CN101989826A - Speed regulating method for switched reluctance motor controller and speed regulator - Google Patents
Speed regulating method for switched reluctance motor controller and speed regulator Download PDFInfo
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- CN101989826A CN101989826A CN2009103052793A CN200910305279A CN101989826A CN 101989826 A CN101989826 A CN 101989826A CN 2009103052793 A CN2009103052793 A CN 2009103052793A CN 200910305279 A CN200910305279 A CN 200910305279A CN 101989826 A CN101989826 A CN 101989826A
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Abstract
The invention discloses a speed regulation method for a switched reluctance motor controller, which comprises the following steps: carrying out PID operation on deviation value between given rotational speed and actual rotational speed to obtain first torque; leading the given rotational speed to carry out differential treatment on time to obtain second torque so as to compensate for increased or reduced torque output of a switched reluctance motor when the speed changes; and carrying out summation treatment on the first torque and the second torque to obtain third torque. The invention further discloses a speed regulator for the switched reluctance motor controller, which comprises a PID operator, an acceleration compensator and a first adder. The dynamic performance and the static performance of the switched reluctance motor during operation can be improved through the method and the speed regulator.
Description
Technical field
The present invention relates to switched reluctance machines and drive the field, be specifically related to a kind of speed adjusting method and speed regulator of switched reluctance motor controller.
Background technology
The speed regulator of present switched reluctance motor controller, for example, PI or PID adjuster, can't satisfy the performance requirement of switched reluctance machines, parameter (comprising inertia load and resistant load etc.) is adjusted very difficulty, particularly is difficult to satisfy each index simultaneously, and dynamic property and static properties are poor.Aspect dynamic property, the given rotating speed that switched reluctance machines can't very fast tracking response switched reluctance machines.Switched reluctance machines is in course of adjustment, and over control (promptly can surpass given rotating speed or less than given rotating speed) etc. can occur.Aspect static properties, switched reluctance machines is in the process of regulating the speed, and effectively stable operation is set rotating speed one, causes switched reluctance machines in running, and the fluctuation range of the speed of service is big.
Fig. 3 has provided the schematic diagram that existing PID adjuster produces over control, and wherein, V1 represents the actual speed of switched reluctance machines, and V2 represents the given rotating speed of switched reluctance machines and the torque that T1 represents existing PID adjuster output.As shown in Figure 3, switched reluctance machines is in course of adjustment, and V1 and V2 deviation are bigger, over control occurred and has reached in switched reluctance machines is being regulated the speed process, and effectively stable operation is set rotating speed one, and the fluctuation range of the speed of service is big.
Summary of the invention
One of purpose of the present invention provides the speed adjusting method and the speed regulator of a kind of switched reluctance motor controller that improves switched reluctance machines operation dynamic property and static properties.
According to one aspect of the invention, a kind of speed adjusting method of switched reluctance motor controller is provided, can comprise:
Deviate between given rotating speed and the actual speed is carried out the PID computing obtain first torque;
Given rotating speed is carried out differential to the time handle and to obtain second torque, the torque output that increases or reduce when the velocity variations with the compensating switch reluctance motor;
With described first torque and described second torque processing of suing for peace, obtain the 3rd torque.
According to a further aspect of the present invention, provide a kind of speed regulator of switched reluctance motor controller, can comprise:
The PID arithmetic unit carries out the PID computing to the deviate between given rotating speed and the actual speed and obtains first torque;
Acceleration compensator carries out differential with given rotating speed to the time and handles and to obtain second torque, the torque output that increases or reduce when the velocity variations with the compensating switch reluctance motor;
First adder with described first torque and described second torque processing of suing for peace, obtains the 3rd torque.
By the present invention, can improve the dynamic property and the static properties of switched reluctance machines operation.
Description of drawings
Fig. 1 is the schematic flow sheet of the speed adjusting method of the switched reluctance motor controller that provides of the embodiment of the invention.
Fig. 2 is the structural representation of the speed regulator of the switched reluctance motor controller that provides of the embodiment of the invention.
