CN104218855B - The self-adaptation control method of position-less sensor of switched reluctance motor and system - Google Patents
The self-adaptation control method of position-less sensor of switched reluctance motor and system Download PDFInfo
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- CN104218855B CN104218855B CN201410485458.0A CN201410485458A CN104218855B CN 104218855 B CN104218855 B CN 104218855B CN 201410485458 A CN201410485458 A CN 201410485458A CN 104218855 B CN104218855 B CN 104218855B
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Abstract
The self-adaptation control method of position-less sensor of switched reluctance motor and system, belong to switched Reluctance Motor Control technical field.It is characterized in that: comprise the steps: step 1001, start；Step 1002, injecting voltage pulse；Step 1003, detects phase winding current amplitude；Step 1004, if reach a threshold requirement；Step 1005, motor commutation, produces internal interrupt and records the break period；Step 1006, calculates switched reluctance machines rotating speed；Step 1007, whether rotating speed changes；Step 1008, calculates injected frequency.Including switched reluctance motor controller (1), switched reluctance machines (7) and the connection cable (8) the two connected, switched reluctance motor controller (1) includes key control unit (2), power model (3), current sensor (6).By this method and system, can automatically change injected frequency along with switched reluctance motor rotation speed change, to realize the position-sensor-free operation of switched reluctance machines.
Description
Technical field
The self-adaptation control method of position-less sensor of switched reluctance motor and system, belong to switched Reluctance Motor Control technology neck
Territory.
Background technology
Switched Reluctance Motor Control System (Switched Reluctance Drive is called for short SRD) is in the eighties in 20th century
The novel Alternating Current Governor System that phase grows up, it melts new electric motor structure switched reluctance machines (Switched
Reluctance Motor, is called for short SRM) it is integrated with modern power electronics technology, control technology, have asynchronous machine frequency conversion concurrently and adjust
Speed system and the advantage of DC motor speed drive system, it has also become one of study hotspot of Electrified Transmission now.Switched reluctance machines is adjusted
Speed system compares and has low starting current, the characteristic of big starting torque than common AC variable-frequency speed regulation system, at the tune of its broadness
In the range of speed, being respectively provided with high efficiency, under the slow-speed of revolution and non-nominal load, high efficiency then becomes apparent from, motor can frequently start-stop,
Rotating switching, overload capacity is strong, reliability is high.Therefore switched reluctance machines obtains in recent years and widelys popularize, and market is advised
Mould is the most increasing.
Switched reluctance machines is a kind of double salient-pole electric machine, and operation logic is that the relative position according to motor stator and rotor is in turn to phase
Winding is energized, and must accurately know the relative position of switched reluctance machines stator and rotor, switch currently on the market in therefore running
Reluctance motor product all uses photo-electric or electromagnetic position sensor to obtain position signalling, and optical disc or encoder are arranged on electricity
Inside machine.Its shortcoming be position sensor easily by dust, oil pollution or damage, bring control mistake, affect motor reliable
Property, bring difficulty to the engineering problems such as motor field wiring, anti-electromagnetic interference simultaneously, the long range propagation of position signalling also can shadow
Ring signal accuracy, use the detection method of position-sensor-free can well solve this problem.
Method for controlling position-less sensor for switched reluctance motor has been obtained for research in recent years, has in existing document
The methods such as fuzzy control method, neural network, impulses injection method, flux linkage calculation, but owing to algorithm is complicated, be suitable for rotating speed model
Enclosing the reasons such as narrow, these methods do not obtain practicality yet.Wherein impulses injection method has and need not increase extra hardware circuit, also
Need not the advantage storing substantial amounts of magnetic linkage data.Although impulses injection method is had been carried out by existing document discuss, but the most right
Impulses injection frequency is studied, as too high in injected frequency in actual application, then cause power device on-off times many, and loss is big,
As injected frequency is too low, then resolution reduces, and affects motor control accuracy.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, it is provided that one can be along with switched reluctance motor
Rotation speed change and automatically change injected frequency, with realize switched reluctance machines position-sensor-free run switched reluctance machines without
The self-adaptation control method of position sensor and system.
