CN112542976B - Switched reluctance motor model prediction control system of exponential type torque distribution function - Google Patents

Switched reluctance motor model prediction control system of exponential type torque distribution function Download PDF

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CN112542976B
CN112542976B CN202011455749.7A CN202011455749A CN112542976B CN 112542976 B CN112542976 B CN 112542976B CN 202011455749 A CN202011455749 A CN 202011455749A CN 112542976 B CN112542976 B CN 112542976B
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switched reluctance
reluctance motor
torque
distribution function
rotor
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朱景伟
郭昭言
任萍
宋鑫
荆哲
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Dalian Maritime University
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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

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Abstract

The invention discloses a switched reluctance motor model prediction control system based on an exponential type torque distribution function, which belongs to the field of motors and control systems thereof and comprises the following steps: a switched reluctance motor; a position sensor for detecting the rotor position angle of the switched reluctance motor; the rotor angular speed conversion module is used for converting the rotor position angle into the rotor angular speed of the switched reluctance motor; the device comprises a rotating speed calculation module for calculating the actual rotating speed of the switched reluctance motor, a PID speed controller for outputting given torque, a torque distribution function module for outputting three-phase reference torque, and a model prediction control module for outputting a switching-on control signal or a switching-off control signal; a power converter for controlling the on/off of the switched reluctance motor; the system can predict the future controlled quantity output state in a single step or multiple steps, can quickly improve the rotating speed response speed and the running performance of the motor, reduces the torque pulsation during the phase change, and well ensures the normal running of the motor.

