TORQUE RIPPLE REDUCTION OF SWITCHED RELUCTANCE MOTORS BY PHASE CURRENT OPTIMAL PROFILING

D.S. schramm
B.W. Williams T.C. Green Department of Electrical and Electronic Engineering Heriot-Watt university Edinburgh EH1 2HT, Scotland, U.K.

ABSTRACT
Optimal precalculation of the position-phase current projile for current feeding a 4-phase, 4 kW switched reluctance motor, results in a single input, linear. decoupled output torque controller, which provides low torque ripple. A bicubic spline interpolation was used to model the non-linear experimental data. The algorithm is bused 011 minimizing both the average and peak current hence improves the dynamic performance of the novel six switch, current fed, igbt 4 kW, 4 0 k H z inverter. Test results by instuntaneous speed measurement over the speed runge 100-300 rpm, ruted torque, open-loop optimizing technique are presented,

commutating phase currents each produce torque which is additive. Figure 1 shows the summed instantaneous torque produced at 200 rpm for a four-phase 4 kW SR motor producing rating torque (average of 25.5 N.m). The torque dips are due to current commutation, while the rounded tops are due to saturation and the non-linear torque production nature when just one phase conducts

1.INTRODUCTION

Switched reluctance (SR) motor drives are renowned for high torque ripple, hence high noise and vibration. The torque ripple is due to the non-linear coupling between phase current, rotor position and overlap angle as well as the machine design. By experimentally characterizing torque for all angles and current levels, decoupled linear systems have allowed torque ripple minimization [l], [ 2 1 , [ 3 1 . The method to be outlined is an extension of the methods referenced, but optimizes the current overlap at all torque levels so as to minimise the peak phase current. This current optimization increases the inverter N.m/A rating, and also maintains torque ripple minimisation to a higher speed, than can be achieved by other optimizing techniques. Better dynamic performance results.
2.SWITCHED RELUCTANCE MOTOR DRIVE TORQUE CHARACTERISTICS

0 0

10

Position (1 O-bit encoder steps)

20

30

40

50

60

70

80

90

Fig. 1. Instantaneous torque produced at 200 rpm by the 4 kW non-linear SRM drive.
3.TORQUE LINEARIZATION AND DECOUPLING

In non-linear SR drive systems the commutation angle (current, hence torque production reducing to zero in one phase and increasing from zero in another phase) is optimised by selecting an angle for a given torque that requires the minimum current for a maximum possible motor efficiency. The

The usual method to linearize and produce by decouple (LD) torque is to experimentation static torque-position curves for different current levels as shown in Figure 2 . This data is then used to

0-7803-0695-3192 $3.00 1992 IEEE

'

generate current-position curves for different constant torque requirements as shown in Figure 3. The data for one phase (because of symmetry) is stored in an EPROM as a look-up table. In generating this data it is necessary to have used a specific commutation angle, which conventionally is selected from Figure 2. The commutation angle is selected such that if commutation occurs instantaneously then no change in torque production would result. The locus is the intersection of displaced torque curves, as shown in Figure 2. This criteria has a number of features. Firstly the on-phase current increases just before commutation. This will limit the upper speed limit of compensation since the current has a finite rate of change limit. Secondly the required torque is achieved at higher currents and with late commutation, which restricts the upper speed of operation. Lastly, the peak current rating is significantly greater than the on state mean for a given torque. When position control is used, the inverter must be rated for the maximum experienced current, which is unduly high at angles just prior to commutation. The extent of these limitations can

10

20 30 40 50 60 70 80 Position ( 1 0-bit e n c o d e r steps)

90

Fig. 3. Current-position curves different torque levels (N.m).

for

only be slightly modified by varying the mechanical stator/rotor pole design.

4.MODIFIED LD TECHNIQUE

50

E 40
3

a,

30
t

The above limitations can be alleviated by using Figure 3 as the basis for selecting the commutation angle. For example, Figure 3 shows that rated torque of 25.5 N.m can be produced instantaneously for a minimum current of 14.8 A , at an angle count of 40. If this current limit is used, during optimal commutation the torque total would fall to a minimum of 23 N.m at the beginning of the commutation period. If the maximum current is increased to 16.5 A , then 2 5 . 5 N.m can be produced by one or both phases together during commutation. Incidentally, a limit of 22.75 A would be set if the conventional approach is used. We now impose the restriction that during commutation the torques changes at a constant rate; thereby retaining the torque linearization requirement at all angles. The off-line process to specify the angle-current values for a given torque is as follows: (1) The minimum current I for required torque T, (when only one phase is producing torque) is determined from the data, based on Figure 3. (2) The angle related torques for two

20
10

n
0
10

20 30 40 50 60 70 80 Position ( 1 0- bit encoder steps)

90

Fig. 2 . Torque-position curves different current levels ( A ) .

for

858

phases are summed based on a limit of I, using Figure 2.

