CN106130433A - A kind of control method of the low torque ripple of switched reluctance machines - Google Patents
A kind of control method of the low torque ripple of switched reluctance machines Download PDFInfo
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- CN106130433A CN106130433A CN201610602480.8A CN201610602480A CN106130433A CN 106130433 A CN106130433 A CN 106130433A CN 201610602480 A CN201610602480 A CN 201610602480A CN 106130433 A CN106130433 A CN 106130433A
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- torque pulsation
- phase current
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Abstract
The invention discloses the control method of the low torque ripple of a kind of switched reluctance machines in motor control technology field, step one) detection motor tach signal, and it is carried out computing with given speed reference feeding speed regulator, obtain current reference value I*；Step 2) the torque pulsation signal △ T of detection motor, and sends into torque pulsation actuator by it together with given torque pulsation signal reference value and carries out computing, show that excitation overlaps angle △ θ；Step 3) detection motor position；Step 4) motor position of current reference value I*, excitation overlapped angle △ θ and detection sends into excitation phase selectors computing and draws excitation phase current Iref；Step 5) control of torque pulsation: change △ θ, export new excitation phase current, control the operating of motor, and circulate above step；Step one, step 2 and step 3 synchronize to carry out；The torque pulsation that the present invention produces when can reduce motor rotation, reduces noise of motor.
Description
Technical field
The present invention relates to the control method of motor, particularly to the controlling party of the low torque ripple of a kind of switched reluctance machines
Method.
Background technology
Switched reluctance machines has simple in construction, can work long hours in the presence of a harsh environment；Respectively the most individually power, can structure
Become high belief system；High start torque, low starting current；Can meet various by the design that is uniformly coordinated of machine and electricity
The many merits such as Special use requirement so that switched reluctance machines has well development and application.Yet with switching magnetic-resistance
The double-salient-pole structure of motor and each particularity worked independently mutually, the torque pulsation causing switched reluctance machines is big, exists tighter
The noise problem of weight, thus limit the extensive application of switched reluctance machines, how reducing switched reluctance machines torque pulsation is
Switched reluctance machines needs the difficult problem solved at present.
In prior art, suppress the torque pulsation of motor by changing the Excitation Method of Generators of switched reluctance machines, switch magnetic
The Excitation Method of Generators of resistance motor has single-phase excitation, two-phase excitation and single double three kinds of schemes of composite excitation.Single-phase excitation is in commutation
Time can produce bigger torque landing, two-phase excitation then can produce bigger torque shock ends, although single double composite excitation is knot
Closed single-phase with two-phase excitation two schemes, but still cannot torque pulsation inhibited big problem, therefore, to electric machine rotation arteries and veins
The dynamic research controlled is critically important.
Summary of the invention
The control method of the low torque ripple of a kind of switched reluctance machines, what the present invention produced when can reduce motor rotation turns
Square is pulsed, and reduces noise of motor.
The object of the present invention is achieved like this: the control method of the low torque ripple of a kind of switched reluctance machines, specifically
Comprise the following steps:
Step one) tach signal of detection motor, and itself and given speed reference are sent into speed regulator carry out computing,
Obtain current reference value I*；
Step 2) the torque pulsation signal △ T of detection motor, and sends into it together with given torque pulsation signal reference value
Torque pulsation actuator carries out computing, show that excitation overlaps angle △ θ；
Step 3) detection motor position；
Step 4) motor position of current reference value I*, excitation overlapped angle △ θ and detection sends into excitation phase selectors computing
Draw excitation phase current Iref；
Step 5) control of torque pulsation: change △ θ, export new excitation phase current, control the operating of motor, and circulate with
Upper step；
Wherein, step one, step 2 and step 3 synchronize to carry out.
As a further improvement on the present invention, in step 3, the method determining excitation phase current during motor rotation, specifically
For, each phase excitation phase current Iref is allocated: the excitation phase angle of each the most front 1/2nd reduces △ θ and the excitation of correspondence
Phase current values is I2, and the excitation phase angle of rear 1/2nd increases the excitation phase current value of △ θ and correspondence mutually is I1；Wherein,
I2 to I1 is proportional.
In step 5, the control method of torque pulsation, it is in particular, by excitation phase current Iref and the actual phase detected
Electric current Iphase sends into the dutycycle that rheonome output is new, this dutycycle is exported to motor-drive circuit, controls motor
Operating.
Compared with prior art, the present invention, by the continuous regulation to excitation phase partitioning angle △ θ, reduces torque pulsation letter
Number △ T, simple possible of the present invention, can be the most torque pulsation inhibited, reduce noise of motor, present invention can apply to switching magnetic-resistance electricity
In the control work of the low torque ripple of machine.
