A Low Voltage Sensorless Switched Reluctance

Motor Drive Using Flux Linkage Method

Thomaq Koblara*, Member, IEEE, Ciprian Sorandaru**, Member, IEEE, Sorin Musuroi**, Member, IEEE,
and Marcus Svoboda**

*Polytechnic University of Tirana, Faculty of Electrical Engineering, TIRANA, ALBANIA

**“Politehnica” University of Timisoara, Faculty of Electrical and Power Engineering, TIMISOARA, ROMANIA
E-mail: tomikoblara@gmail.com, ciprian.sorandaru@et.upt.ro, sorin.musuroi@et.upt.ro, marcus.svoboda@et.upt.ro

Abstract-The inherent vulnerability to mechanical failures, extra
cost, and size associated with external position sensors such as
optical encoders and Hall sensors has motivated many
researchers to develop sensorless control techniques for SRM
drives. In this paper a flux linkage method and dual layer
controller is developed to estimate rotor position and speed of a
low-voltage Switched Reluctance Motor (SRM) drive. The basic
concept of this application is that of a sensorless speed closed
loop with an inner current loop using flux linkage position
estimation. The voltage drop on the power devices is more
significant in case of low voltage then in case of the high voltage
drive. This voltage drop needs to be considered in the algorithm.
Simulations and real-time experimental results given in this
paper shows that the proposed position estimation method can
provide accurate and continuous position information over a
wide range of speeds, even in low speed applications. To ensure a
sure operation, a start up algorithm is also included. The
proposed method was implemented and tested by using a digital
signal processor 56F807EVM from Freescale Semiconductor
Company and an 8/6 switched reluctance motor coupled with a
brushless DC motor as load. The software has been developed in
C language.
I. INTRODUCTION
Switched reluctance motor (SRM) drives are beginning to
penetrate the growing market of adjustable-speed motor
drives. The SRM drives have been found to be suitable for
automotive applications, household goods, electric vehicles
(EVs) and hybrid electric vehicles (HEVs), compressors, etc.
Rotor position detection is an integral part of SRM control
because of the nature of reluctance torque production. In fact,
excitations of the SRM phases need to be properly
synchronized with the rotor position for effective control of
speed, torque and torque ripple. A shaft position sensor is
usually used to provide the rotor position. By adding discrete
position sensors not only add complexity and cost to the
system but also tend to reduce the reliability of the drive
system. Also, there are certain applications, where the
ambient conditions do not allow the use of external position
sensors and, in these cases on apply a sensorless technique.
Several sensorless control methods have been reported in the
literature over the past two decades [1]–[10]. The various
methods of control without sensors can be classified as
follows: 1) intensive methods based on hardware that requires
external circuitry for further signal injection, 2) intensive
methods based on data, such as for example techniques based
on the integration stream, which require large tables for
storing the magnetic characteristics of SRMs, and 3) methods
based on models such as for example a method based on state
observers, the method based on signal strength measurement
technique based inductance model, methods using neural
networks and fuzzy logic, etc., which require a very fast
processor, such as floating point digital signal processors.
Ideally, it is desirable to have a sensorless control scheme,
which uses only terminal measurements and does not require
additional hardware or memory resources. Recent advances in
the development of very fast and cost-effective digital signal
processors have opened a new era in the sensorless control of
SRM motor drives.
Recently, there has been a significant interest in SRM
drives for low-voltage applications, such as in automotive,
battery-operated drives and appliances [12].
The starting point is an algorithm developed by Freescale
Semiconductor for high-voltage (110-230V) switched
reluctance motor control. It is implemented also a data
acquisition program for flux, current and control signals.
In this paper an intermediate magnetization curve technique
is used for rotor position estimation [3]-[7]. Experimental tests
are carrying out using a Freescale Semiconductor DSP
56F807EMV.
II. SENSORLESS TECHNIQUE
The method implemented in this application is based on the
comparison of the estimated flux linkage and the reference
flux linkage in order to define turn-off (commutation)
position. The block diagram of the control scheme is
presented in Fig.1.
Fig. 1. Block diagram of the control scheme.
 When the estimated flux linkage reaches the desired
reference flux linkage it indicates that the commutation
position was reached, Fig.2. The active phase is turned off
and the following phase is turned on. Reference flux linkage
is obtained from the magnetization characteristic as a function
of phase current for the desired commutation position.
Then the reference flux linkage is obtained from the flux
linkage in the aligned position of the rotor. Flux linkage is
calculated and it is compared with the reference level from
the reference magnetization curve. When the estimated flux
linkage is higher than the reference flux linkage, it indicates
that the switching position has been reached and the
commutation can be performed.
Fig. 2. Angle control method.
First, the rotor needs to be aligned to a known position to
be able to start the motor in the desired direction of rotation.
The method of eliminating the starting hesitation presented in
this paper is based on the initial rotor position estimation
realized in the following steps.
1) Excite two phases for a very short moment (0.5 ms).
2) Find the phase having the largest current.
3) Choose a phase next to the phase having the largest
current to be the optimal phase for the rotor position
estimation. In theory, the phase either right or left next to the
phase with the largest current can be chosen as the optimal
phase. To avoid ambiguity, the right phase is always chosen
as the optimal phase in this paper. For example, if phase A
has the largest current, phase B is chosen to be the optimal
phase.
4) Compute the flux linkage for the chosen optimal phase.
5) Estimate the initial rotor position from a pre-stored
magnetizing characteristics table based on the current and
flux linkage of the chosen optimal phase.
Variation of inductance and current during start up are
shown in Fig.3 and Fig. 4.

