CN106685281A - Control method of switched reluctance motor - Google Patents
Control method of switched reluctance motor Download PDFInfo
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- CN106685281A CN106685281A CN201710064896.3A CN201710064896A CN106685281A CN 106685281 A CN106685281 A CN 106685281A CN 201710064896 A CN201710064896 A CN 201710064896A CN 106685281 A CN106685281 A CN 106685281A
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Classifications
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
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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
Abstract
The invention relates to a control method of a switched reluctance motor. In the technical scheme, the switched reluctance motor comprises a stator core and a rotor core, wherein the rotor core is arranged at the middle part of the stator core, the stator core is provided with six large tooth poles, tooth grooves are formed among the large tooth poles, an A-phase coil, a B-phase coil and a C-phase coil are respectively arranged on the large tooth poles, the same coil is arranged between each two opposite large tooth poles, magnetic fluxes are arranged at the middle part of the stator core, four small tooth poles are arranged on the rotor core and are matched with the six large tooth poles, and the two semi-circular magnetic fluxes communicate with the A-phase coil through the rotor core. The switched reluctance motor has the beneficial effects that compared with a radial magnetic-field switched reluctance motor, a main magnetic path of a disk-type switched reluctance motor which can generate an axial magnetic field is perpendicular to a motor motion direction, the magnetic path is coupled to a circuit structure, and the switched reluctance motor has higher power density and torque density.
Description
Technical field
The present invention relates to a kind of motor and the control system of motor, more particularly to a kind of switch reluctance motor control method.
Background technology
Traditional switched reluctance machines are double-salient-pole structure, and rotor is only overrided to form by lamination, both without winding or without permanent magnetism
Body.Stator it is each extremely on be wound with concentratred winding, diametrically the windings in series of pole, constitutes a phase.Switched reluctance machines follow " magnetic resistance
Minimum principle " is operated, and magnetic flux will always be closed along the minimum path of magnetic resistance, and the electricity of magnetic resistance property is produced because of magnetic field distortion
Magnetic torque, makes rotor rotate.Compared with other conventional motors, switched reluctance machines reliability, the life-span, unit into
Originally, efficiency and service ability aspect are advantageous, as long as solving control performance and noise problem, the switching magnetic-resistance of high performance-price ratio
The motor marketization will be the thing that when the water comes, a channel is formed.As the madness of rare earth price rises, the cost advantage of switched reluctance machines is more
For obvious.And, switched reluctance machines can be with less starting current with regard to exportable starting torque higher, can extensive use
In the driving occasion higher to index requests such as starting performance, speed adjustable range, mechanical strength, reliabilities, such as electric vehicle, general
The fields such as industry, household electrical appliance, textile machine, Electric Drive.
Substantially it is a kind of big time-varying, the nonlinear system of close coupling due to it although switched reluctance machines simple structure
System, the high performance control of motor is difficult to using traditional control method.To improve the control performance of switched reluctance machines, it is necessary to
Accurate rotor-position and velocity information are obtained in real time, using positional information as commutation foundation, are closed using velocity information as speed
The feedback of ring；Smooth direct torque must be realized, reduces torque pulsation, to reduce motor speed fluctuation and running noises；Must
High performance motor position/speed control must be realized, suppresses influence of the various disturbing factors to control performance.Therefore, people couple
The rotor-position detection technique of switched reluctance machines, Torque Control, location/velocity control technology have made intensive studies,
And achieve a collection of valuable achievement in research.
Be obtain switched reluctance machines rotor position information, can be installed on motor photoelectric encoder, magnetic coder,
The position sensors such as hall position sensor, directly detect to rotor-position, referred to as direct position detection method.In direct position
Put in detection method, due to the presence of position sensor, increased the complexity and manufacturing cost of electric machine structure.Once position sensing
Device fails, and will also directly affect the normal operation of electric machine control system.Therefore, domestic and foreign scholars no longer use position sensor,
But utilize the electric parameter estimation of switched reluctance machines or resolve rotor-position, referred to as indirect position detecting method.According to detection
Principle, indirect position detecting is broadly divided into three classes, i.e. passive detection technology, active probing technique and mixing Detection Techniques.Quilt
Dynamic Detection Techniques do not need the voltage and current information of any artificial generation, phase voltage, phase electricity when directly using motor operation
Stream and other useful informations estimate rotor-position.Active probing technique is by idle mutually injection detection pulse signal or additional
Electric device obtains rotor position information.Phase voltage, the phase of excitation phase and idle phase when mixing Detection Techniques utilize motor operation
Electric current and other useful informations are come the method for estimating rotor-position.Wherein, mixing Detection Techniques typical method has alternate mutual inductance
Detection method (Ehsani et al. 1994), recurrent least square method (Thompson et al. 2000) research are more deep.
