CN105811848A - Proportional integral (PI) control method for variable gain of switched reluctance motor - Google Patents
Proportional integral (PI) control method for variable gain of switched reluctance motor Download PDFInfo
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Abstract
A proportional integral (PI) control method for variable gain of a switched reluctance motor comprises the following steps of acquiring a voltage of a DC bus by a Hall voltage sensor, and calculating a voltage of a winding end by combining a main circuit form; detecting a position signal of a rotor of the switched reluctance motor by a position sensor, and calculating an actual rotational speed of the motor according to position angle change of the motor rotor within a fixed time; calculating a proportionality coefficient and an integral time constant of a PI controller according to the voltage of the winding end and the actual rotational speed of the motor; and taking an input of the PI controller as rotational speed difference and an output as a reference current or pulse width modulation (PWM) duty ratio, further controlling a power converter, providing electric energy for the switched reluctance motor from the power converter, and controlling the rotational speed of the motor. By the method, the switched reluctance motor has favorable dynamic performance and steady-state characteristic under different given rotational speeds, rapid and smooth step response is achieved, and meanwhile, the dynamic anti-interference performance of a system is improved; and control method is simple and reliable and is high in universality, and industrial promotion is promoted.
Description
Technical field
The present invention relates to a kind of switch reluctance motor control method, be specifically related to a kind of switched reluctance machines gain scheduling PI control method based on on-line parameter identification.
Background technology
Switched reluctance machines has simple in construction, cheap, starting torque big, efficiency high, and this makes Switched Reluctance Motor be highly suitable for the transmission control fields such as weaving, electric automobile and mining.Suitable control strategy is the basis realizing switched reluctance machines superperformance, Switched Reluctance Motor is the system of nonlinearity, conventional linear control strategy is not particularly suited for switched reluctance machines, a lot of for the research of switched Reluctance Motor Control strategy both at home and abroad, also have and the non-linear control strategies such as Based Intelligent Control are applied to switched reluctance machines, achieve certain control effect.
Although non-linear control strategy can improve control effect, but control method is complicated, it is achieved cost is high, is unfavorable for the switched reluctance machines popularization and application at the electric transmission field of high-performance.The system of domestic and international comparative maturity at present, or many employing conventional PI control devices, utilize rotating speed, current double closed-loop PI to carry out parameter tuning, it is achieved the control to switched reluctance machines.But conventional linear PI controller exists some problems, such as step response overshoot is big, controls parameter tuning difficulty, and in whole control process, preset parameter is constant, or stepwise adjustable.Switched reluctance machines model is under different control modes, structure and parameter is all change, adopt conventional PI control device can not in real time, Correction and Control parameter continuously, it is difficult to ensure that Switched Reluctance Motor has good control effect in whole speed adjustable range, particularly in dynamic changing process.
Summary of the invention
For the defect of above-mentioned prior art, the present invention provides a kind of switched reluctance machines gain scheduling PI control method, to realize the Automatic adjusument of PI parameter under different rotating speeds, improves the dynamic Immunity Performance of system while solving step response overshoot problem.
In order to realize above-mentioned technical purpose, technical scheme is as follows.
(1) by Hall voltage sensor acquisition DC bus-bar voltage, and in conjunction with main circuit form calculus winding terminal voltage；
(2) detect switch magnetoresistance motor rotor position signal by position sensor, turn according in the set time
Sub-position angle change calculations motor actual speed；
(3) proportionality coefficient and the integration time constant of PI controller is calculated according to winding terminal voltage and motor actual speed；
(4) input of PI controller is speed discrepancy, is output as reference current or PWM duty cycle, and then controls power inverter, power inverter provide electric energy to switched reluctance machines, controls motor speed.
In technique scheme, further additional technical feature is as follows.
