CN101860302B - Turn-on angle control method for switched reluctance motor - Google Patents
Turn-on angle control method for switched reluctance motor Download PDFInfo
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- CN101860302B CN101860302B CN2010101759942A CN201010175994A CN101860302B CN 101860302 B CN101860302 B CN 101860302B CN 2010101759942 A CN2010101759942 A CN 2010101759942A CN 201010175994 A CN201010175994 A CN 201010175994A CN 101860302 B CN101860302 B CN 101860302B
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Abstract
The invention discloses a turn-on angle control method for a switched reluctance motor, belonging to the technical field of angle control of switched reluctance motors. The invention provides an optimized control method for a turn-on angle based on characteristics of the switched reluctance motor. The method is realized by a position detection unit: a position level signal is generated by the position detection unit and then is encoded by a programmable logic device; and by using a microprocessor, actual rotate speed of the motor is calculated based on the position code, target current value required to conducting a phase winding by the switched reluctance motor is calculated by a PI algorithm, and angle position control is realized based on the target current value, an actual sampling current value and the actual rotate speed value by a special algorithm. The invention can realize automatic setting of the turn-on angle of the switched reluctance motor, improve control flexibility of the switched reluctance motor and simplify design of control program.
Description
Technical field
The present invention relates to a kind of control method of switched reluctance motor turn-on angle, belong to the technical field of switched reluctance motor angle control.
Background technology
The control mode of switched reluctance motor mainly is divided into three kinds: current chopping control (CCC), voltage chopping control (PWM), position angle control (APC).Wherein position angle control (APC) is promptly through being provided with turn-on angle, closing the angle of rupture and realize the control to motor.Because during the motor operation, the pass angle of rupture is little to the influence of the relative turn-on angle of influence of motor, the therefore general method of the fixing pass angle of rupture, control turn-on angle that adopts realizes Motor Control.Flux linkage characteristic when traditional turn-on angle control needs the operation of measuring switch reluctance motor, the turn-on angle of the partial differential equation differentiate different operating point that utilization is complicated.The linearity that concerns of working point and turn-on angle is turned to tableau format, utilize the mode of tabling look-up to realize real-time control in the program.This method has a lot of shortcomings:
1. it is big to work out the form amount of calculation of searching needs, and process is complicated;
2. the list data amount is big, needs extra memory space, the execution table lookup operation of frequency, the performance of reduction control system;
3. only the special motors object of experiment is set up, changed the different electric motivation of motor model even model of the same race, need measure again, do not possess versatility.
Summary of the invention
The objective of the invention is the drawback that exists to existing turn-on angle control mode, propose a kind of simple and easy to do and have a control method of the switched reluctance motor turn-on angle of adaptivity.Its technical scheme is:
The position level that position detection unit is produced outputs to programmable logic device; Behind the programmable logic device coding, produce position encoded and position interrupt signal; Under the interrupt signal request of position; Processor sense switch reluctance motor phase winding current value, actual speed value, and carry out COMPREHENSIVE CALCULATING with predefined target current value and handle, the turn-on angle of next turn-on cycle of switched reluctance motor is set; It is characterized in that: position detection unit comprises a plurality of transducers; A plurality of transducers are circumferentially equidistant to be installed on the concentric position of switched reluctance motor axle, and concrete installation site can make the stator and rotor at switched reluctance motor begin aligned position, maximum induction position, minimum inductance position and all produce the position interrupt signal, and current sensor outputs to A/D converter and current chopping control unit respectively with switched reluctance motor phase winding current signal; Connect processor and programmable logic device by A/D converter and current chopping control unit correspondence again; Processor is according to position interrupt signal compute switch reluctance motor actual speed value, and with set rotating speed and carry out PI and regulate, obtain required phase winding target current value; Processor is realized the setting of turn-on angle according to target current value, actual samples current value, actual speed value; Then through power driving circuit, the break-make of power controlling device IGBT realizes the control of switched reluctance motor turn-on angle.
The control method of described switched reluctance motor turn-on angle; Confirming of angle between the transducer: according to the angle between formula
calculating sensor; Wherein m is the switched reluctance motor number of phases
N
sBe stator poles, N
rBe the rotor number of poles.
The control method of described switched reluctance motor turn-on angle; The step of confirming the blanking disc relative position of position detection unit and switched reluctance motor is: the phase winding energising of giving switched reluctance motor; Make the stator and the rotor of this phase be in aligned position; Setting sensor is 1 at the shading position signalling, non-shading position signalling is 0; The relative position of the blanking disc of adjusting position detecting unit and switched reluctance motor; Make a transducer wherein be in the trailing edge position of this transducer output square wave, begin aligned position, maximum induction position, minimum inductance position at the stator and rotor of switched reluctance motor this moment and all produce the position interrupt signal, the fixed position detecting unit.
