CN104852641A - Switch reluctance motor controller for electric car - Google Patents
Switch reluctance motor controller for electric car Download PDFInfo
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- CN104852641A CN104852641A CN201510245629.7A CN201510245629A CN104852641A CN 104852641 A CN104852641 A CN 104852641A CN 201510245629 A CN201510245629 A CN 201510245629A CN 104852641 A CN104852641 A CN 104852641A
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Abstract
The invention discloses a switch reluctance motor controller for an electric car. The controller mainly comprises a power converter circuit connected with a motor, a digital signal controller dsPIC control board, and a complex programmable logic device (CPLD) control board. The motor is a three-phase 12/8 type switch reluctance motor. The power converter connected with the motor employs a three-phase asymmetric half-bridge type main circuit. With the dsPIC, A/D analog-digital conversion of the voltage and current of the motor winding, flux linkage detection, torque estimation, torque adjustment, current adjustment, speed calculation, and conversion angle optimization are realized. Because of cooperative work of the dsPIC and the CPLD, location signal control and needed PWM wave output are realized. According to the invention, different operation work conditions of the electric car can be met; dynamic torque closed-loop control of the motor is realized; the torque pulsation is reduced; the torque precision is improved; smooth switching of the motor on different work conditions is realized; and the operation efficiency of the motor is improved.
Description
Technical field
The present invention relates to a kind of switched reluctance motor controller, be particularly useful for switched reluctance machines drive system of electric automobile.
Background technology
Today that environmental problem is day by day serious, development green traffic becomes an important problem, and electric automobile has the features such as pollution-free, low noise, becomes the more satisfactory vehicles.Switched reluctance machines works under being applicable to mal-condition because its structure simple rigid is durable, reliability is high, speed adjusting performance is superior, control is flexible, possess the features such as regenerative electric power ability, is applicable to drive system of electric automobile.
Switched reluctance machines is when ac speed control technology developed into for the 80's, a kind of New-type electric machine of appearance, and it has, and structure is simple, starting performance good, efficiency advantages of higher.The governing system be made up of switched reluctance machines has asynchronous motor frequency-changing speed-regulating and the wide feature of DC motor speed regulating concurrently, its runnability and economic index are better than common Alternating Current Governor System, are considered to be in the type of drive of a kind of great potential in electric motor car.Without any the winding of form on switch reluctance machine rotor, and stator only has simple concentratred winding, insulation system is simple, manufactures easy, cost is low, and heating major part is at stator, is easy to cooling, rotor mechanical intensity is high, and motor can run up and indeformable, is easy to realize acceleration, deceleration.Motor has high starting torque, low starting current, is applicable to the frequent start-stop of electric automobile and the operation of positive and negative rotating speed.Therefore, switched reluctance machines has great application prospect in electric automobile field.
Automotive controls reluctance motor control system comprises storage battery, switched reluctance machines, power inverter, controller and checkout gear etc.Wherein switched reluctance machines is the parts realizing power conversion in switched Reluctance Motor Control System, is also the outstanding feature that switched Reluctance Motor Control System is different from other motor control systems.Power inverter provides the energy needed for running, by storage battery power supply to motor.Controller is the maincenter of system.The feedback information of its integrated treatment speed command, feedback speed signal and current sensor, position transducer, controls the operating state of main switching device in power inverter, realizes the control to motor operating state.
The controller being applied to Electric Machine Control is at present a lot, as the control chip of drive system of electric automobile, not only will have resource and the processing speed faster of relative abundance, also will have lower cost and very strong antijamming capability.DsPIC is a kind of 16 position digital signal controllers with single-chip microcomputer and DSP data processing function.It not only remain single-chip microcomputer key property, enriched peripheral module, also having the high-speed computation ability of DSP concurrently, is one of best solution of Embedded System Design.Owing to collecting several functions in one chip, thus greatly save circuit board space, therefore, dsPIC is functionally greatly improved with single-chip microcomputer used than ever in digital signal processing capability, compared to DSP, it has wider supply district and very strong antijamming capability, and price also very has competitiveness.With by pure software programming realization digital control compared with, CPLD hard wires realizes its software algorithm, has predictable time delay and better real-time, improves arithmetic speed, enhance the interference free performance of system.There are abundant trigger and I/O pin in CPLD inside, be conducive to improvement and the secondary development of system, and user can according to self needing the base resource directly calling CPLD inside.Therefore, control circuit adopts the method for designing of " dsPIC+CPLD ", can reduce the volume of circuit board, improves antijamming capability.
