CN110707983A - Open winding driving topology and control method of switched reluctance motor based on magnetic field modulation - Google Patents
Open winding driving topology and control method of switched reluctance motor based on magnetic field modulation Download PDFInfo
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- CN110707983A CN110707983A CN201910974782.1A CN201910974782A CN110707983A CN 110707983 A CN110707983 A CN 110707983A CN 201910974782 A CN201910974782 A CN 201910974782A CN 110707983 A CN110707983 A CN 110707983A
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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
Abstract
The invention discloses a switched reluctance motor open winding driving topology and a control method based on magnetic field modulation, wherein the topology comprises a switched reluctance motor, an open winding structure inverter, an inverter driving module, a current sensor and a position sensor, the inverter driving module receives a current feedback value acquired by the current sensor and a rotating speed and position signal feedback value acquired by the position sensor, a driving signal is generated by using a voltage carrier comparison mode, the open winding structure inverter modulates the voltage of a direct current bus according to the driving signal to generate alternating current electric energy required by the switched reluctance motor, and current flows through a winding of the switched reluctance motor to enable the motor to generate torque. Compared with the traditional open winding driving topology which uses a large number of IGBTs, the cost is greatly reduced. In addition, the control method enables the current flowing through the thyristor to be smaller than the maintaining current by turning off the IGBT, achieves the purpose of turning off the thyristor, does not need to add a reversing circuit, reduces the volume of equipment and improves the efficiency.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a switched reluctance motor open winding driving topology and a control method based on magnetic field modulation.
Background
The electric energy is used as clean energy, and the development prospect is bright. In the conversion process of electric energy and other forms of energy, the motor is a crucial link. The development of new industries such as high-speed rail, electric automobile, power plant, hydropower station, even intelligent robot and the like can not be supported by the motor. At present, the motor is developing towards the trend of high speed, high reliability, high power density and high speed regulation performance. Therefore, it is necessary to research a new motor driving topology and a control method.
The switched reluctance motor has a simple and firm structure, does not need expensive permanent magnets, and can keep high operation efficiency in a wide rotating speed range. After decades of research and improvement, the application field of the switched reluctance motor has also been developed from the initial traction transportation to various fields such as general industry, aviation industry, electric vehicles, home appliances, and the like. However, the switched reluctance motor driving system of the existing inverter structure generally needs twelve IGBTs, is high in cost, and is not beneficial to large-scale popularization. In addition, when the existing thyristor driving system is turned off, an additional commutation circuit is often needed, so that the volume and the weight of equipment are increased, the efficiency is reduced, and waveform distortion and noise are generated. There are still many areas where existing switched reluctance motor drive systems can be improved in order to reduce system cost and increase efficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a switched reluctance motor open-winding driving topology and a control method based on magnetic field modulation, and aims to solve the problems that the cost of the existing open-winding structure inverter is high due to the adoption of an IGBT (insulated gate bipolar transistor), and the equipment volume is large and the efficiency is low due to the addition of a commutation circuit in the use occasion of a thyristor.
To achieve the above object, according to an aspect of the present invention, there is provided a switched reluctance motor open-winding driving topology based on magnetic field modulation, including: the system comprises a switched reluctance motor, an open winding structure inverter, an inverter driving module, a current sensor and a position sensor;
the inverter driving module comprises a zero-crossing detection module, a thyristor trigger pulse module and a pulse width modulation wave generation module, is used for receiving a current feedback value acquired by a current sensor and a rotating speed and position signal feedback value acquired by a position sensor, and provides a driving signal for a switching tube in the open winding structure inverter by utilizing a voltage carrier comparison mode;
the open winding structure inverter is connected with a three-phase winding of the switched reluctance motor and used for modulating the voltage of the direct current bus according to a driving signal generated by the inverter driving module to generate alternating current electric energy required by the switched reluctance motor;
current flows through the winding of the switched reluctance motor, so that the motor generates torque.
Further, the open-winding structure inverter includes: three full-bridge inversion units connected in parallel on the same direct current bus;
each full-bridge inversion unit comprises: the first thyristor, the second thyristor, the third thyristor, the fourth thyristor and the corresponding anti-parallel diode, and the first diode, the second diode, the third diode and the fourth diode;
the anode connecting end of the first thyristor and the anti-parallel diode thereof and the anode connecting end of the third thyristor and the anti-parallel diode thereof form the total output end of the full-bridge inversion unit;
and the total output ends of the three full-bridge inversion units are respectively connected with the three-phase windings of the switched reluctance motor.
