CN110880900A - Method for inhibiting torque ripple of switched reluctance motor - Google Patents

Method for inhibiting torque ripple of switched reluctance motor Download PDF

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CN110880900A
CN110880900A CN201910811712.4A CN201910811712A CN110880900A CN 110880900 A CN110880900 A CN 110880900A CN 201910811712 A CN201910811712 A CN 201910811712A CN 110880900 A CN110880900 A CN 110880900A
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torque
phase
value
switched reluctance
angle
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汪凯鑫
孙瑜
杨涛
李�昊
陈阳阳
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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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
    • H02P25/098—Arrangements for reducing torque ripple
    • 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
    • H02P21/20—Estimation of torque
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference

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Abstract

The invention provides a method for inhibiting torque ripple of a switched reluctance motor, which comprises the following steps: dividing the phase commutation of the switched reluctance motor into two intervals to obtain the turn-on angle, the turn-off angle and the actual torque of the switched reluctance motor during the phase commutation; establishing a torque distribution function, and acquiring a torque distribution value according to the turn-on and turn-off angles of the switched reluctance motor during phase conversion; acquiring a torque reference value of a k phase; comparing the torque reference value with the actual torque value to obtain a torque function compensation value, and calculating to obtain a new torque value; and substituting the obtained new torque value into a PI compensator, continuously evaluating the value of the flux linkage change rate through genetic algorithm iteration, and finally outputting the torque value after the output of the PI compensator is stable.

Description

Method for inhibiting torque ripple of switched reluctance motor
Technical Field
The invention relates to a motor control technology, in particular to a method for restraining torque pulsation of a switched reluctance motor.
Background
The switched reluctance motor srm (switched reluctance motor) has the advantages of simple structure, stable operation, high system reliability, large starting torque, good robustness, etc., and thus becomes a novel speed-regulating motor with great development potential and receives the attention of more and more scholars. However, the switched reluctance motor has a special double-salient structure and adopts a switched power supply mode, a magnetic circuit is strong in nonlinearity and saturation, so that the torque pulsation is determined to be serious when the motor runs, and the torque pulsation is particularly obvious during phase change and low speed, so that how to reduce the torque pulsation becomes a hot point for the research of the current switched reluctance motor.
At present, there are two main schemes for torque ripple suppression of a switched reluctance motor: the first is the optimization design of the body structure, and the second is the adoption of advanced control strategies. In the aspect of optimizing the structure of the switched reluctance motor body, the operation performance of the switched reluctance motor is improved by mainly considering that the number of poles of a stator and a rotor of the switched reluctance motor is adjusted to be higher than that of the stator; the air gap can be influenced by changing the structural parameters of the stator and the rotor of the motor, so that the inductance of the motor is optimized and the torque pulsation is reduced; in addition, torque ripple can be suppressed by reducing the minimum inductance and mutual inductance of the windings of the respective phases at the misaligned position, reducing the switching frequency of the windings of the respective phases, and the like. In the aspect of control strategies, the method mainly comprises the traditional control strategies, variable structure control, intelligent control, torque distribution control, direct torque control and other strategies.
At present, a mature switched reluctance motor Speed Regulation (SRD) system at home and abroad mostly adopts a classical PID control algorithm, but has poor torque ripple inhibition effect. Although the speed pulsation is generated by a factor derived from the torque pulsation, suppression of the speed pulsation is actually one of the methods for reversely promoting suppression of the torque pulsation. Therefore, the problem of multi-target torque ripple suppression of the switched reluctance motor should be more effective in torque ripple suppression if a multi-target and a corresponding control algorithm are more reasonable.
Disclosure of Invention
The invention aims to provide a method for suppressing torque ripple of a switched reluctance motor.
The technical scheme for realizing the purpose of the invention is as follows: a method for torque ripple suppression for a switched reluctance motor, comprising:
step 1, dividing phase commutation of a switched reluctance motor into two intervals, and acquiring a turn-on angle, a turn-off angle and actual torque of the switched reluctance motor during phase commutation;
step 2, establishing a torque distribution function, and acquiring a torque distribution value f according to the turn-on and turn-off angles of the switched reluctance motor during phase conversionk(θ)；
Step 3, acquiring a torque reference value of the kth phase;
step 4, comparing the torque reference value with the actual torque value to obtain a torque function compensation value delta fI、 ΔfIICalculating to obtain a new torque value;
and 5, substituting the obtained new torque value into a PI compensator, and continuously evaluating the flux linkage change rate M through genetic algorithm iterationλAnd finally, outputting the torque value after the output of the PI compensator is stable.
