CN111740654A - Control method for switched reluctance motor without position sensor - Google Patents

Control method for switched reluctance motor without position sensor Download PDF

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CN111740654A
CN111740654A CN201910217226.XA CN201910217226A CN111740654A CN 111740654 A CN111740654 A CN 111740654A CN 201910217226 A CN201910217226 A CN 201910217226A CN 111740654 A CN111740654 A CN 111740654A
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phase
current
motor
phase current
slope
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陈昊
渠苏东
周大林
桑永豪
尹正凯
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China University of Mining and Technology CUMT
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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
    • 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

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  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a control method of a switched reluctance motor without a position sensor. In the method, the phase current is continuous in the whole period by low-threshold chopping in a non-conduction interval, and the slope difference value of the phase current in a rising interval and a falling interval is calculated by acquiring the information of each phase current. The maximum point of the phase current slope difference value corresponds to the position of 0 degree of the corresponding phase, the phase change operation of the motor is completed by detecting the maximum point of the phase current slope difference value of each phase of winding and triggering a pulse signal, the real-time rotating speed of the motor is calculated according to the time interval of the pulse signal triggered by the maximum point of the phase current slope difference value of one phase of winding in two adjacent rotor periods and the corresponding rotor position angle difference value, and the rotor position angle of the motor at any moment is estimated. The method solves the problem that the operation control of the switched reluctance motor depends on the position sensor, has high position detection precision and strong practicability, and has wide application prospect.