Alternate mutual inductance detection method direct detection is alternate because the induced potential that mutual inductance effect is produced estimates rotor-position, without from outside
Injection detection pulse, with stronger anti-interference, but is difficult to the motor for mutual inductance very little.Recurrent least square method is by right
The compensation of rotor-position and speed error, obtains accurate rotor-position and rotating speed, and strong interference immunity, the degree of accuracy is higher, but calculates
Method is complicated.Indirect position detecting scheme can under certain condition realize the estimation of rotor-position, without using direct position
Sensor.But, some schemes increased other measurement apparatus, increased the complexity of system；Though some schemes do not increase it
Its measurement apparatus, but algorithm is complicated, computationally intensive, poor real；Though some schemes can reduce amount of calculation by simplifying algorithm,
Precision is poor.Therefore, the application that can fully meet switched reluctance machines there is presently no a kind of rotor-position detection scheme is needed
Ask.
Direct torque is the core of switched Reluctance Motor Control.However, due to switched reluctance machines reluctance torque characteristic
, often there is larger turning in the height saturated characteristic of nonlinearity and winding magnetic linkage, it is difficult to realize stable direct torque
Square is pulsed, and so as to cause motor operation velocity perturbation larger, running noises are higher.Made an uproar to reduce motor speed fluctuation and operation
Sound, it is necessary to reduce torque pulsation, studies high performance Torque Control.For switched reluctance machines, main direct torque
Scheme include average torque control, the nonlinear Control based on feedback linearization, Sliding mode variable structure control, torque distribution control and
Direct Instantaneous torque control etc..Average torque control is simply according to speed come the turn-on angle of controlled motor, shut-off angle and electric current
Current limliting amplitude, to reach the purpose of control phase current, without being directly controlled to torque, does not account for motor internal magnetic field
It is non-linear, it is difficult to which that each phase instantaneous torque of precise control, torque pulsation is larger.Non-linear control strategy based on feedback linearization
(Ilic-Spong et al. 1987) relies on the accurate nonlinear model of switched reluctance machines, implements more difficult.Sliding formwork becomes
Structure control simple structure, it is easy to accomplish, to Parameters variation and disturb insensitive, but there is the flutter that variable-structure control brings and ask
Topic.The essence of torque distribution control strategy is reasonably distributed and adjusted corresponding to each phase current by defining torque partition function
Electromagnetic torque component, it is ensured that each phase instantaneous torque sum is a steady state value, then is finally inversed by each phase current by torque angle displacement characteristic and refers to
Order, is subject to appropriate control strategy and realizes motor torque control.It is not unique because torque partition function is a family of functions
, it is necessary to according to setting index optimize.To realize the optimum allocation of torque instruction, can generally make least copper loss, phase voltage
Minimum, torque error minimum, torque pulsation minimum etc..Torque-sharing strategy is to use a kind of relatively broad torque control at present
Method processed, with preferable Torque Ripple Reduction effect, but this method depends on the mathematical models of torque and phase current,
Always assume that alternate mutual inductance is zero, therefore the torque pulsation produced by mutual inductance cannot be suppressed.The core of direct Instantaneous torque control
The heart is the deviation according to actual torque and torque reference, and using hystersis controller, generation controling winding is powered or power-off is opened
Close instruction.Traditional direct Instantaneous torque control can realize the good control of switched reluctance machines torque, but be controlled in real time
, it is necessary to actual torque is used as feedback during system, and actual torque can only be counted according to the Mathematical Modeling of switched reluctance machines
Calculate.In fact, in switched reluctance machines rated load operation, magnetic field height saturation, winding magnetic linkage intercouples, it is difficult to obtain
The mathematical models of motor.In sum, above Stator-Quantities Control can under certain condition switched reluctance machines turn
Square is controlled, torque pulsation inhibited and motor oscillating.But, some schemes need the mathematical models of switched reluctance machines, number
The precision for learning model will directly determine torque control performance；Though some schemes do not need the accurate mathematical mould of switched reluctance machines
Type, but on-line study is needed, algorithm is complicated, computationally intensive, poor real；Though some schemes both do not need switched reluctance machines
Mathematical models, it is not required that on-line study, algorithm is simple, it is easy to accomplish, but torque control performance is slightly worse.Therefore, at present
The demand of switched reluctance machines high performance control can be also fully met without a kind of Stator-Quantities Control.
