CN105897076B - The direct Instantaneous torque control method of switched reluctance machines based on voltage vector - Google Patents
The direct Instantaneous torque control method of switched reluctance machines based on voltage vector Download PDFInfo
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- CN105897076B CN105897076B CN201610237430.4A CN201610237430A CN105897076B CN 105897076 B CN105897076 B CN 105897076B CN 201610237430 A CN201610237430 A CN 201610237430A CN 105897076 B CN105897076 B CN 105897076B
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
Abstract
The invention discloses a kind of direct Instantaneous torque control method of switched reluctance machines based on voltage vector, this method is according to the torque characteristic curve sectorizations of switched reluctance machines, the size of stagnant ring region is determined according to torque pulsation coefficient and expectation torque adaptive, consider the torque output capability that commutation region has just turned on phase, every phase voltage duty cycle is adjusted in real time according to operation conditions and conducting rule, has refined the voltage vector of direct Instantaneous torque control.The method of the present invention cost of implementation is low, has expanded the sampling period, reduces pulsation of current and torque pulsation, winding copper loss is low, highly practical.
Description
Technical field
The present invention relates to a kind of direct Instantaneous torque control method of switched reluctance machines based on voltage vector, belong to switch
Reluctance motor method for controlling torque field.
Background technology
Switched reluctance machines are a kind of motors based on the design of variable reluctance principle.Compared with other kinds of motor, open
Closing reluctance motor has the advantages that many uniquenesses.Switched reluctance machines have rotor double-salient-pole structure, and only in stator tooth
There is winding on extremely, and winding is not present on rotor, also cause switched reluctance machines to can be good at fitting without permanent magnet, this structure
For adverse circumstances such as various high temperature, strong vibrations.Since switched reluctance machines follow the operation of magnetic resistance minimum principle, winding electricity
The polarity of stream will not have an impact electromagnetic torque, thus can use power device and the circuit structure of windings in series, this
The danger that structure can lead directly to avoid two power devices, so as to improve the reliability of drive system, driving circuit structure is simple
Reliably.Between each phase winding of switched reluctance machines independently of each other, can also be run even if phase shortage, Fault Tolerance is strong.In addition,
Switched reluctance machines also have the characteristics that starting current is small, detent torque is big, can be with frequent start-stop good speed adjustment features, transfer efficiency
Height, it is of low cost the features such as, this becomes one of ideal chose of electronic automobile drive motor.
However, switched reluctance machines have very strong non-linear in itself, its electromagnetic torque is on rotor position angle and fixed
The nonlinear function of electron current, there are obvious torque ripple phenomenon when causing its operation.Torque pulsation directly influences
The output characteristics of switched reluctance machines, can cause the fluctuation of speed and cause very big vibration and noise, limit switching magnetic-resistance
Application of the motor under the occasion higher to pulsation and noise requirements such as servo-drive, household electrical appliance.With switching magnetic-resistance electricity
Machine is more widely applied, and the torque pulsation problem of switched reluctance machines is asked as what be can not be ignored during motor operation control
Topic.At present, suppressing the common control method of switched reluctance machines torque pulsation has：
Two-stage commutation control method：For three kinds of on off states present in asymmetrical half-bridge drive circuit, using two steps
Commutation strategy, controls the length of commutation stage demagnetization phase (will close phase) no-voltage afterflow section, is rationally superimposed two-phase torque, subtracts
Small torque pulsation, is difficult to find suitable switch for different loads and rotating speed due to not being controlled to torque directly
Angle strategy.
Torque distribution control method：By torque partition function it is online or obtain offline current curve that every phase tracks or
Person's torque curve, but how reasonably to choose the torque method of salary distribution in commutation region is difficult point.Jin Ye propose one kind and exist
The method that line determines every phase torque distribution, but calculating very complicated degree is higher, torque ring sample frequency is up to Mhz.
Direct Torque Control：Suitable voltage vector is selected according to sector residing for current magnetic linkage and torque error,
Holding magnetic linkage size is constant, and this method can significantly inhibit torque pulsation, but the selection of voltage vector does not account for positional information,
Negative torque may be produced, reduces electric efficiency.
Direct Instantaneous torque control：Robert B Inderka are directed to the nonlinear characteristic of switched reluctance motor flux linkage, carry
Gone out a kind of more succinct effective directly Instantaneous torque control method, it is not necessary to track magnetic linkage, by online fitting or from
Line method obtains the torque characteristics of motor, takes double hysteresis control, and it is good to respond rapid robustness, but each torque ring sampling week
Phase, any one phase can only be one of conducting, three states of afterflow and closing, and alternative voltage vector is limited, control effect
Had a great influence by the sampling period.In this regard, there is method to obtain more basic voltages by varying the physical arrangement of current transformer
Vector, improves the problem of traditional directly Instantaneous torque control method voltage vector is caused very little, but the cost realized compared with
It is high.Even more noteworthy, different from torque distribution method, traditional direct Instantaneous torque control method does not account for phase current
Curve tendency, this causes to be likely to occur the problem of phase current peak value is excessive during motor operation.
