor carries the
current i/Paths, where i is the phase current. It can be wound using
multiple strands or wires in hand. If NSH=1, a strand is the same thing
as a conductor. {1}
WireSpec The method of specifying the wire size (of one strand).
BareDia Bare wire diameter
AWGFrac American wire Gauge (fractional). This can be
specified as a real decimal number, e.g. 17.7.
AWGTable American wire Gauge (B & S gage value).
SWGTable Standard wire Gauge
MWGTable Metric wire Gauge (in steps of 0.1 mm)
SFill PC-SRD calculates wire diameter from the specified
slot-fill factor
Rect Rectangular wire, dimensions wa, wb.
SFill Slot-fill factor, i.e., the ratio of the actual cross-section of
copper in a stator slot to the total slot area, Aslot. With round wire,
the maximum value of SFill is typically 30-40% for 6/4 motors and 40-
45% for 8/6 motors. {0.3}
Wire Bare wire diameter if WireSpec = BareDia.
wa Cross-sectional dimension of rectangular wire (bare copper), wa wb.
Used only when WireSpec = Rect.
wb Cross-sectional dimension of rectangular wire (bare copper), wa wb.
Used only when WireSpec = Rect.
Gauge Wire gauge.
Ext Straight-length extension of conductors at each end, as they emerge
from the slot, Figs. 65, 66. 4 Ext is included in the mean turn
length (MLT), and 2 Ext is included in the "length over end-
windings" (LgthOEnd). Ext can be used to adjust MLT; winding practices
differ, and there is no unique correct way to calculate it. {0}
XET Adjustment factor for end-turn length. XET directly multiplies the
calculated end-turn length. The mean turn length MLT is given by
MLT = 2 Lstk + 4 Ext + 2 XET L
end-turn
where L
end-turn
is the end-turn length calculated internally by PC-SRD.
XET affects not only the resistance but also the end-turn component of
the self-inductance.
Page 54 Input parameters | Ted PC-SRD 9.04 User's manual
Control Parameters
Vs The DC voltage supplied to the drive (Fig. 69). {150}
rpm Speed in rev/min. For single-stroke Dynamic design, speed is constant.
For multi-stroke dynamic simulation, rpm is the initial speed. Do not
use 0. Very low speed simulation should be avoided because PC-SRD uses
a fixed integration step (360/Nr/480/ISLAE) which allows the
possibility of spurious current ripple at very low speed: see Fig. 73.
{1000}
iHi The upper set-point of the hysteresis-band used for current regulation
by chopping. PC-SRD checks the phase current i at the end of each
internal integration step. If i $ iHi, the chopping transistor Q1 is
switched off for the whole of the next integration step (Fig. 69). If
i < iHi ! HBAmps, PC-SRD switches Q1 on. Q1 can be switched only at
the end of each internal integration step. The integration step length
is 360/Nr/480/ISLAE. If you are not using any form of current-
regulator or current-limit, set iHi to a value higher than the expected
peak phase current. {30}
If HardChop is true, both transistors Q1 and Q2 are switched
synchronously in chopping. When Regulate = Voltage, i.e., when voltage
PWM is selected, iHi is still active as a current-limit.
HBAmps Current regulator hysteresis band, used with iHi. [A].
Th0 Turn-on angle in Emech or Eelec (Fig. 71). {180/Nr Emech}
ThC Turn-off angle in Emech or Eelec (Fig. 71). {270/Nr Emech}
The units of Th0 and ThC are set by CtrlAng in Data*I/O Units, [Ctrl+U]. In Emech,
Th0 and ThC are measured from the previous aligned position (Fig. 71). In a
3-phase 6:4 motor the alignments occur every 90Emech, i.e. every rotor pole-
pitch, giving aligned positions at 0E, 90E, 180E, etc. The unaligned positions
are at !45E, 45E, 135E, etc. Therefore, Th0 = 52E means 52E after the previous
aligned position, or 90 ! 52 = 38E before the next one. Similarly, ThC = 82E
means 8E before the next aligned position.
In Eelec Th0 and ThC are measured from the unaligned position (Fig. 71), and
1 Emech = Nr Eelec. Therefore the unaligned position is at 0E and the aligned
position is at 180E, regardless of the number of poles or phases. Firing angles
for motoring are roughly in the range 0!180 elecE, and for generating in the
range 180!360 elecE (or !180 to 0 elecE). Aligned and unaligned positions
repeat every 360 elecE, i.e. every rotor pole-pitch.
A turn-on angle of Th0 = 52 Emech in a 3-phase 6:4 motor means 52Emech after
the previous aligned position and 7Emech after the unaligned position. This
is 28 Eelec after the unaligned position, so Th0 = 28Eelec.
For motoring, the conduction period of the main switches should roughly
coincide with the approach of the working poles, e.g. Th0 = 50Emech and ThC =
80Emech in a 3-phase 6:4 motor. For braking or generating, the conduction
period should roughly coincide with the separation of the working poles,
e.g. Th0 = 80Emech and ThC = 110Emech in a 3-phase 6:4 motor.
There is no hard-and-fast rule for conduction angles. They must be adjusted
by trial-and-error until the flux-linkage/current loop (the energy-conversion
loop) has a satisfactory shape with acceptable levels of winding current-
density, peak current, etc. Increasing the dwell or transistor conduction
angle (ThC ! Th0) increases the current and the peak flux-linkage and the
torque. If the dwell is too long, the phase current and the flux may never be
extinguished (never return to zero). This is known as continuous conduction.
ThZ Firing angle at which zero-volt loop is activated, in Emech or Eelec.
ThZ is active in this role if ZV_Loop = true. The zero-volt loop is a
condition in which one transistor in Fig. 69 is switched off, causing
the winding to be short-circuited through the other transistor and a
complementary diode. (See Fig. 72). If Regulate = iHi, ThZ is used to
control the rate of rise/fall of current of a forced trapezoidal
current waveform; see Fig. 53. {ThC}
PC-SRD 9.04 User's manual Input parameters | Ted Page 55
Fig. 53 Current profile
Regulate The method of regulation. See Refs. [2,3].
Current The current is regulated by a hysteresis-band regulator whose
parameters are iHi and HBAmps, with soft or hard chopping
according to the value of HardChop.
Voltage The voltage is pulse-width modulated with a fixed chopping
frequency fChop and duty-cycle DuCy.
iHi The current is forced to
follow a trapezoidal
waveform of peak value iHi.
The rate of rise and fall of
current is fixed by ThZ.
The current reference
remains at iHi through
interval (ThC Th0), with
ramps of width ThZ at each
end: see Fig. 53.
This control mode is useful
for examining the energy-
conversion capability under
conditions of ideal current-
fed excitation.
fChop Nominal chopping frequency in kHz, used when Regulate = Voltage. The
higher the chopping frequency, the smaller the integration step length
must be, to ensure accurate simulation. You may need to increase ISLA
if fChop is too high or if the speed is low. If fChop = 0, the
chopping frequency is estimated to give a rate of 60 chops per cycle
(one rotor pole-pitch). iHi should be set to a high value to avoid
"clipping" the current waveform.
DuCy Chopping duty-cycle. DuCy has two different functions, depending on
the value of Regulate. {1@0}
With Regulate = Current, the voltage applied to the phase winding when
both transistors Q1 and Q2 are conducting is Vs DuCy. This simulates
the effect of a chopper in the DC supply that works at infinite
chopping frequency and fixed duty-cycle DuCy. If DuCy = 1 the chopper
is shorted and has no effect; in this case control is by the current
regulator alone, acting independently in each phase. The action of
the DC link chopper by itself can be simulated if iHi is given a value
well above the naturally occurring peak current.
DuCy provides linear control only of the forward supply voltage, i.e.,
the voltage applied to the phase winding when both transistors Q1 and
Q2 are conducting. After commutation at ThC, the reverse voltage
applied to the winding is !(Vs ! 2 Vd), regardless of the value of
DuCy. Values of DuCy can be greater than 1 or even negative, providing
facilities for studying circuits different from Fig. 69. However, with
the circuit of Fig. 69, DuCy can only take values between 0 and 1.
With Regulate = Voltage, the voltage pulse-width modulation is modelled
in detail and DuCy is the ratio of the conduction time to the
switching period of the transistors. For example, suppose fChop = 10kHz
and DuCy = 0@4 : then the switching period is 0@1 ms and the conduction
time is 0@04 ms.
Page 56 Input parameters | Ted PC-SRD 9.04 User's manual
Fig. 54 Zero-volt loop
ZV_Loop selects zero-volt loop mode, in which the
phase-winding is short-circuited at the
angle ThZ, or when the current reaches the
value iZVL (see below). The short-circuit
is applied by turning Q1 on and Q2 off
between the angles ThZ and ThC. (See Fig.
72). The short-circuit is not perfect
because of the voltage drops in Q1 and D1.
The zero-volt loop provides additional
means for controlling the shape of the
energy-conversion loop. It tends to
produce a period of constant flux-linkage
between ThZ and ThC, in contrast to the
constant current that is perhaps more
usually contemplated. An example is shown
in Fig. 54, in which the application of
the zero-volt loop reduces the loop area
by about half, without the need for
chopping. The zero-volt loop is also
useful in generating mode. {false}
iZVL If ZV_Loop = true, the zero-volt condition (Fig. 54) can be triggered
when the current reaches the value iZVL, provided that this occurs
before the rotor position reaches ThZ. This works in both motoring and
generating mode. Of course it works only when iZVL <= iHi, because
otherwise the current is limited by the current-regulator before it
attains the value iZVL.
Chopping selects "hard" or "soft" chopping. With soft chopping, only Q1 in Fig.
72 is used for regulating the phase current i. When Chopping = Hard,
both Q1 and Q2 are switched synchronously. Hard chopping may be
required in braking or generating operation, when soft chopping may not
be able to regulate the phase current. In the motoring range
(inductance increasing in the direction of rotation), "soft chopping"
means switching between modes d
1
and d
2
in Fig. 72. But in the
generating range (inductance decreasing in the direction of rotation),
"soft chopping" means switching between modes d
2
and d
3
. {false}
PC-SRD 9.04 User's manual Input parameters | Ted Page 57
Vq Forward voltage drop in one transistor. PC-SRD assumes 2 transistors
and 2 diodes per phaseleg (Fig. 72). {0}
Rq On-state resistance of one transistor. [ohm] {0}
Vd Forward voltage drop in one diode. {0.6}
tq_ON Turn-on time of power transistor. [s] {0}
tq_OFF Turn-off time of power transistor. [s] {0}
tq_ON and tq_OFF are used in eqn. (2.6) of Ref. [12] to calculate the
switching loss in the transistors, assuming the load is inductive. The
result is included with the conduction loss in ConvLoss.
Rcc Resistance of connecting leads between the drive and the motor in each
phase; see Fig. 69. [ohm] {0}
Lcc Inductance of connecting leads between the drive and the motor in each
phase; see Fig. 69. [mH] {0}
R_s Supply resistance, Fig. 69. [ohm] {0}
VsMax Maximum DC supply voltage in generating mode. If PC-SRD detects a
generating condition, it switches the DC supply voltage from Vs to
VsMax; see Fig. 70. It also calculates a critical resistance Rdc that
will just absorb the generated power at this voltage, and the current
IdcR in this resistance. VsMax should not be less than Vs.
Rotation Direction of rotation, either Forward or Reverse. When Rotation =
Reverse, the waveforms must be interpreted as running backwards, i.e.,
from right to left. There is no point in running Reverse rotation
except with a non-symmetric stepped-gap rotor. The angles Th0 and ThC
must be exchanged so that Th0 > ThC. Suggested values Th0 = [Th0] and
ThC = [ThC] are given in Fig. 71.
Page 58 Input parameters | Ted PC-SRD 9.04 User's manual
Simulation Parameters
Thermal parameters used in Dynamic design (see p. 12)
T_Wdg Winding temperature. If TempIt = true, T_Wdg is the initial winding
temperature, and the final temperature is T_Cond (conductor
temperature); the phase resistance Rph is then calculated at T_Cond.
If TempIt = false, Rph is calculated at T_Wdg. {20 C}
DegCW Thermal resistance. If HTC = 0, PC-SRD simply multiplies the total
computed motor losses (WTotal) by DegCW to get the temperature rise
TempRise. The user must supply an appropriate value if a meaningful
temperature rise is to be computed. If HTC is nonzero, PC-SRD computes
the equivalent thermal resistance for heat transfer at the frame
surface and adds DegCW in series with it. See p. 12. If ct_Liner is
nonzero an additional resistance ThRslot is added in series with DegCW
to represent the thermal resistance of the slot-liner. {0.1 EC/W}
TempIt Temperature-rise calculation. If TempIt is false, the resistance Rph
is calculated at T_Wdg. If TempIt is true, Dynamic design is iterated
starting with T_Wdg as the initial winding temperature. When the
temperature converges to a steady value, the iteration stops, and the
winding temperature is given in the design sheet as T_Cond.
HTC Heat transfer coefficient at the frame surface. Typical values are 5
for natural convection or 100 for forced convection. [W/m
2
EC] {0}
T_amb Ambient temperature [EC]. {20}
PC-SRD 9.04 User's manual Input parameters | Ted Page 59
Windage and friction loss
Wf0 Windage & friction loss at the reference speed RPM0 [W] {0.1} PC-SRD
scales the windage & friction loss with speed according to a simple
power law:
Wwf = Wf0 (RPM/RPM0)
(NWFT+1)
+ TFric (2/60) RPM [W]
RPM0 Reference speed for windage & friction loss. [rev/min] {1000rpm}
NWFT Exponent for scaling windage & friction torque with speed. {1}
For example, if rpm = 10,000 and you are using the default values of Wf0, RPM0,
and NWFT, Wwf will be calculated as 100W. In a small motor this number could
exceed the shaft power, and in this case PC-SRD will predict negative shaft
power and efficiency. The solution is to select a more realistic figure for
the windage loss. PC-SRD can also calculate the windage loss at a particular
speed using Vranciks method: see Analysis*Windage [Ctrl+W].
TFric Friction torque. This is provided so that the bearing friction torque
can be distinguished from the windage torque. {0}
Adjustment parameters
Bm The airgap flux-density at the highest point calculated on the aligned
mag. curve, point A in Fig. 23. Bm defines the level of flux-linkage
up to which the internal mag. curves are computed. The corresponding
values of aligned flux-linkage and phase current are Psim and im. If
tpr_S < 0, the flux-density in the stator pole will exceed that in the
airgap and the magnetic circuit calculation might fail to converge; in
this case, Bm should be reduced. {2.1 T}
Bm should be set so that the peak phase current is comparable to im.
Note that the steel B/H data must extend up to a value higher than Bm,
otherwise the Dynamic design will not run.
Bm (together with Xim) can be used to improve the accuracy of the
aligned mag. curve if separate measurements or finite-element
calculations are available: see Fig. 23. This is recommended especially
if the motor is working at high flux-densities. With external mag.
curves, Bm has no meaning.
Bs Flux-density at which internally calculated aligned mag. curve ceases
to be linear. When internal mag. curves are used, PC-SRD treats the
aligned curve as straight below the level at which the airgap flux-
density is Bs, Fig. 23. Bs should be set just below the knee of the B/H
curve: typically 1.3T for normal electrical steels and around 1.8T for
cobalt-iron. Try to experiment with Bs and Bm, and to understand the
approximations in the use of internal mag. curves. {1.3 T}
BTpk Flux-density used to estimate peak torque just after the J position.
The simple expression given in Refs. [6,15] can be used to check the
static torque curves calculated using [Ctrl+Y]. {1.7 T}
XFe Adjustment factor for total core losses. The total core losses
calculated by PC-SRD are multiplied by XFe, providing a simple means
for correcting the core-loss calculations without altering the
coefficients in the steel database. {1.0}
Page 60 Input parameters | Ted PC-SRD 9.04 User's manual
XLu Adjustment factor for unaligned inductance Lu. {1.0}
For example, if PC-SRD calculates Lu = 16 mH with XLu = 1, and if you have an
accurate measured value Lu = 17mH, then set XLu = 17/16 = 1.063. See Fig. 23.
Note that the internal calculation of Lu may be less accurate for motors with
extremely large or small L/D ratio. It is also less accurate with Ntp > 1
(multiple teeth per pole) and stepped-gap rotors. XLu does not affect external
mag. curve data. {1.0}
Xim Adjustment factor for im. The highest point calculated on the aligned
mag. curve is the point (im, Psim), Fig. 23. The position of this
point can be adjusted left/right by means of Xim. For example, if PC-
SRD calculates im = 700 A with Xim = 1, and you have a more accurate
value of 778 A at the same flux-linkage, use Xim = 778/700 = 1.111.
Xim has no meaning with external mag. curves. {1.0}
XPsim Adjustment factor for Psim. The highest point calculated on the aligned
mag. curve is the point (im, Psim), Fig. 23. The position of this
point can be adjusted up/down by means of XPsim. For example, if PC-
SRD calculates Psim = 1.14 V-s with XPsim = 1, and you have a more
accurate value of 1.02 V-s at the same current, use XPsim = 1.02/1.14
= 0.895. XPsim has no meaning with external mag. curves. {1.0}
XLau Adjustment factor for unsaturated aligned inductance Lau. The use of
XLau is similar to that of XLu, except that it applies to the
unsaturated part of the aligned mag. curve. {1.0}
NCi No. of internal mag. curves calculated and plotted in the i- diagram
and written to the file IPSI.psi. When using external mag. curves, NCi
is overwritten by the value read from the external i-psi datafile. The
maximum value of NCi is 31. {31}
NPsi No. of points calculated and plotted on each internal mag. curve
written to IPSI.psi. With external mag. curves, NPsi is overwritten
by the value read from the external i-psi datafile. NPsi must not be
less than 11 or exceed 31. {31}.
