CN105515455A - Synchronous control method and device for biswitch reluctance motors - Google Patents
Synchronous control method and device for biswitch reluctance motors Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a synchronous control method for biswitch reluctance motors. The method comprises the following steps of constructing a rotating speed control closed loop through a motor A, in other words, defining and detecting the actual rotating speed of the motor by setting the rotating speed of the motor so that corresponding rotating speed deviation can be obtained, and then obtaining the reference torque of the switch reluctance motors through the rotating speed deviation; detecting and making comparison between the actual torque of the two switch reluctance motors so that the torque deviation can be obtained, and then processing the torque deviation, the torque deviation change rate and deviation obtained after comparison between the actual torque of the motor A and the reference torque through a fuzzy control algorithm, so that given torque adjustment values of the two motors are obtained, then adding each of the given torque adjustment values to the reference torque to obtain new given torques of the two motors, and making the actual torque of the two motors achieve consistency basically through adjustment on the given torques of the two motors. Thereby, the purpose of conducting synchronous control over the biswitch reluctance motors is achieved, and the synchronous control method has the advantages of being high in precision and wide in application scope.
Description
Technical field
The present invention relates to switched Reluctance Motor Control field, particularly a kind of biswitch reluctance motor synchronisation control means and device.
Background technology
Switched reluctance machines is because having that starting current is little, starting torque is large, structure is simple and the number of advantages such as cost is low and being widely used in a lot of fields.But in some powerful application scenarios, the power of single motor is often difficult to meet the demands, this just needs employing two motors to carry out Synchronous Transmission.But owing to there is the reasons such as foozle, the mechanical property of motor is made to be difficult to reach completely the same, the imbalance of two motor output torques can be caused because of the difference of its mechanical property when employing two motor synchronous drive, can because of the excessive and danger causing motor overload even to burn of the Driving Torque of wherein certain motor time serious.Work is had carried out some research at present in relevant biswitch reluctance motor Synchronization Control, the control method adopted mainly contains main order and controls, master & slave control, cross-coupling control and virtual spindle synchronous control etc., though these control methods have obtained certain control effects, but the deficiency all existed in various degree: wherein main order control and master & slave control be not because existing coupling between electric motor units, synchronous control accuracy places one's entire reliance upon the consistency of each parameter of electric machine, parameter of electric machine error small in actual applications all can affect final control effects, thus the requirement meeting practical application is difficult to, though cross-coupling control achieves the speed crossed coupling between electric motor units, can not balanced action be played to output power of motor, easily cause the generation of single motor overload situations, virtual spindle synchronous controls then generally to be only applicable to be flexible coupling the Synchronization Control of motor, and thus range of application is restricted.Therefore for the current deficiency existed in biswitch reluctance motor Synchronization Control, study more efficiently synchronisation control means, the requirement controlled to meet powerful synchronous has important practical significance.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides that a kind of control precision is high, the biswitch reluctance motor synchronisation control means of applied range, and a kind of biswitch reluctance motor sync control device is provided.