The technical solution adopted for the present invention to solve the technical problems is: the self adaptation of this position-less sensor of switched reluctance motor
Control method, it is characterised in that: comprise the steps:
Step 1001, starts；
Switched reluctance machines is started working；
Step 1002, injecting voltage pulse；
The key control unit of switched reluctance motor controller is by power model injected pulse electricity in the phase winding of switched reluctance machines
Pressure；
Step 1003, detects phase winding current amplitude；
Motor phase windings current signal is sent in processing unit by current sensor, and processing unit calculates motor according to the data received
The amplitude of winding current；
Step 1004, if reach a threshold requirement；
Processing unit judges whether the current amplitude of switched reluctance machines phase winding reaches the door threshold value prestored, if current amplitude reaches pre-
The door threshold value deposited, performs step 1005, if not up to door threshold value, returns step 1002；
Step 1005, motor commutation, produces internal interrupt and records the break period；
Key control unit carries out the commutation operation of switched reluctance machines, and processing unit produces an internal interrupt signal simultaneously, processes single
Internal interrupt signal is delivered to its interior intervalometer by unit, and by the intervalometer record triggered time；
Step 1006, calculates switched reluctance machines rotating speed；
Processing unit goes out the rotating speed of switched reluctance machines according to the interval calculation in twice triggered time of internal timer record；
Step 1007, whether rotating speed changes；
Processing unit judges that the rotating speed of switched reluctance machines knows no change, if rotating speed changes, performs step 1008, if rotating speed is not
Change, return and perform step 1002；
Step 1008, calculates injected frequency；
Processing unit recalculates impulses injection frequency according to pulse repetition frequency computing formula, and returns execution step 1002.
Preferably, the pulse repetition frequency computing formula described in step 1008 is:
Wherein: ω represents switched reluctance machines rotating speed, NsRepresent Stators for Switched Reluctance Motors number of poles, NrRepresent that switched reluctance machines turns
Sub-number of poles, N is the segment factor of motor speed.
Preferably, the span of the segment factor N of described motor speed is:
Wherein: ω represents switched reluctance machines rotating speed.
Preferably, the test before performing step 1001 of the door threshold value prestored described in step 1004 obtains and is stored in process
In unit.
The system of a kind of self-adaptation control method for realizing position-less sensor of switched reluctance motor, including switching magnetic-resistance electricity
Machine controller, switched reluctance machines and the connection cable that the two is connected, it is characterised in that: described switched reluctance machines control
Being provided with key control unit, power model and current sensor in device processed, the outfan of key control unit passes through power mould
Block, connection cable are connected with switched reluctance machines, and current sensor is arranged on the connection between power model and switched reluctance machines
On cable, the outfan of current sensor is connected to the input of key control unit.
Preferably, described key control unit includes modulate circuit and processing unit, the outfan of described current sensor
Being connected to the input of modulate circuit, the outfan of modulate circuit connects the input of processing unit.
Preferably, described processing unit is that core realizes by Micro-processor MCV or digital signal processor DSP.
Preferably, described power model is by insulated gate bipolar transistor IGBT or insulating gate type field effect tube MOSFET
Composition.
Compared with prior art, the present invention is had the beneficial effect that
1, by self-adaptation control method and the system of this position-less sensor of switched reluctance motor, can be automatically adjusted according to motor speed
The injected frequency of pulse current, uses higher injected frequency, to improve position resolution precision, at motor when motor speed is low
Use relatively low injected frequency during rotating speed height, the damage of power device can be reduced, improve whole efficiency.
2, the injected frequency of pulse current uses minima when motor speed is higher than 1500r/min, less than 1500r/min
Time adjust continuously along with the change of rotating speed, it is to avoid the saltatory change of impulses injection frequency, making of most of occasion can be met
With requiring.
Accompanying drawing explanation
Fig. 1 is the Adaptable System functional-block diagram of position-less sensor of switched reluctance motor.
Fig. 2 is the adaptive approach control flow chart of position-less sensor of switched reluctance motor.
Wherein: 1, switched reluctance motor controller 2, key control unit 3, power model 4, processing unit 5,
Modulate circuit 6, current sensor 7, switched reluctance machines 8, connection cable.
Detailed description of the invention
Fig. 1～2 is that the present invention will be further described for highly preferred embodiment of the present invention, below in conjunction with the accompanying drawings 1～2.
As it is shown in figure 1, the adaptive control system of position-less sensor of switched reluctance motor, including switched Reluctance Motor Control
The connection cable 8 of device 1, switched reluctance machines 7 and connecting valve reluctance motor controller 1 and switched reluctance machines 7.Opening
It is provided with key control unit 2, power model 3 and current sensor 6 in closing reluctance motor controller 1.
