CN108429508A - The design method and control system of switched reluctance machines fractional order sliding mode controller - Google Patents
The design method and control system of switched reluctance machines fractional order sliding mode controller Download PDFInfo
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Classifications
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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
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
-
- 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
- H02P25/0805—Reluctance motors whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
-
- 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
- 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
- H02P25/098—Arrangements for reducing torque ripple
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Abstract
The invention particularly discloses a kind of design methods of switched reluctance machines fractional order sliding mode controller, which is characterized in that includes the following steps：Electromechanical contact equation based on switched reluctance machines, establishes switched reluctance machines model；Stream mesh generation is switched over based on switched reluctance machines model；The stability of fractional order sliding formwork control is verified using Lyapunov functions, and the fractional order sliding formwork control ratio for meeting Approximation Condition is designed with this；Parameter in fractional order sliding formwork control ratio is adjusted；Using Fuzzy Logic Reasoning Algorithm to fractional order sliding formwork control turn off gain εsIt is adjusted；The present invention is by using an order r degree of freedom more than fractional order, slowly transmit the characteristic of energy, weaken traditional sliding formwork control and trembles shake problem existing for switching stream interface, it can make strong robustness of the system to Parameters variation and external disturbance simultaneously, it is in the operation of motor low speed, torque pulsation can effectively be weakened, weaken the noise of switched reluctance machines.
Description
Technical field
The present invention relates to oil field equipment applied technical fields, and in particular to a kind of switched reluctance machines fractional order sliding formwork control
The design method and control system of device.
Background technology
As old well is gradually stepped into the oil-poor phase, grease hole needs to carry out formation testing pilot production work before not yet putting into serial production
Make, to verify regional industry gas stream reserves.The formation testing pilot production work period is not grown generally, and vehicle-mounted formation testing pilot production lifting equipment can
It is fast moved between different oil wells with meeting, and can adapt to the special topographical position feature of different oil wells.
Present technology adds asynchronous machine composition frequency conversion speed-adjusting system to be applied to vehicle-mounted formation testing pilot production using by frequency converter
Original diesel-driven generator, the driving force as vehicle-mounted formation testing pilot production lifting equipment are replaced in equipment.As Fig. 1 is applied to vehicle-mounted examination
Shown in oily pilot production lifting equipment frequency conversion speed-adjusting system General layout Plan figure, PC computers and PLC controller by Ethernet into
Row network communication writes program using ladder diagram to system.By in program to the rate curve of default, PLC controller
The output frequency of frequency converter PowerFLex40 is controlled, complete it is forward and reverse accelerate, at the uniform velocity, retarded motion.Pass through
PowerFLex40 frequency converters carry out frequency control to threephase asynchronous machine, and asynchronous motor drives roller dragging by retarder
Sucker rod pump pumps, and completes formation testing pilot production work.It is outer on the coaxial speed reducer of asynchronous motor connection simultaneously
Rotary encoder is connect, for asynchronous motor output pulse accumulation value to be fed back to the high-speed counter module in PLC system, is passed through
The pulsed electrical signal of feedback is converted into actual output frequency value, is compared with presetting frequency values by program reduced unit,
Its deviation is added Fuzzy PID, realizes the intelligent control algorithm of system as controlled quentity controlled variable.But the prior art exist with
Lower disadvantage：
1. traditional sliding formwork control is by design system diverter surface and controlled quentity controlled variable, by toggling control incessantly
Amount so that system is constrained on diverter surface, and the state variable of system can automatically slide into the metastable origin of system,
Switching stream interface there are problems that trembling shake.
2. vehicle-mounted formation testing pilot production lifting equipment motor driving needs frequent starting and braking and positive and negative rotation, lead to frequency control
The winding current of system is larger, causes asynchronous machine fever serious, motor is caused to be easily damaged；
3. there are the threats of bridge arm direct pass short circuit for the main power conversion circuit of frequency control；
4. frequency control switching frequency is high, power consumption is high, to increase the hot impulse force aging of IGBT, increases electrolytic capacitor
High-frequency loss electric current causes the service life of IGBT to reduce.
