CN105515455B - Biswitch reluctance motor synchronisation control means and device - Google Patents
Biswitch reluctance motor synchronisation control means and device Download PDFInfo
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- CN105515455B CN105515455B CN201610056935.0A CN201610056935A CN105515455B CN 105515455 B CN105515455 B CN 105515455B CN 201610056935 A CN201610056935 A CN 201610056935A CN 105515455 B CN105515455 B CN 105515455B
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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
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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Abstract
The invention discloses a kind of biswitch reluctance motor synchronisation control means, step is as follows：Rotating speed control closed loop is built with motor A, i.e., by the rotational speed setup that sets the motor and by detecting its actual speed to obtain corresponding rotating speed deviation, then obtains by the rotating speed deviation torque reference of switched reluctance machines；By detecting the actual torque of two switched reluctance machines and being compared to obtain torque deviation, again by the torque deviation, torque deviation rate of change and motor A actual torque and torque reference are handled compared to the deviation obtained more afterwards through FUZZY ALGORITHMS FOR CONTROL progress obtains the given adjusted value of two motor torques, torque reference adjusted value is added with torque reference respectively again and obtains two new torque references of motor, by making two actual motor torques basically reach unanimously the regulation that two motor torques give, so as to reach the purpose of biswitch reluctance motor Synchronization Control, it is high with control accuracy, the advantage having a wide range of application.
Description
Technical field
The present invention relates to switched Reluctance Motor Control field, more particularly to a kind of biswitch reluctance motor synchronisation control means
And device.
Background technology
Switched reluctance machines because with starting current is small, starting torque is big, the low number of advantages of simple in construction and cost and
It is widely used in many fields.But in some powerful application scenarios, the power of single motor is often difficult to
Meet and require, this is accomplished by synchronizing transmission using two motors.Yet with there is the reasons such as foozle so that motor
Mechanical property be difficult to reach it is completely the same, when using two motor synchronous drives can because the difference of its mechanical property and caused by
The imbalance of two motor output torques, when serious can because the output torque of wherein certain motor is excessive and caused by motor overload very
To the danger burnt.Work has been had carried out some research in terms of relevant biswitch reluctance motor Synchronization Control at present, has been used
Control method mainly have main order control, master ＆ slave control, cross-coupling control and virtual main shaft Synchronization Control etc., these controlling parties
Though method has obtained certain control effect, there is different degrees of deficiency：Wherein main order control and master ＆ slave control are because of electricity
It is not present coupling between machine unit, synchronous control accuracy places one's entire reliance upon the uniformity of each parameter of electric machine, micro- in actual applications
Small parameter of electric machine error can all influence final control effect, thus be difficult to the requirement that meets practical application；Cross-couplings control
Though system realizes the speed crossed coupling between electric motor units, balanced action can not be played to output power of motor, easily made
Into the generation of single motor overload situations；Virtual main shaft Synchronization Control is then typically only applicable to be flexible coupling the Synchronization Control of motor,
Thus application is restricted.Therefore for the deficiency existed at present in terms of biswitch reluctance motor Synchronization Control, research
More efficiently synchronisation control means, is had important practical significance with the requirement for meeting powerful synchronous control.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention provides the biswitch magnetic resistance that a kind of control accuracy is high, have a wide range of application
Motor synchronous control method, and a kind of biswitch reluctance motor sync control device is provided.