Accompanying drawing explanation
Fig. 1 is the control principle block diagram of the present invention.
Fig. 2 is the motor-drive circuit schematic diagram in the present invention as a example by five phase 20/16 pole motors.
Fig. 3 is the pass of each phase reference current and excitation phase angle under the initial position of five phase 20/16 pole motors in the present invention
System's figure.
Fig. 4 is each phase reference current and excitation phase angle under the initial position of five phase 20/16 pole motors in prior art
Graph of a relation.
Fig. 5 is that the present invention adds under different excitation phase partitioning angle △ θ from five phase 20/16 pole motors in prior art
Corresponding torque profile figure.
Detailed description of the invention
As it is shown in figure 1, the control method of the low torque ripple of a kind of switched reluctance machines, specifically include following steps:
Step one) tach signal of detection motor, and itself and given speed reference are sent into speed regulator carry out computing,
Obtain current reference value I*；
Step 2) the torque pulsation signal △ T of detection motor, and sends into it together with given torque pulsation signal reference value
Torque pulsation actuator carries out computing, show that excitation overlaps angle △ θ；
Step 3) detection motor position；
Step 4) motor position of current reference value I*, excitation overlapped angle △ θ and detection sends into excitation phase selectors computing
Draw excitation phase current Iref；
Step 5) control of torque pulsation: change △ θ, export new excitation phase current, control the operating of motor, and circulate with
Upper step；
Wherein, step one, step 2 and step 3 synchronize to carry out.
In step 3, the method determining excitation phase current during motor rotation, it is in particular, by each phase excitation phase current Iref
It is allocated: it is I2 that the excitation phase angle of each the most front 1/2nd reduces the excitation phase current value of △ θ and correspondence, mutually latter two points
One of excitation phase angle to increase the excitation phase current value of △ θ and correspondence be I1；Wherein, I2 to I1 is proportional；
In step 5, the control method of torque pulsation, it is in particular, by excitation phase current Iref and the actual phase current detected
Iphase sends into the dutycycle that rheonome output is new, this dutycycle is exported to motor-drive circuit, controls the fortune of motor
Turn.
Below in conjunction with specific embodiment, the control method of the present invention is described further.
As shown in Fig. 2 ~ 5, as a example by five phase 20/16 pole switching reluctance motors, the motor-drive circuit in the present invention includes
The circuitry phase that power supply is identical with 5 structures that power sources in parallel connects, single circuitry phase includes the first diode D1, the first power
Switching tube M1, the second diode D2, the second power switch pipe M2 and the first inductance L1, the negative pole of the first diode D1 and power supply
Positive pole connect, the emitter stage connection of the positive pole of the first diode D1 and the first power switch pipe M1, the first power switch pipe M1
Colelctor electrode be connected with the negative pole of power supply, the first inductance L1 one termination the first diode D1 and the first power switch pipe M1 between
Electrode points, the positive pole of the second diode D2 is connected with the negative pole of power supply, the negative pole of the second diode D2 and the second power switch
The colelctor electrode of pipe M2 connects, and the emitter stage of the second power switch pipe M2 is connected with the positive pole of power supply, the other end of the first inductance L1
It is connected on the electrode points between the second diode D2 and the second power switch pipe M2；In addition, it is necessary to explanation, other switching magnetic-resistance
In motor, it is possible to use the motor-drive circuit that the present embodiment is lifted, it is only necessary to change the quantity of circuitry phase, circuitry phase
Quantity is identical with the number of phases of motor.
Excitation phase current I2 in the excitation phase angle of each the most front 1/2nd is to encourage in rear 1/2nd excitation phase angles
2/5ths of magnetic phase current I1, excitation phase angle corresponding under excitation phase current I2 and I1 be respectively 4.5-△ θ, 4.5
+ △ θ (relation of each phase reference current and excitation phase angle, as shown in Figure 3)；
In prior art, the excitation phase current I2 in the excitation phase angle of the most front 1/2nd is rear 1/2nd excitation phase angles
In degree 2/5ths of excitation phase current I1, excitation phase angle corresponding under excitation phase current I2 and I1 is 4.5 (each coherents
Examine the relation of electric current and excitation phase angle, as shown in Figure 4)；
In Fig. 5, shown in the torque curve of △ θ=0 correspondence, i.e. excitation phase current is allocated according to the angle of excitation phase shown in Fig. 4
Time, torque pulsation during motor rotation is bigger；In Fig. 5, shown in the torque curve of △ θ ≠ 0 correspondence, add excitation phase partitioning angle
Motor is controlled by degree △ θ, and torque profile now is the result that specific excitation phase partitioning angle △ θ is controlled, electricity
In terms of existing technologies, torque pulsation has obtained effective suppression, the excitation phase in the present invention in torque pulsation during machine operating
Distribution angle is that the size according to torque pulsation regulates in real time, and the torque pulsation after adjusting in real time can further obtain
To effectively suppression.
