CN108712132A - Reduce current fluctuation control method under switched reluctance machines Current cut control mode - Google Patents
Reduce current fluctuation control method under switched reluctance machines Current cut control mode Download PDFInfo
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- CN108712132A CN108712132A CN201810529286.0A CN201810529286A CN108712132A CN 108712132 A CN108712132 A CN 108712132A CN 201810529286 A CN201810529286 A CN 201810529286A CN 108712132 A CN108712132 A CN 108712132A
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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
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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
- 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
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Abstract
It is a kind of to reduce the control method of current fluctuation under switched reluctance machines Current cut control and, according to position sensor signal, a turn-on cycle is divided into commutation section and independent conduction period suitable for the switched reluctance machines of the various numbers of phases, structure under no inductor models；According to given rotating speed constant current is given with determined by the motor actual speed as obtained by position sensor calculating；Each phase winding electric current is acquired by Hall current sensor；It is adjusted according to the PWM duty cycle for exchanging phase section and independent conduction period respectively in the actual current of commutation section and independent conduction period with each phase winding to constant current；The input of controller is speed discrepancy, winding actual current, position signal, is exported as PWM duty cycle, the control to realization to power inverter, and control motor speed to the electric energy break-make of switched reluctance machines by power inverter control.The present invention improves the steady-state characteristic of switched reluctance machines, and steady-state operation efficiency has been turned up, and reduces motor output torque pulsation.
Description
Technical field
The present invention relates to a kind of methods inhibiting switched reluctance machines current fluctuation, suitable for various under no inductor models
The switched reluctance machines of the number of phases, structure.
Background technology
Switched reluctance machines are simple in structure with its, manufacturing cost is low, controllability is good, can frequent positive and negative rotation the advantages that, make it
It is had received widespread attention in transmission system.Since Current cut control mode reliability is high, it is simple to realize, become out
Close the control mode that reluctance motor generally uses in practical applications.But since Current cut control belongs to Delay control, make
The winding currents of switched reluctance machines occurs more than the fluctuation of copped wave upper and lower limit, especially rotating speed is relatively low, load is smaller
In the case of, commutation section current peak can even reach twice of reference current or so, this is by the electricity of transmission line in increase system
It can be lost and the copper loss of machine winding, reduction running efficiency of system reduce system service life.Therefore, a kind of simple reality is explored
There is prodigious reality with the control method of, reduction switched reluctance machines current fluctuation under Current cut control applied widely
With value.
Invention content
In view of the above problems, the present invention proposes a kind of reduction switched reluctance machines in Current cut control mode
The mode of lower current fluctuation, the automatic adjusument of PWM duty cycle when to realize that the lower current chopping of different rotating speeds, load is connected,
Solve the problems, such as that current fluctuation is more than copped wave upper and lower limit under Current cut control mode.
In order to achieve the above technical purposes, technical scheme is as follows.
Reduce current fluctuation control method under switched reluctance machines Current cut control mode, it is characterized in that including following interior
Hold：
(1) design current chopper controller, and initialize its current chopping duty when chopper current fluctuation range；
(2) photosensitive type position sensor detection switch magnetic resistance motor rotor position signal is used, judge conducting mutually and is connected
It is mutually in commutation section or independent conduction period, passes through position signal transformation period interval calculation motor actual speed all the way；
(3) Hall sensor is used to obtain a phase winding current value；
(4) actual current in one phase winding is compared with reference current in commutation section and independent conduction period respectively
And obtain the maximum value of respective current differential；
(5) according to the maximum value of gained current differential in (4), the PWM duty cycle of phase section and independent conduction period is exchanged respectively
It is adjusted；
(6) conducting dutycycle newly obtained is input to Current cut control device.
In the above-mentioned technical solutions, further additional technical feature is as follows.
The exchange phase section is combined using coarse adjustment with fine tuning with the adjusting of independent conduction period PWM duty cycle.When in winding
When actual current is more than 1A or is less than -1A with the maximum difference to constant current, coarse adjustment is used to PWM duty cycle；When real in winding
Border electric current, in 0.5~1A or -0.5~1A, uses PWM duty cycle and finely tunes with the maximum difference to constant current；When in winding
With the maximum difference to constant current in -0.5~0.5A, PWM duty cycle remains unchanged actual current.
PWM duty cycle presses formula calculating when the commutation section coarse adjustment：
Wherein：
τ1(n+1) it is the PWM duty cycle of this commutation section；
τ1(n) it is the PWM duty cycle of previous commutation section；
irefTo give reference current；
i1maxFor the maximum value of actual current in commutation section winding and the difference to constant current.