The proportionality coefficient stating PI controller calculates by following equation:
Wherein:
KcIt it is the proportionality coefficient of PI controller；
It is winding terminal voltage, calculates according to the DC bus-bar voltage of main circuit form with collection and obtain；
It is motor actual speed, sends into catching of microprocessor according to the rotor-position signal of position sensor detection
Obtain unit calculating to obtain；
K1It is ratio correction coefficient, is adjusted according to experimental result.
Described integration time constant is to calculate according to following equation:
Wherein:
TiIt it is integration time constant；
It is winding terminal voltage, calculates according to the DC bus-bar voltage of main circuit form with collection and obtain；
It is motor actual speed, sends into microprocessor according to the rotor-position signal of position sensor detection
Capturing unit calculates and obtains；
K2It is integration correction factor, is adjusted according to experimental result.
The speed discrepancy that input is speed discrepancy of described PI controller is motor given rotating speed and actual speed error.
Described given rotating speed is to be operated by panel, external communications equipment or external analog ports-settings.
The capturing unit calculating that described actual speed is the rotor-position signal feeding microprocessor according to position sensor detection obtains.
Described it is output as reference current or PWM duty cycle is to be determined by motor actual speed.
Technique scheme is adopted to realize a kind of switched reluctance machines gain scheduling PI control method, while solving step response overshoot problem, achieve the Automatic adjusument of PI parameter under different rotating speeds, compared with prior art, this method makes switched reluctance machines have good dynamic property and steady-state characteristic under different given rotating speeds, and while realizing quickly, smoothing step response, further increase the dynamic Immunity Performance of system, control method is simple and reliable, highly versatile, it is easy to commercial introduction.
Accompanying drawing explanation
Fig. 1 is the flow chart of this PI control method.
Fig. 2 is the specific embodiment of this PI control method, the relative position relation figure of its three-phase 12/8 pole switching reluctance motor stator, rotor, photoelectric code disk and photocurrent generator.
Fig. 3 is the specific embodiment of this PI control method, its Switched Reluctance Motor structured flowchart.
Fig. 4 is that existing PI controller and this method are in the actual measurement speed curves that Step reference is during 500r/min starting under no load.
Fig. 5 is that existing PI controller and this method are in the actual measurement speed curves that Step reference is during 1500r/min starting under no load.
Fig. 6 is existing PI controller and this method actual measurement speed curves when 1500r/min stable state shock load.
Detailed description of the invention
Hereinafter the specific embodiment of the present invention is made further instructions.
Fig. 1 is the method flow diagram of the gain scheduling PI control method of the embodiment of the present invention.As it can be seen, the gain scheduling PI control method of the present embodiment comprises the steps:
Step one, by Hall voltage sensor acquisition DC bus-bar voltage, and in conjunction with main circuit form calculus winding terminal voltage；
Step 2, detects switch magnetoresistance motor rotor position signal by position sensor, according in the set time
Rotor position angle change calculations motor actual speed；
Step 3, calculates proportionality coefficient and the integration time constant of PI controller according to winding terminal voltage and motor actual speed；
Step 4, the input of PI controller is speed discrepancy, is output as reference current or PWM duty cycle, and then controls power inverter, power inverter provide electric energy to switched reluctance machines, controls motor speed.
In the step one of the present embodiment, with three-phase 12/8 pole switching reluctance motor for specific embodiment, logical
Crossing Hall voltage sensor acquisition DC bus-bar voltage, main circuit adopts asymmetrical three-phase semibridge system, and all power voltage can be used to control phase winding electric current effectively, and winding terminal voltage is DC bus-bar voltage.
In the step 2 of the present embodiment, with three-phase 12/8 pole switching reluctance motor for specific embodiment, rotor tooth is 16 °, groove is 29 °, photoelectric code disk is identical with rotor teeth groove number and is uniformly distributed, the angle of adjacent photo pulse generator is 15 °, therefore when the A phase winding in three-phase windings aligns with rotor tooth, the relative position relation of motor stator, rotor, photoelectric code disk and photocurrent generator is as shown in Figure 2.