The technical scheme that the present invention solves the problem is: a kind of biswitch reluctance motor sync control device, comprise rotational speed setup module, motor A Rotating speed measring module, motor A rotating speed comparison module, PID module, motor A torque estimating module, motor B torque estimating module, actual torque comparison module, motor A actual torque and torque reference comparison module, fuzzy controller, the given adjustment module of motor A torque, the given adjustment module of motor B torque, motor A torque comparison module, motor B torque comparison module, flux linkage set module, motor A flux estimate algorithm module, motor B flux estimate algorithm module, motor A magnetic linkage comparison module, motor B magnetic linkage comparison module, motor A controller and motor B controller, the output of described rotational speed setup module is connected with the input of motor A rotating speed comparison module, the input of motor A Rotating speed measring module is connected with motor A, the output of motor A Rotating speed measring module is connected with the input of motor A rotating speed comparison module, the output of motor A rotating speed comparison module is connected with the input of PID module, the input of described motor A torque estimating module is connected with motor A, the output of motor A torque estimating module is connected with the input of actual torque comparison module, the input of motor B torque estimating module is connected with motor B, the output of motor B torque estimating module is connected with the input of actual torque comparison module, the input of motor A actual torque and torque reference comparison module and the output of motor A torque estimating module, the output of PID module is connected, the input of fuzzy controller and the output of actual torque comparison module, motor A actual torque is connected with the output of torque reference comparison module, the output of fuzzy controller respectively with the input of the given adjustment module of motor A torque, the input of the given adjustment module of motor B torque is connected, the output of PID module and the input of the given adjustment module of motor A torque, the input of the given adjustment module of motor B torque is connected, the input of motor A torque comparison module and the output of the given adjustment module of motor A torque, the output of motor A torque estimating module is connected, the input of motor B torque comparison module and the output of the given adjustment module of motor B torque, the output of motor B torque estimating module is connected, the output of described flux linkage set module and the input of motor A magnetic linkage comparison module, the input of motor B magnetic linkage comparison module is connected, the input of motor A flux estimate algorithm module is connected with motor A, the output of motor A flux estimate algorithm module is connected with the input of motor A magnetic linkage comparison module, the input of motor A controller and the output of motor A torque comparison module, the output of motor A magnetic linkage comparison module is connected, the output of motor A controller is connected with motor A, the input of motor B flux estimate algorithm module is connected with motor B, the output of motor B flux estimate algorithm module is connected with the input of motor B magnetic linkage comparison module, the input of motor B controller and the output of motor B torque comparison module, the output of motor B magnetic linkage comparison module is connected, the output of motor B controller is connected with motor B.
A kind of biswitch reluctance motor synchronisation control means, comprises the following steps:
1) in the synchronous control system of biswitch reluctance motor formation, rotating speed Control loop is built with wherein motor, and set this motor as motor A, another motor is motor B, direct torque closed loop is built respectively again for these two motors, wherein with rotating speed control for outer shroud, direct torque is inner ring;
2) according to the rotational speed setup of motor A, detect the actual speed of motor A simultaneously and compare with given rotating speed, obtain the rotating speed deviation of motor A, this rotating speed deviation obtains the torque reference T of switched reluctance machines through pid control algorithm process
*, by this torque reference T
*initial moment as two motors is given;
3) the actual torque T of motor A and motor B is estimated
awith T
band both are compared the deviation e obtaining actual torque, and obtain deviation variation rate ec by this deviation e, then by deviation e that the rate of change ec of the deviation e of this actual torque, actual torque deviation and the actual torque of motor A obtain compared with above-mentioned torque reference
athrough FUZZY ALGORITHMS FOR CONTROL process, obtain motor A and the given adjusted value of motor B torque respectively
with
4) the torque adjusted value will obtained
with
respectively with torque reference T
*be added, the torque obtaining two motors new is given
with
and by given for new torque
with
respectively with the actual torque T of two motors
awith T
bcompare, obtain the torque deviation Δ T of two motors
awith Δ T
b;
5) according to the flux linkage set of switched reluctance machines, estimate the actual magnetic linkage of two motor A and B simultaneously and compare with given magnetic linkage respectively, obtaining the magnetic linkage deviation delta ψ of two motors
awith Δ ψ
b;
6) the torque deviation Δ T will obtained
awith Δ T
bwith magnetic linkage deviation delta ψ
awith Δ ψ
brespectively as the input of motor A controller and motor B controller, motor A controller and motor B controller be the on off state of power switch in power inverter corresponding to corresponding torque deviation and magnetic linkage Deviation Control switched reluctance machines respectively, realizes the real-time adjustment to motor output torque;
7) step 3 is repeated) to step 6), respectively two actual motor torques are estimated, compare and judged, and finally realize the in a basic balance of two actual motor torques by the torque of adjustment two motors is given, make the Driving Torque of two switched reluctance machines substantially reach consistent, realize Synchronization Control.