Length: Changes the units of length. Also in Data*I/O Units [Ctrl+U].
PhEnable Selects which phases are active. PhEnable = 0 enables all phases.
Otherwise PhEnable must be entered as an integer whose first digit is
1. For example, 1 or 10 or 100 or 1000 or 10000 means only phase 1 is
enabled. 11 or 110 or 1100 or 11000 means only phases 1 and 2 are
enabled. 101 or 1010 or 10100 means only phases 1 and 3 are enabled.
PC-SRD 9.04 User's manual Input parameters | Ted Page 61
Simulation Parameters (continued..)
MagCurv Selects the method of obtaining and interpolating the mag. curves. See
Analysis * Dynamic design. {Froh}
MagCurv Method Comment
Froh Aligned and unaligned curves are
pre-calculated using magnetic
circuit model; then locally
interpolated using "Frohlich"
model (Ref. [6]).
Oldest method; fast. Instantaneous
torque waveform is inaccurate if the
machine is not saturated, and static
torque curves are poor. Average
torque, however, is OK.
Froh/X Froh method is used to form a
complete set of mag. curves.
Dynamic design then uses these
as though they were external.
Improves the instantaneous torque
waveform for unsaturated machines,
but the intermediate mag. curves are
still rather poorly interpolated,
resulting in poor static torque
curves.
Univ,
Univ/X
Same as Froh and Froh/X, but the
interpolation model is smoother.
Early attempt at an improved
interpolation of mag. curves. Not
recommended. Only retained in PC-
SRD in case some long-term users
have calibrated models with this
method.
UG98,
UG98/X
Same as Froh and Froh/X, but
interpolation algorithm is much
more structured: see Ref. (15).
Much improved interpolation
algorithm, capable of producing more
accurate results including static
torque curves. However, it requires
several tuning parameters (UG98
parameters) to get really good
results.
Extl True external mag. curves, which
must be supplied in the form of
a .psi file or realigned from a
.mgc file format.
The most accurate solutions are
obtained with this, but it requires
measured mag. curves. Mag. curves
calculated with finite-elements will
not be accurate unless end-effects
are properly included. See Tools *
Realign mag curves.
ISLA Integration step-length adjustment parameter. ISLA divides the
integration step-length to reduce current-ripple during chopping and
to improve accuracy at low speeds. (See Fig. 73). {1}
In Dynamic design, PC-SRD assumes constant speed, and uses a fixed angle for
the integration step. At low speeds this leads to excessive current ripple
under chopping. At very low speeds the energy-conversion loop begins to show
"corners", indicating that the integration is becoming inaccurate. When this
happens, increase ISLA, or increase the speed or the turns/pole Np.
With ISLA set to a value n, PC-SRD plots only every n'th sample of the current,
flux-linkage, rotor position, and torque. The relevant sums and squared sums
for mean and RMS values of the respective currents are, however, accumulated
every integration step. In multiple-stroke simulation Nskip has the sample-
skipping function but only ISLA controls the integration step.
Page 62 Input parameters | Ted PC-SRD 9.04 User's manual
6
The presence of a particular FE program name in the drop-down list does not imply that the
corresponding link is provided or licensed: contact supplier for details.
InnerAcc If true, the current-time and current
2
-time accumulations needed for
the mean and RMS currents, and the peak current and flux-linkage are
accumulated within every inner integration step when ISLA > 1. If
false, these parameters are updated only at the end of every standard
integration step. {false}
FELinkID Used to select the finite-element program for which link files will be
written.
6

CProfile selects current-profiling. {false}
Normally the current regulator operates with a fixed set-point current iHi and
a fixed hysteresis-band HBAmps. However, it is possible to vary the set-point
current as a function of rotor position. If CProfile is active, PC-SRD reads
the waveform of the current profile from the ASCII text file "CPROFILE.WFM",
which should be specified via Data * External files [Ctrl+E].
ETFCalc selects the formula used to modify the unaligned inductance Lu for end-
effects.
Lu is calculated internally using a two-dimensional transverse cross-section,
and is then corrected for axial fringing by means of simple end-effect factors,
together with an estimate of the inductance of the end-windings. There are
several options for calculating end-effect factors. Some are historical, while
others are more recent. See also XLu, Xim, and XPsim.
Off No end-effects are applied. This mode is useful for comparing
PC-SRDs 2-D calculation against 2-D FE calculations. Such
calculations may not give good simulation accuracy, but are
useful for assessing the quality of a lamination geometry in
terms of the 2-dimensional inductance ratio, etc.
Off + Lss No end-effects are applied, but a correction is applied to the
highest point (im, Psim) on the aligned mag. curve to allow for
the stator slot-leakage inductance Lss. This mode is useful for
comparison with 2-D finite-element calculations especially for
the aligned position when the motor is highly saturated. The Lss
calculation is the same as in V5+Lss.
V2 (Introduced in PC-SRD 2.0). A single modifying factor ETF is
calculated for the unaligned inductance.
V3 End-effects are applied via the parameters eu, fu, ea and fa,
[1].
V3 + Lss As V3, but with a correction applied to the highest point (im,
Psim) on the aligned mag. curve to allow for the stator slot-
leakage inductance Lss. The Lss calculation is more primitive
than the one in V5+Lss.
V3 + Lau As V3+Lss, but Lss is also applied to the aligned mag. curve at
the point (is, Psis). See Fig. 23.
V5 + Lss This is similar to V3+Lss but with more recently developed
methods for the end-effect factors and Lss.
FluxWfms Method of calculating flux waveforms.
"Real" flux waveforms are calculated from the simulated waveform of phase flux-
linkage during Dynamic design, including all the detail of chopping etc. (at
low speed). "Ideal" flux waveforms are constructed from the peak flux in the
stator pole, with the firing angles Th0, ThC, and ThQ. The flux waveforms are
calculated with a coarse increment of only 1Emech of rotor rotation. This is
adequate for plotting, but it may be too coarse for accurate calculation of
core losses when the current is regulated by chopping or voltage PWM.
PC-SRD 9.04 User's manual Input parameters | Ted Page 63
IronLoss Method of calculating iron loss (core loss)
Original PC-SRD's original formula method.
Orig/YH The original PC-SRD formula method, modified for chopping
by Yoichi Hayashi. [17]. Best used at low speed.
Waveforms The flux waveforms are used to calculate the mean-squared
value of dB/dt in each separate section of the magnetic
circuit, and these values are used to calculate the eddy-
current loss using the modified Steinmetz equation. (See
WinSPEED manual). The result will generally be different
depending whether FluxWfms = real or ideal.
Wfm+HysC Hysteresis loss in the stator and rotor poles is modified
by a factor of 0.4 to allow for the reduced area of the
minor loops in sections of the magnetic circuit which
have a unidirectional flux-density. The factor 0.4
follows the study reported in [16]. The other methods of
iron loss calculation apply a factor of 1/3
FluxPths Selects the conformation of the flux paths.
Normal The flux paths divide into 2 NwkPP loops. For example,
a 3-phase 6:4 motor has a 2-pole flux path (NwkPP = 1).
All yoke sections carry flux.
Short The flux paths are localised, and only a minimum number
of yoke sections carry flux.
FPW Fully-pitched windings. PC-SRD can model a subset of the
fully-pitched windings described in Ref. [16], where
these can be transformed into an equivalent single phase
winding.
To see an example of short flux paths, press [Alt+3] to obtain a standard
example 12:8 motor and display it in the outline editor with Outline | Show flux
paths. In Ted/2 [Ctrl+3], select FluxPths = Short, and redisplay the cross-
section. The green lines show the "short" flux paths with eight coils per
phase connected in such a way that the flux paths are local loops. The short
flux-path concept is ineffective with most of the common stator/rotor pole
number combinations, and PC-SRD gives no guidance as to which combinations (if
any) can use it to advantage. The facility is provided only for the convenience
of users who are already familiar with the concept.
Short flux paths are intended to reduce the path length of the flux in iron,
to reduce core losses and MMF drop. The particular configuration used in PC-SRD
has the coils connected in groups to form "composite phases" so that mutual
inductance does not have to be considered.
The aligned and unaligned positions are redefined when FluxPths = Short. Use
[A], [U] to see the modified values of these angles. Firing angles Th0 and ThC
must be found by experimentation following the same principles used with normal
flux paths.
Short flux paths are similar to the localised flux paths obtained in 5-phase
motors with irregular rotor pole-pitches, with Jag = JRH108. (But use FluxPths
= Normal when Jag = JRH108).
Page 64 Input parameters | Ted PC-SRD 9.04 User's manual
Fig. 55 Example of DC offset current
MMF ratio '
dcTurns
Np

Nph Paths
Ns
.
MMF ratio '
dcTurns
Np

Paths
2 NwkPP
.
DC offset winding
dcOffset Instructs PC-SRD to model a DC offset current flowing in a full-pitch winding
as described in Ref. [14]. Used with parameters dcIOffs, dcWDia, and
dcTurns. Note: the full-pitch DC offset winding used with dcOffset
should not be confused with the "fully- pitched windings" used with
FluxPths = FPW. {false}
dcIOffs DC offset current [A] {0}
dcWDia Bare wire diameter of full-pitched DC offset winding.
dcTurns Total number of turns on full-pitched winding carrying DC offset
current. The DC offset winding is assumed to comprise NwkPP coils in
series, each of which contains dcturns/NwkPP turns.
PC-SRD calculates the resistance R_dcOffs of the DC offset winding and includes its
copper loss in the main copper loss WCu. Any additional core loss is included in
WIron. The turns ratio between the DC offset winding and a phase winding is
dcTurns/Tph where Tph is the number of turns in series per phase. Now Tph = Np
Nss where Nss = no. of coils in series/phase, Np = no. of turns/coil; and Nss =
Ns/Nph/Paths. where Ns is the number of stator poles, Nph is the number of phases,
and Paths is the number of parallel paths in each phase winding. Hence we can write
the turns ratio (or effective mmf ratio) as
The MMF ratio is the ratio of the MMFs across one airgap produced by the two
windings when each has a current of 1A. Alternatively,in terms of the number of
working pole-pairs per phase NwkPP = Ns/(2Nph),
For example, in a three-phase 6:4 motor with Np = 150, Paths = 1, and dcTurns = 150
, we have Nss = 6/3/1 = 2 and NwkPP = 6/2/3 = 1 and MMF ratio = 150/150 3 1/6
= 0@5, or 150/150 1/2/1 = 0@5. A current dcIOffs = 7.5 A in the DC winding is
equivalent to a current of Ifd = 0@5 7@5 = 3@75 A referred to the phase winding.
PC-SRD 9.04 User's manual Input parameters | Ted Page 65
Ifd ' dcIOffs MMF ratio.
In effect, the current Ifd is a "d-axis" or magnetizing component of the phase
current, and acts as a field current:
In a 12/8 motor with Np = 30, dcTurns = 30, and Paths = 2, we have Nss = 12/3/2 =
2 and NwkPP = 12/2/3 = 2 and mmf ratio = 30/30 3 2/12 = 0@5, or 30/30 2/2/2 =
0@5. If Paths = 1 in this motor, the mmf ratio would be 0@25, and if Paths = 4, it
would be 1@0.
In the energy conversion diagram (i-psi diagram), the offset current is referred to
the phase winding turns Tph by the turns ratio, i.e., it is Ifd. For example, if
the turns ratio (mmf ratio) is 0@5 and dcIOffs = 15A, then Ifd = 0@5 15 = 7@5 A and
the offset in the energy conversion diagram will appear as 7@5A.
Other points to note about DC offset
When dcIOffs is nonzero the phase flux-linkage varies cyclically even when
the phase current is zero, and this gives rise to a vertical line bounding the
energy conversion loop (i-psi loop) on the left. The DC offset effectively preloads
the phase winding with flux-linkage. Moreover, after commutation (i.e. after ThC),
the phase flux-linkage does not need to fall back to zero. In fact, in motoring
modes it will fall back to a value higher than the value at turn-on (Th0), this
final value being sustained by the DC offset current. Consequently the phase current
decays rapidly.
It is assumed that the DC can be maintained without ripple. This depends partly on
the regulator used to control the DC, and partly on the principle that the
inductance at the DC offset winding terminals is essentially constant. This will
be approximately true if the total overlap between stator/rotor poles is constant
within the span of the DC coil. This is also the condition for zero torque to be
produced by the DC acting alone. PC-SRD makes the assumption that this is so, and
sets the instantaneous electromagnetic torque equal to zero when the phase current
is zero.
When using the DC offset option with MagData = Froh, remember that with
Frhlich interpolation the instantaneous torque waveform is only approximate
(although the DC offset tends to make it more accurate because it increases the
average saturation level during the stroke.) As before, there is no approximation
involved in the calculation of average electromagnetic torque from the energy
conversion loop area.
AllIPSI causes Dynamic design to run three cases: two of these use internal
mag. curves with i-Psi curves calculated by the Froh and UG98 methods,
and the third uses external mag. curves supplied via the ASCII file
specified in Data*External Data Files (Ctrl+E). This facilitates
comparison between the different methods of handling mag. curves.
LoopWFM writes the results of the Dynamic design to the file "loop.wfm".
Tol When the "dwell" (i.e. ThC ! Th0) is large (typically > 50% of a
cycle), the phase current may never fall to zero ("continuous
conduction"). The energy conversion loop "floats off" the origin. PC-
SRD detects this condition and iterates the entire loop calculation
until it converges. Tol is the convergence criterion. For example, if
Tol = 16, the convergence criterion is that the end current has
converged within 1/16 of its previous value.
a_ETF Roll-off parameter controlling the rate at which end-effect factors
vary between the unaligned and aligned mag. curves when external mag.
curve data is being re-aligned. See p. 22. {1}
Page 66 Input parameters | Ted PC-SRD 9.04 User's manual
GRange Graph range for simulation graphs (See Fig. 8).
Normal From Th0 to Th0 + 360E/Nr
U-U From the unaligned position ([U] in the Outline
editor) to the next unaligned position
O-A From the origin [O] to the aligned position [A]
U-A From the unaligned position [U] to the aligned
position [A]
A-U From the aligned position [A] to the next unaligned
position [U + 180E/Nr]
O-U From the origin [O] to the unaligned position [U]
nTRF Normalize tooth radial force waveform.
None The tooth force waveform is not normalized, but is
plotted in ordinary force units.
Base The tooth force waveform is normalized to the base
value TRFbase, (p. 88).
Peak The tooth force waveform is normalized to the peak
value TRFpk, (p. 88).
rq_dLau Requested value of adjustment to unsaturated aligned inductance when
importing 2D finite-element i-psi data to display in the i-psi diagram,
Fig. 33. If rq_dLau = 0, PC-SRD will use the most recently calculated
value of dLau from the design sheet. To disable the application of the
end-effect factor, set rq_dLau to a very small value (e.g., 10
6
). The
method of applying this end-effect factor is described on page 22 et
seq. Note that end-effect factors are not applied to the finite-
element data when it is viewed in the MatchFE-type window in Fig. 35.
{0} [mH]
rq_dLu Requested value of adjustment to unsaturated unaligned inductance when
importing 2D finite-element i-psi data. The behaviour of rq_dLu is
similar to that of rq_dLau. {0} [mH]
rq_a_ETF Requested value of adjustment to end-effect "roll-off" factor when
importing 2D finite-element i-psi data. See page 22. {1}
PC-SRD 9.04 User's manual Input parameters | Ted Page 67
UG98 Calibration Parameters
UG98 is a "universal gauge curve" method for interpolating between the aligned and
unaligned mag. curves, [15]. See Fig. 56. Some of the UG98 parameters are also used
with the older interpolation method MagCurv = Univ. In the following, x
UA
is the
angle between unaligned and aligned positions, taken as 1 "unit" of rotation.
XXJ shifts the J point in the universal gauge curve. It is expressed as
a fraction of x
UA
. A positive value shifts J to the right. {0}
WJJ If MagCurv = Univ, WJJ adjusts the initial width j of the J region,
expressed per unit of x
UA
: thus j := x
J
WJJ, where x
J
= UJ is the x-
coordinate of J.
If MagCurv = UG98, the J region widens slightly with saturation: thus
j = WJJ (q_j0 + i). WJJ adjusts the width xJJ of the J region,
according to the current level. Thus xJJ = WJJ i/is, where xJJ is
per-unit of x
UA
. The widening of the J region is applied only when i
< is. If mXJ <= !1, then WJJ is used to define the fixed width of the
J region, and there is no variation with saturation. {0.5}
XXK If MagCurv = Univ, XXK shifts the "K" point in the universal gauge
curve. It is expressed per unit of x
UA
. Not used with MagCurv = UG98.
{0}
WKK If MagCurv = Univ, WKK adjusts the initial width xKK of the K region,
expressed per unit of x
UA
: thus xKK := (1 ! xK) WKK. {1} If MagCurv
= UG98, WKK controls the rate at which saturation decreases the width
xKJ of the linear central section of the universal gauge curve. This
increases the maximum slope k
a
of the gauge curve, using the equation
k
a
:= 1/(xKJ (1 ! WKK )), where = Psi/Psim is the per-unit
flux-linkage and Psi is the instantaneous flux-linkage. {0.1}
c0 The minimum width of the "c" section (centre section) of the normalized
UG98 gauge curve. c0 is expressed per unit of x
UA
. {0.1}
q_j0 The width of the "j" section of the UG98 normalized gauge curve is
adjusted according to q_j0 + i/im WJJ. q_j0 therefore controls the
curvature of the gauge curve around the J position at very low current.