To realize the high performance control of switched reluctance machines, except the accurate rotor-position of acquisition and velocity information, realize putting down
Outside sliding direct torque, it is necessary to design high performance location/velocity controller, suppression system is non-linear and inside and outside disturbance is to control
The influence of performance processed.Compared with general motor, switched reluctance machines are not only big time-varying, a nonlinearity system for close coupling
System, it is difficult to obtain accurate Mathematical Modeling, and torque pulsation is big, and disturbing factor is more, and the design to position/speed control is carried
Challenge is gone out.For the location/velocity control problem of switched reluctance machines, domestic and international association area has made intensive studies, and
Inquired into application of the different control methods in switched reluctance machines, such as PID control, Self Adaptive Control, Sliding mode variable structure control,
Robust control, Adaptive inverse control, Repetitive controller, Active Disturbance Rejection Control, fuzzy control, ANN Control etc..These controlling parties
Method respectively has advantage and disadvantage, till now, can also be fully solved the big time-varying of switched reluctance machines, strong coupling without a kind of controller
The big interference problem that conjunction, nonlinearity and torque pulsation bring.Compared with the demand of practical application, some control algolithms are excessively
Complexity, is difficult to realize；Although some algorithms are simple, it is easy to accomplish, interference rejection capability is slightly worse.
The content of the invention
A kind of drawbacks described above that the purpose of the present invention exists aiming at prior art, there is provided switched Reluctance Motor Control side
Method.
A kind of switched reluctance machines, its technical scheme is：Including stator core and rotor core, the centre of stator core is
Rotor core, described stator core has six canine tooth poles, between canine tooth pole be teeth groove, canine tooth extremely on be respectively equipped with A phase coils,
B phase coils, C phase coils, two relative canine tooths are extremely provided with identical coil, and the centre of described stator core is provided with magnetic
Logical, rotor core is provided with the four small tooth poles cooperated with six canine tooth poles, and two halves circular magnetic flow connects through rotor core
Logical A phase coils.
By being built up after the good punching silicon-steel of magnetic conduction, small tooth pole is by the good punching silicon-steel of magnetic conduction for above-mentioned canine tooth pole
After build up.
There is gap between small tooth pole on canine tooth pole and rotor core on above-mentioned stator core, gap is easy to implement and turns
Sub- iron core is freely rotated in stator core.
Above-mentioned switched reluctance motor by power inverter provide power supply, power inverter include switching transistor and
Diode is constituted, A phase coil connecting valve transistor BG1, B phase coil connecting valve transistor BG2, C phase coil connecting valves
Transistor BG3, switching transistor BG1, switching transistor BG2 and switching transistor BG3 to coil power supply, switching transistor BG1,
Switching transistor BG2 and switching transistor BG3 control the current switching of three-phase coil A, B, C respectively, and the side of triode is in parallel
Diode, the side of triode is used for afterflow by diode.
