CN108809187A - The switched reluctance machines torque prediction control system and method for Discrete Space Vector Modulation - Google Patents

The switched reluctance machines torque prediction control system and method for Discrete Space Vector Modulation Download PDF

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Publication number
CN108809187A
CN108809187A CN201810616718.1A CN201810616718A CN108809187A CN 108809187 A CN108809187 A CN 108809187A CN 201810616718 A CN201810616718 A CN 201810616718A CN 108809187 A CN108809187 A CN 108809187A
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torque
phase
switched reluctance
formula
reluctance machines
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张旭隆
王峰
方蒽
曹言敬
纪雯
乔淑云
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Xuzhou University of Technology
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Xuzhou 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses the switched reluctance machines torque prediction control systems of Discrete Space Vector Modulation and method on the basis of carrying out simplifying Analytic modeling to switched reluctance machines ontology, obtains the calculation formula of switched reluctance motor flux linkage and torque；Using the gate pole of asymmetrical three-phase half-bridge power converter control signal, DC bus-bar voltage, rotor position angle and electric machine phase current as input quantity, according to torque estimation block diagram, the total torque of switched reluctance machines is calculated；Utilize the torque prediction control method proposed by the present invention based on Discrete Space Vector Modulation, by the torque output for estimating the k+1 moment on horizontal time axis, and compared with the torque output reference value at k+1 moment, the optimal solution of cost function is solved in each sampling period, to finally determine that required output controls signal, so that switched reluctance machines actual torque follows given torque, achieve the purpose that reduce torque pulsation.

Description

The switched reluctance machines torque prediction control system and method for Discrete Space Vector Modulation
Technical field
The present invention relates to the switched reluctance machines torque prediction control systems and method of a kind of Discrete Space Vector Modulation, belong to In the technical field of switched reluctance machines direct torque.
Background technology
Switched reluctance machines are a kind of new special motors, due to its stator and rotor be all double-salient-pole structure, rotor without Winding is embedded without magnet, thus simple in structure firm, has the advantages that high efficiency and high reliability.Switched reluctance machines according to turn The relative position of son and stator is powered to stator winding, and rotor can change air gap between the two according to magnetic resistance minimum principle Size rotates to torque output motor.
Compared to the torque output of conventional motors, the major defect of switched reluctance machines is higher output torque pulsation, Output torque, which is pulsed, also results in the vibration and noise problem of motor.In addition, torque pulsation also affects velocity error.
Control algolithm used by existing technical solution is mainly the size by controlling phase current and phase voltage, in turn Control torque pulsation.Currently, relatively effective achievement in research has the sides such as torque partition function, iterative learning control and micro-step control Method.
Generally with phase current or phase magnetic linkage, variable, the output of speed control divide Indirect UV detection through over torque in order to control It is assigned to each phase by torque is synthesized with function module (abbreviation TSF), then according to corresponding torque to electric current or torque to magnetic The inverse transform module of chain finds out phase current or the instruction of phase magnetic linkage, so that control system is tracked phase current by electric current or magnetic linkage control device Or phase magnetic linkage, to realize the tracing control of torque.But torque partition function strategy does not carry out real-time control to torque, Belong to Indirect Stator-Quantities Control, control accuracy is limited.Direct Torque Control adds the negative-feedback of torque variable, makes torque control System is more accurate.The correlation between off-line measurement torque-current-position or torque-current-magnetic linkage is first had to, is made Table simultaneously stores.In On-line Control, memory is used to real-time estimation phase torque, is used as feedback torque.Controller The tracking between feedback torque and given torque is realized eventually by control machine phase voltages.But due to feedback controller It introduces, increases system complexity, while accurately torque feedback estimation also greatly affects the control performance of control system. Traditional Direct Torque Control mode is mainly to use for reference the bang-bang control device of asynchronous machine, since bang-bang control device is converted in sector In the process, there are torque out-of-control phenomenon, at the same SRM motors and threephase asynchronous machine in structure and characteristic there are larger difference, Its control performance is ideal not to the utmost.
Invention content
Insufficient according to prior art, it is pre- that the present invention provides a kind of switched reluctance machines torque of Discrete Space Vector Modulation Observing and controlling system and method so that switched reluctance machines actual torque follows given torque, achievees the purpose that reduce torque pulsation.
