CN107612452B - Based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method and system - Google Patents
Based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method and system Download PDFInfo
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Abstract
The present invention discloses a kind of mutual inductance-time graph for passing through acquisition two phase winding of motor arbitrary neighborhood based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method and system, described method and system；The time difference for determining two adjacent extreme points is the time cycle of rotor, then rotor revolving speed is calculated according to the time cycle, to obtain the position of rotor at any time.The present invention only need to can be realized the position control to two-phase synchronous excitation switched reluctance machines using the mutual inductance characteristic of two neighboring winding, reduce the complexity of motor driven systems and the cost of motor without increasing position sensor.
Description
Technical field
The present invention relates to synchronous excitation switched reluctance machines fields, are synchronised more particularly to one kind based on mutual inductance characteristic two
Field switch reluctance motor control method and system.
Background technique
Switched reluctance machines need position sensor during starting and commutation to provide the position of each rotor in real time
Angle setting degree, to judge the relative position of stator and rotor, so that it is guaranteed that motor can normally be run.Position detecting module is switch
A very important component part in reluctance motor control system.The presence of rotor-position sensor, to a certain extent
Due to reduce switched reluctance machines operation the degree of reliability, thus largely limit this kind of motor application occasion and
Range.Moreover, the presence of position sensor also adds the complexity of motor driven systems and the cost of motor.Therefore, nothing
Position control has had been applied in the switched reluctance machines of traditional excitation mode.
Position-sensorless control strategy is not applied in two-phase synchronous excitation switched reluctance machines in industry at present.
When motor is under two-phase synchronous excitation mode, Distribution of Magnetic Field situation when single-phase excitation compared with have a greater change,
The magnetic field that two-phase generates intercouples and saturation effect, so that every phase magnetic linkage size, rotor yoke portion magnetic field degree of saturation and list
There is biggish difference when phase excitation, the mutual inductance curve of two-phase can be significantly different with self-induction curve when mutual excitation, and two is alternate
Mutual inductance is also not under single-phase excited state small like that, and can not be ignored.Nothing is carried out to traditional excitation mode using mutual inductance
The method of position control cannot be applied in the switched reluctance machines of novel two-phase synchronous excitation mode.
Summary of the invention
The object of the present invention is to provide one kind based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method and
The position to two-phase synchronous excitation switched reluctance machines can be realized using mutual inductance characteristic without increasing position sensor in system
Control, reduces the complexity of motor driven systems and the cost of motor.
To achieve the above object, the present invention provides following schemes:
The present invention provides one kind to be based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method, described to be based on
Mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method includes:
Obtain mutual inductance-time graph of two phase winding of motor arbitrary neighborhood；
It determines at the first time, the first time is the time corresponding to the first extreme point of the mutual inductance-time graph；
Determine that the second time, second time are the time corresponding to the secondary extremal point of the mutual inductance-time graph；
The secondary extremal point and first extreme point are two adjacent extreme points；
Rotor revolving speed is determined according to the first time and second time；
The position of rotor at any time is determined according to the rotor revolving speed.
Optionally, described that rotor revolving speed is determined according to the first time and second time, it specifically includes:
The time cycle of rotor is calculated with second time according to the first time；
Rotor revolving speed is calculated according to the time cycle.
Optionally, the formula of the time cycle for calculating rotor with second time according to the first time
Are as follows:
ΔTm=Tn+1-Tn(1)；
Wherein, Δ TmFor the time cycle of rotor, TnFor first time, Tn+1For the second time.
Optionally, the formula that rotor revolving speed is calculated according to the time cycle are as follows:
Wherein, nemFor rotor revolving speed, Δ TmFor the time cycle of rotor, θ ' is one week time of rotor
The angle that phase turns over.
Optionally, the formula that the position of rotor at any time is determined according to the rotor revolving speed are as follows:
θk=mod { [θ0+mod(nem·Δt,360)],360} (3)；
Wherein, θkFor current time rotor-position, θ0For the rotor-position of first time, k 1,2,3 ..., mod are complementation
Function, nemFor rotor revolving speed, Δ t is the time difference at current time and first time.