Therefore, the switched reluctance machines Torque Ripple Reduction problem present invention studied, except switching magnetic-resistance can be reduced
It outside motor torque ripple, should be able to also expand the sampling period of torque ring, extend voltage vector, suppress phase current spike.
The content of the invention
Technical problem：The present invention provides a kind of direct Instantaneous torque control of switched reluctance machines for being based on voltage vector
Method.This method is according to the torque characteristic curve sectorization of switched reluctance machines, foundation torque pulsation COEFFICIENT KTAnd it is expected
Torque TrefAdaptive definite stagnant ring region [- TH, TH] size, it is contemplated that commutation region just turned on phase torque output energy
Power, has refined the voltage vector of direct Instantaneous torque control.The method of the present invention cost of implementation is low, has expanded the sampling period, reduces
Pulsation of current and torque pulsation, winding copper loss is low, highly practical, easy to promote the use of.
Technical solution：The direct Instantaneous torque control method of the switched reluctance machines based on voltage vector of the present invention, including
Following steps：
Step 1：Sector division is carried out to one rotor cycle of m phase switch reluctances motor：
Wherein number of motor phases m >=3, rotor tooth pole span are θr, i.e., the mechanical angle that a rotor cycle turns over is θr, switch
The stepping angle of reluctance motor is θrThe corresponding electrical angles of/m are 2 π/m；
The pass range of ξ phases is divided into three sector S3ξ-2[θξon~θξturn), S3ξ-1[θξturn~θ(ξ-1)off), S3ξ
[θ(ξ-1)off~θ(ξ+1)on)；
Wherein, θξon≤θξturn≤θ(ξ-1)off≤θ(ξ+1)on, θξonFor ξ phase turn-on angles, θξturnFor ξ phase torque characteristic curves
Turning point, θξoffFor the ξ correlation angles of rupture, θ(ξ-1)offFor the related angles of rupture of ξ -1, θ(ξ+1)onFor the phase turn-on angles of ξ+1；
A rotor cycle of m phase switch reluctance motors is divided into sector S in this way1、S2、…Sj-1、Sj, j is fan
Area's number, j=3m, the single-phase conducting sector of ξ phases is S3ξ, by sector S3ξ-2、S3ξ-1、S3ξOne group is classified as, is known as ξ groups fan
Area；
Step 2：Determine stagnant the ring region [- T of current sample time torque ringH~TH]：
Wherein, TrefFor the expectation torque value of rotating speed ring controller output, τ is desired torque pulsation coefficient；
Step 3：Under the rotating speed and load that determine current sample time, the duty cycle limit value α of drive circuit PWM rippleslimit：
Wherein, H is a constant, according to actual bus voltage UDCChoose；
Step 4：Determine the transient electromagnetic torque T of current sample time：
For kth phase winding, its transient electromagnetic torque Tk(θ, ik) by rotor position and phase current ikLookup is stored in micro-
Torque characteristics table in controller memory obtains, and the transient electromagnetic torque of m phases is added to the transient electromagnetic torque synthesized
Step 5：Determine the torque error Δ T of current sample time：
Δ T=Tref-T
Step 6：The sector residing for current sample time is determined, in different sectors using different conducting rules：
According to rotor position, determine current sector, and group ξ belonging to current sector according to step 1, determine to be currently needed for
Three-phase windings ξ -1, ξ, ξ+1 of consideration, ξ are sector S3ξIndependent conducting phase, ξ -1 represents a upper phase of ξ, and ξ+1 represents the next of ξ
Phase, adjacent three-phase ξ -1, the operation order of ξ, ξ+1 are that ξ -1 → ξ → ξ+1, ξ -1 is that will close phase, and ξ is just conducting phase, in ξ -1, ξ
During commutation, the phases of ξ+1 are held off, if there are other phases, other are mutually in sector S3ξ-2、S3ξ-1、S3ξInside it is held off；
The size of torque error is divided into 4 sections by the stagnant ring region of torque obtained according to step 2, is calculated according to step 5
The size of obtained torque error Δ T, obtains the section residing for current sample period torque error, and different electricity is chosen at different sections
Press vector
Wherein, α, b, c represent respectively ξ -1, the three-phase of ξ, ξ+1 drive circuit PWM ripples duty cycle.