The present invention is realized by following technical scheme：
A kind of switched reluctance machines torque prediction control system of Discrete Space Vector Modulation, including power inverter, open Close reluctance motor, discrete control vector module, torque estimation module, speed controller module, cost function minimum module and Trigger pulse modulation module；It is mounted with voltage sensor on the DC bus of the power inverter, for measuring direct current in real time Busbar voltage Vdc(k)；It is mounted with current sensor on the power inverter to the motor line of force of switched reluctance machines, is used for The stator current i of real-time measurement motor1,2,3(k)；It is mounted with that rotor position angle passes on the armature spindle of the switched reluctance machines Sensor, for measuring rotor position angle θ in real time1,2,3(k)；The discrete control vector module is for generating on off state D1,2,3(k) it is input in torque estimation module；The input terminal access stator current i of the torque estimation module1,2,3(k), rotor Position angle θ1,2,3(k), DC bus-bar voltage Vdc(k) and on off state；The rotor position angle θ1,2,3(k), derivation obtains Speed feedback value after being compared with speed preset value, is input to the speed controller module；The torque estimation module Output end minimizes module input with speed controller module output end access cost function, and cost function minimizes mould Export the control signal of trigger pulse modulation module；The trigger pulse modulation module output end connects power inverter.
The control method of the switched reluctance machines torque prediction control device of Discrete Space Vector Modulation, control method step It is as follows：
On power inverter to the motor line of force of switched reluctance machines, it is mounted with current sensor, for measuring in real time The stator current i of motor1,2,3(k)；Rotor position angle sensor is mounted on the armature spindle of switched reluctance machines, for real-time Measure rotor position angle θ1,2,3(k)；On the DC bus of power inverter, it is mounted with voltage sensor, for measuring in real time DC bus-bar voltage Vdc(k)；
According to rotor position angle θ1,2,3(k) difference can be by discrete control Vector Mode according to discrete state formula Block generates on off state D1,2,3(k) it is input in torque estimation module；
As stator current i1,2,3(k), rotor position angle θ1,2,3(k), DC bus-bar voltage Vdc(k) and on off state D1,2,3(k) when being input to torque estimation module, the motor total torque T at k+1 moment is calculatedtotal(k+1)；
The outer shroud of entire switched Reluctance Motor Control System is speed outer shroud, rotor position angle θ1,2,3(k) derivation obtains Speed feedback value after being compared with speed preset value, is input to speed control, when the output valve of speed control is k+1 The motor total torque reference value T at quartertotal,ref(k+1)；
The motor total torque reference value T at k+1 momenttotal,ref(k+1) with the motor total torque T at k+1 momenttotal(k+1) defeated Enter to cost function and minimize in module, minimum solution is carried out according to cost function formula, so that it is determined that trigger pulse controls Signal.
Preferably, power inverter is asymmetrical three-phase half-bridge power converter, and definition Dp is asymmetrical half-bridge power The control signal of the device for power switching of converter, wherein p are respectively 1,2,3 to represent A, B, C three-phase, a phase bridge arm upper tube and under Pipe is open-minded simultaneously, is defined as 1 namely excitation mode；Upper tube shutdown, down tube, which are opened, in one phase bridge arm is defined as 0, namely naturally continuous Stream mode；Top tube and down tube simultaneously turn off in one phase bridge arm, are defined as -1, namely demagnetization pattern.
Preferably, discrete state formula is by formula
With formula t1+t2=TsComposition；Wherein TsThe sampling time is represented,It is actual switch shape State.