{0.05}.
q_k0 The width of the "k" section of the UG98 normalized gauge curve is
adjusted according to q_k0 + i/im WKK. q_k0 therefore controls the
curvature of the gauge curve around the "K" position at very low
current. {0.05}
mQP the ratio of the slope of the gauge curve at the end of the linear
section ("c" section). If mQP < 1, the corresponding section of the
torque/angle curves will slope downwards towards the aligned position.
Typical value = 0.95. {1}
mXJ The ratio of migration rates of J0 & J1 due to saturation in UG98 gauge
curve. If mXJ < 1, J0 migrates towards the unaligned position faster
than J1 migrates towards the aligned position. If mXJ is set <= !1, the
J region is treated as having fixed width equal to WJJ, where WJJ is
expressed in per-unit of x
UA
. {1}
XTTh Adjustment factor for the torque in the torque/angle curves. This
parameter is used only for scaling the torque/angle curves up or down.
It has no effect on the mag. curves or any other calculations: only the
graphical torque/angle curves and the values written to the file
TTHETA.TTH. {1}
Page 68 Input parameters | Ted PC-SRD 9.04 User's manual
mQP
0
U
1
x
T
Torque
A J
j
a
b
k
h
c
P
Q
J J
0
J
1
K
0
K
1
K A
U
0
1
UG98.WPG
y
x
m
d
Normalized
flux-
linkage
WJJ
XXJ
XXK
WKK
Fig. 56 UG98 gauge curve and static torque/angle curve.
The key points (rotor angles) in Fig. 56 are U,J,K and A, as defined on page 5.
PC-SRD 9.04 User's manual Input parameters | Ted Page 69
A
S
U
im
Lu
Lau
is
o
Psis
Psim
i
imu
Psim
Lu
isu =
Psim
Lau
im !
Psim
Lau
im !
S
A
Psis
Lu
E:\man\pcsrd\LuSat.wpg
J
J
XPsisu
XLu
XLau
Xim
XPsim
Ximu
[Bs]
[Bm]
Flux-linkage
psi
Fig. 57 Saturation of unaligned mag. curve when LuSat = true.
LuSat When MagCurv = UG98, UG98/X, Univ, or Univ/X and LuSat = true, the
unaligned mag. curve is modified to allow for saturation by means of
a simple MMF transfer shown as J in Fig. 57. Also shown are some of
the adjustment factors that can be used to modify the curves to agree
with measurements or finite-element calculations. See also Fig. 23 on
p.25. {false}
XPsisu Adjustment factor for raising or lowering the point S' in Fig. 57.
This is the point at which the straight part of the unaligned mag.
curve ends, and the curvature caused by saturation begins. {1}
Ximu Adjustment factor for moving the point A' right or left in Fig. 57.
This is the highest current on the unaligned mag. curve. {1}
Page 70 Input parameters | Ted PC-SRD 9.04 User's manual
Multi-stroke Parameters (see separate document)
Note: Core losses are not modelled in multi-stroke dynamic simulation.
XTL Load torque scaling-factor. XTL multiplies the variable load torque
read from an external ASCII file, as well as TL. (Fig. 25). {1}
tLT Time-delay for applying load torque component from ASCII file. tLT
makes it possible to apply a change in load torque at any point after
the start. For example, a step load change could be applied after the
speed has settled to a steady value. (See also TL0, TL1, nTL, and
rpmTL.)[sec] {0}
JL Load inertia. JL is added to the calculated motor inertia (Jm). Note
that Jm does not include the shaft. {0} [kg-m
2
]
rpmR Set-point (demanded) speed for closed-loop speed control. It is also
the speed at which Th0R and ThCR are defined. [rpm] {3000}
Revs Intended simulation length, i.e., the time taken to cover Revs
revolutions at the initial speed rpm. Since the speed varies, the
simulation length will not correspond exactly to Revs revolutions, and
a re-run may be necessary to get an exact simulation length.
PC-SRD is limited to a fixed number of plot samples (1024). If too many
Revs are requested, PC-SRD will automatically truncate the simulation
to keep within the limit of its plotting arrays. If this happens, you
can use Nskip to plot every n'th integration step, where n = Nskip.
The integration step length is not affected by Nskip, so this does not
slow the simulation down. {1}
GProp The proportional current gain if current regulation mode is selected.
If voltage PWM is selected, it is the proportional Duty-cycle gain.
In current regulation mode, GProp multiplies the per-unit speed error
to form a new set-point value i
U
for the upper limit of the
current-regulator's hysteresis-band. After adding the integral- and
derivative gain terms, i
U
is limited so that it never falls below 0.01
iHi or rises above iHi. Similar rules govern the variation of
duty-cycle when voltage regulation mode is selected, so that duty-cycle
never goes outside the range (0,1). {1}
Th0R Turn-on angle at rpmR. If Braking = none, the turn-on angle is
shifted linearly with speed, from Th0 at rpm to Th0R at rpmR. Above
rpmR, the linear variation continues until the speed 2 rpmR ! rpm is
reached. At higher speeds, Th0R is used. If any other Braking mode is
selected, the turn-on angle is set to the fixed value Th0B at speeds
above the reference speed rpmR. The current value of turn-on angle can
be discretized with CPR (q.v.). {Th0}
ThCR Turn-off angle at rpmR. If Braking = none, the turn-off angle is
shifted linearly with speed, from ThC at rpm to Th0R at rpmR. Above
rpmR, the linear variation continues until the speed 2 rpmR ! rpm is
reached. At higher speeds, ThCR is used. If any other Braking mode is
selected, the turn-off angle is set to the fixed value ThCB at speeds
above the reference speed rpmR. The current value of turn-off angle can
be discretized with CPR (q.v.). {ThC}
tX Sample-and-hold X (for firing angles). Sample-and-hold period for
firing-angle updates. [ms] {0}
tY Sample-and-hold Y (for speed loop). Sample-and-hold period for speed
loop updates. [ms] {0}
PC-SRD 9.04 User's manual Input parameters | Ted Page 71
Enc No. of encoder pulses per revolution (PPR), assuming an incremental
encoder whose index pulse (zero) coincides with the origin of phase 1,
the position from which all simulations begin. The encoder is used only
for estimating speed, not for commutation. (See CPR). If Enc = 0, the
encoder resolution is taken as infinite, and the digital speed estimate
is updated every integration step. If Enc > 18, the integration
timestep is divided down so that there are at least 100 integration
steps per encoder pulse-interval. This slows the simulation. {0}
ZEnc No. of encoder pulses used to estimate speed. Any value greater than
1 will have the effect of smoothing the curve of estimated speed, but
the response to the speed error is slowed down. {12}
GInt Integral gain. As with GProp, if current regulation is selected, GInt
is applied to the current regulator; but if voltage PWM is selected,
it is applied to the duty-cycle regulator. Integral gain is used to
eliminate steady-state error in the motor speed, relative to the
reference speed. {0}
AntiW Anti-windup gain of integral controller. This gain is part of a
feedback loop which minimises the error between the regulator input and
output. It forms part of the integral term in the PID controller and
improves controller response by limiting the effect of integral
ramping. 1.5 is a good starting value for this parameter. A high
anti-windup gain can lead to stability problems in the controller. See
equations above. {0}
csr1 "cursor 1", i.e., start of plotting. Point at which plotting is
switched on, as a fraction of the length of the simulation (Revs). If
the simulation length is very long, and you want to examine a small
section of it in detail, select that section using csr1 and csr2.
Otherwise, it will usually be more efficient to leave csr1 = 0 and csr2
= 1, and view the entire simulation using Nskip to plot only every n'th
point. The zoom facility can then be used to examine sections in more
detail. {0}
csr2 End of plotting, expressed as a fraction of the simulation length
(Revs). {1}
PX Location of Probe X
PY Location of Probe Y
Probe X and Probe Y are two probes which the user can "connect" to any
one of 29 points in the block diagram, Fig. 24. The waveforms at these
points can be plotted one over the other, so that the relationship
between any two variables can be viewed. Use the drop-down list box or
spacebar to select the required variable or connection point. If probes
X and Y are connected to the input and output of one of the blocks in
the block diagram, they provide a check on the function performed by
that block.
Th0B Turn-on angle (braking) [Emech or Eelec]. {Th0R}
ThCB Turn-off angle (braking) [Emech or Eelec]. {ThCR}
If Braking = none, the braking angles are not used. If Braking =
Linear or Hard, the firing angles are set to Th0B and Th0C when the
estimated speed wmEncHold at the output of the sample-and-hold tX rises
above rpmR. The current values of the turn-on and turn-off angles can
be discretized with the CPR parameter (q.v.). The default values of
Th0B and Th0C depend on the numbers of phases and poles.
TL0 Mean load torque {0}
Page 72 Input parameters | Ted PC-SRD 9.04 User's manual
T
L
' T
L0
T
L1
rpm
rpmTL
nTL
ASCII file waveform
TL1 Speed-dependent load-torque coefficient {0}
nTL Load torque exponent for variation with speed {0}
rpmTL Reference speed for specifying load torque. [rpm] {1000}
In general, the load torque is assembled from the sum of three
components (see Fig. 25).
The name of the ASCII file containing the instantaneous load torque as
a function of rotor position can be entered using [Ctrl+E]. The user
has the option of not using this file, in which case the load torque
is composed from only the first two terms in the above equation. The
ASCII file component is a function of rotor position and must be
specified in an array; see separate file format document. It is applied
only after a time delay tLT. TL0 and TL1 must be specified in the
currently selected torque units [Ctrl+U].
rpmX Speed at which control mode changes to "single-pulse". If wmEncHold
< rpmX, closed-loop speed control relies on the PID controller to
generate the necessary torque-demand signal (in terms of a current
setpoint if current regulation is selected, or a duty-cycle setpoint
if voltage PWM is selected). In this mode, the firing angles are
adjusted with speed, and are not functions of the speed error: i.e.,
they are not part of the speed loop. {100000} [rpm]
If wmEncHold > rpmX, i.e. if the speed exceeds the changeover speed,
the control strategy changes to proportional control of the firing
angles in response to the speed error. The current- (or duty-cycle-)
regulator is bypassed. If current regulation is selected, the
current-regulator setpoint is made equal to iHi. If voltage pwm is
selected, the duty-cycle is made equal to 1. This makes full voltage
available to the firing-angle controller. The PID signal is ignored and
the firing angles become part of the speed loop, i.e. they become
linear functions of the speed error. The gains controlling the
variation of the firing angles with speed error are GTh0 and GThC.
If it is intended to operate in the current-regulating mode at all
times, set rpmX to a value higher than the expected maximum speed. (At
high speed the current may never reach the set-point value iHi, but may
be naturally limited by the changing inductance and back-EMF). If it
is intended to operate in the single-pulse mode at all times, set rpmX
= 0. Note that the current-regulating mode is less efficient than the
single-pulse mode because of additional core losses and switching
losses associated with the chopping.
CPR No. of commutation pulses per revolution. In practice the turn-on and
turn-off angles Th0 and ThC cannot be varied continuously, but take
discrete values. Often this is due to the use of a commutation position
sensor with a finite number of pulses per revolution (e.g. 6, 24 etc).
The CPR parameter is distinct from Enc, because the commutation
position sensor and the speed sensor are not necessarily the same
device. As an example, if CPR = 360, the firing angles can take only
discrete values at intervals of 1 Emech. If CPR = 720, the resolution
is improved to 0.5 Emech. If CPR = 0, continuous variation is assumed
and the input values Th0 and ThC are used without adjusting them to
discrete values. Th0B and ThCB are also adjusted by CPR. {0}
PC-SRD 9.04 User's manual Input parameters | Ted Page 73
GTh0 Gain for adjusting turn-on angle in closed-loop single-pulse mode.
[Emech or Eelec] {0}
GThC Gain for adjusting turn-off angle in closed-loop single-pulse mode
[Emech or Eelec] {0}
In single-pulse mode with wmEncHold > rpmX, the turn-on angle Th0 is
varied or modulated according to the equation
Th0 = Th0 [rpm] ! GTh0 wmErr
where wmErr is the per-unit speed error
mErr
, and Th0[rpm] is the value
of turn-on angle corresponding to the speed rpm. If GTh0 = 50, for a
per-unit speed error of +0.02, the turn-on angle will be advanced by
1E. The effect of GThC is similar.
GDrv Maximum gain of the derivative term in the PID controller. The
derivative gain is used to provide phase lead in the controller and
thereby stabilise the system, allowing dynamic response to be improved
by increasing proportional and integral gains. GDrv should be
coordinated with the cutoff frequency DFreq of the derivative term
filter characteristic. {0}
DFreq The cutoff frequency of the first-order filter characteristic
associated with the derivative term of the PID controller. This filter
is necessary to prevent noise problems caused by the naturally high
gain of derivative terms at high frequencies. DFreq should be
significantly higher than the maximum frequency content of the
controlled signal. [rad/s] {1000}
GVel State feedback : velocity gain. The velocity is subtracted from the
speed reference wmRef, multiplied by the gain factor GVel, and added
to the PID controller output. This is equivalent to setting GProp with
Enc = 0 (analogue speed feedback with no delay or discretization). {0}
GAcc State feedback: acceleration gain. The acceleration is multiplied by
the gain GAcc, and added to the PID controller output. Acceleration
feedback stabilises the system by providing phase lead in much the same
way as derivative control (see GDrv). GAcc must be negative for the
system to be stable. {0}
Dist Magnitude of disturbance added to firing angles Th0 and ThC, used to
simulate variation in the firing angles. The variation can be periodic
or random. Dist is the amplitude of the disturbance and is in the same
units as Th0 and ThC. {0}
fDist Frequency of firing angle disturbance, added to firing angles Th0 and
ThC. It is possible to simulate a disturbance in the firing angles.
This disturbance can be periodic or random. If fDist is zero, the
variation is random. Otherwise, the variation is periodic at frequency
fDist in radians per second. [rad/s] {0}
tShort Time at which phase 1 is short-circuited. tShort permits a
short-circuit fault to be applied at the motor terminals of phase 1.
If tShort = 0, no fault is applied. [sec] {0}
tOpenT ime at which phase 1 is open-circuited. tOpen permits an open-circuit
fault to be applied at the motor terminals of phase 1. If tOpen = 0,
no fault is applied. [sec] {0}
ASin Amplitude of speed reference modulation. [rpm] {0}
wSin Angular frequency of speed reference modulation. [rad/s] {0}
Page 74 Input parameters | Ted PC-SRD 9.04 User's manual
h ' h0 10
&3

T
D
hExp
W/in
2
/EC
h ' h0 10
&3

V_air
L
W/in
2
/EC
h ' h0 10
&3
T
hExp
W/in
2
/EC
Parameters for thermal transient
thm_dt Integration time-step for integrating thermal differential equations.
thm_dt should be much smaller than the thermal time-constant T of the
motor, e.g., T/1000. [sec] {1}
hTime Total simulation time. hTime is the total time for which the thermal
diffusion curves are calculated and plotted. This will typically be set
to be 3 or 4 times the thermal time-constant of the motor, so that the
diffusion curves reach a steady state.
The length of the integration in minutes is hTime, but the storage
arrays for the temperature-vs.-time curves have only 1024 elements.
If thm_dt is less than hTime/1024, the program will plot only every
n'th sample in the temperature-vs.-time curves, where n is calculated
automatically to use up approximately the full plotting array over
hTime. For example, if hTime = 200 min and thm_dt = 3 sec, the number
of integration steps will be 200 60/3 = 4000 and n = 4000/1024 = 4,
i.e., only every 4
th
sample will be plotted. [min] {100}
XLoss Adjustment factor multiplying all loss components. Use XLoss = 0 to
model cooldown. {1}
R_CST Thermal resistance from conductors to stator core. R_CST can be set
equal to ThRslot, which is calculated in Dynamic design, but there
should also be an allowance for diffusion resistance through the coil-
sides. [EC/W] {1@0}
R_SS Thermal diffusion resistance through the stator core. {1@0}
R_SFI Interface resistance from stator core to stator frame [EC/W]. {1@0}
R_FAV Thermal resistance from frame to ambient by conVection. If R_FAV = 0,
PC-SRD uses crude formulas that should be verified by test:
V_air = 0. Natural convection:
where h0 is quoted 2@14 for horizontally-mounted unfinned cylinders, and
hExp = 0@25. D is the frame diameter 2 (R3 + FrThk) (in inches).
V_air > 0. Forced convection:
where h0 is quoted as 1@12, and L is the frame length (FrLgth) in inches
(assumed parallel to the direction of airflow).
V_air < 0. Forced convection:
The value of R_FAV is refreshed every time-step according to the
current frame temperature. If a fixed value was specified, however, no
such adjustment is made. If the frame is finned, the appropriate value
of R_FAV must be supplied: the program cannot calculate this internally
for a finned surface. See also IT_F.
PC-SRD 9.04 User's manual Input parameters | Ted Page 75
R_FAR '
T
A[T
1
4
& T
0
4
]
EC/W
R_FAU Thermal resistance from frame to ambient by conduction [EC/W]. {1.0}
R_FAR Thermal resistance from frame to ambient by radiation If R_FAR = 0,
PC-SRD uses the formula
where T
1
is the absolute temperature of the frame (TFrame + 273.2 K) and
T
0
is the absolute ambient temperature (T_amb + 273.2 K). Here is a
constant equal to 3.66 10
-11
W/in
2
/K
4
and g is the emissivity (Emiss)
of the frame surface (which ranges from less than 0.1 for polished
aluminium to 0.97 for black lacquer). A is the surface area of the
frame in in
2
, including both end-caps. During the transient thermal
calculation, the internally-calculated value of R_FAR is refreshed
every time-step according to the current frame temperature. If a fixed
value was specified, however, no such adjustment is made. If the frame
is finned, the appropriate value of R_FAR must be supplied by the user:
the program cannot calculate this internally for a finned surface.
