CN109660175A - A kind of system inhibiting switched reluctance machines torque pulsation - Google Patents
A kind of system inhibiting switched reluctance machines torque pulsation Download PDFInfo
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- CN109660175A CN109660175A CN201811562623.2A CN201811562623A CN109660175A CN 109660175 A CN109660175 A CN 109660175A CN 201811562623 A CN201811562623 A CN 201811562623A CN 109660175 A CN109660175 A CN 109660175A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
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- 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
-
- 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
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of systems for inhibiting switched reluctance machines torque pulsation, NSGA-II algorithm is introduced in the Switched Reluctance Motor (SRD) that the system is controlled in classical PID, it is minimized using velocity fluctuation value and torque ripple minimization is Bi-objective, the current integration difference of two squares is the method for constraint condition to optimize the SRD system of classical PID control.
Description
Technical field
The present invention relates to a kind of electric machines control technology, especially a kind of system for inhibiting switched reluctance machines torque pulsation.
Background technique
Switched reluctance machines SRM (switched reluctance motor) is because its structure is simple, stable, system
The advantages that high reliablity, detent torque is big, becomes a kind of novel speed regulating motor with development potential and by more and more
The concern of person.SRM has special double-salient-pole structure and takes the power supply mode of switching regulator, and magnetic circuit is in strong nonlinearity and saturation
Property, determine motor operating when torque pulsation it is serious, it is particularly evident in commutation and low speed, thus how to reduce torque pulsation at
For the hot spot of current SRM research.
Currently, for SRM Torque Ripple Reduction scheme there are mainly two types of: one be body construction optimization design, secondly
To take advanced control strategy.In terms of SRM body construction optimization, it is main consider to minimize when being misaligned position it is each mutually around
The minimum inductance of group；Reduce the mutual inductance between each phase winding；Reduce the switching frequency etc. of each phase winding.In terms of control strategy,
It mainly include the strategies such as Traditional control strategy, variable-structure control, intelligent control, torque distribution control, Direct Torque Control.
Domestic and international more mature switched reluctance machines adjust the speed (SRD) system at present, mostly use classical PID control algolithm,
But it is ineffective to Torque Ripple Reduction.In addition, although the pulsation of speed is generated by the factor from torque pulsation,
The inhibition of velocity fluctuation is also reversed one of the mode for promoting Torque Ripple Reduction in fact.Therefore, SRM Torque Ripple Reduction is this
If the problem of multiple target, seeks multiple target and corresponding control algolithm is more reasonable, it should more have to the inhibition of torque pulsation
Effect.
Summary of the invention
The purpose of the present invention is to provide a kind of system for inhibiting switched reluctance machines torque pulsation, including NSGA-II are excellent
Change module, speed control, current controller, PWM controller, power inverter, rotor-position detection module, current detecting mould
Block, phase-change switch angle controller；NSGA-II optimization module is minimized by NSGA-II algorithm with velocity fluctuation and torque pulsation
It is minimised as general objective, using the current integration difference of two squares as constraint condition, to speed control and the respective ratio of current controller
And integral gain and machine winding switching angle optimize；Speed control is according to given reference speed value and actual feedback
The difference of velocity amplitude adjusts by proportional integration and exports corresponding current order；Current controller is exported according to speed control
The difference of reference current value and actual feedback currents value, is adjusted by proportional integration, exports corresponding control information；PWM controller
The control information for receiving current controller calculates duty ratio；The information that power inverter receives PWM controller changes switching tube
The supply voltage size of switch conditions and motor phase windings；Rotor-position detection module detection rotor-position simultaneously calculates reality
Border velocity amplitude；Current detection module detects the size of corresponding phase current；Phase-change switch angle controller according to rotor-position and
Result after NSGA-II optimization, which calculates, to be opened, turns off the information at angle to power inverter.
Compared with prior art, the present invention having the advantage that the present invention by using NSGA-II algorithm with velocity fluctuation
Value minimizes and torque ripple minimization is Bi-objective, and the current integration difference of two squares is the method for constraint to optimize classical PID control
SRD system compared to the total torque under individual PI algorithm, introduce NSGA- to inhibit the torque pulsation of switched reluctance machines
Torque pulsation situation is effectively suppressed after II.
The invention will be further described with reference to the accompanying drawings of the specification.
Detailed description of the invention
Fig. 1 is the systematic schematic diagram of the switched reluctance machines method for suppressing torque ripple in embodiment.
Fig. 2 is the NSGA-II algorithm work flow diagram in embodiment.
Specific embodiment
Fig. 1 is the systematic schematic diagram of the switched reluctance machines method for suppressing torque ripple in embodiment.As shown in Figure 1, one
The switched reluctance machines torque ripple control system that kind is inhibited for the torque pulsation to switched reluctance machines includes NSGA-
II optimization module, speed control, current controller, PWM controller, power inverter, rotor-position detection module, electric current inspection
Survey module and phase-change switch angle controller.
