CN107528521A - Based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method and system - Google Patents
Based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method and system Download PDFInfo
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- CN107528521A CN107528521A CN201710937765.1A CN201710937765A CN107528521A CN 107528521 A CN107528521 A CN 107528521A CN 201710937765 A CN201710937765 A CN 201710937765A CN 107528521 A CN107528521 A CN 107528521A
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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
- 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
- H02P25/092—Converters specially adapted for controlling 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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/188—Circuit arrangements for detecting position without separate position detecting elements using the voltage difference between the windings
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- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Synchronous Machinery (AREA)
Abstract
The present invention discloses one kind and is based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method and system, and methods described obtains any two phase winding in voltage and current at different moments first；The joining of self-induction time graph is determined in voltage and current at different moments according to each phase winding；The time difference between two neighboring joining is determined according to the two neighboring joining of self-induction time graph；Then the angle between two neighboring joining is obtained；Motor speed is determined according to the time difference between the angle between the two neighboring joining and the two neighboring joining；Motor rotor position is finally determined according to the motor speed.Obviously the present invention only need to obtain any two phase winding and just can determine that rotor-position in voltage and current at different moments, realize in position-sensorless control application two-phase synchronous excitation switched reluctance machines, therefore the complexity and cost of reduction motor driven systems.
Description
Technical field
The present invention relates to Motor Control Field, and self-induction characteristic two-phase synchronous excitation switching magnetic-resistance is based on more particularly to one kind
Motor control method and system.
Background technology
Switched reluctance machines are required to position detecting module to provide each rotor in real time during starting with commutation
Position angle, the relative positions of stator and rotor is judged according to the position angle of each rotor, so that it is guaranteed that motor can be normal
Operation.Although position detecting module is a very important part in switched Reluctance Motor Control System,
Due to the presence of position detecting module, the degree of reliability that switched reluctance machines are run is reduced to a certain extent, so as to very big
The occasion and scope of this kind of motor application are limited in degree.Other prior art set location detection module can not only increase electricity
The complexity of machine drive system, it also add the cost of motor.
The complexity of motor driven systems can either be reduced using position-sensorless control, moreover it is possible to reduce the cost of motor, but mesh
The technical staff to move ahead in the industry directly applies position-sensorless control in the switched reluctance machines of traditional excitation mode, will not
Position-sensorless control strategy is applied in two-phase synchronous excitation switched reluctance machines.Therefore, how by position-sensorless control strategy application
The problem of turning into this area urgent need to resolve in two-phase synchronous excitation switched reluctance machines.
The content of the invention
It is an object of the invention to provide one kind based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method and
System, rotor-position will be determined by realizing in position-sensorless control application two-phase synchronous excitation switched reluctance machines, reduce motor driving
The complexity and cost of system.
To achieve the above object, the present invention provides one kind and is based on self-induction characteristic two-phase synchronous excitation switched Reluctance Motor Control
Method, methods described include：
Any two phase winding is obtained in voltage and current at different moments；
The joining of self-induction-time graph is determined in voltage and current at different moments according to each phase winding；
The time difference between two neighboring joining is determined according to the two neighboring joining of self-induction-time graph；
Obtain the angle between two neighboring joining；
Determined according to the time difference between the angle between the two neighboring joining and the two neighboring joining
Motor speed；
Motor rotor position is determined according to the motor speed.
Optionally, described to determine motor rotor position according to the motor speed, specific formula is：
θj=mod { [θ0+mod(nes·Δt,360)],360}；
Wherein, θjFor current time rotor-position, θ0For angle position, j 1,2,3 ..., mod corresponding to first intersection point
For MOD function, nesFor motor speed, Δ t be current time it is corresponding with the first intersection point at the time of between time difference.
Optionally, between the angle according between the two neighboring joining and the two neighboring joining
Time difference determines motor speed, and specific formula is：
Wherein, nesFor motor speed, angles of the θ ' between two neighboring joining, Δ TesFor two neighboring joining
Between time difference.
Optionally, it is described that the intersecting of self-induction-time graph is determined in voltage and current at different moments according to each phase winding
Point, including：
Determine each phase winding in magnetic linkage at different moments according to the voltage and the electric current；
Determine each phase winding at different moments from inductance value in magnetic linkage at different moments according to each phase winding；
According to each phase winding in self-induction-time graph that each phase winding is determined from inductance value at different moments；
The joining of self-induction-time graph is determined according to self-induction-time graph of two phase windings.
