CN107395087A - A kind of device and method of three-phase switch reluctance machine initial position estimation - Google Patents
A kind of device and method of three-phase switch reluctance machine initial position estimation Download PDFInfo
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- CN107395087A CN107395087A CN201710789773.6A CN201710789773A CN107395087A CN 107395087 A CN107395087 A CN 107395087A CN 201710789773 A CN201710789773 A CN 201710789773A CN 107395087 A CN107395087 A CN 107395087A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004804 winding Methods 0.000 claims abstract description 19
- 230000003068 static effect Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 238000013316 zoning Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 2
- 238000013178 mathematical model Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
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Classifications
-
- 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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to a kind of device and method of three-phase switch reluctance machine initial position estimation, when motor remains static, apply pulse voltage to each phase winding of motor, measure the response current of each phase winding, and the initial position of motor is accurately estimated according to formula.The inventive principle is simply easily realized, it is not necessary to establishes complex mathematical model, without other additional hardware, cost is low, the degree of accuracy is high, versatile.
Description
Technical field
The present invention relates to the initial position estimation of motor control technology field, particularly position of switched reluctance motor without control
Method.
Background technology
Switched reluctance machines (Switched Reluctance Motor, SRM) are with its good speed adjusting performance and fault-tolerant fortune
Row ability, it is of great interest.To realize SRM driving operation and optimal control, it is necessary to obtain real-time rotor-position
Signal.The method of rotor-position detection can be divided into position sensor detection and position-sensor-free technology.Traditional photo-electric,
The introducing of the position sensor such as electromagnetic type and Mageneto-sensitive type not only weaken SRM advantages simple in construction, improve system into
Sheet and complexity, and the reliability and environmental suitability of system are reduced, so as to limit SRM application.Therefore, such as
What the position of substitution sensor, exploring a kind of low cost, high reliability and versatile position-sensorless control technology has important meaning
Justice.
Have in terms of the main research of position of switched reluctance motor without control technology in initial position detection, motor operation course
Position-sensorless control and SRM position-sensorless controls in vibration and noise reducing research etc..Wherein, the accurate estimation of initial position be SRM without
Position control premise and basis, realize accurate initial alignment during motor inactive state, with ensure motor without reversion.For electricity
Initial position detection problem under machine inactive state, domestic and foreign scholars propose a variety of detection methods, as electric current compares, inductance divides
Area, alternate mutual inductance, magnetic linkage is tabled look-up, peak point current is fitted and uses driving boostrap circuit etc..Electric current comparison method and inductance zone method
It is to each phase winding injected pulse voltage, by comparing current value or inductance is worth to region residing for initial position and initial
Turn on phase, it is impossible to the initial position of accurate estimation motor.Alternate mutual inductance is not suitable for the less situation of motor mutual inductance effect.And magnetic
Chain look-up table needs to measure and stores substantial amounts of magnetic linkage data, and extremely complex, versatility and portability are poor.Peak point current is intended
It is legal to need to measure the current peak of diverse location under the pattern of fixed busbar voltage, while also need to build sub- position and peak value electricity
The mathematical modeling of stream, processing procedure are complex.Method based on driving boostrap circuit needs additional hardware circuit.Therefore,
The accurate estimation of initial position is SRM position-sensorless control urgent problems to be solved, and Switched Reluctance Motor is ground
Study carefully focus.
The content of the invention
In order to solve the above problems, the present invention propose a kind of estimation of three-phase switch reluctance machine initial position device and
Method, realize being started without reversion for switched reluctance machines.
A kind of device of three-phase switch reluctance machine initial position estimation, it is characterised in that the measurement apparatus includes：Control
Device (1) processed, drive circuit (2), protection circuit (3), rectification circuit (4), asymmetrical three-phase bridge circuit (5), switching magnetic-resistance electricity
Machine (6) and current sensor (7)；Controller (1) also includes；Current sample module (8), filter circuit (9), initial position of rotor
Estimation block (10) and pulse voltage module (11).