Further, the separation point of the phase commutation of the switched reluctance motor described in step 1 into two intervals is set as the time when the actual torque of the winding of the next phase is equal to the reference torque.
Further, the torque distribution function described in step 2 is
Figure BDA0002185234330000021
Wherein, thetaon、θovAnd thetaoffRespectively an on angle, a commutation overlap angle and an off angle, and theta is a magnetic chain angle generated by phase change.
Further, the reference value T of the torque of the k-th phase described in step 3e_ref(k)Is composed of
Figure BDA0002185234330000022
Wherein, Te_refAs a reference value for the total torque, frise(theta) is the rise of the torque distribution function of the input term, ffall(theta) is the output term torque distribution function drop value, thetaonθoffθovθpRespectively an on angle, an off angle, an overlap angle and a pole angle when the motor is in phase conversion.
Further, the step 3 of adjusting the actual torque value according to the torque reference value includes compensating the actual torque value in the interval I and the actual torque value in the interval II, and specifically includes:
(1) within the interval I, the torque generated by the previous phase winding is positively compensated, and the compensation value is delta fI(ii) a Generating torque for the winding of the subsequent phase by updating the value of the torque distribution function of the previous phase
Figure BDA0002185234330000031
Implementing torque compensation
Figure BDA0002185234330000032
Figure BDA0002185234330000033
Figure BDA0002185234330000034
Figure BDA0002185234330000035
Wherein, Delta TIIs the difference between the actual torque and the reference torque,
Figure BDA0002185234330000036
for the new value of the torque distribution,
Figure BDA0002185234330000037
the new torque calculated for the previous phase,
Figure BDA0002185234330000038
new torque for the latter phase;
(2) in the interval II, the torque generated by the winding of the next phase is negatively compensatedThe compensation value is DeltafII(ii) a Generating torque for the winding of the previous phase by updating the torque distribution function value of the previous phase
Figure BDA0002185234330000039
Implementing torque compensation
Figure BDA00021852343300000310
Figure BDA00021852343300000311
Figure BDA00021852343300000312
Figure BDA00021852343300000313
Wherein, Delta TIIIs the difference between the actual torque and the reference torque.
Further, the PI compensator described in step 5 includes a previous phase compensator G(k-1)(s) and a subsequent phase compensator G(k)(s)
G(k-1)(s)＝G(k)(s)＝Kp+(Ki/s)
Wherein
Kp＝cosθ/A1
Ki＝-(w1sinθ)/A1
w1For switched reluctance machines angular velocity, A1The gain amplitude of the transfer function in the torque distribution function control module is given and θ is the rotor position.
Further, the evaluation criterion defines MλThe following were used:
Figure BDA0002185234330000041
λrisefor input phase flux linkage, λfallIs the flux linkage of the output phase.
The invention provides a switched reluctance motor torque ripple suppression method for suppressing the torque ripple of a switched reluctance motor, which introduces a direct instantaneous torque control method (DITC) into the torque distribution function control in a torque distribution function control scheme of a switched reluctance motor system; a Genetic Algorithm (GA) is introduced into a switched reluctance motor speed regulating System (SRD) controlled by a classical PID, and the SRD controlled by the classical PID is optimized with two targets of speed pulsation minimization and torque pulsation minimization. Compared with the traditional torque distribution function (TSF) control algorithm, after Direct Instantaneous Torque Control (DITC) and a Genetic Algorithm (GA) are introduced, the torque ripple condition of the switched reluctance motor is effectively inhibited. Thereby suppressing torque ripple and having a remarkable effect.
The invention is further described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a system diagram of a method for suppressing torque ripple of a switched reluctance motor in an embodiment.
Fig. 2 is a graph of a cosine function type torque distribution function.
FIG. 3 is a schematic diagram of an online TSF correction algorithm in the interval I.
FIG. 4 is a schematic diagram of the TSF online correction algorithm in interval II.
