CN110247606A - A kind of impulses injection non position sensor switch magnetic resistance motor control method - Google Patents
A kind of impulses injection non position sensor switch magnetic resistance motor control method Download PDFInfo
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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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P25/086—Commutation
- H02P25/089—Sensorless control
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Abstract
The invention belongs to switched reluctance machines field, in particular to a kind of impulses injection non position sensor switch magnetic resistance motor control method.The present invention controls the beginning of impulses injection using adaptive impulses injection start angle, using the current peak at absolute position as threshold value, and it samples busbar voltage and adjusts threshold value in real time, judge that feedback current peak value injects phase and rotor-position with threshold value relationship switch pulse, revolving speed is calculated by the time difference between absolute position, and then obtains the rotor-position of any time.The negative torque caused by motor that present invention decreases impulses injection methods, power device pipe is reduced to consume and increase system effectiveness, the present invention improves position control accuracy, and directly can carry out accurate conducting shutdown control according to the shutdown angle of opening of each phase, increases the flexibility of control.
Description
Technical field
The invention belongs to switched reluctance machines field, in particular to a kind of impulses injection non position sensor switch magnetic resistance electricity
Machine control method.
Background technique
Due to the particularity in switched reluctance machines structure, accurate rotor-position detection is the weight for guaranteeing its reliability service
The ring wanted.The position detection scheme of early stage has photo-electric, Mageneto-sensitive type and close to switch etc. containing mechanical detection scheme, but in oil
In environment dirty, dust is more, photoelectric sensor may be led to the loss of level signal pulse by the dipping of dirt；High temperature
Under environment, sensor may damage failure；The interference of electromagnetic field of high frequency may cause the detection accuracy of magnetosensitive original part to reduce etc..Position
Signal detection inaccuracy or failure are set, the reliability that will lead to system is greatly lowered, or even causes motor stall and power train
System collapse.
Therefore the location information that rotor is detected using position-sensor-free technology to reduction SRM control system cost, is mentioned
High system reliability, raising power of motor density are of great significance.
Existing switch magnetoresistance motor rotor position identification technique can be mainly divided into excitation phase detection technique and non-actuated
Phase detection technique two major classes.It motivates the torque of phase detection technique detection motor to generate phase winding, utilizes electric current, the voltage in winding
Waveform or its derivative variable (magnetic linkage or inductance etc.) detect rotor-position indirectly.Non-actuated phase detection technique is in motor free time phase
Specific detection signal is injected in winding, by measuring its voltage, current-responsive, calculates the unsaturation electromagnetic property ginseng of motor
Number, estimation obtain rotor position information.
Wherein the impulses injection method of non-actuated phase can be realized four quadrant running, and detection pulse is injected by main converter itself
Without adding additional circuit, it is suitable for stationary state, and the low amplitude value electric current for detecting pulse avoids magnetic saturation effect, the party
The detection accuracy and resolution ratio of method are relatively preferable also relative to other methods in low-medium speed.But the pulse of this method
Mutually drop area can generate certain negative torque under torque for injection, and high-frequency impulses injection can make power device pipe consumption increase
Add.
Summary of the invention
The invention solves technical problem be to overcome the shortcomings of existing impulses injection position-sensor-free detection method, mention
High measurement accuracy reduces impulses injection and negatively affects caused by motor operation, reduces negative torque, pipe consumption.
The technical solution adopted by the present invention:
A kind of impulses injection non position sensor switch magnetic resistance motor control method, using adaptive impulses injection initial angle
It spends to control the beginning of impulses injection, using the current peak at absolute position as threshold value, and samples busbar voltage and adjust in real time
Whole threshold value judges that feedback current peak value injects phase and rotor-position with threshold value relationship switch pulse, by between absolute position
Time difference calculates revolving speed, and then obtains the rotor-position of any time.
A kind of impulses injection non position sensor switch magnetic resistance motor control method, steps are as follows:
Because there is certain zero migration and gain error in actual current sensor and amplifier, and it is different
There are individual differences for sensor and amplifier, so that there are biggish deviations between the three-phase feedback amplification current peak of detection.
For make three-phase feedback amplification current peak it is identical with positional relationship, successively difference 120 ° of electrical angles, need to be to three phase feedback currents peaks
Value is calibrated.
Step 1: simplifying the error model of current sensor and amplifier, it is believed that there is only zero migration and gains
Error.On the basis of A phase feedback currents peak value, three-phase is calibrated, calibration equation is as follows:
Wherein, xA,xB,xCFor not calibrated preceding actually detected value, yA,yB,yCFor the value after calibration, kB,kCFor calibration slope
, bB,bCFor calibration intercept item.