Technical proposal that the invention solves the above-mentioned problems is：A kind of biswitch reluctance motor sync control device, including turn
Speed given module, motor A Rotating speed measrings module, motor A rotating speeds comparison module, PID modules, motor A torque estimatings module, motor
B torque estimatings module, actual torque comparison module, motor A actual torques and torque reference comparison module, fuzzy controller, electricity
Machine A torque references adjustment module, motor B torque references adjustment module, motor A torques comparison module, motor B torque ratios are compared with mould
Block, flux linkage set module, motor A flux estimate algorithms module, motor B flux estimate algorithms module, motor A magnetic linkages comparison module, motor B magnetic
Chain comparison module, motor A controllers and motor B controllers, the output end and motor A rotating ratios of the rotational speed setup module are compared with mould
The input of block is connected, and the input of motor A Rotating speed measring modules is connected with motor A, the output end of motor A Rotating speed measring modules
It is connected with the input of motor A rotating speed comparison modules, the input phase of the output end and PID modules of motor A rotating speed comparison modules
Even, the input of the motor A torque estimating modules is connected with motor A, and the output end of motor A torque estimating modules turns with actual
The input of square comparison module is connected, and the input of motor B torque estimating modules is connected with motor B, motor B torque estimating modules
Output end be connected with the input of actual torque comparison module, the input of motor A actual torques and torque reference comparison module
End is connected with output end, the output end of PID modules of motor A torque estimating modules, and the input of fuzzy controller turns with actual
The output end of square comparison module, motor A actual torques are connected with the output end of torque reference comparison module, fuzzy controller it is defeated
Go out input, the input of motor B torque reference adjustment modules of end respectively with motor A torque reference adjustment modules to be connected, PID
The output end of module and the input of motor A torque reference adjustment modules, the input phase of motor B torque reference adjustment modules
Even, the input of motor A torque comparison modules and the output end of motor A torque reference adjustment modules, motor A torque estimating modules
Output end be connected, the input of motor B torque comparison modules and the output end of motor B torque reference adjustment modules, motor B turn
The output end of square estimation block is connected, the output end of the flux linkage set module and input, the electricity of motor A magnetic linkage comparison modules
The input of machine B magnetic linkage comparison modules is connected, and the input of motor A flux estimate algorithm modules is connected with motor A, and motor A magnetic linkages are estimated
The output end for calculating module is connected with the input of motor A magnetic linkage comparison modules, input and the motor A torques of motor A controllers
The output end of comparison module, the output end of motor A magnetic linkage comparison modules are connected, output end and the motor A phases of motor A controllers
Even, the input of motor B flux estimate algorithm modules is connected with motor B, output end and the motor B magnetic linkages of motor B flux estimate algorithm modules
The input of comparison module is connected, the input of motor B controllers and the output end of motor B torque comparison modules, motor B magnetic linkages
The output end of comparison module is connected, and the output end of motor B controllers is connected with motor B.
A kind of biswitch reluctance motor synchronisation control means, comprises the following steps：
1) in the synchronous control system that biswitch reluctance motor is constituted, rotating speed control is built with wherein one motor and closed
Ring, and the motor is set as motor A, another motor is motor B, then builds direct torque closed loop respectively for two motors,
Wherein using rotating speed control as outer shroud, direct torque is inner ring；
2) according to motor A rotational speed setup, while detecting motor A actual speed and being compared with given rotating speed, obtain
To motor A rotating speed deviation, the rotating speed deviation handles the torque reference T for obtaining switched reluctance machines through pid control algorithm*, will
Torque reference T*Given as the initial moment of two motors；
3) estimation motor A and motor B actual torque TAWith TB, and both are compared to the deviation for obtaining actual torque
E, and deviation variation rate ec is obtained by deviation e, then by the rate of change ec of the deviation e of the actual torque, actual torque deviation with
And motor A actual torque and above-mentioned torque reference compares obtained deviation eAHandle, respectively obtain through FUZZY ALGORITHMS FOR CONTROL
Motor A and motor B torque references adjusted valueWith
4) by the torque adjusted value of acquisitionWithRespectively with torque reference T*It is added, obtains two new torques of motor
It is givenWithAnd by new torque referenceWithRespectively with the actual torque T of two motorsAWith TBIt is compared, obtains
The torque deviation Δ T of two motorsAWith Δ TB；
5) according to the flux linkage set of switched reluctance machines, at the same estimate two motors A and B actual magnetic linkage and respectively with to
Determine magnetic linkage to be compared, obtain the magnetic linkage deviation delta ψ of two motorsAWith Δ ψB；
6) by the torque deviation Δ T of acquisitionAWith Δ TBWith magnetic linkage deviation delta ψAWith Δ ψBRespectively as motor A controllers and
The input of motor B controllers, motor A controllers and motor B controllers are respectively according to corresponding torque deviation and magnetic linkage deviation control
The on off state of power switch in power inverter corresponding to switched reluctance machines processed, realizes the real-time tune to motor output torque
Section；
7) repeat step 3) to step 6), two actual motor torques are estimated, compared and judged respectively, and are passed through
The torque reference of two motors of regulation finally realizes the in a basic balance of two actual motor torques, makes two switched reluctance machines
Output torque is basically reached unanimously, realizes Synchronization Control.