Practical implementation of the technique is divided in two

algorithms, start up and real time running.
The starting of the sensorless controlled switched
reluctance motor is a challenging problem. The same problem
may be encountered when using optical sensors. In fact, a
smooth and safe power can be achieved by accurately
knowing rotor position. This has led researchers to develop
methods for determining the initial position of the rotor.
Voltage equations, neglecting the saturation and the induced
voltage, can be expressed as follows:
di j
V j = Ri j + L(θ ) (1)
dt Fig. 3. Flux variation during start up algorithm.
So:
T
( )
Ψ j = ∫ V j − Ri j dt ⇒ θ = Ψ −1 i j
0
( ) (2)
Before the motor can be started, rotor alignment and
initialization of the control algorithms must be performed.
Initialization of the sensorless control algorithm includes the
measurement of the actual start-up phase resistance. During
motor operation, the variation of the resistance can exceed
30% of the nominal value because the phase resistance
depends strongly on temperature [8].
R ∗ = R + ΔR (3)
This variation generates an inaccurate estimation of the
flux linkage; hence it generates position estimation errors. Fig. 4. Current variation during start up algorithm.
Error of flux linkage is calculated in (4) when current
reaching the zero value. Both time of stabilization and the resistance measurement
t
take one sec. After this, the rotor is stable enough to reliably
ΨPhase = ∫ (u Phase − R ⋅ iPhase − R ⋅ iPhase )dt = ΨPhase + ΨError start the motor in the desired direction of rotation. When the
ton

t2 phase resistance has been measured, the motor can be started

⇒ Ψ Phase = Ψ Error = − ∫ Δ R ⋅ i F dt (4) by commutation of the phases in a desired direction. Signal of
t1
commutation is represented by duty circle and shown in
Fig.5.
 Fig. 5 Duty circle operation. Fig.7. Current variation during start up algorithm.

After start up process algorithm enter in a new calculation

stage; on line controlling process. As in start up process
resistance and flux linkage are measured and compared with
reference value. Fig. 6, 7 and 8 shown flux linkage, current
and duty circle during running process.
In running algorithm, the controller proceeds to find the
accurate rotor position based on the flux linkage and current
of the selected optimal phase. The flux linkage integration is
implemented by software.
For accurate flux linkage calculation, it is better to
synchronize with the switching pulses (or the voltage
excitation pulses). For example, if the switching frequency is
20 kHz, it is better to select 50 s as the updating rate.
However, the rotor position can be still accurately estimate
even if the flux linkage calculation is not synchronized with Fig.8. Duty circle operation during running process.
the switching pulses because of the robustness of the
proposed algorithms. In our testing, the updating rate is fixed
to 100 s. The overall system has satisfactory performance
when the switching frequency varies between 10–25 kHz.
When the phase is turned on θON, the phase current and the
phase voltage are measured simultaneously at the center of
the PWM pulses. The phase current, iPH is measured directly
using the phase current sensing circuit with noise elimination
filter, while phase voltage, uPH, is calculated according to the
measured DC-Bus voltage and the actual PWM duty cycle γ.

Fig.9. Discharge flux produced from discharge current.