Calibration factor kB,kC,bB,bCCalculation method it is as follows: according to the feedback current of the three-phase windings of different rotor position
Peak value draws figure of the three phase feedback currents peak values about rotor-position, the figure with A phase feedback currents peak value about rotor-position
On the basis of shape, A phase feedback currents peak value is moved to the left 120 ° of electrical angles as B phase about the figure of rotor-position first and is fed back
Calibration targeted graphical of the current peak about rotor-position figure carries out least square method Linear Quasi to B phase feedback currents peak value
Conjunction obtains kB,bB；Then it is opposite as C A phase feedback currents peak value to be moved to the left 240 ° of electrical angles about the figure of rotor-position
It is linear to carry out least square method to C phase feedback currents peak value for calibration targeted graphical of the supply current peak value about rotor-position figure
Fitting obtains kC,bC。
Step 2: absolute position updates the feedback current peak value of point under measurement voltage rating
Absolute position update point selection should convenient for identification and accuracy of identification it is high, therefore select within an electric period P,
Q, absolute position when tri- location points of R inject detection current peak as three-phase pulse updates point, tri- location points of P, Q, R point
It Wei not C and A phase inductance intersection point, A and B phase inductance intersection point, B and C phase inductance intersection point.Derivative of the current peak about position here
Maximum, therefore for the resolution ratio highest of position, and current value ratio is larger herein, and it is smaller by disturbing, and be easy to detect.Simultaneously
Commutation point of these three points directly as impulses injection detection phase.
Be powered to B phase, rotor be attracted to B and is aligned at position, stop holding position after being powered it is motionless A phase is carried out it is more
Subpulse injection, seeks its feedback current peak-to-average；It is powered to C phase, rotor is attracted to C and is aligned at position, stop logical
Holding position is motionless after electricity carries out multiple pulses injection to A phase, seeks its feedback current peak-to-average；Operation twice is obtained
Mean value takes mean value as the feedback current peak threshold at the absolute position after correction again.
Step 3: impulses injection phase switch logic
It is exhausted after the actually detected feedback current peak value amplified after calibrating and second step are scaled in real time by comparing voltage
Feedback current peak threshold at position is compared, when the former be greater than the latter when, by carry out impulses injection phase switching and
The update of location information, while last absolute position is recorded to the time difference between this time absolute position, for calculating revolving speed.
In the case of motor rotates forward, it is as follows that different sectors respective pulses inject phase switching condition:
When rotor-position is at sector 1 or 2, impulses injection is mutually A phase at this time, meets iApeak> isetU/UNWhen, it will this moment
Rotor-position pressure is updated to P point position, and impulses injection is mutually switched to B phase；
When rotor-position is at sector 3 or 4, impulses injection is mutually B phase at this time, meets iBpeak> isetU/UNWhen, it will this moment
Rotor-position pressure is updated to Q point position, and impulses injection is mutually switched to C phase；
When rotor-position is at sector 5 or 6, impulses injection is mutually C phase at this time, meets iCpeak> isetU/UNWhen, it will this moment
Rotor-position pressure is updated to R point position, and impulses injection is mutually switched to A phase；
In the case of motor reversal, it is as follows that different sectors respective pulses inject phase switching condition:
When rotor-position is at sector 1 or 2, impulses injection is mutually B phase at this time, meets iBpeak> isetU/UNWhen, it will this moment
Rotor-position pressure is updated to R point position, and impulses injection is mutually switched to A phase；
When rotor-position is at sector 3 or 4, impulses injection is mutually C phase at this time, meets iCpeak> isetU/UNWhen, it will this moment
Rotor-position pressure is updated to P point position, and impulses injection is mutually switched to B phase；
When rotor-position is at sector 5 or 6, impulses injection is mutually A phase at this time, meets iApeak> isetU/UNWhen, it will this moment
Rotor-position pressure is updated to Q point position, and impulses injection is mutually switched to C phase；
Wherein iApeak、iBpeak、iCpeakFor the feedback current peak value after amplification calibration, isetFor the feedback electricity at absolute position
Peak threshold is flowed, U is real-time busbar voltage, UNFor voltage rating.
