CN101917151A  Method for controlling positionless sensor of switched reluctance motor  Google Patents
Method for controlling positionless sensor of switched reluctance motor Download PDFInfo
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 CN101917151A CN101917151A CN2010102387294A CN201010238729A CN101917151A CN 101917151 A CN101917151 A CN 101917151A CN 2010102387294 A CN2010102387294 A CN 2010102387294A CN 201010238729 A CN201010238729 A CN 201010238729A CN 101917151 A CN101917151 A CN 101917151A
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Abstract
The invention discloses a method for controlling a positionless sensor of a switched reluctance motor, and belongs to the technical field of switched reluctance motor control. The method comprises the following steps of: based on the basic characteristic that the inductance of the switched reluctance motor is periodically changed along with a rotor position, establishing a precise inductance mathematical model according to an inductance characteristic curve, and setting an inductance threshold value of a turnon/turnoff angular position by using the mathematical model; sampling current and end voltage of each phase, and calculating realtime inductance; and comparing the phase inductance calculation value of the current estimation phase with the inductance threshold value of the turnoff angular position of the phase and the inductance threshold value of the turnon angular position of the next turnon phase respectively to obtain a turnoff signal of the current estimation phase and a turnon signal of the next turnon phase so as to directly acquire a driving signal of each phase and realize the operation of the positionless sensor. The algorithm can realize turnon/turnoff angle control by adopting a method for directly estimating the driving signal, meets the requirement of motor optimization control, and is simple and convenient to implement.
Description
Technical field
Invention relates to a kind of method for controlling positionless sensor of switched reluctance motor, belongs to the switched Reluctance Motor Control technical field.
Technical background
For the switched reluctance machines drive system, the positional information that can obtain rotor in real time and accurately is the prerequisite that guarantees motor reliability service and high performance control.Generally adopt shaft position detectors such as outer dress photoelectric type or Magenetosensitive type at present.Adding mechanical position sensor additionally increases the volume of motor, has increased the motor machining complexity, greatly reduces switched reluctance machines advantage simple in structure, and the reliability when having reduced machine operation, has increased cost.Therefore, explore practical indirect position probing scheme and have crucial researching value.
Up to now, the various countries scholar has done big quantity research to this problem from multiangle, has proposed multiple indirect position probing scheme.Roughly can be divided into following 5 classes.
1) current waveform detection method.The current waveform detection method that people such as Britain scholar Acamley propose, it is no location detecting technology the earliest, its basic thought is: the rotorposition of SRM has determined the incremental inductance of winding, and incremental inductance has determined the rate of change of phase current, therefore can estimate rotor position information according to phase current.
2) electric currentmagnetic linkage method.The basic thought of this method is based on the saliency of switched reluctance machines, different rotorposition correspondences different electric currentsmagnetic linkage curve, relation between electric current, magnetic linkage, the position three is set up a lookup table and it is left in the internal memory, by calculating the magnetic linkage of winding in real time, the winding current that obtains with sampling just can obtain corresponding rotor position information.Development along with Based Intelligent Control, more and more scholars is applied to fuzzy control and neural network method the information of detection rotor position, can simulate relation between electric current, magnetic linkage, the position by fuzzy control and neural network method, the current value that obtains by the magnetic linkage that calculates in real time and sampling obtains the positional information of rotor reality then.
3) signal excitation and modulation method.This method is to obtain positional information by the method for being carried out signal excitation or modulation the free time mutually, injects highfrequency impulse mutually in the free time of motor, and the current waveform of its output has reflected the information of the instantaneous inductor of winding, thereby just can obtain the positional information of rotor.
4) additional electrical element method.At additional some electric device in the appropriate location of SRM inside, the information of utilizing these electric devices to export is come the position of detection rotor, and the electric device that is added can be inductance coil, electric capacity plate etc., is called interpole coil detection method, additional capacitor detection method etc.
