CN108712132B - Current fluctuation control method for reducing current chopping control mode of switched reluctance motor - Google Patents

Current fluctuation control method for reducing current chopping control mode of switched reluctance motor Download PDF

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CN108712132B
CN108712132B CN201810529286.0A CN201810529286A CN108712132B CN 108712132 B CN108712132 B CN 108712132B CN 201810529286 A CN201810529286 A CN 201810529286A CN 108712132 B CN108712132 B CN 108712132B
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current
section
duty ratio
pwm duty
winding
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CN108712132A (en
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曲兵妮
田德翔
宋建成
赵勇
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Taiyuan University of Technology
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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

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Abstract

A control method for reducing current fluctuation under current chopping control of a switched reluctance motor is suitable for switched reluctance motors with various phases and structures under an inductance-free model, and divides a conduction period into a phase-change section and an independent conduction section according to a position sensor signal; determining a given current according to the given rotating speed and the actual rotating speed of the motor calculated by the position sensor; collecting the current of each phase winding through a Hall current sensor; respectively adjusting the PWM duty ratio of the phase change section and the single conduction section according to the given current and the actual current of each phase winding in the phase change section and the single conduction section; the controller inputs the rotation speed difference, the actual winding current and the position signal and outputs the PWM duty ratio, so that the power converter is controlled, the power converter controls the on-off of the electric energy of the switched reluctance motor, and the rotation speed of the motor is controlled. The invention improves the steady-state characteristic of the switched reluctance motor, improves the steady-state operation efficiency and reduces the output torque pulsation of the motor.