Summary of the invention
the object of the invention is toa kind of switched reluctance motor for electric automobile controller is provided, during this controller driving switch reluctance motor, machine operation is reliable and stable, speed-regulating range width, control performance is good, in the wider range of speeds, ensure high efficiency, increase the continuous distance travelled of electric automobile, meet the different operating conditions of electric automobile.
the technical solution adopted for the present invention to solve the technical problems is:a kind of switched reluctance motor for electric automobile controller, comprises the power converter circuit, digital signal controller dsPIC control board and the programmable logic device (CPLD) control board that are connected with motor, and power inverter adopts asymmetrical three-phase semi-bridge type main circuit.
Described power converter circuit comprises DC power supply
u s , electric capacity
c s , three pairs of fly-wheel diodes
d 1with
d 2,
d 3with
d 4,
d 5with
d 6, power switch pipe
s 1with
s 2,
s 3with
s 4,
s 5with
s 6form three pairs of upper and lower bridge arms respectively, motor three-phase windings
a,
b,
cbe placed in respectively between described three pairs of upper and lower bridge arms.
Controller governor circuit adopts digital signal controller dsPIC and programmable logic device (CPLD) collaborative work, wherein said dsPIC control board comprises the A/D analog-to-digital conversion of motor winding voltage and electric current, flux measurement, torque estimation, torque adjustment, Current adjustment, speed calculate and indexing optimization, dsPIC and CPLD is connected and carries out data communication, realizes the output of control to position signalling and required PWM ripple.
the invention has the beneficial effects as follows,modulus A/D sampling can gather three-phase current and three-phase voltage, realizes monitoring in real time the ruuning situation of motor in driving conditions.Current cut control when can realize low cruise by gathering electric current.By dsPIC to the time delay of position signalling timer or angle sorting process, the Angle-domain imaging of high-speed cruising can be realized.In addition, in conjunction with Current cut control and Angle-domain imaging strategy, by sampling given rotating speed and the algorithm process realizing rotating speed, stable speed closed loop can be realized and control.The three-phase current gathered and voltage can realize real-time monitored magnetic linkage and then realize the operation of position-sensor-free of motor after magnetic linkage integrating circuit.Utilize the Real-Time Monitoring that torque estimator can realize torque, thus realize the torque closed-loop control of electric automobile.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is driving system for switched reluctance structured flowchart of the present invention.
Fig. 2 is power converter circuit of the present invention.
Fig. 3 is controller governor circuit of the present invention.
Number in the figure explanation
u s -DC power supply
c s -electric capacity
d 1,
d 2,
d 3,
d 4,
d 5,
d 6-fly-wheel diode
s 1,
s 2,
s 3,
s 4,
s 5,
s 6-power switch pipe
a,
b,
c-motor three-phase windings
Ia-motor A phase winding electric current
Ib-motor B phase winding electric current
Ic-motor C phase winding electric current
Ua-motor A phase winding voltage
Ub-motor B phase winding voltage
Uc-motor C phase winding voltage
P, Q, R-motor rotor position signal
S1, S3, S5-upper brachium pontis switching tube three-phase signal
S2, S4, S6-lower brachium pontis switching tube three-phase signal.
Embodiment
As shown in Figure 2, described power converter circuit comprises DC power supply
u s , electric capacity
c s , three pairs of fly-wheel diodes
d 1with
d 2,
d 3with
d 4,
d 5with
d 6, power switch pipe
s 1with
s 2,
s 3with
s 4,
s 5with
s 6form three pairs of upper and lower bridge arms respectively, motor three-phase windings
a,
b,
cbe placed in respectively between described three pairs of upper and lower bridge arms.
