CN103187907A - Switching method and device for control modes of switch reluctance machine - Google Patents
Switching method and device for control modes of switch reluctance machine Download PDFInfo
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- CN103187907A CN103187907A CN2011104435225A CN201110443522A CN103187907A CN 103187907 A CN103187907 A CN 103187907A CN 2011104435225 A CN2011104435225 A CN 2011104435225A CN 201110443522 A CN201110443522 A CN 201110443522A CN 103187907 A CN103187907 A CN 103187907A
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Abstract
The invention relates to a switching method and a device for control modes of a switch reluctance machine. The switching method comprises the steps that: Step 11, proportional integral operation is conducted on a deviation value between a target given value and an actual given value of the switch reluctance machine to obtain a first given value; and Step 12, the current state is judged; if the current state is in a control mode switching transition process, a compensator is preset to be effective, a compensation given value output by the compensator is preset, and a finally output actual given value is obtained by adding the compensation given value to the first given value; and if the current state is not in the control mode switching transition process, the finally output actual given value is the first given value. According to the method and the device, the compensator is preset; the compensation given value is output during the control mode switching transition process of the switch reluctance machine; the finally output actual given value is compensated based on the first given value; the abrupt change of a reluctance machine torque is reduced; the torque adjustment is accelerated; and the stable running of the reluctance machine is realized.
Description
Technical field
The present invention relates to the switched Reluctance Motor Control field, especially relate to method and device that the switched Reluctance Motor Control mode is steadily switched.
Background technology
The control mode of switched reluctance motor system to which parameter is controlled and how to be controlled when referring to the motor operation, and the output characteristic of electric system is met the demands.The control mode of switched reluctance motor system mainly contains three kinds of control modes at present, current chopping control, voltage chopping control, pulse control.Switched reluctance motor system can adopt multiple control modes, and the motor characteristic of different control mode correspondences also has bigger difference; Because the application scenario generally requires motor that the wideer range of speeds and wideer torque adjustment scope are arranged, in order to make motor in the different ranges of speeds, can both obtain the perfect performance index, generally select different control modes or the combination of different modes for use according to the rotating speed of motor scope.Starting and low-speed stage, the rate of climb of electric current is very fast, adopts the effectively peak value of limit value electric current of current chopping control; In the middling speed stage, adopt voltage chopping can take into account the exerting oneself of electric system, efficient, noise; In high regime, adopt pulse control can obtain higher system efficient, also can obtain bigger exerting oneself simultaneously.
Along with change in rotational speed, must switch between the different control modes; During switching, guarantee the motor output torque stationarity, more especially the occasion that torque response is required is higher to the stationarity requirement of torque.Though the time is shorter, only need several cycles, owing to switch actual given the starting from scratch of moment adjuster, the phenomenon of torque sudden change can appear; If the regulating power of system is relatively poor, can cause system oscillation.
Control method when Fig. 1 switches for existing control mode, the current waveform of the switched reluctance machines of given adjustment process when Fig. 2 be existing control mode switching.Among Fig. 2, when control mode is switched to the voltage chopping control mode by pulse control, need 4 regulating cycles, could arrive the target set-point, current break in the adjustment process makes the motor torque sudden change, influences the motor stabilizing operation.
Summary of the invention
The present invention seeks to realize that switched reluctance motor system when control mode is switched, reduces the sudden change of torque, accelerate torque adjustment speed, make the motor stabilizing operation.
Switched Reluctance Motor Control mode changing method provided by the invention, described control mode comprises: the pulse control mode of current chopping control mode, the voltage chopping control mode in middling speed stage and the high speed stage of startup or low-speed stage, and wherein this changing method comprises:
Step 11, the deviate to the target of switched reluctance machines between given and switched reluctance machines actual given are carried out the proportional integral computing and are obtained first given;
Step 12, judge current state, if be in the transient process that control mode is switched, it is effective then to preset compensator, and it is given to preset compensator output compensation, and the given and first given addition obtains by compensation for final output actual given; If not being in the transient process that control mode is switched, it is described first given that final output actual is given as.