Detailed Description
A method for torque ripple suppression of a switched reluctance motor, using the following system: the torque distribution function module corrects the instantaneous torque through a torque distribution function by taking speed pulsation minimization and torque pulsation minimization as a total target, compensates the torque, and adopts a genetic algorithm to carry out proportional and integral gain k of a speed controller and a current controllerpAnd kiAnd motor winding switching angle thetaonAnd thetaoffThese parameters are optimized and control information is output; the current controller outputs corresponding control information through proportional integral regulation according to the difference between the output reference current value and the actual feedback current value; the power converter adopts an asymmetric half-bridge loop, receives the control information of the torque distribution function module,changing the switching condition of a switching tube and the power supply voltage of a motor phase winding; the rotor position detection module is used for detecting the position of the rotor and calculating an actual speed value; the current detection module is used for detecting the magnitude of the corresponding phase current; and the commutation switch angle controller calculates the information of the turn-on angle and the turn-off angle according to the rotor position and the result of the torque distribution function module and sends the information to the power converter.
For the torque distribution function control module, the torque reference value for each phase is defined by the torque distribution function. The general electromagnetic phase torque equation for a switched reluctance machine is as follows:
Figure BDA0002185234330000051
phase current reference values are derived from the equation. Where λ is the phase flux linkage of the switched reluctance motor, i is the phase current, θ is the rotor position, TeIs the torque.
And then, controlling the phase current by a hysteresis current control method with hard chopping so as to accord with a reference value of the phase current, and searching and matching a torque characteristic table obtained by a simulation switched reluctance motor model to obtain a torque, so that each motor phase generates the torque defined by a torque distribution function.
In the control scheme of the system, the torque distribution function adopts a cosine form, as shown in figure 2.
The torque distribution function is expressed as a graph:
Figure BDA0002185234330000052
in the formula: thetaon、θovAnd thetaoffRespectively an on angle, a commutation overlap angle and an off angle.
The cosine-type torque distribution function in the switched reluctance motor is shown in fig. 2. During phase commutation, the torque value of the input phase rises to the torque reference value and the torque reference value of the output phase decreases to zero. The torque reference value for each phase can be created by shifting the step angle of the torque distribution function (15 motor step angle for three phases 12/8).
Therefore, the torque reference value of the k-th phase is defined as:
Figure BDA0002185234330000061
Te_ref(k)is a torque reference value of the k-th phase, Te_refAs a reference value for the total torque, frise(theta) is the rise of the torque distribution function of the input term, ffall(theta) is the output term torque distribution function drop value, thetaonθoffθovθpRespectively an on angle, an off angle, an overlap angle, and an endpoint angle.
The sum of the torque reference values for the input and output phases is the total torque reference value, so the relationship between the torque distribution function rise and fall values is: f. offall(θ)＝1-frise(θ+θon-θoff)
Thus, the torque distribution function coordinates the input and output phase torques such that the resultant torque remains constant during commutation between the switched reluctance motor phases.
In the initial phase of phase change, performing online positive compensation on the torque distribution function of the previous phase winding, and not processing the torque distribution function of the next phase winding; and at the phase change finishing stage, online negative compensation is realized on the torque distribution function of the winding of the next phase, and the torque distribution function of the winding of the previous phase is not processed, so that the torque pulsation of the motor is suppressed at the phase change stage. The control block diagram of the switched reluctance motor driver based on the torque distribution function is shown in fig. 1 and is divided into two sections I and II.
For the interval i, the torque error caused by the next phase winding is calculated and obtained, and the expression is:
ΔTI＝Tref(K)-T(k)
the torque error is converted into a correction compensation value delta f of a previous phase torque distribution function through a compensatorIIn this case, the torque distribution function after the previous phase compensation and the new reference torque of the previous phase can be calculated, and the torque distribution function of the subsequent phase and the reference torque of the phase are calculated at the momentThe interval remains unchanged. Therefore, the insufficiency of the torque generated for the winding of the subsequent phase is finally compensated for the torque by updating the torque distribution function of the previous phase.
Figure BDA0002185234330000062
Figure BDA0002185234330000071
For the section II, the torque of the motor is higher due to the fact that the torque of the previous phase winding cannot be timely reduced to the reference torque, and the current next phase winding has good torque tracking performance, so that the higher torque of the previous phase winding can be corrected by reducing the torque distribution function of the next phase winding.
In interval ii, the torque error caused by the previous phase winding is expressed as:
ΔTII＝Tref(k-1)-T(k-1)
the torque error is converted into a correction value delta f of a torque distribution function of the next phase through a compensatorIIThen, the torque distribution function after the later phase compensation and the new later phase reference torque can be calculated. Therefore, the higher torque generated for the winding of the previous phase finally realizes the torque correction by updating the torque distribution function of the subsequent phase.