Step 4: adaptive pulse start angle control
After rigid switch pulse injects phase, if directly carrying out impulses injection to it, it is found that in very long a period of time
Threshold value is far not achieved in interior detection current peak, causes extra power device pipe to consume and generates certain negative torque, therefore uses
With the adaptive impulses injection start angle control method of rotation speed change, while enabling the system to stable operation, reduction side
The negative effect of method bring itself.
In the case of motor rotates forward, the corresponding beginning impulses injection condition of different sectors is as follows:
When rotor-position is at sector 1 or 2, impulses injection is mutually A phase at this time, meets θ > θP-ΔθadjWhen, start to A
Phase injected pulse；
When rotor-position is at sector 3 or 4, impulses injection is mutually B phase at this time, meets θ > θQ-ΔθadjWhen, start to B
Phase injected pulse；
When rotor-position is at sector 5 or 6, impulses injection is mutually C phase at this time, meets θ > θR-ΔθadjWhen, start to C
Phase injected pulse.
In the case of motor reversal, the corresponding beginning impulses injection condition of different sectors is as follows:
When rotor-position is at sector 1 or 2, impulses injection is mutually B phase at this time, meets θ > θR-ΔθadjWhen, start to B
Phase injected pulse；
When rotor-position is at sector 3 or 4, impulses injection is mutually C phase at this time, meets θ > θP-ΔθadjWhen, start to C
Phase injected pulse；
When rotor-position is at sector 5 or 6, impulses injection is mutually A phase at this time, meets θ > θQ-ΔθadjWhen, start to A
Phase injected pulse.
Wherein 1 left margin corresponding angle of sector is 0, and 6 the right of sector is machine corresponding to a rotor pole along corresponding angle
Tool angle.θP、θQ、θRRespectively 3 points of corresponding rotor-positions of P, Q, R, Δ θadjIt is adaptive angle compared to absolute position
Advance angle measurement, as shown in Figure 1.
Adaptive impulses injection angle should ensure that at least certain detection number before reaching absolute position and updating point,
And certain angle allowance is left and taken, to guarantee the stable operation of system.When injecting the pulse signal of fixed frequency, no matter switch
The revolving speed of reluctance motor is much, the pulse signal number injected within the unit time be it is identical, as revolving speed increases, motor exists
The angle turned in two time pulse signals increases, and in identical angular range, the quantity of injected pulse is just reduced.Thus
It is found that adaptive impulses injection angle is related with revolving speed, when revolving speed is bigger, advance angle measures Δ θadjYing Yue great, can be by following formula
It calculates:
In formula, xminIndicate that the minimum pulse of setting detects number, n indicates motor speed, finjIndicate high frequency voltage pulse
Frequency,For the angle allowance for guaranteeing system reliability service.
It is larger with actual speed difference since revolving speed algorithm is calculated by mean speed when starting and revolving speed are lower,
It is not suitable for the control of adaptive impulses injection start angle in this stage, therefore when revolving speed is below certain revolving speed is mutually complete using detecting
Stage pulse injection, after being higher than this revolving speed, then using the control of adaptive impulses injection start angle.
Step 5: accurately calculating revolving speed and rotor-position
Revolving speed, which calculates, uses T velocimetry.The time that point is updated by two neighboring absolute position is recorded with timer, due to
Absolute position update o'clock is equally spaced within an inductance period, and 3 absolute positions update the 120 ° of electrical angles in point interval, corresponds to
Mechanical angle be also it is fixed, so as to find out the revolving speed of motor.In order to guarantee that motor stabilizing is run, can find out multiple adjacent
Revolving speed mean value corresponding to the electric period is as the motor actual speed calculated.Shown in the following institute of its calculation formula:
In formula, ftimerIndicate timer count frequency, p indicates rotor number of poles, m1...m6For the adjacent absolute position of d group
Set the timer count value updated between point.
The frequency that General System carries out control calculating is fixed, and digital incremental meter can be used in the calculation method of rotor-position
It calculates, i.e., position this moment is that the position of last moment adds position change amount, and calculation formula is such as shown in (4):
In formula, θnIndicate this moment rotor-position, θn-1Indicate last moment rotor-position,nIndicate motor speed, fculTable
Show that rotor-position calculates frequency.
In addition, in order to make increment type rotor-position calculation method not have the excessive accumulation of error, and then influence control essence
Degree carries out pressure update to rotor-position when detecting that absolute position updates point, so that calculating more accurate.
The present invention has following positive effect:
1. reducing the negative torque caused by motor of impulses injection method.
2. reducing power device pipe consumption.
3. increasing system effectiveness.
4. improving position control accuracy, and accurate conducting pass directly can be carried out according to the shutdown angle of opening of each phase
Disconnected control, increases the flexibility of control.
