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Rotating Reference Frame Control of Switched Reluctance ROTATING REFERENCE FRAME CONTROL OF SWITCHED RELUCTANCE MACHINES A Thesis Presented to The Graduate Faculty of The University of Akron In Partial Fulfillment of the Requirements for the Degree Master of Science Tausif Husain August, 2013 ROTATING REFERENCE FRAME CONTROL OF SWITCHED RELUCTANCE MACHINES Tausif Husain Thesis Approved: Accepted: _____________________________ _____________________________ Advisor Department Chair Dr. Yilmaz Sozer Dr. J. Alexis De Abreu Garcia _____________________________ _____________________________ Committee Member Dean of the College Dr. Malik E. Elbuluk Dr. George K. Haritos _____________________________ _____________________________ Committee Member Dean of the Graduate School Dr. Tom T. Hartley Dr. George R. Newkome _____________________________ Date ii ABSTRACT A method to control switched reluctance motors (SRM) in the dq rotating frame is proposed in this thesis. The torque per phase is represented as the product of a sinusoidal inductance related term and a sinusoidal current term in the SRM controller. The SRM controller works with variables similar to those of a synchronous machine (SM) controller in dq reference frame, which allows the torque to be shared smoothly among different phases. The proposed controller provides efficient operation over the entire speed range and eliminates the need for computationally intensive sequencing algorithms. The controller achieves low torque ripple at low speeds and can apply phase advancing using a mechanism similar to the flux weakening of SM to operate at high speeds. A method of adaptive flux weakening for ensured operation over a wide speed range is also proposed. This method is developed for use with dq control of SRM but can also work in other controllers where phase advancing is required. The proposed adaptive control method uses the command and actual currents to adaptively determine the required amount of flux weakening. Through the unique features of dq controls, the proposed method provides an analogous control to synchronous machines for SRM while achieving a lower ripple and efficient and wide speed range of operation depending on the motors application. This has been verified through simulations and experiments. iii DEDICATION I dedicate my work to my family, friends and advisors who supported me throughout the course of my degree. iv ACKNOWLEDGMENTS I wish to express my sincere gratitude to my advisor, Dr. Yilmaz Sozer, for his guidance, encouragement and support during my graduate studies. His technical knowledge, managerial skills and human qualities have been a source of inspiration. I’m so grateful to my professors, Dr. Malik Elbuluk for his help and guidance during my studies at the University of Akron. I wish also to thank my committee member, Dr. Tom Hartley for his help in different moments through my research and for serving his advice whenever needed. I would like also to acknowledge my colleague students for their continuous help and for providing the best educational atmosphere and enjoyable moments that we spent together during our work. Finally and most importantly, I would like to thank my family for their unconditional help and encouragement all the time. v TABLE OF CONTENTS Page LIST OF TABLES ............................................................................................................... x LIST OF FIGURES ............................................................................................................ xi CHAPTER I. INTRODUCTION ............................................................................................................1 1.1. Switched Reluctance Motors ..................................................................................1 1.2. Switched Reluctance Motor Configurations...........................................................1 1.3. Advantages and Disadvantages of SRM.................................................................3 1.4. Motivation for Research .........................................................................................5 1.5. Thesis Outline .........................................................................................................6 II. LITERATURE REVIEW................................................................................................7 2.1. Introduction.............................................................................................................7 2.2. Principle of Operation.............................................................................................8 2.3. Converter Topologies ...........................................................................................15 vi 2.4. SRM Modeling .....................................................................................................18 2.5. SRM Control and their Objectives .......................................................................20 2.5.1.Torque ripple minimization ..........................................................................23 2.5.2.Excitation parameter control .........................................................................27 2.6. Conclusions...........................................................................................................29 III. DQ CONTROL OF SWITCHED RELUCTANCE MACHINES ...............................31 3.1. Introduction...........................................................................................................31 3.2. Motor Control in the dq Reference Frame............................................................32 3.3. Proposed dq Control Method ................................................................................37 3.3.1.Negativity removal........................................................................................38 3.3.2.Non-linearity block .......................................................................................43 3.3.3.Phase advancing using dq .............................................................................46 3.3.4.Torque estimation using dq...........................................................................48 3.4. Negativity Removal Block Outputs from Different Commands ..........................49 3.5. Conclusions...........................................................................................................51 IV. ADAPTIVE FLUX WEAKENING OF SRM USING DQ CONTROL .....................52 4.1. Introduction...........................................................................................................52 vii 4.2. Theory of Demagnetization and Demagnetization Curves...................................53 4.3. Adaptive Flux Weakening of SRMs .....................................................................56 4.3.1.Selection of optimum position for the controller ..........................................58 4.3.2.Threshold current selection ...........................................................................61 4.3.3.Adaptive method ...........................................................................................65 4.4. Conclusions...........................................................................................................69 V. MODELING AND SIMULATION RESULTS ...........................................................71 5.1. Introduction...........................................................................................................71 5.2. Modeling ...............................................................................................................72 5.3. Simulation Results ................................................................................................74 5.3.1.dq control ......................................................................................................76 5.3.2.Flux weakening controller ............................................................................85 5.3.3.Efficiency of dq controller ............................................................................93 5.4. Conclusions...........................................................................................................98 VI. EXPERIMENTAL SETUP AND RESULTS .............................................................99 6.1. Introduction...........................................................................................................99 6.2. Experimental Hardware ........................................................................................99 viii 6.2.1.Experimental SRM modeling .....................................................................100 6.2.2.Inverter used for experimental validation ...................................................103 6.2.3.Interfacing circuitry.....................................................................................104 6.2.4.dSPACE controller......................................................................................107 6.3. Dynamometer and System Setup ........................................................................107 6.4. Experimental Results ..........................................................................................108 6.4.1.dq control of SRM ......................................................................................111 6.4.2.Adaptive flux weakening using dq control .................................................124 6.5. Conclusions.........................................................................................................128 VII. CONCLUSION AND FUTURE WORK .................................................................129
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