Further, the full-bridge inverter unit has the following four operating modes:
in the positive current mode, positive current flows in the switched reluctance motor winding, and the first switching tube and the second switching tube are both in an on state;
in the positive follow current mode, follow current in the switched reluctance motor winding flows through forward current, and the first switch tube and the second switch tube are both in an off state;
in the negative current mode, reverse current flows through the switched reluctance motor winding, and the first switching tube and the second switching tube are both in an on state;
and in the negative follow current mode, follow current in the winding of the switched reluctance motor flows through reverse current, and the first switch tube and the second switch tube are both in an off state.
When the full-bridge inverter unit works in a positive current mode, the winding voltage is the voltage of a positive direct current bus, and the winding current is increased in the positive direction; when the full-bridge inverter unit works in a positive follow current mode, the winding voltage is negative direct current bus voltage, and the winding current is reduced in the positive direction; when the full-bridge inverter unit works in a negative current mode, the winding voltage is negative direct current bus voltage, and the winding current is increased reversely; when the full-bridge inverter unit works in a negative follow current mode, the winding voltage is the positive direct current bus voltage, and the winding current is reversely reduced.
According to another aspect of the present invention, there is provided a control method based on the open-winding driving topology of the switched reluctance motor, which is characterized by comprising the following steps:
the inverter driving module receives a current feedback value acquired by the current sensor and a rotating speed and position signal feedback value acquired by the position sensor, and generates a driving signal by using a voltage carrier comparison mode;
the open winding structure inverter modulates the voltage of the direct current bus according to the driving signal to generate alternating current electric energy required by the switched reluctance motor;
current flows through the winding of the switched reluctance motor, so that the motor generates torque.
Further, the generating of the driving signal specifically includes:
the inverter driving module receives a current feedback value acquired by the current sensor and a rotating speed and position signal feedback value acquired by the position sensor, and generates a control signal by using a voltage carrier comparison mode, wherein one path of the control signal passes through the pulse width modulation wave generating module, and the other path of the control signal passes through the zero-crossing detection module and the thyristor trigger pulse generating module to generate a driving signal.
When the control signal crosses zero from negative to positive, the first switch tube and the trigger pulse of the second switch tube of the full-bridge inversion unit are pulled down, so that the current flowing through the second thyristor of the full-bridge inversion unit is smaller than the holding current, and the purpose of turning off the second thyristor and the third thyristor is achieved; and triggering pulses are sent to the first thyristor and the fourth thyristor of the full-bridge inversion unit, and the triggering pulse width and the phase are matched with the load condition, the first switch tube of the full-bridge inversion unit and the triggering pulse width of the second switch tube.
When the control signal crosses zero from positive to negative, the trigger pulse of the first switch tube and the second switch tube of the full-bridge inversion unit is pulled down, so that the current flowing through the first thyristor of the full-bridge inversion unit and the current of the fourth thyristor are smaller than the holding current, and the purpose of turning off the first thyristor and the fourth thyristor is achieved; and a trigger pulse is sent to the second thyristor and the third thyristor of the full-bridge inversion unit, and the trigger pulse width and the phase position are matched with the load condition, the first switch tube of the full-bridge inversion unit and the trigger pulse width of the second switch tube.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the open winding driving topology of the traditional switched reluctance motor has high system cost due to the fact that a large number of IGBTs are used, and is not beneficial to large-scale popularization, the traditional three-phase open winding driving topology needs 12 IGBTs, the use amount of the IGBTs is reduced to 6, and cost is reduced;
2. compared with the traditional thyristor use occasion, the control method provided by the invention has the advantages that the equipment volume is large, the efficiency is low, the waveform distortion and the noise are large due to the existence of the additional reversing circuit, the control method can replace the action of the reversing circuit, the current flowing through the thyristor is smaller than the holding current by turning off the IGBT, the purpose of turning off the thyristor is achieved, the reversing circuit is not required to be added, the equipment volume is reduced, and the efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of an open-winding drive topology for a switched reluctance motor based on magnetic field modulation provided by the present invention;