The described given step of compensator output compensation that presets comprises: presets compensator and determines current control mode according to the motor actual speed, and given according to the compensation of presetting compensator output under the given definite current control mode of reality then.
Describedly determine that the given step of compensation that presets compensator output under the current control mode comprises according to reality is given: presetting the given and actual pass between given of the compensation of compensator output is a piecewise function: when X＜A, and Y=A '; When X＞B, Y=B '; When A＜X＜B, Y=K ' X+C ', wherein X is actual given, Y is given for compensation, A is the first actual given critical value, and B is the second actual given critical value, and A, B, A ', B ', K ', C ' are constant, and B＞A, A＞A ', B＜B ', constant A ', the value of B ', K ', C ' is different and different with current control mode.When current control mode is current chopping control, A '=A1, B '=B1, K '=K1, C '=C1, wherein A1, B1, K1, C1 are constant;
When current control mode is voltage chopping control, A '=A2, B '=B2, K '=K2, C '=C2, wherein A2, B2, K2, C2 are constant;
When current control mode is controlled for pulse copped wave, A '=A3, B '=B3, K '=K3, C '=C3, wherein A3, B3, K3, C3 are constant.
Constant A ', the method for testing of B ', K ', C ' value is: close and preset compensator, only adopt the proportional integral arithmetic unit, the X of record motor under different loads, X and load are a piecewise function, this piecewise function is the piecewise function of X and Y, obtains constant A by this method of testing ', the value of B ', K ', C '.
Switched Reluctance Motor Control mode switching device shifter provided by the invention, described control mode comprises: the pulse control mode of current chopping control mode, the voltage chopping control mode in middling speed stage and the high speed stage of startup or low-speed stage, wherein this switching device shifter comprises subtracter, proportional integral arithmetic unit, adder and presets compensator
Subtracter is used for the deviate between the given and switched reluctance machines of the target of compute switch reluctance motor actual given;
The proportional integral arithmetic unit is used for that described deviate is carried out the proportional integral computing and obtains first given;
Judge current state, if be in the transient process that control mode is switched, it is effective then to preset compensator, and it is given to preset compensator output compensation, and first is given and compensation is given calculates the actual given of final output by adder; If not being in the transient process that control mode is switched, it is described first given that final output actual is given as.
The described compensator that presets comprises:
Current control mode determining unit is used for determining current control mode according to the motor actual speed;
Compensate given output unit, be used for according to the compensation of presetting compensator output under the given definite current control mode of reality given.
Switched Reluctance Motor Control mode changing method of the present invention and device, preset compensator by employing, the output compensation is given in the transient process that the switched Reluctance Motor Control mode is switched, make the reality of final output give to fix on and be compensated on the first given basis, reduced the sudden change of motor torque, accelerate torque adjustment speed, realized the stable operation of motor.
Description of drawings
Control method when Fig. 1 switches for existing control mode;
Fig. 2 is the current waveform figure of the existing control mode switched reluctance machines of given adjustment process when switching;
Fig. 3 is switched Reluctance Motor Control mode switching device shifter schematic diagram of the present invention;
Fig. 4 is for presetting the given flow chart of steps of compensator output compensation in the switched Reluctance Motor Control mode changing method of the present invention;
Current waveform figure when Fig. 5 carries out the control mode switching for adopting switched Reluctance Motor Control mode changing method of the present invention.
Embodiment
The control mode of switched reluctance machines comprises: the pulse control mode of current chopping control mode, the voltage chopping control mode in middling speed stage and the high speed stage of startup or low-speed stage.