Figure BDA0002185234330000072
Figure BDA0002185234330000073
The total reference torque is distributed more reasonably through the online correction of the torque distribution function in the two intervals, so that the aim of torque ripple minimization control is fulfilled. Meanwhile, in order to enable the torque of each phase to quickly rise and fall to the reference value, the switching tubes are in a hard chopping conduction mode, namely the upper switching tube and the lower switching tube are controlled by the same chopping signals.
For the online torque distribution function, the actual torque output is determined by the motor phase torque tracking performance, although the torque ripple is reduced compared to the conventional. At high motor speeds, the phase currents cannot accurately track the current reference due to high back emf, limited DC link voltage and increased torque ripple.
The system introduces a parameter of flux linkage rate of change (ARCFL) with respect to rotor position to minimize the maximum Torque Ripple Free Speed (TRFS) of the torque distribution function over the range of DC link voltages. For the torque distribution function, it is defined as follows:
Figure BDA0002185234330000074
λrisefor input phase flux linkage, λfallIs the flux linkage of the output phase.
The effective (maximum) rate of change of the flux linkage reference value based on the rotor position is given by:
Figure BDA0002185234330000081
where N isSIs the number of rotor position angle samples and k is the current sampled rotor position angle. The copper loss depends on the square of the phase current:
Figure BDA0002185234330000082
where i is the phase current reference value for the TSF. The fitness function of the allocation algorithm is therefore:
Figure BDA0002185234330000083
Figure BDA0002185234330000084
and
Figure BDA0002185234330000085
is about a reference torque TrefFunction of thetaonAnd thetaovIs the sample step size at a fixed rotor position of the torque distribution function (0.2 is chosen to eliminate the effect of motor speed on the sample position). w is afIs a weighting factor. Finding theta by an optimization process of a genetic algorithmonAnd thetaovThe value of (c).
The torque distribution function during commutation, there are two modes: mode I and mode II.
The flux linkage change rate of the input phase is higher than that of the output phase in the mode I (at the start of phase commutation), and the flux linkage change rate of the output phase becomes much higher than that of the input phase in the mode II (at the end of phase commutation).
An online torque distribution function method is introduced, so that the flux linkage change rate is minimized, and the maximum torque ripple free speed area of the torque distribution function is maximized. The online torque distribution function uses a Proportional and Integral (PI) compensator to act on the error between the reference torque and the estimated torque. The PI compensator outputs to the phase with the lower flux linkage rate of change during phase commutation, i.e., the output phase in mode I and the input phase in mode II.
Thus, for the online torque distribution function, the torque error is determined by the phase with a lower flux linkage rate of change (better torque tracking capability) in modes I and II, greatly increasing torque tracking capability and reducing their torque ripple, particularly during conventional phase commutation, improving torque speed performance. As shown in fig. 3 and 4, the two modes of the online torque distribution function system during phase commutation are shown.
Where G is(k-1)(s)，G(k)(s) proportional integral PI compensators for the input and output phases respectively, I (theta, T) representing the current for a given reference torque and rotor position, H(k-1)(s)，H(k)(s) represents an approximate model of the current control subsystem, and T (θ, i) represents the estimated torque output value of the actual phase.
G(k-1)(s)，G(k)(s) and H(s) are defined by the formula:
G(k-1)(s)＝G(k)(s)＝G(s)＝Kp+(Ki/s)
H(k-1)(s)＝H(k)(s)＝H(s)＝1/(ts+1)
Kpand KiIs determined by the frequency domain design. At low switching frequencies, K is adjustedpAnd KiIncreases the gain of the open loop torque control system. The gain crossover frequency is no greater than one tenth of the minimum switching frequency. The switching frequency of a switched reluctance motor is between 10KHZ and 50KHZ, depending on the rotor position and the hysteresis band. Gain crossover frequency omega1Approximately 1KHZ (1.5KHZ) was chosen. To ensure stability, the phase margin of the PI compensation system should be greater than 60 °. KpAnd KiCalculated from the following formula:
Kp＝cosθ/A1，Ki＝-(ω1sinθ)/A1。
A1is the gain magnitude of the transfer function in the torque distribution function control module. Therefore, given a value of θ, ω can be calculated1The value is used to calculate the gain of the PI compensator.
For an online torque distribution function torque control scheme, an angle of the modified hysteretic current control scheme and the optimized TSF is used when the rotor position is greater than thetaonLess than thetaoffWhen in use, soft chopping is adopted; when the rotor position is greater than thetaoffHard chopping is used. This is in contrast to the original hysteresis current control scheme, which uses hard chopping for all rotor positions. Soft chopping can reduce current ripple, converter switching losses and winding voltage stress. However, for values greater than θoffThe rotor position of the motor is hard chopped, and the current is kept controllable.
