CN108075697B - Switched reluctance motor phase current iteration control method for position signal frequency multiplication - Google Patents
Switched reluctance motor phase current iteration control method for position signal frequency multiplication Download PDFInfo
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- CN108075697B CN108075697B CN201710459928.XA CN201710459928A CN108075697B CN 108075697 B CN108075697 B CN 108075697B CN 201710459928 A CN201710459928 A CN 201710459928A CN 108075697 B CN108075697 B CN 108075697B
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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
- H02P6/28—Arrangements for controlling current
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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
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Abstract
The invention relates to a switched reluctance motor phase current iterative learning control method based on position signal frequency multiplication, which comprises the steps of utilizing a CPLD to realize an edge detection circuit with an input limiting function and a position signal frequency multiplication circuit, and utilizing the edge detection circuit to realize phase current control based on P-type open-close loop iterative learning, so that the phase current of a switched reluctance motor is accurately tracked, and the switched reluctance motor phase current iterative learning control method has good engineering application value.
Description
The technical field is as follows:
the invention relates to the technical field of control of switched reluctance motors, in particular to a method for accurately controlling phase current.
Background art:
although the switched reluctance motor has a series of advantages of simple structure, reliable operation, high efficiency, low manufacturing cost and the like, due to the double salient pole structure of the stator and the rotor, the phase inductance value is obviously changed along with the position of the rotor and works in a deep magnetic saturation region, so that the switched reluctance motor becomes a multivariable, strong-coupling and highly nonlinear system, and the phase current of the switched reluctance motor is difficult to achieve accurate control. The current control strategy commonly used at present has the problems of inaccurate phase current tracking, high complexity, large on-line calculation amount, high switching frequency requirement and the like, so that the speed regulation performance of the whole system is influenced to a certain degree. The iterative learning control can enable the nonlinear controlled system to track the preset track with high precision under the condition that the model of the controlled system is unknown, so that the method is suitable for solving the problem that the switched reluctance motor is not provided with an accurate mathematical model and is not easy to be accurately predicted and determined. The photoelectric position sensor can only detect two points of a rising edge and a falling edge of the position signal, and other points between the two points cannot be detected, so that the requirement of an iterative learning control strategy on high-resolution position signals cannot be met.
The invention content is as follows:
aiming at the defects of the prior art, the invention provides a switched reluctance motor phase current control method based on P-type switching loop iterative learning, so as to realize accurate tracking of the phase current of the switched reluctance motor.
In order to achieve the purpose, the embodiment of the invention adopts the following technical scheme:
1. a switched reluctance motor phase current control method based on P-type switching ring iterative learning is characterized by comprising the following steps:
a) the specific control process is as follows:
calculating the current deviation e according to the given current and the actual phase currentk+1(t) storing the offset into a memory for use in a next conduction cycle;
the current deviation e of the periodk+1(t) deviation from last cycle current ek(t) obtaining an actual value of the iterative learning control update rate after operation by using a multiplier;
the actual value of the update rate is compared with the control output quantity u of the previous periodk(t) adding to obtain the control output u of the periodk+1(t) simultaneously storing the output control quantity into a memory for use in a next conduction cycle;
adjusting the duty ratio of the PWM controller of the position point through the updated control output quantity;
the PWM controller controls the on-off of the power switch tube according to a given duty ratio signal to complete the tracking of a given current;
b) the method adopts CPLD to frequency-multiply the position signal of the switched reluctance motor, and specifically comprises the following steps:
T1、T2、T3three counter registers, where T1Is to store a count value, T, between the detection of a rising edge and the detection of a falling edge3Is a stored count register, T2Calculated according to the following formula:
where n is a natural number, i.e. the conduction angle of the winding of one phase is divided equally into 2nDivide into equal parts and divide into 2nCorresponding algorithm control is carried out on different position points in the process of circulating conduction of a phase winding;
when a rising edge or T is detected3And T2When the output level is equal, the output level is inverted, and meanwhile, the change information of the output level is transmitted to the single chip microcomputer in a mode of direct communication through the I/O port, so that the capture module in the single chip microcomputer is interrupted, and the control process is executed.
