CN107070352A - A kind of Switched Reluctance Motor - Google Patents
A kind of Switched Reluctance Motor Download PDFInfo
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- CN107070352A CN107070352A CN201710449944.0A CN201710449944A CN107070352A CN 107070352 A CN107070352 A CN 107070352A CN 201710449944 A CN201710449944 A CN 201710449944A CN 107070352 A CN107070352 A CN 107070352A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0013—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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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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- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of Switched Reluctance Motor, the input of direct Instantaneous torque control device receives given rotating speed, the given rotating speed of input and the actual speed of feedback ask for state error, the fuzzy PI type Fuzzy speed regulator of input, by fuzzy control and PI regulation complex control algorithm processing, due to the increase of integral term, the steady-state error of system can be effectively eliminated, the stable operation of whole governing system is kept.Automatically adjusting for turn-on angle is added on the basis of direct instantaneous torque PI type Fuzzy adjusts control, commutation process is changed by constantly regulate turn-on angle, so as to suppress current spike, the purpose of motor operation efficiency is improved.
Description
Technical field
The present invention relates to switched reluctance machines field, more particularly to a kind of Switched Reluctance Motor.
Background technology
Switched reluctance machines (SRM) have firm, reliability simple in construction high and the low feature of manufacturing cost.In recent years with
Exacerbation and the energy crisis of global environmental pollution, and China's economy fast development, electric automobile, high-speed railway and wind-force
The industries such as electric propulsion technology and renewable energy power generation such as generating are flourished, in addition with mineral resources such as rare earths
Supply it is unstable, the New-type electric machine such as switched reluctance machines turns into the study hotspot of countries in the world.
However, compared with conventional motors, the intrinsic double-salient-pole design feature of switched reluctance machines, the non-thread of magnetic circuit and circuit
Property, switch property cause the factor such as stator winding current and magnetic linkage waveform irregular to cause torque pulsation larger, Traditional control side
The torque pulsation inhibited effect of formula is not good, and directly Instantaneous torque control is in torque pulsation inhibited, performance in the raising stability of a system
Go out some superiority.Therefore, research driving system for switched reluctance Torque Ripple Reduction has important theory significance and application
Value.
Traditional PI rotational speed regulation controller can not meet non-linear serious switched reluctance machines in full speed range
Speed governing requirement, therefore the operational efficiency of whole control system can be caused low.In commutation region, larger point occurs in phase current
Peak, larger current spike can cause motor operation efficiency to decline.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, the present invention provides a kind of Switched Reluctance Motor, including：
PI type Fuzzy speed regulator, torque control module, switching logic control module, deck power converter module；
Direct Instantaneous torque control device given rotating speed is connected as input with the input of PI type Fuzzy speed regulator, mould
Paste the output end of PI speed regulators and the input of torque control module；
The output end of torque control module is connected by the input of switching logic control module and deck power converter module；
The output end of deck power converter module is connected with switched reluctance machines.
Preferably, in addition to：First feedback comparison module, position and turn count module, sensor assembly；
Direct Instantaneous torque control device given rotating speed is connected with the first input for feeding back comparison module, the first feedback ratio compared with
Input of the output end of module respectively with the output end and PI type Fuzzy speed regulator of position and turn count module is connected；
The input of position and turn count module is connected with torque control module and sensor assembly output end respectively；
Sensor assembly is connected with switched reluctance machines.
Preferably, in addition to：Second feedback comparison module, flux estimate algorithm module, torque estimating module；
The output end of PI type Fuzzy speed regulator is connected with the second feedback ratio compared with module input；Second feedback comparison module
Output end be connected respectively with the input and torque estimating module output end of torque control module；
The output end of deck power converter module respectively with switched reluctance machines, torque estimating module input, flux estimate algorithm
Module input is connected, and flux estimate algorithm module output end is connected with torque estimating module input.
Preferably, in addition to：Integration module；
The output end of first feedback comparison module is defeated with the output end of integration module and PI type Fuzzy speed regulator respectively
Enter end connection；
The input of integration module is connected with the output end of position and turn count module.
