CN110535393A - A kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic - Google Patents
A kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic Download PDFInfo
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- CN110535393A CN110535393A CN201910714179.XA CN201910714179A CN110535393A CN 110535393 A CN110535393 A CN 110535393A CN 201910714179 A CN201910714179 A CN 201910714179A CN 110535393 A CN110535393 A CN 110535393A
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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
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
-
- 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
-
- 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
Abstract
A kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic, comprising the following steps: 1) obtain switched reluctance machines each phase inductance information within the entire electric period；2) selection of special points；3) estimation of rotor speed and position.The method of the present invention utilizes its intersection position of low inductor section under vehicle Heavy-load Characteristic accurately to estimate motor position information and rotary speed information the insensitive characteristic of electric current, realizes the position Sensorless Control of vehicle heavy duty lower switch reluctance motor.
Description
Technical field
The present invention relates to Motor Control Field more particularly to a kind of switched reluctance machines controls suitable for vehicle Heavy-load Characteristic
Method processed.
Background technique
Switched reluctance machines have many advantages, such as that structure is simple, control is flexible, fault-tolerant ability is strong, transport in traction, electricity
Motor-car, the fields such as aircraft industry are applied.In real time, the rotor position information for accurately obtaining motor is SRM reliability service
With the prerequisite of high performance control, the usual position sensor of rotor position information is obtained.However, position sensor increases electricity
The cost and complexity of machine system can reduce the reliability of system under some more severe operating conditions.Three-phase when motor operation
Intersection point changes because phase current variation is connected between inductance.When vehicle when overloaded, load current is larger, inductance be in saturation shape
State will appear large error based on complete period unsaturation inductive methods come estimated location.The present invention proposes a kind of suitable for vehicle
The method for controlling position-less sensor of switched reluctance motor of Heavy-load Characteristic, to solve vehicle, motor position estimation precision is asked when overloaded
Topic.
Summary of the invention
The present invention is that a kind of vehicle heavy duty is rotor position estimation method under heavy-current inductor saturation state, passes through estimation
Motor speed obtains rotor position at any time, realizes position-sensor-free operation, thus solve when conducting phase current compared with
When big, will appear large error and exemplary position sensor based on complete period unsaturation inductive methods come estimated location is had
High cost and the problem of high complexity.
The technical scheme adopted by the invention is as follows:
A kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic, which comprises the following steps:
1) switched reluctance machines each phase inductance information within the entire electric period is obtained；
2) low inductance intersection position is chosen；
3) estimation of rotor speed and position；
In the step 1), consider that switched reluctance machines conducting is mutually saturated the influence of factor, phase inductance Lk(ik, θ) and it is phase
Electric current ikWith the function of rotor position angle θ.Ignore mutual inductance influence, calculate the formula of motor complete period inductance are as follows:
Wherein i is winding current.When conducting is mutually load current, remaining non-conduction phase injects high-frequency impulse, Ren Yishi
It carves three-phase current to exist simultaneously, therefore above formula is suitable for conducting section and non-conduction section, has unified winding saturation and unsaturation
Inductance calculates, and can obtain motor complete period inductance.
In the step 2), the A phase, B phase, C phase nonlinear magnetization curve obtained using finite element simulation, and pass through it
Intersection point determines special points.The corresponding location error of inductance intersection is smaller, and worst error is 2 ° or so, it is believed that inductance curve phase
Same position is met at, the requirement of position estimation under out-of-phase current is met.
In the step 3), the real-time revolving speed n of motorestEstimate formula are as follows:
Wherein differential seat angle of the Δ θ between two adjacent position points, and Δ θ=30 °, Δ TfWhen between the point of adjacent position
Between be spaced.
In Δ TfTime in, it is believed that revolving speed nestIt is constant.Then estimate gained motor rotor position angle, θestAre as follows:
θest(k+1)=θest(k)+6nestΔt
Wherein time interval of the Δ t between position estimation twice, θestIt (k) is last moment estimated position angle.
In the step 4), which has inner and outer rings, and outer ring is using the speed ring of PI control, and inner ring is cut with electric current
The electric current loop of wave control.The difference of given speed and estimating speed obtains given chopper current I by PI controllerref, pass through electric current
Chop control completes speed closed loop control.Runtime system turn-on angle is fixed with shutdown angle.It is realized according to estimated angle to electricity
The commutation of machine controls, and calculates revolving speed according to time interval between fixed position point.Using Current cut control mode.Identical
Estimation is compared in the case where phase current is lower than saturation current and in the case that phase current is higher than saturation current respectively under revolving speed
Rotor-position and actual rotor position.
