2017 19th International Conference on Electrical Drives and Power Electronics (EDPE) Dubrovnik, 04-06 Oct.

2017

Measurement of Switched Reluctance Motor

Parameters

Želmíra Ferková, Ľuboš Suchý Josef Černohorský

Department of Electrical Engineering and Mechatronics
Faculty of Electrical Engineering and Informatics, Technical
University of Košice
Košice, Slovakia
zelmira.ferkova@tuke.sk, lubos.suchy@tuke.sk
The Institute of Mechatronics and Computer Engineering
Faculty of Mechatronics, Informatics and Interdisciplinary
Studies, Technical University of Liberec
Liberec, Czech Republic
josef.cernohorsky@tul.cz

Abstract—Torque ripple presents the main disadvantage of the flux linkage that is dependent not only on current, but also
switched reluctance motor. Advanced control methods allow to on the rotor position. The other issue of SRM is highly
minimize the torque ripple, which requires knowing the motor nonlinear due to magnetic saturation. The applied voltage to a
parameters – inductance and torque characteristics. The paper phase is equal to [8]:
presents parameter identification of switched reluctance motor
with 2p1/2p2 = 12/8 number of poles. Included in this document
are results of inductance and torque measurements. Industrial ∂Ψ (i, θ ) di ∂Ψ (i, θ ) dθ (1)
u = u R + u L + ui = R.i + +
components were used to measure torque characteristics. ∂i dt ∂θ dt
Characteristics are compared with finite element analysis model.

Keywords—switched reluctance motor; torque measurement;

finite element analysis
I. INTRODUCTION
The switched reluctance motor (SRM) is an electric
machine of simple and cheap construction which includes no
permanent magnets. This causes that its popularity still rises
though few drawbacks remain to be resolved.
Among its disadvantages belongs mainly intricate
mathematical description, what results in the need of
complicated modeling and controlling. Complex controlling
allows to reduce the torque ripple, but known must be the
motor parameters, which are possible to be obtained by
measurement or finite element analysis (FEA) model.
II. BASIC PRINCIPLE AND EQUATIONS OF SRM
Switched reluctance motor uses the effect when the stator
phase is excited, the rotor has tendency to shift into the
position of maximum magnetic conductance. It follows that
using salient poles on stator and rotor is essential. Torque that
arises in rotor is also known as reluctance torque. If rotor is in
position when the stator and rotor poles are aligned, the path
of magnetic flow is shortest and phase inductance is maximal
(aligned position). In the case that rotor pole is between two
stator poles, the path of magnetic flow is longest and phase
inductance has minimal value (unaligned position). Motor
torque is not produced if the rotor is located in either aligned
or unaligned positions. Rotor motion is reached by the
sequential phase switching according to rotor position.
Equations of the motor are derived from the single phase
equivalent circuit. Description of analytical model complicates
Where R is the resistance per phase, and Ψ(i, θ) is the flux
linkage per phase given by:
Ψ ( i,θ ) = L ( i,θ ) i (2)
where L is the inductance-dependent on phase current and the
rotor position. The torque is equal to:
∂ 
i

T ( i, θ ) =   Ψ ( i, θ ) di  (3)
∂θ  0 
From equation (3) one can observe that the torque is
dependent on partial derivation of inductance characteristic
and current square. If the magnetic saturation is neglected and
the inductance is linearly varying with the rotor position for a
given current, then (3) can be simplified to:
dL(i, θ ) i 2 (4)
T=
dθ 2
In general, this state is not the case in practice, therefore it is
appropriate to identify nonlinear characteristics of inductance
and torque. Identification of motor inductance and torque is
necessary for using advanced control methods. Inductance
L(i,θ) and torque T(i,θ) characteristics are possible to be
obtained by measurements or from the FEA model. Measured
characteristics can be used for creating look-up table model
and torque estimation in control algorithms.

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III. MEASUREMENT OF PHASE INDUCTANCE
The change of rotor position cause that the magnetic circuit is
changed, and the inductance varies between minimal and
maximal values with rising angle. Inductance variation is
dependent on construction of switched reluctance motor and
number of poles. If it is assumed that 0° is the initial position
with minimal inductance value, then maximal inductance
value will in 22.5° rotor position. Then inductance decreases
again to minimal value. This applies for three phase SRM with
12/8number of poles.
Inductance profile depending on rotor position and phase
current was measured using the single phase power analyzer
Infratek 106A, which measures voltage, current, power and Fig. 1 Inductance measurement schematic
phase shift for the first harmonic frequency. For simplification
of measurement established was communication between
analyzer and PC. The inductance measurement scheme is
shown in Fig. 1.
From measured values the phase inductance Lphase can be
calculated as follows:

U fft (1) sin ϕ fft (1)

Lphase = (5)
2π fI fft (1)

Where Uff(1) is the first harmonic of phase voltage, Iff(1) is

the first harmonic of phase current, φfft(1) phase shift between
Uff(1) and Iff(1), and f is the frequency. Computer processes the
data as follows:
• Command is sent from PC to power analyzer through the
serial communication using the LabView application as a Fig. 2 Phase inductance vs. rotor position for constant currents
string (e.g. "CURR:FFT?" is request for harmonic
currents) [3].
• If power analyzer receives the request, then it sends back
measured value as string in the scientific number form
(e.g. "2.1458e+01") [3].
• Measured values are received by the PC and converted to a
number, which allows calculating inductance based on (5).
Calculated inductances from measured values are shown in
Fig. 2. One can observe that magnetic saturation occurs if
phase current is greater than 4.5A.

