CN109672386A - A kind of switch magnetoresistance motor rotor position detection method - Google Patents
A kind of switch magnetoresistance motor rotor position detection method Download PDFInfo
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- CN109672386A CN109672386A CN201811343713.2A CN201811343713A CN109672386A CN 109672386 A CN109672386 A CN 109672386A CN 201811343713 A CN201811343713 A CN 201811343713A CN 109672386 A CN109672386 A CN 109672386A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P21/18—Estimation of position or speed
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based 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
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention discloses the switch magnetoresistance motor rotor position detection method in a kind of drive and control of electric machine technical field, and the corresponding magnetic linkage of rotor angle is sequentially divided into region 1~6 by the corresponding rotor angle of measurement six specific positions of motor；Motor is sampled, calculate the magnetic linkage value of rotor angle, the magnetic linkage value of each rotor angle and the relationship of phase current are established, judges whether it is in region 3 or region 6 according to the magnetic linkage value of each sampled point, rotor position angle is obtained according to the magnetic linkage value region of sampled point；The present invention carries out estimation calculating to the relationship of rotor position angle and number of sampling points, obtains the position prediction of rotor position angle, and calculation process is simple, and as a result accurately, position detection is rapid.
Description
Technical field
The present invention relates to drive and control of electric machine technical field, the rotor-position of specifically a kind of switched reluctance machines it is quick
Detection method.
Background technique
Switched reluctance machines have many advantages, such as that structure is simple, reliable for operation, easy to control compared with other motors, but need
Accurate rotor-position signal is wanted, the rotor-position detection of switched reluctance machines is very heavy for the control of switched reluctance machines
It wants.Traditional switch magnetoresistance motor rotor position detection method is direct position detection method, using mechanical position sensor, such as suddenly
That sensor, optical encoder etc. such a process increases the complexity of switched reluctance machines structure and increase cost, together
When, testing result will receive the influence of many factors such as environment temperature, vibration, dust, and reliability and stability are not high.At present
There is the switching magnetic-resistance method for detecting position established by flux linkage model, Nonlinear Modeling usually is carried out to the magnetic linkage of motor, as in
A kind of switched reluctance motor flux linkage non-linear modeling method is proposed in the document that state's patent publication No. is CN 106341066A,
But due to the difficulty and inaccuracy of magnetic linkage measurement, lead to error occur by the rotor-position of the pre- measured motor of flux linkage model.
Summary of the invention
It is an object of the invention to solve the problems, such as that existing switch magnetoresistance motor rotor position exists, proposing one kind can
It leans on, the accurate and rapid switched reluctance machines position rotor method for detecting position of detection.
A kind of switch magnetoresistance motor rotor position detection method of the present invention is the technical solution adopted is that include as follows
Step:
(1) the corresponding rotor angle θ of measurement six specific positions of motor1、θu、θ2、θ3、θaAnd θ4, sequentially by rotor angle pair
The magnetic linkage answered is divided into region 1~6；
(2) motor is sampled, calculates the magnetic linkage value of rotor angleEstablish the magnetic linkage value of each rotor angle
With the relationship of phase current i, θ=θ1, θu, θ2, θ3, θa, θ4:
(3) according to the magnetic linkage value of each sampled pointJudge whether it is in region 3 or region 6；
(4) rotor position angle is obtained according to the magnetic linkage value region of sampled point.
The beneficial effects of the present invention are:
1, the present invention has carried out region division to it according to the magnetic linkage curve of switched reluctance machines, can pass through magnetic linkage respectively
The magnetic linkage value direct solution of linear model and two specific positions.Flux linkage model can be quickly established by the subregion of flux linkage model
And by it in conjunction with signal sampling.Other ancillary equipments, not traditional machinery are not needed for the rotor position measurement of motor
Structure, structure are simple.
2, the relationship that rotor position angle and number of samples can be directly established after motor stabilizing operation, is utilized rotor position angle
With the linear approximate relationship of number of sampling points, due in linear region using linear model calculation formula, other regions
It is analyzed by one-variable linear regression, estimation calculating is carried out to the relationship of rotor position angle and number of sampling points, finally
To the position prediction of rotor position angle, calculation process is simple, and calculated result is accurate, and position detection is rapid.