Detailed description of the invention
Fig. 1 is the absolute position update point that impulses injection detects current peak threshold value.
Fig. 2 is calibration three-phase impulses injection current peak figure.
Fig. 3 is three-phase pulse Injection Current peak value figure after calibration.
Fig. 4 is in the case of different rotating speeds, position is compared and location error figure.
The testing result that Fig. 4 (a) and Fig. 4 (f) are revolving speed when being 100rpm；It is 200rpm that Fig. 4 (b) and Fig. 4 (g), which is revolving speed,
When testing result；The testing result that Fig. 4 (c) and Fig. 4 (h) are revolving speed when being 500rpm；Fig. 4 (d) and Fig. 4 (i) are for revolving speed
Testing result when 1000rpm；The testing result that Fig. 4 (e) and Fig. 4 (j) are revolving speed when being 1500rpm.
Fig. 5 is three-phase current waveform and three-phase pulse injection feedback current waveform in the case of different rotating speeds.
The measurement result that Fig. 5 (a) and Fig. 5 (f) are revolving speed when being 100rpm；It is 200rpm that Fig. 5 (b) and Fig. 5 (g), which is revolving speed,
When measurement result；The measurement result that Fig. 5 (c) and Fig. 5 (h) are revolving speed when being 500rpm；Fig. 5 (d) and Fig. 5 (i) are for revolving speed
Measurement result when 1000rpm；The measurement result that Fig. 5 (e) and Fig. 5 (j) are revolving speed when being 1500rpm.
Specific embodiment
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail.
Embodiment 1: using a 12/8 pole 1500rpm 5kW switched reluctance machines as model machine, voltage rating 60V, voltage arteries and veins
Rush injected frequency 10kHz, duty ratio 1/9.Current sensor uses 50A/5V closed-loop Hall current sensor, and output is passed through
The AD conversion pin of access DSP control chip after operational amplifier amplifies 5.7 times.
The current peak waveform of experiment one Machine cycle of actual measurement is as shown in Fig. 2, current peak waveform is such as after corrected
Shown in Fig. 3, bearing calibration is as noted above, passes through 0~360 ° of (interval 1 °) mechanical angle corresponding electricity in totally 360 group rotor positions
Stream peak value measured value carries out least square method linear fit on the basis of A phase current peak value measured value and obtains kB,kC,bB,bCPoint
It Wei 1.0035,1.0695,170.1,95.72.
By method described in step 2, the feedback current peak threshold at the absolute position after actually measured correction is
1302。
Test measuring rotating speed in 100rpm or less, speed error is larger, for guarantee system stablize, 0~180rpm it
Between using the injection control of full stage pulse, controlled between 120~1500rpm, controlled using adaptive impulses injection start angle
Hysteresis control is added when switching in mode processed.
This system, which realizes, to be opened shutdown angle and is accurately controlled, and uses adaptive hold-off angle control plan of opening
Slightly.Adaptive turn-on angle calculating is shown below:
In formula, ω indicates motor rotational angular velocity, LuIt indicates to be misaligned the inductance at rotor-position, icmdIndicate winding electricity
Flow given value, UbusIndicate DC bus-bar voltage, when rotating forward symbol take-, when reversion symbol take+.
For the detent torque for increasing motor, inductance rising area should be made full use of to generate positive torque, should be used in low speed
Single two-phase operation；Simultaneously in high speed, in order to avoid current tail to inductance descending area generates negative torque, should suitably it close in advance
The angle of rupture.To make system run all right, 2 transition regions are increased for smoothly switching different shutdown angles.Adaptive shutdown angle function
It is shown below:
In order to position that the improvement high-frequency impulse injection method of proposition is calculated in motor operation and physical location into
Row comparison, it is soft or hard in control system without position sensor using the detection position in the case of position sensor as physical location
On the basis of part, in addition the hardware and inspection software of position sensor, every 0.1ms simultaneously by position-sensor-free method with have
The position of position sensor method detection is stored in control chip memory, is tested export data by real-time simulation, is obtained not
With under speed conditions, position sensor and position-sensor-free position is compared and location error figure is as shown in Figure 4.In the figure
(a), (b), (c), (d), (e) compare figure for the position of position sensor and position-sensor-free in the case of different rotating speeds,
(f), (g), (h), (i), the location error figure that (j) is position sensor and position-sensor-free in the case of different rotating speeds.(a)
(f) testing result when be revolving speed being 100rpm；(b) testing result when and (g) be revolving speed is 200rpm；(c) and (h) is
Testing result when revolving speed is 500rpm；(d) testing result when and (i) be revolving speed is 1000rpm；(e) it is for revolving speed with (j)
Testing result when 1500rpm.