The present invention has the following advantages over the background art:
(1) it can detecte in a Machine cycle to three special location points, when actual motion, respective location pulse
The loss of signal, motor can also operate normally, it is ensured that the precision and stability of position estimation.
(2) this method can realize location estimation when Steady-state in Low Speed is run in motor in the smaller situation of electric current.
(3) this method is influenced smaller by the mutually saturation factor that is connected.Under different current conditions, rotor corresponding to particular point
Position is basically unchanged, and is considered as same rotor-position.It therefore, can be more accurate using inductance intersection point when conducting phase current is larger
Location information and rotary speed information are estimated, realizes position-sensor-free operation
Detailed description of the invention
Fig. 1 considers the complete period inductance curve figure that conducting is mutually saturated；
Fig. 2 SRM magnetization curve；
15 ° of regions of Fig. 3 inductance curve intersection；
Fig. 4 non position sensor switch magnetic resistance motor system block diagram；
Fig. 5 inductance recognizes model；
Fig. 6 velocity location estimates model；
Waveform when Fig. 7 500r/min, i=20A；
Waveform when Fig. 8 500r/min, i=50A；
Fig. 9 electric current 30A, revolving speed 300r/min, 700r/min waveform；
Figure 10 revolving speed is 700r/min, and electric current is respectively 20A, 50A, 70A experimental waveform；
1 model machine nominal parameter of table；
The logic of 2 Inductive position point of table selection；
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be described in detail.
The present invention obtains switched reluctance machines each phase inductance information within the entire electric period by step 1；Step 2 chooses low electricity
Sensillary area Inductive position intersection point；The estimation of step 3 progress rotor speed and position；
It is obtained in inductance information in step 1, considers that switched reluctance machines conducting is mutually saturated the influence of factor, phase inductance Lk
(ik, θ) and it is phase current ikWith the function of rotor position angle θ.Ignore mutual inductance influence, the phase voltage equation of motor are as follows:
Wherein, Ψ k is the magnetic linkage of k phase winding, UkFor the voltage of k phase winding, the voltage is by the voltage that is mounted on bus
Sensor obtains (tube voltage drop for ignoring power electronic devices), RkFor k phase winding resistance, ikFor k phase winding electric current.To formula (1) two
While integrating the expression of available phase magnetic linkage:
In formula, Ψ 0 is initial phase winding magnetic linkage, and t is the magnetic linkage time of integration.
In actual control system, the calculating of winding magnetic linkage generallys use the form of digital integration:
ψ (k+1)=ψ (k)+(Uk-Rkik)ΔT (3)
Wherein Ψ (k+1) is k-th of sampling instant magnetic linkage value, and T is the sampling period.Therefore, phase inductance expression formula are as follows:
Wherein i is winding current.When conducting is mutually load current, remaining non-conduction phase injects high-frequency impulse, Ren Yishi
It carves three-phase current to exist simultaneously, therefore (4) formula is suitable for conducting section and non-conduction section, has unified winding saturation and unsaturation
Inductance calculates, and can obtain motor inductances.
It is obtained in special points in step 2, A phase inductance La in analysis chart 1, when phase current is smaller, inductance curve is several
Overlapping, inductance value is only related with position, and rotor-position mutually can be obtained with non-conduction phase inductance intersections of complex curve by conducting.But it is leading
When logical phase current is larger, situation will be different: Fig. 2 is the A phase nonlinear magnetization curve obtained using finite element simulation.It is based on
Boresight shift, magnetization curve when stator is aligned with rotor with salient pole start to be bent corresponding electric current to be saturation current, knot
Fig. 1 and Fig. 2 is closed it is found that the saturation current is 40A, i.e. since 40A, inductance curve intersection position starts to occur inclined phase current
Difference.But at 15 ° of another crosspoint of A phase inductance family of curves and B phase inductance curve, A phase inductance curve co-insides degree is higher.By this
Region amplification is such as Fig. 3, the position that A phase inductance family of curves hands over B phase phase inductance when m1 to m11 respectively corresponds electric current 0A to 100A
Point.As can be seen from the figure the corresponding location error of inductance intersection is smaller, and worst error is 1 ° or so, it is believed that inductance curve intersection
In same position, meet the requirement of position estimation under out-of-phase current.The feelings of the same B phase of above-mentioned analysis or C phase as conducting phase
Condition.When motor operation, if A phase winding is connected, high-frequency impulse is injected in non-conduction phase B, C phase, then A, B two-phase inductance curve intersection point
It is 15 °；If B phase winding is connected, injecting high-frequency impulse in non-conduction phase C, A phase, then B, C two-phase inductance curve intersection point are 45 °, if
The conducting of C phase winding, injects high-frequency impulse in A, B phase, then C, A two-phase inductance curve intersection point are 75 °.Therefore, in one 90 ° of machine
In the tool period, there are three satisfactory special points.(referring to Fig. 1, Fig. 2, Fig. 3).
