CN110445429A - A kind of position-less sensor of switched reluctance motor method for starting-controlling - Google Patents
A kind of position-less sensor of switched reluctance motor method for starting-controlling Download PDFInfo
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- CN110445429A CN110445429A CN201910722083.8A CN201910722083A CN110445429A CN 110445429 A CN110445429 A CN 110445429A CN 201910722083 A CN201910722083 A CN 201910722083A CN 110445429 A CN110445429 A CN 110445429A
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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
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor
-
- 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 relates to a kind of position-less sensor of switched reluctance motor method for starting-controlling, for realizing position-less sensor of switched reluctance motor standing start and start after middle low speed when position Sensorless Control under it is open-minded, turn off the dynamic regulation at angle, rotor-position two groups of data corresponding with unsaturated inductance are obtained in the way of off-line measurement, the angle and inductive data for choosing inductance decline region carry out data fitting, obtain inductance-angle mathematical model, it will open again, shutdown angle substitutes into the mathematical model, corresponding inductance threshold values is obtained to intersect to obtain desired driving signal with non-conduction phase inductance.The method of the present invention is low to hardware requirement, realizes simply, is not influenced by inductance saturation.
Description
Technical field
The present invention relates to a kind of position-less sensor of switched reluctance motor method for starting-controlling, belong to switched reluctance machines control
Technical field processed.
Background technique
Switched reluctance machines have many advantages, such as that structure is simple, high-efficient, fault-tolerant ability is strong, control is flexible, are navigating at present
The fields such as its aviation, electric car, home electric, Industry Control are applied.In real time, accurately obtaining rotor position information is
The premise of switched reluctance machines reliability service, rotor position information are usually obtained by position sensor.However, position sensor
The volume and cost for increasing motor are introduced, and is easy to happen failure under some severe working environments.
Domestic and foreign scholars propose a system to the position Sensorless Control of switched reluctance machines low speed operation phase at present
Column method, non-conduction phase impulses injection method are the main methods of the position detection for the operation of motor low speed at present.Such methods
By injecting high-frequency impulse to non-conduction phase, phase inductance is calculated using response current, realizes rotor-position angular estimation, but the party
Method has ignored the problems such as movement counter electromotive force, winding pressure drop, is only suitable for the operation of motor Ultra-Low Speed.And such methods are transported in motor
Section is connected when row often to fix, cannot achieve the dynamic regulation that motor opens shutdown angle in the process of running.
Summary of the invention
In order to solve the problems in the existing technology the present invention, provides one kind in the operation of motor low speed, by setting
It opens shutdown angle and brings inductance-angle mathematical model into, obtain corresponding inductance threshold values and intersect output drive with non-conduction phase inductance
Dynamic signal, to realize that motor opens the switched reluctance machines of the dynamic regulation at shutdown angle without position under position Sensorless Control
Set sensor method for starting-controlling.
In order to achieve the above object, a kind of technical solution proposed by the present invention are as follows: position-less sensor of switched reluctance motor
Method for starting-controlling, which comprises the steps of:
Step 1: stirring motor with hand, high-frequency pulse signal is injected simultaneously to three-phase, at the beginning of detecting three-phase with position sensor
Beginning position signal, each phase current size of real-time detection calculate the unsaturated inductance in a cycle using current slope difference, together
Shi Liyong position signal calculates rotor position angle；
Step 2: the analog-digital conversion function of rotor position angle and inductance use of information controller that step 1 is calculated
It is output in oscillograph, utilizes inductance-rotor-position angular data of oscillograph storage a cycle；
Step 3: choosing inductance and rotor-position angular data of the rotor-position in 25 °~37.5 ° sections, pass through data
Fitting, obtains using rotor position angle as input quantity, and inductance is the mathematical model of output quantity；
Step 4: the shutdown angle of opening of motor is substituted into inductance-rotor position angle mathematical model that step 3 obtains,
Obtain corresponding inductance threshold values；
Step 5: injecting high-frequency pulse signal in non-conduction phase, response current is generated, is calculated using current slope differential technique
Non-conduction phase unsaturation inductance out, and obtain compared with the inductance threshold values that step 4 obtains the open signal and shutdown of other two-phase
Information；
Step 6: change the step be arranged in four open shutdown angle, and repeat step 5, to realize motor in no position
The dynamic regulation of turn-on angle and shutdown angle under sensor condition.
