CN107786130B - Linear switched reluctance motor control system and its control method - Google Patents
Linear switched reluctance motor control system and its control method Download PDFInfo
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- CN107786130B CN107786130B CN201711171860.1A CN201711171860A CN107786130B CN 107786130 B CN107786130 B CN 107786130B CN 201711171860 A CN201711171860 A CN 201711171860A CN 107786130 B CN107786130 B CN 107786130B
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric 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
- 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 present invention relates to a kind of linear switched reluctance motor control system and its control methods.Positioner issues first control signal to arrangement, communications network, so that arrangement, communications network issues two motor modules that second control signal control driving device issues driving signal driving reluctance motor device；Sensing device detects the motor position of reluctance motor device with speed and obtains the detection signal of motor position and speed；First transmission delay of the arrangement, communications network according to detection signal calculating reluctance motor device to positioner；Positioner adjusts first control signal according to the Position And Velocity of motor, the first transmission delay；Arrangement, communications network also calculating position controller adjusts the second control signal of its sending to the second transmission delay and the second transmission delay of foundation and first control signal of reluctance motor device, so that driving device also adjusts the driving signal of its sending according to second control signal, so that two motor module cooperative motions of reluctance motor device.
Description
[technical field]
The present invention relates to motor control technology fields, particularly, be related to a kind of linear switched reluctance motor control system and
Its control method.
[background technique]
With it is intelligent and it is highly integrated control chip fast development, line motion control system because its quickly, high-precision and
Can the performances such as batch processing it is popular in modern industry application.Motor is as indispensable in line motion control system
The appearance of power-equipment, especially linear switched reluctance motor, in addition to having, detent torque is big, overload capacity is strong and speed adjustable range
The advantages that wide, even more has unique advantage in some occasions moved in a straight line.A series of meanwhile network control systems
(NCS) appearance has low cost, loss of weight, easy to install and low-maintenance etc. excellent compared with traditional point-to-point control system
Point, so that NCS is widely used in the industrial circles such as power grid, unmanned vehicle, aircraft industry, airship and remote task execution.It is close
Nian Lai, researcher have done many researchs in the control problem of linear switched reluctance motor (LSRMs).For example, clustered control
The distributed cooperation motion tracking of linear switched reluctance motor in system, the two-sided straight line switch magnetic resistance based on non-rectilinear inductor models
The adaptive controller of motor designs, the location estimation etc. of the linear switched reluctance motor with iron loss under vortes interference
Deng.
Currently the research on linear switched reluctance motor is concentrated mainly on distributed controll, self adaptive control and position and estimates
Meter, few research network control systems and it how preferably to be applied in linear switched reluctance motor.Such as China
Application for a patent for invention (number of patent application: 201510246003.8, a kind of denomination of invention: linear switched reluctance motor position control
System) publicity structure principle chart in, the position and speed that motor is exported with a display module carry out one display, it is micro-
Reference signal in controller is all that preset in advance has been got well, but without introducing network control system, can not achieve host computer
Adjustment is detected and controlled to the parameter of electric machine.Meanwhile it not being filled there are also some network-based challenging problems
The research divided, for example, the preparation method of motor model, the inevitable parameter of electric machine as caused by parameter of electric machine recognition methods
Error, the collaborative work between different motors, the nested problem etc. between different motors.
[summary of the invention]
For the deficiency of existing method, it can at least improve collaborative work problem between motor the invention proposes a kind of
Linear switched reluctance motor control system and its control method.