5. for asynchronous machine rotor by squirrel-cage bar, mechanical strength is low in frequency conversion speed-adjusting system, reliability is not high；
6. in frequency conversion speed-adjusting system, when a certain phase of motor or controller breaks down, motor cannot work.
With the continuous popularization of new energy source energy-saving environmental protection concept, have to the progress reducing energy consumption of vehicle-mounted formation testing pilot production equipment important
Meaning, the traditional mode driven instead of diesel oil and natural gas engine using motor direct-drive control change vehicle-mounted formation testing examination
The power drive mode of equipment is adopted, formation testing pilot production working efficiency is improved, not only improves the energy for reducing and carrying out operation in outlying oil well
Source consumes, and can achieve the purpose that environmental protection.
Invention content
It is an object of the invention to overcome the above-mentioned deficiency in the presence of the prior art, a kind of switched reluctance machines point are provided
The design method and a kind of switched Reluctance Motor Control System of number rank sliding mode controller.
In order to achieve the above-mentioned object of the invention, the present invention provides following technical schemes：
A kind of design method of switched reluctance machines fractional order sliding mode controller, includes the following steps：
S1, the electromechanical contact equation based on switched reluctance machines, establish switched reluctance machines model；
S2, stream mesh generation is switched over based on switched reluctance machines model；
S3, the stability that fractional order sliding mode controller is verified using Lyapunov functions, and satisfaction is designed with this and approaches item
The control law of the fractional order sliding mode controller of part；
S4, the parameter in the control law of fractional order sliding mode controller is adjusted；
S5, using Fuzzy Logic Reasoning Algorithm to fractional order sliding formwork control turn off gain εsIt is adjusted.
Specifically, the detailed process of step S1 is：
S11, switched reluctance machines electromechanical contact equation be：Wherein, i is
Switched reluctance machines electric current；
S12, the electromechanical contact equation of switched reluctance machines become and is got in return：
It enablesI.e. (2) formula indicates
For：
S13, insertion switch reluctance motor setting speedRotational speed omega is surveyed with switched reluctance machinesr, enable
So as to：
S14, it establishes switched reluctance machines model and is：
Specifically, the detailed process of step S2 is：
S21, it is based on switched reluctance machines model foundation switching manifold face equation：
Wherein KpAnd Ki∈R+It is the gain of sliding-mode surface,It indicates r integrals as r ＞ 0 for fractional calculus operator, works as r<0, table
Show that r differential, the present embodiment limit 0<r<1；
S22, the derivation of switching manifold face can be obtained：
S23, system enter sliding formwork state, i.e.,It can obtain：
S24, according to fractional order Theory of Stability, ensureSystem is asymptotically stability, and with t-rForm converges to
Equalization point, and integer is with exponent e-tForm converge to equalization point.
Specifically, the detailed process of step S3 is：
S31, fractional order sliding mode controller the switch function of control law be：
Shake problem is trembled caused by inhibiting the switching of switch function high frequency by using the filtering characteristic of Fractional Derivative；
S32, the stability that fractional order sliding mode controller is verified using Lyapunov functions, it is necessary to assure switching magnetic-resistance electricity
Machine control system is attained by sliding formwork state in arbitrary original state；
The Lyapunov functions are：
Its derivation can be obtained：
JudgeWhen, the reaching condition for meeting fractional order sliding mode controller is stable；
It enables
Formula (10) is brought into formula (9) to obtain：
It follows that fractional order sliding formwork control turn off gain εs＞ | δ (t) |, thenPerseverance is set up, i.e. fractional order sliding formwork control
Device processed can reach sliding formwork diverter surface from arbitrary initial state in finite time；
S33, according to switched reluctance machines model and fractional order sliding formwork control turn off gain εsCalculate fractional order sliding formwork control
Device exports：
By (5) formula and (10) formula can the output of goals for rank sliding mode controller be：
Specifically, the detailed process of step S4 is：
S41, when agitation error δ (t)=0, then the output equivalent of fractional order sliding mode controller is fractional order PDrController；
Wherein KnFor velocity feedback coefficient, TwFor the link time constant that tests the speed；
Ideally, equivalent fractional order PDrController control law is reduced to：Letter is transmitted in open loop
Number is G (s)=P (s) × C (s), ωcFor the cross-over frequency of Amplitude Frequency Characteristic,For Phase margin；
Three S42, fractional order sliding formwork control parameters are adjusted by following three tuning rules：
(1) Phase margin criterion：
(2) cross-over frequency criterion：|G(jωc)dB=1；
(3) change in gain robustness criterion：
S43, it is based on Kp、KiIt with the non-linear relation of r, draws by MATLAB, finds out three parameters to be adjusted, to
Determine the output of fractional order sliding mode controller.
