CN102570939A - Switched reluctance motor driving control system, angle control device and method - Google Patents

Abstract

The invention relates to a switched reluctance motor driving control system, an angle control device and a method. The switched reluctance motor angle control method comprises the following steps that: 1, a corresponding relationship table of the given torque value and the conduction width is set in advance under each rotating speed point; 2, the corresponding conduction width under the actual given torque value and the actual feedback rotating speed is calculated through an interpolation algorithm; and 3, the angle control is carried out according to the front displacement angle and the conduction width obtained through the calculation, wherein a turn-off angle is changed along with the rotating speed, during the electric control, the turn-off angle can be obtained by subtracting the front displacement angle from 180 degrees, and a turn-on angle can be obtained by subtracting the conduction width from the turn-off angle; and during the brake control, the turn-off angle can be obtained by subtracting the front displacement angle from 360 degrees, and the turn-on angle can be obtained by subtracting the conduction width from the turn-off angle. The switched reluctance motor driving control system, the angle control device and the method solve the problems that when the fixed conduction width is adopted in the existing full pulse width modulation (PWM) controller, too high temperature rise of switch semiconductor devices can be easily caused, and the efficiency in the full speed and the torque range cannot be integrally optimized.

Description

A kind of switched reluctance machines driving control system, angle controller and method

Technical field

The invention belongs to switched reluctance machines drive controlling field, the angle controller and the method that relate to the switched reluctance machines driving control system and be used for the switched reluctance machines driving control system.

Background technology

In the switched reluctance machines drive controlling, full prior art adopts PWM when control, generally fixedly the conducting width is 180 to spend electrical degrees, and turn-on angle is with the variation that moves forward of motor actual speed, and current regulator is output as the duty ratio of PWM.As shown in Figure 1.This method is because fixing 180 degree conducting width, and when middle low speed or load were light, switchable semiconductor devices service time was longer, and conduction loss is bigger, makes temperature rise too high, reliability decrease; Because in whole velocity interval and torque range, the conducting width is all fixed in addition, causes at each that efficient can not reach optimization on [T, n] point.

Summary of the invention

To above-mentioned defective of the prior art; The invention provides a kind of switched reluctance machines driving control system, angle controller and method; To solve when existing full PWM controller adopts fixedly the conducting width; Cause the problem that too high and full speed degree of switching semiconductor components and parts temperature rise and torque range internal efficiency can not global optimizations easily.

A kind of switched reluctance machines angle control method provided by the invention, comprising:

Step 1, under each rotating speed point, set up the correspondence table of given torque value and conducting width in advance;

Step 2, calculate the corresponding down conducting width of actual given torque value and actual feedback rotating speed through interpolation algorithm;

Step 3, carry out angle control according to reach angle and the conducting width that calculates.

The step of setting up the correspondence table of given torque value and conducting width under the rotating speed point in the said step 1 comprises:

Under a rotating speed point, keep a given torque value constant, regulate the conducting width, make system effectiveness maximum, note the conducting width of this moment;

Change to next given torque value, keep this given torque value constant, regulate the conducting width, make system effectiveness maximum, note the conducting width of this moment;

By that analogy, obtain under this rotating speed point the best conducting width under all torque set-points.

Said step 1 comprises:

If rated speed is Ne, rotating speed point changes from 0-Ne*16/8, is spaced apart Ne*1/8; If nominal torque is Tn, given torque value changes from 0-Tn*200%, is spaced apart Tn*1/16*100%; Under each rotating speed point, set up the correspondence table of given torque value and conducting width in advance.

Said step 2 comprises:

Step 201, according to the actual feedback rotational speed N of motor _FbObtain the speed stage [N at this actual feedback rotating speed place _x, N _X+1], the actual feedback rotational speed N _FbSatisfy N _x＜N _Fb＜N _X+1, N _x=Ne*x/8, x=0,1,2...15;

Step 202, according to boundary rotating speed point N _xGiven torque value and the correspondence table of conducting width, according to the given torque T of reality _Ref, find actual given torque T _Ref[T between the location _y, T _Y+1, T _RefSatisfy T _y＜T _Ref＜T _Y+1, T wherein _y=T _n* 1/16*100%, x=0,1,2...31; If boundary rotating speed point N _xDown, T _yCorresponding conducting width is DW _y, T _Y+1Corresponding conducting width is DW _Y+1,, calculate T according to linear interpolation algorithm _RefCorresponding conducting width is DW1, and computing formula is:

