CN105811848B - A kind of switched reluctance machines gain scheduling PI control method - Google Patents
A kind of switched reluctance machines gain scheduling PI control method Download PDFInfo
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Abstract
A kind of switched reluctance machines gain scheduling PI control method is to gather DC bus-bar voltage by Hall voltage sensor, and combines main circuit form calculus winding terminal voltage；By position sensor detection switch magnetic resistance motor rotor position signal, motor actual speed is calculated according to motor rotor position angle change in the set time；The proportionality coefficient and integration time constant of PI controllers are calculated according to winding terminal voltage and motor actual speed；The input of PI controllers is speed discrepancy, is exported as reference current or PWM duty cycle, and then controls power inverter, provides electric energy from power inverter to switched reluctance machines, controls motor speed.This method makes switched reluctance machines have good dynamic property and steady-state characteristic under different given rotating speeds, the dynamic Immunity Performance of system is improved while realizing quick, smooth step response, control method is simple and reliable, versatile, is easy to commercial introduction.
Description
Technical field
The present invention relates to a kind of switch reluctance motor control method, and in particular to a kind of switch based on on-line parameter identification
Reluctance motor gain scheduling PI control method.
Background technology
Switched reluctance machines have the characteristics that simple in structure, cheap, starting torque is big, efficient, this makes switch magnetic
Resistance motor speed regulation system is highly suitable for the transmission control field such as weaving, electric automobile and mining.Suitable control strategy is real
The basis of existing switched reluctance machines superperformance, Switched Reluctance Motor are the systems of nonlinearity, conventional linear
Control strategy is not particularly suited for switched reluctance machines, and the research for switched Reluctance Motor Control strategy is many both at home and abroad, also has
The non-linear control strategies such as intelligent control are applied to switched reluctance machines, achieve certain control effect.
Although non-linear control strategy can improve control effect, control method is complicated, and cost of implementation is high, is unfavorable for
Popularization and application of the switched reluctance machines in the electric transmission field of high-performance.The system of comparative maturity, or adopt more both at home and abroad at present
With conventional PI control device, parameter tuning is carried out using rotating speed, current double closed-loop PI, realizes the control to switched reluctance machines.So
And conventional linear PI controllers there are problems that, for example step response overshoot is big, and control parameter adjusts difficulty, is entirely controlling
During preset parameter it is constant, or stepwise adjustable.Switched reluctance machines model is under different control modes, structure and parameter
All be change, using conventional PI control device cannot in real time, continuously Correction and Control parameter, it is difficult to ensure switched reluctance machines tune
Speed system has good control effect in whole speed adjustable range, especially in dynamic changing process.
The content of the invention
In view of the above-mentioned defects in the prior art, the present invention provides a kind of switched reluctance machines gain scheduling PI control method, with
Realize the automatic adjusument of PI parameters under different rotating speeds, solve the problems, such as to improve the dynamic anti-interference of system while step response overshoot
Performance.
In order to realize above-mentioned technical purpose, technical scheme is as follows.
（1）DC bus-bar voltage is gathered by Hall voltage sensor, and combines main circuit form calculus winding terminal voltage；
（2）By position sensor detection switch magnetic resistance motor rotor position signal, turn according in the set time
Sub- position angle change calculates motor actual speed；
（3）The proportionality coefficient and integration time constant of PI controllers are calculated according to winding terminal voltage and motor actual speed；
（4）The input of PI controllers is speed discrepancy, is exported as reference current or PWM duty cycle, and then controls power to become
Parallel operation, provides electric energy from power inverter to switched reluctance machines, controls motor speed.
In the above-mentioned technical solutions, further additional technical feature is as follows.
The proportionality coefficient for stating PI controllers is calculated by following equation：
Wherein：
K c It is the proportionality coefficient of PI controllers；
It is winding terminal voltage, is calculated according to main circuit form with the DC bus-bar voltage gathered；
It is motor actual speed, the rotor-position signal detected according to position sensor is sent into catching for microprocessor
Unit is obtained to be calculated；
K 1 It is ratio correction coefficient, is adjusted according to experimental result.
The integration time constant is calculated according to following equation：
Wherein：
T i It is integration time constant；
It is winding terminal voltage, is calculated according to main circuit form with the DC bus-bar voltage gathered；
It is motor actual speed, the rotor-position signal detected according to position sensor is sent into microprocessor
Capturing unit is calculated；
K 2 It is integration correction factor, is adjusted according to experimental result.
The input of the PI controllers is motor given rotating speed and actual speed error for the speed discrepancy of speed discrepancy.