Specifically, the detailed process of step S5 is：
The input of S51, Fuzzy Logic Reasoning Algorithm isOutput is that sliding formwork turn off gain changes d ε, mould corresponding to input and output
Pasting linguistic variable is：{ PB (honest), PM (center), ZO (zero), NM (in negative), NB (negative big) }；
S52, membership function uj(s) it is triangle, designs fuzzy rule below：
R1：
R2：
R3：
R4：
R5：
S53, fuzzy output d ε carry out ambiguity solution calculating using following gravity model appoach：Wherein
KjFor the central value of j-th of domain；
S54, using following integration method, estimate to determine fractional order sliding formwork turn off gainWherein ks>0, ksFor
Proportionality coefficient.
A kind of switched Reluctance Motor Control System, including：The fractional order sliding formwork control designed based on the design method
Device, switched reluctance machines, control panel, and it is connected to the power of the fractional order sliding mode controller and switched reluctance machines
Translation circuit, current detection circuit and position detecting circuit；The control panel is for setting the switched reluctance machines rotating speed
And show its status information, the current detection circuit, for detecting the switched reluctance machines electric current；The position detection electricity
Road, for detecting motor rotor position, the fractional order sliding mode controller obtains the motor rotor position and obtains switching magnetic-resistance
Motor speed；The fractional order sliding mode controller is turned by the measured current, actual measurement rotating speed and setting of the switched reluctance machines
Speed adjusts the power conversion circuit using fractional order sliding-mode control, controls the switched reluctance machines operation.
Further, the current detection circuit is also associated with the hardware current foldback circuit detected for overcurrent.Into one
Step, the fractional order sliding mode controller are also associated with output signal driver circuit, are exported for the fractional order sliding mode controller
The power conversion circuit is adjusted in signal.
Further, the output signal driver circuit includes level-conversion circuit, logic synthesis circuit and output driving electricity
Road.
Compared with prior art, beneficial effects of the present invention：
1, by using an order r degree of freedom more than fractional order, the characteristic of energy is slowly transmitted, weakens traditional sliding formwork control
Shake problem is trembled existing for switching stream interface, while strong robustness of the system to Parameters variation and external disturbance can be made, it is low in motor
When speed operation, it can effectively weaken torque pulsation, weaken the noise of switched reluctance machines；
2, using the simple feature of switched reluctance machines self structure, it is silicon steel sheet stack to have concentratred winding, rotor on stator
Add and form, without the high feature of winding and squirrel-cage bar, high mechanical strength, reliability, solves on Inverter-driven Induction Motors rotor
There is squirrel-cage bar, mechanical strength is low, the not high problem of reliability；
3, by using switched reluctance machines can frequent positive and negative rotation, simple in structure, the characteristics of being hardly damaged, can endure
Thump of the long-term frequent positive and negative rotation of formation testing pilot production lifting device to motor；
4, a certain phase of switched reluctance machines or controller breaks down, and switched reluctance machines remain to run；
5, be not in straight-through failure by the power conversion circuit switching device and windings in series of switched reluctance machines,
Reliability is higher than the three-phase bridge circuit of frequency converter, so that vehicle-mounted formation testing pilot production lifting equipment is run performance steadily in the long term and makees
With.
Description of the drawings：
Fig. 1 is the design method flow chart of the switched reluctance machines fractional order sliding mode controller of the present invention.
Fig. 2 is the system block diagram of the switched Reluctance Motor Control System of the present invention.
Fig. 3 is the current detection circuit figure of the switched Reluctance Motor Control System of the present invention.