A kind of switch reluctance motor control method that the present invention is mentioned, by motor, speed control, torque divider, electricity
Stream controller, PWM generator, power amplifier, SRM, switch Hall sensor, voltage/current measuring appliance, rotor-position/speed
Degree observer composition, speed command connection speed controller, torque instruction connection torque divider, current-order connection electric current control
Device processed, speed control, torque divider and current controller connect the input of power amplifier, work(by PWM generator
The first output end connection voltage/current measuring appliance of rate amplifier, the second output end connection SRM, SRM connection of power amplifier
Switch Hall sensor, the first output end of voltage/current measuring appliance connects current controller, voltage/electricity by current feedback
Second output end of flow measurer is connected rotor-position/speed observer with the output end of switch Hall sensor, and described turns
Position output end connection interference observer and the torque divider of sub- location/velocity observer, rotor-position/speed observer
Speed output end connects interference observer and speed control；
It is comprised the steps of：
First, interference Mathematical Modeling is set up；For rotor position measurement interference, sensor accuracy, pretreatment conditioning are mainly considered
Circuit and A/D conversion accuracies, are modeled by Physical Mechanism and measurement statistics.It is main to consider electric current control for torque interference
The factor modeling such as system and the distortion of field.For model interference, then need to consider the friction of transmission mechanism, gap, saturation, dead band,
The factors such as elastic deformation and Unmarried pregnancy.Load disturbance is caused by external factor, can be worked according to switched reluctance machines
Specific environment and operating mode, set up external disturbance model；
Secondly, influence degree of the assessment interference to control performance.According to the measurement interference, torque interference, model interference set up, bear
The interference Mathematical Modeling such as interference is carried, using mathematical simulation means, analysis disturbance is quantitatively commented the Influencing Mechanism of systematic function
Estimate influence degree of the disturbance to systematic function.For having a strong impact on the interference of the torque pulsation of systematic function, it is necessary to carry out
Emphasis suppresses；
Finally, the anti-interference composite control method of switched reluctance machines is studied.For being done known to torque pulsation, load change information
Disturb, according to different interference models, separately design interference observer and estimated and feedforward compensation；For Gauss/non-gaussian with
Machine variable, norm-bounded uncertain variables, rate of change bounded variable, are suppressed using the feedback interference based on Multipurpose Optimal Method
Method.To the feedforward compensation and feedback inhibition that disturb, you can constitute the anti-interference multiplex control system of switched reluctance machines, pass through
Implement torque distribution technique and anti-interference Compound Control Technique, the rotation pulsation of motor can be greatly reduced, realize that motor is put down
Steady operating.
Above-mentioned rotor-position/speed observer rotor-position detection in simultaneously employ Direct Inspection Technology and indirectly
The compound detection technology that detection technique is combined, in rotor-position compound detection technology, uses in foundation indirect detection technology
The electric parameter information such as voltage, electric current sets up the Mathematical Modeling of motor, using the rotor-position of direct detection as measurement, design
Rotor-position and speed observer, while obtaining the positional information and velocity information of rotor.Compared with Direct Inspection Technology,
Compound detection technology has carried out subdivision or interpolation using electric parameter information to rotor-position pulse, improves dividing for rotor-position
Resolution.Compound detection technology is corrected using the directly measured quantities of rotor-position to the estimated value of rotor-position, is improve
The precision of rotor-position detection.
The torque instruction that speed control needs is converted into phase current instruction by above-mentioned torque divider, then by mutually electricity
The control of torque is realized in the control of stream indirectly, introduces the dynamically distributes technology of closed loop, and the torque instruction to switched reluctance machines enters
Mobile state is distributed, and linear torque dynamic allocation algorithm need not directly invert to linear torque model, by a dynamic
Phase current is expected in allocation algorithm, constantly adjustment, its torque for producing is approached desired value, expects that phase current is defeated by integrator
Go out, mutation will not be produced, it is easy to accomplish.
The beneficial effects of the invention are as follows：Strong antijamming capability, compared with radial magnetic field switched reluctance machines, can produce axle
Disk type switch magnetoresistance electrical machinery main magnetic circuit to magnetic field is vertical with motor movement direction, and magnetic circuit is decoupled with circuit structure, with higher
Power density and torque density.Bimorph transducer disk or Double-rotor disc switched reluctance machines, it is identical equivalent to two to open
Close reluctance motor parallel, can further improve the low speed torque and high-speed operation range of motor, fault-tolerant ability is strong, substantially increases
The operational reliability of switched reluctance machines.Moreover, birotor or bimorph transducer disc type be able to can have with balancing axial magnetic pull
Effect reduces requirement of the single rotor list stator disc type switched reluctance machines to bearing.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of switched reluctance machines；
Accompanying drawing 2 is the attachment structure schematic diagram of coil and power inverter；
Accompanying drawing 3 is the anti-interference multiplex control system structural representation of switched reluctance machines speed；
Accompanying drawing 4 is switch magnetoresistance motor rotor position compound detection schematic diagram；
Accompanying drawing 5 is switched reluctance machines linear torque dynamically distributes schematic diagram；
In upper figure：Stator core 1, rotor core 2, canine tooth pole 1.1, teeth groove 1.2, A phase coils 1.3, B phase coils 1.4, C phase lines
Circle 1.5, magnetic flux 1.6, small tooth pole 2.1, switching transistor BG1, switching transistor BG2, switching transistor BG3, diode D.