A kind of linear switched reluctance motor control system comprising positioner, arrangement, communications network, driving device,
Reluctance motor device and sensing device, the reluctance motor device include first motor module and the second motor module, institute's rheme
Controller is set for issuing first control signal to the arrangement, communications network, so that the arrangement, communications network issues second
Control signal controls the driving device and issues the driving signal driving reluctance motor device to control the reluctance motor
The motor position and speed of device, the reluctance motor device is also via described in the sensing device, communication network connection
Positioner so that the detection signal of motor position and speed is fed back to the positioner by the sensing device, from
And the positioner adjusts the first control signal of its sending according to the Position And Velocity of the motor, wherein described logical
Communication network device also calculates described two magneto modules via the sensing device to the position according to the detection signal
First transmission delay of controller simultaneously issues the first postpones signal so that the positioner is also according to the first delay letter
Number adjustment first control signal, the arrangement, communications network also calculate the positioner to the of the driving device
Two transmission delays generate the second postpones signal and according to the first control signal and second postpones signal adjustment described the
Two control signals, so that the driving device adjusts the driving signal of its sending, so that the reluctance motor device
Two motor module cooperative motions.
In one embodiment, the driving device includes the first execution unit and the second execution unit, the sensing
Device includes the first sensing module and the second sensing module, and first sensing module detects the motor of the first motor module
Position And Velocity simultaneously issues the first detection signal, second sensing module detect the motor position of second motor module with
Speed simultaneously issues the second detection signal, and first execution unit is according to the second control signal and first detection signal
The first driving signal is issued to the first motor module, second execution unit is according to the second control signal, described
First detection signal and second detection signal issue the second driving signal to second motor module.
In one embodiment, the first motor module includes the first power Electricity Functional converting unit, the first electric current control
Circuit processed and first motor, the first power Electricity Functional converting unit receive first driving signal and export the first electric current control
System instruction, first current control loop is instructed according to first current control generates the first current signal to described first
Motor is to control the Position And Velocity of the first motor.
In one embodiment: second motor module includes the second power Electricity Functional converting unit, the second electric current control
Circuit processed and the second motor, the second power Electricity Functional converting unit receive second driving signal and export the second electric current control
System instruction, second current control loop is instructed according to second current control generates the second current signal to described second
Motor is to control the Position And Velocity of second motor.
In one embodiment, the arrangement, communications network includes the first delay control module and the second delay control mould
Block, the first delay control module, which receives first detection signal and the second detection signal and generates first delay, to be believed
Number to the positioner, the positioner is according to first detection signal, the second detection signal and described first
Postpones signal exports the first control signal to the arrangement, communications network, and the second delay control module receives described the
One control signal generates second postpones signal and issues the according to the first control signal and second postpones signal
Two control signals to the driving device.
In one embodiment, first sensing module and the second sensing module are straight line magnetic coder.
In one embodiment, the control system further includes input unit, and the input unit connects the communication
Network equipment and/or the positioner, each control parameter of the system pass through the input unit and modify, institute
State the position and speed that each control parameter includes described two motors.
In one embodiment, the arrangement, communications network is PC, server apparatus and network server system
One of system or the above two above combination.
In one embodiment, the arrangement, communications network also records each control parameter of the system, the first transmission is prolonged
Slow time and the second propagation delay time.
A kind of linear switched reluctance motor control method comprising following steps:
Positioner issues first control signal to arrangement, communications network, so that the arrangement, communications network issues the
Two control signal control driving devices issue two motor modules of driving signal driving reluctance motor device；
Sensing device detects the motor position of the reluctance motor device and speed and obtains detecing for motor position and speed
Survey signal；
The arrangement, communications network calculates the reluctance motor device to the positioner according to the detection signal
The first transmission delay；
The positioner adjusts first control according to the Position And Velocity of the motor, first transmission delay
Signal processed；And
The arrangement, communications network also calculate the positioner to the second transmission delay of the driving device and according to
The second control signal that its sending is adjusted according to second transmission delay and the first control signal, so that the drive
Dynamic device also adjusts the driving signal of its sending according to the second control signal, so that the two of the reluctance motor device
A motor module cooperative motion.