Fig. 4 is the hardware current foldback circuit figure of the switched Reluctance Motor Control System of the present invention.
Fig. 5 is the position detecting circuit figure of the switched Reluctance Motor Control System of the present invention.
Fig. 6 is the level shifting circuit figure of the switched Reluctance Motor Control System of the present invention.
Fig. 7 is the logic synthesis circuit diagram of the switched Reluctance Motor Control System of the present invention.
Fig. 8 is the output driving circuit figure of the switched Reluctance Motor Control System of the present invention.
Specific implementation mode
With reference to test example and specific implementation mode, the present invention is described in further detail.But this should not be understood
It is only limitted to embodiment below for the range of the above-mentioned theme of the present invention, it is all that this is belonged to based on the technology that the content of present invention is realized
The range of invention.
A kind of design method of switched reluctance machines fractional order sliding mode controller, includes the following steps：
S1, the electromechanical contact equation based on switched reluctance machines, establish switched reluctance machines model；
S11, switched reluctance machines electromechanical contact equation be：Wherein, i is to open
Close reluctance motor electric current；
S12, the electromechanical contact equation of switched reluctance machines become and is got in return：
It enablesI.e. (2) formula indicates
For：
S13, insertion switch reluctance motor setting speedRotational speed omega is surveyed with switched reluctance machinesr, enable
So as to：
S14, it establishes switched reluctance machines model and is：
S2, stream mesh generation is switched over based on switched reluctance machines model；
S21, it is based on switched reluctance machines model foundation switching manifold face equation：
(6), wherein KpAnd Ki∈R+It is the gain of sliding-mode surface,It indicates r integrals as r ＞ 0 for fractional calculus operator, works as r<
0, indicate that r differential, the present embodiment limit 0<r<1；
S22, the derivation of switching manifold face can be obtained：
System moves on sliding-mode surface, after system enters sliding mode, starts sliding formwork movement, system need to be ensured in score
Movement on rank Integral Sliding Mode face is asymptotically stability；
S23, system enter sliding formwork state, i.e.,It can obtain：
S24, according to fractional order Theory of Stability, ensureSystem is asymptotically stability, and with t-rForm converges to
Equalization point, and integer is with exponent e-tForm converge to equalization point；
S3, the stability that fractional order sliding mode controller is verified using Lyapunov functions, and satisfaction is designed with this and approaches item
The control law of the fractional order sliding mode controller of part；
S31, fractional order sliding mode controller the switch function of control law be：
(8), shake problem is trembled caused by inhibiting the switching of switch function high frequency by using the filtering characteristic of Fractional Derivative；
S32, the stability that fractional order sliding mode controller is verified using Lyapunov functions, it is necessary to assure switching magnetic-resistance electricity
Machine control system is attained by sliding formwork state in arbitrary original state；
The Lyapunov functions are：
Its derivation can be obtained：
JudgeWhen, the reaching condition for meeting fractional order sliding mode controller is stable；
It enables
Formula (10) is brought into formula (9) to obtain：
It follows that fractional order sliding formwork control turn off gain εs＞ | δ (t) |, thenPerseverance is set up, you can ensures fractional order
Sliding formwork control ratio is stablized, i.e., system can reach sliding formwork diverter surface from arbitrary initial state in finite time.