(3)

If the summed torque falls below T,, the current limit I is incremented and stage 2 repeated. The commutation period is defined by the angles (8,,8,) at which just one phase current, I, can produce the summed torque T , , with equal current in both phases at the central commutation point.

spline interpolation was used to model the non-linear experimental SRM data. Figure 4 shows the generated current profile and resultant torque.
5.HARDWARE IMPLEMENTATION

(4)

(5) Figure 3 is used to ensure that a linear increase in torque can be produced by the on-coming phase. If not, the current is incremented and stage 4 is repeated to yield new commutation angles. (6) Data is generated for T,. The process is repeated for 255 discrete torque levels. To continue our example, at rated torque, a 16.5A phase limit and commutation angles (13,371, a constant 25.5 N.m can be produced, with linear rate changes during commutation as shown in Figure 4 . This mode of operation represents a 2 7 % reduction in the current rating of the inverter switches. The off-line process was implemented by a computational algorithm where a bicubic

Modest EPROM storage is required, specifically 86 samples of 8 bits by 256 discrete torque levels. Phase displacement symmetry is used to control all phases from the of one phase stored in the EPROM. Control is performed by an EPLD and the output current demand is via two D / A converters which feed the novel current controlled inverter bridge.
6.OPEN-LOOP RESULTS

Figure 5 shows the instantaneous speed of the non-linear SRM drive obtained at 200 rpm, rated torque, 150 V DC rail, and the current in two phases mechanically shifted by 90. The very fast changes on the speed signal are due to eletromagnetic switching noise. The instantaneous speed measurement is a good representation of the SRM instantaneous torque, particularlly in view of the time dependency on dips and tops, and mechanical oscillations.

l8
16 14

50

12
A

'=lo
C

E
e,
3

?
0

5 8
I -

F
Fig. 5. Non-linear SRM drive: s = instantaneous speed (50 rpm/div); i = phase current (5A/div) Time scale : 5 ms/div.

6 4

2
0
0 10 20
O

30 40 50 60

70 80 90

Position (1 0-bit encoder steps)

Fig. 4 . Current profile and resultant torque: (a) and (b) current in subsequent phases; (c) and (d) torque produced by phases (a) and (b) respectively.

Figure 6 shows the instantaneous speed and current waveform of the proposed optimizing-technique linear SRM drive for 1 0 0 , 2 0 0 and 3 0 0 rpm with speed variation of 1 7 % , 6.4% and 3 . 9 % respectively. For the average speed of 2 0 0 rpm the speed variation improvement obtained with the modified LD technique over the non-linear S R M drive is

859

6.4% against 38%. Higher encoder resolution and closed-loop control will further reduce the SRM drive torque ripple.
7.CONCLUSIONS

The proposed current profiling algorithm results in the highest possible N.m/A inverter rating and an extended operating speed range under constant torque operation. The torque output is a decoupled single-input linear function of torque input demand. Experimental results by indirect instantaneous torque measurement show the improvements obtained with the proposed open-loop optimizing technique. A 300 V DC rail would extend these results up to 600 rpm . (a) 100 rpm; Time scale: 10 ms/div;
ACKNOWLEDGEMENT

Thanks are due to PWM Drives Ltd for allowing the use of PC and graphics software, Ling Dynamic Systems for supplying igbt gate-drive boards, D.R. Carmichael and J.G. Paul for text corrections.
REFERENCES

J.V. Byrne, M.F. McMullin, and J.B. O'Dwyer, " A high performance variable reluctance drive: a new brushless servo", in Proc. Motorcon Conf., Chicago, pp. 147-160, October 1985.
M.G. Egan, J.M.D. Murphy, P.F. Kenneally, and J.V. Lawton, " A high performance variable reluctance drive: achieving servomotor control", in Proc. Motorcon Conf., Chicago, pp. 161-168, October 1985.

(b) 200 rpm; Time scale: 5 ms/div;

D.G. Taylor, M.J. Woolley, and M. Ilic, "Design and implementation of a linearizing and decoupling feedback transformation for switched reluctance motors", in Proc. 17th Symp. Incremental Motion Control Systems and Devices, pp. 173-184, IL, USA, June 1988.

(c) 300 rpm; Time scale: 3 . 3 3 ms/div; Fig. 6. SRM drive torque ripple with the modified LD technique: s = speed (50 rpm/div); i = current (5 A/div) .

860