5) basic thought of observer method is a state equation of setting up motor according to the electromagnetic property and the mechanical property of motor, select suitable state variable (as rotating speed, position angle, magnetic linkage etc.), and input variable (voltage) and output variable (electric current), set up the state observer that is determined by the motor body parameter, by detecting the position angle that motor phase voltage and phase current can estimate rotor.
More than these schemes the pluses and minuses and the scope of application are respectively arranged.Wherein, signal excitation and modulation method mainly are applicable to the situation of low rate start, the ruuning situation of low speed during current waveform detection method and additional electrical element method are applicable to, and electric currentmagnetic linkage method and observer method mainly are applicable to situation at a high speed.
Traditional positionsensorfree method that is applied to high speed is mainly based on the magnetic linkage or the inductance characteristic curve of motor, according to the nonlinear relation of magnetic linkage or inductance and rotor position angle, by tabling lookup or the method for nonlinear observation model is obtained rotor position information; Perhaps set up the magnetic linkage threshold values of scram position, obtain drive signal by method with the threshold values comparison by simplifying the magnetic linkage method.Wherein table lookup, the method purpose of nonlinear model and Based Intelligent Control is to obtain continuous rotorposition signal, but if the precision of guarantee estimating, control algolithm is relative complex then, takies more software and hardware resources.The purpose of simplifying the magnetic linkage method is the drive signal that directly obtains each phase of motor, though this algorithm control is simple, it considers to adopt scram position magnetic linkage threshold values, and motor can only operate in conduction mode in turn, therefore has significant limitation.
Summary of the invention
The problem to be solved in the present invention is:
Proposing does not a kind ofly need direct estimation continuous position signal, and only needs to estimate in real time the positionsensorfree method of each phase drive signal, overcomes traditional positionsensorfree method algorithm complexity, software and hardware resources occupancy height, and problem such as the working region is limited.
The present invention adopts following technical scheme for achieving the above object:
1.) FEM (finite element) calculation or experiment measuring switched reluctance machines inductance characteristic data;
2.) utilize step 1.) the inductance characteristic data that provide, set up the nonlinear model of inductance;
3.) realtime each phase current of sense switch reluctance motor and terminal voltage, each phase current of DSP sampling switch reluctance motor and terminal voltage are by each phase magnetic linkage of digital integration compute switch reluctance motor;
4.) the phase magnetic linkage is obtained realtime phase inductance divided by phase current;
5.) current conducting is the estimation phase mutually, in estimating mutually set by step 4.) the phase inductance value calculated, will open/close angle of rupture substitution simultaneously by step 2.) calculating inductance dynamic thresholding in the Mathematical Modeling that obtains;
6.) with step 5.) in estimate mutually in the inductance calculated value respectively with next conducting mutually the turnon angle position and the inductance valve system of two positions, angle of rupture position, pass of current conducting phase relatively, if the inductance calculated value is greater than next phase turnon angle position inductance threshold values, then open next phase by opening phase sequence this moment, if the inductance calculated value then turnoffs current conducting phase greater than closing angle of rupture position inductance threshold values;
Can obtain the drive signal of each phase of motor according to above step, thereby realize electric machine without position sensor control.
The inventive method adopts the method for direct estimation drive signal, can realize opening/closing angle of rupture control, satisfies the needs of motor optimal control, and algorithm is simple and realize that conveniently highly versatile has bigger application prospect.
Description of drawings
Fig. 1 is a switched reluctance machines governing system block diagram;
Fig. 2 is the relation of the three pole reactor and the rotorposition of 12/8 structure model machine;
Fig. 3 is model machine one a phase inductance characteristic curve;
Inductance calculated method flow diagram when Fig. 4 was the motor low cruise;
Inductance realtime computing technique FB(flow block) when Fig. 5 moves for the motor high speed;
Fig. 6 for turnon angle during forθ during the motor operation each phase inductance calculate waveform in real time;
Fig. 7 is a kind of method for estimating rotor position of switched reluctance motor without position sensor schematic diagram of the present invention.