In Fig. 2, when motor is counterclockwise or turns clockwise, the infrared light that photocurrent generator O, P, Q send will being made to be blocked or pass through with the photoelectric code disk of rotor coaxial, the position signalling of motor will change therewith.Hardware circuit Zhong Jiang mono-road position signalling accesses DSP and catches pin, arrange in a program and catch interruption for catching two edges, so often all can enter once to catch interruption through 22.5 °, with this angle divided by rotor turn over time needed for 22.5 degree the actual speed of motor.
In the step 3 of the present embodiment, calculating proportionality coefficient and the integration time constant of PI controller according to winding terminal voltage and motor actual speed, the design being specifically related to gain scheduling PI control device is as follows:
Gain scheduling PI control device Proportional coefficient Kc, integration time constant TiIt is taken as with winding terminal voltage and motor actual speed expression formula:
(1)
(2)
In formula:It it is motor actual speed；It is winding terminal voltage；K1It it is ratio correction coefficient；K2It it is integration correction factor.For concrete switched reluctance machines and application scenario thereof, K1With K2Need to regulate through experiment to obtain.
Above-mentioned gain scheduling PI control device design based on the principle that
With a phase winding for analyzing object, the voltage equation of switched reluctance machines kth phase winding is:
(3)
In formula: ukIt it is kth phase voltage；ikIt it is kth phase current；RkIt it is kth phase resistance；ΨkIt it is kth phase magnetic linkage.
Assuming that motor is each symmetrical, ignoring alternate inductance, the inductance of phase winding is unrelated with size of current, can obtain switched reluctance machines and simplify linear model:
(4)
(5)
In formula: LkIt it is kth phase winding inductance.
Simplify phase inductance under linear model rotor-position variation relation is represented by:。
In formula: ΨsIt it is saturated magnetic linkage；NrIt it is rotor number of poles.
Motor electromagnetic torque T and load torque TLRotor mechanical motion equation formula under effect:
(6)
In formula: ω is rotor velocity；J is the rotary inertia of rotor and load.Expression formula can be obtained according to formula (3) and formula (5):
(7)
With inductor models substitution mechanical motion equation, simplification torque model can be obtained relative speed variation is:
(8)
Obtaining phase winding current changing rate after simplifying inductor models substitution formula (7) arrangement is:
(9)
Resistance drop, therefore can negligible resistance pressure drop much smaller than controlling voltage；Owing to switched reluctance machines machinery inertial is big, electric current dynamic responding speed is compared mechanical state variables and is wanted fast many, and after the energising of excitation phase winding, electric current is rapidly reached stable state, and after stable state, phase winding current expression is:
(10)
In formula:Meansigma methods in the phase winding energising excitation stage.
Formula (10) is substituted into formula (8) formula (11) can be obtained；
(11)
Making f represent relative speed variation, it is at motor speedWith winding terminal voltageSmall signal linearization equation near two operating points is:
；Wherein:
；
After reaching stable state, the small signal linearization equation of relative speed variation is represented by:, steady-state speed can be obtained accordingly。
The steady-state speed that will try to achieveSubstitute into, derive further and can try to achieve
,
Again two formulas tried to achieve are substituted into
Can obtain lienarized equation expression formula is:
(12)
Formula (12) both members is carried out Laplace transform and can obtain rotor velocity small-signalWith control voltage small-signalRatio.
(13)
In formula:。
Formula (13) is the der Geschwindigkeitkreis s territory small-signal first order modeling transmission function under motor simplified model.
PI controller is the necessary links of SRM governing system, and its transmission function is:
(14)
In formula: KcIt it is proportionality coefficient；TiIt it is integration time constant.
Formula (13) is the SRD small-signal dynamic model after approximate, is first order inertial loop, and PI controller is a part for SRD system, therefore Proportional coefficient Kc, integration time constant TiShould with systematic parameter Kp、TpHave functional relation, in conjunction with SRD first approximation model and PI controller transfer function, gain scheduling PI control device Proportional coefficient Kc, integration time constant TiWith winding terminal voltage and motor actual speed relational expression respectively as formula (1) with shown in formula (2).