Fig. 3 is the schematic diagram that there is the overshoot problem in the speed regulator of existing switched reluctance motor controller.
Fig. 4 is the schematic diagram that the speed regulator of the switched reluctance motor controller that provides by the embodiment of the invention is eliminated the overshoot problem.
Embodiment
As shown in Figure 1, the speed adjusting method of the switched reluctance motor controller that the embodiment of the invention provides comprises:
Step S1, in service at switched reluctance machines, deviate between given rotating speed (in switched reluctance motor controller inside, given rotating speed v is produced by the ramp generator in the switched reluctance motor controller) and the actual speed is carried out the PID computing obtain first torque.Wherein, P is a scale operation, is about to deviate and is multiplied by a proportionality coefficient.I is integral operation, is about to deviate the time is quadratured.D differentiates, and is about to deviate the time is differentiated, and first torque is three operation result sums.
Step S2, given rotating speed is carried out differential to the time handle and to obtain second torque, when the velocity variations, on moment of inertia, increase (when speed rises) or reduce the torque of (when speed descends) with the compensating switch reluctance motor.Wherein, second torque=K1 * dv/dt; K1 is the moment of inertia of switched reluctance machines drive system; The given rotating speed (in switched reluctance motor controller inside, given rotating speed v by ramp generator in switched reluctance motor controller produced) of v for reaching motor rotating speed of target (can be set by the user); T is the time.The response of motor acceleration and deceleration processes has so just been accelerated in required torque when second torque provides the switched reluctance machines acceleration and deceleration greatly.In addition, in the acceleration and deceleration process, owing to there is not the PID computing to participate in regulating, the overshoot of the motor speed that makes like this significantly reduces.
Step S3, with first torque and second torque processing of suing for peace, obtain the 3rd torque.
Step S4, generate a fixed compensation torque and also be increased to the 3rd torque, with the torque loss that causes because of solid resistance (as frictional force or gravity) in the compensating switch reluctance motor running.Wherein, the fixed compensation torque comprises according to speed regulator and turns to the just commentaries on classics compensating torque selected and counter-rotating compensating torque, or a torque definite value of selecting according to actual needs.
Carry out after the above step, the final torque of switched reluctance machines output promptly is the 3rd torque and fixed compensation torque sum.
As shown in Figure 2, the speed regulator of the switched reluctance motor controller that the embodiment of the invention provides comprises subtracter 10, PID arithmetic unit 20, and acceleration compensator 30, first adder 40 presets compensator 50 and second adder 60.
Wherein, subtracter 10 receives given rotating speed and actual speed, and carries out subtraction process and obtain deviate between given rotating speed and the actual speed, and deviate is transported to PID arithmetic unit 20.
Deviate between 20 pairs of given rotating speeds of PID arithmetic unit and the actual speed is carried out the PID computing and is obtained first torque; PID arithmetic unit 20 comprises ratio and integrator computing unit 201 and differentiation operator 202.Wherein, 201 pairs of deviates of ratio and integrator computing unit are carried out scale operation and integral operation successively.202 pairs of deviates of differentiation operator were differentiated to the time.
Acceleration compensator 30 carries out differential with given rotating speed to the time to be handled and to obtain second torque,, increases (when speed rises) or reduce the torque of (when speed descends) on moment of inertia when the velocity variations with the compensating switch reluctance motor.Second torque=K1 * dv/dt; K1 is the moment of inertia of switched reluctance machines drive system; The given rotating speed (in switched reluctance motor controller inside, given rotating speed v by ramp generator in switched reluctance motor controller 00 produced) of v for reaching motor rotating speed of target (can be set by the user); T is the time.In acceleration compensator 30 runnings, owing to do not need the participation of PID arithmetic unit 20, and the response of motor acceleration and deceleration processes has been accelerated in required torque when the switched reluctance machines acceleration and deceleration are provided greatly.In addition, in the acceleration and deceleration process finished, owing to do not need PID arithmetic unit 20 to participate in, the overshoot of the motor speed that makes like this significantly reduced.
First adder 40 with first torque and second torque processing of suing for peace, obtains the 3rd torque.