S33, according to switched reluctance machines model and fractional order sliding formwork control turn off gain εsCalculate fractional order sliding formwork control
The output of device：
By (5) formula and (10) formula can the output of goals for rank sliding mode controller be：
S4, the parameter in the output of fractional order sliding mode controller is adjusted
S41, when agitation error δ (t)=0, then the output equivalent of fractional order sliding mode controller is fractional order PDr controllers；
Wherein KnFor velocity feedback coefficient, TwFor the link time constant that tests the speed；
Ideally, equivalent fractional order PDr controller control laws are reduced to：Letter is transmitted in open loop
Number is G (s)=P (s) × C (s), ωcFor the cross-over frequency of Amplitude Frequency Characteristic,For Phase margin；
Three S42, fractional order sliding formwork control parameters are adjusted by following three tuning rules：
(1) Phase margin criterion：
(2) cross-over frequency criterion：|G(jωc)|dB=1；
(3) change in gain robustness criterion：
S43, it is based on Kp、KiIt with the non-linear relation of r, draws by MATLAB, finds out three parameters to be adjusted, to
Determine the output of fractional order sliding mode controller；
S5, using Fuzzy Logic Reasoning Algorithm to fractional order sliding formwork control turn off gain εsIt is adjusted
Fractional order sliding formwork control turn off gain εsThe control performance of influence system, if εsToo big, then there are bigger for system
Tremble shake；Conversely, system reduces the robustness of shock wave.The present invention is using a kind of simple Fuzzy Logic Reasoning Algorithm to dividing
Number rank sliding formwork control turn off gain εsIt is adjusted, so that fractional order sliding formwork is preferably applied for vehicle-mounted formation testing pilot production lifting device
System；
The input of S51, Fuzzy Logic Reasoning Algorithm isOutput is that sliding formwork turn off gain changes d ε, mould corresponding to input and output
Pasting linguistic variable is：{ PB (honest), PM (center), ZO (zero), NM (in negative), NB (negative big) }；
S52, membership function uj(s) it is triangle, designs fuzzy rule below：
R1：
R2：
R3：
R4：
R5：
S53, fuzzy output d ε carry out ambiguity solution calculating using following gravity model appoach：Wherein
KjFor the central value of j-th of domain；
S54, using following integration method, estimate to determine fractional order sliding formwork turn off gainWherein ks>0, ksFor
Proportionality coefficient.
As shown in Fig. 2, the present invention also provides switched Reluctance Motor Control Systems, including：It is set based on the design method
The fractional order sliding mode controller of meter, switched reluctance machines, control panel, and be connected to the fractional order sliding mode controller and
Power conversion circuit, current detection circuit and the position detecting circuit of switched reluctance machines；The control panel is for setting institute
It states switched reluctance machines rotating speed and shows its status information, the current detection circuit, for detecting the switched reluctance machines
Electric current；The position detecting circuit, for detecting motor rotor position, the fractional order sliding mode controller obtains the motor and turns
Sub- position obtains switched reluctance machines rotating speed；The actual measurement electricity that the fractional order sliding mode controller passes through the switched reluctance machines
Stream, actual measurement rotating speed and setting speed adjust the power conversion circuit using fractional order sliding-mode control, control the switch
Reluctance motor is run.
Preferably, the fractional order sliding mode controller is that the STM32F103 of ST companies controls chip to the present embodiment, should
STM32F103 control chip use 32 MCU series based on ARM kernels, kernel be ARM companies be requirement high-performance, it is low
The Cortex-M kernels that cost, the Embedded Application of low-power consumption specially design.The fractional order sliding mode controller, is additionally operable to store
Vehicle-mounted formation testing pilot production lifting device torque curve and speed curves data, and complete correlation data calculation；The related data is extremely
Few includes such as：The electric current of motor, voltage, sucker rod pump velocity information, generate control switched reluctance machines voltage, electric current, torque with
And turn-on angle θonWith shutdown angle θoffDrive signal.
The switched reluctance machines SRM uses 6/4 pole switching reluctance motor of three-phase, rated power 55KW, specified turn
Away from for 525Nm, rated current 121A, rated efficiency 93.1%, rated speed 50-1500r/min, rotary inertia is
0.557kg·m2.Specifically the course of work is for it：When sucker rod pump was in the upper jig frequency stage, the fractional order sliding mode controller
Control switched reluctance machines are operated in motoring condition, and kinetic energy is provided for vehicle-mounted formation testing pilot production lifting device；In the case where sucker rod pump is in
When the jig frequency stage, the fractional order sliding mode controller control switched reluctance machines are in on-position, make what sucker rod pump rose
Electric energy feedback can be converted to busbar.
Preferably, the power conversion circuit is asymmetrical half-bridge power conversion circuit, is made using FF150R12R74IGBT
For the power conversion circuit switching device.
Preferably, the control panel is used as digital using EPM7064AETC44 as control core using ICM7228A
The driving chip of pipe.