The given rotating speed is set by operation panel, external communications equipment or external analog port.
The actual speed is the capturing unit that the rotor-position signal detected according to position sensor is sent into microprocessor
It is calculated.
The output for reference current or PWM duty cycle is determined by motor actual speed.
A kind of switched reluctance machines gain scheduling PI control method is realized using above-mentioned technical proposal, step response is solved and surpasses
While tune problem, the automatic adjusument of the PI parameters under different rotating speeds is realized, compared with prior art, this method makes switch
Reluctance motor has good dynamic property and steady-state characteristic under different given rotating speeds, and is realizing quick, smooth step
While response, the dynamic Immunity Performance of system is further increased, control method is simple and reliable, versatile, is easy to industry
Promote.
Brief description of the drawings
Fig. 1 is the flow chart of this PI control methods.
Fig. 2 is the specific embodiment of this PI control methods, its 12/8 pole switching reluctance motor stator of three-phase, rotor, photoelectricity
The relative position relation figure of code-disc and photocurrent generator.
Fig. 3 is the specific embodiment of this PI control methods, its Switched Reluctance Motor structure diagram.
Fig. 4 is that the actual measurement rotating speed of existing PI controllers and this method when Step reference is 500r/min starting under no load is bent
Line.
Fig. 5 is the actual measurement rotating speed of existing PI controllers and this method when Step reference is 1500r/min starting under no load
Curve.
Fig. 6 is the actual measurement speed curves of existing PI controllers and this method in 1500r/min stable state shock loads.
Embodiment
The embodiment of the present invention is made further instructions below.
Fig. 1 is the method flow diagram of the gain scheduling PI control method of the embodiment of the present invention.As shown in the figure, the change of the present embodiment
Gain PI control methods include the following steps：
Step 1, DC bus-bar voltage is gathered by Hall voltage sensor, and combines main circuit form calculus winding terminal
Voltage；
Step 2, by position sensor detection switch magnetic resistance motor rotor position signal, according in the set time
Rotor position angle change calculates motor actual speed；
Step 3, it is normal according to the proportionality coefficient and the time of integration of winding terminal voltage and motor actual speed calculating PI controllers
Number；
Step 4, the input of PI controllers is speed discrepancy, is exported as reference current or PWM duty cycle, and then controls work(
Rate converter, provides electric energy from power inverter to switched reluctance machines, controls motor speed.
In one the present embodiment the step of, using 12/8 pole switching reluctance motor of three-phase as specific embodiment, lead to
Hall voltage sensor collection DC bus-bar voltage is crossed, main circuit uses asymmetrical three-phase semibridge system, effectively entirely
Portion's supply voltage can be used to control phase winding electric current, and winding terminal voltage is DC bus-bar voltage.
In two the present embodiment the step of, using 12/8 pole switching reluctance motor of three-phase as specific embodiment, rotor tooth
For 16 °, groove is 29 °, and photoelectric code disk is identical with rotor tooth slot number and is uniformly distributed, and the angle of adjacent photo impulse generator is
15 °, therefore when the A phase windings in three-phase windings align with rotor tooth, motor stator, rotor, photoelectric code disk and photocurrent generator
Relative position relation it is as shown in Figure 2.
In Fig. 2, when motor is counterclockwise or rotates clockwise, photocurrent generator will be made with the photoelectric code disk of rotor coaxial
O, the infrared light that P, Q are sent is blocked or passes through, and the position signal of motor will change therewith.Will position all the way in hardware circuit
Signal access DSP capture pins, set capture to interrupt for two edges of capture, so often all can be into by 22.5 ° in a program
Once capture is interrupted, and is turned over the time needed for 22.5 degree with this angle divided by rotor and can be obtained the actual speed of motor.
In three the present embodiment the step of, the ratio system of PI controllers is calculated according to winding terminal voltage and motor actual speed
Number and integration time constant, and in particular to the design of gain scheduling PI control device is as follows：
Gain scheduling PI control device proportionality coefficientK c , integration time constantT i Expressed with winding terminal voltage and motor actual speed
Formula is taken as：
（1）
（2）
In formula：It is motor actual speed；It is winding terminal voltage；K 1It is ratio correction coefficient；K 2It is that integration corrects system
Number.For specific switched reluctance machines and its application scenario,K 1WithK 2Need to adjust by experiment and obtain.