When the phase is turned off, respective current starts to

decrease -- the phase is discharged idischarge is monitored also.
And the flux linkage Ψdischarge continues to be calculated
regularly at the rate of the sampling period (PWM frequency).
Fig. 9 shows the discharge flux. As soon as the phase current
approaches zero, the flux linkage error ΨError is captured. This
value is used to eliminate problems when phase start to
Fig.6. Flux variation measured on running process
commute again.
 III. SPEED AND CURRENT CONTROL TECHNIQUE rotations for minute. If reference speed is bigger than 400
Speed and current are controlled by using a dual layer PI rpm is used second loop control.
controller. Each layer of the controller contains one PI Constants for speed and current PI regulators are
controller for speed and one PI controller for current. implemented in header part of program are presented below.
Structure of the system is shown in Fig. 10. Technique
consists in: one outer speed controlling loop and one inner PI Contants for the second loop V>400 rpm
current controlling loop.
/* Current controller parameters */
The speed error is calculated as a difference between actual
#define SPEED_CONTROLLER_P_SCALE 209
speed and reference speed. Output of PI speed loop is the
/* proportional scale */
current reference value. The current controller calculates the
#define SPEED_CONTROLLER_P_GAIN 1200
difference between actual and desired phase current and
/*proportional gain */
calculates the appropriate PWM duty cycle. The increasing
#define SPEED_CONTROLLER_I_SCALE_12V 8
actual phase current is regularly compared with desired
/* integration scale */
current. As soon as the actual current exceeds the desired
#define SPEED_CONTROLLER_I_GAIN 100
value, the current controller is turned on and it controls the
/*integration gain */
output of the duty cycle until the phase is turned off.
#define I_PHASE_MAX 28.5
/*high limit of ph. current */
#define I_PHASE_MIN 5.5
#define CURRENT_CONTROLLER_P_SCALE 26
/* proportional scale */
#define CURRENT_CONTROLLER_P_GAIN 236
/* proportional gain */
#define CURRENT_CONTROLLER_I_SCALE_12V 42
/*integration scale*/
#define CURRENT_CONTROLLER_I_GAIN 26
Fig.10. Speed and current controlling model for one layer. /*integration gain*/
#define DUTY_CYCLE_MAX 100.0
/* 100 high limit of
#define DUTY_CYCLE_MIN 8.0
/* 8 low limit of duty cycle*/

PI Contants for the second loop V<400 rpm

#define SPEED_CONTROLLER_P_SCALE 7
/* proportional scale */
#define SPEED_CONTROLLER_P_GAIN 900
/*proportional gain */
#define SPEED_CONTROLLER_I_SCALE_12V 16
/* integration scale */
#define SPEED_CONTROLLER_I_GAIN 100
/*integration gain */
#define I_PHASE_MAX 28.5
/*high limit of ph. current */
#define I_PHASE_MIN 5.5
#define CURRENT_CONTROLLER_P_SCALE 12
/* proportional scale */
#define CURRENT_CONTROLLER_P_GAIN 100
Fig. 11. Programming diagram with speed condition bloc.
/* proportional gain */
#define CURRENT_CONTROLLER_I_SCALE_12V 4
Moving from one layer to another is a function of reference /*integration scale*/
speed (Fig.11). One is used to control motor in case of low #define CURRENT_CONTROLLER_I_GAIN 120
speed and the other in case of medium and high speed. By /*integration gain*/
using these layers, a very good comportment of the motor #define DUTY_CYCLE_MAX 100.0
during dynamic regime is obtained. Reference speed is 400 #define DUTY_CYCLE_MIN 8.0
 IV. EXPERIMENTAL TESTS AND SIMULATIONS
Experimental tests are carrying out in Freescale
Semiconductor DSP 56F807EMV platform. The block diagram
of the experimental setup is presented in Fig. 12.
Fig. 12. The block diagram of the experimental setup.
A general view of the experimental test stand is presented in
Fig. 13.
Flux linkage SRM is calculated before implementing
sensorless technique in Freescale Semiconductor DSP.
Measurement tests are carried out using a USB-NI 6009 data
acquisition board and LabVIEW software from National
Instruments. Implemented software is presented in Fig. 14.
Fig. 13. General view of the experimental test stand.
Specifications of SRM are shown in table 1.
TABLE I
SRM SPECIFICATIONS
Nr Type SR40N
1 Power rating 100 [w]
2 Voltage 10 [v]
3 Max. Current 28.5 [A]
4 Speed 1200 [rpm]
5 Number of poles 6/4
6 Phase resistance 0.03 [ohm]
7 Inertia 0.82 [kgcm2]
8 Duty cycle 15%
Resistance and flux linkage are obtained from these
measurements; part of program is shown in fig.16. After
receiving data, the building of software for inductance
linearization and implementing it in DSP is possible. This
linearization is necessary to save memory and to build a
general algorithm for both speeds. Linearization idea is
brought from flux linkage curves Fig.15, if the PI controllers
are able to maintain current in values less than 20A so
preventing the SRM to enter in saturation zone than
inductance will be approximated with linear curves. In order
to avoid look-up tables, only one flux linkage curve and this
is for unaligned position has been considered. The rest of
curves are performed by multiplying reference curve with
angle value.
Algorithm is implemented in C++ language in Freescale
Semiconductor DSP. From the measurement of dc-bus
voltage and phase currents, the rotor position is estimated by
the proposed estimation algorithm. The speed controller
compares the command and estimated rotor speeds to
generate the command current, turn-on, and turn-off angles.
By combining both angle and current information, the pulse
modulator determines the gate signal for the inverter.
Fig.14. Implemented software for current and voltage data acquisition.