In the step 4 of the present embodiment, adopting Current cut control mode to limit the electric current of every phase during motor low cruise, PI controller is output as reference current；Adopting voltage PWM control mode to regulate the average voltage at phase winding two ends during high-speed cruising, PI controller is output as PWM duty cycle；High low-speed range is determined by the speed adjustable range of concrete motor, and is adjusted according to experimental result；The intersection controlling formula two kinds of sides adopts stagnant ring mode to switch, and stagnant ring size is determined by the speed adjustable range of concrete motor, and is adjusted according to experimental result.With three-phase 12/8 pole switching reluctance motor for specific embodiment, Rated motor rotating speed 1500r/min, speed adjustable range 50 ~ 2000r/min, when motor speed is less than 900r/min, adopt Current cut control mode, when motor speed is more than 1000r/min, adopt voltage PWM control mode.Control mode before motor speed adopts when 900r/min ~ 1000r/min.
Embodiment 1
A kind of switched reluctance machines gain scheduling PI control method provided by the invention is applicable to all types of switched reluctance machines, with the application in three-phase 12/8 pole switching reluctance motor speed regulation system for embodiment.
Adopt the Switched Reluctance Motor structured flowchart of the present invention as it is shown on figure 3, this governing system includes dsp controller, current detection module, position detecting module, power conversion modules and switched reluctance machines.Wherein, broken box is internal is dsp controller part, and its inside function realizes by software programming, and control algolithm adopts gain scheduling PI control of the present invention.Current detection module gathers three-phase windings current signal after A/D changes for Current cut control mode and overcurrent protection；Position detecting module detection rotor-position signal determines commutation, is also used for calculating motor speed simultaneously；Given rotating speed enters gain scheduling PI control device of the present invention with actual speed value, after speed discrepancy is carried out PI adjustment, DSP exports reference current or PWM duty cycle controls power inverter, power inverter provide electric energy to switched reluctance machines, finally control motor speed.
Motor rated power 7.5kW, rated voltage DC514V, rated speed 1500r/min, speed adjustable range 50 ~ 2000r/min.
In the actual control of switched reluctance machines, it is desirable to motor all has good performance under different rotating speeds, and winding terminal voltage remains unchanged, and therefore PI parameter only need to according to motor actual speed Automatic adjusument.
Test switched reluctance machines dynamic property under the present invention and conventional PI control device also gathers data fitting and becomes curve.Conventional PI control device and the present invention are that actual measurement speed curves during 500r/min, 1500r/min starting under no load is distinguished as shown in Figure 4 and Figure 5 at Step reference.In Fig. 4, adopting conventional PI control device, speed overshoot is 4.5%, reaches stable state through two cycles of oscillation after 14s；Adopting gain scheduling PI control method of the present invention, speed overshoot is 1%, and can be rapidly reached stable state.In Fig. 5, adopting conventional PI control device, owing to PI parameter immobilizes, speed overshoot is 3.5%, and cycle of oscillation is elongated；Adopting gain scheduling PI control method of the present invention, PI parameter can according to actual speed Automatic adjusument, and overshoot is reduced to 0.5%, and is rapidly achieved stable state.
Conventional PI control device and the present invention actual measurement speed curves when 1500r/min stable state shock load as shown in Figure 6, in Fig. 6, adopt conventional PI control device, and after impact 10N load, speed landing is 200r/min, returns to stable state through 30s；Adopting gain scheduling PI control method of the present invention, speed landing is 30r/min, returns to stable state through 8s.
Claims (7)
1. a switched reluctance machines gain scheduling PI control method, described control method follows these steps to carry out:
(1) by Hall voltage sensor acquisition DC bus-bar voltage, and in conjunction with main circuit form calculus winding terminal voltage；
(2) detect switch magnetoresistance motor rotor position signal by position sensor, turn according in the set time
Sub-position angle change calculations motor actual speed；
(3) proportionality coefficient and the integration time constant of PI controller is calculated according to winding terminal voltage and motor actual speed；
(4) input of PI controller is speed discrepancy, is output as reference current or PWM duty cycle, and then controls power inverter, power inverter provide electric energy to switched reluctance machines, controls motor speed.