Above-mentioned gain scheduling PI control device design is based on following principle：
Using a phase winding as analysis object, switched reluctance machines thekThe voltage equation of phase winding is：
（3）
In formula：u k It iskPhase voltage；i k It iskPhase current；R k It iskPhase resistance；Ψ k It iskPhase magnetic linkage.
It is assumed that motor is each symmetrical, ignore alternate inductance, the inductance of phase winding is unrelated with size of current, can obtain switching magnetic-resistance
Motor simplifies linear model：
（4）
（5）
In formula：L k It iskPhase winding inductance.
Simplify phase inductance under linear model to be represented by rotor-position variation relation：。
In formula：Ψ sIt is saturation magnetic linkage；NrIt is rotor number of poles.
Motor electromagnetic torqueTWith load torqueT L Rotor mechanical motion equation formula under effect：
（6）
In formula：ωIt is rotor velocity；JIt is rotor and the rotary inertia of load.According to formula（3）With formula（5）It can obtain
Expression formula：
（7）
Simplified torque model can be obtained relative speed variation with inductor models substitution mechanical motion equation is：
（8）
Inductor models will be simplified and substitute into formula（7）Phase winding current changing rate is obtained after arrangement is：
（9）
Resistance drop can be neglected much smaller than control voltage in resistance drop；Since switched reluctance machines machinery inertial is big,
Electric current dynamic responding speed is much faster compared to mechanical state variables, and after excitation phase winding is powered, electric current is rapidly reached stable state, surely
Phase winding current expression is after state：
（10）
In formula：In the average value in phase winding energization excitation stage.
By formula（10）Substitution formula（8）Formula can be obtained（11）；
（11）
OrderfRelative speed variation is represented, it is in motor speedWith winding terminal voltageSmall-signal near two operating points
Lienarized equation is：
；Wherein：
；
The small signal linearization equation for reaching relative speed variation after stable state is represented by：,
Steady-state speed can be obtained accordingly。
The steady-state speed that will be tried to achieveSubstitute into, further
Derivation can try to achieve
,
Two formulas tried to achieve are substituted into again
Lienarized equation expression formula, which can be obtained, is：
（12）
To formula（12）Both members, which carry out Laplace transform, can obtain rotor velocity small-signalWith controlling voltage
Small-signalThe ratio between.
（13）
In formula：。
Formula（13）It is the der Geschwindigkeitkreis s domains small-signal first order modeling transmission function under motor simplified model.
PI controllers are the necessary links of SRM governing systems, its transmission function is：
（14）
In formula：K c It is proportionality coefficient；T i It is integration time constant.
Formula（13）It is first order inertial loop for the SRD small-signal dynamic models after approximation, and PI controllers are
A part for SRD systems, therefore proportionality coefficientK c , integration time constantT i Should be with systematic parameterK p 、T p Have functional relation, with reference to
SRD first approximations model and PI controller transfer functions, gain scheduling PI control device proportionality coefficientK c , integration time constantT i With around
Group terminal voltage and motor actual speed relational expression are respectively such as formula（1）With formula（2）It is shown.
In four the present embodiment the step of, motor low speed uses Current cut control mode to limit the electricity of every phase when running
Stream, the output of PI controllers is reference current；Phase winding both ends are adjusted using voltage PWM control mode during high-speed cruising
Average voltage, the output of PI controllers is PWM duty cycle；High low-speed range determines by the speed adjustable range of specific motor, and according to
Experimental result is adjusted；Switched in the intersection of two kinds of side's control formulas using stagnant ring mode, stagnant ring size is by specific motor
Speed adjustable range determines, and is adjusted according to experimental result.Using 12/8 pole switching reluctance motor of three-phase as specific embodiment, motor
Rated speed 1500r/min, 50 ~ 2000r/min of speed adjustable range, when motor speed is less than 900r/min, using current chopping
Control mode, when motor speed is more than 1000r/min, using voltage PWM control mode.When motor speed 900r/min ~
Control mode before being used during 1000r/min.
Embodiment 1
A kind of switched reluctance machines gain scheduling PI control method provided by the invention is suitable for all types of switching magnetic-resistances
Motor, using the application in 12/8 pole switching reluctance motor governing system of three-phase as embodiment.
Switched Reluctance Motor structure diagram using the present invention is as shown in figure 3, the governing system is controlled including DSP
Device, current detection module, position detecting module, power conversion modules and switched reluctance machines processed.Wherein, it is inside dotted line frame
Dsp controller part, its inside function realize that control algolithm uses gain scheduling PI control of the present invention by software programming.Electric current
Detection module collection three-phase windings current signal is used for Current cut control mode and overcurrent protection after A/D is changed；Examine position
Survey module detection rotor-position signal and determine commutation, while be also used for calculating motor speed；Given rotating speed and actual speed value into
Enter gain scheduling PI control device of the present invention, after carrying out PI adjustings to speed discrepancy, DSP exports reference current or PWM duty cycle to control
Power inverter processed, provides electric energy from power inverter to switched reluctance machines, finally controls motor speed.
