CN109327176A - A kind of the Conduction angle control method and system of switched reluctance machines - Google Patents

Abstract

The present invention relates to the Conduction angle control methods and system of a kind of switched reluctance machines.The method of the present invention calculates winding peak point current and winding peak point current angle the following steps are included: obtain the motor actual speed and actual acceleration of switched reluctance machines；Given torque is set, is adjusted the angle according to the energization of the motor actual speed, given torque, winding peak point current and winding peak point current angle calculation switched reluctance machines；Electrical power angle is compensated using energization adjustment angle.The present invention proposes Conduction angle adaptive technique, makes motor operation in efficiency optimization point, and does not need to carry out parametric measurement adjustment for different motors, can on-line tuning Conduction angle in the process of running.

Description

A kind of the Conduction angle control method and system of switched reluctance machines

Technical field

The present invention relates to the control technology field of switched reluctance machines, especially a kind of Conduction angle of switched reluctance machines Control method and system.

Background technique

Switched reluctance machines are a kind of novel speed regulating motors, and speed-regulating system has both direct current, exchanges the excellent of two class speed-regulating systems Point is the latest generation stepless time adjustment system after frequency conversion speed-adjusting system, Speed Regulating System of Brushless DC Motor.Its structure is simple Firm, speed-regulating range width, speed adjusting performance is excellent, and all has greater efficiency in entire speed adjustable range, and system reliability is high.It is main It is made of switched reluctance machines, power inverter, controller and four part of position detector.It include power conversion in controller Device and control circuit, and transfer to one end that position detector is then mounted on motor.

Switched reluctance machines (SRM) are the nonlinear Control objects of a multivariable, close coupling, its control parameter has four It is a, i.e. motor given rotating speed (or angular velocity omega_r), effective voltage V is applied outside winding_eq, winding turn-on angle θ_onAngle is turned off with winding θ_off, wherein ω_rFor the setting value of SRD system (Switched Reluctance Motor), in Current cut control mode (CCC), V_eqAnd θ_onBy current chopping benchmark I_cIt determines, in mono pulse control (position angle control) mode (APC) V_eqCompletely by winding Turn-on angle determines.Therefore, the main control variable of SRD system is winding turn-on angle θ_onWith shutdown angle θ_off.Turn corresponding to certain Speed and torque (or power), there is different θ by SRM_onAnd θ_offCombination, they can meet the requirement of output power of motor, This there is the problem of switch optimal selection of a SRM, i.e. SRM angle Optimal Control problem.It can will usually be sought The optimization target asked is taken as the maximum of the output power (or torque) under certain revolving speed or efficiency highest.θ_onTo θ_offSection be Electrical power angle, existing switched Reluctance Motor Control technology mostly uses fixed Conduction angle, or has with revolving speed, torque The Conduction angle of fixed function relationship realizes electric efficiency optimization by the power-on voltage or electrical current that control motor.By It is fixed in Conduction angle or there is fixed function relationship, under friction speed and loading condition, the ohmic heatingp of motor with revolving speed, torque Degree is not in electric efficiency optimum point, and different electric efficiency optimum points is different, by existing control technology without Method meets the requirement of efficiency optimization.

Summary of the invention

Aiming at the defects existing in the prior art, the technical problem to be solved in the present invention is to provide a kind of switches The Conduction angle control method and system of reluctance motor.

Present invention technical solution used for the above purpose is: a kind of Conduction angle control of switched reluctance machines Method, comprising the following steps:

The motor actual speed and actual acceleration of switched reluctance machines are obtained, winding peak point current and winding peak value are calculated Current angle；

Given torque is set, according to the motor actual speed, given torque, winding peak point current and winding peak point current The energization of angle calculation switched reluctance machines adjusts the angle；

Electrical power angle is compensated using energization adjustment angle.

The energization adjustment angle of the switched reluctance machines is calculate by the following formula:

Wherein, Δ θ is that the energization of switched reluctance machines adjusts the angle, K₁For orientation optimization parameter, I₁For winding peak value electricity Stream, I₂For cut-off current, VI₁For the adjustment angle of winding peak point current, VI₂For the adjustment angle of cut-off current, K₂It is excellent for angle Change zero point, T₁To give torque, T_nFor the nominal torque of switched reluctance machines, V_nFor the rated speed of switched reluctance machines, V₁For Motor actual speed, θ₁For winding peak point current angle.

It is described that electrical power angle is compensated using energization adjustment angle, specifically:

θ_2(t)=Δ θ * K₁+θ_2(t-1)

Wherein, Δ θ is that the energization of switched reluctance machines adjusts the angle, K₁For orientation optimization parameter, t indicates moment, θ_2(n)Table Show compensated electrical power angle, θ_2(n-1)Electrical power angle before indicating compensation.

