CN102545771A - Current loop realization method and realization system of switched reluctance motor controller - Google Patents
Current loop realization method and realization system of switched reluctance motor controller Download PDFInfo
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- CN102545771A CN102545771A CN2010105934546A CN201010593454A CN102545771A CN 102545771 A CN102545771 A CN 102545771A CN 2010105934546 A CN2010105934546 A CN 2010105934546A CN 201010593454 A CN201010593454 A CN 201010593454A CN 102545771 A CN102545771 A CN 102545771A
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Abstract
The invention relates to a current loop realization method and realization system of a switched reluctance motor controller. The realization method comprises selecting a current loop PI (proportional integral) or PID (proportional integral differential) regulator corresponding to a motor rotation speed section, to which a motor rotation speed feedback value belongs, according to the motor rotation speed feedback value. The current loop realization method and realization system provided by the invention can realize PI or PID regulation of the current loop with different PI or PID parameters according to the control requirement or torque characteristics at different rotation speed sections, can realize current control of the switched reluctance motor at different rotation speed sections, and can solve the problem of current loop oscillation or imbalanced three-phase current at the plurality of rotation speed sections by selecting the current loop PI or PID regulator with different parameters in corresponding rotation speed section or by regulating parameters of the current loop PI or PID regulator in corresponding rotation speed section to realize balance.
Description
Technical field
The present invention relates to SRD, especially relate to the implementation method and the realization system of the electric current loop of the switched reluctance motor controller in the SRD.
Background technology
The control method of present known switched reluctance machines electric current loop mainly contains two kinds: first kind is to realize through hardware; Build PI or PID adjuster adjuster through operational amplifier as electric current loop; Adopt the method generally to have only one group of fixing ratio (P), integration (I), differential (D) parameter; If need to change parameter, also to could satisfy through revising relevant component parameter.Second method is to realize that through software electric current loop PI or PID regulate; The method can be come realization ratio (P) through peripheral operation panel, external analog input or communication; Integration (I), the modification of differential (D) parameter, but generally have only one group of ratio (P) at whole speed stage; Integration (I), differential (D) parameter.
First method: hardware is realized adjuster, its ratio (P), integration (I); Differential (D) parameter value generally in whole speed stage (from 0 rotating speed to the motor maximum speed) only adopt one group, but switched reluctance machines is a motor with serious nonlinear characteristic, only with one group of current ring parameter; Can't take into account the Current Regulation requirement of each rotating speed; Can cause the electric current loop concussion or cause three-phase current unbalance at some speed stage, if having only a rotating speed point this type of problem to occur, can be through adjusting ratio (P); Integration (I); Differential (D) parameter makes it stable, if this type of problem appears in a plurality of rotating speed point, one group of PI or PID adjuster just are difficult to take into account all rotating speed points as current regulator.And hardware realizes revising the parameter more complicated, can only realize through the parameter that changes components and parts.
Second method: adopt software to realize; When revising parameter, realize easy (can come realization ratio (P), integration (I), the modification of differential (D) parameter) through peripheral operation panel, external analog input or communication compared with hardware; But generally in whole speed stage, also only adopt one group of PI or PID adjuster as current regulator; Because switched reluctance machines is one and has serious nonlinear characteristic, therefore one group of PI or PID adjuster can not be taken into account whole speed stage as current regulator, possibly can cause the electric current loop concussion or cause three-phase current unbalance at some speed stage; If have only a rotating speed point this type of problem to occur; Can be through adjusting ratio (P), integration (I), differential (D) parameter makes it stable; If this type of problem appears in a plurality of rotating speed points, one group of PI or PID adjuster just are difficult to take into account all rotating speed points as current regulator.
Summary of the invention
To above-mentioned defective of the prior art; The invention provides a kind of implementation method and realization system of electric current loop of switched reluctance motor controller; To be implemented under the different rotating speeds section, require or torque characteristics according to control, realize that the PI of electric current loop under different PI or the pid parameter or PID regulate.
The implementation method of the electric current loop of a kind of switched reluctance motor controller provided by the invention comprises: motor speed section current corresponding ring PI or the PID adjuster of selecting this motor speed value of feedback place according to the motor speed value of feedback.
Select the motor speed section current corresponding ring PI or the PID adjuster at this motor speed value of feedback place to comprise according to the motor speed value of feedback: from the correspondence table of preset motor speed section and electric current loop PI or PID adjuster, to select and this motor speed value of feedback current corresponding ring PI or PID adjuster according to the motor speed value of feedback.
