Due to its cheap production costs, simple construction, and robustness, switched reluctance machines are viable candidates for traction motor drive applications in the electrification of transportation. However, high torque ripple and acoustic noise limit the performance of switched reluctance motors (SRM). This thesis considers control methods to reduce the electromagnetic torque ripple in SRM, while also analyzing the impact of these control methods on other aspect of machine performance, such as copper losses and radial force production. Traditionally, SRM is controlled using rectangular current profiles which are excited using discrete pulsations. Timing of these pulsations is quantified with conduction angles, and the performance of the machine at a given operating point can be optimized by carefully choosing these conduction angles. This thesis starts the analysis on controls of SRM using the conduction angle parameters to determine a baseline of torque ripple performance for comparison against advanced control techniques developed afterwards. Recently, current profiling techniques have been developed, and have been shown to have high performance for torque ripple reduction. In this thesis, one such technique is proposed in the form of an optimization problem where the solution of this problem yields an optimized current profile that both minimizes torque ripple while reducing copper losses. The proposed current profiling technique ensures good current tracking, which allow for optimal control performance over a wide speed range. Finally, this thesis shows the torque more generally as one component of the nodal forces in SRM. The other component of the nodal forces is the radial forces, which contributes to the noise, vibrations, and harshness of the machine. In this thesis, modeling of the radial forces has been conducted, and effects of the proposed current profiling technique on radial forces have been shown to comprehensively illustrate the performance of the current profiling technique. / Thesis / Master of Applied Science (MASc)

This thesis presents a torque control mechanism for switched reluctance machine (SRM) drives. The proposed mechanism is capable of maintaining ripple free torque control while minimizing the copper loss or mode-0 radial force or both at a fixed switching frequency. In the proposed approach, the torque control problem is addressed by splitting it into two parts. The first part consists of identification of optimum phase current references while the second part incorporates the design of an efficient current controller. For the identification of optimum phase current references, three algorithms are presented in the form of a developmental process. The nature of the online optimization problem is demonstrated using a simple 2-dimensional gradient descent method. Subsequently, a parametric form gradient descent algorithm is presented which transforms the original optimization problem into two 1-dimensional problems, viz. torque error minimization and identification of optimum search direction. This method yields improved computational efficiency and accuracy. The third algorithm incorporates projection using equality constraint on the phase torque contributions to achieve a 1-dimensional solution process. Although this algorithm takes more iteration as compared to the parametric form gradient descent algorithm, it demonstrates greater accuracy and computational efficiency. A comparative analysis of these algorithms is performed in at different operating conditions in terms of the torque ripple magnitude and computational effort. The thesis also presents a comprehensive analysis of well known control techniques for application in SRM current control in discrete-time domain. This analysis also presents a comparative evaluation of these control techniques under different operating conditions. On account of this analysis, several recommendations pertaining to the performance improvement are presented. Finally, a digital sliding-mode based model-free current controller suitable for fixed switching frequency operation is presented. The proposed controller is capable of providing a consistent dynamic response over wide operating range without utilizing any model information. The reference current tracking performance of this controller is verified through simulation studies in MATLAB/Simulink® environment and over a 1.2kW, 100V, 2500RPM, 12/8 experimental SRM drive. / Thesis / Doctor of Philosophy (PhD)

Switched Reluctance Machines (SRMs) are gaining more attention due to their simple and rugged construction, low manufacturing cost, and high-speed operation capability. An electromagnetic model of the machine is needed in the design and analysis processes. The required accuracy level of the model depends mainly on the application. Designing an SRM is an iterative process. Usually, finite element method (FEM) is employed in all design stages, which might require extensive computation burden. The magnetic equivalent circuit (MEC) method is an alternative for typical FEM. MEC models require less computational resources and they can help determine the electromagnetic performance with a reasonable accuracy. The conventional MEC method can be challenging when modifying the motor geometry while conducting dynamic analysis with current control. This thesis proposes a reluctance mesh-based MEC model for SRMs that can overcome those challenges. Reluctance mesh-based MEC models are developed for 3-phase 6/4, 6/16, 12/8 SRMs and 4-phase 8/6, 8/10, and 16/12 SRMs. The implemented MEC-based modeling method is validated using FEM and experimental results. Acoustic noise and vibration is one of the shortcomings of an SRM. The radial force density in the airgap should be calculated before analyzing and mitigating acoustic noise and vibration. This thesis proposes a radial force density calculation method for SRMs using the proposed MEC model. Fourier series is used to calculate the harmonics of the radial force density. The results obtained from the MEC model are verified using FEM models. SRM is a promising candidate for electric propulsion systems. In the design process of an SRM, the motor geometry needs to be determined. This thesis applies the proposed MEC technique to the design process of a 3-phase 12/16 SRM for a high lift motor in the NASA Maxwell X-57 electric aircraft. The design is verified using the results computed from FEM. / Dissertation / Doctor of Philosophy (PhD) / Electric motors are utilized in our daily life in various applications such as washing machines, refrigerators, air conditioners, fans, vacuum cleaners, blenders, and many other devices and tools. Motors are widely used in residential, industrial, commercial, and transportation applications. Due to the environmental impact of burning fossil fuels, transportation systems are moving into electrified propulsion. Electric motors with lower cost and higher efficiency are on the path to replacing the traditional combustion engines in vehicles. Among the different electric motors available, switched reluctance motor (SRM) is becoming a promising candidate in future electrified transportation systems due to their simple construction. Developing a motor is a time-consuming and costly task. Therefore, it is essential to determine the characteristics of an SRM before manufacturing it. A mathematical framework is proposed in this thesis to address this problem. The proposed framework is capable of determining the characteristics of an SRM accurately.