The control method of described switched reluctance motor turn-on angle; Processor realizes that according to target current value, actual samples current value, actual speed value the concrete steps of the setting of turn-on angle are: processor judges whether actual speed value, actual samples current value change; Obtain new target current value if then carry out the PI adjusting, through formula
Obtain the value of turn-on angle, the actual samples current value and the size of target current value when relatively rotor begins aligned position then, otherwise the actual samples current value when directly comparing rotor and beginning aligned position and the size of target current value; If the actual samples current value, then reduces the value of turn-on angle in advance greater than the target current value, otherwise increase the value of turn-on angle in advance; Value with turn-on angle is converted into the manageable time variable of processor timer internal then; Accomplish the cycle that is provided with of a turn-on angle, go round and begin again, wherein formula
In, L
MinThe minimum inductance of expression switched reluctance motor, i
REFExpression target current value, ω
RExpression actual speed value, V
DcThe expression bus voltage value.
The control method of described switched reluctance motor turn-on angle, processor can adopt microprocessor MCU or digital signal processor DSP, and transducer can adopt photoelectric sensor or Hall element.
Its operation principle is:
According to formula
Angle between the calculating sensor, wherein m is the switched reluctance motor number of phases, N
sBe stator poles, N
rBe the rotor number of poles.
Give the phase winding energising of switched reluctance motor; Make the stator and the rotor of this phase be in aligned position; Setting sensor is 1 at the shading position signalling, non-shading position signalling is 0; The relative position of the blanking disc of adjusting position detecting unit and switched reluctance motor; Make a transducer wherein be in the trailing edge position of this transducer output square wave, begin aligned position, maximum induction position, minimum inductance position at the stator and rotor of switched reluctance motor this moment and all produce the position interrupt signal, the fixed position detecting unit.
Minimum inductance and minimum inductance interval are the design parameters of switched reluctance motor, after motor is given, can confirm motor minimum inductance L uniquely
MinAnd minimum inductance is interval.
Current sensor is converted into little current signal with motor phase current; And connect processor and programmable logic device through A/D converter, current chopping control unit correspondence respectively; The position level that position detection unit is produced outputs to programmable logic device, behind the programmable logic device coding, produces position encoded and position interrupt signal, under the interrupt signal request of position; Processor focuses on position encoded and phase current signal; At first the actual speed of compute switch reluctance motor is sent into pi regulator with setting rotating speed, obtains required target current value.This target current value is sent into the current chopping control unit on the one hand, sends into the turn-on angle computing unit on the one hand.
The current chopping control unit compares actual samples current value and target current value, exports signal to power driving circuit on the one hand, exports signal on the one hand to time processing single 2.The upset moment of time processing unit 2 these signals of record, and be stored in processor inside, as an important parameter of switching angle computation optimization, supply the switching angle computing unit to use.
The switching angle computing unit is worth according to the actual speed of the target current value that receives, motor and the upset of time processing unit 2 records constantly, with rotor begin aligned position be reference point turn-on angle computing formula in advance for
wherein
L
MinThe minimum inductance of expression switched reluctance motor, i
REFExpression target current value, ω
RExpression actual speed value, V
DcThe expression bus voltage value.
Handling procedure judges at first whether target current value or actual speed change; The actual samples current value and the size of target current value when relatively rotor begins aligned position then, otherwise the actual samples current value when directly comparing rotor and beginning aligned position and the size of target current value; If the actual samples current value, then reduces the value of turn-on angle in advance greater than the target current value, otherwise increase the value of turn-on angle in advance; Based on above-mentioned flow process, the turn-on angle in advance of the corresponding phase of calculating motor, and result of calculation outputed to time processing unit 1; To open angle value by time processing unit 1 and convert motor to and open cut-off signals mutually, accomplish the cycle that is provided with of a turn-on angle, go round and begin again; Then this signal is outputed to the current chopping control module; Control power driving circuit, control the break-make of IGBT in the power circuit then, realize the control of switched reluctance motor turn-on angle.
The present invention compared with prior art has the following advantages: need not to increase extra control hardware 1.; Just to the design of position detection unit with requirement is installed; Position detecting system after design is accomplished has versatility, can be used for the switched reluctance motor control system of different capacity grade;
2. to calculate parameters such as needed minimum inductance and minimum inductance interval, maximum induction, inductance first transition all be the design parameter of switched reluctance motor self in the present invention, need not extra complicated calculations;
3. algorithm of the present invention is simple, need not take a large amount of processor resources, and has versatility and adaptivity, the convenient transplanting.
