CN104201949A - Real-time control method and system of switch reluctance motor turn-off angle - Google Patents
Real-time control method and system of switch reluctance motor turn-off angle Download PDFInfo
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- CN104201949A CN104201949A CN201410485162.9A CN201410485162A CN104201949A CN 104201949 A CN104201949 A CN 104201949A CN 201410485162 A CN201410485162 A CN 201410485162A CN 104201949 A CN104201949 A CN 104201949A
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- angle
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- switched reluctance
- reluctance motor
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Abstract
The invention relates to a real-time control method and system of a switch reluctance motor turn-off angle and belongs to the technical field of switch reluctance motor control. The method is characterized by including the steps of 1001, setting the initial value of the turn-off angle; 1002, calculating rotation speed, current value and the turn-off angle; 1003, detecting whether current enters an inductance lowering area or not; 1004, reducing the turn-off angle; 1005, increasing the turn-off angle; 1006, detecting whether controller signal requirements are satisfied or not; 1007, sending out a control signal. The system comprises a detecting unit, a microprocessor, a logic processing unit, a current collecting circuit, a power drive unit and a power circuit. The method has the advantages that the turn-off angle is adjusted in real time according to the position signal and phase current value of a switch reluctance motor and the actual rotation speed of the motor, the motor can operate in an optimal working area, and the power density of the switch reluctance motor is increased.
Description
Technical field
Switched reluctance motor closes real-time control method and a system for the angle of rupture, belongs to switched reluctance motor control technology field.
Background technology
Aspect the control of the switched reluctance motor pass angle of rupture, traditional approach often adopts fixing mode of closing the angle of rupture to control, fixing control mode of closing the angle of rupture mainly has to control to be implemented simply, reliability is high, adopted by most of manufacturer, but the method also has following shortcoming simultaneously: be definite value owing to closing the angle of rupture, while operation, close angle of rupture setting too large under motoring condition, may cause freewheel current hangover and enter generating district, form plugging torque, thereby cause system loss larger, operational efficiency is low, close angle of rupture setting as fixing too little, in the situation of same electric current, motor average torque is less than normal, torque request cannot reach operation time, reduce power of motor density, affect motor performance.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, provide a kind of and adjust in real time the pass angle of rupture according to switched reluctance machines position signalling, phase current values, motor actual speed, guarantee that motor operates between optimized working zone, the switched reluctance motor that improves motor power (output) density closes real-time control method and the system of the angle of rupture.
The technical solution adopted for the present invention to solve the technical problems is: this switched reluctance motor closes the real-time control method of the angle of rupture, it is characterized in that: comprise the steps:
Step 1001, arranges and closes angle of rupture initial value;
Be to send into a numerical value that closes the angle of rupture by microprocessor to Logical processing unit people;
Logical processing unit is sent into power drive unit after receiving the numerical value of this pass angle of rupture, sends driving signal by power drive unit, and switched reluctance machines starts to rotate;
Step 1002, calculates current value, rotating speed, the pass angle of rupture;
The data that microprocessor collects according to current sensor obtain phase winding current value, and calculate motor actual speed according to the current value of phase winding, and calculate the pass angle of rupture by closing angle of rupture computing formula;
Step 1003, detects electric current and whether enters inductance decline district;
Microprocessor judges electric current closes to have no progeny whether to enter inductance decline district, if enter inductance decline district, and execution step 1004, if do not enter inductance decline district, otherwise execution step 1005;
Step 1004, reduces to close the angle of rupture;
Microprocessor calculates according to closing the angle of rupture variable quantity computing formula variable quantity that closes the angle of rupture, and the pass angle of rupture is reduced to corresponding angle;
Step 1005, increases and closes the angle of rupture;
Microprocessor calculates according to closing the angle of rupture variable quantity computing formula variable quantity that closes the angle of rupture, and will close the angle of rupture and increase corresponding angle;
Whether step 1006, meet controller signals requirement;
Whether the torque of the current switched reluctance machines of microprocessor judges meets the requirement of switched reluctance motor controller, if do not met, returns to execution step 1002, if met, and execution step 1007;
Step 1007, sending control signal;
Microprocessor is opened signal by phase winding and is delivered to Logical processing unit, and Logical processing unit drives signal to deliver to device for power switching by power drive unit device for power switching, opens shutoff thereby control phase winding electric current.