The beneficial effects of the present invention are：The synchronous control system that the present invention is constituted for biswitch reluctance motor, with it
In motor build rotating speed control closed loop, i.e., by the rotational speed setup that sets the motor and by detecting its actual speed to obtain
Corresponding rotating speed deviation is obtained, then the torque reference of switched reluctance machines is obtained using pid control algorithm for the rotating speed deviation, and
It is given as the initial moment of two switched reluctance machines using the torque reference；By the reality for detecting two switched reluctance machines
Torque is simultaneously compared to obtain corresponding torque deviation, and torque deviation rate of change is obtained by torque deviation, and torque is inclined
The actual torque and above-mentioned torque reference of difference, torque deviation rate of change and wherein one motor are compared the deviation obtained more afterwards and passed through
FUZZY ALGORITHMS FOR CONTROL progress, which is handled, obtains the given adjusted value of two motor torques, then the torque reference adjusted value of acquisition is distinguished
It is added with above-mentioned torque reference and obtains two new torque references of motor, by makes two to the regulation that two motor torques give
Actual motor torque is basically reached unanimously, so as to reach the purpose of biswitch reluctance motor Synchronization Control, with control accuracy it is high,
The advantage having a wide range of application.
Brief description of the drawings
Fig. 1 is the structured flowchart of the sync control device of the present invention.
Fig. 2 is the flow chart of the synchronisation control means of the present invention.
Fig. 3 is fuzzy control principle block diagram of the present invention.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of biswitch reluctance motor sync control device, including the inspection of rotational speed setup module, motor A rotating speeds
Survey module, motor A rotating speeds comparison module, PID modules, motor A torque estimatings module, motor B torque estimatings module, actual torque
Comparison module, motor A actual torques and torque reference comparison module, fuzzy controller, motor A torque references adjustment module, electricity
Machine B torque references adjustment module, motor A torques comparison module, motor B torques comparison module, flux linkage set module, motor A magnetic
Chain estimation block, motor B flux estimate algorithms module, motor A magnetic linkages comparison module, motor B magnetic linkages comparison module, motor A controllers
And motor B controllers, the output end of the rotational speed setup module is connected with the input of motor A rotating speed comparison modules, and motor A turns
The input of fast detection module is connected with motor A, output end and the motor A rotating speed comparison modules of motor A Rotating speed measring modules
Input is connected, and the output end of motor A rotating speed comparison modules is connected with the input of PID modules, the motor A torque estimating moulds
The input of block is connected with motor A, the output end and the input phase of actual torque comparison module of motor A torque estimating modules
Even, the input of motor B torque estimating modules is connected with motor B, output end and the actual torque ratio of motor B torque estimating modules
Input compared with module is connected, the input and motor A torque estimating modules of motor A actual torques and torque reference comparison module
Output end, the output end of PID modules be connected, the input of fuzzy controller and the output end of actual torque comparison module, electricity
Machine A actual torques are connected with the output end of torque reference comparison module, and the output end of fuzzy controller is given with motor A torques respectively
Determine the input of adjustment module, the input of motor B torque reference adjustment modules to be connected, output end and the motor A of PID modules turn
Square gives the input of adjustment module, the input of motor B torque reference adjustment modules is connected, motor A torque comparison modules
Input is connected with the output end of motor A torque reference adjustment modules, the output end of motor A torque estimating modules, motor B torques
The input of comparison module and the output end of motor B torque reference adjustment modules, the output end phase of motor B torque estimating modules
Even, the output end of the flux linkage set module and the input of motor A magnetic linkage comparison modules, motor B magnetic linkage comparison modules it is defeated
Enter end to be connected, the input of motor A flux estimate algorithm modules is connected with motor A, the output end and motor of motor A flux estimate algorithm modules
The input of A magnetic linkage comparison modules is connected, the input of motor A controllers and the output end of motor A torque comparison modules, motor
The output end of A magnetic linkage comparison modules is connected, and the output end of motor A controllers is connected with motor A, motor B flux estimate algorithm modules
Input is connected with motor B, and the output end of motor B flux estimate algorithm modules is connected with the input of motor B magnetic linkage comparison modules, electricity
The input of machine B controllers is connected with the output end of motor B torque comparison modules, the output end of motor B magnetic linkage comparison modules, electricity
The output end of machine B controllers is connected with motor B.