Specific embodiment
With reference to accompanying drawing 1-5, the invention will be further described：
A kind of switched reluctance machines that the present invention is mentioned include stator core 1 and rotor core 2, and the centre of stator core 1 is to turn
Sub- iron core 2, described stator core 1 has six canine tooth poles 1.1, is teeth groove 1.2 between canine tooth pole 1.1, on canine tooth pole 1.1 respectively
A phase coils 1.3, B phase coils 1.4, C phase coils 1.5 are provided with, two relative canine tooth poles 1.1 are provided with identical coil, described
The centre of stator core 1 be provided with magnetic flux 1.6, rotor core 2 is provided with the four small teeth cooperated with six canine tooth poles 1.1
Pole 2.1, two halves circular magnetic flow 1.6 connects A phase coils 1.3 through rotor core 2.
Therein, by being built up after the good punching silicon-steel of magnetic conduction, small tooth pole 2.1 is by the good silicon of magnetic conduction for canine tooth pole 1.1
Built up after steel disc punching.
It is therein, there are gap, gap between the small tooth pole 2.1 on the canine tooth pole 1.1 and rotor core 2 on stator core 1
Rotor core 2 is easy to implement freely to be rotated in stator core 1.
Therein, switched reluctance motor provides power supply by power inverter, and power inverter includes switching transistor
Constituted with diode, the connection of A phase coil connecting valve transistor BG1, B phase coil connecting valve transistor BG2, C phase coil is opened
Transistor BG3 is closed, switching transistor BG1, switching transistor BG2 and switching transistor BG3 are to coil power supply, switching transistor
BG1, switching transistor BG2 and switching transistor BG3 control the current switching of three-phase coil A, B, C, the side of triode respectively
Parallel diode D, the side of triode is used for afterflow by diode D.
With reference to a kind of switch reluctance motor control method that accompanying drawing 3, the present invention are mentioned, by motor, speed control, torque
Distributor, current controller, PWM generator, power amplifier, SRM, switch Hall sensor, voltage/current measuring appliance, turn
Sub- location/velocity observer composition, speed command connection speed controller, torque instruction connection torque divider, current-order
Connection current controller, speed control, torque divider and current controller connect power amplifier by PWM generator
Input, the first output end connection voltage/current measuring appliance of power amplifier, the second output end connection of power amplifier
SRM, SRM connecting valve Hall sensor, the first output end of voltage/current measuring appliance connect current control by current feedback
Device, the second output end of voltage/current measuring appliance is connected rotor-position/speed and observes with the output end of switch Hall sensor
Device, position output end connection interference observer and the torque divider of described rotor-position/speed observer, rotor-position/
Speed output end connection interference observer and the speed control of speed observer；
The anti-interference composite control method of switched reluctance machines speed：
First, interference Mathematical Modeling is set up；For rotor position measurement interference, sensor accuracy, pretreatment conditioning are mainly considered
Circuit and A/D conversion accuracies, are modeled by Physical Mechanism and measurement statistics.It is main to consider electric current control for torque interference
The factor modeling such as system and the distortion of field.For model interference, then need to consider the friction of transmission mechanism, gap, saturation, dead band,
The factors such as elastic deformation and Unmarried pregnancy.Load disturbance is caused by external factor, can be worked according to switched reluctance machines
Specific environment and operating mode, set up external disturbance model；
Secondly, influence degree of the assessment interference to control performance；According to the measurement interference, torque interference, model interference set up, bear
The interference Mathematical Modeling such as interference is carried, using mathematical simulation means, analysis disturbance is quantitatively commented the Influencing Mechanism of systematic function
Estimate influence degree of the disturbance to systematic function.For having a strong impact on the interference of the torque pulsation of systematic function, it is necessary to carry out
Emphasis suppresses；
Finally, the anti-interference composite control method of switched reluctance machines is studied；For being done known to torque pulsation, load change information
Disturb, according to different interference models, separately design interference observer and estimated and feedforward compensation；For Gauss/non-gaussian with
Machine variable, norm-bounded uncertain variables, rate of change bounded variable, are suppressed using the feedback interference based on Multipurpose Optimal Method
Method.To the feedforward compensation and feedback inhibition that disturb, you can constitute the anti-interference multiplex control system of switched reluctance machines, pass through
Implement torque distribution technique and anti-interference Compound Control Technique, the rotation pulsation of motor can be greatly reduced, realize that motor is put down
Steady operating.
