This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2787553, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

A Switched Reluctance Motor Drive Based On

Quasi Z-Source Converter With Voltage
Regulation and Power Factor Correction
Moien Mohamadi, Amir Rashidi, Sayed Morteza Saghaian Nejad,
and Mohammad Ebrahimi

Abstract—Modified Quasi Z-Source Converter (MQZSC) reference in rising slope of the inductance profile, SRM can’t
is presented in this paper as a front end converter for the produce enough torque to support the load. Subsequently, in
switched reluctance motor (SRM) drive system in order the demagnetization mode, if the current doesn’t reduce to
to perform voltage regulation and Power Factor Correc-
tion (PFC). Using the MQZSC, magnetization voltage is zero, the motor may enter the negative torque production
increased and regulated according to the operation modes region [4]. In high speeds, enough time couldn’t be provided
and requirements of the drive system, therefore more to build up or demagnetize current, this shortcoming results
power is transferred to the motor in each stroke. Demagne- in a further increase of the torque ripple. The torque ripple
tization port is also decoupled from magnetization port and in SRM phases is basically dependent on how it is exited
boosted further to reduce the demagnetization time. The
proposed converter like conventional SRM converter has [5]. Because of high power ripple in conventional SRM drive,
the freewheeling mode of operation. Peak Current Control large capacitors are required in DC-link and naturally, the drive
(PCC) PFC is integrated into the control system of the front- system ends up with weak power factor. On the other hand,
end converter to reduce THD and enhance the power factor. the switching nature of the applied power to the SRM and
Also, an angle control is implemented in the SRM drive consequently rippled torque makes this machine vibrate and
system to reduce the torque ripple alongside voltage reg-
ulation in the front end controller. A software simulation is produce acoustic noise.
done to verify the proposed drive system. To demonstrate An important factor in the smooth operation of SRM drive
the abilities of the proposed drive system in practice, an system is DC-link voltage [6]. Besides, different application
experimental setup is devised in the laboratory to verify the of the SRM, such as bidirectional power flow, battery charging
simulation results. control in electric vehicle and hybrid electric vehicles [7]–
Index Terms—Power Factor Correction, Switched Reluc- [9], wide speed drive systems require DC-link voltage adjust-
tance Motor Drive System, Voltage Regulation, Z-source ment. To satisfy these requirements a variety of converters is
converter. proposed for different applications such as voltage regulation,
charge control, power factor correction, and etc.
I. INTRODUCTION In [10] a passive boost converter is introduced to increase
WITCHED Reluctance machines (SRM) [1] are struc- the applied voltage to the SRM phases in order to reduce
S turally simple, robust, and reliable under harsh environ-
ments. They are gradually finding their place in the com-
the magnetization and demagnetization time and increase the
power transfer rate in each stroke time, but only DC-link
mercial electrical machines markets [2]. Despite its merits, and twice the DC-link voltage is available for the Motor and
SRM was obsolete until the advancement of power electronic PFC is not considered. In [11] a Switched Mode Rectifier
devices that made the SRM drive conceivable. Because of the (SMR) based on boost converter is purposed as the front
doubly salient structure of the SRM, its inductance profile end converter of SRM. In this drive system with voltage
is nonlinear, since voltage should be applied periodically for regulation and robust feedback and feed-forward control, the
magnetization and demagnetization of each phase. Therefore, performance of the drive system is improved and PFC is done
a special converter is needed in SRM drive system to apply in the drive system. In this system voltage regulation of the
voltage and to make the independent current control in each front end converter isn’t based on the operation condition
phase conceivable [3]. of the SRM drive and magnetization-demagnetization ports
Operation of the SRM is highly dependent on current commu- aren’t decoupled. In [12] an integrated multi-port converter is
tation of its phases. If, the current doesn’t reach the desired proposed to reduce the capacitor requirements of the SRM
drive system with decoupling the capacitor from the DC-
link and implementing two terminals in the input. Current
Manuscript received July 25, 2017; revised October 18, 2017; ac-
cepted December 10, 2017. commutation time is reduced due to voltage regulation which
Moien Mohamadi, Amir Rashidi, Sayed Morteza Saghaian Nejad, and is implemented by introducing a new input port in the front
Mohammad Ebrahimi are with the Electrical and Computer Engineering end converter. Because of the switch multiplexing technique
Department, Isfahan University of Technology, Isfahan 84156-83111,
Iran (e-mail: [email protected]). used in this converter the torque ripple is high. In [13] power
ripple reduction with small capacitor and integration of the