Description

Current fluctuation control method for reducing current chopping control mode of switched reluctance motor
Technical Field
The invention relates to a method for inhibiting current fluctuation of a switched reluctance motor, which is suitable for switched reluctance motors with various phases and structures under a non-inductance model.
Background
The switched reluctance motor has the advantages of simple structure, low manufacturing cost, good controllability, frequent forward and reverse rotation and the like, so that the switched reluctance motor has attracted extensive attention in a transmission system. Because the current chopping control mode has high reliability and simple realization, the current chopping control mode becomes a control mode commonly adopted by the switched reluctance motor in practical application. However, because the current chopping control belongs to hysteresis control, the winding current of the switched reluctance motor fluctuates beyond the upper limit and the lower limit of chopping, and particularly under the conditions of low rotating speed and small load, the current peak value of a phase change section even reaches about twice of the reference current, so that the electric energy loss of a transmission line in a system and the copper loss of a motor winding are increased, the system operation efficiency is reduced, and the service life of the system is shortened. Therefore, the method for reducing the current fluctuation of the switched reluctance motor under the current chopping control is simple, practical and wide in application range, and has great practical value.
Disclosure of Invention
Aiming at the existing problems, the invention provides a mode for reducing the current fluctuation of the switched reluctance motor in a current chopping control mode, thereby realizing the self-adaptive adjustment of the PWM duty ratio when current chopping is conducted under different rotating speeds and loads and solving the problem that the current fluctuation exceeds the upper limit and the lower limit of chopping in the current chopping control mode.
In order to achieve the above technical object, the present invention has the following technical means.
The current fluctuation control method for reducing the current chopping control mode of the switched reluctance motor is characterized by comprising the following steps:
(1) designing a current chopping controller, and initializing a current chopping duty cycle and a chopping current fluctuation range of the current chopping controller;
(2) detecting a position signal of a rotor of the switched reluctance motor by adopting a photosensitive position sensor, judging whether a conducting phase and the conducting phase are in a phase change section or an independent conducting section, and calculating the actual rotating speed of the motor through the change time interval of one path of position signal;
(3) acquiring a current value of a phase winding by using a Hall sensor;
(4) respectively comparing the actual current in the phase winding with the reference current in the phase changing section and the independent conduction section to obtain the maximum value of the current difference value of each phase winding;
(5) respectively adjusting the PWM duty ratio of the phase change section and the single conduction section according to the maximum value of the current difference value obtained in the step (4);
(6) and inputting the newly obtained conduction duty ratio into the current chopping controller.
In the above technical solution, further additional technical features are as follows.
And the regulation of the PWM duty ratio of the phase conversion section and the single conduction section is combined by coarse regulation and fine regulation. When the maximum difference value between the actual current and the given current in the winding is larger than 1A or smaller than-1A, coarse adjustment is adopted for the PWM duty ratio; when the maximum difference value between the actual current and the given current in the winding is 0.5-1A or-0.5 to-1A, fine adjustment is carried out on the PWM duty ratio; and when the maximum difference value between the actual current and the given current in the winding is-0.5A, keeping the PWM duty ratio unchanged.
The PWM duty ratio during coarse adjustment of the phase change section is calculated according to the following formula:
Figure DEST_PATH_IMAGE001
wherein:
Figure DEST_PATH_IMAGE002
the PWM duty ratio of the current phase change section;
Figure DEST_PATH_IMAGE003
the PWM duty ratio of the previous phase change section;
ireffor a given reference current;
i 1maxthe maximum value of the difference between the actual current and the given current in the phase change section winding is obtained.
The PWM duty ratio during the coarse adjustment of the single conduction section is calculated according to the following formula:
Figure DEST_PATH_IMAGE004
wherein:
Figure DEST_PATH_IMAGE005
the PWM duty ratio of the current single conduction section;
Figure DEST_PATH_IMAGE006
the PWM duty ratio of the previous single conduction segment;
i 2maxthe maximum value of the difference value between the actual current and the given current in the winding of the single conduction section;
k is a proportionality coefficient and can be selected from 0.02-0.5.
The PWM duty ratio is adjusted according to the following formula when the phase change section and the single conduction section are finely adjusted:
Figure DEST_PATH_IMAGE007
wherein:
Figure DEST_PATH_IMAGE008
the PWM duty ratio of the current phase change section (single conduction section);
Figure DEST_PATH_IMAGE009
PWM duty cycle for the previous commutation period (single on period);
i 3maxthe maximum value of the difference between the actual current and the given current in the winding of the commutation segment (single conducting segment).
The given current is obtained by the difference between the actual rotation speed and the given rotation speed through PI regulation.
By adopting the technical scheme, the control method for the self-adaptive adjustment of the PWM duty ratio under the current chopping control mode of the switched reluctance motor is realized, the problems that the current peak value of a phase change section is overlarge and the current fluctuation of an independent conduction section exceeds the upper limit and the lower limit of chopping are solved, and meanwhile, the rapid adjustment of the PWM duty ratio is realized. Compared with the prior art, the method considers the influence of the previous conduction periods on the next period, improves the control precision, improves the rapidity and the accuracy of iterative control by combining coarse adjustment and fine adjustment, does not need an inductance model of a winding, and is simple to implement and strong in universality.