Step 7：For switch reluctance machine driving circuit of the asymmetrical half-bridge as power inverter is used, according to following
Mode carries out pulsewidth modulation to each phase voltage：
Two switching tubes up and down of all phases beyond ξ -1, ξ, ξ+1 are turned off, the ξ -1 that obtains according to step 6, ξ, ξ+
The size of the duty cycle alpha of the drive circuit PWM ripples of 1 three-phase, by applying the PWM ripples of fixed carrier frequency to switching device,
Distribution asymmetrical half-bridge drive circuit switching tube state " 1 " in one sampling period, " 0 ", size shared by " -1 ", wherein -1≤α
≤ 1, the equivalent phasevoltage on windingThe busbar voltage U exported by direct voltage sourceDCIt is expressed as with duty cycle alpha：
Wherein, α is the duty cycle alpha of drive circuit PWM ripples described in step 6, the general symbol(s) of b, c, the asymmetrical half-bridge
Circuit includes direct voltage source and the winding drive circuit being connected in parallel between DC voltage source output terminal, the winding drive circuit
Quantity it is equal with the number of phases m of switched reluctance machines, have full-control type device switch pipe fitting V per phase winding drive circuit1、V2And
Fly-wheel diode VD1、VD2Form；
Further, in the method for the present invention, the torque of the sector partitioning standards switched reluctance machines ξ phases of the step 1
Characteristic curve turning point θξturnAnd the shut-off angle of opening of ξ phases and adjacent phase carries out sector division.
Further, in the method for the present invention, the voltage vector in the step 6 is chosen according to following rule：
If a) it is currently at sector S3ξ-2[θξon~θξturn), then voltage vector is as follows：
ΔT≤-TH：Corresponding voltage vector
-TH＜ Δs T≤0：Corresponding voltage vector
0 ＜ Δs T≤TH：Corresponding voltage vector
Δ T ＞ TH：Corresponding voltage vector
If b) it is currently at sector S3ξ-1[θξturn~θ(ξ-1)off), then voltage vector is as follows：
ΔT≤-TH：Corresponding voltage vector
-TH＜ Δs T≤0：Corresponding voltage vector
0 ＜ Δs T≤TH：Corresponding voltage vector
Δ T ＞ TH：Corresponding voltage vector
If c) it is currently at sector S3ξ[θ(ξ-1)off~θ(ξ+1)on), then voltage vector is as follows：
ΔT≤0：Corresponding voltage vector
0 ＜ Δs T≤TH：Corresponding voltage vector
Δ T ＞ TH：Corresponding voltage vector
Beneficial effect：Compared with prior art, the present invention has the following advantages：
The size value of traditional directly stagnant ring of the stagnant ring of torque of Instantaneous torque control is fixed, and the stagnant ring region of the present invention can root
According to the torque capacity ripple factor K of settingTAnd it is expected torque TrefAdaptively it is sized, can becomes automatically in motor operation
Change the size of stagnant ring region, avoid stagnant ring region choose it is unreasonable caused by stagnant ring status switching it is excessively frequent or sparse.
The basic principle of traditional directly Instantaneous torque control state switching is that mutually in commutation overlap area, preferentially increase turns excitation
Square, it is preferential when reducing torque to reduce demagnetization phase torque, and avoid excitation from dual switch pass mutually occur during torque is reduced
Disconnected state, this strategy can cause in low speed, and larger current peak mutually occurs in firm conduction period for excitation, while is changing
There is obvious pulsation upwards in alpha region synthesis torque；The present invention is carried out according to the electromagnetic torque characteristic curve of switched reluctance machines
Sectorization, control optimization has been carried out for the distinctive electromagnetic torque characteristic of switched reluctance machines, when certain phase winding just turns on,
Winding inductance is small, and under the action of phase voltage, curent change is fast, while electromagnetic torque fan-out capability is small.For this reason, in just conducting phase
First sector, to this mutually using it is inert conducting strategy, and mainly by the phase previous phase provide electromagnetic torque, when synthesis turn
Square, which exceedes, it is expected that torque is, negative pressure shut-off immediately just turns on phase, is so avoided that phase current spike during low speed, reduces winding
Copper loss, ensure that the efficiency of motor operation.
It is controlled different from traditional direct Instantaneous torque control only with basic voltage vector, the present invention utilizes
PWM technologies have refined the value of voltage vector, are determined in combination with the torque error, rotating speed and loading condition of sampling instant
The PWM ripple duty cycles of current control period, especially treat different loads and rotating speed with a certain discrimination.Further it is proposed that duty
The concept of limit ratio, applies suitable phase voltage as controlled quentity controlled variable in each torque ring sampling period to each phase winding so that
Next sampling period actual torque energy convergence it is expected torque, without increasing with the sampling period, next sampling week
The situation that phase actual torque is significantly increased with deviation from the desired value is good to the inhibition of motor torque ripple.
The present invention realizes simple, it is only necessary to which the torque characteristics table of storage switch reluctance motor, drive circuit is using routine
Asymmetry half-bridge circuit, by reasonably choosing voltage vector in controlling cycle so that direct Instantaneous torque control can answer
For relatively low sample frequency, compared with other method for controlling torque, the requirement to microcontroller platform is reduced, in switch magnetic
There is higher actual application value in resistance motor powered car field.
Brief description of the drawings
Fig. 1 is the control block diagram of control method of the present invention.
Fig. 2 is the torque characteristic curve figure of switched reluctance machines.
Fig. 3 is the flux linkage characteristic curve map of boresight shift approximation motor.
Fig. 4 is the electric current during one phase excitation of switched reluctance machines, magnetic linkage variation track figure.
Fig. 5 is conducting policy map of the present invention.
Fig. 6 is asymmetrical half-bridge drive circuit figure of the present invention.