See also IT_F. [EC/W] {1.0}
R_RST Thermal resistance from rotor to stator across airgap, including
conduction, convection, and radiation. [EC/W] {1000}
R_RFT Thermal resistance direct from rotor to frame, bypassing the stator
core. [EC/W] {1000}
R_RHI Thermal interface resistance from rotor core to shaft. [EC/W] {1.0}
R_CAD Thermal resistance from conductors to ambient by direct cooling, as for
example with hollow conductors, or cooling tubes in contact with the
conductors. [EC/W] {1000}
R_HAU Thermal resistance from shaft to ambient by conduction [EC/W]. {1.0}
R_HAD Thermal resistance from shaft to ambient by direct cooling. Since this
resistance is in parallel with R_HAU, it has the same effect as
conduction of heat along the shaft. [EC/W] {1000}
IT_Cu Initial temperature of conductors at t = 0. [EC] {25.0}
IT_S Initial temperature of stator core at t = 0. [EC] {25.0}
IT_R Initial temperature of rotor core at t = 0. [EC] {25.0}
IT_H Initial temperature of shaft at t = 0. [EC] {25.0}
IT_F Initial temperature of frame at t = 0. [EC]
If IT_Cu, IT_S, IT_R etc. are different, the temperature-vs.-time
curves will show an initial transient in which internal heat transfer
tends to bring the temperatures of the various test points closer
together. For studying cooldown, set IT_Cu, IT_S,IT_R etc. to the
highest value reached during normal operation and set XLoss = 0.
If IT_F < T_amb, and if internally-calculated values are being used for
R_FAV and/or R_FAR, these thermal resistances will be set to a high
value (1000 EC/W) until the frame temperature exceeds the ambient
temperature by 0.1 EC.
AddC_Cu Additional thermal capacity to be added to conductors [J/EC]. {0}
AddC_S Additional thermal capacity to be added to stator core [J/EC]. {0}
AddC_R Additional thermal capacity to be added to rotor core [J/EC]. {0}
AddC_H Additional thermal capacity to be added to shaft [J/EC]. {0}
AddC_F Additional thermal capacity to be added to frame [J/EC]. {0}
Page 76 Input parameters | Ted PC-SRD 9.04 User's manual
ct_Liner Thermal conductivity of slot liner, [W/m
2
C] {0}
h0 Convection coefficient: see R_FAV. Used only if R_FAV = 0. [mixed
units] {2.14}
hExp Exponent used in convection coefficient: see R_FAV. Used only if R_FAV
= 0. {0.25}
V_air Air velocity; see R_FAV. Used only if R_FAV = 0. [ft/min] {0}
Emiss Emissivity of frame surface, relative to that of a black body. See
R_FAR. Used only if R_FAR = 0. {0.9}
FrLgth Frame Length (Fig. 65).
FrDens Density of frame material, used for calculating the mass of the frame,
which is assumed to be a circular tube of internal radius R3 and
thickness FrThk, with end caps in the form of plain disks of radius R3
and thickness CapThk, Fig. 68. Any fins are assumed to have the same
density as the frame. [kg/m
3
] {2700}
Lshaft Shaft length (Fig. 65).
ShDens Density of shaft material, used for calculating the mass of the shaft,
which is assumed to be a plain solid cylinder of internal radius RSh
and length (FrLgth + 2 CapThk). [kg/m
3
] {7800}
cp_Cu Specific heat of copper, for calculating the thermal mass of the stator
conductors. The density of the conductors is assumed to be that of
copper (8900 kg/m
3
). [kJ/kg C] {0.3831}
cp_sFe Specific heat of stator core, for calculating the thermal mass of the
stator core. [kJ/kg C] {0.45}
cp_rFe Specific heat of rotor core, for calculating the thermal mass of the
rotor core. [kJ/kg C] {0.45}
cpFrame Specific heat of frame material, used for calculating the thermal mass
of the frame. [kJ/kg C] {0.896}
cpShft Specific heat of shaft material, used for calculating the thermal mass
of the shaft. The thermal capacity of any shaft extensions or coupled
loads can be accounted for by means of AddC_H . [kJ/kg C] {0.45}
LFin Radial length of fins, Fig. 67.
FinThk Fin thickness, Fig. 67.
N_Fins No. of fins, Fig. 67. The thermal capacity of the fins is calculated
assuming that they are of the same material as the frame, but the fins
do not change the values of R_FAV or R_FAR. These adjustments must be
made outside the program and then the relevant coefficients must be
adjusted accordingly; i.e., if heat transfer from a finned frame is to
be modelled, the appropriate values of R_FAV and R_FAR must be supplied
by the user. {0}
CapThk Thickness of end-caps, Fig. 68. This is used in calculating the
thermal mass of the end-caps, using the density FrDens. {5 mm}
PC-SRD 9.04 User's manual Parameters * Design sheet Page 77
3.4 Output parameters in the design sheet
Input parameters already described in 3.1-3.3 are not repeated here. Some
parameters listed here may not appear in the design sheet, but are available via the
calculator [F4]. On the computer screen, output and input parameters are in
different colours. If the design sheet is printed in PostScript or RTF format, the
values of the output parameters are printed in boldface and the values of the input
parameters in italics. For dimensions, see the reference diagrams.
The design sheet excerpts reproduced in this section do not refer to any particular
motor and are not intended to be consistent with one another.
PC-SRD 8.8 (8.8.0.1) 13-Apr-2008 18:14:51
d:\test\sr1.srd
SPEED Laboratory
PC-SRD main title
PC-SRD sub-title
This contains the program version number, the date and time, the data filename, the
licensee and the user-defined title and sub-title.
Page 78 Parameters * Design sheet PC-SRD 9.04 User's manual
Dimensions:--------------------------------------------------------------------
Rsh 12.5 mm Ntp 1 Gap 0.3 mm
R0 30 mm Nph 3 Lstk 50 mm
R1 45 mm Nr 4 BetaR 32 mDeg
R2 65 mm Ns 6 BetaS 30 mDeg
R3 80 mm D1s 2 mm D2s 2 mm
fil_R 2 mm tpr_R 3 mDeg tab 0 mm
fil_S 2 mm tpr_S 3 mDeg tpr_T 4 mDeg
Stroke 30 mDeg SPW 23.449 mm RPW 24.807 mm
StepGap NoStep FluxPths Normal Jag Normal
FrLgth 75 mm FrThk 5 mm CapThk 5 mm
Lshaft 150 mm Dshaft 25 mm
ASlam 9768.59 mm^2 ARlam 3910.791 mm^2 ARslot 489.914 mm^2
These are mostly input parameters (3.1,3.2).
Stroke The stroke angle or step angle, generally equal to 360E/(Nph Nr).
SPW Stator pole width.
RPW Rotor pole width.
Dshaft Shaft diameter, equal to 2 Rsh.
ASlam Area of stator lamination (after punching).
ARlam Area of rotor lamination (after punching).
ARslot Area of rotor slot.
PC-SRD 9.04 User's manual Parameters * Design sheet Page 79
Winding Data:------------------------------------------------------------------
Np 150 T_Cond 144.245 C Rph 2.398 ohm
Paths 1 SFill 0.3 Lau 208.736 mH
NSH 1 M.L.T. 202.05 mm Lu 15.331 mH
Aslot 648.462 mm^2 NwkPP 1 Lau/Lu 13.616
SFill 0.3 SFill 0.3 WireSpec SFill
WDia 0.909 mm ACond 0.648 mm^2 LOends 94.349 mm
CoilsPh 2 Tph 300 Nss 2
Ext 0 mm Polarity NSN
Rcc 0 ohm Lcc 0 mH

Rph Phase resistance. If TempIt = false, Rph is calculated at the
temperature T_Wdg. If TempIt = true, it is calculated at the
temperature T_Cond.
Lau Self-inductance of phase winding in the aligned position, calculated
using the steel permeability at Bs. (Fig. 23).
Lu Self-inductance of phase winding in the unaligned position. PC-SRD
calculates Lu using a grid of quadrilaterals in the rotor/stator
airgap, and uses dual-energy principles to improve the accuracy. Lu is
generally accurate within about 10-20%, but greater errors are possible
if the L/D ratio is small, or with fine tooth geometry. (See XLu).
Lu is most accurate when the rotor slot depth (R1 ! R0) is about equal to
the distance between the corner of a stator pole and the corner of the nearest
rotor pole, with the rotor in the unaligned position. This is in any case a
desirable design feature. Experience suggests that the most accurate
results are obtained with 6:4 and 8:6 motors. It is recommended to use
finite-element calculations or measurements to check Lu.
Lau/Lu The unsaturated inductance ratio.
This ratio is a figure of merit of the lamination geometry. A high value is
desirable, to maximise the torque per ampere and minimize the kVA of
switches required. Reasonable values are usually around 7-10 for small motors,
increasing to 15-20 for motors up to 250mm diameter. Because of the end-
winding inductance, a long stack increases the inductance ratio. The ratio
is also sensitive to the airgap and the pole-arcs BetaS and BetaR. PC-SRD may
not be sufficiently accurate to give a fine degree of optimization of these
parameters, and it is recommended that measurements and finite-element
calculations are used to supplement it.
M.L.T. Mean length of one turn. (Figs. 66,68).
AslotGross (punched) slot area bounded by the stator pole sides and circular arcs
at radii (R1 + Gap) and R2, Fig. 61. Aslot generally accommodates two coil-
sides belonging to different phases.
SFillSlot-fill factor. Ratio of slot copper cross-section area to gross slot area
Aslot.
NwkPPNo. of working pole-pairs, i.e. the 'multiplicity' of the motor. For example,
a 12:8 3-phase motor is equivalent to a 6:4 with a multiplicity of 2. In the
6:4 (NwkPP = 1) only one stator pole-pair per phase is working on one rotor
pole-pair to produce torque. In the 12:8 (NwkPP = 2) there are two stator pole-
pairs per phase working on two rotor pole-pairs. PC-SRD assumes short flux-
paths when NwkPP > 1.
WDia Bare wire diameter. See WireSpec.
Page 80 Parameters * Design sheet PC-SRD 9.04 User's manual
ACondCross-sectional area of 1 conductor. The current flowing through this area is
1/Paths times the phase winding current. A "conductor" is composed of NSH
strands in hand.
ALOETAxial length of winding including endwinding overhangs [mm], Figs. 66, 68.
CoilsPh No. of coils per phase.
Tph No. of turns in series per phase.
Nss No. of stator pole-coils in series per phase.
Polarity The polarity of the pole-coils is given only for the first Nph phases:
it repeats after that, with alternating sign. In the example the first
sequence is given as NSN but there are 12 poles, so the complete
sequence is NSNSNSNSNSNS.
Additional parameters for fully-pitched windings (FluxPths = FPW)
fpRphResistance of one phase comprising CoilsPh fully-pitched coils each with Np
turns. This is twice the resistance of a "composite" phase.
fpRR Ratio of resistance of fpw coil to spw coil.
PC-SRD 9.04 User's manual Parameters * Design sheet Page 81
7
Before version 8, the mean chopping frequency MeanChop was incorrectly calculated because the chopper
continued to accumulate NChops even after commutation at ThC, resulting in a chopping frequency higher
than the input value, roughly in the ratio (ThQ-ThC)/Dwell.
Control Data:------------------------------------------------------------------
Vs 150 V iHi 30 A DuCy 1
rpm 1000 rpm iLo 30 A Dwell 30 m
Th0 50 m Rq 0 ohm %Dwell 33.333 %
ThC 80 m Vq 1 V Strk/Rev 12
ThZ 65 m Vd 0.6 V Fph 66.667 Hz
VsMax 180 V Rs 0 ohm
tq_ON 0 usec tq_OFF 0 usec fChop 11 kHz
Regulate Current CProfile false Chopping Soft
NChops 0 NXoff1 0 NXoff2 0
fChopAct 0 kHz fChopAvg 0 kHz fChopEst 0 kHz
CtsCond false tDwell 5 ms HBAmps 0 A
ISLA 1 Tol 8 PhEnable 1 1 1
iLo Lower limit of current hysteresis band, iHi ! HBAmps.
DwellTransistor conduction angle ThC ! Th0.
%Dwell Transistor conduction angle as a percentage of one rotor pole-pitch.
StrkRev Number of strokes per revolution.
Fph The commutation frequency in one phase, calculated as rpm/60 Nr.
fChopAct Chopping frequency in kHz, calculated from NChops/tDwell.
If voltage PWM is selected, this will normally be close to the input value
fChop, but not necessarily equal to it, because in each cycle at the chopping
frequency PC-SRD has to find integral numbers of integration steps for the
"on" interval (DuCy/fChop) and the "off" interval (1-DuCy)/fChop, and there may
be some rounding (which is less significant if ISLA is increased). If current
limit has been activated at any point during the transistor conduction period,
NCL can increase NChops considerably especially if ISLA is large, resulting in
a much higher chopping frequency than specified by fChop. If current regulation
is selected, the chop frequency is not predetermined but depends on the motor
and drive operation.
7
fChopAvg Chopping frequency averaged over a complete cycle (one rotor pole-
pitch), thus equal to fChopAct %Dwell/100.
fChopEst Chopping frequency estimated to give a rate of 60 chops per cycle (one
rotor pole-pitch) when fChop = 0.
NChops The total no. of chops due to current-regulator, current-limit and/or
voltage-PWM: NXoff1 + NXoff2.
NCL No. of chops due to current-regulator and/or current limit in one transistor
conduction interval between Th0 and ThC. "Chops" occur as the result of
current-regulation, current limit, and voltage-PWM. The total number of chops
is NChops = NCL + NVD. (NCL and NVD are not in the design sheet, but are
available in the calculator. They are superseded by NXoff1 and NXoff2)
NVD No. of chops due to the voltage-PWM algorithm in one transistor conduction
interval between Th0 and ThC, when Regulate = Voltage.
CtsCond Indicates continuous conduction, in which the phase current and flux-
linkage never reach zero and the energy conversion loop "floats" off
the origin in the i-psi diagram.
tDwell The elapsed time corresponding to the conduction angle Dwell. [ms]
Page 82 Parameters * Design sheet PC-SRD 9.04 User's manual
Fig. 58 Motoring current waveform showing circuit states
Fig. 59 Circuit states and transitions.
x marks the turn-off of one transistor.
NXoff1 The number of times a particular transistor switches off by itself
during one stroke. This is obtained by counting the number of
transitions from state 100 to 010 and from state 010 to 001, during one
stroke. The states are defined in Fig. 59, and an example is given in
Fig. 58. In a circuit with two transistors per phase-leg, PC-SRD does
not discriminate between the upper and lower transistor. During
chopping, all the switching might be done by the upper, or all of it
by the lower; or it could be shared between them. NXoff1 is the total
number of single-transistor turn-off events in one stroke.
NXoff2 The number of times two transistors turn off simultaneously during one
stroke. If Chopping = Soft, this will normally occur only once, at the
end of the stroke (ThC), but if Chopping = Hard, it will occur many
times. Note that NCL + NVD should be equal to NXoff1 + NXoff2.
PC-SRD 9.04 User's manual Parameters * Design sheet Page 83
Performance:-------------------------------------------------------------------
TorqSh 8.227 Nm WCu 254.736 W Q_rms 4.527 kVA/kW
PowerSh 861.564 W WIron 17.911 W Q_pk 9.322 kVA/kW
Eff 75.962 % Wwf 0 W WCucc 0 W
sigma 1.873 psi WTotal 272.647 W TempRise 124.245 C
PLoop 879.475 W PElec 1134.211 W Doing Motoring
Vdc 150 V
TorqSh Shaft torque, equal to PowerSh/
m
, where
m
is the angular velocity in
mech rad/sec.
PowerSh Shaft power, equal to the electromagnetic power
m
TLoop minus the
sum of the windage & friction and the core losses.
Eff Efficiency of the SR machine, not including the converter.
WCu Copper losses. The sum of the I
2
R products for all phases, where I is
the RMS phase current (IWrms) and R is the phase resistance (Rph).
WIronThe total core losses evaluated by modified Steinmetz equation using the
coefficients CfCh, Cfa, Cfb and CfCe (see WinSPEED Manual). PC-SRD treats
core loss as a mechanical loss.
Wwf The windage & friction loss at the speed rpm. (See p. 59).
Wcucc The copper loss in the resistance of the connecting leads between the
drive and the motor, (Rcc).
WTotal The total losses in the machine including WCucc, i.e. WCu + WIron + Wwf
+ WCucc.
Q_rmsThe product IQcmRMS Vs Nph 2, divided by PowerSh, i.e. the converter kVA
per kW of shaft power, based on the RMS transistor current. The formula
implies 2 transistors per phase.
Q_pk The product IQcmPk Vs Nph 2, divided by PowerSh, i.e. the
converter kVA per kW of shaft power, based on the peak transistor
current. The formula implies 2 transistors per phase.
sigmaThe average airgap shear stress [always in psi , i.e., lbf/in
2
].
TempRise The temperature rise, T_Cond - T_amb. See p. 12.
PLoopThe electromagnetic power arising from the energy conversion area WConv, i.e.
TLoop
m
.
PElec The electrical power at the machine terminals, equal to WConv ! WCu if
Doing = Motoring or WConv + WCu if Doing = Generating.
Doing Defines whether the machine is motoring, generating, or absorbing.
Vdc The DC source voltage. PC-SRD can use different source voltages for
motoring and generating. For motoring, it uses Vdc ' Vs, but for
generating it uses Vdc ' VsMax; see Fig. 70. The changeover is
automatic.