Preferably, torque estimation module is calculated the calculating of the total torque of switched reluctance machines and is divided into three composition portions Divide, respectively A phases torque estimation, B phases torque estimation, C phase torque estimations；
The torque estimation calculation process of each phase is consistent, is as follows：
(1) in the A phase rotor position angles θ at k moment1(k), A phase currents i1(k), the on off state D of A phases bridge arm1(k) defeated Enter into computing module, A phase rotor position angles θ1(k) motor angular velocity ω is obtained after derivation, motor angular velocity ω adds A phases Rotor position angle θ1(k) Δ θ has been obtained1；A phase rotor position angles θ1(k) and A phase currents i1(k) it is input in ec1 modules, According to magnetic linkage formula, ψ can be obtained1(k)；The on off state D of A phase bridge arms1(k) it is multiplied by DC bus-bar voltage Vdc(k) D is obtained1(k)* Vdc(k)；
(2)：Value θ ' of the A phases rotor position angle at the k+1 moment1(k+1) it is input to table ip=fp(ψp,θp) in；A phases Magnetic linkage ψ1(k) Δ ψ is added1The magnetic linkage value ψ ' at k+1 moment is obtained afterwards1(k+1), and it is input to table ip=fp(ψp,θp) in；D1 (k)*Vdc(k) A phase currents i is subtracted1(k) and after the product term of motor stator resistance R, integral operation is carried out, according to magnetic linkage value The increment Delta ψ of the magnetic linkage value of A phases is calculated in increment formula1；
(3) table ip=fp(ψp,θp) output A phase currents the k+1 moment value i '1(k+1), while the output valve of table is defeated Enter into ec2 modules, the A phase torque values T ' at k+1 moment can be obtained according to the torque calculation formula of each phase1(k+1)
(4) according to same calculation process and step, while the B phase torque values T ' at k+1 moment can be obtained2(k+1) and k+1 The C phase torque values T ' at moment3(k+1)；
(5) by T '1(k+1)、T′2(k+1) and T '3(k+1) it is added and obtains the total torque T ' of k+1 moment motorstotal(k+1)。
Preferably, cost function formula is：
Cost function includes two parts, and one is：
eT(k)=qT(Ttotal(k+1)-Ttotal,ref(k+1))2
In formula, qTIt is weight coefficient, k represents discrete time constant；
The other is：
In formula, qiIt is a weight coefficient, this contributes to torque output between phase and phase to take over seamlessly；
Finally cost function is：
G (k)=f (D123(k), m (k))=et(k)+eI(k)
D123(k) it is gate pole control signal, m (k) is the measured value of rotor-position, DC bus-bar voltage, phase current.
Preferably, magnetic linkage ψpFormula it is as follows：
Wherein, the L in formulad,Ldsat,LqThe inductance, rotor salient pole of the respectively perfectly aligned position of rotor salient pole are complete The pulsactor of aligned position, the inductance of the incomplete aligned position of rotor salient pole.A and B in formula be motor model it is different and Selected constant value；
f(θp) it is an interpolating function, this function is calculated by following formula：
Preferably, the increment formula of magnetic linkage value is as follows：
In formula, Vdc(k) it is k moment power inverter d-c bus voltage values；RsIt is motor stator resistance value.
Preferably, the torque calculation formula of each phase is as follows：
Wherein, the L in formulad,Ldsat,LqThe inductance, rotor salient pole of the respectively perfectly aligned position of rotor salient pole are complete The pulsactor of aligned position, the inductance of the incomplete aligned position of rotor salient pole.A and B in formula be motor model it is different and Selected constant value；
f(θp) it is an interpolating function, this function is calculated by following formula：
f′(θp) it is to interpolating function f (θp) carry out derivation.
Advantageous effect of the present invention：
The invention belongs to the controls of the torque prediction of motor, can realize lower torque in the entire rotating speed section of motor Pulsation, while ensure that when each mutually switching and preferably taking over seamlessly, by estimating that the torque at k+1 moment is defeated on horizontal time axis Go out, and compared with the torque output reference value at k+1 moment, solve the optimal value of cost function, system response time is fast, algorithm is real When property is good, closed-loop control is functional.
Compared to Indirect UV detection method, control accuracy improves；Compared to bang bang the control in Direct Torque Control Device processed, torque switching is smooth, Torque Ripple Reduction effect is good.
Description of the drawings
Fig. 1 is switched Reluctance Motor Control System block diagram；
Fig. 2 a are asymmetrical three-phase half-bridge power converter switching mode (excitation mode)；
Fig. 2 b are asymmetrical three-phase half-bridge power converter switching mode (natural freewheeling mode)；
Fig. 2 c are asymmetrical three-phase half-bridge power converter switching mode (demagnetization pattern)；
Fig. 3 is switched reluctance machines ontology model；
Fig. 4 is switched reluctance machines torque estimation block diagram；
Fig. 5 is the switched reluctance machines torque prediction control principle block diagram of Discrete Space Vector Modulation；
Fig. 6 is traditional Indirect UV detection waveform；
Fig. 7 is traditional Indirect UV detection error waveform；
Fig. 8 is that torque prediction proposed by the invention controls waveform；
Fig. 9 is that torque prediction proposed by the invention controls error waveform.
