CN105656379B - A kind of switched reluctance machines position predictor method based on magnetoresistive characteristic coordinate transform - Google Patents
A kind of switched reluctance machines position predictor method based on magnetoresistive characteristic coordinate transform Download PDFInfo
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- CN105656379B CN105656379B CN201610096436.4A CN201610096436A CN105656379B CN 105656379 B CN105656379 B CN 105656379B CN 201610096436 A CN201610096436 A CN 201610096436A CN 105656379 B CN105656379 B CN 105656379B
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Abstract
The invention discloses a kind of switched reluctance machines position predictor method based on magnetoresistive characteristic coordinate transform.The method is based on four magnetic resistance data of specific position, and the position of switched reluctance machines is estimated with phase current values according to phase voltage.Rotor-position is divided into two regions first, the rotor position angle of region I square is in linear function relation with magnetic resistance value, and 1/2 power of region II rotor position angle is in quadratic function relation with 1/4 power of magnetic resistance value.Fitting coefficient a, b, c, d, e are calculated by the magnetic resistance data of four specific positions.Detection phase voltage and current value, calculate current magnetic resistance value, judge region residing for current rotor position.If rotor-position is located at region I, current location is calculated using a, b, if rotor-position is located at region II, current location is calculated using c, d, e.The method is estimated by way of parsing to the position of switched reluctance machines, have the advantages that low cost, be easily achieved, applicability it is good.
Description
Technical field
The present invention relates to a kind of switched reluctance machines position predictor method based on magnetoresistive characteristic coordinate transform, belong to motor
Position Sensorless Control field.
Background technology
In driving system for switched reluctance, rotor position information for control method realization and system it is normal
Operation is most important, and the information is generally obtained by mechanical position sensors such as photoelectric encoder, rotary transformers.However,
The presence of mechanical position sensor increased the complexity of system architecture, improve manufacturing cost, and sensor performance is easily received
Ambient influnence.Therefore, low cost, high accuracy, high reliability position Sensorless Control of the research suitable for switched reluctance machines
Method is very important.
In order to realize position Sensorless Control, researcher proposes substantial amounts of position predictor method.These methods master
It is divided into two classes：Non-conduction phase position preestimating method and conduction phase put preestimating method.
First kind method is electric in constant frequency low duty ratio mainly by giving switched reluctance machines non-conduction phase injecting voltage pulse
Under pressure excitation, winding will produce the detection electric current of low amplitude value, and because detection electric current is smaller, therefore now the back-emf of motor can
To ignore.It can be seen from voltage balance equation, detect the amplitude and current location phase inductance of electric current in inverse ratio, therefore the method
Can be used to position estimate.It is characterized in that initial position of rotor can be detected, continuous position letter is able to detect that under middle low speed
Breath, but the method is not suitable for high-speed working condition.
Equations of The Second Kind method is based primarily upon the flux linkage characteristic of switched reluctance machines, will measure the flux linkage characteristic data for obtaining to look into
The forms such as inquiry table, neutral net are stored or stated, and then according to the conducting phase current and magnetic linkage data for measuring online, are obtained
Rotor position information.Such method has estimate accuracy and the rotating speed scope of application wider higher, however it is necessary that a large amount of magnetic linkages
Property samples data, and what these data were obtained typically by detailed finite element analysis or experiment measurement, the side of which increasing
The complexity and cost of method, while realizing needing to take larger physical memory often.
The content of the invention
The relation curve of switched reluctance machines phase magnetic resistance and rotor-position is divided into two regions by the present invention, and for not
Different magnetoresistive characteristic coordinate transform modes are taken with region, using the rotor-position after conversion as independent variable, the magnetic after conversion
Resistance is expressed as linear function and quadratic function as dependent variable in different zones.Herein on basis, just may be used according to magnetic resistance
Solve rotor-position.Technical scheme is as follows：
Step one：In the relation curve of switched reluctance machines phase magnetic resistance and rotor-position, by interval [θ0,θ1] be defined as
Region I, [θ1,θa] it is defined as region II.In region I and region II, four specific position θ are defined0、θ1、θhr、θa.Wherein, θ0
It is non-aligned position, θaIt is aligned position, θ1And θhrCan be obtained by formula (1) and (2).