Above-mentioned technical proposal is further designed to: inductance calculation formula in step 1 are as follows:
Wherein L (θ) is phase inductance, and U is busbar voltage, di/dt |onCurrent slope when being connected for switching tube, di/dt |off
Current slope when being turned off for switching tube.
The calculating step of rotor position angle in step 1 are as follows:
One phase position signal is input to the capture mouth in controller by step 1.1, is calculated using the capturing function of controller
Time T between two neighboring pulse signal rising edge out is obtained by time T divided by one electricity period of motor corresponding angle
Motor turns over once t of corresponding time；
Step 1.2, the time t for obtaining step 1.1 enter interrupt every time as the interrupt cycle of timer in controller
It just adds up to angle, and angle is reset in position signal rising edge time, to obtain rotor position angle.
In step 1 when manual toggle motor, under type such as is taken to realize operation of the motor in full injected pulse:
After motor speed is promoted to higher than 300 revs/min using position sensor, current driving signal is all changed to
The pulse signal for exporting high-frequency, low duty ratio, the injected pulse signal in the operation of motor inertia.
ARM chip, dsp chip or DSPIC chip etc. can be used in the controller.
Technical solution of the present invention compared with prior art, has following technical effect that
1. the present invention carries control for the position-sensor-free band of switched reluctance machines low speed operation phase, angle-is utilized
The mathematical model of inductance, by open, turn off angle directly obtain inductance threshold values intersect with non-conduction phase inductance in addition two-phase open
Logical and cut-off signals, and do not influenced by inductance saturation.
2. the present invention can be realized switched reluctance machines under position Sensorless Control, open, turn off angle can be real
Existing dynamic regulation meets the requirement that output is driven in the case of different loads.
3. the present invention only needs sensed current signal, implementation method is calculated simply, and hardware requirement is low.
Detailed description of the invention
Fig. 1 is that full injection mode lower complete period inductance calculates simulation waveform；
Fig. 2 is inductance and rotor position angle data acquisition flow chart；
Fig. 3 is that inductive data chooses schematic diagram；
Fig. 4 is non-conduction phase inductance dynamic thresholding method phase change logic schematic diagram；
Fig. 5 is non-conduction phase inductance dynamic thresholding method schematic diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described in detail.
Embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
Fig. 1 show full injection mode lower complete period inductance and calculates simulation waveform, and A phase entirely believe by injection high-frequency impulse in figure
Number, response current amplitude changes with the variation of rotor-position, and electric current rise and fall slope, which is subtracted each other can be obtained, can react rotor
The numerical value of the current slope difference of position angle information, obtains the envelope opposite with inductance variation tendency after smothing filtering, then
It is negated normalized and obtains inductance per unit value waveform.
Fig. 2 is inductance and rotor position angle data acquisition flow chart, introduces inductance and rotor position angle number below with reference to Fig. 2
It is specific as follows according to obtaining step:
Step A. manual toggle motor first, after motor speed is promoted to higher than 300 revs/min using position sensor,
Current driving signal is all changed to the pulse signal of output high-frequency, low duty ratio, in the operation of motor inertia to each phase
Injected pulse signal simultaneously.
Step B. calculates complete period inductance information using the response current combination current slope differential technique of generation, and utilizes
The square-wave signal that position sensor detects calculates rotor position angle.
Inductance calculation formula are as follows:
Wherein L (θ) is phase inductance, and U is busbar voltage, di/dt |onCurrent slope when being connected for switching tube, di/dt |off
Current slope when being turned off for switching tube.
The calculating step of rotor position angle are as follows:
One phase position signal is input to the capture mouth in controller by step 1, is calculated using the capturing function of controller
Time T between two neighboring pulse signal rising edge obtains electricity by time T divided by one electricity period of motor corresponding angle
Machine turns over once t of corresponding time；
It is just right to enter interruption as the interrupt cycle of timer in controller every time by step 2, the time t for obtaining step 1
Angle adds up, and resets in position signal rising edge time to angle, to obtain rotor position angle.
Step C. utilizes the phase inductance and rotor-position calculated in the analog-digital conversion function while o controller of controller
Angular data is indicated with voltage swing.
The phase inductance exported in step C and rotor position angle are acquired it in the form of voltage using oscillograph and indicated by step D.
Data waveform, and be saved in excel, obtain the correlation data of inductance and angle.