Specific implementation mode
Below in conjunction with attached drawing, by specific embodiment, the present invention is further illustrated.
Fig. 1 is switched Reluctance Motor Control System block diagram, as can be seen from FIG. 1, the main electricity of switched Reluctance Motor Control System The input on road is three-phase alternating-current supply, and DC link, connecting valve magnetic resistance electricity are formed by DC filter capacitor after rectifier Machine stator phase winding is asymmetrical three-phase half-bridge structure.Wherein La, Lb, Lc be Stators for Switched Reluctance Motors A, B, C three-phase around Group.
Fig. 2 a, 2b, 2c analyze for asymmetrical three-phase half-bridge power converter switching mode, according to the fortune of switched reluctance machines Row principle, each phase have 3 kinds of switching modes, respectively excitation mode, natural freewheeling mode and demagnetization pattern, as Fig. 2 a, 2b, Shown in 2c.By Fig. 2 a, 2b, 2c it is found that each phase have 3 kinds of switching modes, therefore A, B, C tri- it is combined after share 27 kinds of switches Pattern.
The control signal for the device for power switching that Dp is asymmetrical half-bridge power inverter is defined, wherein p is respectively 1,2,3 Represent A, B, C three-phase.One phase bridge arm top tube and down tube are open-minded simultaneously, are defined as 1 namely excitation mode；Upper tube in one phase bridge arm Shutdown, down tube, which are opened, is defined as 0, namely natural freewheeling mode；Top tube and down tube simultaneously turn off in one phase bridge arm, are defined as -1, Namely demagnetization pattern.
Fig. 3 is switched reluctance machines ontology model.According to this model, magnetic linkage ψ can be solvedp, rotor position angle θpAnd motor Stator phase currents ipBetween relationship calculate.
Magnetic linkage ψp, rotor position angle θpWith motor stator phase current ipFunctional relation such as formula (1) between three indicates.
ψp=ψp(θp,ip) (1)
Magnetic linkage ψpIt is calculated by formula (2), the L in formulad,Ldsat,LqThe respectively electricity of the perfectly aligned position of rotor salient pole Feel, the inductance of the pulsactor of the perfectly aligned position of rotor salient pole, the incomplete aligned position of rotor salient pole.A in formula and B It is different according to Fig. 3 motor models and selected constant value.
F (θ in formula (2)p) it is an interpolating function, this function is calculated by formula (3).
According to motor torque principle, the torque calculation of each phase is by magnetic coenergy function W (ip,θp) to rotor position angle θp It carries out that local derviation is asked to calculate, sees formula (4).
The torque calculation of switched reluctance machines ontology model according to fig. 3, each phase can be calculated by formula (5), the change in formula Amount is consistent with defined in formula (2).f′(θp) it is to interpolating function f (θp) carry out derivation.
Therefore the total torque calculating of motor is determined by formula (6).
Fig. 4 is switched reluctance machines torque estimation block diagram.In the figure, according to the structure of 6/4 pole switching reluctance motor of three-phase, The calculating of motor total torque is divided into three component parts, respectively A phases torque estimation, B phases torque estimation, C phase torque estimations.Often The torque estimation calculation process of one phase is consistent, therefore is only introduced by taking A phases as an example.
