Influence of Sensorless Control on the Noise of Switched Reluctance Motor Drive

International Journal of Power Electronics and Drive System (IJPEDS)
Vol. 6, No. 3, September 2015, pp. 433~438
ISSN: 2088-8694  433
Journal homepage: http://iaesjournal.com/online/index.php/IJPEDS
Influence of Sensorless Control on the Noise of Switched
Reluctance Motor Drive
Alexander Petrushin, Maxim Tchavychalov
Rostov State Transport University, Russian Federation
Article Info ABSTRACT
Article history:
Received Mar 22, 2015
Revised May 18, 2015
Accepted Jun 2, 2015
The influence of the switched reluctance motor drive sensorless control on
the level of its noise is considered. Theoretically justified the increase of
noise level while sensorless SRM control. The results of switched reluctance
motor noise measurement with sensorless control and control using the
physical position sensor are given.
Keyword:
Magnetic asymmetry
Sensorless control
Switched reluctance machine
Noise
Copyright © 2015 Institute of Advanced Engineering and Science.
All rights reserved.
Corresponding Author:
Alexander Petrushin,
Rostov State Transport University,
Russian Federation,
Email: alex331685@yandex.ru
1. INTRODUCTION
As a rule, modern drive systems are built on the basis of induction electric machines. However in
recent years other types of electric motors become increasingly popular. For example, a large proportion of
recent publications is devoted to the study of switched reluctance electric machines (SRM) which can be
called one of the most promising types of electromechanical energy converters.
For effective use of SRM it is necessary to control phase excitation current in accordance with rotor
position. Typically this is done using physical rotor position sensor fixed on the machine shaft
(optpelectronic sensors, Hall-effect sensors, etc). For systems intended to operate in harsh environments the
position sensor may become a limiting factor. Meanwhile it is possible to determine rotor position indirectly
using dependence of phase flux of the phase current and rotor position ψ=f(i, θ) [1]. Control systems based on
the indirect rotor position estimation are called sensorless systems.
Currently researchers published many works on synthesis and study of sensorless control of SRM
[2]. Typically, the methods of indirect rotor position estimation are classified on methods of active phase
measurement and methods based on passive phase measurement. Using the methods of the first group limits
the active phase current control and hence the SRM torque control. Among the methods of second group
there are methods, based on sort voltage pulses (sensing pulses) application [3]. In this case it is possible to
use effective algorithms of active phase control. However it is necessary to consider the impact of sensing
current on energy effectiveness indexes and torque curve when the sensing current is commensurate with the
active phase current. On the other hand, if the sensing current is small it is necessary to protect usefull signal
from noise.
Another approach allows to allocate methods based on the use of markers and methods based on
look-up tables which require not only a large amount of memory of the microprocessor control systems, but
also time-consuming to determine the look-up table data. In addition, look-up tables do not take into account

