CN104734583A - Rotor position detection device of switch reluctance motor and positioning control method of rotor - Google Patents
Rotor position detection device of switch reluctance motor and positioning control method of rotor Download PDFInfo
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- CN104734583A CN104734583A CN201510123495.1A CN201510123495A CN104734583A CN 104734583 A CN104734583 A CN 104734583A CN 201510123495 A CN201510123495 A CN 201510123495A CN 104734583 A CN104734583 A CN 104734583A
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- rotor
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- switch reluctance
- reluctance motor
- coding disk
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a rotor position detection device of a switch reluctance motor. The rotor position detection device comprises a coding disc, a position sensor and a matched controller, wherein the coding disc is fixed to a rotating shaft of a rotor, and the position sensor and the controller are arranged on a shell of the motor. M teeth are evenly distributed on the coding disc, and the width of each tooth is smaller than the width of the corresponding adjacent inter-tooth groove. The position sensor and the axis of the rotating shaft of the rotor are each provided with 2/n teeth, and the teeth are arranged at equal intervals being +k* , K=1, 2, 3, 4, 5...m-1, wherein n represents polarities of a stator of the switch reluctance motor, and m represents polarities of the rotor of the switch reluctance motor. The invention further provides a positioning control method of the rotor of the rotor position detection device. The rotor position detection device of the switch reluctance motor has the technical advantages that the rotor detection device only comprises the non-equant coding disc and the photoelectric position sensor, and is simple in structure; through the ingenious design and cooperation, high-precision detection on the rotor is achieved; the detection accuracy is high, so the device is quite suitable for occasions needing reciprocating movement.
Description
Technical field
The rotor-position that the present invention relates in reluctance motor detects, and relates to the detecting apparatus for rotor position in switched reluctance machines and rotor fixed position control method in particular.
Background technology
In a lot of application scenario, as the automatic railing of the lane in which the drivers should pay fees in turn pike, parking lot, the gate of gate control system, action component needs periodic reciprocating motion, and startup, position of rest are equipped with requirement, and also there is requirement running time.Adopt common interchange or direct current machine, need the controller of customization and need additional movement position to detect.According to stepping motor, control although can realize very high movement position, its driving power is not enough, by the opened loop control due to stepping motor during ectocine, position judgment can be made to lose efficacy, be also not suitable for being used in above-mentioned occasion.
Owing to having, detent torque is high, starting current is little, structure is simple, low cost and other advantages is highly suitable for above-mentioned occasion for reluctance motor.In order to control the operation of reluctance motor, controller needs the positional information knowing rotor, and this information is undertaken gathering by position-detection sensor and changed position signalling into electric impulse signal and gives controller.Position-detection sensor need be arranged on circuit board or electric machine casing, and is taking electrical axis as circumferentially arranging by certain angle rule of the center of circle.During rotor turns, be fixed on epitrochanterian coding disk to coordinate with position-detection sensor and produce encoded position signal, and sending controller to, controller according to the energising of this position signalling and power-off (state variation), thus obtains the angle of rotor and controls the operation of reluctance motor.Need reciprocating motion at railing and gate etc. and have in the occasion of fixing rotating cycle or angle, its reciprocating parameter is consistent, therefore need to detect accurately the position of rotor, the error taking the magnetic resistance motor rotor of above position detecting device to detect in prior art is large, accuracy is not high, therefore needs to improve to the position detecting device of position-based transducer the requirement that is adapted to accurately control angle.
Summary of the invention
The problem to be solved in the present invention is to provide the position control method of a kind of switch reluctance motor rotor position detecting device and rotor, by designing the coding disk of non-decile and supporting photoelectrical position sensor, realizes the accurate detection and control to rotor.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of switch reluctance motor rotor position detecting device, comprise the coding disk be fixed on rotor shaft, be arranged on position transducer on electric machine casing and supporting controller, key is: described coding disk is evenly equipped with m tooth, the width of tooth is less than the width of adjacent inter-tooth slots, and the axle center of described position transducer and rotor shaft is equidistantly provided with n/2 and separately
, K=0,1,2,3,4,5 ... m-1, wherein n is the stator poles of switched reluctance machines, and m is the rotor number of poles of switched reluctance machines.