In the case of different rotating speeds, three-phase current waveform and three-phase pulse injection feedback current waveform are as shown in Figure 5.Scheming
In, (a), (b), (c), (d), (e) be different rotating speeds in the case of three-phase current waveform, (f), (g), (h), (i), (j) be difference
Three-phase pulse injects feedback current waveform under speed conditions.(a) measurement result when and (f) be revolving speed is 100rpm；(b) and
(g) measurement result when be revolving speed being 200rpm；(c) measurement result when and (h) be revolving speed is 500rpm；(d) and (i) is to turn
Measurement result when speed is 1000rpm；(e) measurement result when and (j) be revolving speed is 1500rpm.
The improved impulses injection non position sensor switch magnetic resistance motor control method of the present invention is simply easily implemented, and can subtract
The negative torque caused by motor of small-pulse effect injection method influences, and reduces power device pipe consumption, increases system effectiveness, hence it is evident that improve position
Control precision is set, and accurate conducting shutdown control directly can be carried out according to the shutdown angle of opening of each phase, increases control
Flexibility.
Claims (2)
1. a kind of impulses injection non position sensor switch magnetic resistance motor control method, which is characterized in that steps are as follows:
Step 1: being calibrated to three-phase, calibration equation is as follows on the basis of A phase feedback currents peak value:
Wherein, xA,xB,xCFor not calibrated preceding actually detected value, yA,yB,yCFor the value after calibration, kB,kCFor calibration slope item,
bB,bCFor calibration intercept item；
Step 2: absolute position updates the feedback current peak value of point under measurement voltage rating
Absolute position when selecting tri- location points of P, Q, R to inject detection current peak as three-phase pulse within an electric period
Point is updated, tri- location points of P, Q, R are respectively C and A phase inductance intersection point, A and B phase inductance intersection point, B and C phase inductance intersection point；
It is powered to B phase, rotor is attracted to B and is aligned at position, stop after being powered that holding position is motionless to be no less than A phase
Impulses injection twice seeks its feedback current peak-to-average；It is powered to C phase, rotor is attracted to C and is aligned at position, is stopped
The motionless impulses injection carried out to A phase no less than twice in holding position after being only powered, seeks its feedback current peak-to-average；By two
The secondary obtained mean value that operates takes mean value as the feedback current peak threshold at the absolute position after correction again；
Step 3: impulses injection phase switch logic
In the case of motor rotates forward, it is as follows that different sectors respective pulses inject phase switching condition:
When rotor-position is at sector 1 or 2, impulses injection is mutually A phase at this time, meets iApeak> isetU/UNWhen, it will rotor this moment
Position forces to be updated to P point position, and impulses injection is mutually switched to B phase；
When rotor-position is at sector 3 or 4, impulses injection is mutually B phase at this time, meets iBpeak> isetU/UNWhen, it will rotor this moment
Position forces to be updated to Q point position, and impulses injection is mutually switched to C phase；
When rotor-position is at sector 5 or 6, impulses injection is mutually C phase at this time, meets iCpeak> isetU/UNWhen, it will rotor this moment
Position forces to be updated to R point position, and impulses injection is mutually switched to A phase；
In the case of motor reversal, it is as follows that different sectors respective pulses inject phase switching condition:
When rotor-position is at sector 1 or 2, impulses injection is mutually B phase at this time, meets iBpeak> isetU/UNWhen, it will rotor this moment
Position forces to be updated to R point position, and impulses injection is mutually switched to A phase；
When rotor-position is at sector 3 or 4, impulses injection is mutually C phase at this time, meets iCpeak> isetU/UNWhen, it will rotor this moment
Position forces to be updated to P point position, and impulses injection is mutually switched to B phase；
When rotor-position is at sector 5 or 6, impulses injection is mutually A phase at this time, meets iApeak> isetU/UNWhen, it will rotor this moment
Position forces to be updated to Q point position, and impulses injection is mutually switched to C phase；
Wherein iApeak、iBpeak、iCpeakFor the feedback current peak value after amplification calibration, isetFor the feedback current peak at absolute position
It is worth threshold value, U is real-time busbar voltage, UNFor voltage rating；