A kind of method of three-phase switch reluctance machine initial position estimation, it is characterised in that comprise the following steps：
1. switched reluctance machines (6) remain static, apply pulse voltage to each phase winding of motor；Controller (1)
Switching tube to asymmetrical three-phase bridge circuit (5) applies control signal, and adjustment control signal is with each phase winding of controlled motor
Pulse voltage；
2. detect the response current of each phase winding of motor；At the trailing edge moment of pulse voltage, current sensor (7) detection
The three-phase response current of switched reluctance machines (6), i.e. ia、ibAnd ic, and it is transferred to controller；
3. compare three-phase response current；Filter circuit (9) eliminates the response current i after current sample module (8)a、ibWith
icFrequency glitches signal；Controller (1) compares three-phase response current ia、ibAnd ic, judge the maximum of response current and time big
Value, i.e. imaxAnd imid；Zoning k is determined simultaneously, works as ia＞ ic=ibWhen, k=1；Work as ia＞ ib＞ icWhen, k=1；Work as ia=ib
＞ icWhen, k=2；Work as ib＞ ia＞ icWhen, k=2；Work as ib＞ ia=icWhen, k=3；Work as ib＞ ic＞ iaWhen, k=3；Work as ib=ic
＞ iaWhen, k=4；Work as ic＞ ib＞ iaWhen, k=4；Work as ic＞ ib=iaWhen, k=5；Work as ic＞ ia＞ ibWhen, k=5；Work as ic=ia
＞ ibWhen, k=6；Work as ia＞ ic＞ ibWhen, k=6；
4. calculate motor initial position θ0, i.e.,
Wherein, k is zoning；imax、imidThe respectively maximum of three-phase response current, second largest value；IMAt the beginning of all
The response current maximum and the maximum of the difference of response current second largest value measured under beginning position.
A kind of method of three-phase switch reluctance machine initial position estimation, it is characterised in that also include：Parameter in step 4
IMEstimation, remained static in motor, i obtained according to above-mentioned steps 1~3maxAnd imid, rotor is arbitrarily rotated, repeats to walk
Rapid 1~3, so repeatedly, I is can obtain within an electric cycleM=(imax-imid)max。
The beneficial effects of the invention are as follows：Switched reluctance machines apply pulse voltage in inactive state, to each phase winding, lead to
Cross and measure and compare response current, and the initial position of motor is accurately calculated according to formula.The inventive principle simply easily realizes, no
Need to establish complicated mathematical modeling, without other additional hardware, cost is low, the degree of accuracy is high, versatile.
Brief description of the drawings
Fig. 1 is the structured flowchart of control system
Fig. 2 is the flow chart of the inventive method
Fig. 3 is the corresponding relation of the SRM inductance of three-phase 12/8 and electric current：(a) three pole reactor and rotor-position relation curve
(b) three-phase current and rotor-position relation curve
Fig. 4 is in response to electric current and rotor-position relation curve：(a)imax-imidWith rotor-position relation curve；(b)imax-
iminWith rotor-position relation curve；(c)imid-iminWith rotor-position relation curve
Fig. 5 is the three-phase response current experimental result under inactive state
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the structured flowchart of control system, and control system includes：Controller, drive circuit, protection circuit, rectified current
Road, asymmetrical three-phase bridge circuit, switched reluctance machines and current sensor；Controller also includes：Current sample module, filtering
Circuit, initial position of rotor estimation block and pulse voltage module.
Fig. 2 is the flow chart of the present invention.When switched reluctance machines remain static, apply pulse to each phase winding of motor
Voltage；Controller by adjustment control signal with each phase winding of controlled motor added by pulse voltage；In the decline of pulse voltage
Along moment, the three-phase response current of Current sensors sense switch reluctance motor；Filter circuit, which eliminates, passes through current sample module
The frequency glitches signal of three-phase response current afterwards；Compare three-phase response current, judge the maximum and second largest value of response current, together
When determine zoning, and the initial position of motor is calculated according to formula.
Accurately estimation is most important to the starting operation of motor for motor initial position.SRM is realized using pulse-excitation method
Started without reversion, i.e., when motor is static, apply the pulse voltage of short time simultaneously to each phase winding of motor, due to different positions
It is different to put each phase inductance of lower motor, can obtain different response currents, by the size of more each phase response current, estimates SRM
Initial position of rotor, determine initial turn-on phase.Fig. 3 (a) and (b) are respectively each phase inductances of pole SRM of three-phase 12/8 and rotor position
Put relation curve and three-phase current and rotor-position relation curve.
It can be represented by the formula by the voltage equation of a SRM phase winding：
In formula, U is machine winding phase voltage, and R is the resistance of machine winding, and L is the inductance of machine winding,For motion
Electromotive force.