IdcR The mean current in Rdc, averaged over the rotation through one rotor
pole-pitch. [A]
Rdc The value of a resistance that will absorb the generated power at the
voltage VsMax when carrying the mean current IdcR. [ohm]
Page 84 Parameters * Design sheet PC-SRD 9.04 User's manual
Currents:----------------------------------------------------------------------
IWPk 11.748 A IWMean 3.784 A IWrms 5.952 A
IQchPk 11.748 A IQchMean 3.165 A IQchRMS 5.705 A
IQcmPk 11.748 A IQcmMean 3.165 A IQcmRMS 5.705 A
IDchPk 10.635 A IDchMean 0.619 A IDchRMS 1.698 A
IDcmPk 10.635 A IDcmMean 0.619 A IDcmRMS 1.698 A
Jrms 9.179 A/mm IDC(wfm) 7.636 A DCripple 4.916 A
The currents are identified by a name which has two parts, e.g. "IQchRMS" means the RMS
current in the chopping transistor. In Fig. 72 on p. 104, with soft chopping, one transistor
is identified as the chopping transistor and the other as the commutating transistor, and in
general the RMS current is higher in the commutating transistor. Similarly, with soft chopping
one diode is identified as the "chopping diode", i.e. the freewheeling diode for the chopping
transistor, and the other as the commutating diode.
IW Winding Pk Peak
IQch Chopping transistor Mean Mean
IQcm Commutating transistor RMS RMS
IDch Chopping diode
IDcm Commutating diode
IDC DC link
For fully-pitched windings IWPk, IWMean and IWrms are replaced by fpIWPk, fpIWMean
and fpIWrms, meaning the current in one half of a composite phase.
Jrms The RMS current density in the conductors of the motor windings.
IDC_wfm Mean supply current derived from the current-time integral accumulated
from the waveforms computed in Dynamic design. (See IDC_pwr, below).
At low speeds with current-regulation and high ripple current IDC_wfm
may be inaccurate unless ISLA is increased and InnerAcc = true.
DCripple The RMS AC component of ripple current in the DC link, assumed to flow
in a parallel-connected capacitor (Fig. 69) of adequate capacity and
voltage rating.
PC-SRD 9.04 User's manual Parameters * Design sheet Page 85
Iron Losses:-------------------------------------------------------------------
Rotor: M19 24 gage
WlbFeRY 3.147 W/kg RCfCh 8.500E-03 RCfa 1.308
WlbFeRP 3.142 W/kg RCfCe 4.820E-06 RCfb 0.356
PRYE 1.214 W PRYH 1.515 W BRYMax 1.213 T
PRPE 0.814 W PRPH 1.022 W BRPMax 1.711 T

Stator: M19 24 gage
WlbFeSY 4.248 W/kg SCfCh 8.500E-03 SCfa 1.308
WlbFeSP 2.366 W/kg SCfCe 4.820E-06 SCfb 0.356
PSYE 4.832 W PSYH 5.938 W BSYMax 1.415 T
PSPE 1.133 W PSPH 1.444 W BSPMax 1.81 T
WEC 7.992 W WHYS 9.919 W XFe 1
Stf 0.97 IronLoss Orig
WFe0R 3.157 W/kg WFe0S 3.157 W/kg
PC-SRD provides the hysteresis and eddy-current loss (in W) in each section of the
magnetic circuit, together with the peak flux-density occurring in every section and
the Watts/kg (or Watts/lb) in the steel in each section. Locally high values of W/kg
are common in SR motors because of the peaked flux waveform, the narrow magnetic
cross-sections, and the high switching frequency (compared to AC motors of the same
rotor pole number).
Rotor
WlbFeRY Specific core loss in rotor yoke.
WlbFeRP Specific core loss in rotor poles
RCfChRotor core-loss hysteresis coefficient used in the Steinmetz core loss formula
(see WinSPEED manual).
RCfa Rotor core-loss hysteresis exponent used in the Steinmetz core loss
formula (see WinSPEED manual).
RCfb Rotor core-loss hysteresis exponent coefficient used in the Steinmetz
core loss formula (see WinSPEED manual).
RCfCeRotor core-loss eddy-current coefficient used in the Steinmetz core loss
formula (see WinSPEED manual).
PRYE Eddy-current loss in rotor yoke.
PRYH Hysteresis loss in rotor yoke.
PRPE Eddy-current loss in rotor pole.
PRPH Hysteresis loss in rotor pole.
BRYMax Peak flux-density in rotor yoke, derived from PsiMax assuming that the
rotor is in the aligned position.
BRPMax Peak flux-density in rotor pole, derived from PsiMax assuming that the
rotor is in the aligned position.
Stator
WlbFeSY Specific core loss in stator yoke.
WlbFeSP Specific core loss in stator poles.
SCfCh Stator core-loss hysteresis coefficient used in the Steinmetz core loss
formula (see WinSPEED manual).
Page 86 Parameters * Design sheet PC-SRD 9.04 User's manual
SCfa Stator core-loss hysteresis exponent used in the Steinmetz core loss formula
(see WinSPEED manual).
SCfb Stator core-loss hysteresis exponent coefficient used in the Steinmetz core
loss formula (see WinSPEED manual).
SCfCeStator eddy-current coefficient used in the Steinmetz core loss formula (see
WinSPEED manual).
PSYE Eddy-current loss in stator yoke.
PSYH Hysteresis loss in stator yoke.
PSPE Eddy-current loss in stator pole.
PSPH Hysteresis loss in stator pole.
BSYMax Peak flux-density in stator yoke, derived from PsiMax assuming that the
rotor is in the aligned position.
BSPMax Peak flux-density in stator pole, derived from PsiMax assuming that the
rotor is in the aligned position.
WFe0R Specific core loss in rotor steel at 50 or 60 Hz sinewave, 1.5 T (pk).
The 50 Hz value is used if dimensions are metric. They are calculated
from the core-loss coefficients as a check on the materials and the
other iron loss parameters.
WFe0SSpecific core loss in stator steel at 50 or 60 Hz sinewave, 1.5 T (pk).
PC-SRD 9.04 User's manual Parameters * Design sheet Page 87
8
In previous versions SSArea was calculated too large by a factor of 2, so that ThRslot was too small
by a factor of 2.
Steady-State Thermal Model:----------------------------------------------------
T_Cond 144.245 C TFrame 91.5 C T_amb 20 C
TempRise 124.245 C TempIt true T_Wdg 23.7 C
ct_Liner 0.2 W/m C Liner 0.2 mm SlotPeri 35.666 mm
DegCW 0.1 C/W ThRslot 0.093 C/W SSArea 1783.322 mm^2
HTC 42 W/mC ThRFS 0.262 C/W FSArea 90792.028 mm^2
C_motor 4.046 kJ/C ThermTC 30.73 min
T_Cond Conductor temperature calculated in Dynamic design. If TempIt = true,
the phase resistance Rph is calculated at this temperature. If TempIt
= false, T_Cond is still estimated but Rph is still calculated at
T_Wdg. See p. 12.
TempRise The temperature rise, T_Cond - T_amb. See p. 12.
SlotPeri The contact perimeter between the slot liner and the slot wall.
ThRslot Thermal resistance of slot-liners (all in parallel). See p. 12.
SSArea Total contact area between the slot liner and the slot wall, i.e.,
SlotPeri Lstk.
8

ThRFSEquivalent thermal resistance for frame surface to ambient, equal to 1/(HTC
FSArea).
FSArea Frame surface area, including both end-caps. The frame surface area is
calculated as 2 (R3 + FrThk) (FrLgth + 2 CapThk) + 2 (R3 +
FrThk)
2
.
C_motor Thermal capacitance of entire motor, i.e. the sum of C_Frame, C_shaft,
C_wf, C_SFe, C_RFe, C_Cu.
ThermTC Thermal time-constant, calculated as the ratio of C_motor and the total
thermal resistance in series, Fig. 11. [min].
Page 88 Parameters * Design sheet PC-SRD 9.04 User's manual
Supplementary Output:----------------------------------------------------------
Settings...
MagCurv UG98/X FluxPths Normal FluxWfms Real
These are all input parameters.
Weights and mechanical..
WtCu 1.048 kg WtFe 5.076 kg Wt_Tot 6.124 kg
WtFrame 1.23 kg WtShaft 0.574 kg
RotJ 1.330E-03 kg-m RotJsh 4.487E-05 kg-m
WtCu The weight of copper in the windings. It includes an allowance for a
single conductor connecting between the poles of each phase, but no
allowance for the leads.
WtFe The weight of the laminations, including the stator and the rotor.
Wt_Tot Total electromagnetic weight, WtCu + WtFe.
WtFrame Weight of frame.
WtShaft Weight of shaft.
RotJ The polar moment of inertia of the rotor, including the shaft.
RotJsh The polar moment of inertia of the shaft.
Force and torque..
TRFbase 1482.403 N TRFpk 1578.779 N FUnbal 1111.802 N
TRPP 10.012 Nm TRrms 3.293 Nm TVR 25.865 kNm/m^3
TRPPpu 1.192 TRrmspu 0.392 Tpk 35.438 Nm
TRFbase Base value of tooth radial force, calculated from BSPmax
2
A
sp
/2
0
,
where A
sp
is the stator pole area. TRFbase can be used to normalize the
waveform of tooth radial force. See nTRF, (p. 66).
TRFpkPeak tooth radial force during one stroke. TRFpk can be used to normalize the
waveform of tooth radial force. See nTRF, (p. 66).
FUnbal Approximate peak unbalanced force with one pole-coil open-circuited.
TRpp Peak-peak torque ripple obtained from the instantaneous torque waveform. This
is electromagnetic torque, not shaft torque. It is likely to be imprecise
unless MagCurv = /X or Extl.
TRPPpu The peak-peak torque ripple, normalized to Twfm.
TRrmsRMS torque ripple obtained from the instantaneous torque waveform. This is
electromagnetic torque, not shaft torque. It is likely to be imprecise unless
MagCurv = /X or Extl.
TRrmspu The RMS torque ripple, normalized to Twfm.
TVR Torque per unit rotor volume in kNm/m
3
. This is equal to 2 sigma when
sigma is expressed in kN/m
2
.
Tpk Peak torque estimated from BTpk Np Nss iHi Lstk R1 (See Ref.
[2], p. 70).
PC-SRD 9.04 User's manual Parameters * Design sheet Page 89
Energy conversion loop..
TLoop 8.398 Nm Twfm 8.401 Nm WConv 4.397 J
MagLdg 0.269 T ElecLdg 52.535 kA/m MagGear 2
OPK 1.847 Kus 0.732 ERatio 0.733
VAsMax 7.239 J UConvMax 6.009 J WConvMax 5.333 J
Ks 0.887 Ku 0.825 RConv 1.602 J
ERmax 0.737 VAWmin 1.357 TLoopMax 10.185 Nm
For the interpretation of many of these parameters, please see Fig. 60.
TLoopThe mean electromagnetic torque calculated from the energy conversion loop
area, WConv/Stroke.
Twfm The mean electromagnetic torque calculated by averaging the
instantaneous torque waveform of one phase. This waveform is imprecise
unless MagCurv = /X or Extl, so more reliance should be placed on TLoop
than on Twfm.
WConvThe energy conversion per stroke, Figs. 9 and 60.
MagLdg Magnetic loading, (eqn. [24] in Ref. [2], page 178).
ElecLdg Electric loading, (eqn. [28] in Ref. [2], page 178).
MagGear Magnetic "gear ratio", (eqn. [30] in Ref. [2], page. 179).
OPK Output coefficient K, (10.9 of Ref. [2], pp. 176!177).
Kus Utilization factor defined as the ratio WConv/UConvMax in Fig. 60. Kus
is also equal to the product Ku Ks.
ERatio The energy ratio. See Fig. 60.
VAsMax The volt-ampere-seconds (joules) delivered by the drive during the
transistor-conduction interval when the current waveform is rectangular
with peak value im, and the peak flux-linkage is Psim V-s.
UConvMax The energy conversion available per stroke in a non-saturable machine
with an ideal rectangular current waveform of peak value im and a peak
flux-linkage of Psim.
WConvMax The energy conversion available per stroke in a saturable machine with
an ideal rectangular current waveform of peak value im and a peak flux-
linkage of Psim.
Ks Saturation factor defined by WConvMax/UConvMax.
Ku Utilization factor defined by WConv/WConvMax. Ku can be greater than
1 if the current is peaky with a peak value greater than im.
RConv The energy returned to the drive via the diodes after commutation.
ERmaxThe energy ratio obtained with the ideal rectangular current waveform of peak
value im and peak flux-linkage Psim: i.e., WConvMax/VAsMax.
VAWmin The volt-amperes provided by the drive, per watt of electromagnetic
energy conversion, obtained with the ideal rectangular current waveform
of peak value im and peak flux-linkage Psim; also equal to 1/ERmax.
TLoopMax The loop torque corresponding to WConvMax. In effect this is the
maximum torque obtained with the ideal rectangular current waveform of
peak value im and peak flux-linkage Psim.
Page 90 Parameters * Design sheet PC-SRD 9.04 User's manual
Psim
L A
U
M
im
C
0
Flux-
linkage
[Vs]
Current [A]
WConv
RConv
R
0
L A
U
M
Psim
im
Flux-
linkage
[Vs]
Current [A]
VAsMax
S
0
L A
U
M
Psim
im
Flux-
linkage
[Vs]
Current [A]
S
WConvMax
0
L A
U
M
Psim
im
Flux-
linkage
[Vs]
Current [A]
S
UConvMax
(c)
(b) (a)
(d)
Fig. 60 Definition of WConv, UConvMax, VAsMax, WConvMax, RConv, ERatio, Ku, Ks and Kus.
(a) Typical energy conversion loop showing WConv and RConv.
(b) WConvMax is the maximum available energy conversion limited by im.
(c) VAsMax is the energy supplied by the drive when the current waveform is
rectangular with peak value im between the U and A positions.
(d) Without saturation, the maximum available energy conversion (limited by im)
would be UConvMax.
ERatio
'
WConv
WConv RConv
,
The average electromagnetic torque is determined from the actual energy-conversion
loop area WConv, which is computed by PC-SRD during the simulation of one stroke:
thus TLoop = WConv/Stroke.
The actual conversion area WConv is only a fraction of the electrical energy (WConv
+ RConv) supplied by the drive during the transistor-conduction interval OC. This
fraction is called the energy ratio:
where RConv is the energy returned to the supply via the diodes at the end of the
transistor conduction interval. For a given peak flux-linkage Psim and peak current
im, the maximum energy that can be supplied by the drive is VAsMax, in volt-ampere-
seconds, i.e. joules.
The energy conversion area WConv is also less than it would be if the machine did
not saturate. The area UConvMax is the conversion energy that would be obtained with
the same peak flux-linkage Psim and peak current im, if there were no saturation.
Saturation of the aligned magnetization curve reduces this energy to WConvMax, and
the ratio WConvMax/UConvMax is called the saturation factor Ks.
The utilization factor Ku is defined as the ratio WConv/WConvMax.
PC-SRD 9.04 User's manual Parameters * Design sheet Page 91
Mag curves..
Bm 2 T Bs 1.3 T Lau0 206.252 mH
Psim 716.542 mVs Psis 465.752 mVs Lu0 10.785 mH
im 11.523 A i_s 2.231 A Lss 1.134 mH
Xim 1 XLu 1 ETFCalc V5+Lss
X_Np 1 X_Lstk 1
dLu 4.546 mH dLau 2.484 mH a_ETF 1
L_min 15.331 mH L_max 208.736 mH Lmax/min 13.616
Pg 5.060E-03 mWb/At Lg 113.86 mH Ag 1172.45 mm^2
Bm See p. 59.
Psim Flux-linkage per phase corresponding to Bm.
im Phase current corresponding to Bm.
Xim See p. 60.
XPsim See p. 60.
With internal mag. curves, PC-SRD calculates the mag. curve in the aligned position up to the
level at which the airgap flux-density under the stator poles is Bm. At this point the phase
flux-linkage is Psim and the phase current is im. PC-SRD displays these values so that you
can check them against a single-point finite-element calculation or a measurement. This
provides an economical way to incorporate external data to force an improvement in the
accuracy of PC-SRD's aligned mag. curve calculation, using the adjustment parameters Xim
and/or XPsim (Fig. 23).
Bs See p. 59.
Psis Flux-linkage per phase corresponding to Bs.
i_s Phase current corresponding to Bs.
The upper limit of the linear part of the aligned mag. curve is defined by Psis and i_s, which
are controlled by Bs and the airgap length and the B/H data. With Bs in the airgap under the
stator poles in the aligned position, i_s is the phase current and Psis is the flux-linkage.
See Fig. 23.
Lau0 Unsaturated phase self-inductance in the aligned position, without end-effects;
i.e. the "2D" value.
Lu0 Unsaturated phase self-inductance in the unaligned position, without
end-effects; i.e. the "2D" value.
Lss Stator slot-leakage inductance. This is the inductance associated with
flux that crosses the stator slot but does not cross the airgap. It
should always be included in calculations even when end-effects are
"switched off": this is why ETFCalc is recommended to use only two
values, V5+Lss or Off+Lss; (other options are historical).
dLu End-turn inductance provided for adding to 2D mag. curves at the
unaligned position during re-alignment.
dLau End-turn inductance for adding to 2D mag. curves at the aligned
position during re-alignment.
Page 92 Parameters * Design sheet PC-SRD 9.04 User's manual
L_min Minimum inductance obtained from the mag. curves. For internal mag.
curves, L_min = Lu.
L_max Maximum inductance obtained from the mag. curves. For internal mag.
curves, L_min = Lau.
Lmax/min Ratio L_max/L_min.