Embodiment
The present invention by with the phase inductance calculated value of conducting phase with open/close angle of rupture position inductance dynamic thresholding relatively, open mutually the signal of opening and obtain the cutoff signals of current estimation phase and next, the realization positionsensorfree moves.
Be elaborated below in conjunction with the technical scheme of accompanying drawing to invention:
Fig. 1 is a switched reluctance machines governing system block diagram.The switched reluctance machines governing system mainly is made up of switched reluctance machines (SRM), power inverter, control system (DSP+CPLD), position transducer and electric current and voltage detection and protective circuit etc.Its middle controller is the core of system, and detection signal is gathered, calculated and handles, and finishes relevant control algolithm, thus the output control signal corresponding.Inductance among the present invention calculates and the algorithm of positionsensorfree technology is finished by controller, need not to add additional hardware.Phase current and phase winding voltage are detected by voltage, current sensor (LEM).
Fig. 2 is the relation of the three pole reactor and the rotorposition of 12/8 structure model machine.Shown in figure, the inductance curve is the cycle with 45 degree, and wherein each phase inductance differs 15 degree.If 0 degree angle is A phase stator tooth center line and rotor center line aligned position, 22.5 degree are rotor tooth utmost point center line aligned position.
Fig. 3 is model machine one a phase inductance characteristic curve.The inductance characteristic curve can obtain by the method for utilizing FEM (finite element) calculation or experiment measuring.As shown in the figure, the inductance characteristic curve has characterized the nonlinear relation between phase inductance and rotor position angle and the phase current three, and its threedimensional relationship can be by formula (1) expression,
L＝L(θ，i)(1)
According to the abovementioned inductance characteristic data that obtain, utilize the method for nonlinear fitting can obtain the nonlinear model of inductance.The more accurate model of studying in the world is based on the inductor models of fourier series match at present.Adopt cosine series that the inductance curve is carried out match herein and obtain the inductor models shown in the formula (2).
Here ' N
_{r}' be the rotor number of poles, ' m ' approaches exponent number, ' φ
_{n}' be the phase angle.
Inductance calculated method flow diagram when Fig. 4 was the motor low cruise.
This method inductance calculates principle:
One phase winding voltage equation of switched reluctance machines can be expressed as:
Because the motor low cruise, the 3rd of following formula i.e. motion electromotive force can be ignored, so the winding voltage equation can be expressed as:
Because each sampling time of electric current is very short, so following formula can equivalence be:
Therefore inductance can be obtained by following formula
Phase current and phase winding voltage are detected and are obtained by voltage, current sensor (LEM) respectively in the formula (9), after conditioning, start the A/D sampling routine in DSP, sampling winding terminal voltage and phase current.
Inductance realtime computing technique FB(flow block) when Fig. 5 moves for the motor high speed.Phase current and phase winding voltage are detected and are obtained by voltage, current sensor (LEM), after conditioning, start the A/D sampling routine in DSP, sampling winding terminal voltage and phase current.Calculate the magnetic linkage size according to the integration formula.Wherein the magnetic linkage expression formula of a phase winding is:
ψ wherein
_{k}Be k phase winding magnetic linkage, v
_{k}Be k phase winding terminal voltage, R is a k phase winding equivalent resistance, i
_{k}K phase winding electric current.Use numerical integrating, following formula can be dispersed turns to:
Wherein T is the sampling period, the some number of N for measuring, and n is the n measurement point.
Can obtain inductance value according to the relational expression between inductance and the magnetic linkage.