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IJPEDS Vol. 6, No. 3, September 2015 : 433 – 438
434
the differences in the characteristics of the phases which may arise as a result of the inaccuracies during SRM
manufacturing process [4]. Methods based on the use of markers are generally limited to the rotation
frequency or excitation current control.
SRM sensorless control enhances application of the switched reluctance drive systems in the most
adverse operating conditions: high temperature, chemically aggressive environment, intense radiation
exposure to the motor. In this case, of paramount importance the fact of the possibility of SRM operation
without physical rotor position sensor. According to the level of reliability and durability sensorless switched
reluctance drive exceeds its nearest competitors. The situation is different in the field of general industrial
electric drive, when except reliability and durability other indicators are important (energy efficiency,
electromagnetic torque ripple and the noise level).
2. RESEARCH METHOD
To consider the influence of sensorless control on the SRM noise level it is necessary to identify the
main reasons of its occurrence. SRM noise sources are classified as follows [5, 6]:
 Noise from the stator vibration;
 Noise from radial forces acting on the rotor;
 Noise from the load and additional sources;
 Aerodynamic noise;
 Electronic noise sources (sources of noise associated with power electronic components operating in
switching mode and with the characteristics of control algorithm).
In addition to the classification as a source of noise the torque ripple are considered [7].
Considering the influence of sensorless control on noise and vibration level it is necessary to specify
that the greatest impact on these indicators will provide inaccurate indirect rotor position estimation. Using
position sensor control system receives information about the rotor position with a relatively low latency due
to the speed of CPU. In this case the error of rotor position estimation depends on the accuracy of position
sensor calibration. When sensorless control is used the accuracy of look-up table, the large amount of
computation required to determine the value of θ and the accuracy of measurement equipment impact on
rotor position estimation accuracy. All this is the cause of a time-varying error of estimating rotor position,
and as a result - changing the actual angles of opening and closing the semiconductor switches of the
converter. In this case, the magnetic system is in a state of artificial asymmetry, as during dwell angle phase
flux linkage take on different values. Thus, the main difference of SRM sensorless control will be the
artificial phase excitation unbalance which serves as a source of additional noise and vibration [8].
It should also take into account the effect of the sensing current pulses applied to estimate the rotor
position. These pulses are typically of a higher frequency than the pulses of the power supply and affect on
unevenness electromagnetic torque, since the sensing current flows through the phase, relative to which the
rotor is in the area of the generator operation mode. Sensing current also contributes to noise in the upper
frequency range of hearing due to magnetostriction.
Based on the above provisions, it is possible to assume that the noise level of sensorless controlled
switched reluctance drive will be higher than when using the physical rotor position sensor. In this case, it is
possible to check the validity of this conclusion only be a physical model as a means of computer technology
do not allow including all causes of SRM noise in the calculation of the data. It should be borne in mind that
an adequate assessment of the impact of sensorless control on electric noise in comparison with traditional
systems using rotor position sensor can be given under the following conditions:
• as an object of study should serve the same SRM fed from the same power converter;
• measurement should be performed with the same instruments in constant environmental conditions;
• SRM should not be moved between measurements, unacceptable separation of SRM structural elements
and change of shaft load.
To measure the noise level SRM with tooth zone configuration 6/4 (figure 1) was utilized (SRM
rated power 5kW, rated speed 1500 rpm). Experimental assembly is given on Figure 2.

IJPEDS ISSN: 2088-8694 
Influence of Sensorless Control on the Noise of Switched Reluctance Motor Drive (Alexander Petrushin)
435
Figure 1. SRM 6/4 magnetic field
Figure 2. Experimental assembly for noise level measurement
1 – motor, 2 – encoder, 3 – resilient mounts, 4 – shaft torque sensor, 5 – controlled load
Power supply of engine was performed by half-bridge converter. Microcontroller AVR Atmega16
was used as the CPU of the control system. The rotor position at comparative tests determined using an
absolute encoder or sensorless control algorithm [9], based on the use of sensing pulses and a marker.
Amplitude of sensing pulse current in unaligned rotor position (180 electrical degrees) is used as a marker.
Switching of phases occurs after marker, i.e. when control system registers the current amplitude of the
sensing pulse, which is less than the current amplitude of the previous sensing pulse. Picture of the phase
current is shown in Figure 3.

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436
Figure 3. Sensorless controlled SRM phase current
Noise level measurements were carried out for the orientation method at five points of the
measuring surface (Figure 4) for three different values of rotor speed.
Figure 4. Location of measuring points on the measuring surface
1-5 – measurement points, S – measurement surface, d – distance from noise source (1 meter)
The computation of average noise level based on the equation

IJPEDS ISSN: 2088-8694 
Influence of Sensorless Control on the Noise of Switched Reluctance Motor Drive(Alexander Petrushin)
437


n
i
i KL
n
L
1
1
(1)
where n is a number of measurement points in which noise level measurement was, K is the premises
constant, computed by equation.