Select the motor speed section current corresponding ring PI or the PID adjuster at this motor speed value of feedback place to comprise according to the motor speed value of feedback: according to the motor speed value of feedback from the correspondence table of the parameter of preset motor speed section and electric current loop PI or PID adjuster; The parameter of selection and this motor speed value of feedback current corresponding ring PI or PID adjuster is input to electric current loop PI or PID adjuster with selected parameter then.
The realization system of the electric current loop of a kind of switched reluctance motor controller provided by the invention comprises: a plurality of electric current loop PI or PID adjuster, the corresponding preset motor speed section of each electric current loop PI or PID adjuster; Selector, is selected and this motor speed value of feedback current corresponding ring PI or PID adjuster from the correspondence table of preset motor speed section and electric current loop PI or PID adjuster according to the motor speed value of feedback; Handover module is used to switch to electric current loop PI or the PID adjuster that selector is selected.
The realization system of the electric current loop of another kind of switched reluctance motor controller provided by the invention comprises: electric current loop PI that parameter can be regulated or PID adjuster; Selector from the correspondence table of the parameter of preset motor speed section and electric current loop PI or PID adjuster, is selected the parameter with this motor speed value of feedback current corresponding ring PI or PID adjuster according to the motor speed value of feedback; Parameter input module, the parameter that selector is selected is input to electric current loop PI or PID adjuster.
The implementation method of the electric current loop of a kind of switched reluctance motor controller provided by the invention and realization system to be implemented under the different rotating speeds section, require or torque characteristics according to control, realize that the PI of electric current loop under different PI or the pid parameter or PID regulate; Realize the control of the electric current under the switched reluctance machines different rotating speeds section; And the situation of solution when a plurality of speed stage electric current loops concussions occurring or causing three-phase current unbalance; Make it through selecting the electric current loop PI or the PID adjuster of the corresponding different parameters of corresponding speed stage, or the parameter of PI or PID adjuster of regulating the electric current loop in the corresponding speed stage respectively is to reach balance.
Description of drawings
Fig. 1 is a flow chart of the implementation method of the electric current loop of a kind of switched reluctance motor controller of the present invention;
Fig. 2 realizes the structural representation of the described implementation method of Fig. 2 for the realization system of the electric current loop of a kind of switched reluctance motor controller of the present invention;
Fig. 3 is another flow chart of the implementation method of the electric current loop of a kind of switched reluctance motor controller of the present invention;
Fig. 4 realizes the structural representation of the described implementation method of Fig. 3 for the realization system of the electric current loop of a kind of switched reluctance motor controller of the present invention.
Embodiment
The implementation method of the electric current loop of a kind of switched reluctance motor controller provided by the invention comprises: motor speed section current corresponding ring PI or the PID adjuster of selecting this motor speed value of feedback place according to the motor speed value of feedback.
Select the motor speed section current corresponding ring PI at this motor speed value of feedback place or the first method of PID adjuster to comprise according to the motor speed value of feedback in the another kind of implementation method of the electric current loop of switched reluctance motor controller provided by the invention: from the correspondence table of preset motor speed section and electric current loop PI or PID adjuster, to select and this motor speed value of feedback current corresponding ring PI or PID adjuster according to the motor speed value of feedback.
Concrete operations are following:
Steps A 3, motor run duration are with the motor actual speed V that feeds back
SpeedRealWith the rotating speed separation V that sets
SpeedSet1, V
SpeedSet2, V
SpeedSet3..., V
SpeedSet (n-1), V
SpeedSetn(n representes the speed stage number of dividing, and the division of speed stage should be provided with according to actual needs) compares, and works as V
SpeedReal≤V
SpeedSet1The time, select the 1st electric current loop PI (P1, I1 parameter) or PID (P1, I1, D1 parameter) adjuster; Work as V
SpeedSet1＜V
SpeedReal≤V
SpeedSet2The time, select the 2nd PI (P2, I2 parameter) or PID (P2, I2, D2 parameter) adjuster; ...; Work as V
SpeedSet (n-2)＜V
SpeedReal≤V
SpeedSet (n-1)The time, select (n-1) individual electric current loop PI (P (n-1), I (n-1) parameter) or PID (P (n-1), I (n-1), D (n-1) parameter) adjuster; Work as V
SpeedSet (n-1)＜V
SpeedReal≤V
SpeedSetnThe time, select n PI (Pn, In parameter) or PID (Pn, In, Dn parameter) adjuster.Above-mentioned judgment mode is identical, V
SpeedRealDrop on which speed stage, just adopt the electric current loop PI or the PID adjuster of which speed stage.Above-mentioned tachometer value can be signed (representing the motor direction of rotation), also can be not signed.
