CN102832860B - Double-switch magnetoresistive motor system based on synchronous drive - Google Patents
Double-switch magnetoresistive motor system based on synchronous drive Download PDFInfo
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- CN102832860B CN102832860B CN201210329706.3A CN201210329706A CN102832860B CN 102832860 B CN102832860 B CN 102832860B CN 201210329706 A CN201210329706 A CN 201210329706A CN 102832860 B CN102832860 B CN 102832860B
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- motor
- power
- main switch
- reluctance motor
- stator winding
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Abstract
The invention discloses a double-switch magnetoresistive motor system based on synchronous drive. The system comprises a power convertor, a direct-current power supply, a position detector, a controller, a main switch magnetoresistive motor and a sub switch magnetoresistive motor, wherein the position detector is used for detecting and acquiring position state information of a rotor of the main switch magnetoresistive motor; the controller is used for constructing and generating a group of driving signals according to the position state information so as to control the power convertor; and the power convertor is used for controlling the connection and the disconnection of each stator winding of the two switch magnetoresistive motors according to the driving signals. The synchronous drive of the two motors can be realized through only one set of power convertor, the main and sub motors synchronously run naturally, and net balance is not caused between the two motors. The power convertor is of the simplest structure, and only one switch tube and only one freewheel diode are required for each phase. When the main motor is in a power generation state and the sub motor is in an electric state, the sub motor can be directly driven without additional intermediate energy decoupling device and power convertor.
Description
Technical field
The invention belongs to technical field of motors, be specifically related to a kind of based on synchronously driven biswitch reluctance motor system.
Background technology
Motor is the device of mechanical energy by electric energy conversion, and according to the difference of motor working power, can be divided into DC motor and alternating current motor, switched reluctance motor (SRM) is a kind of novel motor adopting direct current supply.Switched reluctance motor system double-salient-pole variable reluctance motor, the salient pole of its stator and rotor is overrided to form by ordinary silicon steel disc, on rotor both without winding also without permanent magnet, stator salient poles is wound with winding.SRM can be designed to multiple different phase table structure, and the number of poles of stator and rotor has multiple different collocation.Fig. 1 is shown four phase 8/6 structure SRM and power inverter connection diagram thereof, only draw A phase winding and power supply circuits thereof in figure.
The operation of SRM is followed " magnetic resistance minimum principle ", and namely magnetic flux closes along the path that magnetic resistance is minimum always, makes rotor core when moving to magnetic resistance minimum position, the main shaft of rotor and the dead in line in magnetic field.As shown in Figure 1, when the right center line of the rotor pole indicating 1-1 ' and the right center line of A-A ' phase stator poles overlap, rotor pole is in magnetic resistance minimum position to 1-1 ', and now A phase winding inductance is maximum.When being energized to B-B ' mutually, rotor pole will produce anticlockwise torque to 2-2 ' according to " magnetic resistance minimum principle ", gives the energising of A-B-C-D phase winding successively, and SRM just can realize counterclockwise rotating; In like manner, if give the energising of A-D-C-B phase winding successively, so SRM just can realize clockwise direction rotation.As can be seen here, SRM turns to the order depending on that phase winding is energized, and has nothing to do with the sense of current of phase winding.
In real work, in order to large load or the reliability in order to ensure system cloud gray model can be carried, often adopt bi-motor parallel system.In addition, by servo system control machinery often requirement can carry out curvilinear motion (comprising three-degree-of-freedom motion), the arm joint of such as robot, these compound movements are difficult to independently be realized by single motor, therefore also will adopt bi-motor parallel system.In identical output situation, relative to single electric system, total moment of inertia of bi-motor is less, and power consumption during operation also responds minimizing.Such as, for the hysterisis error of radar system, substantially the method for the mechanical gap that disappears all is adopted, the gap or the complexity of mechanical part can be increased but machinery disappears, be not suitable for the power transmission of relatively high power, and the machinery of routine disappears, gap is also little reliable, if use Dual-motors Driving, the object of the gap that disappears can be reached equally, and can system accuracy be improved.