The operation principle engineering of the embodiment of the present invention is：The pwm signal driving sent out from the fractional order sliding mode controller
Power conversion circuit IGBT switching devices are turned on and off, and the electric current and rotating speed of the switched reluctance machines are controlled with this；Institute
The current signal for stating the switched reluctance machines phase winding that current detection circuit detects is input to the fractional order sliding formwork control
The ADC module of device processed；Meanwhile the switch magnetoresistance motor rotor position signal that detects of the position detecting circuit feed back to it is described
The capturing unit of fractional order sliding mode controller calculates motor speed；The information of motor speed and failure can by SPI and/or
It is shown on SCI communications interface transmissions to control panel.
The current detection circuit, using hall current detector comprising sequentially connected signaling conversion circuit, low pass
Filter circuit, signal isolator and filter circuit；Specifically, as shown in figure 3, three-phase detection current ISA, ISB, ISC are first passed through
The signaling conversion circuit of resistance R19, R27 and R34 composition is converted into the fractional order sliding mode controller chip STM32F103 can be with
The voltage signal of detection；Then pass through resistance R41 and capacitance C17, resistance R42 and capacitance C18, resistance R43 and capacitance C19 compositions
Low-pass filter circuit, filter out the high-frequency interferencing signal in current signal；It is isolated later by voltage follower LM224,
To prevent follow-up signal from treating the interference of detectable voltage signals；Most afterwards through resistance R20 and capacitance C9, resistance R28 and capacitance C11,
The ADC conversion modules that STM32F103 is inputted after the filter circuit of resistance R35 and capacitance C14 compositions, are completed to switched reluctance machines
The current detecting of winding.The fractional order sliding mode controller is additionally provided with current limit regulatory function, using current chopping CCC,
Fixed θonAnd θoffIt is constant, make phase current multiple commutation in the angle of flow, by amplitude limit on given allowable current and lower amplitude limit come
Control phase current is maintained at desired value.If electric current is more than upper current limit amplitude, phase main switching device shutdown forces under electric current
Drop；If current attenuation is to lower current limit amplitude, main switching device conducting, electric current bottom out again.
As shown in figure 4, the current detection circuit, is also associated with the hardware current foldback circuit detected for overcurrent；
Specifically, by taking A phases as an example, the electric current that A phase current signals ISA is detected through the current detection circuit is converted by resistance R13
Voltage signal is filtered transformed voltage signal using resistance R18 and capacitance C7, is input to comparator later
The negative terminal of LM339 is compared with the voltage set, realizes overcurrent detection.
As shown in figure 5, the position detecting circuit, including sequentially connected filter circuit, Schmidt trigger module, point
Volt circuit and voltage changer；Specifically, by taking A phases as an example, A phase position signals first pass through resistance R104, resistance R107 and capacitance
The filter circuit of C60, filtering interference signals；Then position signal is exported through 6 phase Schmidt trigger CD40106 shapings, then is passed through
The bleeder circuit of resistance R97 and resistance R99 compositions carries out input translator CD4049 after amplitude limit, which is used to believe+15V
Number it is transformed into+5V signals；The output of the converter CD4049 is transmitted to STM32F103 chip interiors, different through three-phase position signal
Or operation obtains phase winding Continuity signal, is switched on-off with controlling power conversion circuit IGBT.
The fractional order sliding mode controller is also associated with output signal driver circuit, is used for the fractional order sliding mode controller
The power conversion circuit is adjusted in output signal；As shown in figs 6-8, the output signal driver circuit includes that level becomes
Change circuit, logic synthesis circuit and output driving circuit, specifically, three-phase PWM output signal PWM-AU, PWM-AD, PWM-BU,
PWM-BD, PWM-CU, PWM-CD first pass through the level shifting circuit, and the output of PWM three-phases is anti-through Schmidt trigger CD40106
PA-UpFront, PA-DownFront, PB-UpFront, PB-DownFront, PC-UpFront, PC- are exported after to shaping
Signal is sent to logic synthesis processing of circuit by DownFront；The logic synthesis circuit by three-phase PWM shaping export after letter
Number and current protection feedback signal makees through operation chip CD4081 and operation, and be transmitted to output driving circuit；Through the logic
PA-UpLast, PA-DownLast, PB-UpLast, PB-DownLast, PC-UpLast, the PC- exported after synthetic circuit
This 6 road signal of DownLast, differential concatenation 2V zener diodes carry out voltage stabilizing, prevent the power conversion circuit IGBT drivings letter
Impact number to fractional order sliding mode controller, and after the transistor array column drive circuit through the encapsulation of 16 foot of ULN2003 biserials carry out
Signal amplifies, and is output to the peripheral interface of the fractional order sliding mode controller STM32F103 chips, VA-Up is as bridge in A phases
IGBT drive signals, VA-Down are similar to A phases as bridge IGBT drive signals, remaining two-phase under A phases.+ 15V concatenate R52 and
UA1 light emitting diodes, when VA-Up exports low level, LED lighting, the output of bridge IGBT drive signals, remaining each phase in A phases
Drive signal detection is similar.