Optionally, it is described to determine each phase winding in magnetic linkage at different moments, specific public affairs according to the voltage and the electric current
Formula is：
Wherein, TsFor the sampling period, m is the number of the sampled point within the excitation cycle, ukn(t) adopted for n-th for kth phase winding
The voltage of sampling point, ikn(t) it is the electric current of n-th of sampled point of kth phase winding, RkFor the resistance of kth phase winding, Ψk(0) it is initial
Magnetic linkage.
Optionally, it is described according to each phase winding magnetic linkage at different moments determine each phase winding at different moments from
Inductance value, specific formula are：
Wherein, Lk(t) at different moments from inductance value.
The present invention also provides one kind and is based on self-induction characteristic two-phase synchronous excitation switched Reluctance Motor Control System, the system
Including：
First acquisition module, for obtaining any two phase winding in voltage and current at different moments；
Joining determining module, for determining that self-induction-time is bent in voltage and current at different moments according to each phase winding
The joining of line；
Time difference determining module, it is two neighboring intersecting for being determined according to the two neighboring joining of self-induction-time graph
Time difference between point；
Second acquisition module, for obtaining the angle between two neighboring joining；
Motor speed determining module, for according to the angle between the two neighboring joining and the two neighboring phase
Time difference between intersection point determines motor speed；
Motor rotor position determining module, for determining motor rotor position according to the motor speed.
Optionally, described to determine motor rotor position according to the motor speed, specific formula is：
θj=mod { [θ0+mod(nes·Δt,360)],360}；
Wherein, θjFor current time rotor-position, θ0For angle position, j 1,2,3 ..., mod corresponding to first intersection point
For MOD function, nesFor motor speed, Δ t be current time it is corresponding with the first intersection point at the time of between time difference.
Optionally, between the angle according between the two neighboring joining and the two neighboring joining
Time difference determines motor speed, and specific formula is：
Wherein, nesFor motor speed, angles of the θ ' between two neighboring joining, Δ TesFor two neighboring joining
Between time difference.
Optionally, the joining determining module, is specifically included：
Magnetic linkage determining unit, for determining each phase winding in magnetic linkage at different moments according to the voltage and the electric current；
From inductance value determining unit, for determining each phase winding in difference in magnetic linkage at different moments according to each phase winding
Moment from inductance value；
Self-induction-time graph determining unit, for determining each phase winding from inductance value at different moments according to each phase winding
Self-induction-time graph；
Joining determining unit, for determining the intersecting of self-induction-time graph according to self-induction-time graph of two phase windings
Point.
According to specific embodiment provided by the invention, the invention discloses following technique effect：
Only any two phase winding need to be obtained just can determine that rotor-position to the present invention in voltage and current at different moments, realize
By in position-sensorless control application two-phase synchronous excitation switched reluctance machines, thus reduce motor driven systems complexity and into
This.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is flow of the embodiment of the present invention based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method
Figure；
Fig. 2 is motor FEM model of the embodiment of the present invention；
Fig. 3 is that the embodiment of the present invention intersects self-induction-time graph；
Fig. 4 is that the embodiment of the present invention intersects self-induction-rotor-position curve；
Fig. 5 is structural frames of the embodiment of the present invention based on self-induction characteristic two-phase synchronous excitation switched Reluctance Motor Control System
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It is an object of the invention to provide one kind based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method and
System, rotor-position will be determined by realizing in position-sensorless control application two-phase synchronous excitation switched reluctance machines, reduce motor driving
The complexity and cost of system.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
When motor is run under two-phase synchronous excitation pattern, Distribution of Magnetic Field situation when single-phase excitation compared with have larger change
Change, magnetic field caused by two-phase intercouples and saturation effect so that per phase magnetic linkage size, rotor yoke portion magnetic field degree of saturation with
There is larger difference during single-phase excitation, the self-induction curve of two-phase can be significantly different with self-induction curve during single-phase excitation, utilizes electricity
Feel the switching magnetic-resistance that can not be applied to the method for traditional excitation mode progress position-sensorless control in new two-phase synchronous excitation pattern
In motor, therefore it is based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method the invention provides one kind and is
System.
Fig. 1 is flow of the embodiment of the present invention based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method
Figure, as shown in Figure 1；The present invention provides one kind and is based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method, described
Method includes：
Step 100：Any two phase winding is obtained in voltage and current at different moments.