Fig.15. Flux linkage obtained from calculations.
Fig.16. Calculation of the resistance error.
To verify the effectiveness of the estimation and control
algorithms in a more comprehensive operating condition,
following figures presents the operation of the SRM with the
proposed algorithm. By implementing the proposed
sensorless technique, in the experimental SRM, it started
The algorithms for initial rotor position estimation at
different initial rotor positions are first verified and the results
are given in Fig. 3. The duration of excitation is 0.5 ms.
Computer simulation shows the phase which has the largest
current (Fig.4). According to the initial rotor position
estimation algorithm, phase C is selected as the optimal
phase.
Fig. 6 also confirms two important assumptions of the
algorithm: first, the excitation current will increase linearly so
the flux linkage can be accurately calculated by the simplified
(2) and second, the optimal phase has a sufficient diagnostic
signal. For example, the optimal phase current is 2A (Fig.4).
from standstill and, at an approximate speed of 350 rpm. The
SRM drive then accelerates to a steady state speed of 700
rpm as shown in Fig. 18 and 20. In Fig.17, and 19 are shown
the results from the simulation in the same conditions. Tests
are carried out in conditions of fully load.
 Fig. 17. Speed variation al 350rpm simulation results.
Fig. 18. Speed variation al 350rpm experimental results.
Fig.19. Speed variation al 700rpm simulation results.
Fig. 20. Speed variation al 700rpm experimental results.
Fig. 21. Speed variation using first control loop.
Fig. 22. Speed variation using second control loop.
System has represented a very good response during
dynamic load and speed modification. These results are
shown in fig.21 and 22.
In fig.16 motor start running fully load and speed of
300rpm after 1 s speeds is changed to 400rpm and in 1.3s in
300rpm again in time 0.3s speed is up to 400rpm after 1.8s
speed is down to 300rpm and after 2s speed is down to
200rpm, when (zone 1) load become zero and motor is
running without any load. In zone 2 is applied fully load.
Second test is carrying out for the second control layer.
Speed variation is shown in Fig.22. In fig.22 motor start
running without load and speed of 600rpm after 3s speeds is
changed to 700rpm and in 4s in 600rpm again in time 1.2s
speed is up to 700rpm after 1.5s speed is down to 500rpm
and after 9s speed is up to 600rpm, when (zone 1) motor is
fully load. In zone 2 is load becomes zero, and in zone 3
motor is loaded again. In general the performance of the
sensorless method has been satisfactory in terms of accuracy
and a precision of 1.5 [mechanical] was maintained over the
entire speed range. Due to dual layer controller, error limited
meets at low-speeds and at higher speeds. Control of phase
current and speed is done in the software and no extra
circuitry is used for this purpose. All of the routines are
developed in C++ language. The power electronic driver is a
classic two-switch per phase driver. The speed reversal test
was also performed to verify the practicality of the proposed
system.
Fig. 23. Speed variation using second control loop.
Fig. 23 shows the speed trajectory in both directions.
During this test, SRM drive operating as a motor starts in
clockwise direction and, after certain number of revolutions,
it would stop for 0.2 ms and then start in the opposite
direction. This test has been performed at 350 rpm to
represent the performance of the system at low-speeds.
Waiting time is necessary for the rotor to establish position.
The speed information was collected using an external speed
sensor on the DC motor load and NI6009 for data
acquisition. The SRM drive system is accommodating this
action with high reliability and consistency.
V. CONCLUSIONS
In this paper is presented flux linkage method for position
estimation. Its necessary to be mentioned that technique is
used for low voltage SRM and the dynamic of the drive is
different. Compensation of voltage is necessary during low
speed operation also the maintaining of current in a limited
values is necesary in order to operate with linearised flux
linkage curve. This method is tested in order to allow
realizing the sensorless speed control within entire speed
range. In our graphics are shown only one part of these
results from 200rpm up to 800rpm by using two layers for
speed and current as a function of reference speed. The
proposed method demonstrates simplicity in computation
while providing high precision position information with no
extra hardware or memory. The proposed algorithms have
been implemented on an experimental SRM test setup. The
sensorless control allows load jumps and variable speeds.
The contribution of this paper is the implementation of a
sensorless control algorithm on a low-voltage switched
reluctance motor. This research needed to focus mainly to
the current sensing since the proper current measurement is
the key for successful implementation of the sensorless
technique. The voltage drop on the power devices is more
significant in case of low voltage then in case of the high
voltage drive. This voltage drop will need to be considered
this in the algorithm.
This research is continuing in developing one algorithm
for dual application (for low and high voltage SRM).
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