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2787553, IEEE
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front end converter to the Asymmetric H-Bridge Converter based drive system is shown in which the ASHB and MQZSC
(ASHB) is devised using a Quasi-Z Source Converter (QZSC), control systems work in harmony.
which is a multi-port converter. Using the Z-Source converter
voltage regulation based on operating speed of the SRM
is implemented through a multi-objective controller. But the A. Topology and state space equations
torque ripple remains high due to the integrated converter and Capacitive and inductive elements in the proposed front-
the switch multiplexing technique. end converter can process energy in their impedance network.
Based on the aforementioned objectives for an SRM front This is very practical especially for SRM drive system, which
end converter, Z-Source Converters (ZSC) seems to be a because of the pulsed current commutation, input power is
promising candidate [14], [15]. The impedance network in the rippled and a large capacitor is needed for transient power
ZSC consists of capacitors and inductors, which can process compensation. With decoupling the magnetization and demag-
energy and electrical power and feed it to the output while netization current paths the subsequent current phases won’t
reducing current and voltage ripple. Using the semiconductor overlap and the phase commutation period can be reduced
switch in these converters voltage regulation and current in the proposed MQZSC. Using the boosting capability of the
processing for power quality enhancement can be achieved. MQZSC the voltage of the capacitor C1 , which is connected to
These converters are especially appropriate for wide speed the magnetization port of the SRM is increased and henceforth
control drive application [16], which it can alleviate ripple with higher voltage, magnetization time will be shortened. The
and regulate the input voltage. demagnetization voltage is the sum of the voltage of capacitors
In this paper, a Modified Quasi Z-Source Converter (MQZSC) C1 and C2 and it is applied to the SRM phase windings in a
is introduced as front-end converter. In MQZSC the magne- pulsed manner with aa fixed frequency of the MQZSC switch.
tizing and demagnetizing port is decoupled, which prevent the With these considerations, the stroke time of the SRM for a
current overlap of the subsequent phases in the SRM operation constant power flow will be reduced and subsequently wider
and preserves the freewheeling operation in ASHB. In the speed ratio can be reached.
proposed drive system, a turn on and turn off angle controller The coupled operation of MQZSC with ASHB has 8 possible
is introduced to work alongside the DC-link voltage controller, current modes of operation, as it is shown in Fig. 2. State
which is implemented by MQZSC, to reduce the torque variables in these equations are two capacitor voltages, two
ripple and enhance the performance of the drive system under inductor currents, four SRM phase currents, rotor position,
different operation conditions. In order to coordinate the SRM and rotor speed. So, there will be 10 state equations in each
current control and the voltage regulation of the MQZSC, a of the 8 modes after averaging, still there is a 10 × 8 state
magnetization time controller is introduced to produce the space differential equation to be solved in order to find out
reference of the DC-link voltage controller. A current pro- the behavior of the system. As it is obvious these description
grammed Peak Current Control (PCC) PFC is implemented in of the MQZSC operation, especially in the control system
the MQZSC control system to reduce the high Total Harmonic complicates the drive. SRM in each phase draws a current
Distortion (THD) and increase the power factor, which is based on inductance profiles, a nonlinear unidirectional current
caused by transient energy in current commutation. is circulating in SRM phases and torque generation directly
The rest of the paper is organized as follows; in section II depends on current. The Switching period of ASHB is longer
the overall structure of the drive system and topology of the then MQZSC therefore, in state space model of the MQZSC
front end MQZSC is analyzed, also the small signal model and the current of the ASHB can be presumed to be constant.
its analysis is presented. In section III the control system and Consequently, SRM and ASHB can be modeled with a con-
its operation merits are presented. In section IV a simulation stant current source [17], [18]. With aforementioned procedure
of the drive system is presented. In section V experimental six out of ten state variables are eliminated. The current
analysis of the system is presented, and finally, in section VI sources, that represent the SRM have the values of phase
a conclusion is derived. current in appropriate time cycles. Since the magnetization
and demagnetization ports are decoupled the SRM is modeled
with two current sources as it is shown in 3.
II. PROPOSED MQZSC FRONT END CONVERTER
Mode 1 and mode 2 show the shoot through and non-
TOPOLOGY FOR SRM DRIVE
shoot through operation of MQZSC respectively. In the shoot
In Fig.1 the overall configuration of the drive system is through mode that switch S2 is closed and switch S1 is
shown with MQZSC implemented as the front end converter. open, the inductors in the impedance network is charging by
The output terminal of the QZSC is connected to the de- discharging the energy stored in capacitors, and in the non-
magnetization port and the magnetization port is connected shoot through mode, which switch S2 is open and switch S1
to the C1 , with decoupling of the magnetization and demag- is closed, the capacitors are charging up through the DC-link
netization port current overlap of subsequent phases is reduced voltage and the inductors discharging their energy to the output
and torque ripple will be enhanced. The ASHB converter is DC-link. The average state space model of the MQZSC over
preferable for SRM drive system due to its fault tolerance, switching period of S2 is derived. The small signal model
stability, and phase isolation. This converter can be used in of the MQZSC in the proposed drive system with constant
the drive system from prefabricated phase leg modules as it is inductance for SRM is shown in (1)-(4). All of the lowercase
shown in the experimental results in section VI. In Fig. 1 DSP characters show the transient part of the variables and the