Pg Airgap permeance per pole.
Lg Airgap inductance Np
2
Pg. This value is provided for the purpose of
making manual checks particularly on the calculation of Lau0. (The
series/parallel connection of pole-coils has to be taken into account
in such calculations).
Ag The airgap area per pole, including a small allowance for fringing.
PC-SRD 9.04 User's manual Parameters * Design sheet Page 93
Electrical..
PsiMax 630.856 mVs ThQ 104.188 m
Th_X 80 m Th0_gen 75.813 m ThC_gen 100 m
RhoT 2.564E-08 ohm-m TFRho 1.488 ConvLoss 21.219 W
InnerAcc true IDC(pwr) 7.703 A
End of Design sheet------------------------------------------------------------
Psimax The peak flux-linkage per phase in each stroke, Fig. 8.
ThQ The rotor angle at which the flux-linkage and current reach zero, at
the end of the period of diode conduction, Fig. 71.
Th_X Rotor angle at which the first chop occurs due to the action of the
current regulator, current-limit, or zero-volt loop.
Th0_gen Suggested turn-on angle for generating mode that would mirror the
current motoring mode, 360 2/Nr ! ThQ.
ThC_gen Suggested turn-off angle for generating mode that would mirror the
current motoring mode, 360 2/Nr ! Th_X.
RhoT The resistivity of copper. If TempIt = false, it is at the temperature
T_Wdg, but if TempIt = true, it is at temperature T_Cond.
TFRhoThe ratio of the copper resistivity at the winding temperature to its value
at 20EC. The "winding temperature" is T_Wdg if TempIt = false, or T_Cond if
TempIt = true.
ConvLoss The total loss in the converter, evaluated from the RMS and mean
currents together with Vq, Rq, Vd, tq_on and tq_off. ConvLoss includes
conduction loss and switching loss (SwitchLoss) in the transistors, and
WCucc in the connecting leads between the motor and the drive.
IDC_pwr The mean supply current, evaluated from the input power. This should
agree closely with IDC_wfm above, but because of rounding and other
numerical errors there is usually a small difference between them. With
high current ripple at low speed, the errors increase, so ISLA should
be used to decrease the integration step-length until the two values
of DC supply current agree sufficiently closely. Also set InnerAcc =
true. If close agreement cannot be reached, increase the rpm or turns
Np, or decrease the supply voltage Vs.
Page 94 Parameters * Design sheet PC-SRD 9.04 User's manual
Additional output parameters with DC offset
TR_dcTurns ratio (effective MMF ratio) of the DC offset winding relative to a phase
winding.
R_dcOffs Resistance of DC offset winding at temperature T_Wdg if TempIt = false,
or at temperature T_Cond if TempIt = true.
Ifd dcIOffs referred to phase winding.
WCu_dc Copper loss in the DC offset winding.
SFill_dc Slot-fill factor in the slots containing a coil-side of the DC offset
winding.
WtCu_dc Weight of copper in DC offset winding.
J_dcOffs Current density in DC offset winding conductors.
A_dcOffs Cross-section area of one wire in DC offset winding.
dc_MLT Mean length of turn in DC offset winding.
PC-SRD 9.04 User's manual Parameters * Design sheet Page 95
Thermal Transient:--------------------------------------------------------------
Thermal resistances
R_CST 0.100 C/W R_SS 1.000E-02 C/W R_SFI 1.000E-02 C/W
R_FAV 0.000 C/W R_FAU 1000.000 C/W R_FAR 0.000 C/W
R_RST 0.200 C/W R_RFV 0.000 C/W R_RHI 1.000 C/W
R_CAD 1000.000 C/W R_HAU 1.000 C/W R_HAD 1.000 C/W
R_fa 0.424 C/W opHTC 22.662 W/m2/C
Thermal capacitances
C_Cu 299.914 kJ/C C_SFe 1616.970 kJ/C C_RFe 462.769 kJ/C
C_wf 0.000 kJ/C C_Frame 1604.474 kJ/C C_Shaft 689.187 kJ/C
Sources
I_RFe 56.261 W I_SFe 101.390 W I_Cu 123.821 W
I_wf 0.000 W
Temperatures
T_amb 20.000 DegC T_C 129.040 DegC T_H 51.741 DegC
T_S 116.669 DegC T_R 115.223 DegC T_F 112.311 DegC
Heat Flows
i_CST 123.711 i_SS 7.536E-03 W i_SFI 217.867 W
i_FAV 143.628 W i_FAU 0.092 W i_FAR 74.143 W
i_RST -7.227 W i_RFV 2.912E-03 W i_RHI 63.483 W
i_CAD 0.109 W i_HAU 31.741 W i_HAD 31.741 W
i_CC 1.433E-03 W i_SS 7.536E-03 W i_RR 2.069E-03 W
i_HH 1.264E-03 W i_FF 7.274E-03 W
Overall heat rates
i_Source 281.473 W i_Absorp 0.020 W i_Dissip 281.453 W
Misc
hTime 200.000 min thm_dt 1.000 sec
R_fa Total thermal resistance from frame to ambient, the resultant of conduction,
convection, and radiation in parallel.
opHTC Surface heat transfer coefficient calculated from 1/(R_fa FSArea).
C_Cu Thermal capacitance of copper windings.
C_SFe Thermal capacitance of stator iron.
C_RFe Thermal capacitance of rotor iron.
C_wf Thermal capacitance of air in airgap.
C_Frame Thermal capacitance of frame.
C_Shaft Thermal capacitance of shaft.
I_RFeRotor iron loss.
I_SFeStator iron loss.
I_Cu Stator copper loss.
I_wf Windage & friction loss.
Page 96 Parameters * Design sheet PC-SRD 9.04 User's manual
T_C Temperature of conductors.
T_H Temperature of shaft.
T_S Temperature of stator iron.
T_R Temperature of rotor.
T_F Temperature of frame.
Heat flows
Heat flows i_ are identified by the "from" and "to" node, and the method of
transfer. For example, i_CST is from the conductors to the stator teeth by all
methods combined ("T" = total). i_FAV is from the frame to ambient by convection.
Overall heat rates
i_Source Total losses.
i_Absorb Total absorption in the total thermal capacitance, at the end of the
thermal transient calculation.
i_Dissip Total dissipation rate in thermal resistances that remove heat from the
machine to ambient, at the end of the thermal transient calculation.
PC-SRD 9.04 User's manual References Page 97
3.5 References
1. SPEEDs Electric Motors, the theory text that is used with the SPEED training
courses. Published as Miller TJE [2003] Speeds Electric Motors, Magna Physics
Publishing, Lebanon, Ohio, ISBN 1-881855-10-4.
2. Miller TJE : Switched Reluctance Motors and their Control, published by Magna
Physics and Oxford University Press, 1993. Available from Motorsoft, P.O. Box
442, 30 E. Mulberry St., Suite 1, Lebanon, Ohio 45036. ISBN 0-19-859387-2 or
9-780198-593874.
3. Miller TJE [Ed] : Electronic control of switched reluctance machines, Newnes
Power Engineering Series, Oxford 2001, ISBN 0-7506-5073-7.
4. Miller TJE : Brushless Permanent-Magnet and Reluctance Motor Drives, Oxford
University Press, Monographs in Electrical and Electronic Engineering No. 21,
1989. ISBN No. 0-19-859369-4. Reprinted 1993 with corrections.
5. Miller TJE : Switched Reluctance Motor Drives, PCIM Reference Book, Intertech
Communications Inc., 2472 Eastman Ave, Buildings 33-34, Ventura, California
93003-5774, USA, 1988. ISBN No. 0-931033-17-9.
6. Miller TJE and McGilp M : Nonlinear theory of the switched reluctance motor for
rapid computer-aided design, Proceedings IEE, Vol. 137, Pt. B, No. 6, November
1990, pp. 337-347.
7. Harris, M.R., Finch, J.W., Musoke, A., and Metwally, H.M.B. : Design and
Performance of Switched Reluctance Motors with Single and Multiple Teeth per
Stator Pole, Proceedings IEE, Pt. B, in 1991 (Vol. 138).
8. Miller, TJE and McGilp, M.I. : High-speed PC-based CAD for Brushless Motor
Drives, European Power Electronics Conference EPE-Firenze 91, Florence, 3-6
September 1991. A second paper with this title is in EPE-Brighton 93, Brighton
UK, 13-15 September 1993.
9. Cossar, C. and Miller, TJE : Measurement of Magnetization Curves of Switched
Reluctance Motors, ICEM-92, Manchester, 15-17 September 1992.
10. Miller TJE : Faults and unbalance forces in the switched reluctance machine,
IEEE Industry Applications Society Annual Meeting, Conf. Record, Toronto, 4-8
October 1993.
11. Mohan N, Undeland TM and Robbins WP : Power electronics: converters,
applications, and design. John Wiley and Sons, NY. ISBN 0-471-50537-4, 1989
12. Vrancik JE : Prediction of windage power loss in alternators, NASA TN D-4849,
October 1968.
13. Li Y., Lloyd JD and Horst GE : Switched reluctance motor with DC assisted
excitation, Conf. Rec. IEEE Industry Applications Society, San Diego, October
1996, pp. 801-807
14. Miller TJE et al : Ultra-fast model of the switched reluctance motor, Conf.
Rec. IEEE Industry Applications Society Annual Meeting, St. Louis, October
1998, pp. 319!326.
15. Mecrow BC: New winding configurations for doubly salient reluctance machines,
IEEE Trans. Ind. Appl., Vol. 32, No. 6, Nov/Dec 1996, pp. 1348!1356.
16. Hayashi Y and Miller TJE: A new approach to calculating core losses in the
switched reluctance motor, Transactions IEEE, Industry Applications, Vol. 31,
No. 5, pp. 1039!1046, September/October 1995.
17. U.S. Patent Nos. 5,852,334, 6,046,568, 6,060,809 and 6,051,903.
18. Miller TJE, Pengov W, Hendershot, A new low-noise two-phase switched reluctance
motor, IEEE IEMDC 2005, San Antonio, USA, May 2005, pp:1281 - 1284.
Page 98 Reference diagrams PC-SRD 9.04 User's manual
Fig. 61 Basic stator dimensions
Fig. 62 Basic rotor dimensions
3.6 Reference diagrams
PC-SRD 9.04 User's manual Reference diagrams Page 99
Fig. 63 Details of stator slot geometry
In T1 the lamination has a tab or spike projecting into the slot. The radial depth of the
tab is tab. If cwid ("coil width") is zero, the tab sides lie along two radii that subtend
an angle tpr_T at the centreline. If cwid is nonzero (and greater than the vertical distance
of B above A), the tab side is modified such that the vertical height of point U is cwid above
A. Point U lies on the radius R2. Point W remains on the radius (R2 ! tab).
In cases T2 and T3 there is no physical tab, but the parameter tab is used to shape the coil
or the slot. In T2, where tab is negative, it defines a deepening of the slot beyond the
radius R2. Within the angle tpr_T the slot bottom is a circular arc, but the line BU is
straight, on both sides of the slot.
In T3, where tab is greater than the the coil depth ds, the geometry is as if there were an
insulating spacer or wedge between the coilsides. tpr_T is the angular width of this spacer
at the radius OW. cwid is the width of the coilside, and is equal to the vertical height of
point U above point A.. The space between the coilsides is not part of the lamination: i.e.,
there is no tab. If cwid = 0, then vertex U lies on radius OW produced to R2. cwid should
not be less than the vertical height of B above vertex D.
Page 100 Reference diagrams PC-SRD 9.04 User's manual
Fig. 64 Stator vertices
Fig. 65 Axial view
PC-SRD 9.04 User's manual Reference diagrams Page 101
Fig. 68 Longitudinal cross-section view of frame and motor
Fig. 67 Cross-sectional view of frame, showing fins
Fig. 66 Calculation of end-turn length and ALOET



Page 102 Reference diagrams PC-SRD 9.04 User's manual
Fig. 69 Circuit diagram used by PC-SRD (3-phase machines). The elements labelled Ph.1,
Ph.2 etc. include the series resistance Rcc and inductance Lcc representing the
connecting leads to the individual phases.
Fig. 70 If PC-SRD detects a generating condition, it switches the DC source
from Vs to VsMax.
PC-SRD 9.04 User's manual Reference diagrams Page 103
A U A
Th0 ThC
0
!180
180/Nr
0
360/Nr
180
Transistor
conduction
Phase
current
End of conduction
Commutation
Turn-on
M
N K
Unaligned Aligned
J
Per-unit
overlap
Diode
conduction
S
R
S
R
mech
elec
ThQ
[Th0] [ThC]
Phase
current
Commutation
Turn-on
Diode
conduction
[ThQ]
[ThQ] [ThC]
Phase
current
End of conduction
Commutation
Turn-on
[Th0]
D
Q
Q
D
D
Q
End of
conduction
GENERATING
REVERSE
MOTORING
[Th0] = 2A ! ThQ
[ThC] = 2A ! ThC
[Th0] = 2A ! Th0
[ThC] = 2A ! ThC
FORWARD
MOTORING
Fig. 71 Firing angles.
Th0 and ThC are shown for forward motoring.
For generating, it helps to view the current waveform as an image of the motoring
waveform, reflected about the aligned position A. On this basis the suggested
firing angles for generating are [Th0] and [ThC] as shown. (PC-SRD displays
suggested values Th0_gen = 2A ThQ, the same as [Th0]; and ThC_gen = 2A Th_X,
which differs from [ThC] in that it uses Th_X to allow for chopping, which is not
shown here.) The suggested angles are useful only as a starting-point: motoring and
generating conditions are not exactly symmetrical (because of losses).
For reverse motoring with Rotation = Reverse, the suggested angles are [Th0] and
[ThC] as shown. For symmetric rotors, these angles will give exactly the same
performance as the forward motoring condition with Th0 and ThC.
Page 104 Reference diagrams PC-SRD 9.04 User's manual
Fig. 73 Current ripple. The left-hand diagram shows the possibility of spurious current
ripple arising from the use of an integration timestep that is a fixed angle
rather than a fixed time. The right-hand diagram shows where this region occurs
in the torque/speed diagram. Simulation at very low speeds should be avoided,
but the problem can be alleviated by increasing ISLA.
Fig. 72 Conduction modes in one phase:
(left) Both transistors on.
(middle) One transistor on, one off. Current freewheels through the
the conducting transistor and one diode C this is "soft
chopping". It also applies to the "zero-volt loop"
condition.
(right) Both transistors off. Current freewheels through both diodes
back to the supply. This also applies to the generating or
braking condition.