The output valve of steps A 4, adjuster can perhaps as a parameter (can be torque value T or percentage), obtain the output of current corresponding set-point through the form of calculating or tabling look-up directly as the output of electric current set-point.
Shown in Figure 1 in the flow chart of steps A 3-steps A 4 such as the accompanying drawing.
The realization system of first kind of implementation method of the electric current loop of above-mentioned a kind of switched reluctance motor controller comprises: a plurality of electric current loop PI or PID adjuster, the corresponding preset motor speed section of each electric current loop PI or PID adjuster; Selector, is selected and this motor speed value of feedback current corresponding ring PI or PID adjuster from the correspondence table of preset motor speed section and electric current loop PI or PID adjuster according to the motor speed value of feedback; Handover module is used to switch to electric current loop PI or the PID adjuster that selector is selected.
As shown in Figure 2, I
CmdThe given pairing electric current set-point of torque when being set-point or the direct torque control of der Geschwindigkeitkreis output when rotating speed is controlled; I
BackIt is the value of feedback of switched reluctance motor controller output current; V
SpeedRealIt is the motor speed value of feedback; Selector is one and judges the device that is in which speed stage now according to feedback speed, according to the fast present position of current feedback, selects corresponding electric current loop PI or PID adjuster; Selector switch K
SwitchBe an instantiation of handover module, effect is to switch to electric current loop PI or the PID adjuster that selector is selected; Electric current loop PI or PID adjuster can be realized in any form; M is the switched reluctance machines of being controlled.The given pairing electric current set-point I of torque when set-point that der Geschwindigkeitkreis is exported during rotating speed control or direct torque control
CmdSet-point as electric current loop is input in the electric current loop, through feedback speed V
SpeedRealJudge this moment, which speed stage motor speed was in, and select pairing electric current loop PI of corresponding rotating speeds section or PID adjuster, export to motor regulating the torque value T that comes out.
In the foregoing description,, select the PI of satisfactory electric current loop or PID to regulate though can realize requiring or torque characteristics according to control to be implemented under the different rotating speeds section; But also have following shortcoming: one, a plurality of electric current loop PI/PID adjusters need be set, and therefore whole realization systematic comparison is complicated; What two, safeguard in the memory is the two-dimension table of rotating speed-electric current loop PI/PID adjuster; Two-dimension table is a dynamic adjustable; When two-dimension table changes, correspondingly, also need electric current loop PI/PID adjuster be set according to this two-dimension table; As when increasing speed stage, need to increase and satisfy the electric current loop PI of this speed stage or the electric current loop PI/PID adjuster of pid parameter; When the critical value of speed stage changes, need to change the electric current loop PI/PID adjuster that satisfies this speed stage, it is more loaded down with trivial details to increase, change electric current loop PI/PID adjuster, is not easy to automatic operation.
In order to address the above problem, the invention provides a kind of implementation method of electric current loop of preferably switched reluctance motor controller.Select the motor speed section current corresponding ring PI or the PID adjuster at this motor speed value of feedback place to comprise according to the motor speed value of feedback in this implementation method: according to the motor speed value of feedback from the correspondence table of the parameter of preset motor speed section and electric current loop PI or PID adjuster; The parameter of selection and this motor speed value of feedback current corresponding ring PI or PID adjuster is input to electric current loop PI or PID adjuster with selected parameter then.
Switched reluctance machines is being carried out in the speed regulating control, and electric current loop PI or PID adjuster can adopt different PI or pid parameters to control according to the different qualities of different rotating speeds section motor.The division of speed stage can be as required through guidance panel, external communications equipment or the external analog port is given divides, PI that each speed stage is corresponding or pid parameter can be as required carry out independent setting through guidance panel, external communications equipment or external analog port are given.
Concrete steps are following:
Step B1, through guidance panel, perhaps external communications equipment (as adopting RS232, RS485 and CAN communication) or regulate through the external analog port is set the rotating speed separation of the speed stage that institute will divide and the electric current loop PI or the pid parameter of each speed stage.
Step B2, with the value storage of these settings in memory.Memory can be ROM, EEPROM, FLASH.Can keep the two-dimension table of a rotating speed-electric current loop PI or pid parameter in the memory, when motor moves, can table look-up according to actual speed and obtain corresponding electric current loop PI or pid parameter.If the electric current loop PI or the pid parameter of each speed stage and each speed stage can be confirmed, the rotating speed-electric current loop PI of static state or the two-dimension table of pid parameter are stored in the memory; If in practical operation; The electric current loop PI or the pid parameter of speed stage and each speed stage have adjustment; Can adjust the two-dimension table of rotating speed-electric current loop PI or pid parameter; At this moment two-dimension table is a dynamic adjustable, and the two-dimension table of dynamic rotating speed-electric current loop PI/PID parameter is stored in the memory.