$\mathrm{DW}1=\frac{{\mathrm{DW}}_{y+1}-{\mathrm{DW}}_y}{(1/16)}*(T_{\mathrm{ref}}-T_y)+{\mathrm{DW}}_y;$

Step 203, at boundary rotating speed point N _X+1Given torque value and the correspondence table of conducting width, according to the given torque value T of reality _Ref, the same, in like manner calculate corresponding conducting width D W2;

Step 204, according to the actual feedback rotational speed N _Fb, boundary rotating speed point N _xThe given torque value T of following reality _RefCorresponding conducting width D W1, boundary rotating speed point N _X+1The given torque value T of following reality _RefCorresponding conducting width D W2 through the linear difference algorithm, calculates the actual feedback rotational speed N _FbAnd actual given torque value T _RefUnder conducting width D W, computing formula is:

$\mathrm{DW}=\frac{{\mathrm{DW}}_2-{\mathrm{DW}}_1}{(1/8)}*(N_{\mathrm{fb}}-N_x)+{\mathrm{DW}}_1.$

Carrying out angle control according to reach angle and the conducting width that calculates in the said step 3 is specially: the reach angle is with rotation speed change, during electronic control, closes the angle of rupture and equals 180 degree and deduct the reach angle, and turn-on angle equals to close the angle of rupture and deducts the conducting width; During braking control, the pass angle of rupture equals 360 degree and deducts the reach angle, and turn-on angle equals to close the angle of rupture and deducts the conducting width.

The present invention provides a kind of angle controller that is used for the switched reluctance machines driving control system again; Comprising: conducting width computing module, reach angle computing module and turn-on angle and pass angle of rupture control module; Turn-on angle is used for the reach angle that the conducting width that calculates according to conducting width computing module and the angle computing module that moves forward calculate with pass angle of rupture control module; The control of switched reluctance machines is accomplished in the action of switch element in the control switch reluctance motor driving control system;

Said conducting width computing module comprises:

Memory module, the correspondence table that is used to store given torque value and conducting width under each rotating speed point;

Acquisition module is used to obtain the actual feedback rotating speed and the actual given torque value of motor;

Computing module is connected with said memory module and said acquisition module, calculates actual given torque value and the corresponding down conducting width of actual feedback rotating speed through interpolation algorithm.

The present invention also provides a kind of switched reluctance machines driving control system, comprising: angle controller; Said angle controller comprises: conducting width computing module, reach angle computing module and turn-on angle and pass angle of rupture control module; Turn-on angle is used for the reach angle that the conducting width that calculates according to conducting width computing module and the angle computing module that moves forward calculate with pass angle of rupture control module; The control of switched reluctance machines is accomplished in the action of switch element in the control switch reluctance motor driving control system;

Said conducting width computing module comprises:

Memory module, the correspondence table that is used to store given torque value and conducting width under each rotating speed point;

Acquisition module is used to obtain the actual feedback rotating speed and the actual given torque value of motor;

Computing module is connected with said memory module and said acquisition module, calculates actual given torque value and the corresponding down conducting width of actual feedback rotating speed through interpolation algorithm.

Switched reluctance machines driving control system provided by the invention, angle controller and method; The conducting width is in whole velocity interval and torque range, and the conducting width is not what fix, and the conducting width can change according to actual feedback rotating speed and actual given torque value; Such as when middle low speed or load are light; The conducting width is less, and switchable semiconductor devices corresponding the reducing of service time in the switch element makes the temperature rise of switchable semiconductor devices to raise more slowly like this; When having avoided in existing full PWM controller adopting fixedly the conducting width, cause the too high problem of switching semiconductor components and parts temperature rise easily; And make full speed degree and torque range internal efficiency obtain global optimization, avoided in existing full PWM controller employing fixedly during the conducting width, the problem that full speed degree and torque range internal efficiency can not global optimizations.