Preferably, PI type Fuzzy speed regulator be used for used on the basis of direct Instantaneous torque control fuzzy control and
The composite algorism of PI controls is controlled to rotating speed；
If the feedback rotating speed n of switched reluctance machines under direct Instantaneous torque controlRotating speed>Preset rotation speed n*, then torque is reduced defeated
Go out, make nRotating speed=n*；If nRotating speed=n*, torque keep it is constant；If nRotating speed<n*, then increase torque, make nRotating speed=n*。
Preferably, the discrete expression of PI type Fuzzy speed regulator is：
Wherein, TsIt is the sampling period；E (k) is input quantity；kp、kiIt is control parameter.
Preferably, torque control module is used to receive given torque T, and the turn-on angle of exchange alpha region automatically adjusts,
Change commutation process by adjusting turn-on angle；
When switched reluctance machines A phases change to B phases, phase winding voltage U, electric current i, magnetic linkage ψ, maximum turn-on angle acquisition side are utilized
Formula is；
On the basis of maximum turn-on angle, according to the current peak of real-time monitoring commutation region two-phase, on-line tuning is open-minded
Angle so that the current peak of A phase B phases is equal；θ in formulamIt is that the torque of B phases reaches corresponding rotor-position during given torque for the first time
Angle, θaFor the aligned position of A phases, the A phases torque of this position is 0, TrefTo give torque, ω is angular speed；
When switched reluctance machines B phases change to C phases, maximum turn-on angle acquisition modes are；
θ in formulamIt is that the torque of C phases reaches corresponding rotor position angle, θ during given torque for the first timeBFor the aligned position of B phases,
The B phases torque of this position is 0；
When switched reluctance machines C phases change to A phases, maximum turn-on angle acquisition modes are；
θ in formulamIt is that the torque of A phases reaches corresponding rotor position angle, θ during given torque for the first timeCFor the aligned position of C phases,
The C phases torque of this position is 0.
As can be seen from the above technical solutions, the present invention has advantages below：
By PI controllers and fuzzy controller in the switched reluctance machines speed regulating method and system of direct Instantaneous torque control
The problem of fuzzy control has the blind area of control can be solved by having combined this compound control method, and due to integral term
Increase, can effectively eliminate the steady-state error of system, keep the stable of whole governing system.
System can be effectively torque pulsation inhibited, while changing commutation process by automatically adjusting turn-on angle, so as to press down
Current spike processed, improves the purpose of motor operation efficiency.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, it will make simple to the required accompanying drawing used in description below
Introduce on ground, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill
For personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is Switched Reluctance Motor overall schematic.
Embodiment
, below will be with specific to enable goal of the invention, feature, the advantage of the present invention more obvious and understandable
Embodiment and accompanying drawing, the technical scheme that the present invention is protected are clearly and completely described, it is clear that implementation disclosed below
Example is only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this area
All other embodiment that art personnel are obtained under the premise of creative work is not made, belongs to the model of this patent protection
Enclose.
The present invention provides a kind of Switched Reluctance Motor, as shown in figure 1, including：PI type Fuzzy speed regulator 1,
Torque control module 2, switching logic control module 3, deck power converter module 4；Direct Instantaneous torque control device given rotating speed is made
It is connected for input with the input of PI type Fuzzy speed regulator 1, output end and the direct torque mould of PI type Fuzzy speed regulator 1
The input of block 2；The input that the output end of torque control module 2 passes through switching logic control module 3 and deck power converter module 4
End connection；The output end of deck power converter module 4 is connected with switched reluctance machines 5.
In the present embodiment, system also includes：First feedback comparison module 13, position and turn count module 6, sensor die
Block 7；Direct Instantaneous torque control device given rotating speed is connected with the input of the first feedback comparison module 13, and the first feedback ratio is compared with mould
Input of the output end of block 13 respectively with the output end and PI type Fuzzy speed regulator 1 of position and turn count module 6 is connected；
The input of position and turn count module 6 is connected with torque control module 2 and the output end of sensor assembly 7 respectively；Sensor
Module 7 is connected with switched reluctance machines 5.
System also includes：Integration module 8；The output of the output end of first feedback comparison module 13 respectively with integration module 8
The input of end and PI type Fuzzy speed regulator 1 is connected；The input of integration module 8 and position and turn count module 6 it is defeated
Go out end connection.Integration module 8 can effectively eliminate the steady-state error of system, keep the stable of whole governing system.