Step 200：The joining of self-induction-time graph is determined in voltage and current at different moments according to each phase winding,
Specific steps include：
1), determine that each phase winding is in magnetic linkage at different moments, specific formula according to the voltage and the electric current：
Wherein, TsFor the sampling period, m is the number of the sampled point within the excitation cycle, ukn(t) adopted for n-th for kth phase winding
The voltage of sampling point, ikn(t) it is the electric current of n-th of sampled point of kth phase winding, RkFor the resistance of kth phase winding, Ψk(0) it is initial
Magnetic linkage.
2), determine each phase winding at different moments from inductance value, tool in magnetic linkage at different moments according to each phase winding
Body formula is：
Wherein, Lk(t) at different moments from inductance value.
3), according to each phase winding in self-induction-time graph that each phase winding is determined from inductance value at different moments, such as Fig. 3 institutes
Show.
4) joining of self-induction-time graph, is determined according to self-induction-time graph of two phase windings.
Step 300：The time between two neighboring joining is determined according to the two neighboring joining of self-induction-time graph
Poor Δ Tes。
Step 400：Obtain angle, θ between two neighboring joining ', specific steps include：
1) constraints, is established.
The constraints includes simplified condition and boundary condition；
The simplified condition is：Wherein, H is magnetic field intensity (A/m)；J is current density (A/m2)；B is
Magnetic flux density (T)；μ is the magnetic conductivity (H/m) of material；C is vector magnetic potential；
The boundary condition is：Wherein, Z is domain；CZIt is to solve for
The vector magnetic potential in region；JzIt is to solve for the current density vectors in region；Γ1For stator excircle.
2) motor FEM model, is established according to the constraints, this motor FEM model is 8/6 pole, such as Fig. 2 institutes
Show.
3) given electric current, is obtained.
Multiple given current values can be set in the present invention, but when measuring same group of experiment, it is necessary to using the given electricity of identical
Flow valuve.
4) any two phase winding, is chosen from multiple windings.
Polyphase windings in motor be present, two phase windings can be arbitrarily chosen from polyphase windings as experimental subjects.
5) self-induction of each phase winding different rotor position correspondence, is determined according to the motor FEM model and given electric current
Value.
According to the motor FEM model and given electric current, determine that each phase winding is different using macros LMATRIX and turn
Sub- position correspondence from inductance value.
6) self-induction of each phase winding-turn, is determined from inductance value, given electric current according to each phase winding different rotor position correspondence
Sub- position curve.
It is fitted according to each phase winding different rotor position correspondence from inductance value, given electric current and the rotor-position in the cycle
Draw self-induction-rotor-position curve of each phase winding.
7) joining of self-induction-rotor-position curve, is determined according to the self-induction of two phase windings-rotor-position curve.
The present invention by 8/6 extremely in the phase winding of A, D two exemplified by, provide given electric current 5A and 70A self-induction-rotor position respectively
Put curve, by the self-induction of the phase winding of A, D two-rotor-position Drawing of Curve in same coordinate system, be directly viewable intersecting self-induction-
Rotor-position curve just can directly determine the joining of self-induction-rotor-position curve.Specifically refer to Fig. 3.
It is determined that the joining of the self-induction-rotor-position curve of any (in addition to A, D) two phase winding with determine A, D two-phase around
The method of the joining of self-induction-rotor-position curve of group is identical, repeats no more.
8) angle between two neighboring joining, is determined according to the two neighboring joining of self-induction-rotor-position curve
θ′。
8/6 extremely example of the invention is analyzed, then the angle between two neighboring joining just can be directly determined according to Fig. 4
θ '=30 °.The angle, θ that other series can be equally surveyed between two neighboring joining using this method ', it will not be repeated here.
By the above method summarize draw, the angle, θ between the two neighboring joining ' specific formula be：
Wherein, N is rotor number.
Step 500：According between the angle between the two neighboring joining and the two neighboring joining when
Between difference determine motor speed, specific formula is：
Wherein, nesFor motor speed, angles of the θ ' between two neighboring joining, Δ TesFor two neighboring joining
Between time difference.
Step 600：Motor rotor position is determined according to the motor speed, specific formula is：
θj=mod { [θ0+mod(nes·Δt,360)],360} (5)；
Wherein, θjFor current time rotor-position, θ0For angle position, j 1,2,3 ..., mod corresponding to first intersection point
For MOD function, nesFor motor speed, Δ t be current time it is corresponding with the first intersection point at the time of between time difference.