When motor is staticIgnore the influence of pressure drop and electric current to inductance on winding resistance, formula (1) can simplify
For
I.e.
In formula, i is response current value；L is motor phase inductance value, UdcFor busbar voltage, when Δ t is the energization of pulse voltage
Between.
Formula (3) shows, in the case of the size and actuation duration identical of driving voltage is applied, the size of response current
With phase inductance inversely, therefore, the initial position of rotor is can determine whether by comparing the size of response current.Table 1 provides
The basis for estimation of initial position of rotor and initial turn-on phase.
The basis for estimation of the initial position of table 1
The conduction time Δ t of pulse excitation voltage influences to judge effect.If conduction time, Δ t was too short, caused response
Electric current is too small, can not accurate more each phase current values；However, conduction time Δ t is oversize, a certain phase response current can be caused to exceed
The current chopping upper limit, also can not accurate more each phase response current.
Parameter IMEstimation explanation.Remained static in motor, i is obtained according to the step 1 of method~3maxAnd imid, appoint
Meaning rotates rotor, repeat step 1~3, so repeatedly, I is can obtain within an electric cycleM=(imax-imid)max.Distinguishingly,
To reduce workload, calculating can be simplified with the following method.It is if electric between each winding Striking symmetries of the SRM of three-phase 12/8 and each phase
Relationship consistency is felt, by the way that motor rotor position is fixed on into stator salient poles and rotor recesses center alignment position, i.e. θα=0,15
Or 30 mechanical angles, apply pulse voltage, detect three-phase response current value, then IMFor response current maximum and response current
The difference of second largest value.
Initial position formula proving principle.In Fig. 4, θ is worked as0=0~7.5 ° or 15 °~22.5 ° or 30 °~
At 37.5 °, imax-imidCan be approximately θ0Linear function and with θ0Monotone decreasing；Work as θ0=7.5 °~15 ° or 22.5 °~
At 30 ° or 37.5 °~45 °, imax-imidWith θ0Monotonic increase.Similarly, imid-iminAnd θ0And monotropic function, and
imax-iminWith θ0Corresponding relation is complex.Therefore, SRM initial position of rotor estimation equations can be derived also by the characteristic.
Due to response current minimum value iminIt is smaller, to avoid larger estimation error, select imax-imidEstimate as initial position of rotor
The foundation of calculation.
In θ0=0~7.5 °, imax-imidWith θ0Meet
In θ0=7.5 °~15 °, imax-imidWith θ0Meet
Further derive, SRM initial position of rotor estimation equation is as follows in whole cycle：
Pass through the feasibility of the experimental verification invention.When the switched reluctance machines of three-phase 12/8 remain static, adopting
With 514V DC bus-bar voltages, conduction time Δ t=0.25ms driving pulse under, quarter measure IM=1.10A.Fig. 5 (a) is to turn
Son be located at 7.5 ° when, using this method, A, B and C phase current detected through over-current sensor be respectively 0.83417A,
0.81958A and 0.29458A, i.e. imax=0.83417A, imid=0..81958A, ia＞ ib＞ ic, then k=1 is obtained by table 1, entered
And calculate initial position θ0=7.4 °, error is 0.1 °.Similarly, Fig. 5 (b) (c) and (d) give rotor-position and are respectively at
20.47 °, 30 ° and during 40.24 ° of three diverse locations, be calculated the initial position in the case of three kinds be respectively 19.15 °,
30.48 ° and 41.86 °, its error is respectively 1.32 °, 0.48 ° and 1.62 °.SRM initial positions, error are estimated using the invention
In allowed band, can meet SRM without reversion start request.
The embodiment of the present invention is described above in association with accompanying drawing, but these explanations can not be understood to limit
Protection scope of the present invention, protection scope of the present invention are limited by appended claims, it is any will in right of the present invention
Change on the basis of asking all is protection scope of the present invention.
Claims (3)
1. a kind of device of three-phase switch reluctance machine initial position estimation, it is characterised in that the measurement apparatus includes：Control
Device (1), drive circuit (2), protection circuit (3), rectification circuit (4), asymmetrical three-phase bridge circuit (5), switched reluctance machines
And current sensor (7) (6)；Controller (1) also includes：Current sample module (8), filter circuit (9), initial position of rotor are estimated
Calculate module (10) and pulse voltage module (11).