PC-SRD 9.04 User's manual Index Page 105
4. Index
12/10 motor . . . . . . . . . . . . . . 52
5-phase motor . . . . . . . . . . . . . 52
5-phase motors . . . . . . . . . . . . 52
A.W.G. . . . . . . . . . . . . . . . . 53
A_dcOffs . . . . . . . . . . . . . . . 94
a_ETF . . . . . . . . . . . . . . . . . 65
Absorbing . . . . . . . . . . . . . . . 83
Accuracy . . . . . . . . . . . . . . . 61
and im . . . . . . . . . . . . . . 9
and multiple teeth/pole . . 48, 60
and pole arcs . . . . . . . . . 79
and stepped-gap rotor . . . . . 49
at low speed . . . . . . . . . . 61
of Lu . . . . . . . . . . . 60, 79
of mag curves . . . . . . . 59, 91
ACond . . . . . . . . . . . . . . . . . 80
Ag . . . . . . . . . . . . . . . . . . 92
Aligned inductance . . . . . . . . . . 79
AllIPSI . . . . . . . . . . . . . . . . 65
ALOET . . . . . . . . . . . . . . . 80, 101
American wire Gauge . . . . . . . . . . 53
Analysis . . . . . . . . . . . . . . . . 3
Angle . . . . . . . . . . . . . . . . 5, 49
Anti-windup . . . . . . . . . . . . . . 71
AntiWD . . . . . . . . . . . . . . . . 71
Area
of frame surface . . . . . . 12, 87
of lamination . . . . . . . . . 78
of rotor slot . . . . . . . . . 78
of stator slot . . . . . . . . . 79
ARlam . . . . . . . . . . . . . . . . . 78
ARslot . . . . . . . . . . . . . . . . 78
ASin . . . . . . . . . . . . . . . . . 73
ASlam . . . . . . . . . . . . . . . . . 78
Aslot . . . . . . . . . . . . . . . . . 79
Auto-search . . . . . . . . . . . . . . 15
Autosearch . . . . . . . . . . . . . . . 3
AWGFrac . . . . . . . . . . . . . . . . 53
AWGTable . . . . . . . . . . . . . . . 53
B/H curve
and Bs . . . . . . . . . . . . . 59
saturation level . . . . . . . . 91
BareDia . . . . . . . . . . . . . . . . 53
BetaR . . . . . . . . . . . . . . . . . 49
BetaS . . . . . . . . . . . . . . . 48, 49
Bm . . . . . . . . . . . . 10, 55, 59, 91
Bm,Psim,im,Xim,XPsim . . . . . . . . . 91
Braking . . . . . . . . . . . . . . . 44
BRPMax . . . . . . . . . . . . . . . . 85
BRYMax . . . . . . . . . . . . . . . . 85
Bs . . . . . . . . . . . . . . 59, 79, 91
Bs,Psis,is . . . . . . . . . . . . . . 91
BSPMax . . . . . . . . . . . . . . . . 86
BSYMax . . . . . . . . . . . . . . . . 86
BTpk . . . . . . . . . . . . . . . . . 59
C_motor . . . . . . . . . . . . . . . . 87
c0 . . . . . . . . . . . . . . . . . . 67
Calculator . . . . . . . . . . . . . . . 4
CfCh, Cfa, Cfb and CfCe . . . . . . . . 83
CFrq
see fChop . . . . . . . . . . . 55
chopping . . . . . . . . . . . . . . . 56
and Alt-I . . . . . . . . . . . 61
and current ripple . . . . . . . 61
and iHi . . . . . . . . . . . . 54
frequency . . . . . . . . . . . 81
No. of chops . . . . . . . . . . 81
soft . . . . . . . . . . . . . . 56
transistor . . . . . . . . . . . 84
Chopping frequency CFrq . . . . . . . . 60
CoilsPh . . . . . . . . . . . . . . . . 80
Commutation frequency . . . . . . . . . 81
composite phase . . . . . . . . . . . . 32
conduction angle . . . . . . . . . . . 81
Conductor
cross-sectional area . . . . . . 80
connection transformations . . . . . . 34
Connectors
resistance and inductance of . . 57
Control modes . . . . . . . . . . . . . 44
Control Parameters . . . . . . . . . . 54
Control strategy
and DuCy . . . . . . . . . . . . 55
convergence . . . . . . . . . . . . . . 65
Converter . . . . . . . . . . . . . . . 93
ConvLoss . . . . . . . . . . . . . . . 93
Copper losses . . . . . . . . . . . . . 83
core loss . . . . . . . . . . . . . . . 85
core losses . . . . . . . . . . . . . . 83
Coupling
between phases . . . . . . . . . 11
CPR . . . . . . . . . . . . . . . . . . 72
CProfile . . . . . . . . . . . . . . . 62
cross-section . . . . . . . . . . . . . . 3
Cross-section editor . . . . . . . . 5, 47
Cross-sectional area
of conductor . . . . . . . . . . 80
csr1 . . . . . . . . . . . . . . . . . 71
csr2 . . . . . . . . . . . . . . . . . 71
ct_Liner . . . . . . . . . . . . . . . 58
Ctrl+1 . . . . . . . . . . . . . . . . . 3
Ctrl+2 . . . . . . . . . . . . . . . . . 3
Ctrl+3 . . . . . . . . . . . . . . . . . 3
Ctrl+4 . . . . . . . . . . . . . . . . . 4
Ctrl+5 . . . . . . . . . . . . . . . . . 4
Ctrl+A . . . . . . . . . . . . . . . . . 3
Ctrl+E . . . . . . . . . . . . . . . . . 3
Ctrl+F11 . . . . . . . . . . . . . . . . 4
Ctrl+G . . . . . . . . . . . . . . . . . 4
Ctrl+H . . . . . . . . . . . . . . . . . 4
Ctrl+K . . . . . . . . . . . . . . . . . 3
Ctrl+L . . . . . . . . . . . . . . . . . 4
Page 106 Index PC-SRD 9.04 User's manual
Ctrl+M . . . . . . . . . . . . . . . . . 3
Ctrl+T . . . . . . . . . . . . . . . . . 3
Ctrl+W . . . . . . . . . . . . . . . . . 3
Ctrl+Y . . . . . . . . . . . . . . . . . 3
CtsCond . . . . . . . . . . . . . . . . 81
Current . . . . . . . . . . . . . . . . 84
and Alt-I . . . . . . . . . . . 61
DC . . . . . . . . . . . . . 84, 93
density . . . . . . . . . . . . 84
eddy . . . . . . . . . . . . . . 85
im . . . . . . . . . . . . . 59, 91
in conductor . . . . . . . . 53, 80
is . . . . . . . . . . . . . . . 91
limit iHi . . . . . . . . . 54, 81
peak . . . . . . . . . . . . . . 59
r.m.s. . . . . . . . . . . . . . 83
transistor . . . . . . . . . . . 84
Current regulation . . . . . . . . 55, 81
Current regulator . . . . . . . . . . . 54
current-profiling . . . . . . . . . . . 62
Current-regulator . . . . . . . 54, 56, 81
Custom design sheet . . . . . . . . . 4, 20
cwid . . . . . . . . . . . . . . . . . 48
D1s . . . . . . . . . . . . . . . . . . 49
D1s, D2s . . . . . . . . . . . . . . . 48
DC current . . . . . . . . . . 61, 84, 93
DC offset . . . . . . . . . . . 23, 65, 94
DC offset current . . . . . . . . . . . 64
DC ripple . . . . . . . . . . . . . . . 84
DC supply voltage . . . . . . . . . . . 54
dc_MLT . . . . . . . . . . . . . . . . 94
dcIOffs . . . . . . . . . . . . . . . . 64
dcOffset . . . . . . . . . . . . . . . 64
dcTurns . . . . . . . . . . . . . . . . 64
dcWDia . . . . . . . . . . . . . . . . 64
Definition
of parameters . . . . . . . . . 47
DegCW . . . . . . . . . . . . . . . 12, 58
Degrees
mechanical/electrical . . . . . . 6
design sheet . . . . . . . . . . 4, 18, 77
DFreq . . . . . . . . . . . . . . . . . 73
Diameter
wire . . . . . . . . . . . . . . 79
Dimensional Parameters . . . . . . . . 52
diode . . . . . . . . . . . . . . . . . 57
Direction of rotation . . . . . . . . . 57
Dist . . . . . . . . . . . . . . . . . 73
dLau . . . . . . . . . . . . . . . . . 91
dLu . . . . . . . . . . . . . . . . . . 91
Doing . . . . . . . . . . . . . . . . . 83
DuCy . . . . . . . . . . . . . . . . . 55
Duty cycle . . . . . . . . . . . . . . 55
Dwell . . . . . . . . . . . . . . . . . 81
Dynamic design . . . . . . . . . . . . . 9
E key . . . . . . . . . . . . . . . . . 62
Eddy-current loss . . . . . . . . . . 85
Eff . . . . . . . . . . . . . . . . . . 83
Efficiency . . . . . . . . . . . . . . 83
ElecLdg . . . . . . . . . . . . . . . . 89
Electric loading . . . . . . . . . . . 89
Enc . . . . . . . . . . . . . . . . . . 71
encoder . . . . . . . . . . . . . . 40, 71
end-effect factors . . . . . . . . . . 65
end-effect formula . . . . . . . . . . 62
end-effects
accuracy . . . . . . . . . . . . 91
Automatic addition . . . . . . . 22
selection of formula . . . . . . 62
endwinding . . . . . . . . . . . . . . 80
Energy conversion area . . . . . . . . 89
Energy-conversion loop . . 10, 49, 54, 56
ERmax . . . . . . . . . . . . . . . . . 89
ETFCalc . . . . . . . . . . . . . . 62, 91
Export data . . . . . . . . . . . . . . . 4
Ext . . . . . . . . . . . . . . . . . . 53
External data files . . . . . . . . . 3, 8
ExtIfd . . . . . . . . . . . . . . . . 23
F11 . . . . . . . . . . . . . . . . . . . 4
F4 . . . . . . . . . . . . . . . . . . . 4
fChop . . . . . . . . . . . . . . . . . 55
fChopAct . . . . . . . . . . . . . . . 81
fChopAvg . . . . . . . . . . . . . . . 81
fChopEst . . . . . . . . . . . . . . . 81
fDist . . . . . . . . . . . . . . . . . 73
FE link . . . . . . . . . . . . . . . . . 4
FELinkID . . . . . . . . . . . . . . . 62
fil_R . . . . . . . . . . . . . . . . . 49
fillet radius . . . . . . . . . . . . . 49
Finite-element link
Unimesh . . . . . . . . . . . . . 4
Finite-element links . . . . . . . . . 26
finite-element program . . . . . . . . 62
firing angle disturbance . . . . . . . 73
Firing angles . . . . . . . . 6, 9, 10, 54
Flux paths
FPW . . . . . . . . . . . . . . 63
short . . . . . . . . . . . . . 63
Flux waveforms
graphs of . . . . . . . . . . . 21
Real and ideal . . . . . . . . . 21
flux-density
Peak . . . . . . . . . . . . . . 85
FluxPths . . . . . . . . . . . . . . . 63
and JRH108 . . . . . . . . . 52, 63
FluxWfms . . . . . . . . . . . . . . . 21
FluxWfms . . . . . . . . . . . . . . . 63
Force
radial on tooth . . . . . . . . 88
Fph . . . . . . . . . . . . . . . . . . 81
fpIWMean . . . . . . . . . . . . . . . 84
fpIWPk . . . . . . . . . . . . . . . . 84
fpIWrms . . . . . . . . . . . . . . . . 84
fpRph . . . . . . . . . . . . . . . . . 80
fpRR . . . . . . . . . . . . . . . . . 80
FPW . . . . . . . . . . . . . . . . . . 63
Frequency
of commutation . . . . . . . . . 81
Friction . . . . . . . . . . . . . . . 59
FrLgth . . . . . . . . . . . . . . 76, 87
PC-SRD 9.04 User's manual Index Page 107
FSArea . . . . . . . . . . . . . . . . 87
fully-pitched coils
resistance . . . . . . . . . . . 80
Fully-pitched windings . . . . . . 11, 84
FUnbal . . . . . . . . . . . . . . . . 88
GAcc . . . . . . . . . . . . . . . . . 73
Gap . . . . . . . . . . . . . . . . . . 49
Gauge . . . . . . . . . . . . . . . . . 53
GDF . . . . . . . . . . . . . . . . . . 28
GDrv . . . . . . . . . . . . . . . . . 73
Generating . . . . . . . . . . . . . . 83
geometry . . . . . . . . . . . . . . . . 3
GInt . . . . . . . . . . . . . . . . . 71
GProp . . . . . . . . . . . . . . . . . 70
GRange . . . . . . . . . . . . . . . . 66
Graphs/waveforms . . . . . . . . . . . . 4
GTh0 . . . . . . . . . . . . . . . . . 73
GThC . . . . . . . . . . . . . . . . . 73
GVel . . . . . . . . . . . . . . . . . 73
Hard chopping . . . . . . . . . . . . . 56
Harmonic analysis . . . . . . . . . . . . 4
Hayashi . . . . . . . . . . . . . . . . 63
HBAmps . . . . . . . . . . . . . . . . 54
Heat transfer coefficient . . . . . . . 58
Hendershot, JR . . . . . . . . . . . . 52
HTC . . . . . . . . . . . . . . . . . . 58
hysteresis band . . . . . . . . . . 54, 81
i-Psi datafile . . . . . . . . . . . . 60
i-psi GoFER . . . . . . . . . . . . . . 30
i-Psi loop
see Energy conversion area . . . 89
IDC_pwr . . . . . . . . . . . . . . . . 93
IDC_wfm . . . . . . . . . . . . . . . . 84
IDchPk, IDchMean, IDchRMS . . . . . . . 84
IDcmPk, IDcmMean, IDcmRMS . . . . . . . 84
IdcR . . . . . . . . . . . . . . . . . 83
Ideal flux waveforms . . . . . . . . . 62
iHi . . . . . . . . . . . . . . . . 54, 81
iHi . . . . . . . . . . . . . . . . . 81
iLo . . . . . . . . . . . . . . . . . . 81
im . . . . . . . . . . . . . . . . . . 91
Inductance
aligned . . . . . . . . . . . . 79
of connecting leads . . . . . . 57
supply . . . . . . . . . . . . . 57
unaligned . . . . . . . . . . . 79
Inductance ratio . . . . . . . . . . . 79
Inertia . . . . . . . . . . . . . . . . 88
InnerAcc . . . . . . . . . . . . . 62, 84
Input parameters . . . . . . . . . . . 52
Integration step . . . . . . . . . . . 61
and Alt-I . . . . . . . . . . . 93
Integration step-length . . . . . . . . 61
IPSI file . . . . . . . . . . . . . . . 11
IQchPk, IQchMean, IQchRMS . . . . . . . 84
IQcmPk, IQcmMean, IQcmRMS . . . . . . . 84
iron loss
method . . . . . . . . . . . . . 63
Iron losses . . . . . . . . . . . . . . 83
IronLoss . . . . . . . . . . . . . . . 63
ISLA . . . . . . . . . . . . . . . . . 61
iTTh . . . . . . . . . . . . . . . . . 16
iUC . . . . . . . . . . . . . . . . . . 24
IWPk IWMean, IWrms . . . . . . . . . . 84
iZVL . . . . . . . . . . . . . . . . . 56
J_dcOffs . . . . . . . . . . . . . . . 94
Jag . . . . . . . . . . . . . . . . 52, 63
JL . . . . . . . . . . . . . . . . . . 70
JRH108 . . . . . . . . . . . . . . . . 52
and FluxPths . . . . . . . . 52, 63
JRH108 configuration . . . . . . . . . 52
JRH1210 . . . . . . . . . . . . . . . . 52
Jrms . . . . . . . . . . . . . . . . . 84
Ks . . . . . . . . . . . . . . . . . . 89
Ku . . . . . . . . . . . . . . . . . . 89
Kus . . . . . . . . . . . . . . . . . . 89
kVA/kW . . . . . . . . . . . . . . . . 83
Lamination area . . . . . . . . . . . . 78
Lamination stacking factor . . . . . . 52
Lau . . . . . . . . . . . . . . . . . . 79
Lau0,Lu0 . . . . . . . . . . . . . . . 91
Lcc . . . . . . . . . . . . . . . . . . 57
Leads
resistance and inductance of . . 57
Length
of turn . . . . . . . . . . . . 79
units . . . . . . . . . . . . . 60
Lg . . . . . . . . . . . . . . . . . . 92
link files . . . . . . . . . . . . . . 62
Load torque . . . . . . . . . . . . . . 70
Load torque variation with position . . 44
Long simulations . . . . . . . . . . . 44
LoopWFM . . . . . . . . . . . . . . . . 65
losses . . . . . . . . . . . . . . . . 83
copper . . . . . . . . . . . . . 83
core . . . . . . . . . . . . . . 83
in converter . . . . . . . . . . 93
iron . . . . . . . . . . . . . . 83
total . . . . . . . . . . . . . 83
windage . . . . . . . . . . . . 83
windage & friction . . . . . . . 83
Lss . . . . . . . . . . . . . . . . . . 91
Lu . . . . . . . . . . . . . . . . 62, 79
Lu0 . . . . . . . . . . . . . . . . . . 91
LuSat . . . . . . . . . . . . . . . . . 69
M.L.T. . . . . . . . . . . . . . . . . 79
MagCurv . . . . . . . . . . . . . . . . 61
MagGear . . . . . . . . . . . . . . . . 89
magic points . . . . . . . . . . . . . 25
MagLdg . . . . . . . . . . . . . . . . 89
Magnetic "gear ratio" . . . . . . . . . 89
Magnetic coupling
between phases . . . . . . . . . 11
Magnetic loading . . . . . . . . . . . 89
Magnetization curves . . . . . . . 10, 11
accuracy . . . . . . 11, 48, 49, 59
and Bm . . . . . . . . . . . 59, 91
and im . . . . . . . . . . . 10, 91
and XLu . . . . . . . . . . . . 60
internal and external . . . . . 11
Page 108 Index PC-SRD 9.04 User's manual
intersecting . . . . . . . . . . 69
number of points on . . . . . . 60
number plotted . . . . . . . . . 60
scaling . . . . . . . . . . . . 22
Materials . . . . . . . . . . . . . . . . 3
Maximum torque . . . . . . . . . . . . 89
Mecrow . . . . . . . . . . . . . . . . 32
method of regulation . . . . . . . . . 55
Metric wire Gauge . . . . . . . . . . . 53
MGC viewer . . . . . . . . . . . . . . . 4
MLT . . . . . . . . . . . . . . . . . . 79
mmf ratio . . . . . . . . . . . . . . . 64
Motoring . . . . . . . . . . . . . . . 83
mQP . . . . . . . . . . . . . . . . . . 67
Multi-stroke . . . . . . . . . . . . . . 3
Multi-stroke Parameters . . . . . . . . 70
Multi-stroke transient simulation . . . 14
Mutual inductance
between phases . . . . . . . . . 11
MWGTable . . . . . . . . . . . . . . . 53
mXJ . . . . . . . . . . . . . . . . . . 67
NCi . . . . . . . . . . . . . . . . 54, 60