3, rotor position detecting method of the present invention is suitable for any operating condition.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of four phases, 8/6 pole switching reluctance motor；
In Fig. 1: 11- stator yoke；12- stator poles；13- stator winding；14- rotor pole；15- rotor yoke；16- shaft；
Fig. 2 is the single-phase magnetic linkage curve graph of switched reluctance machines；
Fig. 3 is the rotor specific position term explanatory diagram illustrated in the present invention.
Specific embodiment
Referring to Fig. 1, the present invention is illustrated with four phases, 8/6 pole switching reluctance motor, but is not limited to four phase switch reluctances electricity
Machine, but may include the switched reluctance machines of any number of phases.In order to simplify structure, twining for a phase winding is only depicted in Fig. 1
Around mode.Switched reluctance machines include stator and rotor, and rotor coaxial is covered in stator interior, and stator is by stator yoke 11 and stator poles
12 compositions, the stator poles arc angle of stator poles 12 are βs.Rotor fixing sleeve is in shaft 16, and rotor is by rotor yoke 15 and rotor pole
14 compositions, the rotor pole arc angle of rotor pole 14 are βr, usual rotor pole arc angle betarGreater than stator poles arc angle βs.Stator poles
It is wound with stator winding 16 on 12, opposite winding A1 and A2 constitutes A phase in stator poles 12, and the present invention is with any one phase magnetic linkage
Example.The stator poles arc angle β of stator poles 12sWith βrRespectively stator polar arc and rotor pole arc.
The present invention measures the corresponding angle value of specific position of switched reluctance machines first, carries out area to motor magnetic linkage curve
Domain divides.Then the fit correlation for establishing specific position magnetic linkage value and electric current clicks through sampling according to the magnetic linkage size of sampled point
Row region decision finally fits the pass of motor rotor position angle and number of samples in stable operation using the principle of least square
System.Specific step is as follows:
Step 1: by the rotor of rotating electric machine, the corresponding rotor angle value of motor specific position is measured.Referring to fig. 2, when
One timing of electric machine phase current, the single-phase magnetic linkage of motor is the nonlinear function of rotor angle location.
The rotor angle of selected six specific positions, is rotor angle θ respectively1、θu、θ2、θ3、θaAnd θ4.Referring back to Fig. 3, this
Six specific positions are respectively:
First specific position: the position that pole side is overlapped with stator leading pole tip after rotor, corresponding rotor angle are θ1；
Second specific position: the position that rotor recesses center is overlapped with magnetic pole of the stator axis is misaligned position, corresponding
Rotor angle is θu；
Third specific position: rotor leading pole tip is θ with the position that pole side is overlapped after stator, corresponding rotor angle2；
4th specific position: the position that the starting point that stator, rotor magnetic pole are all overlapped, i.e. stator, rotor leading pole tip are overlapped,
Corresponding rotor angle is θ3；
5th specific position: the position that rotor field axis is overlapped, i.e., aligned position, corresponding rotor angle are θa；
6th specific position: the position that pole side is overlapped after stator, rotor, corresponding rotor angle is θ4。
Then, the periodicity that the characteristic of middle switched reluctance motor flux linkage curve and motor rotate according to fig. 2 will sequentially turn
The corresponding magnetic linkage in sub- angle is divided into this 6 regions of region 1~6: region 1 is rotor angle θ1~θuRegion, region 2 are rotors
Angle θu~θ2Region, region 3 are rotor angle θ2~θ3Region, region 4 are rotor angle θ3~θaRegion, region 5
It is rotor angle θa~θ4Region, region 6 are rotor angle θ4~θ1Region.
Step 2: sampling switched reluctance machines, and the resistance value R of entire circuit is measured using universal meter, is passed through
Voltage and current sensor detects the phase voltage and phase current of each sampled point, sampling period T, entire sampling process covering electricity
Machine entire operation cycle.Then the corresponding magnetic linkage value of specific position under different size phase current is calculated.