Beneficial effect of the present invention is: the present invention is directed to the synchronous control system that biswitch reluctance motor is formed, rotating speed Control loop is built with wherein motor, namely also pass through to detect its actual speed to obtain corresponding rotating speed deviation by the rotational speed setup of this motor of setting, pid control algorithm is adopted to obtain the torque reference of switched reluctance machines for this rotating speed deviation again, and given as the initial moment of two switched reluctance machines using this torque reference, by detecting the actual torque of two switched reluctance machines and being compared to obtain corresponding torque deviation, torque deviation rate of change is obtained by torque deviation, by torque deviation, the actual torque of torque deviation rate of change and wherein a motor compared with above-mentioned torque reference after the deviation that obtains carry out processing through FUZZY ALGORITHMS FOR CONTROL and obtain the given adjusted value of two motor torques, again given for the torque of acquisition adjusted value is added respectively the torque obtaining two motors new with above-mentioned torque reference given, two actual motor torques are made substantially to reach consistent by the adjustment given to two motor torques, thus reach the object of biswitch reluctance motor Synchronization Control, there is control precision high, the advantage of applied range.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of sync control device of the present invention.
Fig. 2 is the flow chart of synchronisation control means of the present invention.
Fig. 3 is fuzzy control principle block diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figure 1, a kind of biswitch reluctance motor sync control device, comprise rotational speed setup module, motor A Rotating speed measring module, motor A rotating speed comparison module, PID module, motor A torque estimating module, motor B torque estimating module, actual torque comparison module, motor A actual torque and torque reference comparison module, fuzzy controller, the given adjustment module of motor A torque, the given adjustment module of motor B torque, motor A torque comparison module, motor B torque comparison module, flux linkage set module, motor A flux estimate algorithm module, motor B flux estimate algorithm module, motor A magnetic linkage comparison module, motor B magnetic linkage comparison module, motor A controller and motor B controller, the output of described rotational speed setup module is connected with the input of motor A rotating speed comparison module, the input of motor A Rotating speed measring module is connected with motor A, the output of motor A Rotating speed measring module is connected with the input of motor A rotating speed comparison module, the output of motor A rotating speed comparison module is connected with the input of PID module, the input of described motor A torque estimating module is connected with motor A, the output of motor A torque estimating module is connected with the input of actual torque comparison module, the input of motor B torque estimating module is connected with motor B, the output of motor B torque estimating module is connected with the input of actual torque comparison module, the input of motor A actual torque and torque reference comparison module and the output of motor A torque estimating module, the output of PID module is connected, the input of fuzzy controller and the output of actual torque comparison module, motor A actual torque is connected with the output of torque reference comparison module, the output of fuzzy controller respectively with the input of the given adjustment module of motor A torque, the input of the given adjustment module of motor B torque is connected, the output of PID module and the input of the given adjustment module of motor A torque, the input of the given adjustment module of motor B torque is connected, the input of motor A torque comparison module and the output of the given adjustment module of motor A torque, the output of motor A torque estimating module is connected, the input of motor B torque comparison module and the output of the given adjustment module of motor B torque, the output of motor B torque estimating module is connected, the output of described flux linkage set module and the input of motor A magnetic linkage comparison module, the input of motor B magnetic linkage comparison module is connected, the input of motor A flux estimate algorithm module is connected with motor A, the output of motor A flux estimate algorithm module is connected with the input of motor A magnetic linkage comparison module, the input of motor A controller and the output of motor A torque comparison module, the output of motor A magnetic linkage comparison module is connected, the output of motor A controller is connected with motor A, the input of motor B flux estimate algorithm module is connected with motor B, the output of motor B flux estimate algorithm module is connected with the input of motor B magnetic linkage comparison module, the input of motor B controller and the output of motor B torque comparison module, the output of motor B magnetic linkage comparison module is connected, the output of motor B controller is connected with motor B.