Drawings
FIG. 1 is a flow chart of an iterative control method of the present invention.
Fig. 2 is a schematic structural diagram of a phase misalignment position of a motor a according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of an alignment position of the motor a according to the embodiment of the present invention.
Fig. 4 is a schematic diagram of interval division of a commutation segment and an individual conduction segment according to an embodiment of the iterative control method of the present invention.
Fig. 5 is a waveform diagram of the measured current during the coarse tuning of the commutation period according to the embodiment of the iterative control method of the present invention.
FIG. 6 is a waveform diagram of the measured current at 500r/min after the adjustment is completed under no load according to the embodiment of the iterative control method.
FIG. 7 is a waveform diagram of the measured current when the adjustment is completed under the load of 20N · m at 500r/min according to the embodiment of the iterative control method of the present invention.
FIG. 8 is a waveform diagram of the measured current after the adjustment is completed under the load of 30N · m at 500r/min according to the embodiment of the iterative control method of the present invention.
FIG. 9 is a waveform diagram of the current measured at idle at 500r/min according to an embodiment of the prior art control method.
FIG. 10 is a waveform diagram of measured current at a load of 20 N.m at 500r/min according to an embodiment of the conventional control method.
FIG. 11 is a waveform diagram of a measured current at a load of 30N · m at 500r/min according to an embodiment of the conventional control method.
Detailed Description
An embodiment of the present invention is further described below with reference to the accompanying drawings.
Detecting a position signal of a rotor of a switched reluctance motor through a position sensor, distinguishing a phase-change section and an independent conduction section according to the position signal, and calculating the actual rotating speed of the motor through the time for rotating by a fixed angle;
setting a reference current according to the difference value between the actual rotating speed and the target rotating speed of the motor;
acquiring the actual current value of the phase winding through a Hall current sensor;
and step four, determining the PWM duty ratio when the winding is conducted next time according to the difference value between the actual current of the winding and the given current.
In the first step of this embodiment, a three-phase 12/8-pole switched reluctance motor is used as a specific embodiment, and a photoelectric coded disc is used as a position sensor. This embodiment uses the non-aligned position (stator teeth versus rotor slots) as the on angle, and the off angle is 15 ° different from the on angle. The commutation section is between the non-aligned position and the first 7.5 degrees of the aligned position (stator teeth to rotor teeth), and the single conduction section is between 7.5 degrees and 15 degrees of the non-aligned position and the aligned position. The relationship between the three-phase winding inductance, the commutation section, the single conduction section and the rotor position signal is shown in fig. 2 and 3.
In fig. 2 and 3, when the motor rotates, the photoelectric code disc coaxial with the rotor can shield or transmit infrared light emitted by the photoelectric generator, and the position signal of the motor changes accordingly. The hardware circuit accesses the three paths of position signals into a DSP input port to judge which phase winding is electrified and judge whether the electrified phase winding is in a phase change section or a separate conduction section; meanwhile, one path of position signal is accessed to a DSP capturing port, and 4 edges are set for interruption in the program, so that the actual rotating speed of the motor can be obtained by entering the capturing interruption time interval once the capturing interruption is performed at 45 degrees.
In step two of this embodiment, a three-phase 12/8-pole switched reluctance motor is used as a specific embodiment, and the reference current when the winding is conducted is determined by performing PI adjustment on the difference between the given rotation speed and the actual rotation speed of the motor.
In the third step of this embodiment, a three-phase 12/8-pole switched reluctance motor is used as a specific embodiment, and the current of each phase winding collected by the hall current sensor is connected to an a/D conversion port of the DSP, so as to obtain the current value of each phase winding.
In step four of this embodiment, a three-phase 12/8-pole switched reluctance motor is used as a specific embodiment, and the maximum value of the difference between the phase-change section and the single conduction section is obtained according to the conduction phase and conduction interval determined in step one, and according to the difference between the reference current of the conduction phase winding determined in step two and the actual current in the winding obtained in step three.
And D, respectively adopting different duty ratio adjusting methods according to the maximum value of the difference value and the conduction interval determined in the step two. When the maximum difference value between the actual current and the given current in the winding is larger than 1A or smaller than-1A, coarse adjustment is adopted for the PWM duty ratio; when the maximum difference value between the actual current and the given current in the winding is 0.5-1A or-0.5 to-1A, fine adjustment is carried out on the PWM duty ratio; and when the maximum difference value between the actual current and the given current in the winding is-0.5A, keeping the PWM duty ratio unchanged. The coarse and fine tuning design of each conducting interval is as follows:
coarse adjustment of PWM duty ratio of a phase change section:
Figure 717709DEST_PATH_IMAGE001
（1）
in the formula:
Figure DEST_PATH_IMAGE010
the PWM duty ratio of the current phase change section;
Figure 228325DEST_PATH_IMAGE003
the PWM duty ratio of the previous phase change section; i.e. irefFor a given reference current;i 1maxthe maximum value of the difference between the actual current and the given current in the phase change section winding is obtained.
The duty cycle regulation described above is based on the following principle:
the voltage equation of the k phase winding of the switched reluctance motor is as follows:
Figure DEST_PATH_IMAGE011
in the formula:u k is the firstkA phase voltage;i k (θ) Is the firstkPhase current; r k Is the firstkA phase resistance;Ψ k is the firstkAnd (4) a phase magnetic linkage.