Wherein, NSGA-II optimization module, by NSGA-II algorithm with velocity fluctuation minimum and torque ripple minimization
For general objective, using the current integration difference of two squares as constraint condition, to the proportional gain K of speed controlpsWith integral gain Kis, electricity
The proportional gain K of stream controllerpiWith integral gain KiiAnd machine winding switching angle θonAnd θoff, this six parameters carry out excellent
Change；
Speed control is adjusted according to the difference of given reference speed value and actual feedback velocity amplitude by proportional integration, defeated
Corresponding current order out；
The difference of reference current value and actual feedback currents value that current controller is exported according to PI speed control, by than
Example integral adjustment exports corresponding control information；
PWM controller receives the control information of current controller, completes the calculating of duty ratio；
Power inverter receives the control information of PWM controller, changes the switch conditions and motor phase windings of switching tube
Supply voltage size；
Rotor-position detection module detection rotor-position simultaneously calculates values for actual speed；
Current detection module detects the size of corresponding phase current；
Phase-change switch angle controller is calculated according to the result after rotor-position and NSGA-II optimization to be opened, turns off angle
Information to power inverter.
In NSGA-II optimization module, the given range of speed control and current controller PI parameter is set separately are as follows:
Velocity fluctuation, that is, speed control integrated square error V in NSGA-II optimization moduleISE=∫ (ωref-ω)2Dt, ωrefIt is respectively reference speed value and actual feedback velocity amplitude with ω；
Pulsation of current, that is, current controller integrated square error I in NSGA-II optimization moduleISE=∫ (Iref-Ipha)2Dt, IrefAnd IphaThe respectively electric current of speed control output measured to constant current and feedback；
The total electromagnetic torque of SRMWherein, θ is position angle, and i is phase current, and L is phase
Inductance, m are the number of phases；
It is f that velocity fluctuation, which minimizes target,1=minVISE, torque ripple minimization target are as follows: f2=minTripple,T=Ttotal(θ,i)；
Constraint condition is maxIISE≤ ε, ε are binding occurrence.
The transmission function of the speed control is
Wherein, KpsFor proportional gain, TisFor integration time constant, s is the pull-type transformation of time,
Wherein, integral gain is
The current controller transmission function is
Wherein, KpiFor proportional gain；TiiFor integration time constant, s is the pull-type transformation of time,
Wherein, integral gain is
The turn-on angle is
Wherein, IcmdFor required phase current, n is motor speed, LuFor winding inductance, UbusFor direct current common voltage.
Embodiment
In the present embodiment, switched reluctance machines used are four phases, 8/6 pole, basic parameter are as follows: rated power 7.5Kw, volume
Determine revolving speed 1500r/min, DC power supply supply voltage 350V, maximum current 20A, 1.2 Ω of stator phase winding internal resistance, rotor is convex
Pole center line aligned position inductance (maximum induction) 50mH, being misaligned position inductance (minimum inductance) is 6mH.
In NSGA-II optimization module, the given range of speed control and current controller PI parameter is set separately are as follows: Kps
∈ [0,30] and Kis∈[0,1]；Kpi∈ [0,30] and Kii∈[0,1].Turn-on angle and the upper and lower limits at shutdown angle are θon∈
[0 °, 7 °] and θoff∈[15°,22.5°]。
NSGA-II algorithm flow is as shown in Figure 2.Firstly, initialization parent population P0, give P0In it is all individual press non-branch
It sorts with relationship, according to sequence to all individual distribution fitness, optimal adaptation angle value is set as 1, carries out operatings of genetic algorithm (choosing
Select, intersect, make a variation) generate progeny population Q0；It is then combined with P0And Q0For R0, give R0It is arranged by non-dominant relationship (a kind of partial ordering relation)
Sequence, and it is classified F1, F2, F3 ... according to the domination number of individual, the highest point for describing the Hasse diagram of the partial ordering relation is F1, with this
Analogize, each individual crowding is calculated for every level-one Fi and sort according to this, so far obtains R0The sequence of all individuals in set；
Then in sequence from R0It is middle to select individual as follow-on parent R1, to R1Carrying out operatings of genetic algorithm, (selection intersects, becomes
It is different) generate progeny population Q1；Repetitive operation, until reaching the number of iterations of population or obtaining optimal solution.
Major parameter in the present embodiment algorithm are as follows: mutation probability 1/6 (variation quantity is 6)；The coefficient of variation 20；Population rule
Mould 100；Functional evaluation maximum quantity 10000.By NSGA-II algorithm, with velocity fluctuation minimum and torque ripple minimization
For general objective, using the current integration difference of two squares as constraint condition, to speed control and the respective ratio of current controller and integral
Gain KpAnd KiAnd machine winding switching angle θonAnd θoff, the result of six parameter optimizations are as follows: Kps=9.116, Kis=
0.888, Kpi=29.975, Kii=0.810, θon=2.31 °, θoff=17.39 °.