As shown in Figure 2, Fig. 2 is the flow chart of biswitch reluctance motor synchronisation control means of the present invention, and control method comprises the following steps:
1) in the synchronous control system of biswitch reluctance motor formation, rotating speed Control loop is built with wherein motor, and set this motor as motor A, another motor is motor B, direct torque closed loop is built respectively again for these two motors, wherein with rotating speed control for outer shroud, direct torque is inner ring;
2) according to the rotational speed setup v of motor A
*, detect the actual speed v of motor A simultaneously
aand with given rotating speed v
*compare, obtain the rotating speed deviation delta v of motor A
a, that is: Δ v
a=v
*-v
a, by Δ v
acarry out through pid control algorithm processing the torque reference T obtaining switched reluctance machines
*, by this torque reference T
*initial moment as two motors is given;
3) the actual torque T of motor A and motor B is estimated
awith T
b, and both are compared the deviation e obtaining actual torque, that is: e=T
a-T
b, and obtain deviation variation rate ec by this deviation e, that is:
if the absolute value of this deviation e is less than certain set point, then illustrate that the Driving Torque of two motors is in a basic balance, can not regulate its torque is given; Otherwise need regulate accordingly the torque of two motors is given, now by the actual torque T of the deviation e of this actual torque, actual torque deviation variation rate ec and motor A
awith above-mentioned torque reference T
*compare the deviation e obtained
a(e
a=T
*-T
a) process through FUZZY ALGORITHMS FOR CONTROL, obtain motor A and the given adjusted value of motor B torque respectively
with
4) the torque adjusted value will obtained
with
respectively with torque reference T
*be added, the torque obtaining two motors new is given
with
that is:
and by given for new torque
with
respectively with the actual torque T of two motors
awith T
bcompare, obtain the torque deviation Δ T of two motors
awith Δ T
b, that is:
5) according to the flux linkage set ψ of switched reluctance machines
*, detect the actual magnetic linkage ψ of two motor A and B simultaneously
aand ψ
b, and by the actual magnetic linkage ψ of two motor A and B
aand ψ
brespectively with given magnetic linkage ψ
*compare, obtain the magnetic linkage deviation delta ψ of two motors
awith Δ ψ
b, that is: Δ ψ
a=ψ
*-ψ
a, Δ ψ
b=ψ
*-ψ
b;
6) the torque deviation Δ T will obtained
awith Δ T
bwith magnetic linkage deviation delta ψ
awith Δ ψ
brespectively as the input of motor A controller and motor B controller, motor A controller and motor B controller be the on off state of power switch in power inverter corresponding to corresponding torque deviation and magnetic linkage Deviation Control switched reluctance machines respectively, realizes the real-time adjustment to motor output torque;
7) step 3 is repeated) to step 6), respectively two actual motor torques are estimated, compare and judged, and finally realize the in a basic balance of two actual motor torques by the torque of adjustment two motors is given, make the Driving Torque of two switched reluctance machines substantially reach consistent, realize Synchronization Control.
As shown in Figure 3, Fig. 3 is fuzzy controller theory diagram of the present invention.Fuzzy controller is by the deviation e of two actual Driving Torque of switched reluctance machines, the rate of change ec of actual torque deviation and the actual torque of motor A and the deviation e of its torque reference
aas the input of fuzzy controller, by adjusted value given for two motor torques
with
as the output of fuzzy controller, and by the rate of change ec of the deviation e of two actual motor torques, actual torque deviation, the actual torque of motor A and the deviation e of its torque reference
aand output controlled quentity controlled variable
with
be defined as 5 quantification gradations respectively: { negative large (NB), negative little (NS), zero (ZE), just little (PS), honest (PB) }; The discrete domain getting e and ec is {-3 ,-2 ,-1,0,1,2,3}, e
adiscrete domain be-2 ,-1,0,1,2},
discrete domain be-4 ,-3 ,-2 ,-1,0,1,2,3,4},
discrete domain be {-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5}.The domain of deviation e is [-4,4], the domain of deviation variation rate ec is [-15,15], deviation e
adomain be [-5,5], export controlled quentity controlled variable
with
domain be [-3,3], then each scale factor is: k
e=3/4, k
ec=3/15=0.2,
in order to improve the stable state accuracy of fuzzy control, a membership function table is established to each input variable and output variable, respectively as shown in tables 1 to 5.Wherein, show the first row in 1-5 and represent the torque deviation e of torque deviation e, torque deviation rate of change ec, motor A respectively
a, export controlled quentity controlled variable
with
domain, first row represents the torque deviation e of torque deviation e, torque deviation rate of change ec, motor A respectively
a, export controlled quentity controlled variable
with
quantification gradation, in table, other parts represent the degree of membership of the corresponding domain of each quantification gradation.