The switched Reluctance Motor Control System of the present embodiment has the following advantages：
1, by using an order r degree of freedom more than fractional order, the characteristic of energy is slowly transmitted, weakens traditional sliding formwork control
Shake problem is trembled existing for switching stream interface, while strong robustness of the system to Parameters variation and external disturbance can be made, it is low in motor
When speed operation, it can effectively weaken torque pulsation, weaken the noise of switched reluctance machines；
2, using the simple feature of switched reluctance machines self structure, it is silicon steel sheet stack to have concentratred winding, rotor on stator
Add and form, without the high feature of winding and squirrel-cage bar, high mechanical strength, reliability, solves on Inverter-driven Induction Motors rotor
There is squirrel-cage bar, mechanical strength is low, the not high problem of reliability；
3, by using switched reluctance machines can frequent positive and negative rotation, simple in structure, the characteristics of being hardly damaged, can endure
Thump of the long-term frequent positive and negative rotation of formation testing pilot production lifting device to motor；
4, a certain phase of switched reluctance machines or controller breaks down, and switched reluctance machines remain to run；
5, be not in straight-through failure by the power conversion circuit switching device and windings in series of switched reluctance machines,
Reliability is higher than the three-phase bridge circuit of frequency converter, so that vehicle-mounted formation testing pilot production lifting equipment is run performance steadily in the long term and makees
With.
Claims (10)
1. a kind of design method of switched reluctance machines fractional order sliding mode controller, which is characterized in that include the following steps：
S1, the electromechanical contact equation based on switched reluctance machines, establish switched reluctance machines model；
S2, stream mesh generation is switched over based on switched reluctance machines model；
S3, the stability that fractional order sliding mode controller is verified using Lyapunov functions, and designed with this and meet Approximation Condition
The control law of fractional order sliding mode controller；
S4, the parameter in the control law of fractional order sliding mode controller is adjusted；
S5, using Fuzzy Logic Reasoning Algorithm to fractional order sliding formwork control turn off gain εsIt is adjusted.
2. the design method of switched reluctance machines fractional order sliding mode controller as described in claim 1, which is characterized in that step
The detailed process of S1 is：
S11, switched reluctance machines electromechanical contact equation be：Wherein, i is switch
Reluctance motor electric current；
S12, the electromechanical contact equation of switched reluctance machines become and is got in return：
It enablesI.e. (2) formula is expressed as：
S13, insertion switch reluctance motor setting speedRotational speed omega is surveyed with switched reluctance machinesr, enableTo
It can obtain：
S14, it establishes switched reluctance machines model and is：
3. the design method of switched reluctance machines fractional order sliding mode controller as described in claim 1, which is characterized in that step
The detailed process of S2 is：
S21, it is based on switched reluctance machines model foundation switching manifold face equation：Its
Middle KpAnd Ki∈R+It is the gain of sliding-mode surface,It indicates r integrals as r ＞ 0 for fractional calculus operator, works as r<0, indicate r
Differential limits 0<r<1；
S22, the derivation of switching manifold face can be obtained：
S23, system enter sliding formwork state, i.e.,It can obtain：
S24, according to fractional order Theory of Stability, ensureAs asymptotically stability, and with t-rForm converges to equalization point, and
Integer is with exponent e-tForm converge to equalization point.