As shown in Fig. 2 Fig. 2 is the flow chart of biswitch reluctance motor synchronisation control means of the present invention, control method includes
Following steps：
1) in the synchronous control system that biswitch reluctance motor is constituted, rotating speed control is built with wherein one motor and closed
Ring, and the motor is set as motor A, another motor is motor B, then builds direct torque closed loop respectively for two motors,
Wherein using rotating speed control as outer shroud, direct torque is inner ring；
2) according to motor A rotational speed setup v*, while detecting motor A actual speed vAAnd with given rotating speed v*Compared
Compared with obtaining motor A rotating speed deviation delta vA, i.e.,：ΔvA=v*-vA, by Δ vAHandled through pid control algorithm progress and obtain switching magnetic
Hinder the torque reference T of motor*, by torque reference T*Given as the initial moment of two motors；
3) estimation motor A and motor B actual torque TAWith TB, and both are compared to the deviation for obtaining actual torque
E, i.e.,：E=TA-TB, and deviation variation rate ec is obtained by deviation e, i.e.,：If deviation e absolute value is less than certain
Individual setting value, then illustrate that the output torque of two motors is in a basic balance, and its torque reference can not be adjusted；Otherwise need to two
The torque reference of platform motor is adjusted accordingly, now by the deviation e of the actual torque, actual torque deviation variation rate ec with
And motor A actual torque TAWith above-mentioned torque reference T*Compare obtained deviation eA(eA=T*-TA) through FUZZY ALGORITHMS FOR CONTROL
Handled, respectively obtain the adjusted value of motor A and motor B torque referencesWith
4) by the torque adjusted value of acquisitionWithRespectively with torque reference T*It is added, obtains turn of two motors newly
Square givesWithI.e.：And by new torque referenceWithRespectively with two
The actual torque T of motorAWith TBIt is compared, obtains the torque deviation Δ T of two motorsAWith Δ TB, i.e.,：
5) according to the flux linkage set ψ of switched reluctance machines*, while detecting two motors A and B actual magnetic linkage ψAAnd ψB, and
By two motors A and B actual magnetic linkage ψAAnd ψBRespectively with given magnetic linkage ψ*It is compared, obtains the magnetic linkage deviation of two motors
ΔψAWith Δ ψB, i.e.,：ΔψA=ψ*-ψA, Δ ψB=ψ*-ψB；
6) by the torque deviation Δ T of acquisitionAWith Δ TBWith magnetic linkage deviation delta ψAWith Δ ψBRespectively as motor A controllers and
The input of motor B controllers, motor A controllers and motor B controllers are respectively according to corresponding torque deviation and magnetic linkage deviation control
The on off state of power switch in power inverter corresponding to switched reluctance machines processed, realizes the real-time tune to motor output torque
Section；
7) repeat step 3) to step 6), two actual motor torques are estimated, compared and judged respectively, and are passed through
The torque reference of two motors of regulation finally realizes the in a basic balance of two actual motor torques, makes two switched reluctance machines
Output torque is basically reached unanimously, realizes Synchronization Control.
As shown in figure 3, Fig. 3 is fuzzy controller theory diagram of the present invention.Fuzzy controller is by two switched reluctance machines
The deviation e of reality output torque, the rate of change ec of actual torque deviation and motor A actual torque and its torque reference it is inclined
Poor eAAs the input of fuzzy controller, the adjusted value that two motor torques are givenWithIt is used as fuzzy controller
Output, and by the deviation e of two actual motor torques, the rate of change ec of actual torque deviation, motor A actual torque and its join
Examine the deviation e of torqueAAnd output control amountWithIt is respectively defined as 5 quantification gradations：Negative big (NB), bears small (NS),
Zero (ZE), just small (PS), honest (PB) }；The discrete domain for taking e and ec is { -3, -2, -1,0,1,2,3 }, eADiscrete domain
For { -2, -1,0,1,2 },Discrete domain be { -4, -3, -2, -1,0,1,2,3,4 },Discrete domain for -5, -
4, -3, -2, -1,0,1,2,3,4,5 }.Deviation e domain is [- 4,4], and deviation variation rate ec domain is [- 15,15], deviation
eADomain be [- 5,5], output control amountWithDomain be [- 3,3], then each scale factor is：ke=3/4, kec
=3/15=0.2,In order to improve the stable state accuracy of fuzzy control, to every
Individual input quantity and output quantity establish a membership function table, respectively as shown in tables 1 to 5.Wherein, the first row distinguishes table in table 1-5
Show torque deviation e, torque deviation rate of change ec, motor A torque deviation eA, output control amountWithDomain, first
Row represent torque deviation e, torque deviation rate of change ec, motor A torque deviation e respectivelyA, output control amountWith's
Other parts represent the degree of membership of each quantification gradation correspondence domain in quantification gradation, table.