Step E. chooses the data of inductance and rotor position angle in a cycle, and voltage value is converted into director demon
In digital value, finally obtain corresponding to the inductance and angle-data in controller.It is symmetrical due to switched reluctance machines structure
Property, thus need to only choose a phase inductance data be mutually misaligned using this position as zero degree position rotor position angle data carry out
Data fitting.
Fig. 3 is that inductive data chooses schematic diagram, and 1 chooses section for inductive data.Due to non-conduction phase inductance dynamic thresholding
Method using be judgement that non-conduction phase inductance carries out driving signal, therefore choose 22.5 ° of later induction areas and carry out data
Fitting.In view of inductance top area identification is lower, therefore inductance-angle-data is selected since 25 °.And 12/8 structure is opened
It closes reluctance motor shutdown angle and is up to 22.5 °, and exactly correspond to the scram position of 22.5 ° of other phases at 37.5 ° of positions, therefore
The present embodiment chooses inductance and rotor-position angular data of the rotor-position in 25 °~37.5 ° sections, is fitted, is obtained by data
To using rotor position angle as input quantity, inductance is inductance-rotor position angle mathematical model of output quantity.
The shutdown angle of opening of motor is substituted into the mathematical model of above-mentioned inductance-rotor position angle, corresponding inductance is obtained
Threshold values.
Fig. 4 is non-conduction phase inductance dynamic thresholding method phase change logic schematic diagram, and Fig. 5 is non-conduction phase inductance dynamic thresholding method
Schematic diagram, wherein 2 be impulses injection section, and 3 be the inductance dynamic upper threshold of A phase, is expressed as LHighA=LA(30°+θCon), 4
For the lower threshold values of inductance dynamic of A phase, it is expressed as LLowA=LA(15°+θBoff), 5 be the shutdown angle θ of B phaseBoff=22.5 °, 6 be C
The turn-on angle θ of phaseCon=0 °.Non-conduction phase inductance dynamic thresholding method working principle is illustrated below with reference to Fig. 4 and Fig. 5:
By taking 12/8 structure switch magnetic resistance motor as an example, the phase inductance period is 45 °, and 15 °, thus phase are differed between three pole reactor
Adjacent two-phase, which is switched on or off between angle, differs 15 °, and the judgment method of each driving signal for estimating phase is as shown in figure 4, in figure:
θ in formulaAon、θBon、θConThe respectively turn-on angle of A, B, C three-phase, θAoff、θBoff、θCoffRespectively A, B, C three-phase
Turn off angle.
Assuming that motor phase sequence is A-B-C-A, inductance-angle function relationship is LA(θ), θBoffFor the shutdown angle of B phase, θCon
Angle is opened for C phase.Because A phase differs 15 ° with B phase, and A phase differs 30 ° with C phase using 12/8 structure switch magnetic resistance motor,
Therefore 15 ° of positions of 0 ° of position corresponding A phase of B phase, 30 ° of positions of 0 ° of position corresponding A phase of C phase.
High-frequency pulse signal is injected in non-conduction phase, response current is generated, calculates non-lead using current slope differential technique
Logical mutually unsaturated inductance, and the open signal of the other two-phase of acquisition and shutdown information compared with inductance threshold values obtained above；
By taking the non-conduction area's inductance of A phase estimates other two-phase-region casting signal as an example, by C phase turn-on angle θCon=0 ° of substitution A phase electricity
The mathematical model of threshold values in sense obtains the inductance threshold values L of C phase open positionA(30 °), similarly by B correlation angle of rupture θBoff=22.5 °
The mathematical model for substituting into threshold values under A phase inductance, obtains the inductance threshold values L of B scram positionA(37.5 °), while the inductance that will be obtained
Threshold values is compared with the inductance estimated value L (θ) of calculating, when L (θ) is equal to LA(30 °) Shi Kaitong C phase, when L (θ) is equal to LA(37.5°)
When turn off B phase, and so on open shutdown angle by change setting, and repeat aforesaid operations and realize turn-on angle and turn off angle
Dynamic regulation.
Technical solution of the present invention is not limited to the various embodiments described above, all technical solutions obtained using equivalent replacement mode
It all falls in the scope of protection of present invention.