Assuming that the motors are symmetrical, the phase inductance is ignored, and the winding inductance is insensitive to the winding current change in the phase change section, and the formula (2) is simplified as follows:
Figure DEST_PATH_IMAGE012
（3）
in the formula:L k (θ) Is the firstkAnd the phase winding inductance, omega, is the motor rotation speed.
Solving the formula (3) to obtain:
Figure DEST_PATH_IMAGE013
（4）
in the formula:
Figure DEST_PATH_IMAGE014
，
Figure DEST_PATH_IMAGE015
。
the following two cases can be discussed according to the formula (4), wherein when the opening angle is fixed, the current magnitude at a certain angle is in direct proportion to the voltages at two ends of the winding, and due to the adoption of current chopping control, when the rotating speed is low and the load is small, multiple chopping can occur in a phase change section, and the maximum difference value between the actual current and the given current in the winding occurs at a certain current peak value in the current chopping control process: the maximum difference occurs at the first current peak and the maximum difference occurs at a non-first current peak.
The maximum difference occurs at the first current peak:
as can be seen from the equation (4), after the PWM duty ratio is adjusted according to the equation (1), the current at the first current peak value will change to the reference current, and meanwhile, as the PWM duty ratio decreases, the winding current change rate decreases, so that the maximum difference value decreases.
The maximum current difference occurs at a non-first current peak:
at least one chopping occurs before the maximum current difference, and as can be seen from the formula (4) and the above analysis, after the PWM duty ratio is adjusted according to the formula (1), the winding current will be smaller than the reference current at the time when the current peak value occurs for the first time, and the time when the winding current is equal to the reference current for the first time will occur between the time when the current peak value occurs for the first time and the time when the difference between the current peak value and the current peak value is maximum.
From the above analysis, it can be seen that the current ripple is reduced to a given range after the limited number of PWM duty cycle adjustments according to equation (1), and the time when the winding current and the reference current are first equalized occurs in the given range.
Coarse adjustment of individual conduction segments:
Figure DEST_PATH_IMAGE016
（5）
in the formula:
Figure DEST_PATH_IMAGE017
the PWM duty ratio of the current single conduction section;
Figure DEST_PATH_IMAGE018
the PWM duty ratio of the previous single conduction section;i 2maxthe maximum value of the difference value between the actual current and the given current in the winding of the single conducting section; k is a proportionality coefficient and can be selected from 0.02-0.5.
When the current is constant, as can be seen from the equation (3), when the voltage across the winding is equal to the sum of the equivalent resistance voltage drop of the winding and the rotating electromotive force of the motor, the motor winding current remains unchanged. When the winding current changes slightly between 7.5 degrees and 15 degrees from the non-aligned position, the equivalent inductance of the motor winding and the rotor position are approximately changed into a linear function relation (3) which is as follows:
Figure DEST_PATH_IMAGE019
（6）
in the formula:K 1the slope of the equivalent inductance of the motor winding to the rotor position angle is between 7.5 degrees and 15 degrees from the non-aligned position.
As can be seen from equation (6), when a given current is determined, there is a certain voltage across the windings between 7.5 ° and 15 ° from the non-aligned position so that the current in the motor windings remains approximately constant. In this embodiment, a P-type learning law is adopted to adjust voltages at two ends of the winding, that is, the PWM duty ratio is adjusted.
Fine adjustment of the phase change section and the single conduction section:
the PWM duty cycle is adjusted as follows:
Figure DEST_PATH_IMAGE020
（7）
in the formula:
Figure DEST_PATH_IMAGE021
the PWM duty ratio of the current phase change section (single conduction section);
Figure DEST_PATH_IMAGE022
PWM duty cycle for the previous commutation period (single on period);i 3maxthe maximum value of the difference between the actual current and the given current in the winding of the commutation segment (single conducting segment).
In order to fully consider the change of the equivalent inductance of the winding caused by the current change of the phase-changing section and the fluctuation of the equivalent inductance of the winding caused by the current fluctuation of the independent conduction section, when the maximum value of the current difference value is reduced to a given range through coarse adjustment, the duty ratio is adjusted to be smaller so as to obtain the optimal PWM duty ratio.
The control method for reducing the current fluctuation under the current chopping control of the switched reluctance motor is suitable for the switched reluctance motors with various phases and structures under an inductance-free model, and takes the application in a speed regulating system of a three-phase 12/8-pole switched reluctance motor as an embodiment.
The rated power of the motor is 7.5kW, the rated voltage DC514V, the rated rotating speed is 1500r/min, and the speed regulating range is 50-2000 r/min.
And testing the current fluctuation range of one phase winding of the switched reluctance motor under the control method provided by the invention and the traditional current chopping control method respectively, and observing the current waveform and measuring the current fluctuation range by an oscilloscope. Fig. 5 is an actually measured current waveform of a coarse adjustment process of a phase change section at a rotation speed of 500r/min and under no load, and an experimental result shows that the coarse adjustment of the PWM duty ratio of the phase change section can be completed through one iteration, so that the effectiveness and the rapidity of the iterative learning law provided by the invention are proved. FIG. 6, FIG. 7, and FIG. 8 are current waveforms of the proposed control method when the rotation speed is 500r/min and the load is idle, 20 N.m, and 30 N.m, respectively, after the iteration is completed; fig. 9, 10 and 11 show current waveforms of the conventional current chopping control method at a rotation speed of 500r/min and under no-load, 20N · m and 30N · m loads, respectively. The experimental results fully prove the effectiveness of the method provided by the invention.