In the present embodiment, system also includes：Second feedback comparison module 14, flux estimate algorithm module 12, torque estimating module
11；
The output end of PI type Fuzzy speed regulator 1 is connected with the second feedback input of comparison module 14；Second feedback ratio compared with
The output end of module 14 is connected with the input and the output end of torque estimating module 11 of torque control module 2 respectively；Power conversion
The output end of device module 4 respectively with switched reluctance machines 5, the input of torque estimating module 11, the input of flux estimate algorithm module 12
Connection, the output end of flux estimate algorithm module 12 is connected with the input of torque estimating module 11.
The present invention is the switched reluctance machines speed governing implementation process of direct Instantaneous torque control, is switched reluctance machines speed governing
The input of controller receives input given rotating speed n*, inputs actual speed ns of the given rotating speed n* with feeding back and is compared,
The output produced by PI type Fuzzy speed regulator module gives as the torque reference of torque controlling unit.System passes through split
The measurement of voltage and current when reluctance motor is run is closed, reality is estimated after flux estimate algorithm module and torque estimating module
Torque, so as to realize the direct control to torque, reaches reduction torque pulsation, improves the purpose of motor operation efficiency.
PI speed regulators under direct Instantaneous torque control are carried out using two-dimensional fuzzy controller to outer shroud speed ring
Control, due to being the control to speed, so deviation and the change of error amount conduct of selection SRM given speeds and actual speed
Two inputs of controller；The output of fuzzy controller is controlled as the input of inner ring torque ring to torque, so fuzzy
The output of controller should choose expectation torque.
In the present embodiment, voltage and current is measured when system is run to switched reluctance machines, passes through flux estimate algorithm mould
Block, torque estimating module estimates instantaneous torque, and then directly torque is controlled.
Traditional PI rotational speed governors can not meet tune of the non-linear serious switched reluctance machines in full speed range
Speed is required, therefore rotating speed is adjusted by the way of fuzzy control is combined using PI controllers obtains torque Tref。
PI type Fuzzy speed regulator is used to use fuzzy control and PI to control on the basis of direct Instantaneous torque control
Composite algorism rotating speed is controlled；
If the feedback rotating speed n of switched reluctance machines under direct Instantaneous torque controlRotating speed>Preset rotation speed n*, then torque is reduced defeated
Go out, make nRotating speed=n*；If nRotating speed=n*, torque keep it is constant；If nRotating speed<n*, then increase torque, make nRotating speed=n*。
The discrete expression of PI type Fuzzy speed regulator is：
Wherein, TsIt is the sampling period；E (k) is input quantity；kp、kiIt is control parameter.
Specifically, by velocity error e, error rate ec reproduces the process of fuzzy reasoning：
(1) precise volume is calculated by obfuscation formula and fuzzy value is obtained after Fuzzy processing：
E=int (e × ke+0.5)
EC=int (ec × kec+0.5)
(2) derived by (1) result of calculation and membership function figure under E and EC the two input quantities for other language
The degree of membership of variable.
(3) language rule worked is drawn by fuzzy control rule table.
(4) minimum value in input variable membership function is taken as the degree of membership of output variable.
(5) obtain expecting the fuzzy value of torque according to the computational methods combination formula of gravity model appoach：
K in above formulae, kecIt is the scale factor changed between fuzzy quantity in precise volume and fuzzy domain, uiIt is
One linguistic variable of fuzzy output, μU(ui) it is uiCorresponding degree of membership.
PI control modes are adjusted jointly to control system, and ratio control and integration control are combined and made simultaneously
With, make system enter stable state after the optimum efficiency without steady-state error.
The discrete expression of pi regulator is：
Wherein, TsIt is the sampling period；E (k) is input quantity；kp、kiIt is control parameter.
T is obtained in the regulation of PI type Fuzzy rotational speed governorrefAfterwards, the turn-on angle of exchange alpha region is carried out certainly on this basis
Dynamic regulation, commutation process is changed by adjusting turn-on angle, so as to reach suppression current spike, improves the mesh of motor operation efficiency
's.