ψ(θ，i)＝L(θ，i)i (9)
Fig. 6 for turnon angle during forθ during the motor operation each phase inductance calculate waveform in real time.Is example as figure mutually with A, and open θ this moment in advance, if the angle of flow is θ
_{c}, closing the angle of rupture so is θ+θ
_{c}
Fig. 7 is a kind of method for estimating rotor position of switched reluctance motor without position sensor schematic diagram of the present invention.Feature of the present invention is based on the inductance of switched reluctance machines with the periodically variable basic characteristics of rotorposition, by with the phase inductance calculated value of conducting phase with open/close the inductance dynamic thresholding comparison of angle of rupture position, and the cutoff signals that obtains current estimation phase is opened mutually the signal of opening with next, thereby directly obtain the drive signal of each phase, realize the positionsensorfree operation.Concrete enforcement principle as shown in Figure 7.
One. utilize FEM (finite element) calculation or experiment measuring model machine inductance characteristic curve, and utilize this inductance characteristic data, set up inductance nonlinear model L (θ, i).The nonlinear model of inductance can adopt the fourier series fitting method to obtain, can be by formula 2 expressions.
By shown in Figure 2, the inductance curve is the cycle with 45 degree, wherein each phase inductance phase difference 15 degree.Phase difference also is 15 degree between the so adjacent phase turnon angle.If the motor phase sequence is BACB, establishing the current phase turnon angle of opening is θ
_{Bon}, the pass angle of rupture is θ
_{Boff}, then other phase turnon angle and the pass angle of rupture can be expressed as
θ
_{Aon}＝θ
_{Bon}+15° (11)
θ
_{Con}＝θ
_{Bon}+30° (12)
θ
_{Aoff}＝θ
_{Boff}+15°(13)
θ
_{Coff}＝θ
_{Boff}+30°(14)
Each the phase turnon angle and the pass angle of rupture are brought in the inductor models (2), can obtain corresponding threshold values signal, be respectively: L (θ
_{Aon}, i), L (θ
_{Aoff}, i), L (θ
_{Bon}, i), L (θ
_{Boff}, i), L (θ
_{Con}, i), L (θ
_{Coff}, i).There is following relation between them:
L(θ
_{Aon}，i)＝L
_{B}(θ
_{Bon}+15°，i
_{B})(15)
L(θ
_{Con}，i)＝L
_{A}(θ
_{Aon}+15°，i
_{A})(16)
L(θ
_{Bon}，i)＝L
_{C}(θ
_{Con}+15°，i
_{C})(17)
L(θ
_{Aoff}，i)＝L
_{A}(θ
_{Aoff}，i
_{A}) (18)
L(θ
_{Boff}，i)＝L
_{B}(θ
_{Boff}，i
_{B}) (19)
L(θ
_{Coff}，i)＝L
_{C}(θ
_{Coff}，i
_{C}) (20)
According to abovementioned relation, inductance threshold values (the conducting phase sequence is BACB) can be set as follows:
For the B phase, being provided with relevant angle of rupture position inductance threshold values to be L (θ
_{Boff}, i), the open position inductance threshold values of A phase is L
_{B}(θ
_{Bon}+ 15 °, i).
For the A phase, being provided with relevant angle of rupture position inductance threshold values to be L (θ
_{Aoff}, i), the open position inductance threshold values of C phase is L
_{A}(θ
_{Aon}+ 15 °, i).
For the C phase, being provided with relevant angle of rupture position inductance threshold values to be L (θ
_{Coff}, i), the open position inductance threshold values of B phase is L
_{C}(θ
_{Con}+ 15 °, i).
Two. detect each phase current and terminal voltage in real time, DSP sample each phase current and terminal voltage utilize the described method of abovementioned Fig. 4 and Fig. 5 to calculate realtime inductance value.
Three. mutually as estimating phase, a method scram position inductance threshold values that current estimation phase is set is opened mutually turnon angle position inductance threshold values with next set by step in estimation mutually with conducting; While is the inductance value of two methods calculating set by step.Estimate with the inductance calculated value respectively with next two positions of pass angle of rupture inductance valve system of opening turnon angle and current estimation phase mutually relatively, if the inductance calculated value is greater than the turnon angle position inductance threshold values of next phase, then open next phase by opening phase sequence this moment, if the inductance calculated value then turnoffs current conducting phase greater than the relevant angle of rupture position of current estimation inductance threshold values.