Claims (1)

1. The control method for reducing the current fluctuation of the switched reluctance motor in the current chopping control mode comprises the following steps:
(1) initializing a current chopping duty ratio and a chopping current fluctuation range of a current chopping controller;
(2) detecting a position signal of a rotor of the switched reluctance motor by adopting a photosensitive position sensor, judging whether a conducting phase and the conducting phase are in a phase change section or an independent conducting section, and calculating the actual rotating speed of the motor through the change time interval of one path of position signal;
(3) acquiring a current value of a phase winding by using a Hall sensor;
(4) comparing the actual current in the phase winding with the reference current in the phase changing section and the independent conduction section respectively to obtain the maximum value of the current difference value of the phase changing section and the independent conduction section;
(5) according to the maximum value of the current difference value, respectively adjusting the PWM duty ratio of the phase change section and the single conduction section; when the maximum difference value between the actual current and the given current in the winding is larger than 1A or smaller than-1A, coarse adjustment is adopted for the PWM duty ratio; when the maximum difference value between the actual current and the given current in the winding is 0.5-1A or-0.5-1A, fine adjustment is carried out on the PWM duty ratio; when the maximum difference value between the actual current and the given current in the winding is-0.5A, the PWM duty ratio is kept unchanged;
(6) inputting the newly obtained conduction duty ratio into a current chopping controller;
the method is characterized in that a PWM duty ratio calculation formula during coarse adjustment of a phase change section is as follows:
Figure FDA0003268555820000011
wherein:
τ1(n +1) is the PWM duty ratio of the current phase change section;
τ1(n) isPWM duty ratio of the previous phase change section;
ireffor a given reference current;
i1maxthe maximum value of the difference value between the actual current and the given current in the phase change section winding is obtained;
the calculation formula of the PWM duty ratio during the coarse adjustment of the single conduction section is as follows:
τ2(n+1)＝τ2(n)-Ki2max
wherein:
τ2(n +1) is the PWM duty ratio of the current single conduction section;
τ2(n) is the PWM duty cycle of the previous individual conduction segment;
i2maxthe maximum value of the difference value between the actual current and the given current in the winding of the single conducting section;
k is a proportionality coefficient and takes a value of 0.02-0.5;
the PWM duty ratio is adjusted according to the following formula when the phase change section and the single conduction section are finely adjusted:
Figure FDA0003268555820000021
in the formula: tau is3(n +1) is the PWM duty ratio of the current phase change section or the independent conduction section; tau is3(n) is the PWM duty cycle of the previous commutation segment or the single conduction segment; i.e. i3maxThe maximum value of the difference value of the actual current and the given current in the phase change section or the winding of the single conduction section.
CN201810529286.0A 2018-05-26 2018-05-26 Current fluctuation control method for reducing current chopping control mode of switched reluctance motor Expired - Fee Related CN108712132B (en)

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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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Publication number Priority date Publication date Assignee Title
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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