The orientation optimization parameter K₁For adjusting the fast jogging speed of orientation optimization, value range meets 0≤K₁≤1；

The orientation optimization zero point K₂Value range meet -1≤K₂≤1。

A kind of Conduction angle control system of switched reluctance machines, comprising:

Motor speed detection module, the signal input port of link control module, for obtaining the electricity of switched reluctance machines Machine actual speed and actual acceleration；

Motor torque setup module, the signal input port of link control module, for given torque to be arranged；

Winding current detection module, the signal input port of link control module, for calculate winding peak point current and around Group peak point current angle；

Control module, for according to the motor actual speed, given torque, winding peak point current and winding peak point current The energization of angle calculation switched reluctance machines adjusts the angle, and is mended using energization adjustment angle to electrical power angle It repays.

The motor speed detection module includes blanking disc and detection device；

The blanking disc connects the shaft of the switched reluctance machines, and with the concentric constant speed rotation of the shaft；

The detection device is mounted on motor the tip of the axis by flat key.

The detection device includes at least three photoelectric detection switch, and the angle between photoelectric detection switch is 11.25 °.

Motor torque is arranged by following formula in the motor torque setup module:

Wherein, T indicates that motor torque, P indicate that the output power of motor, n indicate the output revolving speed of motor.

The winding current detection module includes Hall current sensor, operational amplifier and isolated power supply.

The present invention has the following advantages and beneficial effects:

1. the present invention proposes Conduction angle adaptive technique, in line computation and difference can be adjusted in motor operation course Electrical power angle under revolving speed, load condition makes motor operation in efficiency optimization point, optimizes electric efficiency, and not It needs to carry out parametric measurement adjustment for different motors.

2. the present invention can play the role of, energy conservation, the motor feels hot for reduction, improves electrical machinery life and reduces cost.

Detailed description of the invention

Fig. 1 is the method for the present invention flow chart；

Fig. 2 is the structure chart of present system；

Fig. 3 is the current waveform figure that switched reluctance machines winding is powered；

Fig. 4 is the installation diagram of the motor speed detection module in the embodiment of the present invention；

Fig. 5 is the G regional enlarged drawing of Fig. 4；

Fig. 6 is the schematic view of the mounting position of photoelectric detection switch；

Fig. 7 is the overall circuit figure of control module；

Fig. 8 is the enlarged drawing of Fig. 7 left-half；

Fig. 9 is the enlarged drawing of Fig. 7 right half part；

Figure 10 is the circuit diagram of motor speed detection module.

Specific embodiment

The present invention is described in further detail with reference to the accompanying drawings and embodiments.

As shown in Figure 1, a kind of Conduction angle control method of switched reluctance machines, comprising the following steps: obtain switch magnetic The motor actual speed of motor is hindered, given torque is set, and calculates winding peak point current and winding peak point current angle；According to institute State motor actual speed, given torque, the energization of winding peak point current and winding peak point current angle calculation switched reluctance machines It adjusts the angle；Electrical power angle is compensated using energization adjustment angle.

Wherein, winding peak point current and winding peak point current angle are calculated, specifically: it takes adjacent in a measurement period Two maximum winding peak point current I_a、I_b, in conjunction with I_a、I_bThe actual speed V of moment motor_a、V_bAnd the actual acceleration of motor ω_a、ω_bCalculate winding peak point current I₁.The winding peak point current angle, θ₁With winding peak point current I₁It is corresponding.

The energization adjustment angle of the switched reluctance machines is calculate by the following formula:

Wherein, Δ θ is that the energization of switched reluctance machines adjusts the angle, K₁For orientation optimization parameter, I₁For winding peak value electricity Stream, I₂For cut-off current, VI₁For the adjustment angle of winding peak point current, VI₂For the adjustment angle of cut-off current, K₂It is excellent for angle Change zero point, T₁To give torque, T_nFor the nominal torque of switched reluctance machines, V_nFor the rated speed of switched reluctance machines, V₁For Motor actual speed, θ₁For winding peak point current angle.

Fig. 3 is the current waveform figure that switched reluctance machines winding is powered, and explains that a kind of switched reluctance machines are powered in conjunction with Fig. 2 Angle computation method compensates electrical power angle using energization adjustment angle, specifically:

θ_2(t)=Δ θ * K₁+θ_2(t-1)

Wherein, Δ θ is that the energization of switched reluctance machines adjusts the angle, K₁For orientation optimization parameter, t indicates moment, θ_2(n)Table Show compensated electrical power angle, θ_2(n-1)Electrical power angle before indicating compensation.

The orientation optimization parameter K₁Value range meet 0≤K₁≤ 1, K₁For adjust orientation optimization it is fast at a slow speed Degree, K₁Most fast, K is adjusted when being 0₁It is adjusted when being 1 most slow.The orientation optimization zero point K₂Value range meet -1≤K₂≤ 1。K₁、K₂Adjusting takes optimal value, K after debugging₁、K₂Setting method be means generally in the art, be not described herein.