The membership function of table 1 deviation e Linguistic Value
| -3 | -2 | -1 | 0 | 1 | 2 | 3 | |
| PB | 0 | 0 | 0 | 0 | 0 | 0.7 | 1 |
| PS | 0 | 0 | 0 | 0 | 0.3 | 1 | 0.7 |
| ZE | 0 | 0 | 0 | 0.3 | 1 | 0.7 | 0 |
| NS | 0 | 0 | 0.6 | 1 | 0.6 | 0 | 0 |
| NB | 1 | 0.6 | 0.2 | 0 | 0 | 0 | 0 |
The membership function of table 2 deviation variation rate ec Linguistic Value
| -3 | -2 | -1 | 0 | 1 | 2 | 3 | |
| PB | 0 | 0 | 0 | 0 | 0 | 0.4 | 1 |
| PS | 0 | 0 | 0 | 0.4 | 1 | 0.8 | 0 |
| ZE | 0 | 0 | 0.5 | 1 | 0.5 | 0 | 0 |
| NS | 0 | 0.6 | 1 | 0.8 | 0 | 0 | 0 |
| NB | 1 | 0.8 | 0 | 0 | 0 | 0 | 0 |
Table 3 deviation e
athe membership function of Linguistic Value
| -2 | -1 | 0 | 1 | 2 | |
| PB | 0 | 0 | 0 | 0.6 | 1 |
| PS | 0 | 0 | 0.4 | 1 | 0.6 |
| ZE | 0 | 0.5 | 1 | 0.5 | 0 |
| NS | 0.4 | 1 | 0.7 | 0 | 0 |
| NB | 1 | 0.7 | 0 | 0 | 0 |
Table 4 controlled quentity controlled variable
the membership function of Linguistic Value
| -4 | -3 | -2 | -1 | 0 | 1 | 2 | 3 | 4 | |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.8 | 1 |
| PS | 0 | 0 | 0 | 0 | 0 | 0.5 | 1 | 0.8 | 0 |
| ZE | 0 | 0 | 0 | 0.5 | 1 | 0.5 | 0 | 0 | 0 |
| NS | 0 | 0.4 | 1 | 0.6 | 0 | 0 | 0 | 0 | 0 5 --> |
| NB | 1 | 0.6 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Table 5 controlled quentity controlled variable
the membership function of Linguistic Value
| -5 | -4 | -3 | -2 | -1 | 0 | 1 | 2 | 3 | 4 | 5 | |
| PB | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.4 | 1 |
| PS | 0 | 0 | 0 | 0 | 0 | 0 | 0.2 | 1 | 0.4 | 0 | 0 |
| ZE | 0 | 0 | 0 | 0 | 0.6 | 1 | 0.6 | 0 | 0 | 0 | 0 |
| NS | 0 | 0 | 0.3 | 1 | 0.5 | 0 | 0 | 0 | 0 | 0 | 0 |
| NB | 1 | 0.5 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
Require according to biswitch reluctance motor Synchronization Control and under the condition of different torque deviation and deviation variation rate, obtain output controlled quentity controlled variable
with
fuzzy control rule, as shown in table 6:
Table 6
with
fuzzy control rule table
Fuzzy control rule described in table 6 is at the rate of change ec of the deviation e considering two actual motor torques, actual torque deviation and the actual torque of motor A and the deviation e of its torque reference
abasis on, determine two given adjusted values of motor torque
with
size.Wherein the deviation e of actual torque and the rate of change ec of actual torque deviation is mainly used in determining
with
the size of value, and deviation e
athen for determining
with
in which value should get greater or lesser, as e
afor negative large (NB) or honest (PB), then
value (absolute value, lower with) should comparatively large,
value should be less, if instead e
afor negative little (NS) or just little (PS), then
value should less,
value should be larger.Any one of table: as worked as e
a, e and ec be when being respectively NS, PB and PS, it is corresponding
with
fuzzy control rule be respectively NS, PB, be described as follows: e
afor NS, namely negative little, represent the actual torque T of motor A
athan torque reference T
*greatly, e is PB, namely honest, represents the actual torque T of motor A
athan the actual torque T of motor B
bmuch larger, ec is PS, namely just little, represents that the deviation e of two switched reluctance machines actual torques has toward just little trend, is the actual torque deviation as far as possible between minimizing two motors, makes the Driving Torque of two motors reach consistent, should controlled quentity controlled variable
be set to negative little, make controlled quentity controlled variable
oppositely little adjustment is carried out, controlled quentity controlled variable to the torque of motor A is given
be set to honest, make controlled quentity controlled variable
carry out the large adjustment of forward to the torque of motor B is given, also namely as table in as described in
for NS,
for PB.In table 6, fuzzy control rule described in all other is also produce according to same rule, regulate according to described in table, the torque of control law to two motors is given, the basically identical of two motor output torques can be realized, thus reach the requirement of two motor in synchrony controls.