Wherein, torque control module is used to receive given torque T, and the turn-on angle of exchange alpha region automatically adjusts, led to
Turn-on angle is overregulated to change commutation process；
When switched reluctance machines A phases change to B phases, phase winding voltage U, electric current i, magnetic linkage ψ, maximum turn-on angle acquisition side are utilized
Formula is；
On the basis of maximum turn-on angle, according to the current peak of real-time monitoring commutation region two-phase, on-line tuning is open-minded
Angle so that the current peak of A phase B phases is equal；θ in formulamIt is that the torque of B phases reaches corresponding rotor-position during given torque for the first time
Angle, θaFor the aligned position of A phases, the A phases torque of this position is 0, TrefTo give torque, ω is angular speed；
When switched reluctance machines B phases change to C phases, maximum turn-on angle acquisition modes are；
When switched reluctance machines C phases change to A phases, maximum turn-on angle acquisition modes are；
Specifically, obtaining T in the regulation of PI type Fuzzy rotational speed governorrefAfterwards, the turn-on angle of alpha region is exchanged on this basis
Automatically adjust, commutation process is changed by adjusting turn-on angle, so as to reach suppression current spike, improve motor operation effect
The purpose of rate.Maximum turn-on angle is calculated, on this basis, according to the current peak of real-time monitoring commutation region two-phase, online
Adjust turn-on angle so that the current peak of two-phase is equal.Maximum turn-on angle is calculated as follows：
The terminal voltage of phase winding can be expressed as
Ignore the pressure drop on winding resistance, above-mentioned voltage equation can be written as
Both sides multiply d θ simultaneously, and solve d θ and can obtain
So maximum turn-on angle can be written as
θ in formulamIt is that the torque of B phases reaches corresponding rotor position angle, θ during given torque for the first timeaFor the aligned position of A phases,
The A phases torque of this position is 0, TrefTo give torque, ω is angular speed.
The present invention is directed to the nonlinear features of SRM, and fuzzy control is added on the basis of traditional pi regulator and forms mould
Paste PI speed regulator modules are that speed ring uses Fuzzy~+ PI algorithm to given speed and the mistake of actual feedback speed
Difference is adjusted, so as to draw the expectation torque that motor is rotated, that is, using the output of fuzzy PI hybrid control as torque ring ginseng
Examine input.
The input of direct Instantaneous torque control device receives given rotating speed, the given rotating speed of input and the actual speed of feedback
State error is asked for, PI type Fuzzy speed regulator is inputted, by fuzzy control and PI regulation complex control algorithm processing, due to product
The increase of subitem, can effectively eliminate the steady-state error of system, keep the stable operation of whole governing system.
The expectation torque T that PI type Fuzzy speed regulator module will giverefState error is asked for the actual torque T of feedback,
Using comparative result as controlling switch device working condition foundation.
Given torque reference and the instantaneous torque that estimates are compared, difference is used as the defeated of torque controlling unit
Enter, while different step modes are selected according to the logic state of each phase winding, and according to rotating speed and loading condition to turn-on angle
θonWith shut-off angle θoffRegulation is controlled, and then sends drive signal, the operation of controlled motor.
The torque that torque controlling unit is more than to torque feedback is directly controlled, while electric current is controlled,
In running, phase current occurs than larger spike, during this problem mainly appears on commutation, larger current peak
Motor operation efficiency can be caused to decline, and damage power inverter sometimes.The present invention is adjusted in direct instantaneous torque PI type Fuzzy
Automatically adjusting for turn-on angle is added on the basis of section control, commutation process is changed by constantly regulate turn-on angle, so as to suppress
Current spike, improves the purpose of motor operation efficiency.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (7)
1. a kind of Switched Reluctance Motor, it is characterised in that including：PI type Fuzzy speed regulator, torque control module,
Switching logic control module, deck power converter module；
Direct Instantaneous torque control device given rotating speed is connected as input with the input of PI type Fuzzy speed regulator, PI type Fuzzy
The output end of speed regulator and the input of torque control module；
The output end of torque control module is connected by the input of switching logic control module and deck power converter module；Power
The output end of converter module is connected with switched reluctance machines.
2. Switched Reluctance Motor according to claim 1, it is characterised in that
Also include：First feedback comparison module, position and turn count module, sensor assembly；
Direct Instantaneous torque control device given rotating speed is connected with the input of the first feedback comparison module, the first feedback comparison module
Input of the output end respectively with the output end and PI type Fuzzy speed regulator of position and turn count module be connected；
The input of position and turn count module is connected with torque control module and sensor assembly output end respectively；
Sensor assembly is connected with switched reluctance machines.
