Procedia Earth and Planetary Science 1 (2009) 1320 1324 Procedia Earth and Planetary Science www.elsevier.com/locate/procedia The 6 th International Conference on Mining Science & Technology Nonlinear dynamic simulation model of switched reluctance linear machine Chen Hao a, *, Wang X a., Gu Jason J. b, Peric Nedjeljko c, Sun Chao a a School of Chemical Engineering and Technology, China University of Mining & Technology, Xuzhou 221116, China b Dept of Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada c Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia Abstract The developed switched reluctance linear machine system is presented, which consists of three-phase 6/4 pole switched reluctance linear machine, three-phase asymmetric bridge power converter and a digital controller. The sketch map and the photograph of the three-phase 6/4 pole switched reluctance linear machine are also given. The main circuit of the developed three-phase asymmetric bridge power converter with the phase windings is described. The main simulation model of the developed switched reluctance linear machine system based on the MATLAB is given with the simulation model of calculating phase current, the simulation model of calculating electromagnetic force and the simulation model of calculating rotor position. The simulation results at starting and at steady state are also presented with velocity curve, the electromagnetic force waveforms and the phase current waveforms. Keywords: switched reluctance; linear machine; simulation model 1. Introduction The switched reluctance linear machine system can be operated at four quadrants similar to the switched reluctance rotary machine system. The switched reluctance linear machine system is also made up of switched reluctance linear machine, power converter and controller. In general, there are three-phase 6/4 pole switched reluctance rotary machine, three-phase 12/8 pole switched reluctance rotary machine, four-phase 8/6 pole switched reluctance rotary machine, four-phase 16/12 pole switched reluctance rotary machine, and so on [1][2]. There are also three-phase 6/4 pole switched reluctance linear machine [3][4][5][6][7], three-phase 12/8 pole switched reluctance linear machine, four-phase 8/6 pole switched reluctance linear machine, four-phase 16/12 pole switched reluctance linear machine and so on. The power converters used by the switched reluctance rotary machine can also be adopted by the switched reluctance linear machine, such as the asymmetric bridge main circuit, the bifilar winding main circuit, the split supply main circuit, the inductance commutation main circuit, the common switch main circuit, the resistor * Corresponding author. Tel.: +86-516-82115633; fax: +86-516-83884587. E-mail address: chenhaocumt@tom.com. 1878-5220 2009 Published by Elsevier B.V. Open access under CC BY-NC-ND license. doi:10.1016/j.pro eps.2009.09.203
C. Hao et al. / Procedia Earth and Planetary Science 1 (2009) 1320 1324 1321 commutation main circuit, the capacitor transfer storage main circuit and so on. The switched reluctance linear machine system has also the advantages such as the simple and strong structure of linear machine since there is only winding on the stator, and no magnet, no brush and no winding on the rotor. 2. Scheme of system The developed switched reluctance linear machine system consists of three-phase 6/4 pole switched reluctance linear machine, three-phase asymmetric bridge power converter and digital controller. 2.1. Machine The sketch map of the three-phase 6/4 pole switched reluctance linear machine is shown in Fig.1. There are 6 poles in the stator, and 4 poles in the rotor. The two coils on the stator poles can be connected to make up a phase winding, such as A phase, B phase, C phase. There is no winding, no magnet and no brush in the rotor. The photograph of the developed three-phase 6/4 pole switched reluctance linear machine is shown in Fig.2. Fig. 1. Sketch map of three-phase 6/4 structure SR linear machine Fig. 2. Photograph of the developed linear machine 2.2. Power converters The main circuit of the developed three-phase asymmetric bridge power converter with the phase windings, A, B, C is shown in Fig.3. Fig. 3. Main circuit of the developed three-phase asymmetric bridge power converter 3. Simulation models The main simulation model of the developed switched reluctance linear machine system based on MATLAB is shown in Fig.4.