As shown in Figure 3, controller governor circuit adopts digital signal controller dsPIC and programmable logic device (CPLD) collaborative work, wherein said dsPIC control board comprises the A/D analog-to-digital conversion of motor winding voltage and electric current, flux measurement, torque estimation, torque adjustment, Current adjustment, speed calculate and indexing optimization, dsPIC and CPLD is connected and carries out data communication, realizes the output of control to position signalling and required PWM ripple.DsPIC and CPLD pin connects situation: dsPIC pin IC [3..1] connects CPLD pin IC [3..1], dsPIC pin IC [6..4] connects CPLD pin IC [6..4], dsPIC pin RE [9..0] connects CPLD pin RE [9..0], dsPIC pin RD [3..1] connects CPLD pin RD [3..1], dsPIC pin RD [6..4] connects CPLD pin RD [6..4], dsPIC pin IC7 connects CPLD pin IC7, dsPIC pin SDI1 connects CPLD pin SDI1, dsPIC pin SDO1 connects CPLD pin SDO1, dsPIC pin SCK1 connects CPLD pin SCK1, dsPIC pin U2RX connects CPLD pin U2RX, dsPIC pin U2TX connects CPLD pin U2TX, dsPIC pin CN22 connects CPLD pin CN22, dsPIC pin CN12 connects CPLD pin CN12.DsPIC pin SCL, SDA are respectively I
2the clock line of C module and data wire.I
2c bus is the twin wire universal serial bus developed by PHILIPS company, for connecting microcontroller and ancillary equipment thereof.
As shown in Figure 3, dsPIC pin RD [3..1] is the switching signal of pipe in power inverter A, B, C phase, the phased signal of position.
As shown in Figure 3, dsPIC pin RD [6..4] is the switching signal of the lower pipe of power inverter A, B, C phase, the control signal of CCC, PWM etc.
As shown in Figure 3, dsPIC pin IC [3..1] is used for position signalling to be input in CPLD pin IC [3..1] and carries out digital filtering filtering burr and obtain more reliable signal and input in dsPIC again.
As shown in Figure 3, dsPIC pin IC [6..4] is used for position signalling to be input in CPLD pin IC [6..4] and carries out digital filtering and frequency multiplication and be input in single-chip microcomputer the change realized time angle sorting can realize switched reluctance machines high speed so again and open and close the angle of rupture and then more reliably control motor efficiently.
As shown in Figure 3, dsPIC pin RE [9..0] is for the three phase capacitance reset signal of magnetic linkage integrating circuit, when the reset signal utilizing hardware integrating circuit to solve the error recycling three phase capacitance that drift etc. causes prevents ER effect zero, integrating circuit is not 0 because drift causes exporting.
As shown in Figure 3, dsPIC and CPLD pin SDI1, SDO1, SCK1 are respectively the serial date transfer of SPI, serial data exports, shift clock inputs or outputs port, and SPI is a kind of serial peripheral interface.SPI is full duplex work, and speed is very fast, is applicable to the occasion of high-speed communication, can utilizes the communication of the MCU of SPI communication mode and onboard system, lcd drive chip etc.
As shown in Figure 3, dsPIC and CPLD pin U2TX, U2RX are respectively data transmission interface and the data receiver interface of UART module.UART is a kind of Universal Serial Bus, for asynchronous communication.This bus two-way communication, can realize full duplex transmission and reception, and being used for communicates with vehicle-mounted PC comprises and monitoring debugger and other device.
As shown in Figure 3, dsPIC and CPLD pin CN12, CN21 cut single tube and cut two-tube selection.Cut single tube phase curent change little, torque pulsation is little, and cut single tube switching frequency frequency low, loss is little; When cutting two-tube, phase current change greatly, and negative pressure afterflow causes torque torque pulsation larger, may go out that duty ratio is minimum causes cutout situation during PWM control, simultaneously when automobile brake, can realize electric energy feedback when cutting two-tube.