This thesis presents the design and analysis of specialised control systems for switched reluctance (SR) and permanent magnet (PM) machines in vehicular electric applications. Control systems for operation in motoring and power generation are considered for both the types of machines. The SR machine operation considered in this thesis is mainly focused towards the application of aero-engine starter/generators. The control designs for PM machines are formulated considering general fault-tolerant and isolated multiphase PM machines which can be applied in the majority of safety-critical vehicular power and propulsion applications. The SR motoring mode presented in this thesis considers the control design for operation from zero speed to a high speed range, while SR generation mode is confined to the high speed range, such as for the requirements of aero-engine starter/generator operation. This thesis investigates applied control methods for both single-pulse and chopping modes of operation. Classical excitation control versus peak current control and the introduction of a zero-voltage interval are compared for SR motor operation. Optimized excitation control versus two classical forms of excitation control are developed and compared for SR generator operation. Studies include simulation of a 12/8 250kW machine and experimental work on a 6/4 300W machine. The PM motoring and power generation considered in this thesis focuses on a special class of PM machines and drives which are specifically designed for fault-tolerant operation. Optimized control strategies for the operation of PM machines with the parallel H-bridge per-phase converter architecture are investigated. Mathematical modelling of the machine and drive with a consideration of harmonics is presented. The developed control methods are then evaluated by means of finite-element model based simulations of a 125kW five phase surface PM rotor machine and an interior PM rotor machine.

Switched reluctance machines (SRMs) have recently attracted more interest in many applications due to the volatile prices of rare-earth permanent magnets (PMs) used in permanent magnet synchronous machines (PMSMs). They also have rugged construction and can operate at high speeds and high temperatures. However, acoustic noise and high torque ripples, in addition to the relatively low torque density, present significant challenges. Geometry and topology optimization are applied to overcome these challenges and enable SRMs to compete with PMSMs. Key geometric design parameters are optimized to minimize various objective functions within geometry optimization. On the other hand, the material distribution in a particular design space within the machine domain may be optimized using topology optimization. We discuss how these techniques are applied to optimize the geometries and topologies of SRMs to enhance machine performance. As optimizing the machine geometry and material distribution at the design phase is of substantial significance, this work offers a comprehensive literature review on the current state of the art and the possible trends in the optimization techniques of SRMs. The thesis also reviews different configurations of SRMs and stochastic and deterministic optimization techniques utilized in optimizing different configurations of the machine. This thesis introduces a new ON/OFF optimization method based on the line search method to overcome the limitations of the conventional annealing-based ON/OFF optimization. The proposed method shows a faster convergence to optimal solutions than the conventional annealing-based ON/OFF method. The thesis also compares the performance of the generative optimization and the topology optimization of a 6/14 switched reluctance machine with the proposed method and the conventional method. The two methods are applied to two different design domains of the machine for topology and generative optimization and the results are compared to the results of the annealing-based ON/OFF method. The results show the effectiveness of the newly proposed method. A new technique has been introduced in this thesis for reducing the time of calculating stator radial force density waves of switched reluctance machines (SRMs). The method is based on the finite element (FE) simulation of a fraction of an electrical cycle. The new approach shows that a significant time reduction is achieved as compared to the time required for stator radial force density calculation based on the one mechanical cycle simulation method. As the switched reluctance motors introduce new challenges in aspects such as acoustic noise, vibrations, and torque ripples, the method introduced in this helps reduce the time of the optimization process of switched reluctance machines in the design stage to improve the machine performance. The proposed method is applied to radial flux switched reluctance machines. Three different SRMs configurations were used to show the effectiveness of this technique in different force components with minimal error as compared to the benchmark method based on the FE simulation of one mechanical cycle. / Dissertation / Doctor of Philosophy (PhD)