Example one
As shown in fig. 1, a switched reluctance motor torque ripple suppression system for suppressing torque ripple of a switched reluctance motor by using a dry phase includes: the device comprises a torque distribution function control module, a speed controller, a current controller, a power converter, a rotor position detection module and a current detection module.
A torque distribution function control module for controlling the torque distribution functionCorrecting the time torque, compensating the torque, adopting a genetic algorithm to take the speed pulsation minimization and the torque pulsation minimization as the total target, and carrying out proportional and integral gain k on the speed controller and the current controller respectivelypAnd kiAnd motor winding switching angle thetaonAnd thetaoffOptimizing the six parameters, and sending information of the turn-on angle and the turn-off angle to the power converter;
the speed controller outputs a corresponding current command through proportional integral adjustment according to the difference between a given reference speed value and an actual feedback speed value;
the current controller outputs corresponding control information through proportional-integral regulation according to the difference between the reference current value output by the PI speed controller and the actual feedback current value;
the power converter receives the control information of the SRM controller, changes the switching condition of the switching tube and the power supply voltage of the motor phase winding;
the rotor position detection module is used for detecting the position of the rotor and calculating an actual speed value;
the current detection module is used for detecting the magnitude of the corresponding phase current;
in this embodiment, the switched reluctance motor used is a four-phase 12/8 pole, and the basic parameters are: the rated power is 750w, the rated rotation speed is 1500r/min, the direct current power supply voltage is 350V, the maximum current is 20A, the internal resistance of a stator phase winding is 1.2 omega, the inductance (maximum inductance) of a stator salient pole center line at an aligned position is 50mH, and the inductance (minimum inductance) at an unaligned position is 6 mH.
For the switched reluctance motor system, the rotor position detection module and the current detection module detect relevant parameters of the motor, feed the parameters back to the torque characteristic table, read torque information and send the torque distribution function.
In the initial phase of phase change, performing online positive compensation on the torque distribution function of the previous phase winding, and not processing the torque distribution function of the next phase winding; and at the phase change finishing stage, online negative compensation is realized on the torque distribution function of the winding of the next phase, and the torque distribution function of the winding of the previous phase is not processed, so that the torque pulsation of the motor is suppressed at the phase change stage.
Specifically, for the interval i, the torque error caused by the next phase winding is calculated and obtained, and the expression is as follows:
ΔTI＝Tref(K)-T(k)
the torque error is converted into a corrected compensation value △ f of the previous phase TSF through a compensatorIAt this time, the TSF after the previous phase compensation and the new previous phase reference torque can be calculated, and the TSF and the phase reference torque of the latter phase are kept unchanged in the interval. Therefore, the insufficiency of the torque generated for the winding of the latter phase is finally compensated for by raising the torque distribution function of the former phase.
Figure RE-GDA0002347313690000111
Figure RE-GDA0002347313690000112
Figure RE-GDA0002347313690000113
Figure RE-GDA0002347313690000114
For the section II, the motor torque is higher due to the fact that the previous phase winding torque cannot be timely reduced to the reference torque distributed by the TSF, and the next phase winding at the moment has good torque tracking performance, so that the previous phase winding torque can be corrected by reducing the torque distribution function of the next phase.
In interval ii, the torque error caused by the previous phase winding is expressed as:
ΔTII＝Tref(k-1)-T(k-1)
the torque error is converted to a correction △ f for the subsequent phase TSF by a compensatorIIAt this time, the TSF after the compensation of the later phase and a new reference torque of the later phase can be calculated, and the former phaseThe TSF and the phase reference torque remain unchanged in this interval. Therefore, a higher torque generation for the winding of the previous phase finally achieves a torque correction by reducing the torque distribution function of the subsequent phase.
Figure RE-GDA0002347313690000115
Figure RE-GDA0002347313690000116
Figure RE-GDA0002347313690000117
Figure RE-GDA0002347313690000118
Through the online correction of the TSF in the two intervals, the total reference torque is more reasonably distributed through the new TSF, and therefore the purpose of torque pulsation minimization control is achieved. Meanwhile, in order to enable the torque of each phase to quickly rise and fall to the reference value, the switching tubes are in a hard chopping conduction mode, namely the upper switching tube and the lower switching tube are controlled by the same chopping signals.