Description

Control method for switched reluctance motor without position sensor
Technical Field
The invention relates to a position sensorless control method of a switched reluctance motor, which is particularly suitable for position sensorless control of the switched reluctance motor with any phase number and different stator and rotor pole numbers.
Background
The switched reluctance motor is concerned in the field of electric drive because of the advantages of simple and firm structure, wide speed-adjustable range, strong fault-tolerant performance and the like. However, the reliability of the operation of the system depends heavily on the accurate detection of the position signal by the built-in position sensor, and the severe operation environment can influence the effective work of the position sensor, thereby reducing the stability of the system, and simultaneously, the installation of the sensor increases the cost of the system. The research of position-sensor-free control on the switched reluctance motor can improve the overall performance of the switched reluctance motor system and reduce the manufacturing cost. The existing research of the switched reluctance motor position sensorless control method has the problems of needing motor priori knowledge, large calculation amount of the method, needing additional hardware equipment, low position detection precision, no universality and the like. In view of the above, the present invention provides a new method for controlling a switched reluctance motor without a position sensor, which performs motor rotor position detection and motor control by effectively processing phase current information.
Disclosure of Invention
The invention aims to provide a switched reluctance motor position sensorless control method, so that the problems that a traditional switched reluctance motor depends on a position sensor in operation control and the existing switched reluctance motor position sensorless control method needs motor priori knowledge, is large in calculation amount, needs additional hardware equipment, is low in position detection precision and does not have universality are solved. The specific scheme is as follows:
a control method of a switched reluctance motor without a position sensor comprises the following steps:
a. the switched reluctance motor works in a phase current chopping control mode and phase current is continuous in the whole rotor period;
b. calculating the slope difference value of each phase of current according to the current value of each phase of winding of the switched reluctance motor;
c. detecting the maximum value point of the current slope difference of each phase of the switched reluctance motor in real time and triggering a pulse signal;
d. executing motor phase change operation according to a pulse signal triggered by the maximum value point of the current slope difference value of each phase;
e. and calculating the real-time rotating speed of the motor and estimating the position angle of the motor rotor at any moment according to the pulse signal time interval triggered by the maximum point of the slope difference value of the same phase current in the two adjacent rotor periods and the corresponding rotor position angle difference value.
In the control method of the switched reluctance motor without the position sensor, the method that the phase current in the step a is continuous in the whole rotor period comprises the following steps: and each phase winding executes normal phase current chopping operation in the conduction interval of the phase, the chopping limit and the current hysteresis loop width are given according to the control requirement, and low-threshold current chopping operation with the current chopping limit of 0.5A and the current hysteresis loop width of +/-0.5A is executed in the non-conduction interval.
The method for calculating the slope difference value of the phase current in the step b comprises the following steps:
phase current slope difference value calculation formula:
Figure BDA0002002436380000021
the phase current value at the previous moment is subtracted from the phase current value detected at the current moment, the slope of each phase current is calculated by dividing the time interval,
Figure BDA0002002436380000022
representing the slope of the phase current during the current ramp-up phase,
Figure BDA0002002436380000023
representing the slope of the phase current in the current reduction stage; in the phase current rising phase, the current slope is positive,
Figure BDA0002002436380000024
the value of (a) is the real-time phase current slope value calculated at the current moment,
Figure BDA0002002436380000025
the value of (a) is the negative value of the slope of the last phase current calculated in the last current reduction stage; in the phase current dropping stage, the current slope is negative,
Figure BDA0002002436380000026
the value of (a) is the real-time phase current slope value calculated at the current moment,
Figure BDA0002002436380000027
the value of (a) is the last positive phase current slope value calculated in the last current rising stage.
Step d motor commutation operationThe implementation method comprises the following steps: for the switched reluctance motor with any m-phase X/Y structure, single-phase alternate conduction operation is carried out, the maximum point of the phase current slope difference corresponds to the conduction position of 0 degree of the phase, and corresponds to the winding of the previous phase according to the conduction sequence
Figure BDA0002002436380000028
And the turn-off position is used for detecting a pulse signal triggered by the maximum point of the phase current slope difference value, executing turn-on operation on the phase winding and turning off the previous phase winding according to the turn-on sequence.
Step e, calculating a real-time rotating speed expression of the motor according to the pulse signal time interval triggered by the maximum point of the slope difference value of the same phase current in the two adjacent rotor periods and the corresponding rotor position angle difference value:
Figure BDA0002002436380000029
wherein omega is the rotating speed of the motor,
Figure BDA00020024363800000210
and the angular difference of the rotor position corresponding to the maximum value point of the adjacent two current slope difference values of the same phase winding is represented, and delta t is a corresponding time interval.
The estimation formula of the position angle of the motor rotor at any moment is as follows: theta is equal to theta0+ ω xT, where θ is the real-time rotor position angle of the motor, θ0The rotor position angle of the motor at the previous moment, omega is the rotating speed of the motor, and T is sampling time.
The system for realizing the control method of the switched reluctance motor without the position sensor comprises the following steps: the device comprises a current sensor and a transmitting module for acquiring phase current information of each phase winding, a DSP control board for generating bridge circuit driving signals and rotating speed and position angle information of each phase winding power converter according to the phase current information, and an asymmetric half-bridge power converter and a driving circuit for driving a motor.