4. the design method of switched reluctance machines fractional order sliding mode controller as described in claim 1, which is characterized in that step
The detailed process of S3 is：
S31, fractional order sliding mode controller the switch function of control law be：
S32, the stability that the control law of fractional order sliding mode controller is verified using Lyapunov functions；
The Lyapunov functions are：
Its derivation can be obtained：
JudgeWhen, the reaching condition for meeting fractional order sliding mode controller is stable；
It enables
Formula (10) is brought into formula (9) to obtain：
It follows that fractional order sliding formwork control turn off gain εs＞ | δ (t) |, thenPerseverance is set up, you can ensures fractional order sliding formwork
Control law is stablized, i.e., system can reach sliding formwork diverter surface from arbitrary initial state in finite time；
S33, according to switched reluctance machines model and fractional order sliding formwork control turn off gain εsCalculate the defeated of fractional order sliding mode controller
Go out：
By (5) formula and (10) formula can the output of goals for rank sliding mode controller be：
5. the design method of switched reluctance machines fractional order sliding mode controller as described in claim 1, which is characterized in that step
The detailed process of S4 is：
S41, when agitation error δ (t)=0, then the output equivalent of fractional order sliding mode controller is fractional order PDrController；
Wherein KnFor velocity feedback coefficient, TwFor the link time constant that tests the speed；
Ideally, equivalent fractional order PDrController control law is reduced to：Open-loop transfer function is
G (s)=P (s) × C (s), ωcFor the cross-over frequency of Amplitude Frequency Characteristic,For Phase margin；
Three S42, fractional order sliding formwork control parameters are adjusted by following three tuning rules：
(1) Phase margin criterion：
(2) cross-over frequency criterion：|G(jωc)|dB=1；
(3) change in gain robustness criterion：
S43, it is based on Kp、KiIt with the non-linear relation of r, draws by MATLAB, finds out three parameters to be adjusted, so that it is determined that
The output of fractional order sliding mode controller.
6. the design method of switched reluctance machines fractional order sliding mode controller as described in claim 1, which is characterized in that step
The detailed process of S5 is：
The input of S51, Fuzzy Logic Reasoning Algorithm isOutput is that sliding formwork turn off gain changes d ε, Vague language corresponding to input and output
Say that variable is：{ PB (honest), PM (center), ZO (zero), NM (in negative), NB (negative big) }；
S52, membership function uj(s) it is triangle, designs fuzzy rule below：
S53, fuzzy output d ε carry out ambiguity solution calculating using following gravity model appoach：Wherein KjFor
The central value of j-th of domain；
S54, using following integration method, estimate to determine fractional order sliding formwork turn off gainWherein ks>0, ksFor ratio
Coefficient.
7. a kind of switched Reluctance Motor Control System, which is characterized in that including：The design based on one of claim 1~6
Method and the fractional order sliding mode controller designed, switched reluctance machines, control panel, and it is connected to the fractional order sliding formwork
The power conversion circuit of controller and switched reluctance machines, current detection circuit and position detecting circuit；The control panel is used
In the setting switched reluctance machines rotating speed and show its status information, the current detection circuit, for detecting the switch
Reluctance motor electric current；The position detecting circuit, for detecting motor rotor position, the fractional order sliding mode controller obtains institute
It states motor rotor position and obtains switched reluctance machines rotating speed；The fractional order sliding mode controller passes through the switched reluctance machines
Measured current, actual measurement rotating speed and setting speed adjust the power conversion circuit using fractional order sliding-mode control, control institute
State switched reluctance machines operation.
8. switched Reluctance Motor Control System as claimed in claim 7, which is characterized in that the current detection circuit also connects
It is connected to the hardware current foldback circuit detected for overcurrent.
9. switched Reluctance Motor Control System as claimed in claim 7, which is characterized in that the fractional order sliding mode controller is also
It is connected with output signal driver circuit, the power conversion circuit is carried out for the fractional order sliding mode controller output signal
It adjusts.
10. switched Reluctance Motor Control System as claimed in claim 9, which is characterized in that the output signal driver circuit
Including level-conversion circuit, logic synthesis circuit and output driving circuit.
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