Preferably, the pass angle of rupture calculation of initial value formula described in step 1001 is:
（1）
Wherein:
for switched reluctance motor minimum inductance value,
for switched reluctance motor maximum induction value,
for switched reluctance motor phase winding actual current value,
for the lowest high-current value of switched reluctance motor phase winding permission,
for switched reluctance motor actual speed value,
for switched reluctance motor maximum (top) speed value,
for the maximum that switched reluctance motor is adjustable is closed angle of rupture value.
Preferably, the pass angle of rupture variable quantity computing formula described in step 1004, step 1005 is:
（2）
Wherein:
be
when inferior, switched reluctance machines closes angle of rupture angle,
be
when inferior, switched reluctance machines closes angle of rupture angle.
A kind of switched reluctance motor closes the real-time control system of the angle of rupture, it is characterized in that: comprise position detection unit, microprocessor, Logical processing unit, current collection circuit, power drive unit and power circuit, the output of position detection unit is connected with the input of Logical processing unit, the output of Logical processing unit is connected with the input of power drive unit, and the output of power cell is connected with the input of power circuit; The output of power circuit connects, and the output of current sensor is connected with the input of current sampling circuit, and the output of current sampling circuit is connected with the input of microprocessor, and microprocessor interconnects with Logical processing unit simultaneously.
Preferably, described power circuit comprises IGBT pipe T1 ~ T2, the output of described power drive unit connects the grid of two IGBT pipe T1 ~ T2 in power circuit simultaneously, DC power anode connects the IGBT pipe collector electrode of T1 and the negative electrode of diode D1 simultaneously, the emitter of IGBT pipe T1 connects one end of anode and the electric capacity L1 of diode D2 simultaneously, the other end of electric capacity L1 connects the anode of diode D1 simultaneously, the input of the collector electrode of IGBT pipe T2 and described current sensor, the emitter of IGBT pipe T2 connects negative electrode and the DC power cathode of diode D2 simultaneously.
Compared with prior art, the beneficial effect that the present invention has is:
1, the real-time control method of this switched reluctance motor pass angle of rupture is adjusted the pass angle of rupture in real time according to switched reluctance machines position signalling, phase current values, motor actual speed, guarantee that motor operates between optimized working zone, has improved the power density of switched reluctance motor.
2, avoided closing in prior art the various defects that angle of rupture fixed form is brought, operating state is more stable, reliable.
Brief description of the drawings
Fig. 1 is the real-time control system functional-block diagram that switched reluctance motor closes the angle of rupture.
Fig. 2 is switched reluctance motor inductance and current waveform figure under the angle of rupture of different passes.
Fig. 3 is the real-time control method flow chart that switched reluctance motor closes the angle of rupture.
Embodiment
Fig. 1 ~ 3rd, most preferred embodiment of the present invention, below in conjunction with accompanying drawing 1 ~ 3, the present invention will be further described:
As shown in Figure 1, the real-time control system of the switched reluctance motor pass angle of rupture comprises: position detection unit, microprocessor, Logical processing unit, current collection circuit, power drive unit and power circuit.The output of position detection unit is connected with the input of Logical processing unit, and the output of Logical processing unit is connected with the input of power drive unit, and the output of power drive unit connects the grid of two IGBT pipe T1 ~ T2 in power circuit simultaneously.
In power circuit, DC power anode connects the IGBT pipe collector electrode of T1 and the negative electrode of diode D1 simultaneously, the emitter of IGBT pipe T1 connects one end of anode and the electric capacity L1 of diode D2 simultaneously, and the other end of electric capacity L1 connects anode, the IGBT pipe collector electrode of T2 and the input of current sensor of diode D1 simultaneously.The emitter of IGBT pipe T2 connects negative electrode and the DC power cathode of diode D2 simultaneously.