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Modified Quasi Z-source Asymmetric H-Bridge

Converter Converter
C2
Load

D a1 Db 1 Dc 1 Dd 1
Sa1 S b1 Sc1 Sd1
L1 S1 L2

Phase D
Ph ase C
Phase B
Phase A
DC
Generator
V ac S2
C1
S a2 Sb 2 Sc2 Sd 2
Da2 Db2 Dc2 Dd 2

S1 S2 Sa1 Sd1 Sa2 Sd 2

Gate Drive
Gate Drive
S1
S2 Sa1 Sd1 Sa2 Sd 2
Gate signal generator Gate signal generator
V conv
i*
MQZSC Hystersis
v c1 A/D Speed
*

i4
controller Current
controller A/D
i L1 Controller

i1
V ref Phase
 d Current
Commutation ei
10 Bit Encoder Signal

dt Signals

Mag. and
g1 g4
Demag.
Encoder Angle time
Interface

Conduction region command
of the SRM calculation

t mag t demag
0 30 60 
demag
on
Magnetization Turn on and Angle
time  ref
on
turn off angle Calculation
controller
 mag
controller
 mag offref

Fig. 1: Overall configuration of the drive system

VC 2 VC 2 VC2 VC 2

L1 L2 S a1 D a1 L1 L2 Sa1 D a1 L2 S a1 D a1 S a1 D a1
S1 S1 L1 S1 L1 S1 L2

VC1 S2 Vk S2 VC 1 S2 S2
V dc VC1 Vk Vk VC1 Vk
V dc Vdc V dc

Da 2 S a2 Da2 S a2 Da 2 S a 2 Da 2 S a2

(a) Mode I (b) Mode II (c) Mode III (d) Mode IV

VC 2 VC 2 VC 2 VC 2

S a1 D a1 S a1 D a1 S a1 D a1 S a1 D a1
L1 S1 L2 L1 L2 L1 S1 L2 L1 S1 L2
S1

S2 VC1 S2 VC1 S2
VC1 Vk VC1 S2 Vk Vk Vdc Vk
V dc V dc Vdc

Da 2 Da 2 Da 2 S a 2 S a2
S a2 S a2 Da 2

(e) Mode V (f) Mode VI (g) Mode VII (h) Mode VIII

Fig. 2: Possible current modes of coupled Operation of ASHB and MQZSC

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VC 2 system can be linearized. From the transfer function of the