Description of drawings

Fig. 1 is a structural representation of existing switched reluctance machines driving control system;

Fig. 2 is a structural representation of switched reluctance machines driving control system of the present invention;

Fig. 3 is a structural representation of switched reluctance machines angle controller of the present invention;

Fig. 4 is a flow chart of switched reluctance machines angle control method of the present invention.

Embodiment

Fig. 2 is a structure chart of switched reluctance machines driving control system of the present invention.Comprising: angle controller;

Said angle controller; As shown in Figure 3; Comprise: conducting width computing module, reach angle computing module and turn-on angle and pass angle of rupture control module; Turn-on angle is used for the reach angle that the conducting width that calculates according to conducting width computing module and the angle computing module that moves forward calculate, the action of switch element in the control switch reluctance motor driving control system, the control of completion switched reluctance machines with pass angle of rupture control module.Particularly; Turn-on angle and pass angle of rupture control module are according to the reach angle of conducting width computing module the conducting width that calculates and the angle computing module calculating that moves forward; Can be through the program timing action that the interval comes the control switch element that obtains being conducted; Also can accomplish the control of switched reluctance machines through the action of manual operation switch element.

Wherein conducting width computing module comprises:

Memory module, the correspondence table that is used to store given torque value and conducting width under each rotating speed point;

Acquisition module is used to obtain the actual feedback rotating speed and the actual given torque value of motor;

Computing module is connected with said memory module and said acquisition module, calculates actual given torque value and the corresponding down conducting width of actual feedback rotating speed through interpolation algorithm.Particularly; Can obtain the boundary rotating speed point of the speed stage at this actual feedback rotating speed place according to the actual feedback rotating speed of motor; Calculate the corresponding conducting width of the down actual given torque value of boundary rotating speed point according to the given torque value of boundary rotating speed point and the correspondence table of conducting width respectively, obtain the conducting width under the actual given torque value under the actual feedback rotating speed according to actual feedback rotating speed and the corresponding conducting width of the down actual given torque value of boundary rotating speed point again.

The present invention provides a kind of switched reluctance machines angle control method, comprising:

Step 1, under each rotating speed point, set up the correspondence table of given torque value and conducting width in advance;

Step 2, calculate the corresponding down conducting width of actual given torque value and actual feedback rotating speed through interpolation algorithm.Particularly; Can obtain the boundary rotating speed point of the speed stage at this actual feedback rotating speed place according to the actual feedback rotating speed of motor; Calculate the corresponding conducting width of the down actual given torque value of boundary rotating speed point according to the given torque value of boundary rotating speed point and the correspondence table of conducting width respectively, obtain the conducting width under the actual given torque value under the actual feedback rotating speed according to actual feedback rotating speed and the corresponding conducting width of the down actual given torque value of boundary rotating speed point again;

Step 3, carry out angle control according to reach angle and the conducting width that calculates.Wherein move forward the angle with rotation speed change, during electronic control, close the angle of rupture and equal 180 degree and deduct the reach angle, turn-on angle equals to close the angle of rupture and deducts the conducting width; During braking control, the pass angle of rupture equals 360 degree and deducts the reach angle, and turn-on angle equals to close the angle of rupture and deducts the conducting width.

The step of setting up the correspondence table of given torque value and conducting width under the rotating speed point in the step 1 comprises: under a rotating speed point, keep a given torque value constant, regulate the conducting width, make system effectiveness maximum, note the conducting width of this moment; Change to next given torque value, keep this given torque value constant, regulate the conducting width, make system effectiveness maximum, note the conducting width of this moment; By that analogy, obtain under this rotating speed point the best conducting width under all torque set-points.

Preferentially, the present invention provides a kind of switched reluctance machines angle control method, and is as shown in Figure 4, may further comprise the steps:

Step 101, to establish rated speed be Ne, and rotating speed point changes from 0-Ne*16/8, is spaced apart Ne*1/8; If nominal torque is Tn, given torque value changes from 0-Tn*200%, is spaced apart Tn*1/16*100%; Under each rotating speed point, set up the correspondence table of given torque value and conducting width in advance.