The output of current sensor is connected with the input of current sampling circuit, and the output of current sampling circuit is connected with the input of microprocessor, and microprocessor interconnects with Logical processing unit simultaneously.
Same as the prior art, position detection unit comprises multiple transducers, coordinates installation with switched reluctance machines, makes the stator of switched reluctance motor and rotor start aligned position, maximum induction position, minimum inductance position and all can produce position level signal.
In the time that switched reluctance machines normally moves, the position level signal being produced by position detection unit is delivered to Logical processing unit, Logical processing unit after position signalling is encoded, obtain switched reluctance machines in maximum induction district, the position interrupt signal in minimum inductance district.The position encoded microprocessor of simultaneously delivering to that the position interrupt signal that Logical processing unit generates coding and position detection unit generate.Microprocessor is under the request of interrupt signal, sense switch reluctance motor phase winding current value, microprocessor is according to the actual speed of phase winding current value compute switch reluctance motor, form PI governing loop with setting speed, obtain required phase winding current target value, and realize the angle control of closing the angle of rupture by pid algorithm according to phase winding electric current current target value, phase winding electric current actual sample value, rotary speed actual value.
Phase winding electric current actual sample value is obtained by current sensor, and the input access phase winding electric current of current sensor, is little current signal by current sensor by phase winding current conversion, and sends into current sampling circuit.The current signal of current sensor output carries out delivering to microprocessor after analog-to-digital conversion through current sampling circuit sampling, A/D modular converter (not shown in FIG.).Microprocessor is opened signal by phase winding and is delivered to Logical processing unit after calculating, and Logical processing unit drives signal to deliver to device for power switching by power drive unit device for power switching, opens shutoff thereby control phase winding electric current.Microprocessor can adopt MCU or DSP to realize.
As shown in Figure 2, switched reluctance motor inductance and current waveform figure under the angle of rupture of different passes, its middle and upper part is divided into switched reluctance motor and closes the angle of rupture-inductance value oscillogram, and bottom is divided into the pass angle of rupture-current value oscillogram.Closing in the angle of rupture-current value oscillogram solid line described is to be closing the angle of rupture
time shutoff waveform, turn-off after-current reduce, before not entering inductance decline district, electric current is reduced to zero, does not therefore produce plugging moment of torsion, electric motor overheating is little, system effectiveness is high.Dotted portion is to be at the pass angle of rupture
time shutoff waveform,
>
, shutoff relatively lags behind, and turn-offs after-current and before being reduced to zero, has reached inductance decline district, i.e. and plugging district, is greater than when closing the angle of rupture
time, it is longer that electric current enters time in inductance decline district, and the plugging torque of generation is just larger, so electric motor overheating is more serious under motoring condition, system effectiveness is lower.The object of the invention is to control the pass angle of rupture and forbid to enter inductance decline district, the angle of rupture of must checking on is controlled at and is less than in real time
scope in.In the time detecting that there is electric current in inductance decline district, the current pass angle of rupture
reduce
, iterative cycles is until reach detected target call.
As shown in Figure 3, a kind of switched reluctance motor closes the real-time control method of the angle of rupture, comprises the steps:
Step 1001, arranges and closes angle of rupture initial value;
Be to send into a numerical value that closes the angle of rupture by microprocessor to Logical processing unit people;
Logical processing unit is sent into power drive unit after receiving the numerical value of this pass angle of rupture, sends driving signal by power drive unit, and switched reluctance machines starts to rotate.
Step 1002, calculates current value, rotating speed, the pass angle of rupture;
The digital signal that microprocessor is sent into according to A//D conversion chip is calculated the current value of phase winding, and calculates motor speed according to current value, and closes the angle of rupture by closing the calculating of angle of rupture computing formula;
The position level signal that position detection unit produces is delivered to Logical processing unit, and Logical processing unit obtains position interrupt signal after position signalling is encoded.The position encoded microprocessor of simultaneously delivering to that the position interrupt signal that Logical processing unit generates coding and position detection unit generate.Microprocessor is under the request of interrupt signal, sense switch reluctance motor phase winding current value, microprocessor is according to the actual speed of phase winding current value compute switch reluctance motor, and form PI governing loop with setting speed, obtain required phase winding current target value, and close angle of rupture computing formula calculate close the angle of rupture
Closing angle of rupture computing formula is formula (1):
（1）
Wherein:
for switched reluctance motor minimum inductance value,
for switched reluctance motor maximum induction value, be switched reluctance motor phase winding actual current value,
for the lowest high-current value of switched reluctance motor phase winding permission,
for switched reluctance motor actual speed value,
for switched reluctance motor maximum (top) speed value,
for the maximum that switched reluctance motor is adjustable is closed angle of rupture value.