C2 capacitor voltage, it can be deduced that there is a zero in
L2
the right hand-part (RHP) of the complex plane, indicating
L1
non-minimum phase property in the system. For controller
S1
system design ds has to be controlled to regulate VC1 and
is i s
V dc S2 consequently controlling the output of the MQZSC front-
VC1 end converter. Variation of ds will determine the dynamics
of the VC1 , Therefore, root loci of the GvdC1 s
is studied
Mode 1
using parameter sweep to make a clear map of the dynamic
VC 2 characteristics of the MQZSC. Fig. 4a, Fig. 4b, and Fig.
C2
4c show the GvdC1 s
trajectories with ds , C, and L variations
respectively.
L1 S1 L2 Parameter sweep for ds is shown in Fig. 4a as it is shown
there one of the conjugated pole pairs doesn’t change location
S2 is i s with the increase of ds . Meanwhile, the other pole pair moves
V dc VC1 C1
perpendicularly toward the real axis (blue marker) with the
increase of ds and this causes increasing of settling time and
Mode 2 decreasing the natural frequency. The conjugated zero pair also
Fig. 3: Operational modes of the MQZSC front end converter moves away from the imaginary axis with the relatively less
pace that slightly increases the stability margin (black marker).
The RHP zero moves toward the origin alongside the real axis
uppercase indicates the steady state. with increasing C that increases the degree of the minimum
phase of the system (red marker).
diL1 Parameter sweep for L is shown in Fig. 4c, one conjugated
L1 = Vdc − rL1 iL1 + VC1 ds − VC1 (1 − ds ) (1)
dt pole pair and one conjugated zero pair moves along the same
diL2 trajectory toward the origin with the increase of L (black
L2 = −rL2 iL2 + VC1 ds − VC2 (1 − ds ) (2) marker). This pole and zero pairs cancel each other out
dt
because, they have the same location in the complex plane,
dVC1 therefore, they don’t have any significant effect on the transient
C1 = iL1 (1 − ds ) + i0s (1 − ds ) operation. The other conjugated pole pair (blue marker), with
dt
the increase of the L, moves toward the origin alongside the
+ is (2ds − 1) − iL2 ds (3)
real axis, with a slight disposition toward the real axis, which
dVC2 means stability margin will be reduced and the system will be
C2 = iL2 (1 − ds ) + i0s (1 − ds ) − iL1 ds (4)
dt more prone to oscillation if it fails to provide enough damping.
In (1)-(4) VC1 and VC2 is the voltage of the capacitors C1 Also, it is shown that with the increase of L, RHP doesn’t
and C2 respectively, iL1 and iL2 is current of the inductor change and its location is fixed.
L1 and L2 , rL2 and rL2 are the series equivalent resistance Parameter sweep for C is shown in Fig. 4b, one pair of
of the inductors. conjugated pole pair and one pair of conjugated zero pair
(black marker) move in the same trajectory with the approx-
imately the same location at each sweep. These two pairs
move toward the real axis perpendicular to the real axis and
B. Parameter Sweep cancel each other out in the transient response. The other pole
To model the MQZSC dynamics, perturbation is applied pair moves (blue marker) perpendicularly toward the real axis
to ds . The perturbation results in variation in state space with the increase of C implying increasing in settling time
variables. In this model the SRM is modeled as constant and decreasing the natural frequency. Also, the RHP zero
current source and it is assumed to be independent from the (red marker) moves toward the origin alongside the real axis
perturbation initiated in the inputs of the MQZSC. After ap- with increasing C, which increases the degree of the minimum
plying the perturbation to the system, the state space equations phase of the system.
based on alternate and steady state variables can be written. Passive system component sizing can be conducted accord-
Subsequently with applying the laplace transformation to the ing to operation conditions. Steady-state current and voltage
equations the frequency domain state equations can be written. ripples are the main concern in the sizing of the component.
For control purposes and to evaluate that how capacitor But of course, the aforementioned considerations regarding
voltages change in response to input variation transfer function zero and pole placement should be taken in to account to
of VdC1 (s)
s (s)
is derived. achieve satisfactory dynamic and transient response. Using
In (5) I = 2is − IL2 − IL1 − i0s and I 0 = −IL2 − IL1 − i0s . the parameter sweep of L, C, and ds passive component
In this transfer function it is assumed that C1 = C2 = C , should be considered in a way that keeps the roots away from
L1 = L2 = L , rL1 = rL2 = r ,and all the uppercase letters the imaginary axis. To validate the small signal model and
indicate the steady state variable in a equilibrium point, which analysis capacitor voltage and inductor current of the MQZSC

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Inductor L1 current control system to improve the power factor and reduce the
Current[A] 20

0
THD.
-20
With this control strategy by increasing the speed, SRM drives
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time[S] system adapts itself to stretched magnetizing time and increase
Inductor L2 current
the reference voltage, this feedback voltage control in turn
Current[A]

20

0 results in reduced magnetization time. Besides torque ripple

-20
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 will be reduced, power transfer in one stroke will rise due
Time[S]
Capacitor C1 Voltage to increased chopping period, and a widened span of speeds
Voltage[V]

550

500
became available in this proposed SRM drive. The controller
450
block diagram is shown in Fig. 1.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time[S] A feedback-feedforward controller for turn on angle and turn
Capacitor C2 Voltage
off angle based on inductance profile of the 8/6 4-phase motor
Voltage[V]