Compared to the prior art, in linear switched reluctance motor control system and its control method of the present invention, the communication
Network equipment also calculates described two magneto modules according to the detection signal and controls via the sensing device to the position
First transmission delay of device processed simultaneously issues the first postpones signal so that the positioner is also according to first postpones signal
The first control signal is adjusted, the arrangement, communications network also calculates the positioner to the second of the driving device
Transmission delay generates the second postpones signal and according to the first control signal and second postpones signal adjustment described second
Signal is controlled, so that the driving device adjusts the driving signal of its sending, so that the two of the reluctance motor device
A motor module cooperative motion.
[Detailed description of the invention]
To describe the technical solutions in the embodiments of the present invention more clearly, used in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure, in which:
Fig. 1 is the frame structure schematic diagram of the linear switched reluctance motor control system of a better embodiment of the invention.
Fig. 2 is the control principle schematic diagram of linear switched reluctance motor control system shown in Fig. 1.
Fig. 3 is the flow chart of the control method of linear switched reluctance motor control system shown in Fig. 1.
Fig. 4 is a kind of experiment porch structure chart of embodiment of linear switched reluctance motor control system shown in Fig. 1.
Fig. 5 to Fig. 7 is the test result schematic diagram of linear switched reluctance motor control system shown in Fig. 1
[main element symbol description]
Linear switched reluctance motor control system 100；Positioner 110；Arrangement, communications network 120；Driving device
130；Reluctance motor device 140；Sensing device 150；First motor module 141；Second motor module 142；First execution unit
131；Second execution unit 132；First sensing module 151；Second sensing module 152；First power Electricity Functional converting unit 143；
First current control loop 141；First motor 145；Second power Electricity Functional converting unit 146；Second current control loop 147；
Second motor 148；First delay control module 121；Second delay control module 122；Step S1-S5
[specific embodiment]
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Specifically, it is contemplated that there are two the linear switched reluctance motor control systems of motor module is (or referred to as compound for tool
Nested linear switched reluctance motor control system) demand in industrial application and inevitable model and parameters identification miss
Difference, for the present invention on the basis of based on the demand for realizing network control method, in tool, there are two the straight line switch of motor module
Uncertain time delay system is intervened in reluctance motor control system model, by using Lyapunov's theory and inequality
Method, determining has the initial strip of the low computational complexity of the compound nested switched reluctance machines of the networking of markov delay
Part, to tool, there are two one positioners of linear switched reluctance motor Control System Design of motor module to cooperate communication network
Device come realize networked coordination and control two motor modules straight line nesting cooperative motion.Further, the present invention is gone back
It is proposed the control method of above-mentioned linear switched reluctance motor control system.In addition, the present invention also builds a kind of experiment porch, pass through
Experiment is tested to verify control system and control method validity and practicability of the invention.
Fig. 1 and Fig. 2 is please referred to, Fig. 1 is the linear switched reluctance motor control system 100 of a better embodiment of the invention
Frame structure schematic diagram, Fig. 2 is the control principle schematic diagram of linear switched reluctance motor control system shown in Fig. 1 100.It is described
Control system 100100 include positioner 110, arrangement, communications network 120, driving device 130, reluctance motor device 140,
And sensing device 150.
The reluctance motor device 140 include 148 module 142 of 145 module 141 of first motor and the second motor, described two
The motor of a motor module 141,142 can connect.The positioner 110 leads to for issuing first control signal to described
Communication network device 120, so that the arrangement, communications network 120, which issues second control signal, controls the hair of driving device 130
Driving signal drives the reluctance motor device 140 to control the motor position and speed of the reluctance motor device 140 out,
The reluctance motor device 140 also via the sensing device 150, the communication network connect the positioner 110 with
So that the detection signal of motor position and speed is fed back to the positioner 110 by the sensing device 150, thus described
Positioner 110 adjusts the first control signal of its sending according to the Position And Velocity of the motor, wherein the communication network
Network device 120 also calculates described two magneto modules according to the detection signal and arrives institute's rheme via the sensing device 150
It sets the first transmission delay of controller 110 and issues the first postpones signal so that the positioner 110 is also according to described the
One postpones signal adjusts the first control signal, and the arrangement, communications network 120 also calculates the positioner 110 to institute
It states the second transmission delay of driving device 130, generate the second postpones signal and according to the first control signal and described second
Postpones signal adjusts the second control signal, so that the driving device 130 adjusts its driving signal issued, and then makes
Obtain two motor modules 141,142 cooperative motions of the reluctance motor device 140.