Step 201, according to the actual feedback rotational speed N of motor _FbObtain the speed stage [N at this actual feedback rotating speed place _x, N _X+1], the actual feedback rotational speed N _FbSatisfy N _x＜N _Fb＜N _X+1, N _x=Ne*x/8, x=0,1,2...15;

Step 202, according to boundary rotating speed point N _xGiven torque value and the correspondence table of conducting width, according to the given torque T of reality _Ref, find actual given torque T _Ref[T between the location _y, T _Y+1, T _RefSatisfy T _y＜T _Ref＜T _Y+1, T wherein _y=T _n* 1/16*100%, x=0,1,2...31; If boundary rotating speed point N _xDown, T _yCorresponding conducting width is DW _y, T _Y+1Corresponding conducting width is DW _Y+1,, calculate T according to linear interpolation algorithm _RefCorresponding conducting width is DW1, and computing formula is:

$\mathrm{DW}1=\frac{{\mathrm{DW}}_{y+1}-{\mathrm{DW}}_y}{(1/16)}*(T_{\mathrm{ref}}-T_y)+{\mathrm{DW}}_y;$

Step 203, at boundary rotating speed point N _X+1Given torque value and the correspondence table of conducting width, according to the given torque value T of reality _Ref, the same, in like manner calculate corresponding conducting width D W2;

Step 204, according to the actual feedback rotational speed N _Fb, boundary rotating speed point N _xThe given torque value T of following reality _RefCorresponding conducting width D W1, boundary rotating speed point N _X+1The given torque value T of following reality _RefCorresponding conducting width D W2 through the linear difference algorithm, calculates the actual feedback rotational speed N _FbAnd actual given torque value T _RefUnder conducting width D W, computing formula is:

$\mathrm{DW}=\frac{{\mathrm{DW}}_2-{\mathrm{DW}}_1}{(1/8)}*(N_{\mathrm{fb}}-N_x)+{\mathrm{DW}}_1;$

Step 301, carry out angle control according to reach angle and the conducting width D W that calculates.Wherein move forward the angle with rotation speed change, during electronic control, close the angle of rupture and equal 180 degree and deduct the reach angle, turn-on angle equals to close the angle of rupture and deducts the conducting width; During braking control, the pass angle of rupture equals 360 degree and deducts the reach angle, and turn-on angle equals to close the angle of rupture and deducts the conducting width.

In sum, switched reluctance machines driving control system provided by the invention, angle controller and method, the conducting width is in whole velocity interval and torque range; The conducting width is not what fix; The conducting width can change according to actual feedback rotating speed and actual given torque value, and such as when middle low speed or load are light, the conducting width is less; Switchable semiconductor devices corresponding reducing of service time in the switch element like this; Make the temperature rise of switchable semiconductor devices to raise more slowly, when having avoided in existing full PWM controller adopting fixedly the conducting width, cause the too high problem of switching semiconductor components and parts temperature rise easily; And make full speed degree and torque range internal efficiency obtain global optimization, avoided in existing full PWM controller employing fixedly during the conducting width, the problem that full speed degree and torque range internal efficiency can not global optimizations.

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 (7)

1. a switched reluctance machines angle control method is characterized in that, comprising:

Step 1, under each rotating speed point, set up the correspondence table of given torque value and conducting width in advance;

Step 2, calculate the corresponding down conducting width of actual given torque value and actual feedback rotating speed through interpolation algorithm;

Step 3, carry out angle control according to reach angle and the conducting width that calculates.

2. method according to claim 1 is characterized in that, the step of setting up the correspondence table of given torque value and conducting width under the rotating speed point in the said step 1 comprises:

Under a rotating speed point, keep a given torque value constant, regulate the conducting width, make system effectiveness maximum, note the conducting width of this moment;

Change to next given torque value, keep this given torque value constant, regulate the conducting width, make system effectiveness maximum, note the conducting width of this moment;

By that analogy, obtain under this rotating speed point the best conducting width under all torque set-points.

3. method according to claim 1 is characterized in that, said step 1 comprises:

If rated speed is Ne, rotating speed point changes from 0-Ne*16/8, is spaced apart Ne*1/8; If nominal torque is Tn, given torque value changes from 0-Tn*200%, is spaced apart Tn*1/16*100%; Under each rotating speed point, set up the correspondence table of given torque value and conducting width in advance.