A kind of 2. method of three-phase switch reluctance machine initial position estimation, it is characterised in that comprise the following steps：
1. switched reluctance machines (6) remain static, apply pulse voltage to each phase winding of motor；Controller (1) gives three
The switching tube of mutually asymmetric bridge circuit (5) applies control signal, and adjustment control signal is with the pulse of each phase winding of controlled motor
Voltage；
2. detect the response current of each phase winding of motor；At the trailing edge moment of pulse voltage, current sensor (7) detection switch
The three-phase response current of reluctance motor (6), i.e. ia、ibAnd ic, and it is transferred to controller；
3. compare three-phase response current；Filter circuit (9) eliminates the response current i after current sample module (8)a、ibAnd ic's
Frequency glitches signal；Controller (1) compares three-phase response current ia、ibAnd ic, judge the maximum and second largest value of response current,
That is imaxAnd imid；Zoning k is determined simultaneously, works as ia＞ ic=ibWhen, k=1；Work as ia＞ ib＞ icWhen, k=1；Work as ia=ib＞
icWhen, k=2；Work as ib＞ ia＞ icWhen, k=2；Work as ib＞ ia=icWhen, k=3；Work as ib＞ ic＞ iaWhen, k=3；Work as ib=ic＞
iaWhen, k=4；Work as ic＞ ib＞ iaWhen, k=4；Work as ic＞ ib=iaWhen, k=5；Work as ic＞ ia＞ ibWhen, k=5；Work as ic=ia＞
ibWhen, k=6；Work as ia＞ ic＞ ibWhen, k=6；
4. calculate motor initial position θ0, i.e.,
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<mi>&theta;</mi>
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Wherein, k is zoning；imax、imidThe respectively maximum of three-phase response current, second largest value；IMFor all initial positions
Under the maximum of the response current maximum that measures and the difference of response current second largest value.
A kind of 3. method of three-phase switch reluctance machine initial position estimation, it is characterised in that also include：Parameter I in step 4M's
Estimation, remains static in motor, i is obtained according to above-mentioned steps 1~3maxAnd imid, arbitrarily rotate rotor, repeat step 1~
3, so repeatedly, I is can obtain within an electric cycleM=(imax-imid)max。
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| CN201710789773.6A CN107395087A (en) | 2017-08-30 | 2017-08-30 | A kind of device and method of three-phase switch reluctance machine initial position estimation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108462415A (en) * | 2018-02-09 | 2018-08-28 | 苏州仙崴机电有限公司 | A kind of switched reluctance machines position information detection method based on single location sensor |
| CN111614303A (en) * | 2020-06-04 | 2020-09-01 | 中国矿业大学 | Initial positioning control method for switched reluctance motor without position sensor |
| US10897217B2 (en) | 2018-08-21 | 2021-01-19 | Caterpillar Inc. | Switched reluctance motor control system |
| CN112953343A (en) * | 2021-02-03 | 2021-06-11 | 大连理工大学 | Novel position-sensor-free initial positioning method of switched reluctance motor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682787A (en) * | 2015-03-17 | 2015-06-03 | 南京信息职业技术学院 | Method for estimating initial position angle of three-phase switched reluctance motor rotor |
-
2017
- 2017-08-30 CN CN201710789773.6A patent/CN107395087A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682787A (en) * | 2015-03-17 | 2015-06-03 | 南京信息职业技术学院 | Method for estimating initial position angle of three-phase switched reluctance motor rotor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108462415A (en) * | 2018-02-09 | 2018-08-28 | 苏州仙崴机电有限公司 | A kind of switched reluctance machines position information detection method based on single location sensor |
| US10897217B2 (en) | 2018-08-21 | 2021-01-19 | Caterpillar Inc. | Switched reluctance motor control system |
| CN111614303A (en) * | 2020-06-04 | 2020-09-01 | 中国矿业大学 | Initial positioning control method for switched reluctance motor without position sensor |
| CN112953343A (en) * | 2021-02-03 | 2021-06-11 | 大连理工大学 | Novel position-sensor-free initial positioning method of switched reluctance motor |
| CN112953343B (en) * | 2021-02-03 | 2024-02-06 | 大连理工大学 | Novel sensorless initial positioning method for switch reluctance motor |
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Application publication date: 20171124 |