It is appreciated that the positioner 110 is also considered as a networking with the arrangement, communications network 120
Position control realizes the various control functions of above-mentioned positioner 110 and arrangement, communications network 120.
First transmission delay and second transmission delay are chance event delay, wherein first transmission
Delay is present in the sensing device 150 into the communication link of the positioner 110, and second transmission delay exists
In the communication link of the positioner 110 to the reluctance motor device 140.
Specifically, the driving device 130 may include the first execution unit 131 and the second execution unit 132, the biography
Induction device 150 includes the first sensing module 151 and the second sensing module 152, and first sensing module 151 detects described first
The motor position and speed of 145 module 141 of motor simultaneously issue the first detection signal, and second sensing module 152 is detected described
The motor position and speed of second motor, 148 module 142 simultaneously issue the second detection signal, 131 foundation of the first execution unit
The second control signal and first detection signal issue the first driving signal to 145 module 141 of first motor, institute
The second execution unit 132 is stated to issue according to the second control signal, first detection signal and second detection signal
Second driving signal is to 148 module 142 of the second motor.Wherein, in present embodiment, first sensing module 151 and
Second sensing module 152 is straight line magnetic coder.
145 module 141 of first motor includes the first power Electricity Functional converting unit 143, the first current control loop 144
And first motor 145, the first power Electricity Functional converting unit 143 receive first driving signal and export the first electric current control
System instruction, first current control loop 144 is instructed according to first current control generates the first current signal to described
First motor 145 is to control the Position And Velocity of the first motor 145.
Second motor, 148 module 142 includes the second power Electricity Functional converting unit 146, the second current control loop 147
And second motor 148, the second power Electricity Functional converting unit 146 receive second driving signal and export the second electric current control
System instruction, second current control loop 147 is instructed according to second current control generates the second current signal to described
Second motor 148 is to control the Position And Velocity of second motor 148.
The arrangement, communications network 120 includes the first delay control module 121 and second postpones control module 122, described
First delay control module 121 receives first detection signal and the second detection signal and generates first postpones signal extremely
The positioner 110, the positioner 110 is according to first detection signal, the second detection signal and described
One postpones signal exports the first control signal to the arrangement, communications network 120, and the second delay control module 122 connects
The first control signal is received, second postpones signal is generated and according to the first control signal and the second delay letter
Number second control signal is issued to the driving device 130.
Further, the control system 100 can also include input unit, and the input unit connects the communication network
Network device 120 and/or the positioner 110, each control parameter of the system pass through the input unit and are repaired
Change, each control parameter includes position and the speed of described two motors.The arrangement, communications network 120 be PC,
One of server apparatus and network server system or the above two above combination；The arrangement, communications network 120 is also
It can recorde each control parameter of the system, the first propagation delay time and the second propagation delay time.
Referring to Fig. 3, Fig. 3 is the flow chart of the control method of linear switched reluctance motor control system shown in Fig. 1 100.
The linear switched reluctance motor control method may include steps of:
Step S1, positioner 110 issue first control signal to arrangement, communications network 120, so that the communication
Network equipment 120 issues two that second control signal control driving device 130 issues driving signal driving reluctance motor device 140
A motor module 141,142.
Step S2, sensing device 150 detect the motor position of the reluctance motor device 140 and speed and obtain motor position
Set the detection signal with speed.