Claims (5)
1. a kind of position-less sensor of switched reluctance motor method for starting-controlling, which comprises the steps of:
Step 1: stirring motor with hand, high-frequency pulse signal is injected simultaneously to three-phase, detects three-phase initial bit with position sensor
Confidence number, each phase current size of real-time detection calculate the unsaturated inductance in a cycle, while benefit using current slope difference
Rotor position angle is calculated with position signal；
Step 2: the analog-digital conversion function of rotor position angle and inductance use of information controller that step 1 is calculated exports
Into oscillograph, inductance-rotor-position angular data of oscillograph storage a cycle is utilized；
Step 3: choosing inductance and rotor-position angular data of the rotor-position in 25 °~37.5 ° sections, it is fitted by data,
It obtains using rotor position angle as input quantity, inductance is the mathematical model of output quantity；
Step 4: the shutdown angle of opening of motor is substituted into inductance-rotor position angle mathematical model that step 3 obtains, obtain
Corresponding inductance threshold values；
Step 5: injecting high-frequency pulse signal in non-conduction phase, response current is generated, is calculated using current slope differential technique non-
Conducting mutually unsaturated inductance, and the open signal of the other two-phase of acquisition and shutdown letter compared with the inductance threshold values that step 4 obtains
Breath；
Step 6: change the step be arranged in four open shutdown angle, and repeat step 5, to realize motor in position sensorless
The dynamic regulation of turn-on angle and shutdown angle under the conditions of device.
2. position-less sensor of switched reluctance motor method for starting-controlling according to claim 1, which is characterized in that step 1
Middle inductance calculation formula are as follows:
Wherein L (θ) is phase inductance, and U is busbar voltage, di/dt |onCurrent slope when being connected for switching tube, di/dt |offTo open
Close current slope when pipe shutdown.
3. position-less sensor of switched reluctance motor method for starting-controlling according to claim 1, which is characterized in that step 1
The calculating step of middle rotor position angle are as follows:
One phase position signal is input to the capture mouth in controller by step 1.1, calculates phase using the capturing function of controller
Time T between adjacent two pulse signal rising edges obtains motor by time T divided by one electricity period of motor corresponding angle
Turn over once t of corresponding time；
It is just right to enter interruption as the interrupt cycle of timer in controller every time by step 1.2, the time t for obtaining step 1.1
Angle adds up, and resets in position signal rising edge time to angle, to obtain rotor position angle.
4. position-less sensor of switched reluctance motor method for starting-controlling according to claim 1, which is characterized in that for step
In rapid one when manual toggle motor, under type such as is taken to realize operation of the motor in full injected pulse:
After motor speed is promoted to higher than 300 revs/min using position sensor, current driving signal is all changed to export
The pulse signal of high-frequency, low duty ratio, the injected pulse signal in the operation of motor inertia.
5. position-less sensor of switched reluctance motor method for starting-controlling according to claim 1, it is characterised in that: the control
ARM chip, dsp chip or DSPIC chip etc. can be used in device processed.
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| CN201910722083.8A CN110445429B (en) | 2019-08-06 | 2019-08-06 | Position-sensorless starting control method for switched reluctance motor |
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| CN201910722083.8A CN110445429B (en) | 2019-08-06 | 2019-08-06 | Position-sensorless starting control method for switched reluctance motor |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5627444A (en) * | 1995-05-30 | 1997-05-06 | General Motors Corporation | Switched reluctance motor control |
| CN101917151A (en) * | 2010-07-28 | 2010-12-15 | 南京航空航天大学 | Method for controlling position-less sensor of switched reluctance motor |
| CN109391183A (en) * | 2018-11-13 | 2019-02-26 | 南京信息工程大学 | A kind of position-less sensor of switched reluctance motor low speed starts redundant fault-tolerant control method and application |
-
2019
- 2019-08-06 CN CN201910722083.8A patent/CN110445429B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5627444A (en) * | 1995-05-30 | 1997-05-06 | General Motors Corporation | Switched reluctance motor control |
| CN101917151A (en) * | 2010-07-28 | 2010-12-15 | 南京航空航天大学 | Method for controlling position-less sensor of switched reluctance motor |
| CN109391183A (en) * | 2018-11-13 | 2019-02-26 | 南京信息工程大学 | A kind of position-less sensor of switched reluctance motor low speed starts redundant fault-tolerant control method and application |
Non-Patent Citations (1)
| Title |
|---|
| 蔡骏等: ""基于全周期电感法的开关磁阻电机无位置传感器控制技术"", 《电工技术学报》 * |
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