Claims (5)
1. a kind of system for inhibiting switched reluctance machines torque pulsation, which is characterized in that including NSGA-II optimization module, speed
Controller, current controller, PWM controller, power inverter, rotor-position detection module, current detection module, phase-change switch
Angle controller；Wherein
NSGA-II optimization module is minimized by NSGA-II algorithm using velocity fluctuation and torque ripple minimization is general objective, with
The current integration difference of two squares is constraint condition, to speed control and the respective ratio of current controller and integral gain, Yi Ji electricity
Machine winding switching angle optimizes；
Speed control adjusts output phase by proportional integration and answers according to the difference of given reference speed value and actual feedback velocity amplitude
Current order；
The difference of reference current value and actual feedback currents value that current controller is exported according to speed control, by proportional integration
It adjusts, exports corresponding control information；
The control information that PWM controller receives current controller calculates duty ratio；
The information that power inverter receives PWM controller changes the switch conditions of switching tube and the power supply electricity of motor phase windings
Press size；
Rotor-position detection module detection rotor-position simultaneously calculates values for actual speed；
Current detection module detects the size of corresponding phase current；
Phase-change switch angle controller calculates the letter for opening, turning off angle according to the result after rotor-position and NSGA-II optimization
It ceases to power inverter.
2. system according to claim 1, which is characterized in that in NSGA-II optimization module
Velocity fluctuation, that is, speed control integrated square error VISE=∫ (ωref-ω)2Dt, ωrefIt is respectively with reference to speed with ω
Angle value and actual feedback velocity amplitude,
Pulsation of current, that is, current controller integrated square error IISE=∫ (Iref-Ipha)2Dt, IrefAnd IphaRespectively speed control
The electric current of device output processed measured to constant current and feedback,
The total electromagnetic torque of SRM
Wherein, θ is position angle, and i is phase current, and L is phase inductance, and m is the number of phases；
It is f that velocity fluctuation, which minimizes target,1=minVISE,
Torque ripple minimization target are as follows: f2=minTripple,
Constraint condition is maxIISE≤ ε, ε are binding occurrence.
3. system according to claim 1, which is characterized in that the transmission function of the speed control is
Wherein, KpsFor proportional gain, TisFor integration time constant, s is the pull-type transformation of time.
4. system according to claim 1, it is characterised in that.The current controller transmission function is
Wherein, KpiFor proportional gain；TiiFor integration time constant, s is the pull-type transformation of time.
5. system according to claim 1, which is characterized in that the turn-on angle is
Wherein, IcmdFor required phase current, n is motor speed, LuFor winding inductance, UbusFor direct current common voltage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811562623.2A CN109660175A (en) | 2018-12-20 | 2018-12-20 | A kind of system inhibiting switched reluctance machines torque pulsation |
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| CN201811562623.2A CN109660175A (en) | 2018-12-20 | 2018-12-20 | A kind of system inhibiting switched reluctance machines torque pulsation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111600527A (en) * | 2020-06-04 | 2020-08-28 | 上海电气集团股份有限公司 | Control method and system of switched reluctance motor |
| CN112886893A (en) * | 2021-01-11 | 2021-06-01 | 山东省科学院自动化研究所 | Switched reluctance motor torque control method and system based on turn-off angle optimization |
| CN113224990A (en) * | 2021-04-07 | 2021-08-06 | 北京汽车股份有限公司 | Torque control optimization method and device applied to new energy automobile |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104467568A (en) * | 2014-12-15 | 2015-03-25 | 中国矿业大学 | Switch reluctance motor braking torque closed-loop control system and method |
| CN104467596A (en) * | 2013-09-12 | 2015-03-25 | 中国计量学院 | Method for reducing torque ripples of switched reluctance motor |
| CN111193454A (en) * | 2020-01-16 | 2020-05-22 | 江苏大学 | Construction method of switched reluctance hub motor vibration reduction and pulsation suppression composite control system |
-
2018
- 2018-12-20 CN CN201811562623.2A patent/CN109660175A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104467596A (en) * | 2013-09-12 | 2015-03-25 | 中国计量学院 | Method for reducing torque ripples of switched reluctance motor |
| CN104467568A (en) * | 2014-12-15 | 2015-03-25 | 中国矿业大学 | Switch reluctance motor braking torque closed-loop control system and method |
| CN111193454A (en) * | 2020-01-16 | 2020-05-22 | 江苏大学 | Construction method of switched reluctance hub motor vibration reduction and pulsation suppression composite control system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111600527A (en) * | 2020-06-04 | 2020-08-28 | 上海电气集团股份有限公司 | Control method and system of switched reluctance motor |
| CN111600527B (en) * | 2020-06-04 | 2024-04-05 | 上海电气集团股份有限公司 | Control method and system for switched reluctance motor |
| CN112886893A (en) * | 2021-01-11 | 2021-06-01 | 山东省科学院自动化研究所 | Switched reluctance motor torque control method and system based on turn-off angle optimization |
| CN112886893B (en) * | 2021-01-11 | 2022-11-04 | 山东省科学院自动化研究所 | Switched reluctance motor torque control method and system based on turn-off angle optimization |
| CN113224990A (en) * | 2021-04-07 | 2021-08-06 | 北京汽车股份有限公司 | Torque control optimization method and device applied to new energy automobile |
| CN113224990B (en) * | 2021-04-07 | 2023-04-07 | 北京汽车股份有限公司 | Torque control optimization method and device applied to new energy automobile |
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