(1) step：In the A phase rotor position angles θ at k moment1(k), A phase currents i1(k), the on off state D of A phases bridge arm1 (k) it is input in computing module, A phase rotor position angles θ1(k) motor angular velocity ω is obtained after derivation, motor angular velocity ω adds Upper A phases rotor position angle θ1(k) Δ θ has been obtained1；A phase rotor position angles θ1(k) and A phase currents i1(k) ec1 moulds are input to In block, according to formula (2), ψ can be obtained1(k)；The on off state D of A phase bridge arms1(k) it is multiplied by DC bus-bar voltage Vdc(k) D is obtained1 (k)*Vdc(k)。
(2) step：Value θ ' of the A phases rotor position angle at the k+1 moment1(k+1) it is input to table ip=fp(ψp,θp) in It goes；A phase magnetic linkages ψ1(k) Δ ψ is added1The magnetic linkage value ψ ' at k+1 moment is obtained afterwards1(k+1), and it is input to table ip=fp(ψp,θp) In；D1(k)*Vdc(k) A phase currents i is subtracted1(k) and after the product term of motor stator resistance R, integral operation is carried out, according to formula (10), the increment Delta ψ of the magnetic linkage value of A phases is calculated1。
(3) step：Table ip=fp(ψp,θp) output A phase currents the k+1 moment value i '1(k+1), at the same table it is defeated Go out value to be input in ec2 modules, the A phase torque values T ' at k+1 moment can be obtained according to formula (5)1(k+1)。
(4) step：According to same calculation process and step, while the B phase torque values T ' at k+1 moment can be obtained2(k+1) With the C phase torque values T ' at k+1 moment3(k+1)。
(5) step：By T '1(k+1)、T′2(k+1) and T '3(k+1) it is added and obtains the total torque T ' of k+1 moment motorstotal (k+1)。
Fig. 5 is the switched reluctance machines torque prediction control principle block diagram of Discrete Space Vector Modulation.Discrete Space Vector The switched reluctance machines torque prediction control device of modulation includes power inverter, switched reluctance machines, discrete control Vector Mode Block, torque estimation module, speed controller module, cost function minimize module and trigger pulse modulation module；The power It is mounted with voltage sensor on the DC bus of converter, for measuring DC bus-bar voltage V in real timedc(k)；The power conversion It is mounted with current sensor on device to the motor line of force of switched reluctance machines, is used for the stator current i of real-time measurement motor1,2,3 (k)；Rotor position angle sensor is mounted on the armature spindle of the switched reluctance machines, for measuring rotor position angle in real time Spend θ1,2,3(k)；The discrete control vector module is for generating on off state D1,2,3(k) it is input in torque estimation module；Institute State the input terminal access stator current i of torque estimation module1,2,3(k), rotor position angle θ1,2,3(k), DC bus-bar voltage Vdc (k) and on off state；The rotor position angle θ1,2,3(k), derivation obtains speed feedback value, is compared with speed preset value Afterwards, it is input to the speed controller module；The output end of the torque estimation module is exported with the speed controller module It terminates and minimizes module input into cost function, cost function minimizes the control letter of mould output trigger pulse modulation module Number；The trigger pulse modulation module output end connects power inverter.
According to Fig. 5, realize that the switched reluctance machines torque prediction control method of Discrete Space Vector Modulation mainly controls mesh Mark is to follow given torque while keeping low torque ripple, and its essence is solve power inverter in each sampling period to open Close the optimization problem of function.
This method is mainly made of 3 parts：(1) cost function minimizes；(2) torque estimation；(3) Discrete Space Vector Generation.
(1) cost function minimizes：
Cost function includes two parts, and one is：
eT(k)=qT(Ttotal(k+1)-Ttotal,ref(k+1))2 (7)
In formula (7), qTIt is weight coefficient, k represents discrete time constant.
The other is：
In formula (8), qiIt is a weight coefficient, this contributes to torque output between phase and phase to take over seamlessly.In Fig. 5 I1,2,3(k+1) be k+1 moment motor A, B, C three-phases stator current.
Finally cost function is
G (k)=f (D123(k), m (k))=et(k)+eI(k) (9)
D123(k) it is gate pole control signal, m (k) is the measured value of rotor-position, DC bus-bar voltage, phase current.
(2) torque estimation：
Assess each on off state Dp(k), the increment of magnetic linkage value is calculated by formula (10)：
In formula (10), Vdc(k) it is k moment power inverter d-c bus voltage values；RsIt is motor stator resistance value.
(3) Discrete Space Vector：
Use Discrete Space Vector Modulation, D1, D2, D3Actual value be -1,0,1, as mentioned before.