Claims (2)
1. a biswitch reluctance motor sync control device, it is characterized in that: comprise rotational speed setup module, motor A Rotating speed measring module, motor A rotating speed comparison module, PID module, motor A torque estimating module, motor B torque estimating module, actual torque comparison module, motor A actual torque and torque reference comparison module, fuzzy controller, the given adjustment module of motor A torque, the given adjustment module of motor B torque, motor A torque comparison module, motor B torque comparison module, flux linkage set module, motor A flux estimate algorithm module, motor B flux estimate algorithm module, motor A magnetic linkage comparison module, motor B magnetic linkage comparison module, motor A controller and motor B controller, the output of described rotational speed setup module is connected with the input of motor A rotating speed comparison module, the input of motor A Rotating speed measring module is connected with motor A, the output of motor A Rotating speed measring module is connected with the input of motor A rotating speed comparison module, the output of motor A rotating speed comparison module is connected with the input of PID module, the input of described motor A torque estimating module is connected with motor A, the output of motor A torque estimating module is connected with the input of actual torque comparison module, the input of motor B torque estimating module is connected with motor B, the output of motor B torque estimating module is connected with the input of actual torque comparison module, the input of motor A actual torque and torque reference comparison module and the output of motor A torque estimating module, the output of PID module is connected, the input of fuzzy controller and the output of actual torque comparison module, motor A actual torque is connected with the output of torque reference comparison module, the output of fuzzy controller respectively with the input of the given adjustment module of motor A torque, the input of the given adjustment module of motor B torque is connected, the output of PID module and the input of the given adjustment module of motor A torque, the input of the given adjustment module of motor B torque is connected, the input of motor A torque comparison module and the output of the given adjustment module of motor A torque, the output of motor A torque estimating module is connected, the input of motor B torque comparison module and the output of the given adjustment module of motor B torque, the output of motor B torque estimating module is connected, the output of described flux linkage set module and the input of motor A magnetic linkage comparison module, the input of motor B magnetic linkage comparison module is connected, the input of motor A flux estimate algorithm module is connected with motor A, the output of motor A flux estimate algorithm module is connected with the input of motor A magnetic linkage comparison module, the input of motor A controller and the output of motor A torque comparison module, the output of motor A magnetic linkage comparison module is connected, the output of motor A controller is connected with motor A, the input of motor B flux estimate algorithm module is connected with motor B, the output of motor B flux estimate algorithm module is connected with the input of motor B magnetic linkage comparison module, the input of motor B controller and the output of motor B torque comparison module, the output of motor B magnetic linkage comparison module is connected, the output of motor B controller is connected with motor B.