Wherein, βsAnd βrRespectively stator polar arc and rotor pole arc.
Step 2：Detection θ0、θ1、θhr、θaFour flux linkage characteristic data ψ of position0、ψ1、ψhr、ψa, obtained by formula (3)
Four magnetoresistive characteristics of position, wherein, ψxRepresent θ0、θ1、θhr、θaFour phase magnetic linkages of position, N is the phase winding number of turn, and i is phase
Electric current.
The R that will be calculated0、R1、Rhr、RaSubstitution formula (4) obtains 5 coefficients a, b, c, d, e.
Step 3：Detection conducting phase voltage, current value, current phase magnetic resistance value is calculated using formula (5).
Wherein, ψ (0) is initial magnetic linkage, because silicon steel material remanent magnetism is smaller, ψ (0) generally is taken as into 0；U, i and r are respectively
The phase voltage of switched reluctance machines, phase current and phase resistance.
Step 4：Using linear interpolation, θ under current flow is obtained1The magnetic resistance value R at place1(i)。
Step 5：If R >=R1I (), shows that rotor-position is located at region I, a (i) and b are calculated using linear interpolation
(i).Now magnetic resistance can obtain rotor-position with rotor position angle square in shown in linear function relation such as formula (6) by formula (7)
Angle.
R=a (i) θ2+b(i) (6)
Step 6：If R<R1I (), shows that rotor-position is located at region II, c (i), d (i) are calculated using linear interpolation
With e (i).Now 1/4 power of magnetic resistance can pass through with 1/2 power of rotor position angle in shown in quadratic function relation such as formula (8)
Formula (9) obtains rotor position angle.
Step 7：Such as need further to reduce the systematic error introduced when low current lower rotor part position is estimated, multiphase can be used
Magnetoresistive characteristic is estimated instead of single-phase reluctance characteristic.Phase selection principle is：According to the size of each phase current, phase current is chosen most
Estimate the big position that mutually carries out.
Beneficial effects of the present invention：1. method is simple, it is easy to accomplish.After magnetoresistive characteristic is carried out into coordinate transform, can be quick
Analytical Solution rotor position angle；The flux linkage characteristic data at four rotor-positions are only needed, and only takes up a small amount of physical memory；
2. high precision, strong robustness.The magnetic resistance order of magnitude is larger, high resolution.In addition, by multiphase preestimating method, reducing systematic error；
3. applicability is good.Good precision is respectively provided with Angle-domain imaging, Current cut control and voltage PWM control operating mode, is also fitted
For different switched reluctance machines topologys.
Brief description of the drawings
Fig. 1 is the graph of relation of switched reluctance machines phase magnetic resistance and rotor position angle under certain electric current.
Fig. 2 is the graph of relation of the switch magnetoresistance motor rotor position angle square of region I and phase magnetic resistance under certain electric current.
Fig. 3 is 1/4 power of 1/2 power at region II switch magnetoresistance motor rotor position angle and phase magnetic resistance under certain electric current
Graph of relation.
Specific embodiment
Below in conjunction with accompanying drawing and instantiation, technical scheme is described in detail.Motor is used by example
One pole switching reluctance motor of 1kW three-phases 12/8.
Step one：Fig. 1 is the graph of relation of switched reluctance machines phase magnetic resistance and rotor position angle under certain electric current.Will
[θ0,θ1] it is defined as region I, [θ1,θa] it is defined as region II.For the switched reluctance machines that example gives, βs、βrAnd θaRespectively
It is 15 °, 17 ° and 22.5 °.By formula (1) and (2), θ can be drawn1And θhrRespectively 6.5 ° and 14 °.
Step 2：Using rotor-position fixation, the switched reluctance machines can be obtained at 0 °, 6.5 °, 14 ° and 22.5 °
Flux linkage characteristic data, and then the magnetic resistance value R at this four positions is obtained by formula (3)0°、R6.5°、R15°、R22.5°.To calculate
The R for obtaining0°、R6.5°、R15°、R22.5° substitute into formula (4) obtain 5 coefficients a, b, c, d, e.
Step 3：Detection conducting phase voltage, current value, phase magnetic resistance value R (i) now is calculated using formula (5).