2. control method as claimed in claim 1, the proportionality coefficient of described PI controller calculates by following equation:
Wherein:
KcIt it is the proportionality coefficient of PI controller；
It is winding terminal voltage, calculates according to the DC bus-bar voltage of main circuit form with collection and obtain；
It is motor actual speed, sends into catching of microprocessor according to the rotor-position signal of position sensor detection
Obtain unit calculating to obtain；
K1It is ratio correction coefficient, is adjusted according to experimental result.
3. control method as claimed in claim 1, described integration time constant is to calculate according to following equation:
Wherein:
TiIt it is integration time constant；
It is winding terminal voltage, calculates according to the DC bus-bar voltage of main circuit form with collection and obtain；
It is motor actual speed, sends into microprocessor according to the rotor-position signal of position sensor detection
Capturing unit calculates and obtains；
K2It is integration correction factor, is adjusted according to experimental result.
4. control method as claimed in claim 1, the speed discrepancy that input is speed discrepancy of described PI controller is motor given rotating speed and actual speed error.
5. control method as claimed in claim 4, described given rotating speed is to be operated by panel, external communications equipment or external analog ports-settings.
6. the control method as described in claim 1 or 4, the capturing unit calculating that described actual speed is the rotor-position signal feeding microprocessor according to position sensor detection obtains.
7. control method as claimed in claim 1, described in be output as reference current or PWM duty cycle is to be determined by motor actual speed.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106411195A (en) * | 2016-11-09 | 2017-02-15 | 南京航空航天大学 | Brushless DC motor current change rate integral equivalent control method |
| CN107046381A (en) * | 2017-03-07 | 2017-08-15 | 湖南大学 | A kind of switched reluctance machines varied angle PI control methods, controller and governing system |
| CN112039125A (en) * | 2020-11-03 | 2020-12-04 | 成都署信科技有限公司 | ORC system based on switched reluctance motor and control method |
| CN112968647A (en) * | 2021-02-03 | 2021-06-15 | 大连理工大学 | Improved current prediction control method of switched reluctance motor |
| CN114204877A (en) * | 2021-11-24 | 2022-03-18 | 哈尔滨工业大学 | Switched reluctance motor system based on hybrid pulse width modulation strategy and control method thereof |
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| WO2012144018A1 (en) * | 2011-04-19 | 2012-10-26 | トヨタ自動車株式会社 | Boost converter control device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106411195A (en) * | 2016-11-09 | 2017-02-15 | 南京航空航天大学 | Brushless DC motor current change rate integral equivalent control method |
| CN107046381A (en) * | 2017-03-07 | 2017-08-15 | 湖南大学 | A kind of switched reluctance machines varied angle PI control methods, controller and governing system |
| CN107046381B (en) * | 2017-03-07 | 2019-08-30 | 湖南大学 | A kind of switched reluctance machines varied angle PI control method, controller and speed-regulating system |
| CN112039125A (en) * | 2020-11-03 | 2020-12-04 | 成都署信科技有限公司 | ORC system based on switched reluctance motor and control method |
| CN112968647A (en) * | 2021-02-03 | 2021-06-15 | 大连理工大学 | Improved current prediction control method of switched reluctance motor |
| CN112968647B (en) * | 2021-02-03 | 2022-12-02 | 大连理工大学 | Improved current prediction control method of switched reluctance motor |
| CN114204877A (en) * | 2021-11-24 | 2022-03-18 | 哈尔滨工业大学 | Switched reluctance motor system based on hybrid pulse width modulation strategy and control method thereof |
| CN114204877B (en) * | 2021-11-24 | 2023-09-12 | 哈尔滨工业大学 | Switch reluctance motor system based on mixed pulse width modulation strategy and control method thereof |
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