With reference to accompanying drawing 4, wherein rotor-position/speed observer employs direct detection skill simultaneously in rotor-position detection
The compound detection technology that art and indirect detection technology are combined, in rotor-position compound detection technology, according to indirect detection skill
The Mathematical Modeling of motor is set up in art using electric parameter information such as voltage, electric currents, using the rotor-position of direct detection as amount
Measurement, designs rotor-position and speed observer, while obtaining the positional information and velocity information of rotor.With direct detection
Technology is compared, and compound detection technology has carried out subdivision or interpolation using electric parameter information to rotor-position pulse, is improve and is turned
The resolution ratio of sub- position.Compound detection technology has carried out school using the directly measured quantities of rotor-position to the estimated value of rotor-position
Just, improve the precision of rotor-position detection.
With reference to accompanying drawing 5, the torque instruction that speed control needs is converted into phase current instruction by wherein torque divider, then
The control of torque is realized by the control of phase current indirectly, the dynamically distributes technology of closed loop is introduced, switched reluctance machines are turned
Square instruction carries out dynamically distributes, and linear torque dynamic allocation algorithm need not directly invert to linear torque model, pass through
Phase current is expected in one dynamic allocation algorithm, constantly adjustment, its torque for producing is approached desired value, expects that phase current is to pass through
Integrator output, mutation will not be produced, it is easy to accomplish.
Reluctance motor rotary principle, reluctance motor is then to utilize magnetic resistance minimum principle, that is, magnetic flux is always along magnetic
Minimum path closure is hindered, pulls rotor to rotate using the attraction of tooth interpolar, A phase coils switch on power generation magnetic flux, magnetic force
From nearest rotor tooth pole by rotor core, the magnetic line of force can see poling line springy, be opened in the traction lower rotor part of magnetic force line
Beginning rotates counterclockwise, and magnetic force draws untill rotor goes to 30 degree always, is not rotated further by 30 degree of rotors, and now magnetic circuit is most short.
In order that rotor is rotated further, B phase power supplys are connected when A phases power supply is had been turned off at 30 degree before rotor goes to 30 degree, magnetic flux is from most
By rotor core, rotor is rotated further near rotor tooth pole, and magnetic force draws untill rotor goes to 60 degree always；Turn in rotor
Cut-out B phases power supply connects C phase power supplys at 60 degree before to 60 degree, and magnetic flux is from nearest rotor tooth pole by rotor core, rotor
It is rotated further, magnetic force draws untill rotor goes to 90 degree always；C phase power supplys are cut off before rotor goes to 90 degree, rotor is at 90 degree
State as when starting for above 0 degree, repeat prior process, connect A phase power supplys, rotor is rotated further, so ceaselessly weighs
Go down again, rotor will ceaselessly rotate.