fig. 2(a) is a schematic diagram of a positive current operating mode of a phase winding a of a switched reluctance motor provided by the present invention;
fig. 2(b) is a schematic diagram of a positive freewheeling mode of a phase a winding of the switched reluctance motor provided by the present invention;
fig. 2(c) is a schematic diagram of the negative current operation mode of the phase a winding of the switched reluctance motor provided by the present invention;
fig. 2(d) is a schematic diagram of a negative freewheeling mode of a phase a winding of the switched reluctance motor according to the present invention;
FIG. 3 is a block diagram of a control method of an open winding driving topology of a switched reluctance motor based on magnetic field modulation provided by the invention;
fig. 4 is a schematic diagram of the trigger pulses generated by the inverter driver module of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides a low-cost open-winding driving topology for a switched reluctance motor based on magnetic field modulation, including: the system comprises a switched reluctance motor, an open winding structure inverter, an inverter driving module, a current sensor and a position sensor;
the open winding structure inverter is connected with a three-phase winding of the switched reluctance motor;
the inverter driving module comprises a zero-crossing detection module, a thyristor trigger pulse module and a pulse width modulation wave generation module, is used for receiving a current feedback value acquired by a current sensor and a rotating speed and position signal feedback value acquired by a position sensor, and provides a driving signal for a switching tube in the open winding structure inverter by utilizing a voltage carrier comparison mode according to a control method aiming at the topology;
the open winding structure inverter is used for modulating the voltage of the direct current bus according to a driving signal generated by the inverter driving module to generate alternating current electric energy required by the switched reluctance motor;
current flows through the winding of the switched reluctance motor, so that the motor generates torque.
The open-winding structure inverter includes: three full-bridge inversion units connected in parallel on the same direct current bus;
taking phase a as an example, each full-bridge inverter unit includes: a first switch tube Sa1, a second switch tube Sa2 and a corresponding anti-parallel diode, a first thyristor Scr1, a second thyristor Scr2, a third thyristor Scr3, a fourth thyristor Scr4 and a corresponding anti-parallel diode, as well as a first diode D1, a second diode D2, a third diode D3 and a fourth diode D4 which form a symmetrical full-bridge circuit;
the anode connecting end of the first thyristor Scr1 and the anti-parallel diode thereof and the anode connecting end of the third thyristor Scr3 and the anti-parallel diode thereof form the total output end of the full-bridge inverter unit; the total output ends of the three full-bridge inversion units are respectively connected with a three-phase winding A, B, C of the switched reluctance motor;
according to the on-off of the thyristor, taking the phase a as an example, the full-bridge inverter unit has the following four working modes:
in the positive current mode, a positive current flows in the winding of the switched reluctance motor, and the first switch tube Sa1 and the second switch tube Sa2 are both in an on state;
in the positive follow current mode, follow current flows in the winding of the switched reluctance motor, and the first switch tube Sa1 and the second switch tube Sa2 are in an off state;
in the negative current mode, a reverse current flows in the winding of the switched reluctance motor, and the first switch tube Sa1 and the second switch tube Sa2 are both in an on state;
and in a negative follow current mode, the follow current in the winding of the switched reluctance motor flows in a reverse direction, and the first switch tube Sa1 and the second switch tube Sa2 are in an off state.
As shown in fig. 2(a), when the full-bridge inverter unit operates in the positive current mode, a positive dc bus voltage Udc is applied to both ends of the phase a winding of the switched reluctance motor, so that the phase a winding current increases in the positive direction.
As shown in fig. 2(b), when the full-bridge inverter unit operates in the positive freewheeling mode, the negative dc bus voltage-Udc is applied to both ends of the a-phase winding of the switched reluctance motor, so that the current of the a-phase winding decreases in the positive direction.
As shown in fig. 2(c), when the full-bridge inverter unit operates in the negative current mode, the negative dc bus voltage-Udc is applied to both ends of the phase a winding of the switched reluctance motor, so that the phase a winding current increases in the opposite direction.
