CN107425781B - A kind of position SRM predictor method based on linear flux linkage model and linear regression analysis - Google Patents

A kind of position SRM predictor method based on linear flux linkage model and linear regression analysis Download PDF

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CN107425781B
CN107425781B CN201610851091.9A CN201610851091A CN107425781B CN 107425781 B CN107425781 B CN 107425781B CN 201610851091 A CN201610851091 A CN 201610851091A CN 107425781 B CN107425781 B CN 107425781B
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rotor
phase
linear
flux linkage
linkage
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CN107425781A (en
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宋受俊
葛乐飞
杨阳
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements 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
    • H02P25/08Reluctance motors

Abstract

The invention discloses a kind of position the SRM predictor method based on linear flux linkage model and linear regression analysis.This method only needs the flux linkage characteristic data in linear zone at any two rotor-position, to obtain the magnetic linkage value at two endpoints of linear zone, and as reference.Detection conducting phase voltage, current value, are calculated magnetic linkage value.If the value is located between two Reference Stator Flux Linkage values, show that rotor-position is located at linear zone, then carries out position with linear flux linkage model and estimate.Otherwise, show that rotor-position is located at inelastic region, under the premise of assuming that motor speed is constant in the short time, linear regression analysis is carried out to linear zone position data and sampling sequence number, and then for estimating to inelastic region rotor-position.If you need to further decrease the accumulated error in single-phase estimate, multiphase flux linkage characteristic can be used and estimated instead of single-phase flux linkage characteristic progress position.This method precision is high, be easily achieved, applicability is good, and can be avoided or reduce the influence of alternate mutual inductance and magnetic circuit saturation.