The outfan of key control unit 2 is connected with switched reluctance machines 7 by power model 3, connection cable 8, electric current
Sensor 6 is arranged on the connection cable 8 between power model 3 and switched reluctance machines 7, the outfan of current sensor 6
It is connected to the input of key control unit 2.Key control unit 2 includes modulate circuit 5 and processing unit 4, passes through electric current
The big current signal of motor phase windings can be transformed to small area analysis signal and export by sensor 6, and first the signal of output accesses tune
In reason circuit 5, nursed one's health by modulate circuit, AD conversion chip (being not drawn in figure) is delivered to after carrying out analog digital conversion process
In unit 4, processing unit 4 can calculate the amplitude of machine winding current according to the data received, and can pass through electric current width
Value determines the relative position of switched reluctance machines 7 rotor.
Processing unit 4 can be that core realizes by Micro-processor MCV or digital signal processor DSP, and power model 3 can
To use insulated gate bipolar transistor IGBT or insulating gate type field effect tube MOSFET composition.Processing unit 4 is to man-machine boundary
The feedback signal of face instruction and switched reluctance machines 7 judges, is gathered the phase of switched reluctance machines 7 by current sensor 6
Winding current signal, controls the break-make of switched reluctance machines 7 phase winding；The power model 3 order by reception control unit,
Realize the control to switched reluctance machines phase winding size of current, and deliver the power in motor winding.Power model 3 can lead to
Cross various chips and corresponding peripheral circuit realize, as used model to be: FF200R12KT3, FF300R12KT4,
The chips such as FF450R12KT3.When processing unit 4 uses MCU to realize, the MCU of Multiple Type can be used to carry out
Realize, such as P89V51, MC9S12E64；When processing unit 4 uses DSP to realize, the model such as can be used to be
The various chips such as TMS320F2812, MC96002, ADSP2185M realize.
Before switched reluctance machines 7 runs, it is determined by a switched reluctance machines 7 phase winding electric current door threshold value and incites somebody to action
This threshold value is stored in the processing unit 4 in key control unit 2.When switched reluctance motor 7 is just started working, switch
Key control unit 2 within reluctance motor controller 1 is injected in the phase winding of switched reluctance machines 7 by power model 3
Pulse voltage, and the response current of switched reluctance machines 7 phase winding is detected by current sensor 6 and modulate circuit 5.
Processing unit 4 calculates the current amplitude of switched reluctance machines 7 phase winding according to the current signal that current sensor 6 is sent into,
And judging whether the door threshold value reaching to prestore, if current amplitude reaches the door threshold value prestored, then it represents that the commutation moment arrives, can
To carry out the commutation operation of switched reluctance machines 7, the processing unit 4 in key control unit 2 produces an internal interrupt simultaneously
Signal, delivers to the intervalometer in processing unit 4 by this internal interrupt signal, and intervalometer records triggered time, processing unit simultaneously
4 go out the rotating speed of switched reluctance machines 7 according to the interval calculation in twice triggered time of internal timer record.Processing unit 4 is same
Time can calculate the amplitude of machine winding current, and the relative of switched reluctance machines 7 rotor can be determined by current amplitude
Position.If the rotating speed that processing unit 4 detects switched reluctance machines 7 changes, then calculate public affairs according to pulse repetition frequency
Formula recalculates impulses injection frequency, and repeats impulses injection to detect next commutation point.
Pulse repetition frequency computing formula, as shown in formula (1):
Wherein: ω represents switched reluctance machines rotating speed, NsRepresent Stators for Switched Reluctance Motors number of poles, NrRepresent that switched reluctance machines turns
Sub-number of poles, N is can be with the coefficient of subsection setup according to motor speed, and its span is:
The injected frequency of pulse current uses minima when motor speed is higher than 1500r/min, along with rotating speed when less than 1500r/min
Change adjust continuously, it is to avoid the saltatory change of impulses injection frequency, can meet the use requirement of most of occasion.
As in figure 2 it is shown, the self-adaptation control method of position-less sensor of switched reluctance motor, comprise the steps:
Step 1001, starts；
Switched reluctance machines 7 is started working；
Before switched reluctance machines 7 is started working, it is determined by a switched reluctance machines 7 phase winding electric current door threshold value and incites somebody to action
This threshold value is stored in the processing unit 4 in key control unit 2.