Present invention also offers a kind of position control method of switch reluctance machine rotor in addition, above-mentioned detecting apparatus for rotor position, comprises the following steps: A, in rotary course, determine position encoded circulation and writing controller according to the tooth on coding disk to the hiding relation of position transducer; B, initial position of rotor detect: the initial position according to the tooth on coding disk during initial position, position transducer being blocked to the coding cycle comparison determination rotor also and in writing controller; The running of C, rotor controls: the real-time detection rotor position of controller, control software design according to startup, accelerate, at the uniform velocity, brake operating mode, according to position encoded, winding in corresponding stator poles is powered up, respectively the electric current feeding winding is controlled.
Advantageous Effects of the present invention is: rotor checkout gear only includes coding disk and the photoelectrical position sensor of non-decile, and structure is simple, by designing cleverly and coordinating the high precision test reaching rotor; Accuracy of detection is high, and being highly suitable for needs reciprocating occasion.
Below in conjunction with accompanying drawing, the present invention is described in detail.
Accompanying drawing explanation
Fig. 1-Fig. 9 is the structural representation of encoding state in the present invention.
In the accompanying drawings: 1 is coding disk, 2 is photoelectrical position sensors, and 3 is stator poles.
Embodiment
Object of the present invention is just to invent a kind of control type motor being suitable for needing periodic reciprocating motion occasion, utilize the feature of the speed governing of switched reluctance machines convenience and applicable repeatedly starting and stopping, by accurate position probing and control on the basis of reluctance motor, realize the accurate control of motor rotation position and speed, reach the fixing turn of motor or determine Angle ambiguity.The present invention also can solve the defect that detent torque is little, starting current is large of common electric machine, and utilize the good controllability of reluctance motor to realize electromagnetic brake, perfection is applicable to above-mentioned application scenario simultaneously.
A kind of switch reluctance motor rotor position detecting device in the present invention, comprise the coding disk 1 be fixed on rotor shaft, be arranged on position transducer 2 on electric machine casing and supporting controller, key is: described coding disk 1 is evenly equipped with m tooth, the width of tooth is less than the width of adjacent inter-tooth slots, and described position transducer 2 and the axle center of rotor shaft are equidistantly provided with n/2 and separately
, K=0,1,2,3,4,5 ... m-1, wherein n is the stator poles of switched reluctance machines, and m is the rotor number of poles of switched reluctance machines.
Present invention also offers a kind of position control method of switch reluctance machine rotor, based on above-mentioned detecting apparatus for rotor position, it comprises the following steps: A, in rotary course, determine position encoded circulation and writing controller according to the tooth on coding disk 1 to the hiding relation of position transducer 2; B, initial position of rotor detect: the initial position according to the tooth on coding disk during initial position 1, position transducer 2 being blocked to the coding cycle comparison determination rotor also and in writing controller; The running of C, rotor controls: the real-time detection rotor position of controller, control software design according to startup, accelerate, at the uniform velocity, brake operating mode, according to position encoded, winding in corresponding stator poles is powered up, respectively the electric current feeding winding is controlled.
Further, in steps A, determine a position encoded circulation according to rotor rotating 360 degrees/m, m is the rotor number of poles of switched reluctance machines.In step C when rotor startup, according to the feedback that initial position of rotor detects, continue to power up a winding.In step C when rotor brakes, according to the feedback that rotor-position detects, adjustment winding power-up time, makes to produce the pulling force contrary with its rotation direction to rotor, and control position rotor being stopped at specify.
The present invention in the specific implementation, referring to accompanying drawing 1-9, for 8/6 pole reluctance motor, coding disk 1 is evenly equipped with 6 teeth, central angle corresponding to the width of tooth is greater than 22.5 ° and is less than 25 °, position transducer 2 is equidistantly provided with 4 and 15 ° separately with the axle center of rotor shaft, also can 15 ° of+K × 60 °, wherein K=0,1,2,3,4,5 separately.Can also 30 °, interval or 45 °.The size of the tooth on coding disk 1 is determined according to the size of position transducer 2, preferably just shelters from behind rotation detection position or does not cover position transducer 2.
4 position transducers 2 one of them align with the center line of stator poles 3.
Tooth and the rotor pole of coding disk 1 shift to install.Shift to install when can ensure that any one rotor pole aligns with certain stator poles center, be position or continuous two position encoded centre positions of position encoded change, guarantee the precision of positioning control.