It carries out that in motor operation course, real-time detection three can be passed through in rotor speed and position estimation procedure in step 3
Phase inductance obtains above-mentioned special points, further judges further according to logical relation as shown in Table 2, obtains rotor corner cut really
Degree, to realize rotor-position and speed estimate.
The real-time turn count n of motoresT are as follows:
Wherein differential seat angle of the Δ θ between two adjacent position points, and Δ θ=30 °, Δ TfWhen between the point of adjacent position
Between be spaced.
In Δ TfTime in, it is believed that revolving speed nesT is constant.Then estimate that gained motor rotor position angle is
θest(k+1)=θest(k)+6nestΔt (6)
Wherein time interval of the Δ t between position estimation twice, θestIt (k) is last moment estimated position angle.
It often detects an exemplary position point, while carrying out an angle and synchronizing, the error concealment that will can be calculated before, angle
Accumulated error is not present in degree estimation.(referring to table 2)
The system has inner and outer rings, and outer ring is using the speed ring of PI control, the electric current loop of inner ring Current cut control.
The difference of given speed and estimating speed obtains given chopper current I by PI controllerref, complete to turn by Current cut control
Fast closed-loop control.Runtime system turn-on angle is fixed with shutdown angle.
The system realizes position-sensor-free operation, it is crucial that inductance identification, position and velocity estimation.According to estimation
Angle realizes that the commutation to motor controls, and calculates revolving speed according to time interval between fixed position point.Fig. 5,6 are inductance respectively
It recognizes model and velocity location estimates model.
Bus voltage value Udc and phase current Ia, Ib, Ic are measured by voltage sensor and current sensor, by certain
Processing be sent into digital processing unit DSP, according to inductance recognize model using formula (3) (4) successively obtain magnetic linkage Ψ, three pole reactor
La,Lb,Lc.Obtained complete period inductance value selects typical position angle, In by comparing further according to the selection logic of table 2
Angle is that fixed feature utilizes formula (5) to estimate revolving speed between the point of adjacent position, can estimate real-time rotor according to formula (6)
Position.(referring to fig. 4, Fig. 5, Fig. 6), the parameter of electric machine is as shown in table 1, using Current cut control mode.Fig. 7 is that motor operation exists
500r/min, in the case of phase current is 20A, three pole reactor La, Lb, Lc and position pulse signal, A phase current ia, motor are practical
The waveform diagram of position θ and estimated position θ est.When electric current is 20A, phase current is less than saturation current 40A, and inductance is in non-full
And region, the special points detected such as Fig. 8 (a).The rotor-position of estimation can preferably track actual rotor position, and angle is most
Big error is 1 °.
Fig. 8 is motor operation in 500r/min, and phase current is the simulation waveform in the case of 50A.Phase current is greater than 40A,
Conducting phase inductance is in zone of saturation, but the winding inductance of non-conduction phase, in special points, is examined still in unsaturation region
The special points measured such as Fig. 7 (a).Actual rotor position angle and the position angle worst error of estimation are 1.5 °.Conducting is mutually electric
The difference of stream, inductance and its intersection point are changed, but by conducting, mutually saturation is influenced small, inductance friendship to selected special points
Point corresponds essentially to same position.(referring to Fig. 7, Fig. 8)
It Fig. 9 (a), be phase current shown in 9 (b) is 30A, revolving speed is respectively 300r/min, when 700r/min, A phase current,
The waveform diagram of rotor physical location and estimated location.In the case of revolving speed is 300r/min, rotor estimated position and physical location
Worst error is at 1 ° or so, and for the worst error in revolving speed 700r/min at 1.5 ° or so, estimated accuracy is all satisfied reality
Service requirement.Consider that conducting is mutually saturated achievable electric machine without position sensor operation, figure under factor influence condition when run with load
Be shown in 10 (a), 10 (b), 10 (c) revolving speed be 700r/min, phase current is respectively 20A, 50A, 70A motor steady-state operation
When, A phase current, rotor physical location and estimated location waveform diagram.
In Figure 10, in same conducting section, revolving speed, and be connected phase current be from 20A to 70A, the conducting of motor mutually around
Group inductance will be from unsaturated state to saturation state, and inductance curve can change.Estimated position and physical location are can be preferably
Coincidence, in Figure 10 under different conducting phase current operating statuses, rotor physical location is respectively with estimated position worst error
1.3 °, 2 °, 2.5 ° or so.