Preset compensator 50, generate a fixed compensation torque, with the torque that is consumed because of fixed resistance (as frictional force or gravity) in the compensating switch reluctance motor running.The fixed compensation torque comprises according to speed regulator and turns to a torque definite value of just changeing compensating torque, counter-rotating compensating torque or selecting according to actual needs of selecting.
Second adder 60 is with the 3rd torque and the fixed compensation torque processing of suing for peace, to obtain final torque.
Describe below in conjunction with the speed regulator of a specific embodiment switched reluctance motor controller.The moment of inertia of supposing drive system is K1, and the fixed resistance of test is K, and is example with frictional force.If given rotating speed is v, the switched reluctance machines actual steering is m (1 expression is just changeed ,-1 expression counter-rotating), and the torque of PID arithmetic unit 30 computings output is TPID.Torque through acceleration compensator 30 compensation is TACC.The fixed compensation torque that process presets compensator 50 compensation is TSET.Therefore final torque Tout=TPID+TACC+TSET.TACC=K1 * dv/dt wherein, so TSET=m * K is Tout=TPID+K1 * dv/dt+m * K.
Wherein, moment of inertia and frictional force can obtain relevant parameter by the reality test.Method of testing is: close acceleration compensator 30 earlier and preset compensator 50, only adopt 20 controls of PID arithmetic unit, disconnect service load, the operation motor is also observed current torque, and the torque in accelerator is T1, and the accelerating time is t2, stabilized speed is V2, torque settings value during stable operation is T2, the frictional force K=T2 of drive system then, moment of inertia K1=(T1-T2) * t2 ÷ V2.
Fig. 4 has provided the back schematic diagram of eliminating over control of speed regulator adjusting that the embodiment of the invention provides.By Fig. 4 (with respect to Fig. 3) as can be known, after this speed regulator was regulated, V1 and V2 deviation were very little, and the given rotating speed V2 of the actual speed V1 of switched reluctance machines and switched reluctance machines is consistent substantially.In addition, switched reluctance machines effectively stable operation is set rotating speed one, and the fluctuation range of the speed of service is very little.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. the speed adjusting method of a switched reluctance motor controller is characterized in that, comprising:
Deviate between the actual speed of the given rotating speed of switched reluctance machines and switched reluctance machines is carried out the PID computing obtain first torque;
Described given rotating speed is carried out differential to the time handle and to obtain second torque, the torque output that increases or reduce when the velocity variations with the compensating switch reluctance motor;
With described first torque and described second torque processing of suing for peace, obtain the 3rd torque.
2. control method according to claim 1 is characterized in that, also comprises:
Generate a fixed compensation torque and be increased to described the 3rd torque, with the torque loss that causes because of fixed resistance in the compensating switch reluctance motor running.
3. control method according to claim 2 is characterized in that:
Described fixed compensation torque comprises according to switched reluctance machines and turns to the just commentaries on classics compensating torque selected, counter-rotating compensating torque or a torque definite value.
4. according to each described control method of claim 1 to 3, it is characterized in that:
The described differential that carries out is handled and to be obtained described second torque=K1 * dv/dt; Described K1 is the moment of inertia of switched reluctance machines drive system; Described v is a given rotating speed; Described t is the time.
5. control method according to claim 4 is characterized in that:
Described v is produced by the ramp generator in the switched reluctance motor controller.
6. the speed regulator of a switched reluctance motor controller is characterized in that, comprising:
The PID arithmetic unit carries out the PID computing to the deviate between given rotating speed and the actual speed and obtains first torque;
Acceleration compensator carries out differential with given rotating speed to the time and handles and to obtain second torque, the torque output that increases or reduce when the velocity variations with the compensating switch reluctance motor;
First adder with described first torque and described second torque processing of suing for peace, obtains the 3rd torque.
7. speed regulator according to claim 6 is characterized in that:
Described second torque=K1 * dv/dt; Described K1 is the moment of inertia of switched reluctance machines drive system; Described v is a given rotating speed; Described t is the time.