The concrete decision logic of said method as shown in Table 1.
Table one drive signal decision logic table
Current estimation phase  Inductance relatively  Logical process  Determine to estimate phase 
C  L＞L _{C}(θ _{Con}+15°，i)  Open the B phase  C，B 
C，B  L＞L _{C}(θ _{Coff}，i)  Turnoff the C phase  B 
B  L＞L _{B}(θ _{Bon}+15°，i)  Open the A phase  B，A 
B，A  L＞L _{B}(θ _{Boff}，i)  Turnoff the B phase  A 
A  L＞L _{A}(θ _{Aon}+15°，i)  Open the C phase  A，C 
A，C  L＞L _{A}(θ _{Aoff}，i)  Turnoff the A phase  C 
…  …  …  … 
According to the conducting phase sequence, if estimate to be the C phase mutually this moment, if L＞L
_{C}(θ
_{Con}+ 15 °, i), then open the B phase, determine that simultaneously C, B are mutually for estimating phase; If L＞L
_{C}(θ
_{Coff}, i), then turnoff the C phase, determine that simultaneously B is mutually for estimating phase; If L＞L
_{B}(θ
_{Bon}+ 15 °, i), then open the A phase, determine that simultaneously B, A are mutually for estimating phase; If L＞L
_{B}(θ
_{Boff}, i), then turnoff the B phase, determine that simultaneously A is mutually for estimating phase; If L＞L
_{A}(θ
_{Aon}+ 15 °, i), then open the C phase, determine that simultaneously A, C are mutually for estimating phase; If L＞L
_{A}(θ
_{Aoff}, i), then turnoff the A phase, determine that simultaneously C is mutually for estimating phase.Can obtain the drive signal of each phase of motor according to above step, thereby realize electric machine without position sensor control.
The method that this algorithm adopts the direct estimation drive signal can realize opening/close angle of rupture adjustable control, satisfies the needs of motor optimal control, and algorithm is simple and realize that conveniently highly versatile has bigger application prospect.
Claims (1)
1. a method for controlling positionless sensor of switched reluctance motor is characterized in that comprising the steps:
1.) FEM (finite element) calculation or experiment measuring switched reluctance machines inductance characteristic data;
2.) utilize step 1.) the inductance characteristic data that provide, set up the nonlinear model of inductance;
3.) realtime each phase current of sense switch reluctance motor and terminal voltage, each phase current of DSP sampling switch reluctance motor and terminal voltage are by each phase magnetic linkage of digital integration compute switch reluctance motor;
4.) the phase magnetic linkage is obtained realtime phase inductance divided by phase current;
5.) current conducting is the estimation phase mutually, in estimating mutually set by step 4.) the phase inductance value calculated, will open/close angle of rupture substitution simultaneously by step 2.) calculating inductance dynamic thresholding in the Mathematical Modeling that obtains;
6.) with step 5.) in estimate mutually in the inductance calculated value respectively with next conducting mutually the turnon angle position and two positions, angle of rupture position, pass inductance valve system of current conducting phase relatively, if the inductance calculated value is greater than next phase turnon angle position inductance threshold values, then open next phase by opening phase sequence this moment, if the inductance calculated value then turnoffs current conducting phase greater than closing angle of rupture position inductance threshold values;
Can obtain the drive signal of each phase of motor according to above step, thereby realize electric machine without position sensor control.