1322 C. Hao et al. / Procedia Earth and Planetary Science 1 ( 2009) 1320 1324 Fig. 4. Main simulation model of the developed Switched Reluctance linear machine system In the model, v f is the given velocity; v is the actual velocity; U S is DC supply voltage; X on is turn-on position of main switches; X off is turn-off position of main switches; X is the rotor position; I m is the phase current limit; i a is the A phase current; i b is the B phase current; i c is the C phase current; F a is the A phase electromagnetic force; F b is the B phase electromagnetic force; F c is the C phase electromagnetic force; F e is the total electromagnetic force; F e3 is the three phase electromagnetic force; F L is the load; controller is the controller for the velocity closed-loop control. The simulation model of calculating phase current is shown in Fig.5. In the model, in1 is phase voltage; in2 is rotor velocity; in3 is rotor position; out1 is phase current, and MATLAB Function is for calculating flux linkage. The simulation model of calculating electromagnetic force is shown in Fig.6. In the model, in1 is phase current; in2 is rotor position;, out1 is electromagnetic force per phase, and MATLAB Function is for calculating conjugated magnetic energy. The simulation model of calculating rotor position is shown in Fig.7. In the model, in1 is absolute rotor position; out1 is relative rotor position. 4. Simulation The developed simulation model had been applied to simulate the prototype as the given velocity is 1.0m/s and the load is 25.0N. Fig.8 gives the simulation results at starting, where, a) is the velocity curve; b) is the total electromagnetic force waveform; c) is the phase current waveform. Fig.9 gives the simulation results at steady state, where, a) is the phase current waveform; b) is A phase electromagnetic force waveform; c) is the total electromagnetic force waveform. It is shown that the maximum phase current at starting is 1.75 times as big as that at steady state and the total electromagnetic force at starting is four times as big as that at steady state.
C. Hao et al. / Procedia Earth and Planetary Science 1 (2009) 1320 1324 1323 Fig. 5. Simulation model of calculating phase current Fig. 6. Simulation model of calculating electromagnetic force Fig. 7. Simulation model of calculating mover position 5. Conclusions The nonlinear dynamic simulation model of switched reluctance linear machine system had been developed based on MATLAB-simulink. It includes the main simulation model, the simulation model of calculating phase current, the simulation model of calculating electromagnetic force and the simulation model of calculating rotor position. The velocity curve, the electromagnetic force waveform and the phase current waveform at starting and at steady state can be attained by the developed nonlinear dynamic simulation model. The simulation results show that the developed switched reluctance linear machine system has high starting electromagnetic force with low starting current.
1324 C. Hao et al. / Procedia Earth and Planetary Science 1 ( 2009) 1320 1324 Fig. 8. Simulated results at starting (a) velocity curve; (b) total electromagnetic force waveform; (c) phase current waveform Fig. 9. Simulated results at steady state (a) phase current waveform; (b) A phase electromagnetic force waveform; (c) total electromagnetic force waveform Acknowledgements The authors would like to thank the Project 2008DFA61870 supported by International S & T Cooperation Program of China and the Project [2007]251-3-09 supported by Chinese-Croatian Scientific and Technological Cooperation Project. References [1] D. Liu, Switched Reluctance Motor Drive. Beijing: Mechanical Industry Press, 1994. [2] H. Chen, Principles, Design and Applications of the Switched Reluctance Drive. Xuzhou: China University of Mining and Technology Press, 2000. [3] H. Chen, X. Jin, Switched Reluctance Linear Motor Drive System. Proceedings of the 6th Asia-Pacific Conference on Control & Measurement, (2004) 305-307. [4] H. Chen, C. Sun, Sliding mode control of switched reluctance motor drive, Proceedings of the 6th International Symposium on Test and Measurement, 3 (2005) 2909-2912. [5] H. Chen, C. Sun, Sliding mode control of switched reluctance linear motor drive, Dynamics of Continuous, Discrete and Impulsive Systems, Series A: Mathematical Analysis, (2006) 2093-2100. [6] H. Chen, X. Wang, J. Gu, Silding Mode Control of Switched Reluctance Linear Generator System. Proceedings of 2009 IEEE International Conference on Networking, Sensing and Control, (2009) 779-782. [7] H Chen, X Wang, Hi Zeng, Electromagnetic Design of Switched Reluctance Linear Machine. Proceedings of 6th International Power Electronics and Motion Control Conference, (2009) 836-840.