Switched Reluctance Motor Control mode switching device shifter provided by the invention as shown in Figure 3, comprises subtracter 1, proportional integral arithmetic unit 2, adder 3 and presets compensator 4,
Subtracter 1 is used for the deviate between the given and switched reluctance machines of the target of compute switch reluctance motor actual given;
Proportional integral arithmetic unit 2 is used for that described deviate is carried out the proportional integral computing and obtains first given;
Judge current state, if be in the transient process that control mode is switched, it is effective then to preset compensator 4, and it is given to preset compensator 4 output compensation, and first is given and compensation is given calculates the actual given of final output by adder 3; If not being in the transient process that control mode is switched, it is described first given that final output actual is given as.
The above-mentioned compensator that presets can comprise:
Current control mode determining unit is used for determining current control mode according to the motor actual speed;
Compensate given output unit, be used for according to the compensation of presetting compensator output under the given definite current control mode of reality given.
Switched Reluctance Motor Control mode changing method provided by the invention may further comprise the steps:
Step 11, the deviate to the target of switched reluctance machines between given and switched reluctance machines actual given are carried out the proportional integral computing and are obtained first given;
Step 12, judge current state, if be in the transient process that control mode is switched, it is effective then to preset compensator, and it is given to preset compensator output compensation, and the given and first given addition obtains by compensation for final output actual given; If not being in the transient process that control mode is switched, it is described first given that final output actual is given as.
The above-mentioned given step of compensator output compensation that presets comprises: presets compensator and determines current control mode according to the motor actual speed, and given according to the compensation of presetting compensator output under the given definite current control mode of reality then.Preset compensator and at first read actual givenly, determine current control mode according to actual speed, given according to the given compensation of determining to preset under the current control mode compensator output of reality again.
Above-mentionedly determine that the given step of compensation that presets compensator output under the current control mode comprises according to reality is given: presetting the given and actual pass between given of the compensation of compensator output is a piecewise function: when X＜A, and Y=A '; When X＞B, Y=B '; When A＜X＜B, Y=K ' X+C ', wherein X is actual given, Y is given for compensation, A is the first actual given critical value, and B is the second actual given critical value, and A, B, A ', B ', K ', C ' are constant, and B＞A, A＞A ', B＜B ', constant A ', the value of B ', K ', C ' is different and different with current control mode.
As shown in Figure 4, presetting the given step of compensator output compensation comprises:
Step 32, obtain current rotating speed;
Step 34, judge that current rotating speed is whether more than or equal to the second critical value F of rotating speed, if determine that current control mode is the pulse control mode, execution in step 37; Otherwise, determine that current control mode is the voltage chopping control mode, execution in step 36; The first critical value E of its medium speed and the relation of the second critical value F are: E＜F, E, F are constant.
If the torque of proportional integral arithmetic unit 2 computings output is TPI, be TSET through the compensating torque that presets compensator 4 compensation, so control mode is switched the final torque Tout=TPI+TSET of transient process.Wherein TSET is a piecewise function: when X＜A, and Y=A '; When X＞B, Y=B '; When A＜X＜B, Y=K ' X+C ', wherein X is actual given, Y is given for compensation, A is the first actual given critical value, and B is the second actual given critical value, and A, B, A ', B ', K ', C ' are constant, and B＞A, A＞A ', B＜B ', constant A ', the value of B ', K ', C ' is different and different with current control mode.Constant A ', the value of B ', K ', C ' can obtain according to the reality test, method of testing is: close and preset compensator, only adopt the proportional integral arithmetic unit, the X of record motor under different loads, X and load are a piecewise function, this piecewise function is the piecewise function of X and Y, obtains constant A by this method of testing ', the value of B ', K ', C '.
Be that current chopping is controlled to be example with current control mode, this moment A '=A1, B '=B1, K '=K1, C '=C1; The value of A1, B1, K1, C1 can be tested according to reality.Method of testing is: closes earlier and presets compensator 4, only adopt proportional integral arithmetic unit 2 control, and record motor actual given under different loads, actual given and load are a piecewise function, this piecewise function is TSET just.Can obtain the value of A1, B1, K1, C1 according to piecewise function TSET.In like manner, when current control mode is voltage chopping control, adopt this method of testing can obtain the value of A2, B2, K2, C2; When current control mode is controlled for pulse copped wave, adopt this method of testing can obtain the value of A3, B3, K3, C3.