NCL . . . . . . . . . . . . . . . . . . 81
No. of chops . . . . . . . . . . . . . 81
No. of rotor poles . . . . . . . . . . 49
No. of stator poles . . . . . . . . . . 48
No. of teeth per stator pole . . . . . 48
No. of turns per pole . . . . . . . . . 53
No. of working pole-pairs . . . . . . . 79
Non-symmetric rotor . . . . . . . . . . 49
NonSym . . . . . . . . . . . . . . . . 49
nonsymmetric rotors . . . . . . . . . . 49
Normal . . . . . . . . . . . . . . . . 63
NoStep . . . . . . . . . . . . . . . . 49
Np . . . . . . . . . . . . . . . . . . 53
Nph . . . . . . . . . . . . . . . . . . 53
NPsi . . . . . . . . . . . . . . . . . 60
Nr . . . . . . . . . . . . . . . . . . 49
Ns . . . . . . . . . . . . . . . . . . 49
NSH . . . . . . . . . . . . . . . . 53, 80
Nss . . . . . . . . . . . . . . . . . . 80
nTL . . . . . . . . . . . . . . . . . . 72
Ntp . . . . . . . . . . . . . . . . . . 48
nTRF . . . . . . . . . . . . . . . 66, 88
NVD . . . . . . . . . . . . . . . . . . 81
NWF . . . . . . . . . . . . . . . . . . 59
NWFT . . . . . . . . . . . . . . . . . 59
NwkPP . . . . . . . . . . . . . . . . . 79
NXoff1 . . . . . . . . . . . . . . . . 82
NXoff2 . . . . . . . . . . . . . . . . 82
Off . . . . . . . . . . . . . . . . . . 62
Off + Lss . . . . . . . . . . . . . . . 62
OPK . . . . . . . . . . . . . . . . . . 89
Orig/YH . . . . . . . . . . . . . . . . 63
Original . . . . . . . . . . . . . . . 63
Outline editor . . . . . . . . . . 1, 3, 5
parameters . . . . . . . . . . . 48
Output . . . . . . . . . . . . . . . . 18
Output coefficient . . . . . . . . . . 89
Output parameters . . . . . . . . . . . 77
parallel paths . . . . . . . . . . . . 53
Paths . . . . . . . . . . . . . . . 53, 80
PC-SRDS functions . . . . . . . . . . . 3
Peak flux-density . . . . . . . . . . . 85
PElec . . . . . . . . . . . . . . . . . 83
PERFORMANCE . . . . . . . . . . . . . . 83
performance calculation . . . . . . . . . 1
Pg . . . . . . . . . . . . . . . . . . 92
Phase resistance . . . . . . . . . . . 79
phases . . . . . . . . . . . . . . . . 53
PID controller . . . . . . . . . . . . 42
PLoop . . . . . . . . . . . . . . . . . 83
Polarity . . . . . . . . . . . . . . 6, 80
of pole-coils . . . . . . . . . . 6
pole taper . . . . . . . . . . . . . . 49
Poles
and NwkPP . . . . . . . . . . . 79
No. of . . . . . . . . . . . . . 48
number of . . . . . . . . . . . 49
Power . . . . . . . . . . . . . . . . . 83
electrical . . . . . . . . . . . 83
electromagnetic . . . . . . . . 83
PowerSh . . . . . . . . . . . . . . . 83
PRPE . . . . . . . . . . . . . . . . . 85
PRPH . . . . . . . . . . . . . . . . . 85
PRYE . . . . . . . . . . . . . . . . . 85
PRYH . . . . . . . . . . . . . . . . . 85
PShaft . . . . . . . . . . . . . . . . 83
psi-theta curves . . . . . . . . . . . 16
Psim . . . . . . . . . . . . . . . . . 91
Psimax . . . . . . . . . . . . . . . . 93
PSPE . . . . . . . . . . . . . . . . . 86
PSPH . . . . . . . . . . . . . . . . . 86
PSYE . . . . . . . . . . . . . . . . . 86
PSYH . . . . . . . . . . . . . . . . . 86
pulses per revolution . . . . . . . . . 72
PX . . . . . . . . . . . . . . . . . . 71
PY . . . . . . . . . . . . . . . . . . 71
q_j0 . . . . . . . . . . . . . . . . . 67
q_k0 . . . . . . . . . . . . . . . . . 67
Q_pk . . . . . . . . . . . . . . . . . 83
Q_rms . . . . . . . . . . . . . . . . . 83
R_s . . . . . . . . . . . . . . . . . . 57
ranging . . . . . . . . . . . . . . . . 17
Rcc . . . . . . . . . . . . . . . . . . 57
RCfa . . . . . . . . . . . . . . . . . 85
RCfb . . . . . . . . . . . . . . . . . 85
RCfCe . . . . . . . . . . . . . . . . . 85
RCfCh . . . . . . . . . . . . . . . . . 85
RConv . . . . . . . . . . . . . . . . . 89
Rdc . . . . . . . . . . . . . . . . . . 83
Re-align mag. curve . . . . . . . . . . 22
Re-alignment procedure . . . . . . . . 24
Real flux waveforms . . . . . . . . . . 62
Realign mag curves . . . . . . . . . . . 4
Realign mag. curves . . . . . . . . . . 22
Realigned.mgc
accuracy . . . . . . . . . . . . 24
Realignment
of mag curves . . . . . . . 22, 91
PC-SRD 9.04 User's manual Index Page 109
Rectangular wire . . . . . . . . . . . 53
RectWire . . . . . . . . . . . . . . . 53
reference speed waveform . . . . . . . 45
Regulate . . . . . . . . . . . . . . . 55
regulation
method . . . . . . . . . . . . . 55
Resistance . . . . . . . . . . . . . . 79
of connecting leads . . . . . . 57
of DC supply . . . . . . . . . . 57
Resistivity . . . . . . . . . . . . . . 93
Results . . . . . . . . . . . . . . . . . 4
Reverse rotation . . . . . . . . . . . 57
Revs . . . . . . . . . . . . . . . . . 70
Rho . . . . . . . . . . . . . . . . . . 93
RhoT . . . . . . . . . . . . . . . . . 93
Ripple
current . . . . . . . . . . 61, 84
torque . . . . . . . . . . . . 5, 88
Roll-off parameter . . . . . . . . . . 65
Rotation . . . . . . . . . . . . . . . 57
RotJ . . . . . . . . . . . . . . . . . 88
RotJsh . . . . . . . . . . . . . . . . 88
Rotor lamination shape . . . . . . . . 49
Rph . . . . . . . . . . . . . . . . 58, 79
rpm . . . . . . . . . . . . . . . . . . 54
RPM0 . . . . . . . . . . . . . . . . . 59
rpmR . . . . . . . . . . . . . . . . . 70
rpmTL . . . . . . . . . . . . . . . . . 72
rpmX . . . . . . . . . . . . . . . . . 72
RPW . . . . . . . . . . . . . . . . . . 78
Rq . . . . . . . . . . . . . . . . . . 57
rq_a_ETF . . . . . . . . . . . . . . . 66
rq_dLau . . . . . . . . . . . . . . . . 66
rq_dLu . . . . . . . . . . . . . . . . 66
Rsh . . . . . . . . . . . . . . . . . . 49
Sample-and-hold . . . . . . . . . . . . 70
Saturation
of unaligned mag. curve . . . . 69
SCfa . . . . . . . . . . . . . . . . . 86
SCfb . . . . . . . . . . . . . . . . . 86
SCfCe . . . . . . . . . . . . . . . . . 86
SCfCh . . . . . . . . . . . . . . . . . 85
set-point current . . . . . . . . . . . 54
SFill . . . . . . . . . . . . . . . 53, 79
SG . . . . . . . . . . . . . . . . . . 49
Shaft diameter . . . . . . . . . . . . 78
Shaft inertia . . . . . . . . . . . . . 88
Shaft length . . . . . . . . . . . . . 76
Shaft power . . . . . . . . . . . . . . 83
Shaft torque . . . . . . . . . . . . . 83
Shear stress in airgap . . . . . . . . 83
Short . . . . . . . . . . . . . . . . . 63
Short flux paths . . . . . . . . . 52, 63
short-circuit . . . . . . . . . . . . . 56
sigma . . . . . . . . . . . . . . . . . 83
SigmaR . . . . . . . . . . . . . . . . 49
simulation length . . . . . . . . . . . 70
Simulation Parameters . . . . . . . . . 58
SLam . . . . . . . . . . . . . . . . . 48
Slot area . . . . . . . . . . . . . . . 79
Slot Fill . . . . . . . . . . . . . . . 79
SlotPeri . . . . . . . . . . . . . . . 87
soft chopping . . . . . . . . . . . . . 56
Source resistance . . . . . . . . . . . 57
Specific core . . . . . . . . . . . . . 85
Speed . . . . . . . . . . . . . . . . . 54
SPW . . . . . . . . . . . . . . . . . . 78
SSArea . . . . . . . . . . . . . . . . 87
stacking factor . . . . . . . . . . . . 52
Standard wire Gauge . . . . . . . . . . 53
State feedback . . . . . . . . . . . . 73
Static flux-linkage curves . . . . . . 16
Static torque curves . . . . . . . . . . 3
Static torque curves . . . . . . . . . 16
stator lamination
Shape . . . . . . . . . . . . . 48
Stator lamination shape . . . . . . . . 48
Steel database . . . . . . . . . . . 4, 59
Steinmetz equation . . . . . . . . . . 83
StepGap . . . . . . . . . . . . . . 48, 49
Stepped . . . . . . . . . . . . . . . . 49
Stepped-gap rotor . . . . . . . . . 49, 60
Stf . . . . . . . . . . . . . . . . . . 52
strands . . . . . . . . . . . . . . . . 53
strands in hand . . . . . . . . . . . . 53
StrkRev . . . . . . . . . . . . . . . . 81
Stroke . . . . . . . . . 5, 9, 11, 49, 78
strokes . . . . . . . . . . . . . . . . 81
per revolution . . . . . . . . . 81
Strokes/rev . . . . . . . . . . . . . . 81
Supply resistance . . . . . . . . . 52, 57
SWGTable . . . . . . . . . . . . . . . 53
Switching loss . . . . . . . . . . . . 57
T_Cond . . . . . . . . . . . . . . . . 87
tab . . . . . . . . . . . . . . . . . . 48
Taper . . . . . . . . . . . . . . . . . 49
tDwell . . . . . . . . . . . . . . . . 81
Temp.fact. . . . . . . . . . . . . . . 93
TempC . . . . . . . . . . . . . . . . . 62
Temperature rise . . . . . . . . . 83, 87
Temperature-rise calculation . . . . . 58
TempIT . . . . . . . . . . . . . . . . 58
Template editor . . . . . . . . . 1, 47, 55
Template editor, Ted . . . . . . . . 3, 7
TempRise . . . . . . . . . 12, 58, 83, 87
TFRho . . . . . . . . . . . . . . . . . 93
TFric . . . . . . . . . . . . . . . . . 59
Th_X . . . . . . . . . . . . . . . . . 93
Th0 . . . . . . . . . . . . . . . . . . 54
Th0_gen . . . . . . . . . . . . . . . . 93
Th0B . . . . . . . . . . . . . . . . . 71
Th0R . . . . . . . . . . . . . . . . . 70
ThC . . . . . . . . . . . . . . . . . . 54
ThC_gen . . . . . . . . . . . . . . . . 93
ThCB . . . . . . . . . . . . . . . . . 71
ThCR . . . . . . . . . . . . . . . . . 70
Thermal Analysis . . . . . . . . . . . 13
thermal calculations . . . . . . . . . 12
Thermal capacity . . . . . . . . . . . 87
Thermal design sheet . . . . . . . . . . 4
Page 110 Index PC-SRD 9.04 User's manual
Thermal Parameters . . . . . . . . . . 74
Thermal resistance . . . . . . . . . . 58
Thermal simulation . . . . . . . . . . . 3
Thermal time constant . . . . . . . . . 87
ThQ . . . . . . . . . . . . . . . . . . 93
ThRFS . . . . . . . . . . . . . . . . . 87
ThRslot . . . . . . . . . . . . . . . . 58
ThZ . . . . . . . . . . . . . . . . . . 54
Time constant
thermal . . . . . . . . . . . . 87
TL0 . . . . . . . . . . . . . . . . . . 71
TL1 . . . . . . . . . . . . . . . . . . 72
TLoop . . . . . . . . . . . . . . . . . 89
TLoopMax . . . . . . . . . . . . . . . 89
tLT . . . . . . . . . . . . . . . . . . 70
Tol . . . . . . . . . . . . . . . . . . 65
tOpen . . . . . . . . . . . . . . . . 73
TorqSh . . . . . . . . . . . . . . . . 83
Torque . . . . . . . . . . . . . . . . 83
accuracy . . . . . . . . . . . . 10
and Alt-I . . . . . . . . . . . 61
and conduction angle . . . . . . 54
and NwkPP . . . . . . . . . . . 79
electromagnetic . . . . . . . . 89
maximum . . . . . . . . . . . . 89
per ampere . . . . . . . . . . . 79
ripple . . . . . . . . . . . . . 88
shaft . . . . . . . . . . . . . 83
windage and friction . . . . . . 59
torque curves . . . . . . . . . . . . . 3
torque curves . . . . . . . . . . . . . 16
Torque ripple . . . . . . . . . . . . . 88
Torque/Speed characteristics . . . . . 17
Tph . . . . . . . . . . . . . . . . . . 80
Tpk . . . . . . . . . . . . . . . . . . 88
tpr_R . . . . . . . . . . . . . . . . . 49
tpr_S . . . . . . . . . . . . . . . 48, 49
tpr_T . . . . . . . . . . . . . . . . . 48
tq_OFF . . . . . . . . . . . . . . . . 57
tq_ON . . . . . . . . . . . . . . . . . 57
TR_dc . . . . . . . . . . . . . . . . . 94
transistor . . . . . . . . . . . . . . 57
TRFbase . . . . . . . . . . . . . . . . 88
TRFpk . . . . . . . . . . . . . . . . . 88
TRPPpu . . . . . . . . . . . . . . . . 88
TRPPrms . . . . . . . . . . . . . . . . 88
tShort . . . . . . . . . . . . . . . . 73
Turn-off angle . . . . . . . . . . . . 54
Turn-off angle ThC . . . . . 5, 6, 54, 55
Turn-off time . . . . . . . . . . . . . 57
Turn-off time of power transistor . . . 57
Turn-on angle . . . . . . . . . . . . . 54
Turn-on angle Th0 . . . . . . . . 5, 6, 54
Turn-on time of power transistor . . . 57
Turns
mean length . . . . . . . . . . 79
Turns per pole . . . . . . . . . . . . 53
turns ratio . . . . . . . . . . . . . . 65
tX . . . . . . . . . . . . . . . . . . 70
tY . . . . . . . . . . . . . . . . . . 70
UConvMax . . . . . . . . . . . . . . . 89
UG98 . . . . . . . . . . . . . . . . . 67
UG98 Calibration Parameters . . . . . . 67
Unaligned inductance . . . . . . . . . 79
Unimesh . . . . . . . . . . . . . . . 4, 26
Unimesh parameters . . . . . . . . . . 50
Units . . . . . . . . . . . . . . . . . . 6
universal gauge curve . . . . . . . . . 67
V2 . . . . . . . . . . . . . . . . . . 62
V3 . . . . . . . . . . . . . . . . . . 62
V3 + Lau . . . . . . . . . . . . . . . 62
V3 + Lss . . . . . . . . . . . . . . . 62
V5 + Lss . . . . . . . . . . . . . . . 62
VAsMax . . . . . . . . . . . . . . . . 89
VAsMin . . . . . . . . . . . . . . . . 89
Vd . . . . . . . . . . . . . . . . . . 57
Vdc . . . . . . . . . . . . . . . . . . 83
Voltage . . . . . . . . . . . . . . . . 54
voltage drop . . . . . . . . . . . . . 57
Voltage PWM . . . . . . . . . . . . 55, 81
Vq . . . . . . . . . . . . . . . . . . 57
Vrancik, James . . . . . . . . . . . . 15
Vs . . . . . . . . . . . . . . . . . . 54
VsMax . . . . . . . . . . . . . . . . . 57
wa . . . . . . . . . . . . . . . . . . 53
Waveforms . . . . . . . . . . . . . 21, 63
flux . . . . . . . . . . . . . . 85
wb . . . . . . . . . . . . . . . . . . 53
WConv . . . . . . . . . . . . . . . 83, 89
WConvMax . . . . . . . . . . . . . . . 89
WCu . . . . . . . . . . . . . . . . . . 83
WDia . . . . . . . . . . . . . . . . . 79
Weight
of iron . . . . . . . . . . . . 88
Wf0 . . . . . . . . . . . . . . . . . . 59
WFe0R . . . . . . . . . . . . . . . . . 86
WFe0S . . . . . . . . . . . . . . . . . 86
Windage . . . . . . . . . . . . . . . 3, 59
windage & friction . . . . . . . . . . 83
Windage and friction . . . . . . . 15, 59
Windage loss . . . . . . . . . . . . . 83
Windage loss calculation . . . . . . . 15
winding
parallel paths . . . . . . . . . 53
WinSPEED . . . . . . . . . . . . . . . . 3
Wire . . . . . . . . . . . . . . . . . 53
Wire diameter . . . . . . . . . . . . . 79
WIron . . . . . . . . . . . . . . . . . 83
WJJ . . . . . . . . . . . . . . . . . . 67
WKK . . . . . . . . . . . . . . . . . . 67
WlbFeRP . . . . . . . . . . . . . . . . 85
WlbFeRY . . . . . . . . . . . . . . . . 85
WlbFeSP . . . . . . . . . . . . . . . . 85
WlbFeSY . . . . . . . . . . . . . . . . 85
wSin . . . . . . . . . . . . . . . . . 73
Wt_Tot . . . . . . . . . . . . . . . . 88
WtCu . . . . . . . . . . . . . . . . . 88
WtFe . . . . . . . . . . . . . . . . . 88
WtFrame . . . . . . . . . . . . . . . . 88
WTotal . . . . . . . . . . . . . . . . 83
PC-SRD 9.04 User's manual Index Page 111
WtShaft . . . . . . . . . . . . . . . . 88
Wwf . . . . . . . . . . . . . . . . . . 83
XET . . . . . . . . . . . . . . . . . . 53
XFe . . . . . . . . . . . . . . . . . . 59
Xim . . . . . . . . . . . . . . . . 60, 91
XLau . . . . . . . . . . . . . . . . . 60
XLu . . . . . . . . . . . . . . . . . . 60
XPsim . . . . . . . . . . . . . . . . . 60
XPsisu . . . . . . . . . . . . . . . . 69
XTL . . . . . . . . . . . . . . . . . . 70
XTTh . . . . . . . . . . . . . . . . . 67
XXJ . . . . . . . . . . . . . . . . . . 67
XXK . . . . . . . . . . . . . . . . . . 67
Z key . . . . . . . . . . . . . . . . . 56
Z.V. Loop . . . . . . . . . . . . . . . 56
ZEnc . . . . . . . . . . . . . . . . 71
Zerovolt angle . . . . . . . . . 5, 6, 56
Zerovolt loop . . . . . . . . . . 5, 54, 56