250

200
is designed for the drive system [19]. Turn on controller is
150
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 designed to make SRM conduct in the inductance region with
Time[S] Average State Space Model
Detailed Model the maximum slope to derive optimum power from the source.
Turn off controller prevents SRM from entering negative
Fig. 5: Comparison between small signal model simulations torque generation mode in the same time controls the SRM
of the drive system with the detailed software simulation in a way that the transferred energy in the conduction period
will be regulated according to operation conditions.
Block diagram of the proposed controller is shown in Fig. 6.
are plotted in Fig. 5 in comparison with detailed software With applying turn on and turn off angle the phase current
simulation. is constrained and energy transfer period could be shortened.
In higher speeds when back EMF became more prominent,
magnetizing and demagnetizing times are longer, which in turn
III. CONTROL OF THE PROPOSED DRIVE causes the conduction period to increase. In order to prevent
SYSTEM this to happen, with using the proposed MQZSC the applied
With the addition of MQZSC converter as the front end con- voltage to the SRM phases can be regulated to reach the
verter of the SRM drive system, potentials of the new abilities desired magnetizing and demagnetizing angle (or time, based
through this new converter are at reach. A sophisticated control on the operation speed). Ideally, minimum θmag and θdemag
system needs to be designed to make maximum use of the new is desired, but increasing voltage results in intensification of
abilities added to the drive system. voltage stress on ASHB semiconductor devices, alongside
In this section a control strategy is proposed for SRM, to decreasing MQZSC efficiency and augmentation of component
derive more energy from the converter in each stroke and voltage stress. So, according to speed and performance of the
ref
preventing SRM from entering the negative torque generation SRM θmag is considered as control parameter.
ref
region. Magnetizing time is controlled using MQZSC voltage In this controller the error between θmag and θmag is fed to
regulation ability to reduce magnetization time, and conse- a PI controller and the output of the PI controller produces a
quently with voltage regulation reduce demagnetization time. voltage variation (∆Vθ ) in the command voltage that makes
A PCC power factor controller is embedded in the MQZSC the θmag to reach the reference value. As it is shown in Fig. 6 a

ds  0.4 ds  0.05
315
1500
1000
310
C  0.4mF
C  0.4mF C 3.2mF
-43
400 -42 -41
4
ds 0.4 ds  0.05
600 0
L  0.8mH
ds  0.05
Imaginary (seconds )

300
Imaginary Axis (seconds )

500
C  3.2mF
-1
-1

0 L  6.4mH
200 C  0.4mF -1 0 1
-1)

-4
0
C  3.2mF
Imaginary Axis (seconds

0 1 0

ds  0.4
100
-200 -500
0

-100
-600

-1500
-1000 -300 -200 -100 -50 0 50
-300 -1 1
Real (seconds-1)
Real Axis (seconds-1 )

-45 -35 -25 -15

Real Axis (seconds -1
)
-5 0 5
(b) (c)
(a)
Fig. 4: Parameter Sweep of the MQZSC

LC 2 (VC1 +VC2 )S 3 +[C 2 r(VC1 +VC2 )−LCI 0 (1−Ds )+LCDs I ]S 2 +[C(VC1 +VC2 )−rCI 0 (1−Ds )+ICrDs ]S+[I 0 (−2Ds2 +3Ds −1)+IDs (2Ds −1)]
GVdsC1 = L2 C 2 S 4 +2LrC 2 S 3 +[2LC−4LCDs (1−Ds )]S 2 +[Cr(Cr+4Ds2 −4Ds +2)]S+(2Ds −1)2
(5)

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V DC
Magnetization angle controller
Voltage controller
30

Torque[N.m]
 mag

Current[A]
ref
PI V com 30
10
controller
V 
-10
 mag VC1
10
-30
0
10
30 5 40 0.8
Current controller V conv kv
PFC position[Deg] 50 15
Current[A] 20 0.4
position[Deg] 0 Flux Linkage[Wb]
PI current
controller
I LRe1 f
 Ramp
compensation
PI voltage
controller
(a) (b)

FIR
Fig. 7: (a) Torque-Current-Position characteristics (b) Flux
ki Filter(10th
i L1
linkage-current-position characteristics
order)
Gate signal
PWM pulse Ds
Limiter
generator