Traditional biswitch reluctance motor parallel running block diagram as shown in Figure 2, two power inverters are needed in figure, for accomplishing that two motor in synchrony run high-speed communication between needs two controllers, owing to needing the high-speed communication between two controllers, if the controller of two motors is distant, the reliability of system can reduce greatly.It is synchronous that this system configuration can not realize zero error, because the speed that mair motor detects is to the time delay existed from electric machine controller the control time, therefore traditional two-generator parallel-running system exists natural synchronous error.Meanwhile, traditional two-generator parallel-running system needs respective power supply and power inverter, and these all significantly increase cost and the fault point of system.
Under wind power generation or other have generating and power driven system background, need the structure shown in Fig. 3, traditional electric power generation need rectification and then by power inverter to feeding electric motors, need more power electronic device and energy storing device as bus capacitor etc. under this application background, because switching device is many thus cause system complex, the existence of bus capacitor not only adds cost and the volume of system, also can to having an impact the device lifetime of whole system.
Summary of the invention
For the above-mentioned technological deficiency existing for prior art, the invention provides a kind of based on synchronously driven biswitch reluctance motor system, only need a set of power inverter just can realize bi-motor synchronously to drive, also mair motor generating can be realized from motor powered, and mair motor generated energy controls and rotating speed is controlled, thus realization from the rotating speed of motor and torque controlled.
A kind of based on synchronously driven biswitch reluctance motor system, comprising: a power inverter, a DC power supply, a position detector, a controller, main switch reluctance motor and from switched reluctance machines;
Two switched reluctance machines numbers of phases are identical, and all have n the stator winding be wound in stator salient poles, and n is the number of phases of switched reluctance motor;
Described position detector obtains the location status information of main switch magnetic resistance motor rotor for detecting;
Described controller is used for producing one group of drive singal according to described location status information structuring, to control described power inverter;
Described power inverter is used for the power on/off controlling two each stator winding of switched reluctance machines according to described drive singal.
Described power inverter is made up of n power conversion unit; Wherein, one end of the first link stator winding corresponding to main switch reluctance motor of described power conversion unit is connected, and the second link is connected with the one end from the corresponding stator winding of switched reluctance machines, and the 3rd link is connected with the negative pole of DC power supply; The positive pole of DC power supply is connected with the other end of each stator winding of main switch reluctance motor and from the other end of each stator winding of switched reluctance machines.
Described power conversion unit is made up of a fly-wheel diode and a switching tube; Wherein, the input of switching tube is connected with the anode of fly-wheel diode and is the first link of power conversion unit, the negative electrode of fly-wheel diode is the second link of power conversion unit, the output of switching tube is the 3rd link of power conversion unit, and the control end of switching tube receives the drive singal that controller provides.
Preferably, described DC power supply adopts storage battery, its output voltage stabilization and controlled.
Preferably, described DC power supply is parallel with electric capacity, can eliminate ripple, burning voltage.
Described position detector adopts incremental encoder, and it is fixed on the support of main switch reluctance motor, and its axle is connected by the main shaft of shaft coupling with main switch reluctance motor.
Operation principle of the present invention is:
(1) two switched reluctance machines is all operated in motoring condition;
According to the information of position detector, at main switch reluctance motor a certain phase minimum inductance position and stator poles axial alignment rotor axis, open the switching tube that this is corresponding, now DC power supply is powered directly to the corresponding stator winding of mair motor, an electric energy part is converted into the mechanical energy output of rotor in the process, and another part is converted into magnetic energy and stores in the stator windings; In switched reluctance machines a certain phase maximum induction place and stator poles center line alignment rotor pole midline, turn off the switching tube that this is corresponding; The magnetic energy of main motor stator winding is powered from the stator winding of motor by fly-wheel diode, both the afterflow of main motor stator winding had been achieved in the process, also achieve the excitation process from motor simultaneously, in the process pulse electric energy is converted into mechanical energy from motor and exports.