Step S3, the arrangement, communications network 120 calculate the reluctance motor device 140 according to the detection signal and arrive institute
State the first transmission delay of positioner 110.
Step S4, the positioner 110 are adjusted according to the Position And Velocity of the motor, first transmission delay
The first control signal.
Step S5, the arrangement, communications network 120 also calculate the positioner 110 to the driving device 130
Second transmission delay and second control that its sending is adjusted according to second transmission delay and the first control signal
Signal, so that the driving device 130 also adjusts the driving signal of its sending according to the second control signal, so that
Two motor modules 141,142 cooperative motions of the reluctance motor device 140.
It is appreciated that the specific structure of each module and function involved in the control method are aforementioned to straight line
Illustrate in the description of switched Reluctance Motor Control System 100, is not described in more detail here.
Compared to the prior art, described logical in linear switched reluctance motor control system 100 and its control method of the present invention
Communication network device 120 also calculates described two magneto modules according to the detection signal and arrives institute via the sensing device 150
It states the first transmission delay of positioner 110 and issues the first postpones signal so that the positioner 110 is also according to institute
It states the first postpones signal and adjusts the first control signal, the arrangement, communications network 120 also calculates the positioner 110
To the driving device 130 the second transmission delay, generate the second postpones signal and according to the first control signal and described
Second postpones signal adjusts the second control signal, so that the driving device 130 adjusts its driving signal issued, into
And make two motor modules 141 of the reluctance motor device 140,142 straight line nesting cooperative motions.
Further, experiment porch is built for above-mentioned control system and control method and carry out experiment test, please refer to figure
4, Fig. 4 be a kind of experiment porch structure chart of embodiment of linear switched reluctance motor control system shown in Fig. 1.Wherein, two electricity
Machine module LSRM1 and LSRM2 include stator (such as stator 1,2), the winding 4 being fixed on the stator 1,2, connection described two
A stator 1,2 mobile platforms 5, the winding 4 are also connected with winding connector 3 and two power supplys 6, and arrangement, communications network is (such as individual
Computer 9), Dspace DS1104 plate 7 (positioner), current amplifier 8 and described two power supplys 6 be sequentially connected.
When the experiment porch works, the sample frequency of the position control loop of two motor modules LSRM1 and LSRM2 is
1KHZ, the electric current of two motor modules LSRM1 and LSRM2 are driven through power supply 6 (converter) connection Dspace DS1104 plate
On 7, under the PID controller effect that sampling rate is 20KHZ, electric current is driven to the electric current that three are adjusted for internal current and puts
Big device 8.The position and speed information of two motor modules LSRM1 and LSRM2 are by feedback link arrangement, communications network by two
Straight line magnetic coder is collected and is remotely monitored by host computer, and positional control algorithm can be compiled under matlab/simulink environment
Journey, and innovatory algorithm can download on the digital signal processor on Dspace DS1104 plate.Pass through feed forward chain road network
Control signal is transmitted to two motor modules LSRM1 and LSRM2 by network, positioner, and all control parameters can be into
Row online modification.Sensing device-positioner, the time as caused by network during positioner-reluctance motor device
Delay can calculate in matlab/simulink environment, and real-time response waveform is by upper computer detection and record.
Fig. 5 to Fig. 7 is please referred to, Fig. 5 to Fig. 7 is that the test result of linear switched reluctance motor control system shown in Fig. 1 is shown
It is intended to.Specifically, Fig. 5 is to give the sine that amplitude is 20mm and frequency is 0.2Hz under PID controller and robust controller
Under reference signal, the position of motor module LSRM1 and location error test result schematic diagram.Following theory now is done to curve in figure
It is bright: (a) the position response curve for being active motor module LSRM1, (b) for motor module LSRM1 from 3 seconds to 4 second position
The enlarged view of response curve is (c) the position response curve under different controllers, (d) for from motor module LSRM1 from 4 seconds
Error enlarged view between by 10 seconds.