2. The switched reluctance motor phase current control method based on the iterative learning of the P-type switching ring according to claim 1, comprising:
setting six registers in a program to form six-stage registers, wherein the six-stage registers are equivalent to six D triggers;
when the falling edge of the trigger clock comes, firstly, the measured signal data is sent into a first register, then, when the falling edge of the next trigger clock comes, the data in the first register is stored into a second register, and the data in the second register is always one clock cycle later than that of the first register in terms of time, and so on until the sixth data;
rising edge detection is of data Q to the first three registers1、Q2、Q3Or not, simultaneously for data Q in the last three registers4、Q5、Q6And operation, performing and operation on two data obtained after the two operations, and assigning the two data to a variable rise after the two operations are performed, and maintaining the variable rise for one cycle. If the variable rise is changed from 0 to 1, it indicates that the signal is a rising edge of a phase position signal of the motor;
falling edge detection is for data Q of the first three registers1、Q2、Q3AND operation, simultaneously on the data Q in the last three registers4、Q5、Q6Or else, and the two data obtained after the two operations are respectively subjected to AND and then assigned to a variable fall and maintained for one period. If the variable fall changes from 0 to 1, it indicates that it is the falling edge of a phase position signal of the motor.
Description of the drawings:
FIG. 1 is a diagram of a current P-type open-close loop iterative learning control architecture;
FIG. 2 is a rising edge detection circuit;
FIG. 3 is a falling edge detection circuit;
fig. 4 is a flowchart of the edge signal frequency doubling module.
The specific implementation mode is as follows:
embodiments of the invention are further described below with reference to the following drawings:
as shown in fig. 1, the phase current control method of the switched reluctance motor based on P-type open-close loop iterative learning of the invention,
calculating the current deviation e according to the given current and the actual phase currentk+1(t) simultaneously reactingStoring the deviation into a memory for use in a next conduction cycle;
the current deviation e of the periodk+1(t) deviation from last cycle current ek(t) obtaining an actual value of the iterative learning control update rate after operation by using a multiplier;
the actual value of the update rate is compared with the control output quantity u of the previous periodk(t) adding to obtain the control output u of the periodk+1(t) simultaneously storing the output control quantity into a memory for use in a next conduction cycle;
adjusting the duty ratio of the PWM controller of the next conduction period through the updated control output quantity;
and the PWM controller controls the on-off of the power switch tube according to a given duty ratio signal to complete the tracking of a given current.
As shown in fig. 2 and 3, data represents a position signal level signal of a shaping circuit connected to an I/O pin of the CPLD, clk is a clock trigger signal, in a manner of triggering by a falling edge of the clock signal, and rst is a reset signal.
The edge detection circuit needs to set six registers in a program to form a six-stage register, which is equivalent to six D flip-flops. When the falling edge of the trigger clock comes, the data of the signal to be detected is firstly sent into a first register, then when the falling edge of the next trigger clock comes, the data in the first register is stored into a second register, and the data in the second register is always one clock cycle later than that in the first register in terms of time, and so on until the sixth data. Rising edge detection is of data Q to the first three registers1、Q2、Q3Or not, simultaneously for data Q in the last three registers4、Q5、Q6And operation, performing and operation on two data obtained after the two operations, and assigning the two data to a variable rise after the two operations are performed, and maintaining the variable rise for one cycle. If the variable rise changes from 0 to 1, this indicates a rising edge of the motor-phase position signal. If the falling edge is detected, the data Q of the first three registers is detected1、Q2、Q3AND operation, simultaneously for the last three registersData Q in (1)4、Q5、Q6Or else, and the two data obtained after the two operations are respectively subjected to AND and then assigned to a variable fall and maintained for one period. If the variable fall changes from 0 to 1, it indicates that it is the falling edge of a phase position signal of the motor. The mode of adopting the six-stage register is mainly used for avoiding the influence of inaccurate position signal detection on edge detection caused by motor jitter or other interference as much as possible.