When a phase bridge arm top tube and down tube of power inverter are open-minded simultaneously, it is defined as 1 namely excitation mode, Dp=1, Wherein p=1,2,3；
When upper tube turns off, down tube is opened and is defined as 0, namely natural freewheeling mode, Dp in a phase bridge arm of power inverter =0, wherein p=1,2,3；
When top tube and down tube simultaneously turn off in a phase bridge arm of power inverter, it is defined as -1, namely demagnetization pattern, Dp =-1, wherein p=1,2,3.
Any discrete state is reached by formula (11) and formula (12), and according to weber rule, any one discrete state can pass through tjTo realize：
t1+t2=Ts (12)
TsThe sampling time is represented,It is actual on off state.
As shown in Figure 5, a kind of switched reluctance machines torque for Discrete Space Vector Modulation that patent of the present invention is proposed is pre- Control method is surveyed, is seen in figure in dotted line frame.The specific method is as follows:
On power inverter to the motor line of force of switched reluctance machines (SRM), it is mounted with current sensor, for real-time The stator current i of measurement motor1,2,3(k)；It is mounted with that rotor position angle senses on the armature spindle of switched reluctance machines (SRM) Device, for measuring rotor position angle θ in real time1,2,3(k)；On the DC bus of power inverter, it is mounted with voltage sensor, uses In measurement DC bus-bar voltage V in real timedc(k)。
According to earlier figures 4, as stator current i1,2,3(k), rotor position angle θ1,2,3(k), DC bus-bar voltage Vdc(k) With on off state D1,2,3(k) when being input to torque estimation module, the motor total torque T at k+1 moment can be calculatedtotal(k+ 1)。
According to rotor position angle θ1,2,3(k) difference can be by discrete control Vector Mode according to formula (11) and formula (12) Block generates on off state D1,2,3(k) it is input in torque estimation module.
The motor total torque reference value T at k+1 momenttotal,ref(k+1) with the motor total torque T at k+1 momenttotal(k+1) defeated Enter to cost function and minimize in module, minimum solution is carried out according to formula (7), formula (8) and formula (9), so that it is determined that triggering arteries and veins Punching control signal.
The outer shroud of entire switched Reluctance Motor Control System is speed outer shroud, rotor position angle θ1,2,3(k) derivation obtains Speed feedback value after being compared with speed preset value, is input to speed control (pi regulator), the output of speed control Value is the motor total torque reference value T at k+1 momenttotal,ref(k+1)。
By taking a 18kW three-phase switch reluctance machine as an example, the Contrast on effect of method for controlling torque has been carried out.Such as Fig. 6 and figure 7 be traditional Indirect UV detection waveform and error waveform.Fig. 8 and Fig. 9 controls wave for the torque prediction that patent of the present invention is carried Shape and error waveform.
From figure, it can be seen that compared to Indirect UV detection method, control accuracy improves；Compared to Direct Torque Control Bang-bang control device in method, torque switching is smooth, Torque Ripple Reduction effect is good.
Therefore, the present invention can realize lower torque pulsation, while each mutually switching in the entire rotating speed section of motor When ensure that and preferably take over seamlessly, by estimating the torque output at k+1 moment on horizontal time axis, and with the k+1 moment Torque output reference value compares, and solves the optimal value of cost function, system response time is fast, algorithm real-time is good, closed-loop control It is functional.
It the above is only the preferred embodiment of the present invention, it should be pointed out that：Those skilled in the art are come It says, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as Protection scope of the present invention.

Claims (9)

1. a kind of switched reluctance machines torque prediction control system of Discrete Space Vector Modulation, it is characterised in that：Including power Converter, switched reluctance machines, discrete control vector module, torque estimation module, speed controller module, cost function are minimum Change module and trigger pulse modulation module；It is mounted with voltage sensor on the DC bus of the power inverter, for real-time Measure DC bus-bar voltage Vdc(k)；It is mounted with that electric current passes on the power inverter to the motor line of force of switched reluctance machines Sensor is used for the stator current i of real-time measurement motor1,2,3(k)；Rotor position is mounted on the armature spindle of the switched reluctance machines Angular transducer is set, for measuring rotor position angle θ in real time1,2,3(k)；The discrete control vector module is switched for generating State D1,2,3(k) it is input in torque estimation module；The input terminal access stator current i of the torque estimation module1,2,3(k)、 Rotor position angle θ1,2,3(k), DC bus-bar voltage Vdc(k) and on off state；The rotor position angle θ1,2,3(k), derivation Speed feedback value is obtained, after being compared with speed preset value, is input to the speed controller module；The torque estimation mould The output end of block minimizes module input with speed controller module output end access cost function, and cost function is minimum Change the control signal of mould output trigger pulse modulation module；The trigger pulse modulation module output end connects power inverter.