Fig. 7 is the flow chart of control method of the present invention.
Embodiment
With reference to embodiment and Figure of description, the present invention is further illustrated.
The direct Instantaneous torque control method of the switched reluctance machines based on voltage vector of the present invention, its control block diagram is as schemed
Shown in 1, its specific implementation step is as follows：
Step 1：Sector division is carried out to one rotor cycle of m phase switch reluctances motor：Number of motor phases m >=3, rotor tooth pole
Away from for θr, i.e., the mechanical angle that a rotor cycle turns over is θr, corresponding electrical angle is 360 °, and it is 2 π to be converted into radian, switch
The stepping angle of reluctance motor is θrThe corresponding electrical angles of/m are 2 π/m.
For motor ξ (1≤ξ≤m) phase, two-phase adjacent thereto is ξ -1, ξ+1.Assuming that operation order for ξ -1 → ξ → ξ+
1, i.e. ξ -1 represent a upper phase of ξ, and ξ+1 represents next phase of ξ.The electromagnetic torque characteristic curve of ξ phases as shown in Fig. 2, be at θ=0
ξ phase stator poles center lines and rotor groove center line overlapping, at this time ξ phases there is minimum inductance Lmin.By the pass range of ξ phases
It is divided into three sector S3ξ-2[θξon~θξturn), S3ξ-1[θξturn~θ(ξ-1)off), S3ξ[θ(ξ-1)off~θ(ξ+1)on)。
Wherein, there are magnitude relationship for four angles：θξon≤θξturn≤θ(ξ-1)off≤θ(ξ+1)on, θξonFor ξ phase turn-on angles,
θξturnFor ξ phase torque characteristic curve turning points.θ(ξ-1)offFor the related angles of rupture of ξ -1, its size and next phase ξ phases adjacent thereto
Turn off angle θξoffThere are relation：
θ(ξ+1)onFor the phase turn-on angles of ξ+1, its size and upper phase A phase turn-on angles θ adjacent theretoξonThere are relation：
A rotor cycle of m phase switch reluctance motors is divided into sector S by principle accordingly1、S2、…Sj-1、Sj, j is fan
Area's number, j=3m, the single-phase conducting sector of ξ phases is S3ξ, by sector S3ξ-2、S3ξ-1、S3ξOne group is classified as, is known as ξ groups fan
Area.
Step 2：Determine stagnant the ring region [- T of current sample time torque ringH~TH]：Torque pulsation system during motor operation
Number KTIt can be characterized by formula (3)：
Wherein, Tmax、Tmin、TavRespectively motor enters the maximum electromagnetic torque after stable state, minimum electromagnetic torque, average electricity
Magnetic torque.
The purpose of the stagnant ring of torque is just so that actual torque is controlled in stagnant ring region [- TH~TH] in, with the right of stagnant ring
Boundary THMaximum electromagnetic torque T as permissionmax, with the left margin-T of stagnant ringHMinimum electromagnetic torque T as permissionminIf
It is τ to know desired torque pulsation coefficient, and substituting into formula (3) has：
The torque desired value T exported with rotating speed ring controllerrefApproximate Tav, obtain：
Step 3：Under the rotating speed and load that determine current sample time, the duty cycle limit value α of drive circuit PWM rippleslimit：Open
It is that a kind of electric energy of nonlinearity --- mechanical energy conversion device, is mainly manifested in magnetic linkage to rotor angle and phase to close reluctance motor
The nonlinear dependence of electric current is fastened, and in practical, in order to avoid cumbersome calculating, and does not lose certain requirement of engineering precision, frequently with
The flux linkage characteristic curve of boresight shift approximation motor shown in Fig. 3, the i in Fig. 3tIt is according to θn=θr/ 2 positions, that is, rotor
Magnetization curve when salient pole is aligned determines, itGeneral be scheduled on changes its magnetization curve knee of position, when phase current is more than it
When, in all rotor-positions, magnetic linkage is along slope LminChange with phase current.
For ease of the change of quantitative analysis winding magnetic linkage, it is assumed that phase current is rendered as flat-topped wave, as shown in figure 4, at θ=0
For stator poles it is overlapping with rotor groove center line when there is minimum inductance Lmin, θnPlace's inductance is maximized Lmax.In θonPlace's winding is opened
Begin to turn on, corresponding current rises to A points by O point Linears and reaches maximum iP, magnetic linkage ψ is by O points along slope LminRamp to
A points.According to boresight shift, θnThe initial magnetization curve at place is with LmaxSlope linear rise to F points, as i ＞ itAfterwards, then with oblique
Rate LminChange, shows saturated characteristic.When phase current is flat-topped wave, in θoffLocate on-off switching tube, winding magnetic linkage reaches at this time
To maximum ψmax, corresponding operating point B, which is commutation point, and magnetic linkage ψ is along slope LminStraight line drop to point C.In C point electric currents
ic＜ it, therefore the electric current before entering inductance and declining region can be approximately considered and decayed to 0, the declining with electric current after C points
Subtract, ψ will be L along slopemaxStraight line drop to coordinate origin O.