Current waveform figure when Fig. 5 carries out the control mode switching for adopting switched Reluctance Motor Control mode changing method of the present invention.As seen from Figure 5, adopt the present invention, the adjusting time when shortening the control mode transition greatly, when carrying out transition by the pulse control mode to the voltage chopping control mode, regulating cycle is zero substantially, has realized that control mode steadily switches.
In sum, switched Reluctance Motor Control mode changing method of the present invention and device, preset compensator by employing, the output compensation is given in the transient process that the switched Reluctance Motor Control mode is switched, make the reality of final output give to fix on and be compensated on the first given basis, reduce the sudden change of motor torque, accelerated torque adjustment speed, realized the stable operation of motor.
The adjusting time when shortening the control mode transition except adopting above-mentioned compensation way to realize, can also adopt the variable element mode.As in switched Reluctance Motor Control mode switching device shifter, adopt two proportional integral arithmetic units that the proportional integral parameter is different, be respectively the first proportional integral arithmetic unit and the second proportional integral arithmetic unit, if be in the transient process that control mode is switched, then the deviate between the given and switched reluctance machines of the target of switched reluctance machines actual given by the first proportional integral arithmetic unit carry out that the proportional integral computing finally exported actual given; If not being in the transient process that control mode is switched, then the deviate between the given and switched reluctance machines of the target of switched reluctance machines actual given by the second proportional integral arithmetic unit carry out that the proportional integral computing finally exported actual given.The proportional integral parameter of the first proportional integral arithmetic unit can obtain by the reality test, method of testing is: use the control of the second proportional integral arithmetic unit earlier, and the proportional integral parameter of regulating the second proportional integral arithmetic unit, regulate very fast up to the control mode transient process, over control do not occur, the proportional integral parameter of this moment is exactly the proportional integral parameter of the first proportional integral arithmetic unit.
It should be noted that at last: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (7)
1. switched Reluctance Motor Control mode changing method, described control mode comprises: the pulse control mode of current chopping control mode, the voltage chopping control mode in middling speed stage and the high speed stage of startup or low-speed stage, it is characterized in that this changing method comprises:
Step 11, the deviate to the target of switched reluctance machines between given and switched reluctance machines actual given are carried out the proportional integral computing and are obtained first given;
Step 12, judge current state, if be in the transient process that control mode is switched, it is effective then to preset compensator, and it is given to preset compensator output compensation, and the given and first given addition obtains by compensation for final output actual given; If not being in the transient process that control mode is switched, it is described first given that final output actual is given as.
2. switched Reluctance Motor Control mode changing method according to claim 1, it is characterized in that, the described given step of compensator output compensation that presets comprises: presets compensator and determines current control mode according to the motor actual speed, and given according to the compensation of presetting compensator output under the given definite current control mode of reality then.
3. switched Reluctance Motor Control mode changing method according to claim 2, it is characterized in that, describedly determine that the given step of compensation that presets compensator output under the current control mode comprises according to reality is given: presetting the given and actual pass between given of the compensation of compensator output is a piecewise function: when X＜A, and Y=A '; When X＞B, Y=B '; When A＜X＜B, Y=K ' X+C ', wherein X is actual given, Y is given for compensation, A is the first actual given critical value, and B is the second actual given critical value, and A, B, A ', B ', K ', C ' are constant, and B＞A, A＞A ', B＜B ', constant A ', the value of B ', K ', C ' is different and different with current control mode.