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Cited By (9)
Publication number  Priority date  Publication date  Assignee  Title 

CN102368674A (en) *  20110622  20120307  南通大学  Method and system for resolving position of switched reluctance motor rotor 
CN102621492A (en) *  20120402  20120801  湘潭大学  Detection device for switched reluctance generator 
CN103401487A (en) *  20130715  20131120  中国矿业大学  Positionsensorfree control method suitable for fourquadrant operation of switch reluctance motor 
CN104852659A (en) *  20140214  20150819  财团法人交大思源基金会  Switch type reluctance motor control apparatus and control method thereof 
CN105827161A (en) *  20160525  20160803  南京航空航天大学  Switched reluctance motor sensorless rotor position estimation method 
CN104242748B (en) *  20141008  20160831  南京信息职业技术学院  A kind of rotor position estimate method and device for switched reluctance motor system 
CN106887980A (en) *  20151210  20170623  戴森技术有限公司  Determine the stop position of magneto 
CN110445429A (en) *  20190806  20191112  南京信息工程大学  A kind of positionless sensor of switched reluctance motor method for startingcontrolling 
CN110572108A (en) *  20190912  20191213  桂林电子科技大学  Method and system for nonlinear compensation and control of inductance model of switched reluctance motor 
Citations (3)
Publication number  Priority date  Publication date  Assignee  Title 

US5072166A (en) *  19900618  19911210  The Texas A&M University System  Position sensor elimination technique for the switched reluctance motor drive 
CN101436843A (en) *  20081222  20090520  哈尔滨工业大学  Method for detecting rotor position in non position sensor switch magnetic resistance motor 
CN101697469A (en) *  20091028  20100421  南京航空航天大学  Method for controlling positionless sensor of bearingless switched reluctance motor 

2010
 20100728 CN CN2010102387294A patent/CN101917151B/en not_active IP Right Cessation
Patent Citations (3)
Publication number  Priority date  Publication date  Assignee  Title 

US5072166A (en) *  19900618  19911210  The Texas A&M University System  Position sensor elimination technique for the switched reluctance motor drive 
CN101436843A (en) *  20081222  20090520  哈尔滨工业大学  Method for detecting rotor position in non position sensor switch magnetic resistance motor 
CN101697469A (en) *  20091028  20100421  南京航空航天大学  Method for controlling positionless sensor of bearingless switched reluctance motor 
Cited By (13)
Publication number  Priority date  Publication date  Assignee  Title 

CN102368674A (en) *  20110622  20120307  南通大学  Method and system for resolving position of switched reluctance motor rotor 
CN102368674B (en) *  20110622  20131106  南通大学  Method and system for resolving position of switched reluctance motor rotor 
CN102621492A (en) *  20120402  20120801  湘潭大学  Detection device for switched reluctance generator 
CN103401487A (en) *  20130715  20131120  中国矿业大学  Positionsensorfree control method suitable for fourquadrant operation of switch reluctance motor 
CN104852659A (en) *  20140214  20150819  财团法人交大思源基金会  Switch type reluctance motor control apparatus and control method thereof 
CN104852659B (en) *  20140214  20170905  财团法人交大思源基金会  Switching magnetiresistance controller for motor and its control method 
CN104242748B (en) *  20141008  20160831  南京信息职业技术学院  A kind of rotor position estimate method and device for switched reluctance motor system 
CN106887980A (en) *  20151210  20170623  戴森技术有限公司  Determine the stop position of magneto 
CN105827161A (en) *  20160525  20160803  南京航空航天大学  Switched reluctance motor sensorless rotor position estimation method 
CN110445429A (en) *  20190806  20191112  南京信息工程大学  A kind of positionless sensor of switched reluctance motor method for startingcontrolling 
CN110445429B (en) *  20190806  20210302  南京信息工程大学  Positionsensorless starting control method for switched reluctance motor 
CN110572108A (en) *  20190912  20191213  桂林电子科技大学  Method and system for nonlinear compensation and control of inductance model of switched reluctance motor 
CN110572108B (en) *  20190912  20210212  桂林电子科技大学  Method and system for nonlinear compensation and control of inductance model of switched reluctance motor 
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