demagnetization time. Comparisons of the key operational

Fig. 6: Magnetization angle controller and MQZSC controller elements are done between conventional SRM drive system
with PCC PFC and the proposed drive system with and without the control
of the front end converter. In all simulation cases the input
rms peak
voltage is AC with vac = 110v, vac = 160v, f = 50Hz.
dual loop indirect current programmed controller is chosen for Also, reference current, reference speed, load torque, and the
MQZSC controller. The voltage command for this controller input voltage is designed to be the same. Fig. 8 shows the
is designed to reduce magnetization time: comparison between the phase currents and voltage in the
conventional drive system and the proposed drive system with
vcom = ∆Vθ + vin (6) and without control. The voltage in conventional SRM drive
In conventional SRM drive system power factor is low and system isn’t increased and it is the DC-link voltage(Vmag =
THD is high, so a PFC method needs to be implemented +160v, Vdemag = −160v), in the proposed drive system
in the control system. In the PFC control the fact that the without control and constant duty cycle of D = 0.423 the
inductor current is tightly controlled results in simple converter voltage is boosted to Vmag = +550v, Vdemag = −950v
dynamics allowing simple and robust wide bandwidth control which in demagnetization it is PWM with the frequency of
in the DC-DC converter. The digital power factor correction 25khz, and finally in controlled proposed front end converter
method can be embedded in this voltage regulation method drive system, the control system regulates the input DC-link
without affecting its operation. PCC method is chosen for voltage according to magnetization time and magnetization
PFC, this control method is coordinated with MQZSC voltage time is dependent on the performance parameters of the drive
controller, which means that in this method inductor current system like; speed, back EMF, load torque. Load torque is
will be made to be in phase with the input voltage, and in considered to be 5 [N.m], and the speed is controlled using
the same time voltage of the capacitor C1 is controlled. In a PI loop at 1500rpm. It is obvious that since the voltage
Table I a comparison between the proposed drive system and boosting ability of the front-end converter, the magnetization
other drive systems in the literature with front-end converter and demagnetization time is decreased dramatically also, with
is done. voltage regulation and magnetization angle control this value
is reduced further, which leads the transformation of the same
amount of power in shorter strokes. With shorter conduction
IV. OPERATIONAL ADVANTAGES AND time, controllability of each phase current is increased and
SIMULATION RESULTS OF THE PROPOSED turn on and turn off angle can be controlled to derive the
DRIVE SYSTEM more power from the motor in each stroke and prevent it from
In order to validate the feasibility of the proposed drive entering the negative torque generation. With this control in the
system, a software simulation is executed. The designated on-off angle and magnetization time and also with application
SRM model in which the simulation is based on, is adopted voltage regulation in the proposed MQZSC, the torque ripple
from an experimental method demonstrated in [20] to derive of the SRM is reduced compared to the conventional drive
a realistic model of the motor in the laboratory. The derived system as it is shown in Fig. 9a. It can be seen that in the
electromagnetic and mechanical characteristics of the motor is MQZSC without control also torque is enhanced to some
shown in Fig. 7a and Fig. 7b. level, which is due to the increased voltage through front-end
In Fig. 1 the control system in motor section has the following converter. As it is discussed in section III a PFC and THD
main loops: speed control, phase current control, turn on reduction method is implemented in the double loop current
and turn off angle control. The speed is controlled using a programmed control of the MQZSC. In Fig. 9b input voltage
PI controller. SRM current is controlled in the drive system and current is shown for the 3 cases and as it is shown the
using a hysteresis controller with variable frequency, hysteresis power factor after adding the proposed control is increased. In
controller is used for its high response time, which is essential Fig. 9 again the load torque is 5[N.m] and speed is 1500rpm.
in SRM current controller, to reduce the magnetization and

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TABLE I: COMPARISON of THE PROPOSED DRIVE SYSTEM WITH OTHER SRM DRIVE SYSTEMS

proposed drive system [10] [11] [13]

Capacitors (Front-end) 2 2 2 2
Inductors (Front-end) 2 1 1 2
Diodes (Front-end) 1 3 1 1
Switches (Front-end) 1 0 1 0
1−Ds 1 1
V
1−2Ds dc V
D dc
V
1−2Ds dc
Mag. Voltage Vdc ,2Vdc
0 ≤ Ds < 0.5 0<D<1 0 ≤ Ds < 0.5
1 1 1
− 1−2D Vdc −D Vdc − 1−2D Vdc
Demag. Voltage s −Vdv ,−2Vdc s
0 ≤ Ds < 0.5 0<D<1 0 ≤ Ds < 0.5
PFC ! – ! –
THD reduction ! – – !
Voltage regulation ! – ! !
Wide speed operation ! – ! !
Torque ripple reduction ! – ! –
Vibration and acoustic noise reduction ! – ! –

TABLE II: EXPERIMENTAL CHARACTERISTICS OF THE

PROPOSED DRIVE SYSTEM
Current in conventional SRM
10
Parameter Value
Current[A]