Description

A kind of position SRM predictor method based on linear flux linkage model and linear regression analysis
Technical field
The present invention relates to a kind of accurate position switched reluctance machines (SRM) based on linear flux linkage model and linear regression analysis Predictor method is set, electric machine without position sensor control field is belonged to.
Background technique
Location information is the basis of switched reluctance machines operation.In general, location information is obtained by mechanical position sensor, such as Rotary transformer, Hall sensor, photoelectric encoder etc..However, these mechanical position sensors not only increase drive system Cost and complexity, and the influence of their precision and reliability vulnerable to environmental factors such as temperature, dust and vibrations.Cause This, Low-cost, high-precision, high reliability method for controlling position-less sensor be necessary.
In order to realize position Sensorless Control, researcher proposes a large amount of position predictor method.These methods are main Be divided into two classes: one kind is that non-conduction phase sets predictor method, and one kind is that conduction phase sets predictor method.
First kind method mainly by mutually injecting high frequency voltage pulse to non-excitation, detects amplitude or the rise time of electric current It determines the inductance value in unsaturated region, and then obtains rotor position or region.The shortcomings that such method, is: when other When mutually having electric current, the electric current of impulses injection phase may be acted on by other phase mutual inductances to be influenced;Non-conduction phase injected pulse electric current There may be negative torques;In addition, excitation current waveform accounts for the major part of entire phase cycle when high speed, impulses injection is limited Time.Therefore such method is only applicable to starting and speed operation.
Second class method mainly according to obtained excitation phase voltage, current value is measured, passes through inquiry table, mathematical model, sight It surveys device or intelligent algorithm etc. and estimates rotor-position.Such method advantage is neither to generate additional power loss, and does not need Additional firmware.But existing conduction phase sets preestimating method and needs all or the flux linkage characteristic data at many rotor-positions, to add mostly The big difficulty and workload of data acquisition and processing, and generally require big memory space.In addition, such method estimates essence Degree is susceptible to the influence of alternate mutual inductance and magnetic field saturation.
Summary of the invention
The relation curve of switched reluctance machines phase magnetic linkage and rotor-position is divided into two regions by the present invention, and for not Linear flux linkage model is respectively adopted with region to estimate with linear regression analysis progress rotor-position.Technical solution is as follows:
Step 1: in the relation curve of switched reluctance machines phase magnetic linkage and rotor-position, by section [θ1hr] be defined as Linear zone, remaining section are inelastic region.θ1And θhrIt can be obtained by formula (1) and (2).
θ1a-(βsr)/2 (1)
θhrar/2 (2)
Wherein, θa、βsAnd βrThe respectively aligned position of motor, stator polar arc and rotor pole arc.
Obtain any two rotor position in linear zonexAnd θyThe flux linkage characteristic data ψ at placexAnd ψy, obtained by formula (3) Obtain the flux linkage characteristic at two endpoints of linear zone, wherein ψ is phase magnetic linkage, and θ is rotor-position, while obtaining endpoint by fitting Locate the analytical expression of phase magnetic linkage and phase current.
Step 2: detection conducting phase voltage, current value utilize the Analytical Expression of magnetic linkage obtained in the previous step and phase current Formula obtains the magnetic linkage value ψ at linear zone endpoint at this time1And ψhr, and it is set as Reference Stator Flux Linkage.
Phase magnetic linkage value at this time is calculated using formula (4).
Wherein, ψ (0) is initial magnetic linkage, and u, i and r are respectively phase voltage, phase current and the phase resistance of switched reluctance machines.
Step 3: if ψ1≤ψ≤ψhr, show that rotor-position is located at linear zone, then can be turned by linear flux linkage model Sub- position angle, as shown in formula (5).
Step 4: if being unsatisfactory for ψ1≤ψ≤ψhr, show that rotor-position is located at inelastic region, at this time assuming that in the short time Under the premise of motor speed is constant, linear regression analysis is carried out to linear zone position data and sampling sequence number, determines formula (6) institute Show the coefficient of one-variable linear regression function, and then for estimating to inelastic region rotor-position.
Wherein,For the discreet value of rotor-position at k-th of sampled point, k is sampled point serial number. For coefficient, can be based on The data of linear zone are calculated by formula (7).
Wherein, θkFor the rotor position in linear zone at k-th of sampled point.
Step 5: if you need to further decrease the accumulated error introduced when inelastic region rotor-position is estimated, multiphase can be used Flux linkage characteristic replaces single-phase flux linkage characteristic to be estimated.Phase selection principle are as follows: using the linear zone of each phase, when shortening single-phase estimate Inelastic region.
Beneficial effects of the present invention: 1. method is simple, it is easy to accomplish.Using simple linear model, it is only necessary to two rotors Flux linkage characteristic data at position, and only need a small amount of physical memory;2. precision is high, strong robustness.Linear zone magnetic linkage is special Property high resolution, it is low to magnetic linkage error suseptibility, and can effectively avoid alternate mutual inductance and reduce magnetic circuit saturation to estimate knot The influence of fruit.In addition, reducing accumulated error by multiphase preestimating method;3. applicability is good.Angle-domain imaging, current chopping Good precision is all had under control and voltage PWM control operating condition, is also applied for different switched reluctance machines topologys.
Detailed description of the invention
Fig. 1 is the graph of relation of constant current lower switch reluctance motor single-phase a magnetic linkage and rotor-position.
Fig. 2 is the graph of relation of three-phase switch reluctance machine three-phase magnetic linkage and rotor-position under a constant current.
Fig. 3 is the position the SRM predictor method flow chart based on linear flux linkage model and linear regression analysis.
Specific embodiment
Below in conjunction with drawings and concrete examples, technical solution of the present invention is described in detail.Motor used in example is The switched reluctance machines of one 12/8 pole of 1kW three-phase.
Step 1: in the relation curve of the single-phase magnetic linkage of constant current lower switch reluctance motor shown in Fig. 1 and rotor-position, By linear zone [θ1hr] it is defined as linear zone, remaining section is inelastic region.For the switched reluctance machines that example gives, βs, βrAnd θaRespectively 15 °, 17 ° and 22.5 °.By formula (1) and (2), it can be concluded that θ1And θhrRespectively 6.5 ° and 14 °.
Flux linkage characteristic of the acquisition switched reluctance machines that can be convenient using torque balance method of testing at 7.5 ° and 15 ° Data, since 15 ° close with 14 °, [6.5 °, 15 °] of choosing are linear zone, remaining is inelastic region.Magnetic linkage at 6.5 ° can It is obtained by formula (8):
Magnetic linkage ψ is obtained by fitting6.5°And ψ15°With the analytical expression ψ of phase current i6.5°(i) and ψ15°(i)。
Step 2: detection conducting phase voltage, current value, the analytical expression ψ being fitted using previous step6.5°(i) and ψ15°(i), the magnetic linkage value ψ at linear zone endpoint at this time is obtained6.5°(i*) and ψ15°(i*), and it is set as Reference Stator Flux Linkage, wherein i* For phase current values at this time.Meanwhile phase magnetic linkage value ψ (i at this time is calculated using formula (4)*)。
Step 3: if ψ6.5°(i*)≤ψ(i*)≤ψ15°(i*), show that rotor-position is located at linear zone, then it can be by linear Flux linkage model obtains rotor position angle, as shown in formula (9).
Step 4: if being unsatisfactory for ψ6.5°(i*)≤ψ(i*)≤ψ15°(i*), show that rotor-position is located at inelastic region, at this time It is primarily based in linear zone position data obtained in the previous step and sampled point serial number, coefficient is obtained by formula (7)WithAnd offspring Enter one-variable linear regression function shown in formula (6), and the rotor-position at sampled points different in inelastic region is carried out using the formula It estimates.
Step 5: special using three-phase magnetic linkage in order to further decrease the accumulated error introduced when inelastic region position is estimated Property replace single-phase flux linkage characteristic estimated.According to selection principle, a kind of phase Selection Strategy is formulated, as shown in table 1.
In table 1, ψrefFor a given Reference Stator Flux Linkage, ψ is chosen in this exampleref6.5°.In addition, working as three-phase magnetic linkage Value is all larger than ψrefWhen, selection mutually remains unchanged.Under a constant current shown in Fig. 2 three-phase switch reluctance machine three-phase magnetic linkage with In the relation curve of rotor-position, heavy line indicates the part that each phase participant position determined according to table 1 is estimated.
A kind of phase Selection Strategy of table 1.
In table 1, ψrefFor a given Reference Stator Flux Linkage, ψ is chosen in this exampleref6.5°.In addition, working as three-phase magnetic linkage Value is all larger than ψrefWhen, selection mutually remains unchanged.Under a constant current shown in Fig. 2 three-phase switch reluctance machine three-phase magnetic linkage with In the relation curve of rotor-position, heavy line indicates the part that each phase participant position determined according to table 1 is estimated.
The flow chart of the position the SRM predictor method based on linear flux linkage model and linear regression analysis is as shown in Fig. 3.

