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 PDFInfo
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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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 230000004907 flux Effects 0.000 title claims abstract description 33
 238000000611 regression analysis Methods 0.000 title claims abstract description 12
 238000005070 sampling Methods 0.000 claims abstract description 4
 239000004576 sand Substances 0.000 claims description 2
 230000005284 excitation Effects 0.000 description 3
 238000002347 injection Methods 0.000 description 2
 239000007924 injections Substances 0.000 description 2
 239000000243 solutions Substances 0.000 description 2
 239000000428 dust Substances 0.000 description 1
 235000013399 edible fruits Nutrition 0.000 description 1
 230000000694 effects Effects 0.000 description 1
 239000000686 essences Substances 0.000 description 1
 238000003384 imaging method Methods 0.000 description 1
 238000000034 methods Methods 0.000 description 1
 238000000819 phase cycle Methods 0.000 description 1
 238000004904 shortening Methods 0.000 description 1
Classifications

 H—ELECTRICITY
 H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
 H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMOELECTRIC 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 DYNAMOELECTRIC 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
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 rotorposition, 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 rotorposition is located at linear zone, then carries out position with linear flux linkage model and estimate.Otherwise, show that rotorposition 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 rotorposition.If you need to further decrease the accumulated error in singlephase estimate, multiphase flux linkage characteristic can be used and estimated instead of singlephase 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
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, Lowcost, highprecision, high reliability method for controlling positionless 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 nonconduction 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 nonexcitation, 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；Nonconduction 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 rotorposition.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 rotorpositions, 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 rotorposition 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 rotorposition.Technical solution is as follows:
Step 1: in the relation curve of switched reluctance machines phase magnetic linkage and rotorposition, by section [θ_{1},θ_{hr}] be defined as
Linear zone, remaining section are inelastic region.θ_{1}And θ_{hr}It can be obtained by formula (1) and (2).
θ_{1}=θ_{a}(β_{s}+β_{r})/2 (1)
θ_{hr}=θ_{a}β_{r}/2 (2)
Wherein, θ_{a}、β_{s}And β_{r}The respectively aligned position of motor, stator polar arc and rotor pole arc.
Obtain any two rotor position in linear zone_{x}And θ_{y}The flux linkage characteristic data ψ at place_{x}And ψ_{y}, obtained by formula (3)
Obtain the flux linkage characteristic at two endpoints of linear zone, wherein ψ is phase magnetic linkage, and θ is rotorposition, 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 time_{1}And ψ_{hr}, 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 ψ_{1}≤ψ≤ψ_{hr}, show that rotorposition 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 ψ_{1}≤ψ≤ψ_{hr}, show that rotorposition 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 onevariable linear regression function, and then for estimating to inelastic region rotorposition.
Wherein,For the discreet value of rotorposition at kth 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, θ_{k}For the rotor position in linear zone at kth of sampled point.
Step 5: if you need to further decrease the accumulated error introduced when inelastic region rotorposition is estimated, multiphase can be used
Flux linkage characteristic replaces singlephase flux linkage characteristic to be estimated.Phase selection principle are as follows: using the linear zone of each phase, when shortening singlephase 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.Angledomain 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 singlephase a magnetic linkage and rotorposition.
Fig. 2 is the graph of relation of threephase switch reluctance machine threephase magnetic linkage and rotorposition 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 threephase.
Step 1: in the relation curve of the singlephase magnetic linkage of constant current lower switch reluctance motor shown in Fig. 1 and rotorposition,
By linear zone [θ_{1},θ_{hr}] it is defined as linear zone, remaining section is inelastic region.For the switched reluctance machines that example gives, β_{s},
β_{r}And θ_{a}Respectively 15 °, 17 ° and 22.5 °.By formula (1) and (2), it can be concluded that θ_{1}And θ_{hr}Respectively 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 fitting_{6.5°}And ψ_{15°}With the analytical expression ψ of phase current i_{6.5°}(i) and ψ_{15°}(i)。
Step 2: detection conducting phase voltage, current value, the analytical expression ψ being fitted using previous step_{6.5°}(i) and
ψ_{15°}(i), the magnetic linkage value ψ at linear zone endpoint at this time is obtained_{6.5°}(i^{*}) and ψ_{15°}(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 ψ_{6.5°}(i^{*})≤ψ(i^{*})≤ψ_{15°}(i^{*}), show that rotorposition 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 ψ_{6.5°}(i^{*})≤ψ(i^{*})≤ψ_{15°}(i^{*}), show that rotorposition 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 onevariable linear regression function shown in formula (6), and the rotorposition at sampled points different in inelastic region is carried out using the formula
It estimates.
Step 5: special using threephase magnetic linkage in order to further decrease the accumulated error introduced when inelastic region position is estimated
Property replace singlephase flux linkage characteristic estimated.According to selection principle, a kind of phase Selection Strategy is formulated, as shown in table 1.
In table 1, ψ_{ref}For a given Reference Stator Flux Linkage, ψ is chosen in this example_{ref}=ψ_{6.5°}.In addition, working as threephase magnetic linkage
Value is all larger than ψ_{ref}When, selection mutually remains unchanged.Under a constant current shown in Fig. 2 threephase switch reluctance machine threephase magnetic linkage with
In the relation curve of rotorposition, 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, ψ_{ref}For a given Reference Stator Flux Linkage, ψ is chosen in this example_{ref}=ψ_{6.5°}.In addition, working as threephase magnetic linkage
Value is all larger than ψ_{ref}When, selection mutually remains unchanged.Under a constant current shown in Fig. 2 threephase switch reluctance machine threephase magnetic linkage with
In the relation curve of rotorposition, 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 rotorposition is divided into two regions, and line is respectively adopted for different zones
Property flux linkage model and linear regression analysis carry out rotorposition 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 rotorposition, by section [θ_{1},θ_{hr}] be defined as linearly
Area, remaining section are inelastic region, two endpoint θ of linear zone_{1}And θ_{hr}Respectively by formula θ_{1}=θ_{a}(β_{s}+β_{r})/2 and θ_{hr}=θ_{a}
β_{r}/ 2 are calculated, θ_{a}、β_{s}And β_{r}Respectively 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 zone_{1}And θ_{hr}The 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 rotorposition, ψ_{x}And ψ_{y}It is in linear zone any two
A rotor position_{x}And θ_{y}The 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 time_{1}And ψ_{hr}, 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 ψ_{1}≤ψ≤ψ_{hr}, show that rotorposition is located at linear zone, then utilize linear flux linkage modelRotorposition is carried out to estimate；
Step 4: if being unsatisfactory for ψ_{1}≤ψ≤ψ_{hr}, show that rotorposition 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 onevariable linear regression
FunctionThe coefficient of k=n+1 ..., N., and then for being estimated to inelastic region rotorposition,It is adopted for kth
The discreet value of rotorposition at sampling point, k are sampled point serial number,For coefficient, the data based on linear zone, by formulaIt is calculated, θ_{k}For the rotor position in linear zone at kth of sampled point；
Step 5: special using multiphase magnetic linkage if you need to further decrease the accumulated error introduced when inelastic region rotorposition is estimated
Property replace singlephase flux linkage characteristic to be estimated, phase selection principle are as follows: using the linear zone of each phase, shorten singlephase nonthread when estimating
Property area.
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CN108429505A (en) *  20180301  20180821  西北工业大学  A kind of switched reluctance machines instantaneous torque online identification method 
CN108875168B (en) *  20180604  20210326  同济大学  Switched reluctance motor magnetic field analysis calculation method considering saturation 
CN110661467A (en) *  20180629  20200107  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 
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