When one timing of motor speed, k-th of sampled point is directly proportional to the angle, θ that rotor at this time turns over, with rotational speed omega at anti-
Than such as following formula:
Then (2) calculate the rotor angle θ of specific position according to the following formula1, θu, θ2, θ3, θa, θ4Magnetic linkage value
In formula,It is the magnetic linkage value under corresponding rotor angle θ；θ=θ1, θu, θ2, θ3, θa, θ4；ukAnd ikIt is respectively each
The phase voltage and phase current size of sampled point；T is the sampling period；K is sampling number.With rotor angle θ1For: it can according to formula (1)
It acquires and rotor angle θ1K value substitution formula (2) can be acquired rotor angle θ by corresponding sampling number k1Corresponding magnetic linkage value
The input for changing motor, can obtain the magnetic linkage value of specific position under multiple groups different size phase current, establish each spy
Determine the magnetic linkage value of position angle and the relationship of phase current.In order to more accurately establish the pass of magnetic linkage and phase current under specific position
Motor input can be varied multiple times in system, and number is The more the better.Then by Least Square Support Vector Regression to each certain bits
Angle setting degree magnetic linkage value and the relationship of phase current are fitted, and obtain coefficient matrix, and then obtain matrix relationship shown in formula (3):
In formula, i is phase current size,Respectively turn
Sub- angle θ1, θu, θ2, θ3, θa, θ4Under corresponding phase current be i when magnetic linkage value；[aij] (i=1-5, j=1-3) be coefficient matrix.
Step 3: according to the magnetic linkage of each sampled pointCarry out region decision.
According to the magnetic linkage value of formula (2) calculated sampled pointJudge the magnetic linkage value of each sampled pointWhether it is in
In region 3 or region 6.When being located at the phase current i situation of motor, the magnetic linkage value of k-th of sampled point isKth+1 sampling
Point magnetic linkage value beJudgment method is as follows:
WhenAndWhen, indicate the magnetic linkage value of the sampled point in region 3, otherwise not
In region 3；
WhenAndWhen, indicate the magnetic linkage value of the sampled point in region 6, otherwise not
In region 6.
Step 4: it is detected to obtain the rotor position angle of sampled point according to sampled point region.
If the magnetic linkage value of sampled point is in region 3, magnetic linkageIt is approximately straight line with rotor position angle θ, as shown in Fig. 2,
Therefore the rotor position angle of each sampled point in region 3 directly calculates according to the following formula (4):
In formula, θ (i) is phase current k-th of sampled point corresponding rotor position angle when being i,When for phase current being i
The magnetic linkage value of k sampled point
Similarly, if the magnetic linkage value of sampled point is in region 6, rotor position angle directly calculates according to the following formula:
In formula, TθFor rotor cycle angle.
If the magnetic linkage value of sampled point, in non-area 3 and region 6, rotor position angle detection is calculated by linear regression, tool
Body is as follows:
When motor is in stable operation, motor speed can approximation regard steady state value as, at this time when mono- timing of sampling period T,
Rotor position angle θ is approximate with k directly proportional.Using simple regression analysis theory, if:
θ (i)=a+bk (6)
In region 3 and region 6 sampled point respectively can be acquired by formula (4) and (5) θ (i) withRelationship, further
The numerical value of each group corresponding θ (i) and k into region 3 and region 6, utilizes the sampled point and least square in region 3 and region 6
Principle can estimate parameter a and b that the estimated value for obtaining a, b is respectively aσ, and bσ:
θσAnd kσThe respectively average value of the θ and k value corresponding with sampled points all in region 6 of region 3, θ3/6It (i) is Fig. 2 institute
Show the rotor angle corresponding with sampled point each in region 6 of region 3.It is corresponding when phase current is i that any sampled point then can be obtained
Rotor position angle θ (i):
θ (i)=aσ+bσk (8)。
Claims (6)
1. a kind of switch magnetoresistance motor rotor position detection method, it is characterized in that including the following steps:
(1) the corresponding rotor angle θ of measurement six specific positions of motor1、θu、θ2、θ3、θaAnd θ4, sequentially that rotor angle is corresponding
Magnetic linkage is divided into region 1~6；
(2) motor is sampled, calculates the magnetic linkage value of rotor angleEstablish the magnetic linkage value of each rotor angleWith phase
The relationship of electric current i, θ=θ1, θu, θ2, θ3, θa, θ4:
(3) according to the magnetic linkage value of each sampled pointJudge whether it is in region 3 or region 6；
(4) rotor position angle is obtained according to the magnetic linkage value region of sampled point.