For increasing the ON time of mair motor every phase, the present invention adopts six step conducting methods (for three-phase switch reluctance machine) i.e. A-A, C-C-C, B be conducted-B, the A of-B that be conducted that be conducted that be conducted that be conducted to be conducted.The exciting current from motor can be increased, by controlling the size opened, turn off angle to regulate the exciting current from motor of mair motor by the ON time increasing the every phase of mair motor.Therefore the present invention achieves the operation of two-shipper stringent synchronization by the simple power inverter of a nested structure.
(2) main switch reluctance motor is operated in generating state, is operated in motoring condition from switched reluctance machines;
According to the information of position detector, at main switch reluctance motor a certain phase minimum inductance position and stator poles axial alignment rotor axis, open the switching tube that this is corresponding, now DC power supply is powered directly to the corresponding stator winding excitation of mair motor, and what control mair motor according to the speed feedback from motor opens shutoff angle.
Present system only needs a set of power inverter can realize the synchronous driving of bi-motor, the natural synchronous operation of principal and subordinate's motor and without only poor; Power inverter used is simple structure, and every phase only needs a switching tube and a fly-wheel diode; When mair motor is operated in generating state, when motor is in motoring condition, extra intermediate energy decoupling device and power inverter is not needed to get final product Direct driver from motor.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram of switched reluctance motor.
Fig. 2 is the structural representation of existing biswitch reluctance motor system.
Fig. 3 is the structural representation of existing electricity generation and electromotion system.
Fig. 4 is the structural representation of biswitch reluctance motor system of the present invention.
Fig. 5 is the structural representation of power inverter in present system.
Fig. 6 (a) battery is to the circuit theory schematic diagram of mair motor conveying capacity.
Fig. 6 (b) is for mair motor winding is to the circuit theory schematic diagram released energy from motor.
Embodiment
In order to more specifically describe the present invention, below in conjunction with the drawings and the specific embodiments, technical scheme of the present invention and relative theory thereof are described in detail.
As shown in Figure 4, a kind of based on synchronously driven biswitch reluctance motor system, comprise: power inverter, storage battery, position detector, controller, main switch reluctance motor and from switched reluctance machines, two switched reluctance machines are the switched reluctance machines of three-phase 12/8 structure, and the switched reluctance machines of this structure has three stator winding.
Position detector obtains the location status information of main switch magnetic resistance motor rotor for detecting; It is connected with controller, in present embodiment, position detector adopts incremental encoder, encoder is fixed on support, is connected with main motor shaft by the axle of shaft coupling by encoder, is alignd at the maximum induction place of the zero flag position of encoder with a certain phase of mair motor during connection.Encoder converts displacement to the periodic signal of telecommunication, then this signal of telecommunication is transformed into count pulse, accurately can locate the position of rotor to the step-by-step counting of rotor-position.
Controller is used for producing one group of drive singal P according to location status information structuring
1~ P
3, to control power inverter; It is connected with the device for power switching in power inverter by drive circuit, and present embodiment middle controller adopts DSP; The encoder of the pulse counting signal input DSP that position detector produces catches mouth, and DSP just can determine mair motor rotor present position information according to this pulse counting signal, also just can know maximum induction and the minimum inductance place of each phase; Need according to mair motor rotating speed and rotor position information when bi-motor is all in motoring condition and turns on and off angle from motor operating state selector switch pipe, generally will turn on and off angle and select at phase inductance between minimum inductance and maximum induction; And generating state needs open-minded at phase inductance maximum induction place, at phase inductance decline district on-off switching tube, require to select reasonably to turn off angle according to carrying from motor belt motor.
Power inverter is used for according to drive singal P
1~ P
3control the power on/off of two each stator winding of switched reluctance machines; As shown in Figure 5, in present embodiment, power inverter is made up of three power conversion unit, and power conversion unit is composed in series by a fly-wheel diode and a metal-oxide-semiconductor; Wherein:
Main switch reluctance motor stator winding L
aone end and metal-oxide-semiconductor S
1drain electrode and diode D
1anode be connected, diode D
1negative electrode with from Stators for Switched Reluctance Motors winding L
aone end be connected, metal-oxide-semiconductor S
1source electrode be connected with the negative pole of storage battery; The positive pole of storage battery and main switch reluctance motor stator winding L
athe other end and from Stators for Switched Reluctance Motors winding L
athe other end be connected.