Claims (7)

1. A method of torque ripple suppression for a switched reluctance motor, comprising:
step 1, dividing phase commutation of a switched reluctance motor into two intervals, and acquiring a turn-on angle, a turn-off angle and actual torque of the switched reluctance motor during phase commutation;
step 2, establishing a torque distribution function, and acquiring a torque distribution value f according to the turn-on and turn-off angles of the switched reluctance motor during phase conversionk(θ)；
Step 3, acquiring a torque reference value of the kth phase;
step 4, comparing the torque reference value with the actual torque value to obtain a torque function compensation value delta fI、ΔfIICalculating to obtain a new torque value;
step (ii) ofSubstituting the obtained new torque value into a PI compensator, and continuously evaluating the flux linkage change rate M through genetic algorithm iterationλAnd finally, outputting the torque value after the output of the PI compensator is stable.
2. The method according to claim 1, wherein the separation point of the phase commutation division of the switched reluctance motor into two intervals in step 1 is set as the time when the actual torque of the subsequent phase winding is equal to the reference torque.
3. The method of claim 1 wherein said torque distribution function of step 2 is
Figure FDA0002185234320000011
Wherein, thetaon、θovAnd thetaoffRespectively an on angle, a commutation overlap angle and an off angle, and theta is a magnetic chain angle generated by phase change.
4. A method according to claim 3, characterized in that the torque reference value T of the k-th phase described in step 3e_ref(k)Is composed of
Figure FDA0002185234320000021
Wherein the content of the first and second substances,
Figure FDA00021852343200000212
as a reference value for the total torque, frise(theta) is the rise of the torque distribution function of the input term, ffall(theta) is the output term torque distribution function drop value, thetaonθoffθovθpRespectively an on angle, an off angle, an overlap angle and a pole angle when the motor is in phase conversion.
5. The method of claim 4, wherein adjusting the actual torque value based on the torque reference value in step 3 includes compensating the actual torque value in interval I and in interval II, including:
(1) within the interval I, the torque generated by the previous phase winding is positively compensated, and the compensation value is delta fI(ii) a Generating torque for the winding of the subsequent phase by updating the value of the torque distribution function of the previous phase
Figure FDA0002185234320000022
Implementing torque compensation
Figure FDA0002185234320000023
Figure FDA0002185234320000024
Figure FDA0002185234320000025
Figure FDA0002185234320000026
Wherein, Delta TIIs the difference between the actual torque and the reference torque,
Figure FDA0002185234320000027
for the new value of the torque distribution,
Figure FDA0002185234320000028
the new torque calculated for the previous phase,
Figure FDA0002185234320000029
new torque for the latter phase;
(2) in the interval II, the torque generated by the winding of the next phase is subjected to negative compensation, and the compensation value is delta fII(ii) a Generating torque for the winding of the previous phase by updating the torque distribution function value of the previous phase
Figure FDA00021852343200000210
Implementing torque compensation
Figure FDA00021852343200000211
Figure FDA0002185234320000031
Figure FDA0002185234320000032
Figure FDA0002185234320000033
Wherein, Delta TIIIs the difference between the actual torque and the reference torque.
6. The method of claim 1, wherein the PI compensator of step 5 comprises a previous phase compensator G(k-1)(s) and a subsequent phase compensator G(k)(s)
G(k-1)(s)＝G(k)(s)＝Kp+(Ki/s)
Wherein
Kp＝cosθ/A1
Ki＝-(w1sinθ)/A1
w1For switched reluctance machines angular velocity, A1The gain amplitude of the transfer function in the torque distribution function control module is given and θ is the rotor position.
7. The method of claim 6, wherein the evaluation criteria defines MλThe following were used:
Figure FDA0002185234320000034
λrisefor input phase flux linkage, λfallIs the flux linkage of the output phase.
CN201910811712.4A 2019-08-30 2019-08-30 Method for inhibiting torque ripple of switched reluctance motor Pending CN110880900A (en)

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CN114465540A (en) * 2022-02-11 2022-05-10 河北工业大学 SRM torque distribution function control system and method based on interval segmentation

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CN111697903A (en) * 2020-06-10 2020-09-22 大连理工大学 Control method for simultaneously inhibiting torque pulsation and vibration of switched reluctance motor
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CN114465540A (en) * 2022-02-11 2022-05-10 河北工业大学 SRM torque distribution function control system and method based on interval segmentation
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Application publication date: 20200313