Claims (6)
1. a kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic, which comprises the following steps:
1) switched reluctance machines each phase inductance information within the entire electric period is obtained；
2) low inductor section inductance intersection position is chosen；
3) estimation of rotor speed and position.
2. a kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic according to claim 1, feature
It is, in the step 1), considers that switched reluctance machines conducting is mutually saturated the influence of factor, phase inductance Lk(ik, θ) and it is mutually electric
Flow ikWith the function of rotor position angle θ.Ignore mutual inductance influence, calculate the formula of motor complete period inductance are as follows:
Wherein i is winding current.When conducting is mutually load current, remaining non-conduction phase injects high-frequency impulse, any moment three
Phase current exists simultaneously, therefore above formula is suitable for conducting section and non-conduction section, passes through pulsactor and unsaturation inductometer
It calculates, motor complete period inductance can be obtained.
3. a kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic according to claim 1, feature
It is, in the step 2), using A phase, B phase, C phase nonlinear magnetization curve, low inductor section intersection point is determined by its intersection point
Position.The corresponding location error of inductance intersection is smaller, and worst error is within 2 °, it is believed that inductance curve intersects at same position.
4. the position-less sensor of switched reluctance motor control strategy of exemplary position inductance according to claim 1, special
Sign is, in the step 3), the real-time revolving speed n of motorestEstimate formula are as follows:
Wherein differential seat angle of the Δ θ between two adjacent position points, and Δ θ=30 °, Δ TfBetween the point of adjacent position between the time
Every.
In Δ TfTime in, it is believed that revolving speed nest
It is constant.Then estimate gained motor rotor position angle, θestAre as follows:
θest(k+1)=θest(k)+6nestΔt
Wherein time interval of the Δ t between position estimation twice, θestIt (k) is last moment estimated position angle.
5. a kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic according to claim 1, feature
It is, in the step 4), which there are inner and outer rings, and outer ring is using the speed ring of PI control, inner ring current chopping control
The electric current loop of system.The difference of given speed and estimating speed obtains given chopper current I by PI controllerref, pass through current chopping
Speed closed loop control is completed in control.Runtime system turn-on angle is fixed with shutdown angle.It is realized according to estimated angle to motor
Commutation control, and revolving speed is calculated according to time interval between fixed position point.
6. a kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic according to claim 1, feature
It is, in the step 5), using Current cut control mode.It is lower than saturation current in phase current respectively under same rotational speed
In the case where and compare rotor-position and the actual rotor position of estimation in the case that phase current is higher than saturation current.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910714179.XA CN110535393A (en) | 2019-08-03 | 2019-08-03 | A kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910714179.XA CN110535393A (en) | 2019-08-03 | 2019-08-03 | A kind of switch reluctance motor control method suitable for vehicle Heavy-load Characteristic |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208957A (en) * | 2013-03-08 | 2013-07-17 | 湖南开启时代电子信息技术有限公司 | Variable-angle heavy-load start method for switched reluctance motor |
| CN103414337A (en) * | 2013-08-23 | 2013-11-27 | 中国矿业大学 | Topological structure of power converter of electric car switch reluctance motor |
| CN105356813A (en) * | 2015-10-27 | 2016-02-24 | 南京信息工程大学 | Sensorless wide speed range heavy-load starting method for switched reluctance motor |
| CN105897112A (en) * | 2016-05-25 | 2016-08-24 | 南京航空航天大学 | Position sensorless rotor position estimation method of switch reluctance machine running at high speed |
-
2019
- 2019-08-03 CN CN201910714179.XA patent/CN110535393A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208957A (en) * | 2013-03-08 | 2013-07-17 | 湖南开启时代电子信息技术有限公司 | Variable-angle heavy-load start method for switched reluctance motor |
| CN103414337A (en) * | 2013-08-23 | 2013-11-27 | 中国矿业大学 | Topological structure of power converter of electric car switch reluctance motor |
| CN105356813A (en) * | 2015-10-27 | 2016-02-24 | 南京信息工程大学 | Sensorless wide speed range heavy-load starting method for switched reluctance motor |
| CN105897112A (en) * | 2016-05-25 | 2016-08-24 | 南京航空航天大学 | Position sensorless rotor position estimation method of switch reluctance machine running at high speed |
Non-Patent Citations (4)
| Title |
|---|
| 李孟秋 等: "基于典型位置电感的开关磁阻电机无位置传感器控制策略", 《中国电机工程学报》 * |
| 蔡辉 等: "考虑饱和电感特性的开关磁阻电机的无位置传感器控制方法", 《电工技术学报》 * |
| 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》 * |
| 陈欣: "基于电感模型的开关磁阻电机无位置传感器控制", 《万方学位论文》 * |
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