Wherein, the θon、θoffTurn-on angle, shut-off angle for phase winding, θturnFor torque characteristics turning point, Lmin、LmaxPoint
Not Wei single-phase inductance minimum value and maximum.
From principle of electromechanical energy conversion, switched reluctance machines are per mutually in a rotor angle cycle θrIn magnetic coenergy W '
Increment can be by solving the area S of dash area in Fig. 4OABCObtain, if disregarding resistance loss, m phases switch magnetic positive electricity machine
The synthesis electromagnetism ring torque that is averaged be：
Wherein, NrFor the salient pole number of rotor.
Obtained by geometrical relationship in Fig. 4：
W '=SOABC=SOABE-SOCBE (7)
S in formula (7)OABEBefore commutation point B, the power supply that phase winding is received energizes；SOCBEFor freewheeling period winding after commutation
Feed back to the energy of power supply.
In Fig. 4, the length scale of line segment OEHad by geometrical relationshipSoThus obtain：
Have according to geometrical relationship in Fig. 4：
SOCBE=SBED+SOCD (9)
D point magnetic linkagesAnd ψD=(Lmax-Lmin)iS, so having：
Formula (10), formula (11) are substituted into formula (9), obtained：
Formula (8), formula (12) are substituted into formula (7), obtained：
Switched reluctance machines kth phase voltage balancing circuitry equation is：
Wherein, Vk、Rk、ikK phase winding voltages, resistance, electric current are represented respectively.Winding pressure drop RkikWithCompared to usually very
Small, when qualitative analysis, can be neglected, and derivative of the magnetic linkage on position is obtained after arrangement：
Wherein, ωrFor motor speed, if disregarding the influence of magnetic circuit saturation, the inductance L of phase winding is unrelated with size of current,
Only it is the function of rotor position, ignores winding pressure drop Rkik, by ψk=L (θ) ik(θ) substitutes into formula (14) and can obtain：
So have：
Formula (17), formula (18) are substituted into formula (13), obtained：
Formula (19) is substituted into formula (6), is up to the synthesis average electromagnetic torque analytic expression of m phase switch reluctance motors：
There is U in PWM control mode lower apronsph=α UDC, formula (20) is arranged, is obtained：
Wherein,For same motor Nr、m、θturn
For constant value, when choosing Fixed open or close angle θon、θoff, F is constant.
In order to ensure certain torque ability of tracking, while control is avoided to vibrate, should be according to busbar voltage UDCChoosing
Take suitable duty cycle upper limit value αlimit.In system control T is exported with der GeschwindigkeitkreisrefApproximate Tav, choose αlimitFor：
Wherein, H is a constant, is chosen according to actual bus voltage so that current torque control ability is expectation torque
Several times.
Step 4：Obtain the transient electromagnetic torque T of current sample time：For kth phase winding, its transient electromagnetic torque Tk
(θ, ik) can be by rotor position and phase current ikSearch the torque characteristics table being stored in microcontroller memory to obtain, by m phases
Torque be added the transient electromagnetic torque that can be synthesized
Step 5：Determine the torque error Δ T of current sample time：The output of der Geschwindigkeitkreis is desired torque T in Fig. 1ref,
Subtract with the transient electromagnetic torque T-phase obtained in step 4 up to current time torque error Δ T=Tref-T。
Step 6：Determine the sector residing for current sample time, the size according to torque error Δ T is used in different sectors
Different conducting rules：According to rotor position, current sector, and group ξ belonging to current sector are determined according to step 1, so that really
Settled preceding three-phase windings ξ -1 needed to be considered, ξ, ξ+1.ξ is sector S3ξIndependent conducting phase, ξ -1 represents a upper phase of ξ, ξ+1
Represent next phase of ξ.Adjacent three-phase ξ -1, the operation order of ξ, ξ+1 are that ξ -1 → ξ → ξ+1, ξ -1 is that will close phase, and ξ is just to lead
Logical phase, the phases of ξ+1 are held off during ξ -1, ξ commutations, if there are other phases, other are mutually in sector S3ξ-2、S3ξ-1、S3ξInterior guarantor
Hold off state.
According to rotor position, current sector is determined according to step 1, in sector S3ξ-2、S3ξ-1、S3ξInterior conducting strategy is such as
Shown in Fig. 5.
Wherein, X-axis represents torque error Δ T, [- TH~TH] it is stagnant ring region ,-TH、0、THBy X-axis be divided into four sections (-
∞~-TH], (- TH~0], (0~TH], (TH~∞] totally four sections, Y-axis represents PWM duty cycle α, and solid line represents ξ phases and switchs shape
State；Dotted line represents ξ -1 phase on off states；Dotted line represents the phase on off states of ξ+1.