4. switched Reluctance Motor Control mode changing method according to claim 3 is characterized in that,
When current control mode is current chopping control, A '=A1, B '=B1, K '=K1, C '=C1, wherein A1, B1, K1, C1 are constant;
When current control mode is voltage chopping control, A '=A2, B '=B2, K '=K2, C '=C2, wherein A2, B2, K2, C2 are constant;
When current control mode is controlled for pulse copped wave, A '=A3, B '=B3, K '=K3, C '=C3, wherein A3, B3, K3, C3 are constant.
5. switched Reluctance Motor Control mode changing method according to claim 3, it is characterized in that, constant A ', the method for testing of B ', K ', C ' value is: close and preset compensator, only adopt the proportional integral arithmetic unit, the X of record motor under different loads, X and load are a piecewise function, and this piecewise function is the piecewise function of X and Y, obtain constant A by this method of testing ', the value of B ', K ', C '.
6. switched Reluctance Motor Control mode switching device shifter, described control mode comprises: the pulse control mode of current chopping control mode, the voltage chopping control mode in middling speed stage and the high speed stage of startup or low-speed stage, it is characterized in that, this switching device shifter comprises subtracter, proportional integral arithmetic unit, adder and presets compensator
Subtracter is used for the deviate between the given and switched reluctance machines of the target of compute switch reluctance motor actual given;
The proportional integral arithmetic unit is used for that described deviate is carried out the proportional integral computing and obtains first given;
Judge current state, if be in the transient process that control mode is switched, it is effective then to preset compensator, and it is given to preset compensator output compensation, and first is given and compensation is given calculates the actual given of final output by adder; If not being in the transient process that control mode is switched, it is described first given that final output actual is given as.
7. switched Reluctance Motor Control mode switching device shifter according to claim 6 is characterized in that, the described compensator that presets comprises:
Current control mode determining unit is used for determining current control mode according to the motor actual speed;
Compensate given output unit, be used for according to the compensation of presetting compensator output under the given definite current control mode of reality given.
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Cited By (6)
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| CN103671199A (en) * | 2013-12-26 | 2014-03-26 | 中冶长天国际工程有限责任公司 | Frequency conversion speed regulation method and system for draught fans |
| CN104393802A (en) * | 2014-11-07 | 2015-03-04 | 南京航空航天大学 | Line voltage detection-based doubly salient electro-magnetic motor position-less control method |
| WO2016066025A1 (en) * | 2014-10-30 | 2016-05-06 | 中国矿业大学 | Switch reluctance motor wide speed-regulation range cross-control method |
| WO2016095695A1 (en) * | 2014-12-15 | 2016-06-23 | 中国矿业大学 | Braking torque closed-loop control system and method for switch reluctance motor |
| CN109257000A (en) * | 2018-11-15 | 2019-01-22 | 中国矿业大学 | A kind of switched reluctance machines wide speed range mixing method for controlling speed regulation |
| CN114204877A (en) * | 2021-11-24 | 2022-03-18 | 哈尔滨工业大学 | Switched reluctance motor system based on hybrid pulse width modulation strategy and control method thereof |
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| US9871476B2 (en) | 2014-12-15 | 2018-01-16 | China University Of Mining And Technology | Braking torque closed-loop control system and method for switch reluctance motor |
| CN109257000A (en) * | 2018-11-15 | 2019-01-22 | 中国矿业大学 | A kind of switched reluctance machines wide speed range mixing method for controlling speed regulation |
| CN109257000B (en) * | 2018-11-15 | 2021-07-16 | 中国矿业大学 | Wide-rotating-speed-range hybrid speed regulation control method for switched reluctance motor |
| CN114204877A (en) * | 2021-11-24 | 2022-03-18 | 哈尔滨工业大学 | Switched reluctance motor system based on hybrid pulse width modulation strategy and control method thereof |
| CN114204877B (en) * | 2021-11-24 | 2023-09-12 | 哈尔滨工业大学 | Switch reluctance motor system based on mixed pulse width modulation strategy and control method thereof |
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Application publication date: 20130703 |