In sum, the present invention has significant technique effect by excitation phase partitioning Angle ambiguity torque pulsation, can have
Effect reduces noise of motor, in the control work of the low torque ripple that present invention can apply to switched reluctance machines.
It is not limited to above example, present disclosure additionally applies for the switched reluctance machines of other numbers of phases not in this busy disclosure
Technical scheme on the basis of, those skilled in the art is according to disclosed technology contents, it is not necessary to performing creative labour is just
Some of which technical characteristic can be made some replacements and deformation is bought these and replaced and deform all at the protection model of the present invention
In enclosing.
Claims (3)
1. the invention discloses the control method of the low torque ripple of a kind of switched reluctance machines, it is characterised in that specifically wrap
Include following steps:
Step one) tach signal of detection motor, and itself and given speed reference are sent into speed regulator carry out computing,
Obtain current reference value I*；
Step 2) the torque pulsation signal △ T of detection motor, and sends into it together with given torque pulsation signal reference value
Torque pulsation actuator carries out computing, show that excitation overlaps angle △ θ；
Step 3) detection motor position；
Step 4) motor position of current reference value I*, excitation overlapped angle △ θ and detection sends into excitation phase selectors computing
Draw excitation phase current Iref；
Step 5) control of torque pulsation: change △ θ, export new excitation phase current, control the operating of motor, and circulate with
Upper step；
Wherein, step one, step 2 and step 3 synchronize to carry out.
The control method of the low torque ripple of a kind of switched reluctance machines the most according to claim 1, it is characterised in that step
In rapid three, the method determining excitation phase current during motor rotation, it is in particular, each phase excitation phase current Iref is allocated:
It is I2 that the excitation phase angle of each front 1/2nd reduces the excitation phase current value of △ θ and correspondence, 1/2nd encourage the most afterwards
It is I1 that magnetic phase angle increases the excitation phase current value of △ θ and correspondence；Wherein, I2 to I1 is proportional.
The control method of the low torque ripple of a kind of switched reluctance machines the most according to claim 1, it is characterised in that step
In rapid five, the control method of torque pulsation, it is in particular, by excitation phase current Iref and actual phase current Iphase detected
Send into the dutycycle that rheonome output is new, this dutycycle is exported to motor-drive circuit, control the operating of motor.
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| CN201610602480.8A CN106130433B (en) | 2016-07-28 | 2016-07-28 | A kind of control method of the low torque ripple of switched reluctance machines |
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| CN106130433B CN106130433B (en) | 2018-10-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655912A (en) * | 2016-12-19 | 2017-05-10 | 扬州大学 | Switched reluctance motor low-torque ripple control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101902196A (en) * | 2009-05-13 | 2010-12-01 | 株式会社安川电机 | Motor control apparatus |
| CN102790566A (en) * | 2012-08-02 | 2012-11-21 | 合肥工业大学 | Method capable of reducing torque tracking error of switched reluctance motor |
| CN104333276A (en) * | 2014-08-27 | 2015-02-04 | 中国矿业大学 | Torque ripple two-level inhibition method of three-phase switched reluctance motor |
| EP2963805A1 (en) * | 2014-06-30 | 2016-01-06 | Rolls-Royce plc | Controlling an ac machine |
-
2016
- 2016-07-28 CN CN201610602480.8A patent/CN106130433B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101902196A (en) * | 2009-05-13 | 2010-12-01 | 株式会社安川电机 | Motor control apparatus |
| CN102790566A (en) * | 2012-08-02 | 2012-11-21 | 合肥工业大学 | Method capable of reducing torque tracking error of switched reluctance motor |
| EP2963805A1 (en) * | 2014-06-30 | 2016-01-06 | Rolls-Royce plc | Controlling an ac machine |
| CN104333276A (en) * | 2014-08-27 | 2015-02-04 | 中国矿业大学 | Torque ripple two-level inhibition method of three-phase switched reluctance motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655912A (en) * | 2016-12-19 | 2017-05-10 | 扬州大学 | Switched reluctance motor low-torque ripple control method |
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