8. speed regulator according to claim 6 is characterized in that, described PID arithmetic unit comprises:
Ratio and integrator computing unit carry out scale operation and integral operation successively to described deviate;
Differentiation operator is differentiated to the time to described deviate.
9. speed regulator according to claim 6 is characterized in that, also comprises:
Preset compensator, generate a fixed compensation torque, with in the compensating switch reluctance motor running because of torque that fixed resistance was consumed.
Second adder is with described the 3rd torque and the described fixed compensation torque processing of suing for peace, to obtain final torque.
10. according to each described speed regulator of claim 6 to 9, it is characterized in that, also comprise:
Subtracter receives described given rotating speed and described actual speed, and carries out subtraction process and obtain deviate between given rotating speed and the actual speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103052793A CN101989826A (en) | 2009-08-06 | 2009-08-06 | Speed regulating method for switched reluctance motor controller and speed regulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009103052793A CN101989826A (en) | 2009-08-06 | 2009-08-06 | Speed regulating method for switched reluctance motor controller and speed regulator |
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| CN101989826A true CN101989826A (en) | 2011-03-23 |
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| CN2009103052793A Pending CN101989826A (en) | 2009-08-06 | 2009-08-06 | Speed regulating method for switched reluctance motor controller and speed regulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109634102A (en) * | 2019-01-22 | 2019-04-16 | 广东工业大学 | A kind of Two-stage control method, apparatus, equipment and storage medium |
| CN113489405A (en) * | 2021-07-14 | 2021-10-08 | 深圳鹏行智能研究有限公司 | Motor control method and device and storage medium |
| WO2022012130A1 (en) * | 2020-07-14 | 2022-01-20 | 湖南科技大学 | Active heave compensation control method for marine winch driven by switched reluctance electric motor |
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| CN1429355A (en) * | 2000-05-15 | 2003-07-09 | 株式会社安川电机 | Positioning servocontroller |
| EP1437637A2 (en) * | 2003-01-07 | 2004-07-14 | Fanuc Ltd | Servomotor controller |
| CN1779587A (en) * | 2004-11-26 | 2006-05-31 | 发那科株式会社 | Controller |
| CN101017367A (en) * | 2006-02-10 | 2007-08-15 | 约翰尼斯海登海恩博士股份有限公司 | Controller structure |
| CN101366166A (en) * | 2006-02-08 | 2009-02-11 | 三菱电机株式会社 | Motor control device and motor control method |
| EP2077614A2 (en) * | 2008-01-04 | 2009-07-08 | Fanuc Ltd | Servo motor controller |
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2009
- 2009-08-06 CN CN2009103052793A patent/CN101989826A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1429355A (en) * | 2000-05-15 | 2003-07-09 | 株式会社安川电机 | Positioning servocontroller |
| EP1437637A2 (en) * | 2003-01-07 | 2004-07-14 | Fanuc Ltd | Servomotor controller |
| CN1779587A (en) * | 2004-11-26 | 2006-05-31 | 发那科株式会社 | Controller |
| CN101366166A (en) * | 2006-02-08 | 2009-02-11 | 三菱电机株式会社 | Motor control device and motor control method |
| CN101017367A (en) * | 2006-02-10 | 2007-08-15 | 约翰尼斯海登海恩博士股份有限公司 | Controller structure |
| EP2077614A2 (en) * | 2008-01-04 | 2009-07-08 | Fanuc Ltd | Servo motor controller |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109634102A (en) * | 2019-01-22 | 2019-04-16 | 广东工业大学 | A kind of Two-stage control method, apparatus, equipment and storage medium |
| WO2022012130A1 (en) * | 2020-07-14 | 2022-01-20 | 湖南科技大学 | Active heave compensation control method for marine winch driven by switched reluctance electric motor |
| CN113489405A (en) * | 2021-07-14 | 2021-10-08 | 深圳鹏行智能研究有限公司 | Motor control method and device and storage medium |
| CN113489405B (en) * | 2021-07-14 | 2023-08-08 | 深圳鹏行智能研究有限公司 | Motor control method, motor control device and storage medium |
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Application publication date: 20110323 |