Optionally, the mutual inductance-time graph for obtaining two phase winding of motor arbitrary neighborhood, specifically includes:
Obtain first magnetic linkage of two phase winding of arbitrary neighborhood under two-phase synchronous excitation mode；
Obtain second magnetic linkage of two phase winding under single-phase excitation mode；
The mutual inductance of two phase winding is determined according to first magnetic linkage and second magnetic linkage；
Mutual inductance according to two phase winding in different moments determines mutual inductance-time graph of two phase winding.
Optionally, the formula of the mutual inductance that two phase winding is determined according to first magnetic linkage and second magnetic linkage
Are as follows:
Wherein, M is the mutual inductance of two phase windings, ψ1For magnetic linkage of first phase winding under two-phase synchronous excitation mode, ψ2It is
Magnetic linkage of the two-phase winding under two-phase synchronous excitation mode, ψ1singleFor magnetic linkage of first phase winding under single-phase excitation mode,
ψ2singleFor magnetic linkage of second phase winding under single-phase excitation mode, i is the electric current of the first phase winding, the electric current of the first phase winding
It is identical with the electric current of the second phase winding.
The present invention also provides one kind to be based on mutual inductance characteristic two-phase synchronous excitation switched Reluctance Motor Control System, the base
Include: in mutual inductance characteristic two-phase synchronous excitation switched Reluctance Motor Control System
Module is obtained, for obtaining mutual inductance-time graph of two phase winding of motor arbitrary neighborhood；
First determining module, for determining at the first time, the first time is the first pole of the mutual inductance-time graph
The value point corresponding time；
Second determining module, for determining that the second time, second time are the second pole of the mutual inductance-time graph
The value point corresponding time；The secondary extremal point and first extreme point are two adjacent extreme points；
Revolving speed determining module, for determining rotor revolving speed according to the first time and second time；
Position determination module, for determining the position of rotor at any time according to the rotor revolving speed.
Optionally, the rotor revolving speed determining module, specifically includes:
Time cycle determination unit, for calculating the time of rotor with second time according to the first time
Period；
Revolving speed determination unit, for calculating rotor revolving speed according to the time cycle.
Optionally, the time cycle determination unit, for according to formula Δ Tm=Tn+1-TnCalculate the time of rotor
Period；Wherein, Δ TmFor the time cycle of rotor, TnFor first time, Tn+1For the second time.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides one kind to be based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method and system, institute
It states method and system and passes through mutual inductance-time graph of acquisition two phase winding of motor arbitrary neighborhood；Determine two adjacent extreme points
Time difference be rotor time cycle, then according to the time cycle calculate rotor revolving speed, thus obtain motor turn
The position of son at any time.The present invention is not necessarily to increase position sensor, only need to be using the mutual inductance characteristic of two neighboring winding
The complexity that motor driven systems are reduced to the position controls of two-phase synchronous excitation switched reluctance machines and motor can be achieved
Cost.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is process of the embodiment of the present invention 1 based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method
Figure；
Fig. 2 is stream knot of the embodiment of the present invention 2 based on mutual inductance characteristic two-phase synchronous excitation switched Reluctance Motor Control System
Structure connection figure；
Fig. 3 is the mutual inductance characteristic under the two-phase excitation state of four phase of the invention, 8/6 pole motor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide one kind based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method and
The position to two-phase synchronous excitation switched reluctance machines can be realized using mutual inductance characteristic without increasing position sensor in system
Control, reduces the complexity of motor driven systems and the cost of motor.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment 1
Fig. 1 is process of the embodiment of the present invention 1 based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method
Figure.As shown in Figure 1, described include: based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method
Step 101, mutual inductance-time graph of two phase winding of motor arbitrary neighborhood, specific steps are obtained are as follows:
Step A1 obtains first magnetic linkage of two phase winding of arbitrary neighborhood under two-phase synchronous excitation mode；
Step A2 obtains second magnetic linkage of two phase winding under single-phase excitation mode；
Step A3 determines the mutual inductance of two phase winding according to first magnetic linkage and second magnetic linkage, wherein determines
The specific formula of the mutual inductance of two phase winding are as follows:
Wherein, M is the mutual inductance of two phase windings, ψ1For magnetic linkage of first phase winding under two-phase synchronous excitation mode, ψ2It is
Magnetic linkage of the two-phase winding under two-phase synchronous excitation mode, ψ1singleFor magnetic linkage of first phase winding under single-phase excitation mode,
ψ2singleFor magnetic linkage of second phase winding under single-phase excitation mode, i is the electric current of the first phase winding, the electric current of the first phase winding
It is identical with the electric current of the second phase winding.