2. a biswitch reluctance motor synchronisation control means, comprises the following steps:
1) in the synchronous control system of biswitch reluctance motor formation, rotating speed Control loop is built with wherein motor, and set this motor as motor A, another motor is motor B, direct torque closed loop is built respectively again for these two motors, wherein with rotating speed control for outer shroud, direct torque is inner ring;
2) according to the rotational speed setup of motor A, detect the actual speed of motor A simultaneously and compare with given rotating speed, obtain the rotating speed deviation of motor A, this rotating speed deviation obtains the torque reference T of switched reluctance machines through pid control algorithm process
*, by this torque reference T
*initial moment as two motors is given;
3) the actual torque T of motor A and motor B is estimated
awith T
band both are compared the deviation e obtaining actual torque, and obtain deviation variation rate ec by this deviation e, then by deviation e that the rate of change ec of the deviation e of this actual torque, actual torque deviation and the actual torque of motor A obtain compared with above-mentioned torque reference
athrough FUZZY ALGORITHMS FOR CONTROL process, obtain motor A and the given adjusted value of motor B torque respectively
with
4) the torque adjusted value will obtained
with
respectively with torque reference T
*be added, the torque obtaining two motors new is given
with
and by given for new torque
with
respectively with the actual torque T of two motors
awith T
bcompare, obtain the torque deviation Δ T of two motors
awith Δ T
b;
5) according to the flux linkage set of switched reluctance machines, estimate the actual magnetic linkage of two motor A and B simultaneously and compare with given magnetic linkage respectively, obtaining the magnetic linkage deviation delta ψ of two motors
awith Δ ψ
b;
6) the torque deviation Δ T will obtained
awith Δ T
bwith magnetic linkage deviation delta ψ
awith Δ ψ
brespectively as the input of motor A controller and motor B controller, motor A controller and motor B controller be the on off state of power switch in power inverter corresponding to corresponding torque deviation and magnetic linkage Deviation Control switched reluctance machines respectively, realizes the real-time adjustment to motor output torque;
7) step 3 is repeated) to step 6), respectively two actual motor torques are estimated, compare and judged, and finally realize the in a basic balance of two actual motor torques by the torque of adjustment two motors is given, make the Driving Torque of two switched reluctance machines substantially reach consistent, realize Synchronization Control.
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| CN105939134A (en) * | 2016-06-15 | 2016-09-14 | 浙江大学 | Single power converter drive-based double-switch reluctance motor operation control system |
| CN106301129A (en) * | 2016-10-26 | 2017-01-04 | 天津津航计算技术研究所 | The pid parameter Automatic adjustment method of permagnetic synchronous motor speed controlling |
| CN107070315A (en) * | 2017-05-31 | 2017-08-18 | 湖南科技大学 | A kind of Multi- Switch reluctance motor synchronization control device and control method |
| CN107332490A (en) * | 2017-08-30 | 2017-11-07 | 西安科技大学 | A kind of fuzzy direct Instantaneous torque control method of switched reluctance machines |
| CN110971169A (en) * | 2019-12-20 | 2020-04-07 | 长安大学 | Permanent magnet synchronous motor direct torque control method based on fuzzy output duty ratio |
| CN111313789A (en) * | 2020-02-12 | 2020-06-19 | 长安大学 | Dual-fuzzy control-based direct torque control method for permanent magnet synchronous motor |
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| CN107070315B (en) * | 2017-05-31 | 2023-05-12 | 湖南科技大学 | Multi-switch reluctance motor rotating speed synchronous control device and control method |
| CN107332490A (en) * | 2017-08-30 | 2017-11-07 | 西安科技大学 | A kind of fuzzy direct Instantaneous torque control method of switched reluctance machines |
| CN107332490B (en) * | 2017-08-30 | 2019-08-09 | 西安科技大学 | A kind of fuzzy direct Instantaneous torque control method of switched reluctance machines |
| CN110971169A (en) * | 2019-12-20 | 2020-04-07 | 长安大学 | Permanent magnet synchronous motor direct torque control method based on fuzzy output duty ratio |
| CN110971169B (en) * | 2019-12-20 | 2021-06-25 | 长安大学 | Permanent magnet synchronous motor direct torque control method based on fuzzy output duty ratio |
| CN111313789A (en) * | 2020-02-12 | 2020-06-19 | 长安大学 | Dual-fuzzy control-based direct torque control method for permanent magnet synchronous motor |
| CN111313789B (en) * | 2020-02-12 | 2021-07-23 | 长安大学 | Dual-fuzzy control-based direct torque control method for permanent magnet synchronous motor |
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Application publication date: 20160420 Assignee: Hunan Bobangshan River New Materials Co.,Ltd. Assignor: HUNAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2023430000003 Denomination of invention: Synchronous control method and device of double-switched reluctance motor Granted publication date: 20171107 License type: Common License Record date: 20230110 |