Specific strategy is described as follows：
If a) in sector S3ξ-2[θξon~θξturn), ξ phases just turn on, this region inductance value very little L ≈ Lmin, inductance changes slow
Slowly, region phase current i can be obtained by formula (16)ξTo the derivative of θElectromotive force without spin, electric current can be with phase voltages
Size acute variation, while the electromagnetic torque that this section can provide is limited, when loading larger, it is difficult to provide required torque；On the contrary,
ξ -1 phase inductances are larger at this time, and curent change is relatively slow, and inductance change rate approximation constant, can produce sufficiently large electronic
Torque, so mainly providing torque, sector S by ξ -1 phases in the sector3ξ-2Voltage vector is as follows：
ΔT≤-TH：Turning off ξ phases, (PWM duty cycle removes limit value-αlimit)；ξ -1 phase no-voltage afterflows are in order to avoid there is torque
Upheaval, corresponding voltage vector
-TH＜ Δs T≤0：ξ phases choose duty cycle according to Δ TPre-excitation is carried out, standard is carried out for next sector
It is standby；ξ -1 phase no-voltage afterflows so as not to occur torque upheaval, corresponding voltage vector
0 ＜ Δs T≤TH：ξ phases are with duty cycle upper limit value αlimitConducting, ξ -1 phases take duty cycleConducting, corresponding electricity
Press vector
Δ T ＞ TH：ξ, ξ -1 are with duty cycle upper limit value αlimitConducting, corresponding voltage vector
If b) in sector S3ξ-1[θξturn~θ(ξ-1)off), ξ phase inductances are still smaller, but inductance change rate is constantly increasing
Greatly, ξ phases electromagnetic torque climbs in the sector, and change is more acutely unmanageable, so still providing main turn by ξ -1 phases
Square, sector S3ξ-1Voltage vector is as follows：
ΔT≤-TH：Turning off ξ phases, (PWM duty cycle removes limit value-αlimit)；ξ -1 phase no-voltage afterflows are in order to avoid there is torque
Upheaval, corresponding voltage vector
-TH＜ Δs T≤0：ξ, ξ -1 phase are all no-voltage afterflows in order to avoid there is torque upheaval, corresponding voltage vector
0 ＜ Δs T≤TH：ξ, ξ -1 phase take duty cycleConducting, corresponding voltage vector
Δ T ＞ TH：ξ, ξ -1 phase are all with duty cycle upper limit value αlimitConducting, corresponding voltage vector
If c) in sector S3ξ[θ(ξ-1)off~θ(ξ+1)on), which is single-phase conducting area, and ξ+1, ξ -1 two-phase are all in shut-off
State, sector S3ξConducting strategy is as follows：
ΔT≤0：ξ phase no-voltage afterflows so as not to occur torque upheaval, corresponding voltage vector
0 ＜ Δs T≤TH：ξ phases take duty cycleConducting, corresponding voltage vector
Δ T ＞ TH：ξ phases are with duty cycle upper limit value αlimitConducting, corresponding voltage vector
Wherein, voltage vectorIn α, b, c represent ξ -1 respectively, the drive circuit PWM ripples of the three-phase of ξ, ξ+1 account for
Empty ratio.
Step 7：For switch reluctance machine driving circuit of the asymmetrical half-bridge as power inverter is used, to phase voltage
Carry out pulsewidth modulation：By taking a phase as an example, as shown in fig. 6, the direction of arrow is the phase current flow direction under each state in Fig. 6, ignore
Switching tube and fly-wheel diode conduction voltage drop, when upper and lower switching tube all turns on, the voltage applied on winding is positive busbar electricity
Press UDC, at this time winding be in the excitation stage, it is " 1 " to define on off state；When upper tube shut-off down tube conducting (or upper tube conducting
Down tube turns off), it is zero to apply voltage on winding, and winding is in freewheeling state at this time, and it is " 0 " to define voltage switching state at this time；
When two pipes are turned off, since winding is inductive load, electric current cannot directly be reduced to zero, during current stream, two at this time
Diode current flow, that apply on winding both ends is reverse busbar voltage-UDC, at this time winding be in degaussing phase, definition is opened at this time
Off status is " -1 ".
Two switching tubes up and down of all phases beyond ξ -1, ξ, ξ+1 are turned off, the ξ -1 that obtains according to step 6, ξ, ξ+
The drive circuit PWM ripples duty cycle alpha (- 1≤α≤1) of 1 three-phase, by applying the PWM ripples of fixed carrier frequency to switching device,
State " 1 ", " 0 ", size shared by " -1 " are distributed within a sampling period, by taking a phase as an example, as α=1, one PWM weeks
In phase, two switching tubes of the phase are all held on；As 0≤α ＜ 1, in a PWM cycle, one switching tube of the phase is kept
Conducting, the conducting of another switching tube and the time ratio of shut-off are α；As -1 ＜ α ＜ 0, in a PWM cycle, the phase one
Switching tube is held off, and the shut-off of another switching tube and the time ratio of conducting are α；, should in a PWM cycle as α=- 1
Two switching tubes of phase are all held off.It is flat on winding when ignoring winding resistance and switching device, semiconductor devices pressure drop
Equal phase voltageCan be by busbar voltage UDCRepresented with duty cycle alpha：
Wherein, α is the duty cycle alpha of drive circuit PWM ripples described in step 6, the general symbol(s) of b, c, the asymmetrical half-bridge
Circuit includes direct voltage source UDCAnd the winding drive circuit being connected in parallel between DC voltage source output terminal, the winding driving electricity
The quantity on road is equal with the number of phases m of switched reluctance machines.There is full-control type device switch pipe fitting V per phase winding drive circuit1、V2With
And fly-wheel diode VD1、VD2Form.