Step A4, the mutual inductance according to two phase winding in different moments determine that mutual inductance-time of two phase winding is bent
Line.
Step 102, determine that at the first time, the first time is right for the first extreme point of the mutual inductance-time graph
The time answered.
Step 103, determine that the second time, second time are right for the secondary extremal point of the mutual inductance-time graph
The time answered；The secondary extremal point and first extreme point are two adjacent extreme points.
Step 104, rotor revolving speed, specific steps are determined according to the first time and second time are as follows:
Step B1 calculates the time cycle of rotor according to the first time, wherein calculate with second time
The specific formula of the time cycle of rotor are as follows:
ΔTm=Tn+1-Tn(1)；
Wherein, Δ TmFor the time cycle of rotor, TnFor first time, Tn+1For the second time.
Step B2 calculates rotor revolving speed according to the time cycle, wherein calculate the specific public affairs of rotor revolving speed
Formula are as follows:
Wherein, nemFor rotor revolving speed, Δ TmFor the time cycle of rotor, θ ' is one week time of rotor
The angle that phase turns over.For example, 60 ° of four phases, 8/6 pole motor are an inductance period, i.e. the angle that a time cycle turns over is 60 °.
Step 105, the position of rotor at any time is determined according to the rotor revolving speed, wherein determine electricity
The specific formula in the position of machine rotor at any time are as follows:
θk=mod { [θ0+mod(nem·Δt,360)],360} (3)；
Wherein, θkFor current time rotor-position, θ0For the rotor-position of first time, k 1,2,3 ..., mod are complementation
Function, nemFor rotor revolving speed, Δ t is the time difference at current time and first time.
Provided in this embodiment to be based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method, the method is logical
Cross the mutual inductance-time graph for obtaining two phase winding of motor arbitrary neighborhood；The time difference for determining two adjacent extreme points is motor
Then the time cycle of rotor calculates rotor revolving speed according to the time cycle, to obtain rotor at any time
Position.The present invention need to only be can be realized identical to two without increasing position sensor using the mutual inductance characteristic of two neighboring winding
The position control for walking field switch reluctance motor, reduces the complexity of motor driven systems and the cost of motor.
Embodiment 2
Fig. 2 is stream knot of the embodiment of the present invention 2 based on mutual inductance characteristic two-phase synchronous excitation switched Reluctance Motor Control System
Structure connection figure.As shown in Fig. 2, described include: based on mutual inductance characteristic two-phase synchronous excitation switched Reluctance Motor Control System
Module 201 is obtained, for obtaining mutual inductance-time graph of two phase winding of motor arbitrary neighborhood；
First determining module 202, for determining at the first time, the first time is the of the mutual inductance-time graph
Time corresponding to one extreme point；
Second determining module 203, for determining for the second time, second time is the of the mutual inductance-time graph
Time corresponding to two extreme points；The secondary extremal point and first extreme point are two adjacent extreme points；
Revolving speed determining module 204, for determining rotor revolving speed according to the first time and second time；
Position determination module 205, for determining the position of rotor at any time according to the rotor revolving speed,
Wherein it is determined that the specific formula of the position of rotor at any time are as follows:
θk=mod { [θ0+mod(nem·Δt,360)],360} (3)；
Wherein, θkFor current time rotor-position, θ0For the rotor-position of first time, k 1,2,3 ..., mod are complementation
Function, nemFor rotor revolving speed, Δ t is the time difference at current time and first time.Optionally, rotor revolving speed determines
Module 204, specifically includes:
Time cycle determination unit, for calculating the time of rotor with second time according to the first time
Period；Optionally, time cycle determination unit, for according to the following formula:
ΔTm=Tn+1-Tn (1)
Calculate the time cycle of rotor；Wherein, Δ TmFor the time cycle of rotor, TnFor first time, Tn+1
For the second time.
Revolving speed determination unit, for calculating rotor revolving speed according to the time cycle.Optionally, revolving speed determines single
Member, for calculating rotor revolving speed according to the following formula:
Wherein, nemFor rotor revolving speed, Δ TmFor the time cycle of rotor, θ ' is one week time of rotor
The angle that phase turns over.