Step 1002, injecting voltage pulse；
Key control unit 2 within switched reluctance motor controller 1 passes through power model 3 in the phase winding of switched reluctance machines 7
Injected pulse voltage,
Step 1003, detects phase winding current amplitude；
The big current signal of motor phase windings is transformed to small area analysis signal and exports by current sensor 6, and first the signal of output accesses
In modulate circuit 5, nursed one's health by modulate circuit 5, AD conversion chip is delivered to after carrying out analog digital conversion in processing unit 4,
Processing unit 4 calculates the amplitude of machine winding current according to the data received；
Step 1004, if reach a threshold requirement；
Processing unit 4 judges whether the current amplitude of switched reluctance machines 7 phase winding reaches the door threshold value prestored, if current amplitude reaches
To the door threshold value prestored, perform step 1005, if not up to door threshold value, return step 1002；
By step 1004 return execution step 1002 time, key control unit 2 yet by power model 3 to switched reluctance machines 7
Phase winding injects the pulse voltage of primary frequency.
Step 1005, motor commutation, produces internal interrupt and records the break period；
When the phase winding current amplitude that processing unit detects switched reluctance machines 7 reaches the door threshold value prestored, key control unit 2
Carrying out the commutation operation of switched reluctance machines 7, the processing unit 4 in key control unit 2 produces in an inside simultaneously simultaneously
Break signal, delivers to the intervalometer in processing unit 4 by this internal interrupt signal, and by the intervalometer record triggered time；
Step 1006, calculates switched reluctance machines rotating speed；
Processing unit 4 goes out the rotating speed of switched reluctance machines 7 according to the interval calculation in twice triggered time of internal timer record；
Step 1007, whether rotating speed changes；
Processing unit 4 judges that the rotating speed of switched reluctance machines 7 knows no change, if rotating speed changes, performs step 1008, if turned
Speed does not changes, and returns and performs step 1002；
By step 1007 return execution step 1002 time, key control unit 2 yet by power model 3 to switched reluctance machines 7
Phase winding injects the pulse voltage of primary frequency.
Step 1008, calculates injected frequency；
Processing unit 4 recalculates impulses injection frequency according to pulse repetition frequency computing formula, and returns execution step 1002；
Pulse repetition frequency computing formula, as shown in formula (1):
Wherein: ω represents switched reluctance machines rotating speed, NsRepresent Stators for Switched Reluctance Motors number of poles, NrRepresent that switched reluctance machines turns
Sub-number of poles, N is can be with the coefficient of subsection setup according to motor speed, and its span is:
When being returned execution step 1002 by step 1008, key control unit 2 is by the power model 3 phase to switched reluctance machines 7
The frequency of the pulse voltage injected in winding is the frequency that processing unit 4 newly calculates.
The above, be only presently preferred embodiments of the present invention, is not the restriction that the present invention makees other form, any
Those skilled in the art are changed possibly also with the technology contents of the disclosure above or are modified as the equivalence enforcement of equivalent variations
Example.But every without departing from technical solution of the present invention content, it is any that above example is made by the technical spirit of the foundation present invention
Simple modification, equivalent variations and remodeling, still fall within the protection domain of technical solution of the present invention.
Claims (8)
1. the self-adaptation control method of a position-less sensor of switched reluctance motor, it is characterised in that: comprise the steps:
Step 1001, starts；
Switched reluctance machines (7) is started working；
Step 1002, injecting voltage pulse；
The key control unit (2) of switched reluctance motor controller (1) passes through power model (3) to switched reluctance machines (7)
Injected pulse voltage in phase winding；
Step 1003, detects phase winding current amplitude；
Motor phase windings current signal is sent in processing unit (4) by current sensor (6), and processing unit (4) basis receives
Data calculate the amplitude of machine winding current；
Step 1004, if reach a threshold requirement；
Processing unit (4) judges whether the current amplitude of switched reluctance machines (7) phase winding reaches the door threshold value prestored, if electric current
Amplitude reaches the door threshold value prestored, and performs step 1005, if not up to door threshold value, returns step 1002；
Step 1005, motor commutation, produces internal interrupt and records the break period；
Key control unit (2) carries out the commutation operation of switched reluctance machines (7), during processing unit (4) produces an inside simultaneously
Break signal, internal interrupt signal delivered to its interior intervalometer by processing unit (4), and by the intervalometer record triggered time；
Step 1006, calculates switched reluctance machines rotating speed；
Processing unit (4) goes out the rotating speed of switched reluctance machines (7) according to the interval calculation in twice triggered time of internal timer record；
Step 1007, whether rotating speed changes；
Processing unit (4) judges whether the rotating speed of switched reluctance machines (7) changes, if rotating speed changes, performs step 1008,
If rotating speed does not changes, return and perform step 1002；
Step 1008, calculates injected frequency；
Processing unit (4) recalculates impulses injection frequency according to pulse repetition frequency computing formula, and returns execution step 1002.