Fig. 6 is to give the sinusoidal reference that amplitude is 20mm and frequency is 0.2Hz under PID controller and robust controller
Under signal, the position of slave motor module LSRM2 and location error test result schematic diagram.Following theory now is done to curve in figure
It is bright: (a) the position response curve for being slave motor module LSRM2, (b) for motor module LSRM2 from 3 seconds to 4 second position
The enlarged view of response curve, (c) the position response curve under different controllers, is (d) motor module LSRM2 from 4 seconds to 10
Error enlarged view between second.
Fig. 7 is to give slave motor module LSRM2 maximum 3 seconds time delays under PID controller and robust controller,
It gives under the sinusoidal reference signal that amplitude is 20mm and frequency is 0.2Hz, the position and position of two motor modules LSRM1, LSRM2
Set the test result figure of error.Following explanation now is done to curve in figure: (a) being the position of two motor modules LSRM1, LSRM2
Response curve, (b) for two motor modules LSRM1, LSRM2 from 3 seconds to 4 second position response curve enlarged view, (c)
For the position response curve under different controllers, (d) for two motor modules LSRM1, LSRM2 from 4 seconds to 10 second mistake
Poor enlarged view.
It can be seen that from above-mentioned experimental result compared with PID controller effect, in linear switched reluctance motor control of the present invention
Under the action of system processed, system dynamic response process is more smooth, and least absolute error and maximum absolute error are all smaller.
In conclusion controlling system in the linear switched reluctance motor based on uncertain system and the proposition of control based on network demand
In system and control method, under the verifying of array experiment, show with the positioner and the arrangement, communications network
Networking position control effect under, the composite straight line of the compound nested switched reluctance machines of higher precision may be implemented
Cooperative motion.
Above-described is only embodiments of the present invention, it should be noted here that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, improvement can also be made, but these belong to protection model of the invention
It encloses.
Claims (10)
1. a kind of linear switched reluctance motor control system, it is characterised in that: the control system includes positioner, communication
Network equipment, driving device, reluctance motor device and sensing device, the reluctance motor device include first motor module and
Second motor module, the positioner is for issuing first control signal to the arrangement, communications network, so that described
Arrangement, communications network issues second control signal and controls the driving device sending driving signal driving reluctance motor device
To control the motor position and speed of the reluctance motor device, the reluctance motor device also via the sensing device,
The communication network connects the positioner so that the sensing device is anti-by the detection signal of motor position and speed
It is fed to the positioner, so that the positioner adjusts the first of its sending according to the Position And Velocity of the motor
Control signal, wherein the arrangement, communications network also according to the detection signal calculate described two reluctance motor modules via
The sensing device to the positioner the first transmission delay and issue the first postpones signal so that the position control
Device also adjusts the first control signal according to first postpones signal, and the arrangement, communications network also calculates the position control
Device processed to the driving device the second transmission delay, generate the second postpones signal and according to the first control signal and described
Second postpones signal adjusts the second control signal, so that the driving device adjusts the driving signal of its sending, in turn
So that two motor module cooperative motions of the reluctance motor device.
2. control system as described in claim 1, it is characterised in that: the driving device includes the first execution unit and second
Execution unit, the sensing device include the first sensing module and the second sensing module, described in first sensing module detecting
The motor position and speed of first motor module simultaneously issue the first detection signal, the second sensing module detecting second electricity
The motor position and speed of machine module simultaneously issue the second detection signal, and first execution unit is according to the second control signal
And first detection signal issues the first driving signal to the first motor module, second execution unit is according to described in
Second control signal, first detection signal and second detection signal issue the second driving signal to second motor
Module.
3. control system as claimed in claim 2, it is characterised in that: the first motor module turns including the first power Electricity Functional
Unit, the first current control loop and first motor are changed, the first power Electricity Functional converting unit receives the first driving letter
Number and export the first current control instruction, first current control loop according to first current control instruction generate first
Current signal controls the Position And Velocity of the first motor to the first motor.