As shown in fig. 2(d), when the full-bridge inverter unit operates in the negative freewheeling mode, the positive dc bus voltage Udc is applied to both ends of the a-phase winding of the switched reluctance motor, so that the current of the a-phase winding is reduced in the opposite direction.
In order to effectively control the switched reluctance motor, the inverter driving module in this embodiment controls the open-winding-structure inverter by using a rotating speed current double-closed-loop logic, and a control block diagram is shown in fig. 3. The position sensor is used for acquiring a rotating speed feedback value omegarInputting the speed loop PI regulator, and distributing d, q,0 axis current set value i through a current distributordq0 *(ii) a Position signal feedback value theta collected by position sensorrAnd inputting a second rotating coordinate module. And the second rotating coordinate module is used for converting the three-phase winding current feedback value acquired by the current sensor into an abc coordinate system. The current loop PI regulator obtains a given value udq0 of d, q and 0 axis voltage according to a proportional-integral algorithm, and the given value is converted into an abc coordinate system through a first rotating coordinate module, and a reference voltage uabc *The input PWM wave generating module generates a PWM wave through a specific control logic to control the first switch tube Sa1 and the second switch tube Sa 2. Reference voltage uabc *The zero-crossing detection module is used for generating trigger pulses to drive the first thyristor Scr1, the second thyristor Scr2, the third thyristor Scr3 and the fourth thyristor Scr 4.
As shown in fig. 4, taking the phase a of the motor as an example, the absolute value | U of the reference value of the phase a voltage given by the first rotating coordinate module is useda *L, with a frequency of 50kHz and a maximum value of DC bus voltage UdcMinimum value of negative direct currentBus voltage-UdcThe triangular carriers of (a) are compared. It should be noted that, for more clear description of the switching state, the triangular carrier shown in fig. 4 is 500Hz, but a higher carrier frequency can achieve a better modulation effect. When the absolute value of the reference value of the A-phase voltage is greater than the triangular carrier, the driving signals of the first switch tube Sa1 and the second switch tube Sa2 are both at a high level; when the absolute value of the reference value of the a-phase voltage is smaller than the triangular carrier, the driving signals of the first switch tube Sa1 and the second switch tube Sa2 are both at a low level. The same method is adopted for the B phase and the C phase, and the driving signals of the B phase switching tube and the C phase switching tube are obtained respectively.
The hatched portion in fig. 4 represents that the first switching tube Sa1 and the second switching tube Sa2 are forcibly turned off, and the thyristor current is reduced to be less than the holding current during turn-off, so that self-turn-off is realized without an additional commutation circuit. The turn-off time depends on the load and the thyristor.
When the reference value of the A-phase voltage changes from negative to positive and crosses zero, driving pulses are sent to the first thyristor Scr1 and the fourth thyristor Scr 4; when the reference value of the A-phase voltage changes from positive to negative and passes through zero, driving pulses are sent to the second thyristor Scr2 and the third thyristor Scr 3; the driving pulse width depends on the load and the thyristor.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A switched reluctance machine open winding drive topology based on magnetic field modulation, comprising: the system comprises a switched reluctance motor, an open winding structure inverter, an inverter driving module, a current sensor and a position sensor;
the inverter driving module comprises a zero-crossing detection module, a thyristor trigger pulse module and a pulse width modulation wave generation module, is used for receiving a current feedback value acquired by the current sensor and a rotating speed and position signal feedback value acquired by the position sensor, and provides a driving signal for a switching tube in the open winding structure inverter by utilizing a voltage carrier comparison mode;
the open winding structure inverter is connected with a three-phase winding of the switched reluctance motor and used for modulating the voltage of a direct current bus according to a driving signal generated by the inverter driving module to generate alternating current electric energy required by the switched reluctance motor;
and current flows in the winding of the switched reluctance motor, so that the motor generates torque.
2. The switched reluctance machine open winding drive topology of claim 1, wherein the open winding architecture inverter comprises: three full-bridge inversion units connected in parallel on the same direct current bus;
each full-bridge inversion unit comprises: the first thyristor, the second thyristor, the third thyristor, the fourth thyristor and the corresponding anti-parallel diode, and the first diode, the second diode, the third diode and the fourth diode;
the anode connecting end of the first thyristor and the anti-parallel diode thereof and the anode connecting end of the third thyristor and the anti-parallel diode thereof form the total output end of the full-bridge inversion unit;
and the total output ends of the three full-bridge inversion units are respectively connected with the three-phase windings of the switched reluctance motor.