5
0 stator/rotor poles 8/6
-5
Current
Voltage scaled(1/25)
Rated power 4kw
0.988 0.989 0.99 0.991 0.992 0.993 0.994 0.995 C1 1mF
Time[S] C2 0.47mF
Current in MQZSC without proposed control
L1 3mH
5
Current[A]

L2 3mH
0
-5 Current
MQZSC switching frequency 25KHz
-10 Voltage scaled(1/80) Input AC Voltage 50v/50Hz
0.983 0.984 0.985 0.986 0.987 0.988 0.989 0.99 phase resistance 0.7 Ω
Time[S]
Current in MQZSC with proposed control
10
Current[A]

Oscilloscope
0
Current
-10 Voltage scaled(1/80)
0.98 0.981 0.982 0.983 0.984 0.985 0.986 0.987
Time[S]

Fig. 8: Comparison between the phase current and voltage of

the SRM in conventional converter and the proposed drive
Sensors
system with and without the front end converter controller
ASH
B

DSP
MQZSC
Torque in conventional SRM
Torque[N.m]

Input Voltage-Current in conventional SRM To S

Current(A)

8
Voltage(V)

200 50 RM
4
0 0 From AC Source
-200 0.46 0.48 0.5 -50
0.432 0.436 0.44 0.444 0.448
Time[S] Time[S]
Torque in MQZSC SRM without control Input Voltage-Current in MQZSC SRM without control
Torque[N.m]

Current(A)
Voltage(V)

8 200 50
0 0
4
-200 -50
0.432 0.436 0.44 0.444 0.448
0.46 0.48 0.5
Time[S] Time[S]
Torque in MQZSC SRM with control Input Voltage-Current in MQZSC SRM with control Fig. 10: Experimental setup of the proposed drive system
Current(A)
Voltage(V)
Torque[N.m]

8 200 50
0 0
4
-200 0.46 0.48 0.5 -50
0.432 0.436 0.44 0.444 0.448 Time[S]
Time[S]

(a) (b) V. EXPERIMENTAL RESULTS

Fig. 9: (a) Torque ripple comparison of the SRM in con- In order to verify the practicality of the proposed MQZSC
ventional converter and the proposed drive system with and SRM drive system, an experimental setup of the drive system
without the front end converter controller (b) AC voltage and is built. In Fig. 1 the configuration of the drive system is
current comparison of the SRM in conventional converter and shown. The proposed control, which is introduced and anal-
the proposed drive system with and without the front end ysed in section III is implemented through a TMS320F28335
converter controller Digital Signal Processor. The characteristics of the experimen-
tal drive system are shown in TABLE II. The hardware setup
implemented in the laboratory is shown in Fig. 10. In Fig.

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100v

1.6 Amps/div 165v

50 V/div 2.5 ms/div
5 ms/div
50 Volts/div

(a) (b) (a) (b)

Input Voltage
Input Current

50Volts/Div
20 V/div
5 Amps/Div
20 amps/div
10 ms/Div

(c)
(c)
Fig. 11: Experimental results of the proposed drive system
Fig. 12: Experimental results of the proposed drive system
with MQZSC front end converter and without front end
with MQZSC front end converter and control. (a) SRM phase
converter voltage control. (a) SRM phase voltage (b) SRM
voltage (b) SRM 4 phase current (c) Input current and voltage
4 phase current (c) Input current and voltage of the proposed
of the proposed drive system
drive system

7 0.6
6
0.5
5 MQZSC D=0.3
11a SRM phase voltage, which is applied to the motor through
Torque[N.m]

MQZSC D=0.3
0.4

Flux[Wb]
MQZSC without voltage control is shown. The magnetization 4
0.3
voltage is boosted to +70v and the demagnetization is -100 3
ASHB Converter
ASHB Converter 0.2
with constant MQZSC duty cycle of D=0.3288. In Fig. 11b 4 2