During rotor detection and control, steps A determines original records in position encoded circulation: referring to accompanying drawing 1-9, initial position is aligned to the center line of rotor pole and stator poles 3, rotor rotates 60 °, determines a position encoded circulation according to the hiding relation of the tooth on coding disk in rotary course 1 to position transducer 2.4 separately the position transducer 2 of 15 ° by being labeled as A, B, C, D successively counterclockwise, being recorded as 0 when the tooth on coding disk 1 covers transducer, when not covering, being recorded as 1.
Table 1 is for tooth disposed thereon when coding disk 1 is rotated counterclockwise 60 ° is to the hiding relation of position transducer 2.
Can draw in table 1, sequence number 9 is consistent to blocking of position transducer with sequence number 1, when coding disk 1 is rotated counterclockwise 60 °, by the blocking quantity and sequentially determining a coding cycle relevant position transducer 2 of the tooth on coding disk 1, produce 8 position probing positions.Coding disk 1 rotates a circle generation 6 coding cycle i.e. 48 position probing positions, reaches 7.5 ° of detections to rotor.The controller of switched reluctance machines, with 7.5 ° of accuracy detection rotor-positions, operates with 15 ° of precision controlling rotors.
Step B initial position of rotor detects: the initial position according to the tooth on coding disk during initial position 1, position transducer 2 being blocked to the coding cycle comparison determination rotor also and in writing controller; The running of step C rotor controls: the real-time detection rotor position of controller, control software design according to startup, accelerate, at the uniform velocity, brake operating mode, according to position encoded, winding in corresponding stator poles is powered up, respectively the electric current feeding winding is controlled.When rotor startup, according to the feedback that initial position of rotor detects, continue to power up a winding.When rotor brakes, according to the feedback that rotor-position detects, adjustment winding power-up time, makes to produce the pulling force contrary with its rotation direction to rotor, and control position rotor being stopped at specify.When keeping in position, when being also equal to motor rotation blockage, by continuing to power up to specific winding, the rotor pole of specifying is alignd with stator poles.
Winding power up the combination that control model comprehensively adopts current chopping and pulse-width modulation two kinds of modes, determine turning on and off of winding with position probing, in the angle of flow, be divided into two stages, be respectively used to winding voltage set up and winding do work.Realized the maximum power control of motor by current chopping, and can rotation-clogging protection be realized, prevent motor winding overcurrent.The working power adjustment of winding is realized, for adjustment of rotational speed by pulse-width modulation.
The cycle of pulse-width modulation, with adjustment of rotational speed, is generally about about 100us when 1000rpm.
Current chopping is determined by power of motor, by power of motor by control software design from Row sum-equal matrix.Current parameters is divided into maximum current, minimum current, and in the angle of flow, the current parameters in two stages is not identical yet, accelerate, at the uniform velocity, brake, keep different phase maximum, minimum current is not identical yet.As 48V200W motor, maximum, the minimum current of boost phase are about 8A and 3A respectively.
In above-described embodiment, two on coding disk 1 adjacent teeth block the detection of realization to 4 position transducers 2, all right+K × 60 °, 15 °, interval of position transducer 2, wherein K=0,1,2,3,4,5, such is arranged so that on coding disk 1, non-conterminous tooth blocks forming position detection to position transducer 2.
Claims (10)
1. a switch reluctance motor rotor position detecting device, comprise the coding disk (1) be fixed on rotor shaft, be arranged on position transducer (2) on electric machine casing and supporting controller, it is characterized in that: described coding disk (1) is evenly equipped with m tooth, the width of tooth is less than the width of adjacent inter-tooth slots, and described position transducer (2) is equidistantly provided with the axle center of rotor shaft
individual and separately
, K=0,1,2,3,4,5 ... m-1, wherein n is the stator poles of switched reluctance machines, and m is the rotor number of poles of switched reluctance machines.
2. switch reluctance motor rotor position detecting device according to claim 1, it is characterized in that: described switched reluctance machines is 8/6 pole reluctance motor, coding disk (1) is evenly equipped with 6 teeth, central angle corresponding to the width of tooth is greater than 22.5 ° and is less than 25 °, the axle center of described position transducer (2) and rotor shaft is equidistantly provided with 4 and 15 ° of+K × 60 °, wherein K=0,1,2,3,4,5 separately.