The membership function of the deviation e Linguistic Values of table 1
| -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 the deviation variation rate ec Linguistic Values of table 2
| -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 |
The deviation e of table 3AThe 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 |
The controlled quentity controlled variable of table 4The 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 |
| NB | 1 | 0.6 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
The controlled quentity controlled variable of table 5The 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 |
According to the requirement of biswitch reluctance motor Synchronization Control and under conditions of different torque deviations and deviation variation rate,
Obtain output control amountWithFuzzy control rule, as shown in table 6：
Table 6WithFuzzy control rule table
Fuzzy control rule described in table 6, is inclined in deviation e, the actual torque for considering two actual motor torques
The rate of change ec and motor A of difference actual torque and the deviation e of its torque referenceAOn the basis of, to determine two motor torques
Given adjusted valueWithSize.The wherein deviation e of actual torque and the rate of change ec of actual torque deviation are mainly used
In it is determined thatWithValue size, and deviation eAThen it is used to determineWithIn which value should take
It is greater or lesser, such as eATo bear big (NB) or honest (PB), thenValue (absolute value, similarly hereinafter) should it is larger,Value
Should be smaller, if instead eATo bear small (NS) or just small (PS), thenValue should it is smaller,Value should be larger.With table
Any one of exemplified by：Such as work as eA, e and ec be when being respectively NS, PB and PS, its correspondenceWithFuzzy control rule difference
For NS, PB, it is described as follows：eAFor NS, that is, bear small, expression motor A actual torque TAThan torque reference T*Greatly, e is PB, i.e., just
Greatly, motor A actual torque T is representedAActual torque T than motor BBMuch larger, ec is PS, i.e., just small, represents two switch magnetic
The deviation e of resistance actual motor torque has toward just small trend, to reduce the actual torque deviation between two motors as far as possible, makes two
The output torque of motor reaches unanimously, should be controlled quentity controlled variableIt is set to negative small, makes controlled quentity controlled variableTorque reference to motor A is entered
The reverse small regulation of row, controlled quentity controlled variableIt is set to honest, makes controlled quentity controlled variableMotor B torque reference is carried out positive big
Regulation, namely in table as described inFor NS,For PB.The fuzzy control rule of all other in table 6 is also basis
Same rule generation, controls rule that the torque reference of two motors is adjusted, it is possible to achieve two according to table
Motor output torque it is basically identical, so as to reach the requirement of two motor Synchronization Controls.
Claims (2)
1. a kind of biswitch reluctance motor sync control device, it is characterised in that：Examined including rotational speed setup module, motor A rotating speeds
Survey module, motor A rotating speeds comparison module, PID modules, motor A torque estimatings module, motor B torque estimatings module, actual torque
Comparison module, motor A actual torques and torque reference comparison module, fuzzy controller, motor A torque references adjustment module, electricity
Machine B torque references adjustment module, motor A torques comparison module, motor B torques comparison module, flux linkage set module, motor A magnetic
Chain estimation block, motor B flux estimate algorithms module, motor A magnetic linkages comparison module, motor B magnetic linkages comparison module, motor A controllers
And motor B controllers, the output end of the rotational speed setup module is connected with the input of motor A rotating speed comparison modules, and motor A turns
The input of fast detection module is connected with motor A, output end and the motor A rotating speed comparison modules of motor A Rotating speed measring modules
Input is connected, and the output end of motor A rotating speed comparison modules is connected with the input of PID modules, the motor A torque estimating moulds
The input of block is connected with motor A, the output end and the input phase of actual torque comparison module of motor A torque estimating modules
Even, the input of motor B torque estimating modules is connected with motor B, output end and the actual torque ratio of motor B torque estimating modules
Input compared with module is connected, the input and motor A torque estimating modules of motor A actual torques and torque reference comparison module
Output end, the output end of PID modules be connected, the input of fuzzy controller and the output end of actual torque comparison module, electricity