Motor rated power 7.5kW, rated voltage DC514V, rated speed 1500r/min, 50 ~ 2000r/ of speed adjustable range
min。
In the actual control of switched reluctance machines, it is desirable to which motor all has good performance, winding terminal under different rotating speeds
Voltage remains unchanged, therefore PI parameters only need to be according to motor actual speed automatic adjusument.
Dynamic property and gathered data of the test switched reluctance machines under the present invention and conventional PI control device are fitted to song
Line.The actual measurement rotating speed of conventional PI control device and the present invention when Step reference is 500r/min, 1500r/min starting under no load is bent
Line difference is as shown in Figure 4 and Figure 5.In Fig. 4, using conventional PI control device, speed overshoot 4.5%, by two cycles of oscillation
Reach stable state after 14s；Using gain scheduling PI control method of the present invention, speed overshoot 1%, and stable state can be rapidly reached.Fig. 5
In, using conventional PI control device, since PI parameters immobilize, speed overshoot 3.5%, cycle of oscillation is elongated；Using this hair
Bright gain scheduling PI control method, PI parameters can be according to actual speed automatic adjusuments, and overshoot is reduced to 0.5%, and quickly reaches
To stable state.
The actual measurement speed curves such as Fig. 6 institutes of conventional PI control device and the present invention in 1500r/min stable state shock loads
Show, in Fig. 6, using conventional PI control device, after impact 10N loads, speed landing is 200r/min, and stable state is returned to by 30s；
Using gain scheduling PI control method of the present invention, speed landing is 30r/min, and stable state is returned to by 8s.
Claims (5)
1. a kind of switched reluctance machines gain scheduling PI control method, the control method follows these steps to carry out：
（1）DC bus-bar voltage is gathered by Hall voltage sensor, and combines main circuit form calculus winding terminal voltage；
（2）By position sensor detection switch magnetic resistance motor rotor position signal, turn according in the set time
Sub- position angle change calculates motor actual speed；
（3）The proportionality coefficient and integration time constant of PI controllers are calculated according to winding terminal voltage and motor actual speed；
（4）The input of PI controllers is speed discrepancy, is exported as reference current or PWM duty cycle, and then controls power inverter,
Electric energy is provided from power inverter to switched reluctance machines, controls motor speed；
The proportionality coefficient of the PI controllers is calculated by following equation：
Wherein：K c It is the proportionality coefficient of PI controllers；It is winding terminal voltage, it is female according to main circuit form and the direct current of collection
Line voltage is calculated；It is motor actual speed, the rotor-position signal detected according to position sensor is sent into microprocessor
Capturing unit be calculated；K 1 It is ratio correction coefficient, is adjusted according to experimental result；
The integration time constant is calculated according to following equation：
Wherein：T i It is integration time constant；It is winding terminal voltage, according to main circuit form and the DC bus-bar voltage meter of collection
Obtain；It is motor actual speed, the rotor-position signal detected according to position sensor is sent into the capture list of microprocessor
Member is calculated； K 2 It is integration correction factor, is adjusted according to experimental result.
2. control method as claimed in claim 1, inputting as the speed discrepancy of speed discrepancy for the PI controllers is that motor gives
Rotating speed and actual speed error.
3. control method as claimed in claim 2, the given rotating speed is by operation panel, external communications equipment or outer
Portion's analog port setting.
4. control method as claimed in claim 1, the actual speed is that the rotor-position detected according to position sensor is believed
The capturing unit of number feeding microprocessor is calculated.
5. control method as claimed in claim 1, the output for reference current or PWM duty cycle is turned by motor is actual
Quick decision is determined.
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| CN106411195B (en) * | 2016-11-09 | 2018-12-11 | 南京航空航天大学 | Brshless DC motor current changing rate integrates equivalent control method |
| 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 |
| CN114520615B (en) * | 2020-11-20 | 2024-07-19 | 宁波方太厨具有限公司 | Rotating speed adjusting method of switch 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 |
| 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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| CN103414415A (en) * | 2013-07-05 | 2013-11-27 | 石成富 | Motor control method based on PI parameter self-tuning |
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