PWM duty cycle is calculated as follows when the independent conduction period coarse adjustment：
τ2(n+1)=τ2(n)-Ki2max
Wherein：
τ2(n+1) it is the PWM duty cycle of this independent conduction period；
τ2(n) it is the PWM duty cycle of previous independent conduction period；
i2maxFor the maximum value of actual current and given current differential in independent conduction period winding；
K is proportionality coefficient, can be chosen between 0.02~0.5.
PWM duty cycle is adjusted as follows when the commutation section is finely tuned with independent conduction period：
Wherein：
τ3(n+1) it is the PWM duty cycle of this commutation section (independent conduction period)；
τ3(n) it is the PWM duty cycle of previous commutation section (independent conduction period)；
i3maxFor the maximum value of actual current in commutation section (independent conduction period) winding and the difference to constant current.
Described to constant current is obtained by actual speed and the difference of given rotating speed are adjusted by PI.
It is adaptive using PWM duty cycle under a kind of switched reluctance machines Current cut control mode of above-mentioned technical proposal realization
The control method of adjusting solves the problems, such as that commutation section current peak is excessive, independent conduction period current fluctuation is more than copped wave upper and lower limit
Meanwhile realizing the quick adjusting of PWM duty cycle.Compared with prior art, this method considers preceding turn-on cycle several times under
The produced influence of one period improves control accuracy, and is combined with fine tuning by coarse adjustment, improves the quick of iteration control
Property and accuracy, be not necessarily to the inductor models of winding, control method realize it is simple, it is versatile.
Description of the drawings
Fig. 1 is the flow chart of iteration control method of the present invention.
Fig. 2 is motor A phase non-aligned position structural schematic diagrams of the embodiment of the present invention.
Fig. 3 is that motor of embodiment of the present invention A aligns positional structure schematic diagram.
Fig. 4 is the interval division schematic diagram of iteration control method specific embodiment commutation section and independent conduction period of the present invention.
Fig. 5 is iteration control method specific embodiment of the present invention measured current oscillogram in commutation section coarse tuning process.
Fig. 6 is iteration control method specific embodiment 500r/min of the present invention, the unloaded lower measured current adjusted when completing
Oscillogram.
Fig. 7 is the lower reality adjusted when completing of iteration control method specific embodiment 500r/min, 20Nm load of the present invention
Survey current waveform figure.
Fig. 8 is the lower reality adjusted when completing of iteration control method specific embodiment 500r/min, 30Nm load of the present invention
Survey current waveform figure.
Measured current oscillogram when Fig. 9 is existing control method specific embodiment 500r/min, zero load.
Measured current oscillogram when Figure 10 is existing control method specific embodiment 500r/min, 20Nm load.
Measured current oscillogram when Figure 11 is existing control method specific embodiment 500r/min, 30Nm load.
Specific implementation mode
One embodiment of the present of invention is further described below in conjunction with the accompanying drawings.
Step 1 is changed by position sensor detection switch magnetic resistance motor rotor position signal according to position signal differentiation
Phase section and independent conduction period, and calculate motor actual speed by turning over the time used in fixed angle；
Step 2 gives reference current according to the actual speed of motor and the difference of rotating speed of target；
Step 3 acquires the actual current value of phase winding by Hall current sensor；
Step 4 determines PWM duties when winding conducting next time according to the actual current of winding with to the difference of constant current
Than.
In one the present embodiment the step of, using 12/8 pole switching reluctance motor of three-phase as specific embodiment, with photoelectric code disk
As position sensor.The present embodiment turns off angle and turn-on angle using non-aligned position (stator tooth is to rotor slot) as turn-on angle
15 ° of difference.Commutation section is first 7.5 ° of non-aligned position to aligned position (stator tooth is to rotor tooth), and independent conduction period is non-right
Neat position is between 7.5 °~15 ° of aligned position.Three-phase windings inductance, commutation section and independent conduction period and rotor-position signal
Relationship is as shown in Figure 2 and Figure 3.
In Fig. 2, Fig. 3, when motor rotates, photocurrent generator will be made to send out with the photoelectric code disk of rotor coaxial infrared
Light is blocked or penetrates, and the position signal of motor changes therewith.Tri- road position signals of hardware circuit Zhong Jiang access DSP input terminals
Mouthful, to judge to be powered to any phase winding and judge that energization phase winding is in commutation section or independent conduction period；It simultaneously will position all the way
Confidence number accesses DSP capture-ports, and it is 4 edges that setting, which is interrupted, in a program, so often by 45 ° of entrance once capture
It is disconnected, the actual speed of motor is can be obtained by entering the time interval that capture is interrupted.