A/D sampling can gather three-phase current and three-phase voltage, realizes monitoring in real time the ruuning situation of motor in driving conditions.Current cut control when can realize low cruise by gathering electric current.By dsPIC to the time delay of position signalling timer or angle sorting process, the Angle-domain imaging of high-speed cruising can be realized.In addition, in conjunction with Current cut control and Angle-domain imaging strategy, by sampling given rotating speed and the algorithm process realizing rotating speed, stable speed closed loop can be realized and control.The three-phase current gathered and voltage can realize real-time monitored magnetic linkage and then realize the operation of position-sensor-free of motor after magnetic linkage integrating circuit.Utilize the Real-Time Monitoring that torque estimator can realize torque, thus realize the torque closed-loop control of electric automobile.
Claims (14)
1. a switched reluctance motor for electric automobile controller, comprises the power converter circuit, digital signal controller dsPIC control board and the programmable logic device (CPLD) control board that are connected with motor, and power inverter adopts asymmetrical three-phase semi-bridge type main circuit.
2.dsPIC and CPLD collaborative work, its pin connects situation: dsPIC pin IC [3..1] connects CPLD pin IC [3..1], dsPIC pin IC [6..4] connects CPLD pin IC [6..4], dsPIC pin RE [9..0] connects CPLD pin RE [9..0], dsPIC pin RD [3..1] connects CPLD pin RD [3..1], dsPIC pin RD [6..4] connects CPLD pin RD [6..4], dsPIC pin IC7 connects CPLD pin IC7, dsPIC pin SDI1 connects CPLD pin SDI1, dsPIC pin SDO1 connects CPLD pin SDO1, dsPIC pin SCK1 connects CPLD pin SCK1, dsPIC pin U2RX connects CPLD pin U2RX, dsPIC pin U2TX connects CPLD pin U2TX, dsPIC pin CN22 connects CPLD pin CN22, dsPIC pin CN12 connects CPLD pin CN12, dsPIC pin SCL, SDA is respectively I
2the clock line of C module and data wire
,i
2c bus is the twin wire universal serial bus developed by PHILIPS company, for connecting microcontroller and ancillary equipment thereof.
3. a kind of switched reluctance motor for electric automobile controller according to claim 1, is characterized in that: power converter circuit comprises DC power supply
u s , electric capacity
c s , three pairs of fly-wheel diodes
d 1with
d 2,
d 3with
d 4,
d 5with
d 6, power switch pipe
s 1with
s 2,
s 3with
s 4,
s 5with
s 6form three pairs of upper and lower bridge arms respectively, motor three-phase windings
a,
b,
cbe placed in respectively between described three pairs of upper and lower bridge arms.
4. a kind of switched reluctance motor for electric automobile controller according to claim 1 and 2, it is characterized in that: controller governor circuit adopts digital signal controller dsPIC and programmable logic device (CPLD) collaborative work, wherein, described dsPIC control board comprises the A/D analog-to-digital conversion of motor winding voltage and electric current, flux measurement, torque estimation, torque adjustment, Current adjustment, speed calculate and indexing optimization, dsPIC and CPLD is connected and carries out data communication, realizes the output of control to position signalling and required PWM ripple.
5. a kind of switched reluctance motor for electric automobile controller according to claim 1 and 2, is characterized in that: dsPIC pin RD [3..1] is the switching signal of pipe in power inverter A, B, C phase, the phased signal of position.
6. a kind of switched reluctance motor for electric automobile controller according to claim 1 and 2, is characterized in that: dsPIC pin RD [6..4] is the switching signal of the lower pipe of power inverter A, B, C phase, the control signal of CCC, PWM etc.
7. a kind of switched reluctance motor for electric automobile controller according to claim 1 and 2, is characterized in that: dsPIC pin IC [3..1] is used for position signalling to be input in CPLD pin IC [3..1] and carries out digital filtering filtering burr and obtain more reliable signal and input in dsPIC again.
8. a kind of switched reluctance motor for electric automobile controller according to claim 1 and 2, is characterized in that: dsPIC pin IC [6..4] is used for position signalling to be input in CPLD pin IC [6..4] and carries out digital filtering and frequency multiplication and be input in single-chip microcomputer the change realized time angle sorting can realize switched reluctance machines high speed so again and open and close the angle of rupture and then more reliably control motor efficiently.