4. method according to claim 3 is characterized in that, said step 2 comprises:

Step 201, according to the actual feedback rotational speed N of motor _FbObtain the speed stage [N at this actual feedback rotating speed place _x, N _X+1], the actual feedback rotational speed N _FbSatisfy N _x＜N _Fb＜N _X+1, N _x=Ne*x/8, x=0,1,2...15;

Step 202, according to boundary rotating speed point N _xGiven torque value and the correspondence table of conducting width, according to the given torque T of reality _Ref, find actual given torque T _Ref[T between the location _y, T _Y+1, T _RefSatisfy T _y＜T _Ref＜T _Y+1, T wherein _y=T _n* 1/16*100%, x=0,1,2...31; If boundary rotating speed point N _xDown, T _yCorresponding conducting width is DW _y, T _Y+1Corresponding conducting width is DW _Y+1,, calculate T according to linear interpolation algorithm _RefCorresponding conducting width is DW1, and computing formula is:

$\mathrm{DW}1=\frac{{\mathrm{DW}}_{y+1}-{\mathrm{DW}}_y}{(1/16)}*(T_{\mathrm{ref}}-T_y)+{\mathrm{DW}}_y;$

Step 203, at boundary rotating speed point N _X+1Given torque value and the correspondence table of conducting width, according to the given torque value T of reality _Ref, the same, in like manner calculate corresponding conducting width D W2;

Step 204, according to the actual feedback rotational speed N _Fb, boundary rotating speed point N _xThe given torque value T of following reality _RefCorresponding conducting width D W1, boundary rotating speed point N _X+1The given torque value T of following reality _RefCorresponding conducting width D W2 through the linear difference algorithm, calculates the actual feedback rotational speed N _FbAnd actual given torque value T _RefUnder conducting width D W, computing formula is:

$\mathrm{DW}=\frac{{\mathrm{DW}}_2-{\mathrm{DW}}_1}{(1/8)}*(N_{\mathrm{fb}}-N_x)+{\mathrm{DW}}_1.$

5. according to the arbitrary described method of claim 1-4; It is characterized in that; Carrying out angle control according to the conducting width that moves forward the angle and calculate in the said step 3 is specially: the reach angle is with rotation speed change; During electronic control, close the angle of rupture and equal 180 degree and deduct the reach angle, turn-on angle equals to close the angle of rupture and deducts the conducting width; During braking control, the pass angle of rupture equals 360 degree and deducts the reach angle, and turn-on angle equals to close the angle of rupture and deducts the conducting width.

6. angle controller that is used for the switched reluctance machines driving control system; It is characterized in that; Comprise: conducting width computing module, reach angle computing module and turn-on angle and pass angle of rupture control module; Turn-on angle is used for the reach angle that the conducting width that calculates according to conducting width computing module and the angle computing module that moves forward calculate, the action of switch element in the control switch reluctance motor driving control system, the control of completion switched reluctance machines with pass angle of rupture control module;

Said conducting width computing module comprises:

Memory module, the correspondence table that is used to store given torque value and conducting width under each rotating speed point;

Acquisition module is used to obtain the actual feedback rotating speed and the actual given torque value of motor;

Computing module is connected with said memory module and said acquisition module, calculates actual given torque value and the corresponding down conducting width of actual feedback rotating speed through interpolation algorithm.

7. a switched reluctance machines driving control system is characterized in that, comprising: angle controller; Said angle controller comprises: conducting width computing module, reach angle computing module and turn-on angle and pass angle of rupture control module; Turn-on angle is used for the reach angle that the conducting width that calculates according to conducting width computing module and the angle computing module that moves forward calculate with pass angle of rupture control module; The control of switched reluctance machines is accomplished in the action of switch element in the control switch reluctance motor driving control system;

Said conducting width computing module comprises:

Memory module, the correspondence table that is used to store given torque value and conducting width under each rotating speed point;

Acquisition module is used to obtain the actual feedback rotating speed and the actual given torque value of motor;

Computing module is connected with said memory module and said acquisition module, calculates actual given torque value and the corresponding down conducting width of actual feedback rotating speed through interpolation algorithm.

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