vS
A
A
S
K 141lg10 (2)
where S is the area of selected measuring surface, Sv is the area of limiting surfaces of the premises, А is
the equivalent area of acoustic absorption.
Equivalent area of acoustic absorption is determined from equation
vs SaA  (3)
where as is the average coefficient of acoustic absorption is a function of premises type.
Changing the rotor speed was made directly change the value of the supply voltage via laboratory
transformer, while the value of the phase current is limited to 15 A. The noise measurements were made
using a sound level meter Center 320 exhibited temporal characteristics of "Slow", the measurement of rotor
speed - using a mechanical tachometer. The engine was running at idle during the measurements.
3. RESULTS AND ANALYSIS
Results of noise level measurement are given in Table 1.
Table 1 Results of SRM noise level measurement
Parameter Serial number of measurement
№ 1 № 2 № 3
SRM shaft rotation speed (min-1
) 800 1000 1500
SRM control using physical rotor position sensor
Noise level in measuring point 1(dBA) 57,7 60,1 64,7
Noise level in measuring point 2 (dBA) 57,8 59,4 65,0
Average noise level (dBA) 52,49 55,17 59,83
SRM sensorless control
Average noise level (dBA) 53,73 56,75 61,61
As seen from Table 1, the noise level of sensorless SRM is higher in comparison with SRM with
encoder. The noise level increases with the SRM shaft speed increase. Considering that an increase in
rotation frequency increases the inaccuracy of rotor position estimation, we conclude that the inaccuracy of
of rotor position estimation contributes to the increase in noise
4. CONCLUSION
From these theoretical findings and results of noise measurements can be seen that sensorless
control is carried out at a higher noise level of SRM. The noise increased by 1,24-1,78 dBA, we can assume
that the characteristics of SRM are very sensitive to small changes in timing of the pulse voltage. Artificial
magnetic asymmetry that arises as a result of error in estimating the rotor position should recognized as main
reason of noise level increasing. Modern rotor position sensors can provide accurate measurements with an
error not exceeding 0,25o
-0,125o
. In this case, according to preliminary estimates of the authors at the
sensorless control error in determining the position of the rotor is 2,5o
-3o
. Based on this, we can conclude that

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438
for competitive advantage sensorless switched reluctance drive it is necessary to take measures to improve
the accuracy of the indirect rotor position estimation. Improvement of sensorless control is possible by
choosing the rational parameters of sensing pulses, increasing the accuracy of lookup tables, etc.
ACKNOWLEDGEMENTS
The work is supported by The Ministry of education and science of Russia. Agreement №
14.604.21.0040, identifier RFMEFI60414X0040.
REFERENCES
[1] Acarnley P, Hill R, Hooper C. Detection of rotor position in stepping and switched reluctance motors by
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[2] Tchavychalov MV. Methods of switched reluctance electric machines sensorless control. Rostov State Transport
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[3] Mvungi NH. Sensorless Commutation Control of Switched Reluctance Motor. World Academy of Science,
Engineering and Technology. 2007; 25; 325-330.
[4] Petrushin A, Tchavychalov M, Miroshnichenko E. The Switched Reluctance Electric Machine with Constructive
Asymetry. International Journal of Power Electronics and Drive Systems. 2015; 6(1): 86-91
[5] Krishnan R. Switched reluctance motor drives: modeling, simulation, analysis, design, and applications. Magna
Physics Publishing. 2001; 416.
[6] Ghousia SF. The Impact Analysis of Dwell Angles on Current Shape and Torque in Switched Reluctance Motors.
International Journal of Power Electronics and Drive Systems. 2012; 2(2): 160-169.
[7] Bösing M. Acoustic modeling of electrical drives. Noise and vibration syntesis based on force respose
superposition. Diss. RWTH Aachen University. 2013; 208.
[8] Nasirian V, Davoudi A, Kaboli S, Edrington CS. Excitation shifting: a general low-cost solution for eliminating
ultra-low-frequency torque ripple in switched reluctance machines. IEEE Transactions on magnetic. 2013; 49;
5135-5149.
[9] Tchavychalov, MV. Complex algorithm of switched reluctance motor sernsorless control. Science and education.
Electronic research and development publication. 2012; 12. http://technomag.edu.ru/doc/496400.html

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