2. the control method of the switched reluctance machines torque prediction control device of Discrete Space Vector Modulation, it is characterised in that：Control Method and step processed is as follows：
On power inverter to the motor line of force of switched reluctance machines, it is mounted with current sensor, is used for real-time measurement motor Stator current i1,2,3(k)；Rotor position angle sensor is mounted on the armature spindle of switched reluctance machines, for measuring in real time Rotor position angle θ1,2,3(k)；On the DC bus of power inverter, it is mounted with voltage sensor, for measuring direct current in real time Busbar voltage Vdc(k)；
According to rotor position angle θ1,2,3(k) difference can be raw by discrete control vector module according to discrete state formula At on off state D1,2,3(k) it is input in torque estimation module；
As stator current i1,2,3(k), rotor position angle θ1,2,3(k), DC bus-bar voltage Vdc(k) and on off state D1,2,3(k) When being input to torque estimation module, the motor total torque T at k+1 moment is calculatedtotal(k+1)；
The outer shroud of entire switched Reluctance Motor Control System is speed outer shroud, rotor position angle θ1,2,3(k) derivation obtains speed Value of feedback after being compared with speed preset value, is input to speed control, the output valve of speed control is the k+1 moment Motor total torque reference value Ttotal,ref(k+1)；
The motor total torque reference value T at k+1 momenttotal,ref(k+1) with the motor total torque T at k+1 momenttotal(k+1) it is input to Cost function minimizes in module, and minimum solution is carried out according to cost function formula, so that it is determined that trigger pulse controls signal.
3. the switched reluctance machines torque prediction control method of Discrete Space Vector Modulation according to claim 2, special Sign is：Power inverter is asymmetrical three-phase half-bridge power converter, defines the work(that Dp is asymmetrical half-bridge power inverter The control signal of rate switching device, wherein p are respectively 1,2,3 to represent A, B, C three-phase, and a phase bridge arm top tube and down tube are opened simultaneously It is logical, it is defined as 1 namely excitation mode；Upper tube shutdown, down tube, which are opened, in one phase bridge arm is defined as 0, namely natural freewheeling mode； Top tube and down tube simultaneously turn off in one phase bridge arm, are defined as -1, namely demagnetization pattern.
4. a kind of switched reluctance machines torque prediction control method of Discrete Space Vector Modulation according to claim 2, It is characterized in that：Discrete state formula is by formula
With formula t1+t2=TsComposition；Wherein TsThe sampling time is represented,It is actual switch shape State.
5. the switched reluctance machines torque prediction control method of Discrete Space Vector Modulation according to claim 2, special Sign is：
The calculating that the total torque of switched reluctance machines is calculated in torque estimation module is divided into three component parts, respectively A phases Torque estimation, B phases torque estimation, C phase torque estimations；
The torque estimation calculation process of each phase is consistent, is as follows：
(1) in the A phase rotor position angles θ at k moment1(k), A phase currents i1(k), the on off state D of A phases bridge arm1(k) it is input to In computing module, A phase rotor position angles θ1(k) motor angular velocity ω is obtained after derivation, motor angular velocity ω adds A phase rotors Position angle θ1(k) Δ θ has been obtained1；A phase rotor position angles θ1(k) and A phase currents i1(k) it is input in ec1 modules, foundation Magnetic linkage formula, can be obtained ψ1(k)；The on off state D of A phase bridge arms1(k) it is multiplied by DC bus-bar voltage Vdc(k) D is obtained1(k)*Vdc (k)；
(2)：Value θ ' of the A phases rotor position angle at the k+1 moment1(k+1) it is input to table ip=fp(ψp,θp) in；A phase magnetic linkages ψ1(k) Δ ψ is added1The magnetic linkage value ψ ' at k+1 moment is obtained afterwards1(k+1), and it is input to table ip=fp(ψp,θp) in；D1(k)* Vdc(k) A phase currents i is subtracted1(k) and after the product term of motor stator resistance R, integral operation is carried out, according to the increment of magnetic linkage value The increment Delta ψ of the magnetic linkage value of A phases is calculated in formula1；