In two the present embodiment the step of, using 12/8 pole switching reluctance motor of three-phase as specific embodiment, by given
Difference between rotating speed and motor actual speed carries out PI adjustings, determines reference current when winding conducting.
In three the present embodiment the step of, using 12/8 pole switching reluctance motor of three-phase as specific embodiment, by Hall current
The A/D conversion ports of the collected each phase winding electric current access DSP of sensor, to obtain the current value of each phase winding.
In four the present embodiment the step of, using 12/8 pole switching reluctance motor of three-phase as specific embodiment, according to step 1
The conducting of middle determination is mutually obtained with conducting section, according in the reference current and step 3 of the conducting phase winding determined in step 2
The difference between the actual current size in winding is obtained, obtains the difference maximum value of commutation section and independent conduction period respectively.
According to identified conducting section in the size and step 2 of the maximum value of difference, different duty ratios is respectively adopted
Adjusting method.When actual current is more than 1A or is less than -1A with the maximum difference to constant current in winding, PWM duty cycle is adopted
Use coarse adjustment；When actual current is with the maximum difference of constant current is given in 0.5~1A or -0.5~1A in winding, to PWM duty cycle
Using fine tuning；When actual current is with the maximum difference of constant current is given in -0.5~0.5A in winding, PWM duty cycle is kept not
Become.It is as follows more particularly to each the thick of conducting section, fine tuning design：
Commutation section PWM duty cycle coarse adjustment：
In formula：τ1(n+1) it is the PWM duty cycle of this commutation section；τ1(n) it is the PWM duty cycle of previous commutation section；irefFor
Given reference current；i1maxFor the maximum value of actual current in commutation section winding and the difference to constant current.
Above-mentioned duty cycle adjustment is based on following principle：
Switched reluctance machines kth phase winding voltage equation is：
In formula：ukIt is kth phase voltage；ik(θ) is kth phase current；RkIt is kth phase resistance；ΨkIt is kth phase magnetic linkage.
It is assumed that motor is each symmetrical, ignore alternate inductance, due to commutation section phase winding inductance to winding curent change not
Sensitivity, (2) formula abbreviation are：
In formula：Lk(θ) is kth phase winding inductance, and ω is motor speed.
(3) formula of solution obtains：
In formula：
By (4) Shi Ke get, when turn-on angle is fixed, the size of current under a certain determining angle is with winding both end voltage at just
Than, due to using Current cut control, when rotating speed is relatively low, load is smaller, it will appear multiple copped wave in commutation section, it is real in winding
Border electric current present in a certain current peak during Current cut control, is thus made following with the maximum difference to constant current
Two kinds of situation discussion：Maximum difference appears in non-first current peak present in first current peak with maximum difference
Place.
Maximum difference is present in first current peak：
By (4) formula it is found that after PWM duty cycle is adjusted by (1) formula, the electric current at first current peak will become
Reference current is turned to, simultaneously because PWM duty cycle reduces, winding current rate of change reduces so that maximum difference reduces.
Maximum current difference is present in non-first current peak：
Occurs copped wave at least once before maximum current difference, by (4) formula and above-mentioned analysis it is found that by (1) formula to PWM
After duty ratio is adjusted, winding current at the time of current peak, which occurs, in former first time will be less than reference current, winding current
With reference current it is equal for the first time at the time of will appear at former first current peak with the primary current difference maximum moment it
Between.
As the above analysis press (1) formula by limited number of time PWM duty cycle adjusting after, may make current fluctuation be reduced to
Determine in range, and makes to appear in given range at the time of winding current and reference current equal for the first time.
The coarse adjustment of independent conduction period：
τ2(n+1)=τ2(n)-Ki2max (5)
In formula：τ2(n+1) it is the PWM duty cycle of this independent conduction period；τ2(n) PWM for previous independent conduction period is accounted for
Empty ratio；i2maxFor the maximum value of actual current in independent conduction period winding and the difference to constant current；K is proportionality coefficient, can be
It is chosen between 0.02~0.5.
When one timing of electric current, by (3) formula it is found that when winding both end voltage is equal to the rotation of the pressure drop of winding equivalent resistance and motor
When turning the sum of electromotive force, machine winding current remains unchanged.Between 7.5 ° away from non-aligned position~15 °, when winding current becomes
When changing smaller, equivalent inductance and the rotor-position of machine winding, which are approximately that linear function relationship (3) formula is variable, to be turned to：
uk=ik(θ)Rk+ik(θ)ωK1 (6)
In formula：K1Slope of the machine winding equivalent inductance to rotor position angle between being 7.5 ° away from non-aligned position~15 °.