Claims (1)

1. a kind of position SRM predictor method based on linear flux linkage model and linear regression analysis, it is characterised in that: magnetic will be switched The relation curve of resistance motor (SRM) phase magnetic linkage and rotor-position is divided into two regions, and line is respectively adopted for different zones Property flux linkage model and linear regression analysis carry out rotor-position and estimate, steps are as follows for the realization of the position predictor method:
Step 1: in the relation curve of switched reluctance machines phase magnetic linkage and rotor-position, by section [θ1hr] be defined as linearly Area, remaining section are inelastic region, two endpoint θ of linear zone1And θhrRespectively by formula θ1a-(βsr)/2 and θhra- βr/ 2 are calculated, θa、βsAnd βrRespectively the alignment bit angle setting of motor, stator polar arc and rotor pole arc, pass through formulaIt calculates and obtains two endpoint θ of linear zone1And θhrThe flux linkage characteristic at place, and obtained by fitting The analytical expression of phase magnetic linkage and phase current at endpoint, ψ are phase magnetic linkage, and θ is rotor-position, ψxAnd ψyIt is in linear zone any two A rotor positionxAnd θyThe flux linkage characteristic data at place;
Step 2: detection conducting phase voltage, current value, using the analytical expression of phase magnetic linkage and phase current obtained in the previous step, Obtain the magnetic linkage value ψ at linear zone endpoint at this time1And ψhr, and it is set as Reference Stator Flux Linkage, while passing through formulaPhase magnetic linkage the value ψ, ψ (0) calculated at this time is initial magnetic linkage, and u, i and r are respectively switched reluctance machines Phase voltage, phase current and phase resistance;
Step 3: if ψ1≤ψ≤ψhr, show that rotor-position is located at linear zone, then utilize linear flux linkage modelRotor-position is carried out to estimate;
Step 4: if being unsatisfactory for ψ1≤ψ≤ψhr, show that rotor-position is located at inelastic region, at this time assuming that motor in the short time Under the premise of invariablenes turning speed, linear regression analysis is carried out to linear zone position data and sampling sequence number, determines one-variable linear regression FunctionThe coefficient of k=n+1 ..., N., and then for being estimated to inelastic region rotor-position,It is adopted for k-th The discreet value of rotor-position at sampling point, k are sampled point serial number,For coefficient, the data based on linear zone, by formulaIt is calculated, θkFor the rotor position in linear zone at k-th of sampled point;
Step 5: special using multiphase magnetic linkage if you need to further decrease the accumulated error introduced when inelastic region rotor-position is estimated Property replace single-phase flux linkage characteristic to be estimated, phase selection principle are as follows: using the linear zone of each phase, shorten single-phase non-thread when estimating Property area.
CN201610851091.9A 2016-01-06 2016-09-27 A kind of position SRM predictor method based on linear flux linkage model and linear regression analysis Active CN107425781B (en)

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CN108429505A (en) * 2018-03-01 2018-08-21 西北工业大学 A kind of switched reluctance machines instantaneous torque on-line identification method
CN108875168B (en) * 2018-06-04 2021-03-26 同济大学 Switched reluctance motor magnetic field analysis calculation method considering saturation
CN110661467A (en) * 2018-06-29 2020-01-07 北京自动化控制设备研究所 Switched reluctance motor position estimation method based on flux linkage characteristic coordinate transformation
CN109672386A (en) * 2018-11-13 2019-04-23 江苏大学 A kind of switch magnetoresistance motor rotor position detection method

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