Fig. 5 is structural frames of the embodiment of the present invention based on self-induction characteristic two-phase synchronous excitation switched Reluctance Motor Control System
Figure, as shown in figure 5, the present invention, which also provides one kind, is based on self-induction characteristic two-phase synchronous excitation switched Reluctance Motor Control System, institute
The system of stating includes：
First acquisition module 1, for obtaining any two phase winding in voltage and current at different moments；
Joining determining module 2, be connected with first acquisition module 1, for according to each phase winding at different moments
Voltage and current determines the joining of self-induction-time graph, specifically includes：
Magnetic linkage determining unit, for determining each phase winding in magnetic linkage at different moments according to the voltage and the electric current；
From inductance value determining unit, be connected with the magnetic linkage determining unit, for according to each phase winding at different moments
Magnetic linkage determine each phase winding at different moments from inductance value；
Self-induction-time graph determining unit, be connected with described from inductance value determining unit, for according to each phase winding in difference
Self-induction-the time graph that each phase winding is determined from inductance value at moment；
Joining determining unit, be connected with the self-induction-time graph determining unit, for according to two phase windings from
Sense-time graph determines the joining of self-induction-time graph.
Time difference determining module 3, it is connected with the joining determining module 2, for according to the adjacent of self-induction-time graph
Two joinings determine the time difference between two neighboring joining；
Second acquisition module 4, it is connected with the time difference determining module 3, for obtaining between two neighboring joining
Angle；
Motor speed determining module 5, it is connected with second acquisition module 4, for according to the two neighboring joining
Between angle and the two neighboring joining between time difference determine motor speed, specific formula is：
Wherein, nesFor motor speed, angles of the θ ' between two neighboring joining, Δ TesFor two neighboring joining
Between time difference.
Motor rotor position determining module 6, it is connected with the motor speed determining module 5, for being turned according to the motor
Speed determines motor rotor position, and specific formula is：
θj=mod { [θ0+mod(nes·Δt,360)],360} (5)；
Wherein, θjFor current time rotor-position, θ0For angle position, j 1,2,3 ..., mod corresponding to first intersection point
For MOD function, nesFor motor speed, Δ t be current time it is corresponding with the first intersection point at the time of between time difference.
Only any two phase winding need to be obtained just can determine that rotor-position to the present invention in voltage and current at different moments, realize
By in position-sensorless control application two-phase synchronous excitation switched reluctance machines, thus reduce motor driven systems complexity and into
This.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. it is based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method, it is characterised in that methods described includes：
Any two phase winding is obtained in voltage and current at different moments；
The joining of self-induction-time graph is determined in voltage and current at different moments according to each phase winding；
The time difference between two neighboring joining is determined according to the two neighboring joining of self-induction-time graph；
Obtain the angle between two neighboring joining；
Motor is determined according to the time difference between the angle between the two neighboring joining and the two neighboring joining
Rotating speed；
Motor rotor position is determined according to the motor speed.
2. according to the method for claim 1, it is characterised in that described that rotor position is determined according to the motor speed
Put, specific formula is：
θj=mod { [θ0+mod(nes·Δt,360)],360}；
Wherein, θjFor current time rotor-position, θ0For angle position corresponding to first intersection point, j 1,2,3 ..., mod are to ask
Cofunction, nesFor motor speed, Δ t be current time it is corresponding with the first intersection point at the time of between time difference.
3. according to the method for claim 1, it is characterised in that the angle according between the two neighboring joining
Time difference between the two neighboring joining determines motor speed, and specific formula is：
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Wherein, nesFor motor speed, angles of the θ ' between two neighboring joining, Δ TesBetween two neighboring joining
Time difference.
4. according to the method for claim 1, it is characterised in that it is described according to each phase winding in voltage and electricity at different moments
Stream determines the joining of self-induction-time graph, including：
Determine each phase winding in magnetic linkage at different moments according to the voltage and the electric current；
Determine each phase winding at different moments from inductance value in magnetic linkage at different moments according to each phase winding；
According to each phase winding in self-induction-time graph that each phase winding is determined from inductance value at different moments；
The joining of self-induction-time graph is determined according to self-induction-time graph of two phase windings.