2. a kind of switch magnetoresistance motor rotor position detection method according to claim 1, it is characterized in that: in step (1),
Six specific positions are respectively: the position that pole side is overlapped with stator leading pole tip after rotor, corresponding rotor angle are θ1；Rotor recesses
The position that center is overlapped with magnetic pole of the stator axis, corresponding rotor angle are θu；Rotor leading pole tip and the position that pole side is overlapped after stator
It sets, corresponding rotor angle is θ2；The position that stator, rotor leading pole tip are overlapped, corresponding rotor angle is θ3；Rotor field axis
The position of coincidence, corresponding rotor angle are θa；The position that pole side is overlapped after stator, rotor, corresponding rotor angle is θ4；Region 1 is
Rotor angle θ1~θuRegion, region 2 are rotor angle θu~θ2Region, region 3 are rotor angle θ2~θ3Region, area
Domain 4 is rotor angle θ3~θaRegion, region 5 are rotor angle θa~θ4Region, region 6 are rotor angle θ4~θ1Location
Domain.
3. a kind of switch magnetoresistance motor rotor position detection method according to claim 2, it is characterized in that: in step (2),
According to formulaCalculate magnetic linkage valueK-th of sampled pointω is rotational speed omega, and T is sampling week
Phase, ukAnd ikThe phase voltage and phase current of respectively each sampled point.
4. a kind of switch magnetoresistance motor rotor position detection method according to claim 3, it is characterized in that: in step (3),
WhenAndWhen, the magnetic linkage value of sampled point is in region 3, otherwise not in region 3；WhenAndWhen, the magnetic linkage value of sampled point is in region 6, otherwise not in region 6,For
The magnetic linkage value of k-th of sampled point,For the magnetic linkage value of+1 sampled point of kth,
Respectively rotor angle θ1、θ2、θ3、θ4Under corresponding phase current be i when magnetic linkage value.
5. a kind of switch magnetoresistance motor rotor position detection method according to claim 4, it is characterized in that: in step (4),
If the magnetic linkage value of sampled point is in region 3, according to formulaRotor-position is calculated
Angle θ (i)；According to formulaRotor position angle θ (i), T is calculatedθFor rotor cycle
Angle.
6. a kind of switch magnetoresistance motor rotor position detection method according to claim 4, it is characterized in that: in step (4),
If the magnetic linkage value of sampled point is in non-area 3 and region 6, according to formula θ (i)=aσ+bσK, aσ=θσ-bσkσ,Rotor position angle θ (i), θ is calculatedσAnd kσRespectively all sampled points pair in region 3 and region 6
The average value for the θ and k value answered, θ3/6(i) rotor angle corresponding with sampled point each in region 6 of region 3.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111697891A (en) * | 2020-06-10 | 2020-09-22 | 大连理工大学 | Method for detecting current peak position of switched reluctance motor |
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| CN103401487A (en) * | 2013-07-15 | 2013-11-20 | 中国矿业大学 | Position-sensor-free control method suitable for four-quadrant operation of switch reluctance motor |
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| CN107733302A (en) * | 2017-09-13 | 2018-02-23 | 天津工业大学 | A kind of device and method of position of switched reluctance motor without control |
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2018
- 2018-11-13 CN CN201811343713.2A patent/CN109672386A/en active Pending
Patent Citations (3)
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| CN103401487A (en) * | 2013-07-15 | 2013-11-20 | 中国矿业大学 | Position-sensor-free control method suitable for four-quadrant operation of switch reluctance motor |
| CN107425781A (en) * | 2016-01-06 | 2017-12-01 | 西北工业大学 | A kind of SRM positions predictor method based on linear flux linkage model and linear regression analysis |
| CN107733302A (en) * | 2017-09-13 | 2018-02-23 | 天津工业大学 | A kind of device and method of position of switched reluctance motor without control |
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| CN111697891A (en) * | 2020-06-10 | 2020-09-22 | 大连理工大学 | Method for detecting current peak position of switched reluctance motor |
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