The self-adaptation control method of position-less sensor of switched reluctance motor the most according to claim 1, it is characterised in that: step
Pulse repetition frequency computing formula described in 1008 is:
Wherein: ω represents switched reluctance machines rotating speed, NsRepresent Stators for Switched Reluctance Motors number of poles, NrRepresent that switched reluctance machines turns
Sub-number of poles, N is the segment factor of motor speed.
The self-adaptation control method of position-less sensor of switched reluctance motor the most according to claim 2, it is characterised in that: described
The span of segment factor N of motor speed be:
Wherein: ω represents switched reluctance machines rotating speed.
The self-adaptation control method of position-less sensor of switched reluctance motor the most according to claim 1, it is characterised in that: step
The test before performing step 1001 of the door threshold value prestored described in 1004 obtains and is stored in processing unit (4).
5. for realizing a system for the self-adaptation control method of the position-less sensor of switched reluctance motor described in Claims 1 to 4,
Including switched reluctance motor controller (1), switched reluctance machines (7) and the connection cable (8) that the two is connected, its feature
It is: in described switched reluctance motor controller (1), be provided with key control unit (2), power model (3) and electricity
Flow sensor (6), the outfan of key control unit (2) is by power model (3), connection cable (8) and switching magnetic-resistance
Motor (7) is connected, and current sensor (6) is arranged on the connecting line between power model (3) and switched reluctance machines (7)
On cable (8), the outfan of current sensor (6) is connected to the input of key control unit (2).
The system of the self-adaptation control method for realizing position-less sensor of switched reluctance motor the most according to claim 5, its
It is characterised by: described key control unit (2) includes modulate circuit (5) and processing unit (4), described current sense
The outfan of device (6) is connected to the input of modulate circuit (5), and the outfan of modulate circuit (5) connects processing unit (4)
Input.
The system of the self-adaptation control method for realizing position-less sensor of switched reluctance motor the most according to claim 6, its
It is characterised by: described processing unit (4) is that core realizes by Micro-processor MCV or digital signal processor DSP.
The system of the self-adaptation control method for realizing position-less sensor of switched reluctance motor the most according to claim 5, its
It is characterised by: described power model (3) is by insulated gate bipolar transistor IGBT or insulating gate type field effect tube MOSFET
Composition.
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| CN107846170B (en) * | 2017-11-27 | 2020-06-09 | 山东科汇电力自动化股份有限公司 | Control method of double-sampling-point switched reluctance motor position-sensorless |
| CN107994837B (en) * | 2017-12-20 | 2023-08-18 | 中国原子能科学研究院 | Speed regulating system and speed regulating method for switched reluctance motor |
| CN110829938A (en) * | 2019-11-25 | 2020-02-21 | 中国矿业大学 | Low-speed operation control method for switched reluctance motor without position sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1412937A (en) * | 2001-10-12 | 2003-04-23 | 乐金电子(天津)电器有限公司 | Method for detecting position signal of switch reluctance machine |
| CN1551484A (en) * | 2003-04-24 | 2004-12-01 | 开关磁阻驱动有限公司 | Rotor position determination in a switched reluctance machine |
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| JP4277919B2 (en) * | 2007-05-22 | 2009-06-10 | 株式会社デンソー | Motor drive device and motor drive control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1412937A (en) * | 2001-10-12 | 2003-04-23 | 乐金电子(天津)电器有限公司 | Method for detecting position signal of switch reluctance machine |
| CN1551484A (en) * | 2003-04-24 | 2004-12-01 | 开关磁阻驱动有限公司 | Rotor position determination in a switched reluctance machine |
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