Step B3, motor run duration are with the motor actual speed V that feeds back
SpeedRealWith the rotating speed separation V that sets
SpeedSet1, V
SpeedSet2, V
SpeedSet3..., V
SpeedSet (n-1), V
SpeedSetn (n)The speed stage number that expression is divided, the division of speed stage should be provided with according to actual needs) compare, work as V
SpeedReal≤V
SpeedSet1The time, select V
SpeedSet1The PI or the pid parameter (selecting first group of P1, I1 or P1, I1, D1 parameter) of correspondence in this speed stage; Work as V
SpeedSet1＜V
SpeedReal≤V
SpeedSet2The time, select V
SpeedSet2The PI or the pid parameter (selecting second group of P2, I2 or P2, I2, D2 parameter) of correspondence in this speed stage; ...; Work as V
SpeedSet (n-2)＜V
SpeedReal≤V
SpeedSet (n-1)The time, select V
SpeedSet (n-1)The PI of correspondence or pid parameter in this speed stage (selecting (n-1) group P (n-1), I (n-1) or P (n-1), I (n-1), D (n-1) parameter); Work as V
SpeedSet (n-1)＜V
SpeedReal≤V
SpeedSetnThe time, select V
SpeedStenThe PI of correspondence or pid parameter in this speed stage (selecting n group Pn, In or Pn, In, Dn parameter).Above-mentioned judgment mode is identical, V
SpeedRealDrop on which speed stage, just adopt the PI or the pid parameter of which speed stage.Above-mentioned tachometer value can be signed (representing the motor direction of rotation), also can be not signed.
Step B4, the PI or the pid parameter of above-mentioned acquisition is sent in electric current loop PI or the PID adjuster, adjuster can be realized according to different needs by any way.
The output valve of step B5, adjuster can perhaps as a parameter (can be torque value T or percentage), obtain the output of current corresponding set-point through the form of calculating or tabling look-up directly as the output of electric current set-point.
Shown in Figure 3 in the flow chart of step B3-step B5 such as the accompanying drawing.
The realization system of second kind of implementation method of the electric current loop of above-mentioned a kind of switched reluctance motor controller comprises: electric current loop PI that parameter can be regulated or PID adjuster; Selector from the correspondence table of the parameter of preset motor speed section and electric current loop PI or PID adjuster, is selected the parameter with this motor speed value of feedback current corresponding ring PI or PID adjuster according to the motor speed value of feedback; Parameter input module, the parameter that selector is selected is input to electric current loop PI or PID adjuster.
As shown in Figure 4, I
CmdThe given pairing electric current set-point of torque when being set-point or the direct torque control of der Geschwindigkeitkreis output when rotating speed is controlled; I
BackIt is the value of feedback of switched reluctance motor controller output current; V
SpeedRealIt is the motor speed value of feedback; Selector is one and judges the device that is in which speed stage now according to feedback speed, according to the fast present position of current feedback, selects corresponding PI or pid parameter; Selector switch K
Switch(the 1st group of P1, I1 or P1, I1, D1 parameter are imported submodule with each group parameter input submodule; The 2nd group of P2, I2 or P2, I2, D2 parameter are imported submodule; ... n group Pn, In or Pn, In, Dn parameter input submodule) be an instantiation of parameter input module, effect is that the parameter that selector is selected is input to electric current loop PI or PID adjuster; Electric current loop PI or PID adjuster can be realized in any form; M is the switched reluctance machines of being controlled.The given pairing electric current set-point I of torque when set-point that der Geschwindigkeitkreis is exported during rotating speed control or direct torque control
CmdSet-point as electric current loop is input in the electric current loop, through feedback speed V
SpeedRealJudge this moment, which speed stage motor speed was in, and select pairing PI of corresponding rotating speeds section or pid parameter, and carry out PI or PID adjusting, export to motor regulating the torque value T that comes out.