Main switch reluctance motor stator winding L
bone end and metal-oxide-semiconductor S
2drain electrode and diode D
2anode be connected, diode D
2negative electrode with from Stators for Switched Reluctance Motors winding L
bone end be connected, metal-oxide-semiconductor S
2source electrode be connected with the negative pole of storage battery; The positive pole of storage battery and main switch reluctance motor stator winding L
bthe other end and from Stators for Switched Reluctance Motors winding L
bthe other end be connected.
Main switch reluctance motor stator winding L
cone end and metal-oxide-semiconductor S
3drain electrode and diode D
3anode be connected, diode D
3negative electrode with from Stators for Switched Reluctance Motors winding L
cone end be connected, metal-oxide-semiconductor S
3source electrode be connected with the negative pole of storage battery; The positive pole of storage battery and main switch reluctance motor stator winding L
cthe other end and from Stators for Switched Reluctance Motors winding L
cthe other end be connected.
Storage battery is parallel with electric capacity C, metal-oxide-semiconductor S
1~ S
3grid receive the drive singal P that controller provides respectively
1~ P
3.
The operating state of present embodiment is divided into two kinds:
(1) principal and subordinate's motor is all operated in motoring condition:
Switching tube opens battery to mair motor excitation, by control S
1, S
2and S
3angle of flow realize the rotation of motor.With L
afor example: work as S
1during conducting as shown in Fig. 6 (a), battery is to L
acharging, the L when machine operation
aportion of energy is converted into mechanical energy, and another part energy storage is magnetic energy; Work as S
1during shutoff as shown in Fig. 6 (b), L
athe energy of middle storage passes through by L
a, D
1, L
athe loop formed is given from motor excitation.
By fixing mair motor turn-on angle θ
on(stator poles axial alignment rotor axis is zero degree) regulates and closes angle of rupture θ
off, distribute mair motor and the magnetization energy from motor, make two motors within respective nominal load, reach stable, synchronous operation.Turn-on angle θ
ongeneral selection minimum inductance place and stator poles axial alignment rotor axis place, or anticipated future position a little, close angle of rupture θ
offminimum limit value is greater than θ
on, maximum limit, built in the front position of maximum induction, ensures the afterflow of mair motor, namely from the exciting current of motor, does not enter mair motor and bear torque district.According to the actual loading situation of principal and subordinate's motor at θ
onθ is regulated under preferred fixing situation
off, distribute separately effectively magnetization energy.
(2) mair motor is operated in generating state, is all operated in motoring condition from motor:
Battery is to mair motor excitation, prime mover drags mair motor and rotates, and mair motor is operated in generating state, and the electric energy sent directly is supplied from the corresponding phase excitation of motor by fly-wheel diode, identical with mair motor excitation frequency from motor excitation frequency, thus realize master slaver motor synchronous operation.With L
afor example: work as S
1during conducting as shown in Fig. 6 (a), battery is to L
aexcitation, works as S
1during shutoff as shown in Fig. 6 (b), prime mover pulls mair motor to rotate, and mechanical energy converts electric energy to, by L
awinding passes through by L
a, D
1, L
athe loop formed is given from motor excitation.
Control strategy is preferably fixing closes angle of rupture θ
off(stator poles axial alignment rotor axis is zero degree) regulates turn-on angle θ
on, mair motor, when abundant excitation, converts the mechanical energy of prime mover to electric energy, directly supply from motor excitation, make from motor with mair motor synchronous operation while, its load capacity obtains larger raising.Close angle of rupture θ
offaccording to motor phase inductance preferred inductance decline zone position, turn-on angle θ
onregulated in real time by adjuster near maximum induction.Carry requirement according to from motor belt motor, regulate turn-on angle θ
onchange mair motor excitation situation, regulated power generation performance and from motor runnability.