(3) table ip=fp(ψp,θp) output A phase currents the k+1 moment value i '1(k+1), while the output valve of table is input to In ec2 modules, the A phase torque values T ' at k+1 moment can be obtained according to the torque calculation formula of each phase1(k+1)
(4) according to same calculation process and step, while the B phase torque values T ' at k+1 moment can be obtained2(k+1) and the k+1 moment C phase torque values T '3(k+1)；
(5) by T '1(k+1)、T′2(k+1) and T '3(k+1) it is added and obtains the total torque T ' of k+1 moment motorstotal(k+1)。
6. the switched reluctance machines torque prediction control method of Discrete Space Vector Modulation according to claim 5, special Sign is：
Cost function formula is：
Cost function includes two parts, and one is：
eT(k)=qT(Ttotal(k+1)-Ttotal,ref(k+1))2
In formula, qTIt is weight coefficient, k represents discrete time constant；
The other is：
In formula, qiIt is a weight coefficient, this contributes to torque output between phase and phase to take over seamlessly；
Finally cost function is：
G (k)=f (D123(k), m (k))=et(k)+eI(k)
D123(k) it is gate pole control signal, m (k) is the measured value of rotor-position, DC bus-bar voltage, phase current.
7. the switched reluctance machines torque prediction control method of Discrete Space Vector Modulation according to claim 5, special Sign is：
Magnetic linkage ψpFormula it is as follows：
Wherein, the L in formulad,Ldsat,LqThe inductance, rotor salient pole of the respectively perfectly aligned position of rotor salient pole are perfectly aligned The pulsactor of position, the inductance of the incomplete aligned position of rotor salient pole.A and B in formula is that motor model is different and selected The constant value selected；
f(θp) it is an interpolating function, this function is calculated by following formula：
8. the switched reluctance machines torque prediction control method of Discrete Space Vector Modulation according to claim 5, special Sign is：
The increment formula of magnetic linkage value is as follows：
In formula, Vdc(k) it is k moment power inverter d-c bus voltage values；RsIt is motor stator resistance value.
9. the switched reluctance machines torque prediction control method of Discrete Space Vector Modulation according to claim 5, special Sign is：
The torque calculation formula of each phase is as follows：
Wherein, the L in formulad,Ldsat,LqThe inductance, rotor salient pole of the respectively perfectly aligned position of rotor salient pole are perfectly aligned The pulsactor of position, the inductance of the incomplete aligned position of rotor salient pole.A and B in formula is that motor model is different and selected The constant value selected；
f(θp) it is an interpolating function, this function is calculated by following formula：
f′(θp) it is to interpolating function f (θp) carry out derivation.
CN201810616718.1A 2018-06-13 2018-06-13 The switched reluctance machines torque prediction control system and method for Discrete Space Vector Modulation Pending CN108809187A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109995296A (en) * 2019-01-14 2019-07-09 南京航空航天大学 A kind of bearing-free switch reluctance motor torque and suspending power optimal control method
CN112054736A (en) * 2020-09-11 2020-12-08 南通大学 Permanent magnet synchronous motor model prediction current overmodulation control method for optimizing zone modulation
CN113098351A (en) * 2021-04-29 2021-07-09 浙江大学 Surface-mounted permanent magnet synchronous motor model prediction torque control method

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109995296A (en) * 2019-01-14 2019-07-09 南京航空航天大学 A kind of bearing-free switch reluctance motor torque and suspending power optimal control method
CN112054736A (en) * 2020-09-11 2020-12-08 南通大学 Permanent magnet synchronous motor model prediction current overmodulation control method for optimizing zone modulation
CN112054736B (en) * 2020-09-11 2022-02-11 南通大学 Permanent magnet synchronous motor model prediction current overmodulation control method
CN113098351A (en) * 2021-04-29 2021-07-09 浙江大学 Surface-mounted permanent magnet synchronous motor model prediction torque control method
CN113098351B (en) * 2021-04-29 2022-03-29 浙江大学 Surface-mounted permanent magnet synchronous motor model prediction torque control method

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Application publication date: 20181113