3. Switched Reluctance Motor according to claim 2, it is characterised in that
Also include：Second feedback comparison module, flux estimate algorithm module, torque estimating module；
The output end of PI type Fuzzy speed regulator is connected with the second feedback ratio compared with module input；Second feeds back the defeated of comparison module
Go out end to be connected with the input and torque estimating module output end of torque control module respectively；
The output end of deck power converter module respectively with switched reluctance machines, torque estimating module input, flux estimate algorithm module
Input is connected, and flux estimate algorithm module output end is connected with torque estimating module input.
4. Switched Reluctance Motor according to claim 2, it is characterised in that
Also include：Integration module；
The output end and the input of PI type Fuzzy speed regulator of the output end of first feedback comparison module respectively with integration module
Connection；
The input of integration module is connected with the output end of position and turn count module.
5. Switched Reluctance Motor according to claim 1, it is characterised in that
What PI type Fuzzy speed regulator was used to having used fuzzy control and PI to control on the basis of direct Instantaneous torque control answers
Hop algorithm is controlled to rotating speed；
If the feedback rotating speed n of switched reluctance machines under direct Instantaneous torque controlRotating speed>Preset rotation speed n*, then reduce torque output, make
nRotating speed=n*；If nRotating speed=n*, torque keep it is constant；If nRotating speed<n*, then increase torque, make nRotating speed=n*。
6. Switched Reluctance Motor according to claim 1 or 5, it is characterised in that
The discrete expression of PI type Fuzzy speed regulator is：
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Wherein, TsIt is the sampling period；E (k) is input quantity；kp、kiIt is control parameter.
7. Switched Reluctance Motor according to claim 5, it is characterised in that
Torque control module is used to receive given torque T, and the turn-on angle of exchange alpha region automatically adjusts, open-minded by adjusting
Angle changes commutation process；
When switched reluctance machines A phases change to B phases, phase winding voltage U, electric current i, magnetic linkage ψ, maximum turn-on angle acquisition modes are utilized
For；
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On the basis of maximum turn-on angle, according to the current peak of real-time monitoring commutation region two-phase, on-line tuning turn-on angle makes
The current peak for obtaining A phase B phases is equal；θ in formulamIt is that the torque of B phases reaches corresponding rotor position angle, θ during given torque for the first timea
For the aligned position of A phases, the A phases torque of this position is 0, TrefTo give torque, ω is angular speed；
When switched reluctance machines B phases change to C phases, maximum turn-on angle acquisition modes are；
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It is 0 to put the torque of B phases；
When switched reluctance machines C phases change to A phases, maximum turn-on angle acquisition modes are；
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It is 0 to put the torque of C phases.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107659238A (en) * | 2017-11-13 | 2018-02-02 | 中国科学院宁波材料技术与工程研究所 | A kind of Direct Torque Control device of switched reluctance machines |
| CN108599667A (en) * | 2018-04-02 | 2018-09-28 | 江苏理工学院 | The control method and system of switched reluctance machines |
| CN109742999A (en) * | 2019-01-17 | 2019-05-10 | 桂林电子科技大学 | A kind of the SRM method for controlling torque and system of dynamic neural network adaptive inversion |
| CN112886888A (en) * | 2021-01-12 | 2021-06-01 | 烟台大学 | Fuzzy error feedback permanent magnet synchronous motor rotating speed control method |
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| CN206041865U (en) * | 2016-08-05 | 2017-03-22 | 哈尔滨理工大学 | Switched reluctance motor direct torque control system based on commutation district space voltage vector |
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| CN107659238A (en) * | 2017-11-13 | 2018-02-02 | 中国科学院宁波材料技术与工程研究所 | A kind of Direct Torque Control device of switched reluctance machines |
| CN108599667A (en) * | 2018-04-02 | 2018-09-28 | 江苏理工学院 | The control method and system of switched reluctance machines |
| CN109742999A (en) * | 2019-01-17 | 2019-05-10 | 桂林电子科技大学 | A kind of the SRM method for controlling torque and system of dynamic neural network adaptive inversion |
| CN112886888A (en) * | 2021-01-12 | 2021-06-01 | 烟台大学 | Fuzzy error feedback permanent magnet synchronous motor rotating speed control method |
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| CN107070352B (en) | 2018-04-27 |
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Denomination of invention: A speed regulation system of switched reluctance motor Effective date of registration: 20220419 Granted publication date: 20180427 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Ningbo Zhenhai sub branch Pledgor: Huayuan (Zhejiang) Power Technology Co.,Ltd. Registration number: Y2022330000554 |