Optionally, module 201 is obtained to specifically include:
First magnetic linkage acquiring unit, for obtaining first magnetic of two phase winding of arbitrary neighborhood under two-phase synchronous excitation mode
Chain；
Second magnetic linkage acquiring unit, for obtaining second magnetic linkage of two phase winding under single-phase excitation mode；
Mutual inductance determination unit, for determining the mutual of two phase winding according to first magnetic linkage and second magnetic linkage
Sense, wherein determine the specific formula of mutual inductance of two phase winding are as follows:
Wherein, M is the mutual inductance of two phase windings, ψ1For magnetic linkage of first phase winding under two-phase synchronous excitation mode, ψ2It is
Magnetic linkage of the two-phase winding under two-phase synchronous excitation mode, ψ1singleFor magnetic linkage of first phase winding under single-phase excitation mode,
ψ2singleFor magnetic linkage of second phase winding under single-phase excitation mode, i is the electric current of the first phase winding, the electric current of the first phase winding
It is identical with the electric current of the second phase winding.
Mutual inductance-time graph determination unit, the mutual inductance according to two phase winding in different moments determine the two-phase around
Mutual inductance-time graph of group.
Provided in this embodiment to be based on mutual inductance characteristic two-phase synchronous excitation switched Reluctance Motor Control System, the system is logical
Cross the mutual inductance-time graph for obtaining two phase winding of motor arbitrary neighborhood；The time difference for determining two adjacent extreme points is motor
Then the time cycle of rotor calculates rotor revolving speed according to the time cycle, to obtain rotor at any time
Position.The present invention need to only be can be realized identical to two without increasing position sensor using the mutual inductance characteristic of two neighboring winding
The position control for walking field switch reluctance motor, reduces the complexity of motor driven systems and the cost of motor.
Theoretical basis of the invention is described in detail below.
In adjacent two-phase excitation simultaneously, Distribution of Magnetic Field situation when single-phase excitation compared to having a greater change, two-phase production
Raw magnetic field intercouples and saturation effect, so that every phase magnetic linkage size, rotor yoke portion magnetic field degree of saturation and single-phase excitation
When have a biggish difference, two alternate mutual inductances are also not under single-phase excited state small like that, and can not be ignored.
In order to study when two-phase excitation Distribution of Magnetic Field rule, to the mutual inductance characteristic rule under the conditions of A, D two-phase excitation into
Row research, the mutual inductance for having ignored opposite coil inside every phase at this time influence, and only consider the mutual inductance between two phase windings.Such as Fig. 3 institute
Show, the maximum value of mutual inductance appears in 30 ° and electric current when being 5A, and with the increase of electric current, maximum mutually inductance value is fallen below from 2.0mH
0.125mH.Meanwhile mutual inductance value is smaller in high current, because magnetic linkage at this time is in a saturated state.Analysis chart 3 is it is found that mutual inductance
In each time cycle i.e. 60 °, there is a maximum, therefore, need to only detect the time of two maximum appearance, so that it may
The rotor actual time cycle is calculated, the angle and time cycle then turned over further according to a time cycle can be calculated
The position of rotor at any time out.
For the system disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so the ratio of description
Relatively simple, reference may be made to the description of the method.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (5)
1. one kind is based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method, which is characterized in that described based on mutual
Feeling characteristic two-phase synchronous excitation switch reluctance motor control method includes:
Obtain mutual inductance-time graph of two phase winding of motor arbitrary neighborhood；
It determines at the first time；The first time is the time corresponding to the first extreme point of the mutual inductance-time graph；
Determined for the second time；Second time is the time corresponding to the secondary extremal point of the mutual inductance-time graph；It is described
Secondary extremal point and first extreme point are two adjacent extreme points；
Rotor revolving speed is determined according to the first time and second time；
The position of rotor at any time is determined according to the rotor revolving speed；
It is described that rotor revolving speed is determined according to the first time and second time, it specifically includes:
The time cycle for calculating rotor with second time according to the first time calculates week time of rotor
The formula of phase are as follows:
ΔTm=Tn+1-Tn；
Wherein, Δ TmFor the time cycle of rotor, TnFor first time, Tn+1For the second time；
Rotor revolving speed is calculated according to the time cycle, calculates the formula of rotor revolving speed are as follows:
Wherein, nemFor rotor revolving speed, Δ TmFor the time cycle of rotor, θ ' is to turn one time cycle of rotor
The angle crossed.