In this dissertation, a novel two-phase switched reluctance machine (SRM) with a stator comprised of E-core structure having minimum stator core iron is presented for low-cost high-performance applications. In addition, three new magnetic structures for the E-core SRM comprising two segmented stator cores or a monolithic stator core are proposed for good manufacturability, mechanically robustness, ease of assembly, and electromagnetic performance improvement. Each E-core stator in the segmented structure has three poles with two small poles at the ends having windings and a large center pole containing no copper windings. The common stator pole at the centers in the segmented E-core is shared by both phases during operation. Other benefits of the common poles contributing to performance enhancement are short flux paths, mostly flux-reversal-free-stator, constant minimum reluctance around air gap, and wide pole arc equal to one rotor pole pitch. Therefore, two additional common poles in the monolithic E-core configuration are able to significantly improve efficiency due to more positive torque and less core loss by the unique design. Using a full MEC analysis, the effect of the common-pole structure on torque enhancement is analytically verified. Efficiency estimated from the dynamic simulation is higher by 7% and 12% at 2000 rpm and by 3% and 7 % at 3000 rpm for the segmented and single-body SRMs, respectively, compared to a conventional SRM with four stator poles and two rotor poles. The new E-core SRMs are suitable for low-cost high-performance applications which are strongly cost competitive since all the new E-core SRMs have 20% cost savings on copper and the segmented E-core SRMs have 20% steel savings as well. Strong correlation between simulated and experimentally measured results validates the feasibility of the E-core common-pole structure and its performance. A simple step-by-step analytical design procedure suited for iterative optimization with small computational effort is developed with the information of the monolithic E-core SRM, and the proposed design approach can be applied for other SRM configurations as well. For investigating thermal characteristics in the two-phase single-body E-core SRM, the machine is modeled by a simplified lumped-parameter thermal network in which there are nine major parts of the motor assembly. / Ph. D.

Le moteur à réluctance variable (MRV) est en train de gagner beaucoup d'intérêt dans les applications de traction électrique grâce à la compatibilité significative entre ses caractéristiques naturelles et les exigences de l'industrie automobile. Cependant, à cause de la caractéristique fortement non linéaire des grandeurs électromagnétiques du MRV, l'usure du moteur, les variations paramétriques dues aux tolérances de fabrication, et la dérive des paramètres durant le fonctionnement, les stratégies de commande classique ne permettent pas d'assurer des hautes performances de suivi de trajectoire et de robustesse en stabilité dans l'environnement de fonctionnement d'un véhicule électrique. Dans ce contexte, le premier objectif de cette thèse est de proposer des stratégies de commande robustes du MRV en prenant en considération les contraintes imposées par les applications de traction. Afin d'atteindre cet objectif, une structure de commande en cascade, composée d'une boucle externe de vitesse et d'une boucle interne de courant, est envisagée. Les objectifs de synthèse sont ensuite fixés à travers un cahier des charges formulé en termes de gabarits fréquentiels, et les correcteurs robustes et adaptatifs de vitesse et de courant sont ainsi synthétisés en se basant sur les approches de commande H-infini et LPV/H- infini. La faisabilité des correcteurs constitue également un critère important dans les applications de traction électrique où la puissance de calcul embarqué dans le véhicule est très limitée. Ce critère est pris en considération dans cette thèse à travers l'utilisation des approches de synthèse des correcteurs H- infini d'ordre fixe. Les performances de ces correcteurs sont analysées et comparées avec les performances des correcteurs H- infini classiques à travers une étude par la μ-analyse de la robustesse en stabilité et une évaluation expérimentale. Le deuxième objectif de ces travaux de thèse est d'évaluer l'intérêt de la commande sans capteurs mécanique du MRV en se basant sur des méthodes d'estimation. Des observateurs robustes basés sur les modes glissants et le filtrage de Kalman sont ainsi synthétisés. Les performances et la robustesse de ces observateurs sont ensuite comparées expérimentalement dans une perspective d'une application de traction électrique. / The switched reluctance motor (SRM) is gaining much interest in electric vehicle applications. It includes robustness to harsh operational conditions, rugged structure, fault tolerant operation and a wide range of speed. However, due to the highly nonlinear electromagnetic characteristic, wear and tear of motor, manufacturing tolerances and parameters drift during operation, classical control strategies do not ensure high dynamical performance and robustness under various operating conditions in electric vehicle environment. In this context, the first purpose of this thesis is to propose robust control strategies of the SRM taking into account the constraints imposed by electric vehicle applications. To achieve this objective, a cascade control scheme is adopted; it consists of an outer speed loop and an inner current loop. Controllers design aims are fixed through specifications formulated in frequency domain, robust and adaptive controllers of speed and currents are thus synthesized based on H- infini and LPV/H- infini control approaches. Feasibility of these controllers is also an important criterion in electric vehicles applications where embedded computing power is very limited. This criterion is taken into account in this thesis by using fixed order controller synthesis approaches. The performances of these controllers are analyzed and compared with the performances of standard H- infini controllers through an experimental evaluation and a robustness analysis is performed using the concept of the Singular Structured Value, i.e. the μ-analysis. The second objective of this thesis is to assess the interest of the sensorless control of SRM. Robust observers based on second order sliding mode (SMO2) and Kalman filtering techniques (EKF) are designed to estimate the mechanical states of SRM. Performances and robustness of these observers are then compared experimentally in perspective of electric vehicle application.

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