By adopting the technical scheme, the invention has the following beneficial effects: the invention discloses a switched reluctance motor position sensorless control method, which is characterized in that low-threshold chopping is carried out in a non-conduction interval to enable phase current to be continuous in a full period, and the slope difference value of the phase current in a rising interval and a falling interval is calculated by acquiring information of each phase current. And detecting the maximum value point of the current slope difference value of each phase winding through programming, triggering a pulse signal to finish the phase change operation of the motor, calculating the real-time rotating speed of the motor according to the time interval of the pulse signal triggered by the maximum value point of the current slope difference value of the same phase winding in two adjacent rotor periods and the corresponding rotor position angle difference value, and estimating the rotor position angle of the motor at any moment. The method is suitable for the switched reluctance motor with any phase number and different stator and rotor matching structures, does not need any motor priori knowledge and additional hardware equipment, has high position detection precision, is not influenced by motor phase inductance asymmetry, has strong universality and has wide application prospect.
Drawings
In order to more clearly show the technical scheme of the invention, the following brief description of the drawings of one embodiment of the invention is provided. It should be noted that the following description of the drawings is only an embodiment of the present invention for a three-phase 12/8 configuration switched reluctance motor. On the premise of no creative labor, related technicians can deduce a position control-free legend of the switched reluctance motor with other phases and a stator-rotor matching structure by using the method according to the provided drawings.
FIG. 1 is a graph of a phase current continuous waveform and corresponding phase current slope difference according to an embodiment of the present invention;
FIG. 2 is a flow chart of a sensorless control algorithm for a switched reluctance motor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the commutation operation and the rotor position estimation of the motor according to an embodiment of the present invention;
fig. 4 is a block diagram of a switched reluctance motor position sensorless control hardware system according to an embodiment of the present invention.
Detailed description of the invention
The invention will be further described with reference to examples in the drawings to which:
on the premise of neglecting the magnetic circuit saturation and the interphase mutual inductance of the motor, when the motor is supplied by a constant direct current voltage source, a one-phase circuit equation of the motor can be expressed as follows:
Figure BDA0002002436380000031
in the formula, Us, R, i, Ψ (i, θ), L (θ), and ω respectively represent a dc bus voltage, a phase winding resistance, a phase current, a phase winding flux, a phase inductance, and a motor angular velocity. Us is + when the main switching device is on, and-when it is off, thereby obtaining a phase inductance expression:
Figure BDA0002002436380000041
in the formula (I), the compound is shown in the specification,
Figure BDA0002002436380000042
and
Figure BDA0002002436380000043
representing the slope of the phase current when the main switching device is on and off, respectively. Formula (2) reveals the inverse relationship between the phase current slope and the phase inductance, and proves the scientific feasibility of position-sensor-free control through the phase current slope difference. And simultaneously, giving a phase current slope difference value expression:
Figure BDA0002002436380000044
fig. 1 is a graph showing a continuous waveform of phase current and a slope difference of corresponding phase current for a low-threshold chopping operation in a non-conducting section according to an embodiment of the present invention. According to the embodiment of the invention, the current is subjected to low-threshold chopping control in the non-conduction interval of the winding, the chopping limit is 0.5A, the width of the current hysteresis loop is +/-0.5A, and the current in the non-conduction interval is limited between the given upper limit and the given lower limit, so that the current is continuous in the non-conduction interval of the winding of the motor, and the slope difference value of the phase current is continuously measurable in the whole rotor period.
FIG. 2 is a flow chart of a core algorithm for realizing the sensorless control of the switched reluctance motor according to the present invention. Firstly, acquiring phase current information of each phase, calculating the current slope through a DSP controller, judging the stage of the current, and then calculating the difference value of the phase current slopes through a formula (3). In the phase current rising phase, the current slope is positive,
Figure BDA0002002436380000045
the value of (a) is the real-time phase current slope value calculated at the current moment,
Figure BDA0002002436380000046
the value of (a) is the negative value of the slope of the last phase current calculated in the last current reduction stage; in the phase current dropping stage, the current slope is negative,
Figure BDA0002002436380000047
the value of (a) is the real-time phase current slope value calculated at the current moment,
Figure BDA0002002436380000048
the value of (a) is the last positive phase current slope value calculated in the last current rising stage. And then, triggering a pulse signal by detecting the position of the maximum value of the slope difference value of each phase of current to perform phase change operation and calculating the rotation speed of the motor and the position information of the rotor.
FIG. 3 is a schematic diagram of the commutation operation and the estimation of the rotor position of the motor according to an embodiment of the present invention. And detecting a pulse signal triggered by the maximum point of the phase current slope difference value corresponding to the conducting position of the phase of 0 degrees and the turn-off position of the winding of the previous phase according to the conducting sequence, carrying out the turn-on operation on the winding of the phase, and turning off the winding of the previous phase according to the conducting sequence. And calculating the real-time rotating speed of the motor according to the pulse signal time interval triggered by the maximum point of the slope difference value of the same phase current in the two adjacent rotor periods and the corresponding rotor position angle difference value:
Figure BDA0002002436380000049
wherein, ω is the rotation speed of the motor, Δ θ represents the angular difference of the rotor position corresponding to the difference point of two adjacent current slopes of the same phase winding, and Δ t is the corresponding time interval.
And estimating the angle of any position of the rotor according to the specific rotor position and the real-time rotating speed:
θ＝θ0+ω×T (5)
wherein theta is the real-time rotor position angle of the motor, theta0The rotor position angle of the motor at the previous moment, omega is the rotating speed of the motor, and T is sampling time.
Fig. 4 is a block diagram of a switched reluctance motor position sensorless control hardware system according to an embodiment of the present invention. The hardware system for realizing the invention mainly comprises a Switched Reluctance Motor (SRM), a three-phase asymmetric half-bridge type power converter, a DSP controller, a current detection and transmission module and the like. The DSP controller completes tasks of phase current slope difference value calculation, maximum value point detection, sending of a commutation signal, motor rotating speed calculation, real-time rotor position angle calculation and the like in an algorithm flow chart, and other necessary instruction operations which are not in the scope of the claims of the invention in the motor control process are completed at the same time.