Description of drawings
Accompanying drawing 1 is to use switched reluctance motor control system structure chart of the present invention;
Accompanying drawing 2 is position assumption diagrams of the blanking disc of position detection unit and switched reluctance motor;
Accompanying drawing 3 is corresponding relation figure of motor winding inductance and position signalling, and wherein solid line is the linear inductance curve of motor, and the dotted line of vertical direction is a position interruption generating point;
Accompanying drawing 4 is control principle figure of switching angle, and the frame of broken lines among the figure is represented processor;
Accompanying drawing 5 is flow charts of switching angle algorithm of the present invention;
Accompanying drawing 6 is the phase current waveform figure after application the inventive method.
Embodiment
Be elaborated in conjunction with 6 pairs of technical schemes of the present invention of accompanying drawing 1 to accompanying drawing:
1. the angle between the transducer is definite: according to formula
Angle between the calculating sensor, wherein m is the switched reluctance motor number of phases, N
sBe stator poles, N
rBe the rotor number of poles.For the switched reluctance motor of 12/8 utmost point, consider factors such as cost and realization complexity, k gets 0, θ
gGet 15 °.Transducer can selective light electric transducer or Hall element.As shown in Figure 2;
2. the step of confirming the blanking disc relative position of position detection unit and switched reluctance motor is: the phase winding energising of giving switched reluctance motor; Make the stator and the rotor of this phase be in aligned position; Setting sensor is 1 at the shading position signalling, non-shading position signalling is 0; The relative position of the blanking disc of adjusting position detecting unit and switched reluctance motor makes a transducer wherein be in the trailing edge position of this transducer output square wave, begins aligned position, maximum induction position, minimum inductance position at the stator and rotor of switched reluctance motor this moment and all produces the position interrupt signal; The fixed position detecting unit, as shown in Figure 2;
3. according to the design parameter of motor, obtain minimum inductance L
MinAnd the interval [θ of minimum inductance
3, θ
5], as shown in Figure 3;
4. position detection unit is sent pulse signal into programmable logic device; Behind the programmable logic device coding, produce position encoded and position interrupt signal; Send into the revolution speed calculating unit in the processor, as shown in Figure 4, calculate the actual speed ω of motor by the revolution speed calculating unit
ROutput to switching angle computing unit and pi regulator respectively;
5.PI the value of adjuster output through a current limliting link, is exported controlled target current value i
REF, this target current value i
REFOutput to current chopping control unit, switching angle computing unit respectively, simultaneously the actual current value i of motor
ROutput to the current chopping control unit;
6. the current chopping control unit compares judgement to the signal that receives; Output control signals to time processing unit 2, by the moment of time processing unit 2 tracer signals upset, and storage should be worth; As an important parameter of switching angle computation optimization, supply the switching angle computing unit to use;
7. the switching angle computing unit is according to the target current value i that receives
REF, motor actual speed ω
RBe worth constantly with the upset of time processing unit 2 records, begin aligned position (the position θ in the accompanying drawing 3 with rotor
5) for the turn-on angle computing formula in advance of reference point do
Shown in the algorithm flow chart of accompanying drawing 5, program is at first judged target current value i
REFOr actual speed ω
RWhether change the actual samples current value i when relatively rotor begins aligned position then
RWith target current value i
REFSize, otherwise the actual samples current value i when directly relatively rotor begins aligned position
RWith target current value i
REFSize; If actual samples current value i
RGreater than target current value i
REFThen reduce the value of turn-on angle in advance, otherwise increase the value of turn-on angle in advance, according to above-mentioned flow process; The turn-on angle in advance of the corresponding phase of calculating motor; And result of calculation outputed to time processing unit 1, and will open angle value by time processing unit 1 and convert motor to and open cut-off signals mutually, then this signal is outputed to the current chopping control unit;
8. the current chopping control unit is according to the actual current value i that receives
R, controlled target current value i
REFOpen cut-off signals mutually with motor and carry out logical process, output control signals to power drive unit (shown in the accompanying drawing 4) then, the break-make of IGBT device in the control Driver Circuit realizes the control of turn-on angle in advance;
9. the switched reluctance machines phase current waveform of utilizing the present invention to realize is as shown in Figure 6.
Claims (5)
1. the control method of a switched reluctance motor turn-on angle; The position level that position detection unit is produced outputs to programmable logic device; Behind the programmable logic device coding, produce position encoded and position interrupt signal, under the interrupt signal request of position, processor sense switch reluctance motor phase winding current value, actual speed value; And carry out COMPREHENSIVE CALCULATING with predefined target current value and handle; The turn-on angle of next turn-on cycle of switched reluctance motor is set, it is characterized in that: position detection unit comprises a plurality of transducers, and a plurality of transducers are circumferentially equidistant to be installed on the concentric position of switched reluctance motor axle; Concrete installation site can make the stator and rotor at switched reluctance motor begin aligned position, maximum induction position, minimum inductance position and all produce the position interrupt signal; Current sensor outputs to A/D converter and current chopping control unit respectively with switched reluctance motor phase winding current signal, connects processor and programmable logic device by A/D converter and current chopping control unit correspondence again, and processor is according to the actual speed value of position interrupt signal compute switch reluctance motor; And carry out PI with the setting rotating speed and regulate; Obtain required phase winding target current value, processor passes through power driving circuit then according to the setting of target current value, actual samples current value, actual speed value realization turn-on angle; The break-make of power controlling device IGBT realizes the control of switched reluctance motor turn-on angle.