3. The open-winding driving topology of the switched reluctance motor according to claim 2, wherein the full-bridge inverter unit has the following four operation modes:
in the positive current mode, positive current flows in the switched reluctance motor winding, and the first switching tube and the second switching tube are both in an on state;
in the positive follow current mode, follow current in the switched reluctance motor winding flows through forward current, and the first switch tube and the second switch tube are both in an off state;
in the negative current mode, reverse current flows through the switched reluctance motor winding, and the first switching tube and the second switching tube are both in an on state;
and in the negative follow current mode, follow current in the winding of the switched reluctance motor flows through reverse current, and the first switch tube and the second switch tube are both in an off state.
4. The switched reluctance motor open-winding drive topology of claim 3, wherein when the full-bridge inverter unit operates in a positive current mode, the winding voltage is a positive DC bus voltage and the winding current increases in a positive direction.
5. The switched reluctance machine open winding drive topology of claim 3, wherein when the full bridge inverter unit operates in a positive freewheeling mode, the winding voltage is a negative dc bus voltage and the winding current decreases in a positive direction.
6. The switched reluctance motor open-winding driving topology according to claim 3, wherein when the full-bridge inverter unit operates in a negative current mode, the winding voltage is a negative DC bus voltage and the winding current increases in a reverse direction.
7. The open-winding drive topology of a switched reluctance motor according to claim 3, wherein when the full-bridge inverter unit operates in the negative freewheeling mode, the winding voltage is a positive dc bus voltage and the winding current decreases in the opposite direction.
8. A control method of the open winding driving topology of the switched reluctance motor based on any one of the claims 1 to 7, characterized by comprising the following steps:
the inverter driving module receives a current feedback value acquired by the current sensor and a rotating speed and position signal feedback value acquired by the position sensor, and generates a driving signal by using a voltage carrier comparison mode;
the open winding structure inverter modulates the voltage of the direct current bus according to the driving signal to generate alternating current electric energy required by the switched reluctance motor;
current flows through the winding of the switched reluctance motor, so that the motor generates torque.
9. The method for controlling the open-winding driving topology of the switched reluctance motor according to claim 8, wherein the generating of the driving signal specifically comprises:
the inverter driving module receives a current feedback value acquired by the current sensor and a rotating speed and position signal feedback value acquired by the position sensor, and generates a control signal by using a voltage carrier comparison mode, wherein one path of the control signal passes through the pulse width modulation wave generating module, and the other path of the control signal passes through the zero-crossing detection module and the thyristor trigger pulse generating module to generate a driving signal.
10. The method of controlling an open winding drive topology for a switched reluctance machine according to claim 9,
when the control signal crosses zero from negative to positive, the trigger pulse of the first switch tube and the second switch tube of the full-bridge inversion unit is pulled down, so that the current flowing through the second thyristor of the full-bridge inversion unit and the current of the third thyristor are smaller than the holding current, and the purpose of turning off the second thyristor and the third thyristor is achieved;
when the control signal crosses zero from positive to negative, the trigger pulse of the first switch tube and the second switch tube of the full-bridge inversion unit is pulled down, so that the current flowing through the first thyristor of the full-bridge inversion unit and the current of the fourth thyristor are smaller than the holding current, and the purpose of turning off the first thyristor and the fourth thyristor is achieved;
when the control signal crosses zero from negative to positive, a trigger pulse is sent to a first thyristor and a fourth thyristor of the full-bridge inversion unit, and the trigger pulse width and the phase are matched with the load condition and the trigger pulse width of a first switching tube and a second switching tube of the full-bridge inversion unit;
when the control signal crosses zero from positive to negative, a trigger pulse is sent to the second thyristor and the third thyristor of the full-bridge inversion unit, and the trigger pulse width and the phase position are matched with the load condition, the first switch tube of the full-bridge inversion unit and the trigger pulse width of the second switch tube.
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| CN112436765A (en) * | 2021-01-27 | 2021-03-02 | 四川大学 | Double three-phase open winding wind power generation system based on modular multilevel converter |
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