Step 1003, detects electric current and whether enters inductance decline district;
Microprocessor determines according to position encoded and position interrupt signal electric current closes to have no progeny whether to enter inductance decline district, shown in Fig. 2
~
between region, if turned over
after position, phase winding electric current still detected, illustrate that electric current has entered opposing torque and produced region, execution step 1004, otherwise execution step 1005;
Step 1004, reduces to close the angle of rupture;
Microprocessor calculates according to closing the angle of rupture variable quantity computing formula variable quantity that closes the angle of rupture, and the pass angle of rupture is reduced to corresponding angle;
Step 1005, increases and closes the angle of rupture;
Microprocessor calculates according to closing the angle of rupture variable quantity computing formula variable quantity that closes the angle of rupture, and will close the angle of rupture and increase corresponding angle;
Close angle of rupture variable quantity computing formula as shown in Equation (2):
（2）
Wherein:
be
when inferior, switched reluctance machines closes angle of rupture angle,
be
when inferior, switched reluctance machines closes angle of rupture angle, closes the each variable quantity of the angle of rupture to be
, calculate in real time its value and regulate and close the angle of rupture
size.
Whether step 1006, meet controller signals requirement;
Whether the torque of the current switched reluctance machines of microprocessor judges meets the requirement of switched reluctance motor controller, if do not met, returns to execution step 1002, if met, and execution step 1007;
Step 1007, sending control signal;
Microprocessor is opened signal by phase winding and is delivered to Logical processing unit, and Logical processing unit drives signal to deliver to device for power switching by power drive unit device for power switching, opens shutoff thereby control phase winding electric current.
The above, be only preferred embodiment of the present invention, is not the restriction of the present invention being made to other form, and any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the equivalent embodiment of equivalent variations.But every technical solution of the present invention content that do not depart from, any simple modification, equivalent variations and the remodeling above embodiment done according to technical spirit of the present invention, still belong to the protection range of technical solution of the present invention.
Claims (5)
1. switched reluctance motor closes a real-time control method for the angle of rupture, it is characterized in that: comprise the steps:
Step 1001, arranges and closes angle of rupture initial value;
Be to send into a numerical value that closes the angle of rupture by microprocessor to Logical processing unit people;
Logical processing unit is sent into power drive unit after receiving the numerical value of this pass angle of rupture, sends driving signal by power drive unit, and switched reluctance machines starts to rotate;
Step 1002, calculates current value, rotating speed, the pass angle of rupture;
The data that microprocessor collects according to current sensor obtain phase winding current value, and calculate motor actual speed according to the current value of phase winding, and calculate the pass angle of rupture by closing angle of rupture computing formula;
Step 1003, detects electric current and whether enters inductance decline district;
Microprocessor judges electric current closes to have no progeny whether to enter inductance decline district, if enter inductance decline district, and execution step 1004, if do not enter inductance decline district, otherwise execution step 1005;
Step 1004, reduces to close the angle of rupture;
Microprocessor calculates according to closing the angle of rupture variable quantity computing formula variable quantity that closes the angle of rupture, and the pass angle of rupture is reduced to corresponding angle;
Step 1005, increases and closes the angle of rupture;
Microprocessor calculates according to closing the angle of rupture variable quantity computing formula variable quantity that closes the angle of rupture, and will close the angle of rupture and increase corresponding angle;
Whether step 1006, meet controller signals requirement;
Whether the torque of the current switched reluctance machines of microprocessor judges meets the requirement of switched reluctance motor controller, if do not met, returns to execution step 1002, if met, and execution step 1007;
Step 1007, sending control signal;
Microprocessor is opened signal by phase winding and is delivered to Logical processing unit, and Logical processing unit drives signal to deliver to device for power switching by power drive unit device for power switching, opens shutoff thereby control phase winding electric current.
