To improve the accuracy of dynamic model for planar switched reluctance motors (PSRMs), a nonlinear dynamic model based multi-innovation recursive extended least squares (MI-RELS) is proposed in this paper. A Hammerstein model composed of a nonlinear static and a linear dynamic is first developed for a PSRM developed in the laboratory, in which the nonlinear static is used to deal with the nonlinear characteristics. Then, with the experimental sample data, the parameters of the linear dynamic are determined by using the Ml-RELS identification method. The effectiveness of the proposed model is finally verified via simulation and experiment.

Planar switched reluctance motors， System modeling， Hammerstein model， a multi-innovation recursive extended least squares.