Step 4：Using linear interpolation, R is calculated6.5°(i)。
Step 5：If R (i) >=R6.5° (i), shows that rotor-position is located at region I, now switch magnetoresistance motor rotor position
Angle square is as shown in Figure 2 with the relation curve of phase magnetic resistance.A (i) and b (i) are calculated using linear interpolation, and then utilize formula
(7) rotor position angle is obtained.
Step 6：If R (i)<R6.5° (i), shows that rotor-position is located at region II, now switch magnetoresistance motor rotor position
1/2 power at angle is as shown in Figure 3 with the relation curve of 1/4 power of phase magnetic resistance.C (i), d (i) are calculated using linear interpolation
With e (i), and then using formula (9) obtain rotor position angle.
Step 7：Such as need further to reduce the rotor-position predictor error under low current, replaced using three-phase magnetoresistive characteristic
Single-phase reluctance characteristic is estimated, and estimates phase Selection Strategy as shown in table 1.
Table 1. estimates phase Selection Strategy
Claims (2)
1. a kind of switched reluctance machines position predictor method based on magnetoresistive characteristic coordinate transform, it is characterised in that：Magnetic will be switched
Resistance motor phase magnetic resistance is divided into two regions with the relation curve of rotor-position, and linear function is respectively adopted for different zones
Relation between magnetoresistive characteristic after being converted with quadratic function denotation coordination and the rotor position angle after coordinate transform, and then be used for
The solution of rotor-position, position predictor method realizes that step is as follows：
Step one：In the relation curve of switched reluctance machines phase magnetic resistance and rotor-position, by interval [θ0,θ1] it is defined as region
I, [θ1,θa] region II is defined as, in region I and region II, define four specific position θ0、θ1、θhr、θa, wherein θ0For non-
Aligned position, θaIt is aligned position, θ1And θhrBy formula θ1=θa-(βs+βr)/2 and θhr=θa-βr/ 2 are calculated, wherein, βs
And βrThe respectively stator polar arc and rotor pole arc of motor；
Step 2：Flux linkage characteristic data at measurement aforementioned four specific position, and calculate corresponding magnetoresistive characteristic data R0、R1、
Rhr、Ra；Four magnetic resistance data of position are substituted into the analytical expression of coefficient a, b, c, d, e, calculating a, b, c, d, e five is
Count, analytical expression is
Step 3：Detection conducting phase voltage, current value, substitute into magnetic resistance analytical expressionWorked as
Preceding phase magnetic resistance value R, wherein ψ (0) are initial magnetic linkages, and u, i are respectively the phase voltage of switched reluctance machines, phase current with r with mutually electricity
Resistance；
Step 4：Phase current i according to obtained by detection, using linear interpolation, is calculated θ under current phase current1Locate magnetic resistance value R1
(i)；
Step 5：If R >=R1(i), show rotor-position be located at region I, now rotor position angle square with magnetic resistance be in a letter
Number relation, carries out rotor-position and estimates using the linear function expression formula of magnetoresistive characteristic after coordinate transform, linear function expression formula
It is R=a (i) θ2+ b (i), now rotor position angle is by formulaSolve；
Step 6：If R<R1I (), shows that rotor-position is located at region II, now 1/2 power of rotor position angle and the 1/4 of magnetic resistance
Power is in quadratic function relation, carries out rotor-position using the quadratic function expression formula of magnetoresistive characteristic after coordinate transform and estimates, and two
Secondary function expression isNow rotor position angle passes through formula
Solve；
Step 7：Such as need further to reduce the systematic error introduced when low current lower rotor part position is estimated, it is special using multiphase magnetic resistance
Property is estimated instead of single-phase reluctance characteristic, and phase selection principle is：According to the size of each phase current, the maximum phase of phase current is chosen
Position is carried out to estimate.
2. a kind of switched reluctance machines position predictor method based on magnetoresistive characteristic coordinate transform according to claim 1,
It is characterized in that：θ described in step 20、θ1、θhrAnd θaThe magnetoresistive characteristic R at place0、R1、Rhr、RaIt is by formulaCalculate
Obtain, wherein, ψ is phase magnetic linkage, and N is the phase winding number of turn, and i is phase current.
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