The specific process executed by the edge signal frequency doubling module is shown in fig. 4. Because the program describes hardware, many hardware circuits can act together in parallel at the same time, so that the timing relationship can be correctly processed by adding the flag bits of rising edge and falling edge. T is1、T2、T3Is three counting registers, where T1Is to store a count value, T, between the detection of a rising edge and the detection of a falling edge3Is a stored count register.
The edge signal frequency multiplication module adopts a clock signal rising edge triggering mode, so that judgment can be carried out once when the clock signal rising edge arrives. When a rising edge or T is detected3And T2When the output level is equal, the output level is inverted, meanwhile, the change information of the output level is transmitted to the single chip microcomputer in a mode of direct communication of the I/O port, then the capture module in the single chip microcomputer generates interruption, and finally iterative learning control is carried out in the interruption service subfunction.
Claims (2)
1. A switched reluctance motor phase current control method based on P-type switching ring iterative learning is characterized by comprising the following steps:
a) the specific control process is as follows:
calculating the current deviation e according to the given current and the actual phase currentk+1(t) storing the offset into a memory for use in a next conduction cycle;
the current deviation e of the periodk+1(t) deviation from last cycle current ek(t) obtaining an actual value of the iterative learning control update rate after operation by using a multiplier;
the actual value of the update rate is compared with the control output quantity u of the previous periodk(t) adding to obtain the control output u of the periodk+1(t) simultaneously storing the output control quantity into a memory for use in a next conduction cycle;
adjusting the duty ratio of the PWM controller of the next conduction period through the updated control output quantity;
the PWM controller controls the on-off of the power switch tube according to a given duty ratio signal to complete the tracking of a given current;
b) the method adopts CPLD to frequency-multiply the position signal of the switched reluctance motor, and specifically comprises the following steps:
T1、T2、T3three counter registers, where T1Is to store a count value, T, between the detection of a rising edge and the detection of a falling edge3Is a stored count register, T2Calculated according to the following formula:
where n is a natural number, i.e. the conduction angle of the winding of one phase is divided equally into 2nDivide into equal parts and divide into 2nDifferent position points are used for controlling the phase current in the process of circularly conducting the phase winding;
when a rising edge or T is detected3And T2When the output level is equal, the output level is inverted, and meanwhile, the change information of the output level is transmitted to the single chip microcomputer in a mode of direct communication through the I/O port, so that the capture module in the single chip microcomputer is interrupted to execute the control process.
2. The switched reluctance motor phase current control method based on the iterative learning of the P-type switching ring according to claim 1, comprising:
setting six registers in a program to form six-stage registers, wherein the six-stage registers are equivalent to six D triggers;
when the falling edge of the trigger clock comes, firstly, the measured signal data is sent into a first register, then, when the falling edge of the next trigger clock comes, the data in the first register is stored into a second register, and the data in the second register is always one clock cycle later than that of the first register in terms of time, and so on until the sixth data;
rising edge detection is of data Q to the first three registers1、Q2、Q3Or not, simultaneously for data Q in the last three registers4、Q5、Q6And operation, performing phase and assignment on two data obtained after the two operations to a variable rise, and maintaining a period, wherein if the variable rise is changed from 0 to 1, the variable rise is a rising edge of a phase position signal of the motor;
falling edge detection is for data Q of the first three registers1、Q2、Q3AND operation, simultaneously on the data Q in the last three registers4、Q5、Q6And performing NOR operation, performing AND operation on the two data obtained after the two operations, assigning the two data to a variable fall, and maintaining for a period, wherein if the variable fall is changed from 0 to 1, the variable fall is the falling edge of a motor phase position signal.
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Denomination of invention: An iterative control method of phase current of Switched Reluctance Motor Based on frequency doubling of position signal Effective date of registration: 20211217 Granted publication date: 20201020 Pledgee: Yantai financing guarantee Group Co.,Ltd. Pledgor: YANTAI XIANWEI ELECTROMECHANICAL Co.,Ltd. Registration number: Y2021980015444 |