Step 4: adaptive pulse start angle control
In the case of motor rotates forward, the corresponding beginning impulses injection condition of different sectors is as follows:
When rotor-position is at sector 1 or 2, impulses injection is mutually A phase at this time, meets θ > θP-ΔθadjWhen, start to inject A phase
Pulse；
When rotor-position is at sector 3 or 4, impulses injection is mutually B phase at this time, meets θ > θQ-ΔθadjWhen, start to inject B phase
Pulse；
When rotor-position is at sector 5 or 6, impulses injection is mutually C phase at this time, meets θ > θR-ΔθadjWhen, start to inject C phase
Pulse；
In the case of motor reversal, the corresponding beginning impulses injection condition of different sectors is as follows:
When rotor-position is at sector 1 or 2, impulses injection is mutually B phase at this time, meets θ > θR-ΔθadjWhen, start to inject B phase
Pulse；
When rotor-position is at sector 3 or 4, impulses injection is mutually C phase at this time, meets θ > θP-ΔθadjWhen, start to inject C phase
Pulse；
When rotor-position is at sector 5 or 6, impulses injection is mutually A phase at this time, meets θ > θQ-ΔθadjWhen, start to inject A phase
Pulse；
θP、θQ、θRRespectively 3 points of corresponding rotor-positions of P, Q, R, Δ θadjFor adaptive angle mentioning compared to absolute position
Preceding angular amount；
Adaptive impulses injection angle is related with revolving speed, and when revolving speed is bigger, advance angle measures Δ θadjYing Yue great, can be by following formula
It calculates:
In formula, xminIndicate that the minimum pulse of setting detects number, n indicates motor speed, finjIndicate the frequency of high frequency voltage pulse
Rate,For the angle allowance for guaranteeing system reliability service；
Step 5: accurately calculating revolving speed and rotor-position
Revolving speed, which calculates, uses T velocimetry, shown in the following institute of motor speed n calculation formula:
In formula, ftimerIndicate timer count frequency, p indicates rotor number of poles, m1...m6It is updated for the adjacent absolute position of d group
Timer count value between point；
Rotor positionnCalculation formula is such as shown in (4):
In formula, θnIndicate this moment rotor-position, θn-1Indicate last moment rotor-position,nIndicate motor speed, fculIt indicates to turn
Sub- position calculates frequency.
2. impulses injection non position sensor switch magnetic resistance motor control method as described in claim 1, which is characterized in that the
In one step, calibration factor kB,kC,bB,bCCalculation method it is as follows: according to the feedback current of the three-phase windings of different rotor position
Peak value draws figure of the three phase feedback currents peak values about rotor-position, the figure with A phase feedback currents peak value about rotor-position
On the basis of shape, A phase feedback currents peak value is moved to the left 120 ° of electrical angles as B phase about the figure of rotor-position first and is fed back
Calibration targeted graphical of the current peak about rotor-position figure carries out least square method Linear Quasi to B phase feedback currents peak value
Conjunction obtains kB,bB；Then it is opposite as C A phase feedback currents peak value to be moved to the left 240 ° of electrical angles about the figure of rotor-position
It is linear to carry out least square method to C phase feedback currents peak value for calibration targeted graphical of the supply current peak value about rotor-position figure
Fitting obtains kC,bC。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110829938A (en) * | 2019-11-25 | 2020-02-21 | 中国矿业大学 | Low-speed operation control method for switched reluctance motor without position sensor |
| CN112953343A (en) * | 2021-02-03 | 2021-06-11 | 大连理工大学 | Novel position-sensor-free initial positioning method of switched reluctance motor |
| CN115065297A (en) * | 2022-05-22 | 2022-09-16 | 西北工业大学 | Switched reluctance motor mode stable switching method based on angle optimization control |
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| CN110829938A (en) * | 2019-11-25 | 2020-02-21 | 中国矿业大学 | Low-speed operation control method for switched reluctance motor without position sensor |
| CN112953343A (en) * | 2021-02-03 | 2021-06-11 | 大连理工大学 | Novel position-sensor-free initial positioning method of switched reluctance motor |
| CN112953343B (en) * | 2021-02-03 | 2024-02-06 | 大连理工大学 | Novel sensorless initial positioning method for switch reluctance motor |
| CN115065297A (en) * | 2022-05-22 | 2022-09-16 | 西北工业大学 | Switched reluctance motor mode stable switching method based on angle optimization control |
| CN115065297B (en) * | 2022-05-22 | 2024-03-05 | 西北工业大学 | Angle optimization control-based switched reluctance motor mode stable switching method |
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