Claims (4)
1. one kind based on synchronously driven biswitch reluctance motor system, it is characterized in that, comprise: a power inverter, a DC power supply, a position detector, a controller, main switch reluctance motor and from switched reluctance machines, two switched reluctance machines numbers of phases are identical;
Described position detector obtains the location status information of main switch magnetic resistance motor rotor for detecting;
Described controller is used for producing one group of drive singal according to described location status information structuring, to control described power inverter;
Described power inverter is used for the power on/off controlling two each stator winding of switched reluctance machines according to described drive singal;
Described power inverter is made up of n power conversion unit, and n is the number of phases of switched reluctance machines; Wherein, one end of the first link stator winding corresponding to main switch reluctance motor of described power conversion unit is connected, and the second link is connected with the one end from the corresponding stator winding of switched reluctance machines, and the 3rd link is connected with the negative pole of DC power supply; The positive pole of DC power supply is connected with the other end of each stator winding of main switch reluctance motor and from the other end of each stator winding of switched reluctance machines;
Described power conversion unit is made up of a fly-wheel diode and a switching tube; Wherein, the input of switching tube is connected with the anode of fly-wheel diode and is the first link of power conversion unit, the negative electrode of fly-wheel diode is the second link of power conversion unit, the output of switching tube is the 3rd link of power conversion unit, and the control end of switching tube receives the drive singal that controller provides.
2. according to claim 1 based on synchronously driven biswitch reluctance motor system, it is characterized in that: described DC power supply adopts storage battery.
3. according to claim 1 based on synchronously driven biswitch reluctance motor system, it is characterized in that: described DC power supply is parallel with electric capacity.
4. according to claim 1 based on synchronously driven biswitch reluctance motor system, it is characterized in that: described position detector adopts incremental encoder, it is fixed on the support of main switch reluctance motor, and its axle is connected by the main shaft of shaft coupling with main switch reluctance motor.
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| CN201210329706.3A CN102832860B (en) | 2012-09-07 | 2012-09-07 | Double-switch magnetoresistive motor system based on synchronous drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210329706.3A CN102832860B (en) | 2012-09-07 | 2012-09-07 | Double-switch magnetoresistive motor system based on synchronous drive |
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| CN102832860A CN102832860A (en) | 2012-12-19 |
| CN102832860B true CN102832860B (en) | 2015-07-08 |
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| CN104129314B (en) * | 2014-07-18 | 2017-03-01 | 成都宇能通能源开发有限公司 | A kind of employing switched reluctance machines are as the dynamical system of power transformer |
| CN105939134B (en) * | 2016-06-15 | 2018-04-03 | 浙江大学 | Biswitch reluctance motor operation control system based on the driving of single power inverter |
| CN106026814B (en) * | 2016-06-29 | 2019-01-29 | 南京航空航天大学 | The direct instantaneous torque of bearing-free switch reluctance motor and direct suspending power control method |
| EP3460984A1 (en) * | 2017-09-22 | 2019-03-27 | Siemens Aktiengesellschaft | Monitoring device for a reluctance machine and method for monitoring |
| CN108448967B (en) * | 2018-03-21 | 2019-07-30 | 中国计量大学 | A kind of switched reluctance machines converter system |
| CN109551483A (en) * | 2019-01-18 | 2019-04-02 | 王昊 | A kind of joint of mechanical arm and its Calculating Torque during Rotary method with torque-feedback |
| CN113972880B (en) * | 2021-10-15 | 2023-01-06 | 裕利年电子南通有限公司 | Control method for driving multi-parallel switch reluctance motor system by single inverter |
| CN113991938B (en) * | 2021-10-27 | 2023-11-24 | 扬州大学 | Cascade power generation system of single-phase switch reluctance generator and control method thereof |
| CN114070166A (en) * | 2021-11-17 | 2022-02-18 | 西安交通大学 | N-type switch reluctance motor driving system and method based on wireless power transmission |
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| CN101707463A (en) * | 2009-11-10 | 2010-05-12 | 中国人民解放军海军工程大学 | Parallel vector control system of induction motor |
| CN102611269B (en) * | 2012-04-01 | 2014-03-12 | 浙江大学 | Switched reluctance motor powered by new energy |
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