Step 1 carries out angle sorting to the one electrical angle cycle of motor, marks off sector, step 2~7 are in the every of control system
A sampling instant performs successively, according to rotational speed omegar, der Geschwindigkeitkreis output valve TrefWith desired torque pulsation τ coefficient adjustment torques
The size of the limit value of the stagnant ring region of ring and duty cycle, by tabling look-up to obtain current synthesis electromagnetic torque so that torque mistake be calculated
Poor Δ T, the mutually final controlled quentity controlled variable of ξ -1, ξ, ξ+1 is obtained after definite set of sectors alias ξ and torque error：Voltage vectorMost
The control realized to motor is modulated to drive circuit PWM ripple signals afterwards.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, without departing from the principle of the present invention, some improvement and equivalent substitution can also be made, these are to the present invention
Claim be improved with the technical solution after equivalent substitution, each fall within protection scope of the present invention.
Claims (3)
1. a kind of direct Instantaneous torque control method of switched reluctance machines based on voltage vector, it is characterised in that this method bag
Include following steps：
Step 1：Sector division is carried out to one rotor cycle of m phase switch reluctances motor：
Wherein number of motor phases m >=3, rotor tooth pole span are θr, i.e., the mechanical angle that a rotor cycle turns over is θr, switching magnetic-resistance
The stepping angle of motor is θrThe corresponding electrical angles of/m are 2 π/m；
The pass range of ξ phases is divided into three sector S3ξ-2[θξon~θξturn), S3ξ-1[θξturn~θ(ξ-1)off), S3ξ
[θ(ξ-1)off~θ(ξ+1)on)；
Wherein, θξon≤θξturn≤θ(ξ-1)off≤θ(ξ+1)on, θξonFor ξ phase turn-on angles, θξturnTransfer for ξ phases torque characteristic curve
Point, θξoffFor the ξ correlation angles of rupture, θ(ξ-1)offFor the related angles of rupture of ξ -1, θ(ξ+1)onFor the phase turn-on angles of ξ+1；
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<mi>&theta;</mi>
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A rotor cycle of m phase switch reluctance motors is divided into sector S in this way1、S2、...Sj-1、Sj, j is sector
Number, j=3m, the single-phase conducting sector of ξ phases is S3ξ, by sector S3ξ-2、S3ξ-1、S3ξOne group is classified as, is known as ξ groups sector；
Step 2：Determine stagnant the ring region [- T of current sample time torque ringH~TH]：
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<mi>H</mi>
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<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, TrefFor the expectation torque value of rotating speed ring controller output, τ is desired torque pulsation coefficient；
Step 3：Under the rotating speed and load that determine current sample time, the duty cycle limit value α of drive circuit PWM rippleslimit：
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Wherein, H is a constant, according to actual bus voltage UDCChoose；
Step 4：Determine the transient electromagnetic torque T of current sample time：
For kth phase winding, its transient electromagnetic torque Tk(θ, ik) by rotor position and phase current ikLookup is stored in microcontroller
Torque characteristics table in device memory obtains, and the transient electromagnetic torque of m phases is added to the transient electromagnetic torque synthesized
Step 5：Determine the torque error Δ T of current sample time：
Δ T=Tref-T (5)
Step 6：The sector residing for current sample time is determined, in different sectors using different conducting rules：
According to rotor position, determine current sector, and group ξ belonging to current sector according to step 1, determine to be currently needed for considering
Three-phase windings ξ -1, ξ, ξ+1, ξ is sector S3ξIndependent conducting phase, ξ -1 represents a upper phase of ξ, and ξ+1 represents next phase of ξ,
Adjacent three-phase ξ -1, the operation order of ξ, ξ+1 are that ξ -1 → ξ → ξ+1, ξ -1 is that will close phase, and ξ is just conducting phase, is changed in ξ -1, ξ
During phase, the phases of ξ+1 are held off, if there are other phases, other are mutually in sector S3ξ-2、S3ξ-1、S3ξInside it is held off；
The size of torque error is divided into 4 sections by the stagnant ring region of torque obtained according to step 2, is calculated according to step 5
Torque error Δ T size, obtain the section residing for current sample period torque error, different voltage arrows chosen at different sections
Amount
Wherein, a, b, c represent respectively ξ -1, the three-phase of ξ, ξ+1 drive circuit PWM ripples duty cycle；
Step 7：For switch reluctance machine driving circuit of the asymmetrical half-bridge as power inverter is used, in the following way
Pulsewidth modulation is carried out to each phase voltage：
Two switching tubes up and down of all phases beyond ξ -1, ξ, ξ+1 are turned off, ξ -1, ξ, the ξ+1 three obtained according to step 6
The size of the duty cycle alpha of the drive circuit PWM ripples of phase, by applying the PWM ripples of fixed carrier frequency to switching device, at one
Distribution asymmetrical half-bridge drive circuit switching tube state " 1 " in sampling period, " 0 ", size shared by " -1 ", wherein -1≤α≤1,
Equivalent phasevoltage on windingThe busbar voltage U exported by direct voltage sourceDCIt is expressed as with duty cycle alpha：
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Wherein, α is the general symbol(s) of the duty cycle a, b, c of drive circuit PWM ripples described in step 6, the asymmetry half-bridge circuit
Including direct voltage source and the winding drive circuit being connected in parallel between DC voltage source output terminal, the number of the winding drive circuit
Amount is equal with the number of phases m of switched reluctance machines, there is full-control type device switch pipe fitting V per phase winding drive circuit1、V2And afterflow
Diode VD1、VD2Form.