Machine A actual torques are connected with the output end of torque reference comparison module, and the output end of fuzzy controller is given with motor A torques respectively
Determine the input of adjustment module, the input of motor B torque reference adjustment modules to be connected, output end and the motor A of PID modules turn
Square gives the input of adjustment module, the input of motor B torque reference adjustment modules is connected, motor A torque comparison modules
Input is connected with the output end of motor A torque reference adjustment modules, the output end of motor A torque estimating modules, motor B torques
The input of comparison module and the output end of motor B torque reference adjustment modules, the output end phase of motor B torque estimating modules
Even, the output end of the flux linkage set module and the input of motor A magnetic linkage comparison modules, motor B magnetic linkage comparison modules it is defeated
Enter end to be connected, the input of motor A flux estimate algorithm modules is connected with motor A, the output end and motor of motor A flux estimate algorithm modules
The input of A magnetic linkage comparison modules is connected, the input of motor A controllers and the output end of motor A torque comparison modules, motor
The output end of A magnetic linkage comparison modules is connected, and the output end of motor A controllers is connected with motor A, motor B flux estimate algorithm modules
Input is connected with motor B, and the output end of motor B flux estimate algorithm modules is connected with the input of motor B magnetic linkage comparison modules, electricity
The input of machine B controllers is connected with the output end of motor B torque comparison modules, the output end of motor B magnetic linkage comparison modules, electricity
The output end of machine B controllers is connected with motor B.
2. a kind of biswitch reluctance motor synchronisation control means, comprises the following steps：
1) in the synchronous control system that biswitch reluctance motor is constituted, rotating speed control closed loop is built with wherein one motor, and
If the motor is motor A, another motor is motor B, then builds direct torque closed loop respectively for two motors, wherein with
Rotating speed control is outer shroud, and direct torque is inner ring；
2) according to motor A rotational speed setup, while detecting motor A actual speed and being compared with given rotating speed, electricity is obtained
Machine A rotating speed deviation, the rotating speed deviation handles the torque reference T for obtaining switched reluctance machines through pid control algorithm*, this is joined
Examine torque T*Given as the initial moment of two motors；
3) estimation motor A and motor B actual torque TAWith TB, and both are compared to the deviation e for obtaining actual torque, and
Deviation variation rate ec is obtained by deviation e, then by the deviation e of the actual torque, the rate of change ec and electricity of actual torque deviation
Machine A actual torque and above-mentioned torque reference compare obtained deviation eAHandled through FUZZY ALGORITHMS FOR CONTROL, respectively obtain motor A
With the adjusted value of motor B torque referencesWith
4) by the torque adjusted value of acquisitionWithRespectively with torque reference T*It is added, obtains two new torque references of motorWithAnd by new torque referenceWithRespectively with the actual torque T of two motorsAWith TBIt is compared, obtains two
The torque deviation Δ T of motorAWith Δ TB；
5) according to the flux linkage set of switched reluctance machines, at the same estimate two motors A and B actual magnetic linkage and respectively with given magnetic
Chain is compared, and obtains the magnetic linkage deviation delta ψ of two motorsAWith Δ ψB；
6) by the torque deviation Δ T of acquisitionAWith Δ TBWith magnetic linkage deviation delta ψAWith Δ ψBRespectively as motor A controllers and motor B
The input of controller, motor A controllers and motor B controllers are respectively according to corresponding torque deviation and magnetic linkage deviation controlling switch
The on off state of power switch in power inverter corresponding to reluctance motor, realizes the real-time regulation to motor output torque；
7) repeat step 3) to step 6), two actual motor torques are estimated, compared and judged respectively, and pass through regulation
The torque reference of two motors finally realizes the in a basic balance of two actual motor torques, makes the output of two switched reluctance machines
Torque is basically reached unanimously, realizes Synchronization Control.
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| CN105939134B (en) * | 2016-06-15 | 2018-04-03 | 浙江大学 | Biswitch reluctance motor operation control system based on the driving of single power inverter |
| CN106301129B (en) * | 2016-10-26 | 2018-11-27 | 天津津航计算技术研究所 | The pid parameter Automatic adjustment method of permanent magnet synchronous motor speed control |
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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 |