2. switched reluctance motor according to claim 1 closes the real-time control method of the angle of rupture, it is characterized in that: the pass angle of rupture calculation of initial value formula described in step 1001 is:
（1）
Wherein:
for switched reluctance motor minimum inductance value,
for switched reluctance motor maximum induction value,
for switched reluctance motor phase winding actual current value,
for the lowest high-current value of switched reluctance motor phase winding permission,
for switched reluctance motor actual speed value,
for switched reluctance motor maximum (top) speed value,
for the maximum that switched reluctance motor is adjustable is closed angle of rupture value.
3. switched reluctance motor according to claim 1 closes the real-time control method of the angle of rupture, it is characterized in that: the pass angle of rupture variable quantity computing formula described in step 1004, step 1005 is:
（2）
Wherein:
be
when inferior, switched reluctance machines closes angle of rupture angle,
be
when inferior, switched reluctance machines closes angle of rupture angle.
4. one kind closes the system of the real-time control method of the angle of rupture for realizing switched reluctance motor described in claim 1 ~ 3 any one, it is characterized in that: comprise position detection unit, microprocessor, Logical processing unit, current collection circuit, power drive unit and power circuit, the output of position detection unit is connected with the input of Logical processing unit, the output of Logical processing unit is connected with the input of power drive unit, and the output of power cell is connected with the input of power circuit; The output of power circuit connects, and the output of current sensor is connected with the input of current sampling circuit, and the output of current sampling circuit is connected with the input of microprocessor, and microprocessor interconnects with Logical processing unit simultaneously.
5. switched reluctance motor according to claim 4 closes the real-time control system of the angle of rupture, it is characterized in that: described power circuit comprises IGBT pipe T1 ~ T2, the output of described power drive unit connects the grid of two IGBT pipe T1 ~ T2 in power circuit simultaneously, DC power anode connects the IGBT pipe collector electrode of T1 and the negative electrode of diode D1 simultaneously, the emitter of IGBT pipe T1 connects one end of anode and the electric capacity L1 of diode D2 simultaneously, the other end of electric capacity L1 connects the anode of diode D1 simultaneously, the input of the collector electrode of IGBT pipe T2 and described current sensor, the emitter of IGBT pipe T2 connects negative electrode and the DC power cathode of diode D2 simultaneously.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106171247A (en) * | 2016-06-29 | 2016-12-07 | 杭州士腾科技有限公司 | The control method of drive system and the control method of electric tool |
| US10476421B1 (en) | 2018-08-28 | 2019-11-12 | Caterpillar Inc. | Optimized switched reluctance phase current control in a continuous conduction mode |
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2014
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Patent Citations (4)
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| JP2000050670A (en) * | 1998-07-31 | 2000-02-18 | Tamagawa Seiki Co Ltd | Method for driving three-phase brushless motor |
| JP2008050670A (en) * | 2006-08-25 | 2008-03-06 | Okuma Engineering:Kk | Carbon based film forming device and forming method therefor |
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Non-Patent Citations (1)
| Title |
|---|
| B.BLANQUE.ET: ""IMPROVING EFFICIENCY IN SWITCHED RELUCTANCE MOTOR DRIVES WITH ONLINE CONTROL OF TURN-ON AND TURN-OFF ANGLES"", 《POWER ELECTRONICS AND APPLICATIONS, 2005 EUROPEAN CONFERENCE ON》, 14 September 2005 (2005-09-14), pages 1 - 9 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106171247A (en) * | 2016-06-29 | 2016-12-07 | 杭州士腾科技有限公司 | The control method of drive system and the control method of electric tool |
| US10476421B1 (en) | 2018-08-28 | 2019-11-12 | Caterpillar Inc. | Optimized switched reluctance phase current control in a continuous conduction mode |
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| CN104201949B (en) | 2016-08-17 |
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