IV. IDENTIFICATION OF TORQUE CHARACTERISTICS

A way to reduce higher torque ripple of SRM is to apply
advanced torque control methods. These methods require
knowing the torque characteristics T(i,θ) that are possible to
use e.g. for torque estimation of motor. Torque characteristics
of SRM were measured on two stands that consisted of
Siemens or B&R industrial components. Siemens stand
topology is shown in Fig. 3. Servomotor and SRM are
connected with fixed mechanical clutch.
At first, the torque characteristic measurement was realized
on stand using Siemens components. SMPM machine was Fig. 3 Devices for torque measurement: Control unit CU320-2DP (1), Active
line module 16kW (2), Double motor module 2x9A (3), Servomotor - SMPM
supplied from modular drive system SINAMICS S120. [5] machine (4), Measured switched reluctance motor (5), Regulated DC power
Servo control structure is used for precise rotor positioning supply (6), PC with STARTER software (7).
and torque measurement, when DC voltage is applied to single

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phase of SRM. Note, that no torque transducer is used and
only internal torque estimator inside the converter control is
used as the measured value. [6] Estimated torque values are
evaluated with STARTER software tool. Fig. 4 illustrates
torque characteristics measured on the Siemens stand.
Measurement on Siemens stand has proved that this is not
precise for low torque estimation, what can be seen in Fig. 7.
Therefore, measurement was repeated on stand using B&R
components. On the contrary, results of the measurement on
the B&R stand are impossible to be considered acceptable at
higher torques. This is because the position controller was
unable to keep the position at higher load i.e. at higher phase
current of SRM (see Fig. 9). Similar results of both stands
were achieved at 4A i.e. middle torque of motor (Fig. 8).
V. COMPARISION OF MEASUREMENT AND FEA MODEL
Fig. 5 Finite element analysis model of SRM
As verification of measurement, the finite element analysis
model of SRM was created based on the ANSYS Maxwell
software. The FEA model was assembled based on physical
dimensions, while the number of coil turns appears as
important parameter. The FEA model is shown in Fig. 5.
Winding coils connection was determined as follows:
• Diametrical pole windings are serial connected.
• Pole pairs of same phase are parallel connected.
At first, the phase inductance is compared in Fig.6.
Simulation of FEA model is shown by dashed line and
measurement is presented by solid line. We can state, that
minimal inductance value of measurement is different when
compared with the FEA model.
Figs. 7-9 illustrate torque vs. rotor position for different
currents, where blue line is torque of FEA model simulation,
green line is the measurement realized on Siemens stand and
orange line presents measurement on B&R stand. Fig. 6 Inductance vs. rotor position

Fig. 4 Torque vs. rotor position for constant currents Fig. 7 Torque vs. rotor position at constant current 2A

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Fig. 8 Torque vs. rotor position at constant current 4A
Fig. 9 Torque vs. rotor position at constant current 6A
VI. CONCLUSION
Inductance and torque characteristics of switched
reluctance motor are important parameters for using advanced
control methods. To measure these characteristics is a time-
consuming process, therefore it is appropriate to use
simulation of FEA model, which provides results with high
accuracy. It would be appreciated if these characteristics were
stated by the manufacturer in the datasheets.
The results achieved on the Siemens measuring stand are
satisfactory, except for the low moments where the B&R
measuring stand showed better results. On the contrary, the
Siemens measuring stand provided more accurate results for
high torques because the B&R measuring stand had
insufficiently performed with the SMPM machine.
ACKNOWLEDGMENT
This work was supported by the Slovak Research and
Development Agency under the contract No. APVV-15-0750.
The results of this project were obtained through the
financial support of the Ministry of Education, Youth and
Sports in the framework of the targeted support of the
"National Programme for Sustainability I LO1201" and the
OPR&DI project "Centre for Nanomaterials, Advanced
Technologies and Innovation CZ.1.05/2.1.00/01.0005".
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Dubrovnik, 04-06 Oct. 2017
APPENDIX
TABLE I Parameters of load SMPM machines
Type TN [Nm] IN [A] VN [V] nN [rpm]
Siemens 5.4 3.9 285 3000
B&R 2.5 7.3 57 2100
Fig. 10 Rotor and stator of measured switched reluctance motor
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