By (6) formula it is found that when being determined to constant current, there are a certain determinations between 7.5 ° away from non-aligned position~15 °
Winding both end voltage makes the electric current approximate constant in machine winding.The present embodiment is using p-type law of learning to winding both ends
Voltage is adjusted, and as PWM duty cycle is adjusted.
Commutation section is finely tuned with independent conduction period：
PWM duty cycle is adjusted as follows：
In formula：τ3(n+1) it is the PWM duty cycle of this commutation section (independent conduction period)；τ3(n) it is that previous commutation section is (independent
Conduction period) PWM duty cycle；i3maxFor actual current in commutation section (independent conduction period) section winding and the difference to constant current
Maximum value.
For fully consider commutation section curent change to caused by winding equivalent inductance variation and independent conduction period electric current
The caused winding equivalent inductance fluctuation of fluctuation is led to when the maximum value of current differential is reduced to by coarse adjustment in given range
It crosses and smaller adjusting is carried out to duty ratio to obtain best PWM duty cycle.
A kind of control method reducing current fluctuation under switched reluctance machines Current cut control provided by the invention is applicable in
The switched reluctance machines of the various numbers of phases, structure under no inductor models, in 12/8 pole switching reluctance motor speed governing system of three-phase
Application in system is embodiment.
Motor rated power 7.5kW, rated voltage DC514V, rated speed 1500r/min, 50~2000r/ of speed adjustable range
min。
One phase winding electric current of switched reluctance machines is tested respectively in the carried control method of the present invention and conventional current copped wave control
A phase winding current fluctuation range under method processed, and by oscillograph observe current waveform, measure current fluctuation range.Fig. 5
Be 500r/min for rotating speed, it is unloaded when commutation section coarse tuning process measured current waveform, the experimental results showed that, by an iteration
The coarse adjustment of commutation section PWM duty cycle can be completed, it was demonstrated that the validity and rapidity of put forward iterative learning control law of the invention.Fig. 6,
Fig. 7, Fig. 8 are 500r/min by control method is put forward in rotating speed, and load is respectively iteration completion under zero load, 20Nm, 30Nm
When current waveform；It in rotating speed is 500r/min that Fig. 9, Figure 10, Figure 11, which are conventional current chopped wave controlling method, and load is respectively sky
Current waveform under load, 20Nm, 30Nm.Experimental result fully demonstrates the validity of institute's extracting method of the present invention.
Claims (6)
1. reducing current fluctuation control method under switched reluctance machines Current cut control mode, it is characterized in that including following interior
Hold：
(1) to the current chopping duty of Current cut control device, when chopper current fluctuation range initializes；
(2) photosensitive type position sensor detection switch magnetic resistance motor rotor position signal is used, conducting is judged mutually and conducting is got along
In commutation section or independent conduction period, pass through position signal transformation period interval calculation motor actual speed all the way；
(3) Hall sensor is used to obtain a phase winding current value；
(4) respectively in commutation section and independent conduction period, the actual current in a phase winding is compared and is obtained with reference current
Go out the maximum value of respective current differential；
(5) according to the maximum value of current differential, the PWM duty cycle for exchanging phase section and independent conduction period respectively is adjusted；
(6) conducting dutycycle newly obtained is input to Current cut control device.
2. reduce current fluctuation control method under switched reluctance machines Current cut control mode according to claim 1,
It is characterized in that commutation section is combined using coarse adjustment with fine tuning with the adjusting of independent conduction period PWM duty cycle, when actual current in winding
When being more than 1A with the maximum difference to constant current or be less than -1A, coarse adjustment is used to PWM duty cycle；When in winding actual current with
To constant current maximum difference in 0.5~1A or -0.5~-1A, to PWM duty cycle using finely tune；When actual current in winding
With the maximum difference to constant current in -0.5~0.5A, PWM duty cycle remains unchanged.
3. reduce current fluctuation control method under switched reluctance machines Current cut control mode as described in claim 1, it is special
PWM duty cycle calculation formula is when sign is commutation section coarse adjustment：
Wherein：
τ1(n+1) it is the PWM duty cycle of this commutation section；
τ1(n) it is the PWM duty cycle of previous commutation section；
Iref is given reference current；
I1max is the maximum value of actual current and the difference to constant current in commutation section winding.
4. reduce current fluctuation control method under switched reluctance machines Current cut control mode as described in claim 1, it is special
PWM duty cycle calculation formula is when sign is independent conduction period coarse adjustment：
τ2(n+1)=τ2(n)-Ki2max
Wherein：
τ2(n+1) it is the PWM duty cycle of this independent conduction period；
τ2(n) it is the PWM duty cycle of previous independent conduction period；
i2maxFor the maximum value of actual current in independent conduction period winding and the difference to constant current；
K is proportionality coefficient, value 0.02~0.5.