2. the control method of switched reluctance motor turn-on angle according to claim 1 is characterized in that: the confirming of the angle between the transducer: according to formula
Angle between the calculating sensor, wherein m is the switched reluctance motor number of phases, N
sBe stator poles, N
rBe the rotor number of poles.
3. the control method of switched reluctance motor turn-on angle according to claim 1; It is characterized in that: the step of confirming the blanking disc relative position of position detection unit and switched reluctance motor is: the phase winding energising of giving switched reluctance motor; Make the stator and the rotor of this phase be in aligned position; Setting sensor is 1 at the shading position signalling, non-shading position signalling is 0; The relative position of the blanking disc of adjusting position detecting unit and switched reluctance motor; Make a transducer wherein be in the trailing edge position of this transducer output square wave, begin aligned position, maximum induction position, minimum inductance position at the stator and rotor of switched reluctance motor this moment and all produce the position interrupt signal, the fixed position detecting unit.
4. the control method of switched reluctance motor turn-on angle according to claim 1; It is characterized in that: processor realizes that according to target current value, actual samples current value, actual speed value the concrete steps of the setting of turn-on angle are: processor judges whether actual speed value, actual samples current value change; Obtain new target current value if then carry out the PI adjusting, through formula
Obtain the value of turn-on angle, the actual samples current value and the size of target current value when relatively rotor begins aligned position then, otherwise the actual samples current value when directly comparing rotor and beginning aligned position and the size of target current value; If the actual samples current value, then reduces the value of turn-on angle in advance greater than the target current value, otherwise increase the value of turn-on angle in advance; Value with turn-on angle is converted into the manageable time variable of processor timer internal then; Accomplish the cycle that is provided with of a turn-on angle, go round and begin again, wherein formula
In, L
MinThe minimum inductance of expression switched reluctance motor, i
REFExpression target current value, ω
RExpression actual speed value, V
DcThe expression bus voltage value.
5. the control method of switched reluctance motor turn-on angle according to claim 1 is characterized in that: processor adopting microprocessor MCU or digital signal processor DSP, transducer can adopt photoelectric sensor or Hall element.
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| CN2010101759942A CN101860302B (en) | 2010-05-08 | 2010-05-08 | Turn-on angle control method for switched reluctance motor |
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Families Citing this family (10)
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| CN102710190A (en) * | 2012-06-11 | 2012-10-03 | 成都伟瓦节能科技有限公司 | Working speed control method for switched reluctance motor |
| ITMO20130093A1 (en) * | 2013-04-12 | 2014-10-13 | Irisman Mh Equipment Corp | METHOD FOR ADJUSTING THE PERFORMANCE OF A SYNCHRONOUS MACHINE |
| CN103236811A (en) * | 2013-04-16 | 2013-08-07 | 中国电子科技集团公司第三十六研究所 | Double-closed-loop control method for hoisting power output of motor |
| CN103414410B (en) * | 2013-07-05 | 2015-09-16 | 湘潭大学 | Switch reluctance generator Comprehensive Control platform |
| CN104734583A (en) * | 2015-03-20 | 2015-06-24 | 袁琳 | Rotor position detection device of switch reluctance motor and positioning control method of rotor |
| CN107769420B (en) * | 2017-11-10 | 2020-08-11 | 中国矿业大学 | Shielding type switched reluctance motor and low-loss control method |
| CN107872184A (en) * | 2017-11-20 | 2018-04-03 | 常州大学 | A kind of switched reluctance motor controller optimization design |
| CN107846170B (en) * | 2017-11-27 | 2020-06-09 | 山东科汇电力自动化股份有限公司 | Control method of double-sampling-point switched reluctance motor position-sensorless |
| CN108847798A (en) * | 2018-07-20 | 2018-11-20 | 南京怡咖电气科技有限公司 | A kind of energy internet electricity generation system efficiency optimization control method |
| CN113922709A (en) * | 2020-07-10 | 2022-01-11 | 丁金龙 | Control method and device for switched reluctance motor |
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| CN101534086A (en) * | 2009-04-10 | 2009-09-16 | 江苏大学 | Device and method for controlling switched reluctance motors for electric vehicles on basis of CPLD |
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| CN101534086A (en) * | 2009-04-10 | 2009-09-16 | 江苏大学 | Device and method for controlling switched reluctance motors for electric vehicles on basis of CPLD |
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