Claims (1)
1. a kind of switch reluctance motor control method, it is characterized in that：Including motor, speed control, torque divider, electric current control
Device processed, PWM generator, power amplifier, SRM, switch Hall sensor, voltage/current measuring appliance, rotor-position/speed are seen
Survey device, speed command connection speed controller, torque instruction connection torque divider, current-order connection current controller, speed
Degree controller, torque divider and current controller connect the input of power amplifier, power amplifier by PWM generator
The first output end connection voltage/current measuring appliance, power amplifier the second output end connection SRM, SRM connecting valves Hall
Sensor, the first output end of voltage/current measuring appliance connects current controller, voltage/current measuring appliance by current feedback
The second output end with switch Hall sensor output end be connected rotor-position/speed observer, described rotor-position/speed
Spend position output end connection interference observer and the torque divider of observer, the speed output of rotor-position/speed observer
End connection interference observer and speed control；
And comprise the steps of：
1）Set up interference Mathematical Modeling；For rotor position measurement interference, i.e. sensor accuracy, pretreatment modulate circuit and A/D
Conversion accuracy, is modeled by Physical Mechanism and measurement statistics；For torque interference, according to current control and the distortion of field because
Element modeling；For model interference, then to consider the friction of transmission mechanism, gap, saturation, dead band, elastic deformation factor and not build
Mould dynamic；Load disturbance is caused by external factor, the specific environment and operating mode worked according to switched reluctance machines, sets up outer
Portion's interference model；
2）Influence degree of the assessment interference to control performance；According to measurement interference, torque interference, model interference, the load set up
The interference Mathematical Modeling of interference, using mathematical simulation means, analyzes Influencing Mechanism of the disturbance to systematic function, qualitative assessment
Influence degree of the disturbance to systematic function；For the interference for having a strong impact on the torque pulsation of systematic function, to be suppressed；
3）The research anti-interference composite control method of switched reluctance machines；For being disturbed known to torque pulsation, load change information,
According to different interference models, separately design interference observer and estimated and feedforward compensation；Become at random for Gauss/non-gaussian
Amount, norm-bounded uncertain variables, rate of change bounded variable, using the feedback interference suppression side based on Multipurpose Optimal Method
Method；
Described rotor-position/speed observer employs Direct Inspection Technology and indirect detection simultaneously in rotor-position detection
The compound detection technology that technology is combined, in rotor-position compound detection technology, according in indirect detection technology using voltage,
Current electrical parameter information sets up the Mathematical Modeling of motor, using the rotor-position of direct detection as measurement, design rotor position
Put and speed observer, while obtaining the positional information and velocity information of rotor；
The torque instruction that speed control needs is converted into phase current instruction by described torque divider, then by phase current
The control of torque is realized in control indirectly, and phase current is expected by constantly adjustment, its torque for producing is approached desired value, expects phase
Electric current is exported by integrator.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109038872A (en) * | 2018-08-31 | 2018-12-18 | 南京埃克锐特机电科技有限公司 | A kind of cylindrical type rotor High speed SRM |
| TWI685188B (en) * | 2017-06-01 | 2020-02-11 | 日商東芝股份有限公司 | Electric motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105305894B (en) * | 2015-11-05 | 2017-09-12 | 浙江大学 | A kind of SRM torque ripple minimization control methods based on torque partition function on-line amending |
| CN106908722B (en) * | 2016-12-12 | 2019-04-05 | 大连理工大学 | A kind of diagnostic method of the phase current failure of switched reluctance machines |
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| US20020024316A1 (en) * | 2000-03-29 | 2002-02-28 | Chiaki Honma | Energization control device for electric motors |
| CN1356765A (en) * | 2000-11-24 | 2002-07-03 | 开关磁阻驱动有限公司 | Current chopping in switch magnetoresistance driven system |
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| JP2010206872A (en) * | 2009-02-27 | 2010-09-16 | Mitsuba Corp | Switched reluctance motor control appratus |
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| KR100320178B1 (en) * | 1999-02-01 | 2002-01-10 | 구자홍 | Speed control method for switched reluctance motor |
| JP2009194945A (en) * | 2008-02-12 | 2009-08-27 | Denso Corp | Synchronous reluctance motor |
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| US20020024316A1 (en) * | 2000-03-29 | 2002-02-28 | Chiaki Honma | Energization control device for electric motors |
| CN1356765A (en) * | 2000-11-24 | 2002-07-03 | 开关磁阻驱动有限公司 | Current chopping in switch magnetoresistance driven system |
| CN101534085A (en) * | 2008-03-14 | 2009-09-16 | 北京中纺锐力机电有限公司 | Three-phase switch reluctance motor power circuit with two power switches connected in series |
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| TWI685188B (en) * | 2017-06-01 | 2020-02-11 | 日商東芝股份有限公司 | Electric motor |
| CN109038872A (en) * | 2018-08-31 | 2018-12-18 | 南京埃克锐特机电科技有限公司 | A kind of cylindrical type rotor High speed SRM |
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| CN104539124B (en) | 2017-03-15 |
| CN106685281B (en) | 2018-10-30 |
| CN104539124A (en) | 2015-04-22 |
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