Claims (7)

1. A control method of a switched reluctance motor without a position sensor is characterized by comprising the following steps:
a. the switched reluctance motor works in a phase current chopping control mode and phase current is continuous in the whole rotor period;
b. calculating the slope difference value of each phase of current according to the current value of each phase of winding of the switched reluctance motor;
c. detecting the maximum value point of the current slope difference of each phase of the switched reluctance motor in real time and triggering a pulse signal;
d. executing motor phase change operation according to a pulse signal triggered by the maximum value point of the current slope difference value of each phase;
e. and calculating the real-time rotating speed of the motor and estimating the position angle of the motor rotor at any moment according to the pulse signal time interval triggered by the maximum point of the slope difference value of the same phase current in the two adjacent rotor periods and the corresponding rotor position angle difference value.
2. The method of claim 1, wherein the phase current of step a is continuous in the whole rotor period by: and each phase winding executes normal phase current chopping operation in the conduction interval of the phase, the chopping limit and the current hysteresis loop width are given according to the control requirement, and low-threshold current chopping operation with the current chopping limit of 0.5A and the current hysteresis loop width of +/-0.5A is executed in the non-conduction interval.
3. The method for controlling the switched reluctance motor without the position sensor according to claim 1, wherein the method for calculating the difference value of the slope of the phase current in the step b comprises the following steps:
phase current slope difference value calculation formula:
Figure FDA0002002436370000011
the phase current value at the previous moment is subtracted from the phase current value detected at the current moment, the slope of each phase current is calculated by dividing the time interval,
Figure FDA0002002436370000012
representing the slope of the phase current during the current ramp-up phase,
Figure FDA0002002436370000013
representing the slope of the phase current in the current reduction stage;
in the phase current rising phase, the current slope is positive,
Figure FDA0002002436370000014
the value of (a) is the real-time phase current slope value calculated at the current moment,
Figure FDA0002002436370000015
is the last phase calculated in the last current reduction stageA negative value of current slope;
in the phase current dropping stage, the current slope is negative,
Figure FDA0002002436370000016
the value of (a) is the real-time phase current slope value calculated at the current moment,
Figure FDA0002002436370000017
the value of (a) is the last positive phase current slope value calculated in the last current rising stage.
4. The method for controlling the switched reluctance motor without the position sensor according to claim 1, wherein the step d motor phase-change operation is implemented by the following steps: for the switched reluctance motor with any m-phase X/Y structure, single-phase alternate conduction operation is carried out, the maximum point of the phase current slope difference corresponds to the conduction position of 0 degree of the phase, and corresponds to the winding of the previous phase according to the conduction sequence
Figure FDA0002002436370000021
And the turn-off position is used for detecting a pulse signal triggered by the maximum point of the phase current slope difference value, executing turn-on operation on the phase winding and turning off the previous phase winding according to the turn-on sequence.
5. The method as claimed in claim 1, wherein the step e of calculating the real-time rotating speed expression of the motor according to the pulse signal time interval triggered by the maximum point of the slope difference value of the same phase current in two adjacent rotor periods and the corresponding rotor position angle difference value is as follows:
Figure FDA0002002436370000022
wherein omega is the rotating speed of the motor,
Figure FDA0002002436370000023
corresponding to maximum point representing difference between adjacent two current slopes of same phase windingThe rotor position angle difference, Δ t, is the corresponding time interval.
6. The switched reluctance motor position sensorless control method according to claims 1 and 5, wherein the motor rotor position angle at any time is estimated by the formula: theta0＝θ0+ ω × T, where θ is the real-time rotor position angle of the motor, θ0The rotor position angle of the motor at the previous moment, omega is the rotating speed of the motor, and T is sampling time.
7. A system for implementing the switched reluctance motor position sensorless control method of claims 1 to 6, comprising:
the current sensor and the transmitting module are used for acquiring phase current information of each phase of winding;
a DSP28335 control panel for generating bridge circuit driving signals, rotating speed and position angle information of the power converter of each phase winding according to the phase current information;
an asymmetric half-bridge power converter and a driving circuit for motor driving.
CN201910217226.XA 2019-03-21 2019-03-21 Control method for switched reluctance motor without position sensor Pending CN111740654A (en)

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Cited By (1)

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CN112271977A (en) * 2020-11-03 2021-01-26 大连理工大学 Switched reluctance motor position sensorless control method based on phase current slope difference method

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Publication number Priority date Publication date Assignee Title
CN112271977A (en) * 2020-11-03 2021-01-26 大连理工大学 Switched reluctance motor position sensorless control method based on phase current slope difference method

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Application publication date: 20201002