2. according to claim 1 be based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method, feature
It is, the formula that the position of rotor at any time is determined according to the rotor revolving speed are as follows:
θk=mod { [θ0+mod(nem·Δt,360)],360}；
Wherein, θkFor current time rotor-position, θ0For the rotor-position of first time, k 1,2,3 ..., mod are MOD function,
nemFor rotor revolving speed, Δ t is the time difference at current time and first time.
3. according to claim 1 be based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method, feature
It is, the mutual inductance-time graph for obtaining two phase winding of motor arbitrary neighborhood specifically includes:
Obtain first magnetic linkage of two phase winding of arbitrary neighborhood under two-phase synchronous excitation mode；
Obtain second magnetic linkage of two phase winding under single-phase excitation mode；
The mutual inductance of two phase winding is determined according to first magnetic linkage and second magnetic linkage；
Mutual inductance according to two phase winding in different moments determines mutual inductance-time graph of two phase winding.
4. according to claim 3 be based on mutual inductance characteristic two-phase synchronous excitation switch reluctance motor control method, feature
It is, the formula of the mutual inductance that two phase winding is determined according to first magnetic linkage and second magnetic linkage are as follows:
Wherein, M is the mutual inductance of two phase windings, ψ1For magnetic linkage of first phase winding under two-phase synchronous excitation mode, ψ2For the second phase
Magnetic linkage of the winding under two-phase synchronous excitation mode, ψ1singleFor magnetic linkage of first phase winding under single-phase excitation mode, ψ2single
For magnetic linkage of second phase winding under single-phase excitation mode, i is the electric current of the first phase winding, the electric current of the first phase winding and second
The electric current of phase winding is identical.
5. one kind is based on mutual inductance characteristic two-phase synchronous excitation switched Reluctance Motor Control System, which is characterized in that described based on mutual
Feeling characteristic two-phase synchronous excitation switched Reluctance Motor Control System includes:
Module is obtained, for obtaining mutual inductance-time graph of two phase winding of motor arbitrary neighborhood；
First determining module, for determining at the first time；The first time is the first extreme point of the mutual inductance-time graph
The corresponding time；
Second determining module, for determining for the second time；Second time is the secondary extremal point of the mutual inductance-time graph
The corresponding time；The secondary extremal point and first extreme point are two adjacent extreme points；
Revolving speed determining module, for determining rotor revolving speed according to the first time and second time；
Position determination module, for determining the position of rotor at any time according to the rotor revolving speed；
The rotor revolving speed determining module, specifically includes:
Time cycle determination unit, for calculating week time of rotor with second time according to the first time
Phase；Specifically, for according to formula Δ Tm=Tn+1-TnCalculate the time cycle of rotor；Wherein, Δ TmFor rotor
Time cycle, TnFor first time, Tn+1For the second time；
Revolving speed determination unit, for calculating rotor revolving speed according to the time cycle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103532265A (en) * | 2013-09-12 | 2014-01-22 | 东南大学 | Mutual inductance coupling type switch magnetic resistance motor |
| CN105827161A (en) * | 2016-05-25 | 2016-08-03 | 南京航空航天大学 | Switched reluctance motor sensorless rotor position estimation method |
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| CN101902190B (en) * | 2010-07-28 | 2012-07-04 | 南京航空航天大学 | Method for estimating rotor position of switched reluctance motor without position sensor |
| CN103078586A (en) * | 2012-12-25 | 2013-05-01 | 南京航空航天大学 | Non-location technology for three-phase electro-magnetic double-salient pole machine starting and accelerating based on induction method |
| CN104919696B (en) * | 2013-01-09 | 2018-05-01 | 恩智浦美国有限公司 | Equipment for the rotor-position for determining multiphase motor |
| CN104242748B (en) * | 2014-10-08 | 2016-08-31 | 南京信息职业技术学院 | A kind of rotor position estimate method and device for switched reluctance motor system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103532265A (en) * | 2013-09-12 | 2014-01-22 | 东南大学 | Mutual inductance coupling type switch magnetic resistance motor |
| CN105827161A (en) * | 2016-05-25 | 2016-08-03 | 南京航空航天大学 | Switched reluctance motor sensorless rotor position estimation method |
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