phase current of the SRM is represented, and in Fig. 11c, input 1 0.1
AC voltage and current is exhibited, which through the use of 0
0 1000 3000 5000 7000 0
0 2 4 6 8 10 12
MQZSC is enhanced compared to conventional drive system Speed[Rpm] Current[A]
(PF=0.93). In Fig. 12a SRM phase voltage, which is applied (a) (b)
to the motor through MQZSC is shown. The magnetization
voltage is boosted to +100v and the demagnetization is -165v. Fig. 13: (a) Torque-speed characteristics of the proposed drive
In Fig. 12b four phase currents of the SRM is demonstrated system (b) Flux-current characteristics of the drive system
and in Fig. 12c, input AC voltage and current is depicted which
through implemented PFC method are in phase with each other
(PF=0.99). In electrical machines output power is the area be pushed higher, which means that the motor can supply
enclosed in the flux-current characteristics. Fig. 13b marks the constant torque in much wider speed spectrum.
flux-current characteristics of the conventional SRM converter In Fig. 14 a comparison between phase current in conventional
in comparison with the proposed MQZSC with duty cycle of SRM drive system and the proposed drive system with and
0.3. The ability to operate in a wide speed range is one of the without control is illustrated. In the Fig. 14 magnetization and
strong suits of the SRM. This ability essentially depends on the demagnetization time is reduced, which results in lower torque
voltage regulation of the SRM. With the proposed MQZSC a ripple. Also, due to sufficient voltage, the current chopping in
higher range of voltage can be applied to the SRM ASHB con- the hysteresis loop is enhanced greatly. On top of that, the time
verter. This wide continuous voltage regulation controllability required for the constant power to be delivered to the motor
spectrum is due to high boost property of the MQZSC, which is reduced, consequently wider speed control range will be
can be applied across the SRM phases. A comparison of wide available for the SRM drive.
speed availability between proposed MQZSC and conventional The longer stroke time in the drive system without control
SRM is done. In this comparison for investigation of the wide is due to higher voltage boost(higher duty cycle) then the
speed operation and the output torque of the machine, the reference voltage in the controlled drive system. In order to
torque-speed characteristic is evaluated. Fig 13a indicates the verify the PFC and THD reduction of the proposed drive
torque-speed characteristic of the conventional converter in system, the input current and voltage is displayed in Fig. 12c.
comparison with the proposed MQZSC converter with the duty Fig. 16 shows the harmonic spectrum of the conventional
cycle of 0.3. With the proposed MQZSC the base speed will and proposed drive system with and without control as it is

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Harmonic spectrum
2.5
IEC 61000-3-2 Class A limits
Conventional SRM
MQZSC SRM without control
MQZSC SRM with control

Harmonic mag. normalized to fundamental

2
5.3ms

1.5

(a) (b)

0.5

0
2 4 6 8 10 12 14 16 18 20
Harmonic order
(c)
Fig. 14: Experimental comparison between phase current of Fig. 16: Harmonic spectrum of the conventional SRM drive
the conventional SRM drive and proposed drive system with and the proposed drive system with and without front end
and without front-end converter control. (a) conventional drive converter control(Simulation results)
system (b) proposed drive system without front-end converter
control (c) proposed drive system with front end converter Efficiency comparison
control 100

37 58 90

57
36
56
35 80
Angle[Deg.]

55
Angle[Deg.]

34
54
Efficiency[%]

33
53 70
32
52
31
51
60
30 50 2.5
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 3 3.5 4
Time[S] Time[S]

50
(a) (b)
MQZSC
Fig. 15: (a) Turn on angle (b) Turn off angle 40
Proposed Drive
Conventional Drive

30
depicted, the high order harmonics is reduced dramatically in 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Output Power[W]
the proposed drive system. The harmonics of the proposed
drive system are compared to IEC61000-3-2 Class A limits to Fig. 17: Efficiency Comparison of the Proposed drive system
ensure the optimum performance of the proposed drive system and conventional SRM drive
compared to harmonic standards. In Fig. 15 experimental
record of the turn on and turn off is tabulated. These param-
eters of the drive system are controlled based on operation
control and regulate input voltage in order to enhance the
condition and to provide a conduction period for each phase,
performance of the SRM drive system. With this proposed
which a constant power is transferred in a shorter stroke time.
topology output power has been increased. Also, it has been
In Fig. 17 an efficiency comparison is done between proposed
demonstrated that torque ripple has been reduced with turn
and conventional drive systems. The efficiency of the proposed
on and turn off control alongside the voltage controller in
drive system is reduced through losses in the newly added
MQZSC. Peak current control power factor correction has
MQZSC, however, since the high efficiency of the MQZSC
been embedded in the MQZSC controller to achieve the
the reduction in the overall efficiency is tolerable in SRM
low THD and high power factor in the input of the drive
application.
system. A software simulation has been executed to verify the
proposed drive system and its significance has been shown
VI. C ONCLUSION in comparison to the conventional drive system. Finally, an
In this paper, a Modified Quasi Z-Source Converter has been experimental setup has been built to test the performance of
proposed as front-end converter of the SRM drive system to the drive system in the laboratory.

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2017.2787553, IEEE
Transactions on Industrial Electronics
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