2. the direct Instantaneous torque control method of the switched reluctance machines according to claim 1 based on voltage vector, it is special
Sign is, the torque characteristic curve turning point θ of the sector partitioning standards switched reluctance machines ξ phases of the step 1ξturnAnd ξ
Mutually and opening for adjacent phase turns off angle progress sector division.
3. the direct Instantaneous torque control method of the switched reluctance machines according to claim 1 or 2 based on voltage vector, its
It is characterized in that, the voltage vector in the step 6 is chosen according to following rule：
If a) it is currently at sector S3ξ-2[θξon~θξturn), then voltage vector is as follows：
ΔT≤-TH：Corresponding voltage vector
-TH＜ Δs T≤0：Corresponding voltage vector
0 ＜ Δs T≤TH：Corresponding voltage vector
Δ T ＞ TH：Corresponding voltage vector
If b) it is currently at sector S3ξ-1[θξturn~θ(ξ-1)off), then voltage vector is as follows：
ΔT≤-TH：Corresponding voltage vector
-TH＜ Δs T≤0：Corresponding voltage vector
0 ＜ Δs T≤TH：Corresponding voltage vector
Δ T ＞ TH：Corresponding voltage vector
If c) it is currently at sector S3ξ[θ(ξ-1)off~θ(ξ+1)on), then voltage vector is as follows：
ΔT≤0：Corresponding voltage vector
0 ＜ Δs T≤TH：Corresponding voltage vector
Δ T ＞ TH：Corresponding voltage vector
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| CN107425782B (en) * | 2017-07-12 | 2019-10-11 | 大连理工大学 | The method that switched reluctance machines realize direct Instantaneous torque control |
| CN108459199B (en) * | 2018-02-10 | 2020-04-21 | 合肥工业大学 | Improved switched reluctance motor current sampling method |
| CN108400741B (en) * | 2018-03-01 | 2020-09-08 | 西北工业大学 | Direct instantaneous torque control method for switched reluctance motor |
| CN108900132A (en) * | 2018-06-29 | 2018-11-27 | 南京理工大学 | Switch reluctance motor control method based on genetic algorithm and torque partition function |
| CN108923716A (en) * | 2018-08-20 | 2018-11-30 | 西安科技大学 | Switch reluctance motor control method based on error matching PWM-DITC |
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| CN109617466B (en) * | 2018-11-09 | 2021-09-03 | 中国矿业大学 | Nonlinear modeling method for complex power electronic system of switched reluctance motor |
| CN109450330B (en) * | 2018-11-13 | 2021-07-30 | 南京航空航天大学 | Torque control method for electro-magnetic doubly salient motor |
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| CN109861611B (en) * | 2019-02-22 | 2021-04-06 | 中国第一汽车股份有限公司 | Error compensation system and method for position sensor of permanent magnet synchronous motor |
| CN110098777B (en) * | 2019-05-22 | 2021-01-12 | 哈尔滨工程大学 | Direct instantaneous torque control method for switched reluctance motor of full-bridge converter |
| CN111697903B (en) * | 2020-06-10 | 2021-08-20 | 大连理工大学 | Control method for simultaneously inhibiting torque pulsation and vibration of switched reluctance motor |
| CN113300653B (en) * | 2021-05-07 | 2022-05-20 | 大连海事大学 | Direct instantaneous torque control system and method for switched reluctance motor |
| CN113612410B (en) * | 2021-06-21 | 2023-12-29 | 深圳拓邦股份有限公司 | Switch reluctance motor, starting method thereof and multifunctional food processor |
| CN113676114B (en) * | 2021-07-23 | 2023-09-12 | 山东省科学院自动化研究所 | Direct torque control method of three-phase motor based on voltage vector acting time adjustment |
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Effective date of registration: 20180621 Address after: No. 29, Qinhuai District, Qinhuai District, Nanjing, Jiangsu Co-patentee after: Southeast University Patentee after: Nanjing University of Aeronautics and Astronautics Address before: 210096 No. four archway, 2, Jiangsu, Nanjing Patentee before: Southeast University |