3. switch reluctance motor rotor position detecting device according to claim 2, is characterized in that: described 4 position transducers (2) one of them align with the center line of stator poles (3).
4. the switch reluctance motor rotor position detecting device according to any one of claim 1-3, is characterized in that: tooth and the rotor pole of coding disk (1) shift to install.
5. a position control method for switch reluctance machine rotor, based on the detecting apparatus for rotor position described in any one of claim 1-4, is characterized in that comprising the following steps:
A, in rotary course, position encoded circulation is determined and writing controller to the hiding relation of position transducer (2) according to the tooth on coding disk (1);
B, initial position of rotor detect: according to the tooth on coding disk during initial position (1) position transducer (2) blocked and with the initial position of the coding cycle comparison determination rotor in writing controller;
The running of C, rotor controls: the real-time detection rotor position of controller, control software design according to startup, accelerate, at the uniform velocity, brake operating mode, according to position encoded, winding in corresponding stator poles is powered up, respectively the electric current feeding winding is controlled.
6. the position control method of switch reluctance machine rotor according to claim 5, is characterized in that: in steps A, rotates according to rotor
determine a position encoded circulation, m is the rotor number of poles of switched reluctance machines.
7. the position control method of switch reluctance machine rotor according to claim 5, is characterized in that: in step C when rotor startup, according to the feedback that initial position of rotor detects, continues to power up a winding.
8. the position control method of switch reluctance machine rotor according to claim 5, it is characterized in that: in step C when rotor brakes, according to the feedback that rotor-position detects, adjustment winding power-up time, make to produce the pulling force contrary with its rotation direction to rotor, and control position rotor being stopped at specify.
9. the position control method of the switch reluctance machine rotor according to any one of claim 5-8, it is characterized in that: described switched reluctance machines is 8/6 pole reluctance motor, coding disk (1) is evenly equipped with 6 teeth, central angle corresponding to the width of tooth is greater than 22.5 ° and is less than 25 °, the axle center of described position transducer (2) and rotor shaft is equidistantly provided with 4 and 15 ° of+K × 60 ° separately, wherein K=0, 1, 2, 3, 4, 5, when determining original records in position encoded circulation in steps A, initial position is aligned to the center line of rotor pole and stator poles (3), rotor rotates 60 °, a position encoded circulation is determined according to the hiding relation of the tooth on coding disk in rotary course (1) to position transducer (2), 8 position probing positions are had in a described position encoded circulation.
10. the position control method of switch reluctance machine rotor according to claim 9, is characterized in that: the running of step C rotor controls middle controller with 7.5 ° of accuracy detection rotor-positions, with 15 ° of precision controlling rotor runnings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123495.1A CN104734583A (en) | 2015-03-20 | 2015-03-20 | Rotor position detection device of switch reluctance motor and positioning control method of rotor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510123495.1A CN104734583A (en) | 2015-03-20 | 2015-03-20 | Rotor position detection device of switch reluctance motor and positioning control method of rotor |
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| CN104734583A true CN104734583A (en) | 2015-06-24 |
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| CN201510123495.1A Pending CN104734583A (en) | 2015-03-20 | 2015-03-20 | Rotor position detection device of switch reluctance motor and positioning control method of rotor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772155A (en) * | 2016-12-20 | 2017-05-31 | 江苏大学 | A kind of method for rapidly judging of switched reluctance machines pole polarity |
| CN107276463A (en) * | 2017-08-09 | 2017-10-20 | 中国科学院宁波材料技术与工程研究所 | A kind of detecting apparatus for rotor position of four phase switch reluctances motor |
| CN110036561A (en) * | 2016-12-02 | 2019-07-19 | Arm有限公司 | Sensor error detection and correction |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110036561A (en) * | 2016-12-02 | 2019-07-19 | Arm有限公司 | Sensor error detection and correction |
| CN106772155A (en) * | 2016-12-20 | 2017-05-31 | 江苏大学 | A kind of method for rapidly judging of switched reluctance machines pole polarity |
| CN106772155B (en) * | 2016-12-20 | 2019-11-05 | 江苏大学 | A kind of method for rapidly judging of switched reluctance machines pole polarity |
| CN107276463A (en) * | 2017-08-09 | 2017-10-20 | 中国科学院宁波材料技术与工程研究所 | A kind of detecting apparatus for rotor position of four phase switch reluctances motor |
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