9. a kind of switched reluctance motor for electric automobile controller according to claim 1 and 2, it is characterized in that: dsPIC pin RE [9..0] is for the three phase capacitance reset signal of magnetic linkage integrating circuit, when the reset signal utilizing hardware integrating circuit to solve the error recycling three phase capacitance that drift etc. causes prevents ER effect zero, integrating circuit is not 0 because drift causes exporting.
10. a kind of switched reluctance motor for electric automobile controller according to claim 1 and 2, it is characterized in that: dsPIC and CPLD pin SDI1, SDO1, SCK1 are respectively the serial date transfer of SPI, serial data exports, shift clock inputs or outputs port, and SPI is a kind of serial peripheral interface.
11. a kind of switched reluctance motor for electric automobile controllers according to claim 1 or 9, it is characterized in that: SPI is full duplex work, speed is very fast, is applicable to the occasion of high-speed communication, can utilizes the communication of the MCU of SPI communication mode and onboard system, lcd drive chip etc.
12. a kind of switched reluctance motor for electric automobile controllers according to claim 1 and 2, it is characterized in that: dsPIC and CPLD pin U2TX, U2RX are respectively data transmission interface and the data receiver interface of UART module, UART is a kind of Universal Serial Bus, for asynchronous communication, this bus two-way communication, can realize full duplex transmission and reception, being used for communicates with vehicle-mounted PC comprises and monitoring debugger and other device.
13. a kind of switched reluctance motor for electric automobile controllers according to claim 1 and 2, is characterized in that: dsPIC and CPLD pin CN12, CN21 cut single tube and cut two-tube selection.
14. to cut single tube phase curent change little, and torque pulsation is little, and cut single tube switching frequency frequency low, loss is little; When cutting two-tube, phase current change greatly, and negative pressure afterflow causes torque torque pulsation larger, may go out that duty ratio is minimum causes cutout situation during PWM control, simultaneously when automobile brake, can realize electric energy feedback when cutting two-tube.
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| CN201510245629.7A CN104852641A (en) | 2015-05-15 | 2015-05-15 | Switch reluctance motor controller for electric car |
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| CN201510245629.7A CN104852641A (en) | 2015-05-15 | 2015-05-15 | Switch reluctance motor controller for electric car |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105162370A (en) * | 2015-09-29 | 2015-12-16 | 东风商用车有限公司 | Switched reluctance motor controller for hybrid electric vehicle and control method thereof |
| CN105958891A (en) * | 2016-01-18 | 2016-09-21 | 湖南品信生物工程有限公司 | Switch magnetic resistance motor motion control method based on DSP+CPLD |
| CN106452272A (en) * | 2016-11-04 | 2017-02-22 | 南京怡咖电气科技有限公司 | Switched reluctance motor integrated driving device for electromobile |
| CN107248834A (en) * | 2017-02-19 | 2017-10-13 | 中国矿业大学 | A kind of driving motor of electric vehicle integrated modular controller |
| CN109245656A (en) * | 2018-11-15 | 2019-01-18 | 成都署信科技有限公司 | A kind of high-speed rail High speed SRM control system |
| CN109391210A (en) * | 2018-11-13 | 2019-02-26 | 南京信息工程大学 | A kind of low-voltage electromobile switched reluctance machines isolation drive system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105162370A (en) * | 2015-09-29 | 2015-12-16 | 东风商用车有限公司 | Switched reluctance motor controller for hybrid electric vehicle and control method thereof |
| CN105958891A (en) * | 2016-01-18 | 2016-09-21 | 湖南品信生物工程有限公司 | Switch magnetic resistance motor motion control method based on DSP+CPLD |
| CN106452272A (en) * | 2016-11-04 | 2017-02-22 | 南京怡咖电气科技有限公司 | Switched reluctance motor integrated driving device for electromobile |
| CN107248834A (en) * | 2017-02-19 | 2017-10-13 | 中国矿业大学 | A kind of driving motor of electric vehicle integrated modular controller |
| CN109391210A (en) * | 2018-11-13 | 2019-02-26 | 南京信息工程大学 | A kind of low-voltage electromobile switched reluctance machines isolation drive system |
| CN109245656A (en) * | 2018-11-15 | 2019-01-18 | 成都署信科技有限公司 | A kind of high-speed rail High speed SRM control system |
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Application publication date: 20150819 |