As shown in Fig. 2, a kind of Conduction angle control system of switched reluctance machines, comprising: motor speed detection module, even The signal input port for connecing control module, for obtaining the motor actual speed of switched reluctance machines；Motor torque setup module, The signal input port of link control module, for given torque to be arranged；Winding current detection module, the letter of link control module Number input port, for calculating winding peak point current and winding peak point current angle；Control module (as Figure 7-9), is used for According to the motor actual speed, given torque, winding peak point current and winding peak point current angle calculation switched reluctance machines Energization adjust the angle, and using energizations adjust the angle electrical power angle is compensated.

As illustrated in figures 4-5, the motor speed detection module includes blanking disc 2-1 and detection device 2-2；The blanking disc 2-1 connects the shaft of the switched reluctance machines, and with the concentric constant speed rotation of the shaft；The detection device 2-2 passes through flat Key is mounted on motor the tip of the axis.Detection device 2-2 includes at least three photoelectric detection switch, the folder between photoelectric detection switch Angle is 11.25 °, as shown in Figure 6.The signal of detection device 2-2 uses differential transfer.The integrated circuit of motor speed detection module Schematic diagram is as shown in Figure 10.

Winding current detection module includes Hall current sensor, operational amplifier and isolated power supply.

Claims (9)

1. a kind of Conduction angle control method of switched reluctance machines, which comprises the following steps:

The motor actual speed and actual acceleration of switched reluctance machines are obtained, winding peak point current and winding peak point current are calculated Angle；

Given torque is set, according to the motor actual speed, given torque, winding peak point current and winding peak point current angle The energization for calculating switched reluctance machines adjusts the angle；

Electrical power angle is compensated using energization adjustment angle.

2. a kind of Conduction angle control method of switched reluctance machines according to claim 1, which is characterized in that described to open The energization adjustment angle for closing reluctance motor is calculate by the following formula:

Wherein, Δ θ is that the energization of switched reluctance machines adjusts the angle, K₁For orientation optimization parameter, I₁For winding peak point current, I₂ For cut-off current, VI₁For the adjustment angle of winding peak point current, VI₂For the adjustment angle of cut-off current, K₂For orientation optimization zero Point, T₁To give torque, T_nFor the nominal torque of switched reluctance machines, V_nFor the rated speed of switched reluctance machines, V₁For motor Actual speed, θ₁For winding peak point current angle.

3. a kind of Conduction angle control method of switched reluctance machines according to claim 1, which is characterized in that the benefit Electrical power angle is compensated with energization adjustment angle, specifically:

θ_2(t)=Δ θ * K₁+θ_2(t-1)

Wherein, Δ θ is that the energization of switched reluctance machines adjusts the angle, K₁For orientation optimization parameter, t indicates moment, θ_2(n)It indicates to mend Electrical power angle after repaying, θ_2(n-1)Electrical power angle before indicating compensation.

4. a kind of Conduction angle control method of switched reluctance machines according to claim 2 or 3, which is characterized in that institute State orientation optimization parameter K₁For adjusting the fast jogging speed of orientation optimization, value range meets 0≤K₁≤1；

The orientation optimization zero point K₂Value range meet -1≤K₂≤1。

5. a kind of Conduction angle control system of switched reluctance machines characterized by comprising

Motor speed detection module, the signal input port of link control module, the motor for obtaining switched reluctance machines are real Border revolving speed and actual acceleration；

Motor torque setup module, the signal input port of link control module, for given torque to be arranged；

Winding current detection module, the signal input port of link control module, for calculating winding peak point current and winding peak It is worth current angle；

Control module, for according to the motor actual speed, given torque, winding peak point current and winding peak point current angle The energization for calculating switched reluctance machines adjusts the angle, and is compensated using energization adjustment angle to electrical power angle.

6. a kind of Conduction angle control system of switched reluctance machines according to claim 5, which is characterized in that the electricity Machine Rotating speed measring module includes blanking disc and detection device；

The blanking disc connects the shaft of the switched reluctance machines, and with the concentric constant speed rotation of the shaft；

The detection device is mounted on motor the tip of the axis by flat key.

7. a kind of Conduction angle control system of switched reluctance machines according to claim 6, which is characterized in that the inspection Surveying device includes at least three photoelectric detection switch, and the angle between photoelectric detection switch is 11.25 °.

8. a kind of Conduction angle control system of switched reluctance machines according to claim 5, which is characterized in that the electricity Motor torque is arranged by following formula in machine torque setup module:

Wherein, T indicates that motor torque, P indicate that the output power of motor, n indicate the output revolving speed of motor.

9. a kind of Conduction angle control system of switched reluctance machines according to claim 5, which is characterized in that it is described around Group current detection module includes Hall current sensor, operational amplifier and isolated power supply.