5. according to the method for claim 4, it is characterised in that it is described according to the voltage and the electric current determine each phase around
Group is in magnetic linkage at different moments, specific formula：
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Wherein, TsFor the sampling period, m is the number of the sampled point within the excitation cycle, ukn(t) it is n-th of sampled point of kth phase winding
Voltage, ikn(t) it is the electric current of n-th of sampled point of kth phase winding, RkFor the resistance of kth phase winding, Ψk(0) it is initial magnetic
Chain.
6. according to the method for claim 5, it is characterised in that it is described according to each phase winding in magnetic linkage at different moments
Determine that each phase winding is being at different moments from inductance value, specific formula：
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Wherein, Lk(t) at different moments from inductance value.
7. it is based on self-induction characteristic two-phase synchronous excitation switched Reluctance Motor Control System, it is characterised in that the system includes：
First acquisition module, for obtaining any two phase winding in voltage and current at different moments；
Joining determining module, for determining self-induction-time graph in voltage and current at different moments according to each phase winding
Joining；
Time difference determining module, for according to the two neighboring joining of self-induction-time graph determine two neighboring joining it
Between time difference；
Second acquisition module, for obtaining the angle between two neighboring joining；
Motor speed determining module, for according to the angle between the two neighboring joining and the two neighboring joining
Between time difference determine motor speed；
Motor rotor position determining module, for determining motor rotor position according to the motor speed.
8. system according to claim 7, it is characterised in that described that rotor position is determined according to the motor speed
Put, specific formula is：
θj=mod { [θ0+mod(nes·Δt,360)],360}；
Wherein, θjFor current time rotor-position, θ0For angle position corresponding to first intersection point, j 1,2,3 ..., mod are to ask
Cofunction, nesFor motor speed, Δ t be current time it is corresponding with the first intersection point at the time of between time difference.
9. system according to claim 7, it is characterised in that the angle according between the two neighboring joining
Time difference between the two neighboring joining determines motor speed, and specific formula is：
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Wherein, nesFor motor speed, angles of the θ ' between two neighboring joining, Δ TesBetween two neighboring joining
Time difference.
10. system according to claim 7, it is characterised in that the joining determining module, specifically include：
Magnetic linkage determining unit, for determining each phase winding in magnetic linkage at different moments according to the voltage and the electric current；
From inductance value determining unit, for determining each phase winding at different moments in magnetic linkage at different moments according to each phase winding
From inductance value；
Self-induction-time graph determining unit, for according to each phase winding at different moments from inductance value determine each phase winding from
Sense-time graph；
Joining determining unit, for determining the joining of self-induction-time graph according to self-induction-time graph of two phase windings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710937765.1A CN107528521A (en) | 2017-09-30 | 2017-09-30 | Based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710937765.1A CN107528521A (en) | 2017-09-30 | 2017-09-30 | Based on self-induction characteristic two-phase synchronous excitation switch reluctance motor control method and system |
Publications (1)
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| CN102624304A (en) * | 2012-04-10 | 2012-08-01 | 南京航空航天大学 | Position-sensor-free control method applicable to middle-high-speed switch reluctance motors |
| CN202406086U (en) * | 2011-12-08 | 2012-08-29 | 深圳市正弦电气有限公司 | Motor rotation speed obtaining circuit and frequency converter |
| CN104883112A (en) * | 2015-05-28 | 2015-09-02 | 株洲变流技术国家工程研究中心有限公司 | Asynchronous motor parameter offline identification method |
| CN106887988A (en) * | 2017-04-06 | 2017-06-23 | 南京航空航天大学 | The compensation method of three-phase electric excitation biconvex electrode electric machine high speed position detection error |
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| CN202406086U (en) * | 2011-12-08 | 2012-08-29 | 深圳市正弦电气有限公司 | Motor rotation speed obtaining circuit and frequency converter |
| CN102624304A (en) * | 2012-04-10 | 2012-08-01 | 南京航空航天大学 | Position-sensor-free control method applicable to middle-high-speed switch reluctance motors |
| CN104883112A (en) * | 2015-05-28 | 2015-09-02 | 株洲变流技术国家工程研究中心有限公司 | Asynchronous motor parameter offline identification method |
| CN106887988A (en) * | 2017-04-06 | 2017-06-23 | 南京航空航天大学 | The compensation method of three-phase electric excitation biconvex electrode electric machine high speed position detection error |
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Application publication date: 20171229 |