In sum, the implementation method of the electric current loop of switched reluctance motor controller provided by the invention and realization system to be implemented under the different rotating speeds section, require or torque characteristics according to control, realize that the PI of electric current loop under different PI or the pid parameter or PID regulate; Realize the control of the electric current under the switched reluctance machines different rotating speeds section; And the situation of solution when a plurality of speed stage electric current loops concussions occurring or causing three-phase current unbalance; Make it through selecting the electric current loop PI or the PID adjuster of the corresponding different parameters of corresponding speed stage, or the parameter of PI or PID adjuster of regulating the electric current loop in the corresponding speed stage respectively is to reach balance.
What should explain at last is: the above is an optimum implementation of the present invention, but protection scope of the present invention is not limited to this, and under shown in the present, anyone any product identical or approximate with the present invention and way all drop in protection scope of the present invention.
Claims (5)
1. the implementation method of the electric current loop of a switched reluctance motor controller is characterized in that, comprising: motor speed section current corresponding ring PI or the PID adjuster of selecting this motor speed value of feedback place according to the motor speed value of feedback.
2. the implementation method of the electric current loop of switched reluctance motor controller according to claim 1 is characterized in that, selects the motor speed section current corresponding ring PI or the PID adjuster at this motor speed value of feedback place to comprise according to the motor speed value of feedback:
, from the correspondence table of preset motor speed section and electric current loop PI or PID adjuster, select and this motor speed value of feedback current corresponding ring PI or PID adjuster according to the motor speed value of feedback.
3. the implementation method of the electric current loop of switched reluctance motor controller according to claim 1 is characterized in that, selects the motor speed section current corresponding ring PI or the PID adjuster at this motor speed value of feedback place to comprise according to the motor speed value of feedback:
According to the motor speed value of feedback from the correspondence table of the parameter of preset motor speed section and electric current loop PI or PID adjuster; The parameter of selection and this motor speed value of feedback current corresponding ring PI or PID adjuster is input to electric current loop PI or PID adjuster with selected parameter then.
4. the realization system of the electric current loop of a switched reluctance motor controller is characterized in that, comprising:
A plurality of electric current loop PI or PID adjuster, the corresponding preset motor speed section of each electric current loop PI or PID adjuster;
Selector, is selected and this motor speed value of feedback current corresponding ring PI or PID adjuster from the correspondence table of preset motor speed section and electric current loop PI or PID adjuster according to the motor speed value of feedback;
Handover module is used to switch to electric current loop PI or the PID adjuster that selector is selected.
5. the realization system of the electric current loop of a switched reluctance motor controller is characterized in that, comprising:
Electric current loop PI that parameter can be regulated or PID adjuster;
Selector from the correspondence table of the parameter of preset motor speed section and electric current loop PI or PID adjuster, is selected the parameter with this motor speed value of feedback current corresponding ring PI or PID adjuster according to the motor speed value of feedback;
Parameter input module, the parameter that selector is selected is input to electric current loop PI or PID adjuster.
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| CN2010105934546A CN102545771A (en) | 2010-12-17 | 2010-12-17 | Current loop realization method and realization system of switched reluctance motor controller |
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| CN2010105934546A CN102545771A (en) | 2010-12-17 | 2010-12-17 | Current loop realization method and realization system of switched reluctance motor controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103326660A (en) * | 2013-06-28 | 2013-09-25 | 深圳市汇川技术股份有限公司 | Motor torque control method and system |
| CN105490611A (en) * | 2015-12-16 | 2016-04-13 | 四川长虹电器股份有限公司 | Motor control method and air conditioner |
| CN107493055A (en) * | 2017-09-27 | 2017-12-19 | 华中科技大学 | A kind of switch reluctance machine drive method and device |
| CN115343945A (en) * | 2022-10-19 | 2022-11-15 | 季华实验室 | Full-automatic servo controller current loop bandwidth testing method and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103326660A (en) * | 2013-06-28 | 2013-09-25 | 深圳市汇川技术股份有限公司 | Motor torque control method and system |
| CN103326660B (en) * | 2013-06-28 | 2016-03-23 | 深圳市汇川技术股份有限公司 | A kind of torque control method for motor and system |
| CN105490611A (en) * | 2015-12-16 | 2016-04-13 | 四川长虹电器股份有限公司 | Motor control method and air conditioner |
| CN105490611B (en) * | 2015-12-16 | 2018-07-20 | 四川长虹电器股份有限公司 | A kind of motor control method and air-conditioning |
| CN107493055A (en) * | 2017-09-27 | 2017-12-19 | 华中科技大学 | A kind of switch reluctance machine drive method and device |
| CN115343945A (en) * | 2022-10-19 | 2022-11-15 | 季华实验室 | Full-automatic servo controller current loop bandwidth testing method and system |
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Application publication date: 20120704 |