4. control system as claimed in claim 3, it is characterised in that: second motor module turns including the second power Electricity Functional
Unit, the second current control loop and the second motor are changed, the second power Electricity Functional converting unit receives the second driving letter
Number and export the second current control instruction, second current control loop according to second current control instruction generate second
Current signal controls the Position And Velocity of second motor to second motor.
5. control system as claimed in claim 4, it is characterised in that: the arrangement, communications network includes that the first delay controls mould
Block and the second delay control module, the first delay control module receive first detection signal and the second detection signal simultaneously
First postpones signal is generated to the positioner, the positioner is according to first detection signal, second
Detection signal and first postpones signal export the first control signal to the arrangement, communications network, described second and prolong
Slow control module receives the first control signal, generates second postpones signal and according to the first control signal and institute
It states the second postpones signal and issues second control signal to the driving device.
6. control system as claimed in claim 2, it is characterised in that: first sensing module and the second sensing module are
Straight line magnetic coder.
7. control system as described in claim 1, it is characterised in that: the control system further includes input unit, described defeated
Enter device and connect the arrangement, communications network and/or the positioner, each control parameter of the system passes through described
Input unit is modified, and each control parameter includes position and the speed of described two motors.
8. control system as described in claim 1, it is characterised in that: the arrangement, communications network is PC, server
One of equipment and network server system or the above two above combination.
9. control system as described in claim 1, it is characterised in that: the arrangement, communications network also records the system and respectively controls
Parameter, the first propagation delay time and the second propagation delay time processed.
10. a kind of linear switched reluctance motor control method, it is characterised in that: described method includes following steps:
Positioner issues first control signal to arrangement, communications network, so that the arrangement, communications network issues the second control
Signal control driving device processed issues two motor modules of driving signal driving reluctance motor device；
Sensing device detects the motor position of the reluctance motor device with speed and obtains the detecting letter of motor position and speed
Number；
The arrangement, communications network calculates the reluctance motor device to the of the positioner according to the detection signal
One transmission delay；
The positioner adjusts the first control letter according to the Position And Velocity of the motor, first transmission delay
Number；And
The arrangement, communications network also calculates the positioner to the second transmission delay of the driving device and according to institute
It states the second transmission delay and the first control signal adjusts the second control signal of its sending, so that the driving fills
The driving signal that its sending is also adjusted according to the second control signal is set, so that two electricity of the reluctance motor device
The movement of machine module cooperative.
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| US4723103A (en) * | 1985-04-11 | 1988-02-02 | Gilgen Ag | Control equipment for an electro-magnetic linear motor |
| GB9506975D0 (en) * | 1995-04-04 | 1995-05-24 | Switched Reluctance Drives Ltd | Controller for a switched reluctance machine |
| KR100210080B1 (en) * | 1996-11-01 | 1999-07-15 | 윤종용 | Speed control apparatus of a switched reluctance motor |
| GB9726397D0 (en) * | 1997-12-12 | 1998-02-11 | Switched Reluctance Drives Ltd | Communication controller |
| US7050929B2 (en) * | 2004-10-21 | 2006-05-23 | Shop Vac | System and method of ensuring legitimacy of a sensor signal received from a rotor position sensor in a motor |
| CN101741293A (en) * | 2009-12-28 | 2010-06-16 | 东南大学 | Method for improving balance of power-driven hanging basket working platform and electrical system |
| JP2012135103A (en) * | 2010-12-21 | 2012-07-12 | Daihatsu Motor Co Ltd | Motor drive control device |
| CN104967385A (en) * | 2015-07-22 | 2015-10-07 | 浙江华丰电动工具有限公司 | Switch reluctance machine torque ripple control system and control method therefor |
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2017
- 2017-11-22 CN CN201711171860.1A patent/CN107786130B/en active Active
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