5. reduce current fluctuation control method under switched reluctance machines Current cut control mode as described in claim 1, it is special
Sign is that PWM duty cycle calculation formula is when commutation section is finely tuned with independent conduction period：
Wherein：
τ3(n+1) it is the PWM duty cycle of this independent conduction period；
τ3(n) it is the PWM duty cycle of previous independent conduction period；
i3maxFor the maximum value of actual current in independent conduction period winding and the difference to constant current.
6. reduce current fluctuation control method under switched reluctance machines Current cut control mode as described in claim 1, it is special
Sign is that one turn-on cycle is divided into commutation section and independent conduction period according to position sensor signal；According to given rotating speed with
Constant current is given determined by the motor actual speed as obtained by position sensor calculating；Each phase is acquired by Hall current sensor
Winding current；Phase section and list are exchanged respectively in the actual current of commutation section and independent conduction period according to constant current and each phase winding
The PWM duty cycle of only conduction period is adjusted；The input of controller is speed discrepancy, winding actual current, position signal, exports and is
PWM duty cycle to realize the control to power inverter, and leads to the electric energy of switched reluctance machines by power inverter control
It is disconnected, control motor speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810529286.0A CN108712132B (en) | 2018-05-26 | 2018-05-26 | Current fluctuation control method for reducing current chopping control mode of switched reluctance motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810529286.0A CN108712132B (en) | 2018-05-26 | 2018-05-26 | Current fluctuation control method for reducing current chopping control mode of switched reluctance motor |
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| CN108712132B CN108712132B (en) | 2022-02-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113612426A (en) * | 2021-06-23 | 2021-11-05 | 深圳拓邦股份有限公司 | Low-speed operation control method for switched reluctance motor and switched reluctance motor |
| CN117955402A (en) * | 2024-03-27 | 2024-04-30 | 太原理工大学 | Annular winding structure SRM torque pulsation optimization method based on negative current harmonic injection |
| CN113612426B (en) * | 2021-06-23 | 2024-06-28 | 深圳拓邦股份有限公司 | Low-speed operation control method of switch reluctance motor and switch reluctance motor |
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| US20020063547A1 (en) * | 2000-11-24 | 2002-05-30 | Switched Reluctance Drives Limited | Current chopping in switched reluctance drive systems |
| CN102055391A (en) * | 2011-01-17 | 2011-05-11 | 杨衍圣 | Absolute location sensor of switched reluctance motor for electric automobile and control method thereof |
| CN102412773A (en) * | 2011-12-23 | 2012-04-11 | 东南大学 | Control circuit of switched reluctance motor with double chopped wave limits |
| CN103607160A (en) * | 2013-12-03 | 2014-02-26 | 山东省科学院自动化研究所 | Current chopping controller and achievement method |
| CN106559016A (en) * | 2015-09-24 | 2017-04-05 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of voltage chopping control method of switched reluctance machines and device |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020063547A1 (en) * | 2000-11-24 | 2002-05-30 | Switched Reluctance Drives Limited | Current chopping in switched reluctance drive systems |
| CN102055391A (en) * | 2011-01-17 | 2011-05-11 | 杨衍圣 | Absolute location sensor of switched reluctance motor for electric automobile and control method thereof |
| CN102412773A (en) * | 2011-12-23 | 2012-04-11 | 东南大学 | Control circuit of switched reluctance motor with double chopped wave limits |
| CN103607160A (en) * | 2013-12-03 | 2014-02-26 | 山东省科学院自动化研究所 | Current chopping controller and achievement method |
| CN106559016A (en) * | 2015-09-24 | 2017-04-05 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of voltage chopping control method of switched reluctance machines and device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113612426A (en) * | 2021-06-23 | 2021-11-05 | 深圳拓邦股份有限公司 | Low-speed operation control method for switched reluctance motor and switched reluctance motor |
| CN113612426B (en) * | 2021-06-23 | 2024-06-28 | 深圳拓邦股份有限公司 | Low-speed operation control method of switch reluctance motor and switch reluctance motor |
| CN117955402A (en) * | 2024-03-27 | 2024-04-30 | 太原理工大学 | Annular winding structure SRM torque pulsation optimization method based on negative current harmonic injection |
| CN117955402B (en) * | 2024-03-27 | 2024-06-04 | 太原理工大学 | Annular winding structure SRM torque pulsation optimization method based on negative current harmonic injection |
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| CN108712132B (en) | 2022-02-22 |
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