Description

Switched reluctance motor model prediction control system of exponential type torque distribution function
Technical Field
The invention relates to the field of motors and control systems thereof, in particular to a switched reluctance motor model prediction control system based on an exponential type torque distribution function.
Background
CN110829940A is a switched reluctance motor torque distribution model predictive control method, which combines torque distribution with model predictive control, and in the torque distribution, takes into account compensation for model prediction error to obtain reference torque of each phase, and in the model predictive control, constructs a cost function including phase reference torque tracking error, and finds a control signal that makes the cost function optimal to realize torque fluctuation suppression of the switched reluctance motor that considers operation efficiency.
CN110880900A a method for torque ripple suppression of a switched reluctance motor, comprising: 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.
CN109347389A a method for controlling direct torque of a switched reluctance motor based on model predictive flux linkage control, which measures the current of a stator, the rotation speed of a rotor, the position of the rotor and the voltage of a dc link through sensors; calculating the flux linkage of the stator and the torque of the motor at the moment K; comparing the torque value of the current moment K with the torque value set by the PI ring through a hysteresis loop of torque control, and selecting three voltage vectors to be selected; predicting the stator current at the moment K +1 by the stator current at the moment K + 1; the flux linkage value psi of the stator at the moment K +1 will be predictedk+1With a given flux linkage value psirefComparing; first selecting U for minimizing evaluation function by evaluation functionk+1A voltage vector; sending a switching signal corresponding to the vector of the selected optimal voltage to the three-phase asymmetric bridge converter; and controlling the switched reluctance motor.
The switched reluctance motor speed regulating system has the characteristics of simple control circuit, good speed regulating performance and high efficiency of a direct current speed regulating system and the characteristics of firmness, durability and simple structure of an alternating current variable frequency speed regulating system motor, and is a speed regulating system with higher cost performance. However, the double salient pole structure of the switched reluctance motor and the switching on/off switching mode of the switch power supply cause the characteristic of large torque pulsation, and limit the development of the switched reluctance motor.
Due to the characteristics of high nonlinearity, variable structure and multivariable coupling of the switched reluctance motor, although the conventional torque distribution function is simple, a good control effect is difficult to achieve; although the torque ripple of a system can be reduced by the method for predicting and controlling the torque distribution model of the switched reluctance motor, the cost function considers the influence of current and increases the complexity and the calculation amount of system control.
A method for suppressing the torque ripple of a switched reluctance motor reduces the torque ripple by adopting a torque compensation method, but a torque distribution function adopts a cosine type, and a conducting phase is distributed to larger torque at the initial stage of switching on, so that the peak value of the stator winding current during phase commutation is increased, and the appearance of the peak value can influence the performance of the motor.
A direct torque control method of a switched reluctance motor based on model prediction flux linkage control mainly predicts current, rotor position angle and flux linkage at the moment of K +1 so as to further realize control of the switched reluctance motor, but the system depends on the accuracy of flux linkage nonlinear modeling.
In the conventional SRM control method based on the linear or cosine type torque distribution function, the conducting phase is distributed to a large torque at the initial stage of switching on, which increases the peak value of the stator winding current during commutation, and the appearance of the peak value affects the performance of the motor.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a switched reluctance motor model prediction control system based on an exponential type torque distribution function, which comprises the following steps: a switched reluctance motor;
a position sensor for detecting the position angle of the rotor of the switched reluctance motor;
the rotor angular speed conversion module is used for receiving the position angle of the rotor of the switched reluctance motor transmitted by the position sensor and converting the position angle of the rotor into the angular speed of the rotor of the switched reluctance motor;
the rotating speed calculation module is used for receiving the rotor angular speed of the switched reluctance motor transmitted by the rotor angular speed conversion module and calculating the actual rotating speed of the switched reluctance motor;
a PID speed controller for receiving the rotating speed error signal obtained by the difference between the actual rotating speed transmitted by the rotating speed calculating module and the given reference rotating speed and outputting the given torque;
the torque distribution function module is used for receiving the given torque transmitted by the PID speed controller and the position angle transmitted by the rotor position detection module and outputting three-phase reference torque;
the model prediction control module is used for receiving the three-phase reference torque transmitted by the torque distribution function module, the rotor position angle transmitted by the position sensor, the three-phase current of the switched reluctance motor and the rotor angular rotation speed and outputting a switching-on control signal or a switching-off control signal;
and the power converter receives the switching-on control signal or the switching-off control signal transmitted by the model prediction control module and controls the switching-on or switching-off of the switched reluctance motor.
Further, the torque distribution function module employs an exponential distribution function expressed as follows:
Figure BDA0002828756640000031
wherein: theta corresponds to the position angle of the switched reluctance motor, thetaon、θoffAnd thetaovThe on-off angle and the off-off angle which are given by the torque distribution function respectively correspond to the torque overlapping angles of two adjacent phases.
Due to the adoption of the technical scheme, the Switched Reluctance Motor (SRM) model predictive control system based on the exponential torque distribution function improves the response speed of the SRM control system and reduces the torque ripple; the outer ring of the control system designed by the invention uses a PID speed controller, the difference between the given rotating speed and the actual rotating speed forms a rotating speed error signal, and the rotating speed error signal is converted into a torque signal through the PID speed controller; the control method of the control system inner loop for the torque distribution function adopts the exponential type torque distribution function as the function body, and adopts the strategies of multi-step prediction, rolling optimization, feedback correction and the like to make the model predictive control system easy to process nonlinear and multivariable processes or systems; according to the possible states of the electromechanical energy conversion system and the physical characteristics of the controlled object, the system can predict the future controlled quantity output state in a single step or multiple steps, and then, through a proper cost function form, multi-target parameters (such as motor torque ripple, copper loss, switching loss and the like) are optimized, so that high flexibility can be met.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a block diagram of a switched reluctance motor torque distribution function control system of the present invention;
FIG. 2 is a block diagram of the exponential torque distribution function control of the present invention;
FIG. 3 is a waveform of output rotation speed of the switched reluctance motor of the present invention;
fig. 4 is a waveform diagram of an output torque of the switched reluctance motor of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
a switched reluctance motor model prediction control system based on an exponential type torque distribution function is composed of a PID speed controller, a torque distribution function module, a model prediction control module, a three-phase asymmetric half-bridge power converter, a switched reluctance motor, a position sensor, a rotating speed calculation module, a rotor angular speed conversion module and the like, and is shown in figure 1.
The position sensor detects a rotor position angle of the switched reluctance motor;
the rotor angular speed conversion module converts the rotor position angle of the switched reluctance motor, which is received and transmitted by the position sensor, into the rotor angular speed of the switched reluctance motor;
the rotating speed calculating module receives the rotor angular speed of the switched reluctance motor transmitted by the rotor angular speed converting module and calculates the actual rotating speed of the switched reluctance motor;
the PID speed controller receives a rotating speed error signal obtained by the difference between the actual rotating speed transmitted by the rotating speed calculation module and a given reference rotating speed, and outputs a given torque;
the torque distribution function module receives the given torque transmitted by the PID speed controller and the position angle transmitted by the rotor position detection module and outputs three-phase reference torque;
the model prediction control module receives the three-phase reference torque transmitted by the torque distribution function module, the rotor position angle transmitted by the position sensor, the three-phase current of the switched reluctance motor and the rotor angle rotating speed, and outputs a switching-on control signal or a switching-off control signal;
and the three-phase asymmetric half-bridge power converter receives the switching-on control signal or the switching-off control signal transmitted by the model prediction control module and controls the switching-on or the switching-off of the switched reluctance motor.
The speed error signal outputs a given torque through a PID speed controller, a torque distribution function module calculates the reference torque of each phase according to the position of a rotor, and a position sensor acquires an angle signal theta at the moment kkCalculating the rotation speed omega at the k moment by the rotor angular speed conversion module through the anglekThe collected current i output by the power converter at the time kkAnd angle signal thetakInputting the model prediction control module, calculating the torque at the moment k +1 by the model prediction control module, and selecting the minimum state by an evaluation function of the model prediction control module by comparing the difference value of the reference torque and the torque at the moment k +1 to control the three-phase-to-phase-outAnd the signal passes through the asymmetric half-bridge power converter so as to control the operation of the switched reluctance motor.
The system comprises the following specific implementation processes:
the PID speed controller comprises a proportion unit, a comparison unit, an integral unit and an amplitude limiting unit, and an error generated by comparing a given rotating speed with a feedback rotating speed is converted into a torque signal and transmitted to a torque distribution function module.
The given torque output by the PID speed controller is sent to a torque distribution function module, the torque distribution function module outputs three-phase given torque, and the torque distribution function is an exponential distribution function and is as follows:
Figure BDA0002828756640000051
where θ corresponds to the position angle of the switched reluctance motor, θon、θoffAnd thetaovThe opening angle, the opening angle and the adjacent two-phase torque overlapping angle are respectively corresponding to the torque distribution function. In the example taken to be thetaon＝2.5°，θoff＝17.5°，θov＝5°。
The model prediction control module performs interpolation calculation between the two extreme positions by using an interpolation function with a period of pi/4 to obtain a magnetization curve of the middle position, wherein the interpolation function is as follows:
Figure BDA0002828756640000052
the flux linkage characteristics of the switched reluctance motor are as follows:
Figure BDA0002828756640000053
A＝ψm-LdsatIm (4)
Figure BDA0002828756640000054
wherein L isqThe rotor salient pole center line is completely misaligned to form a saturated inductor;
Ldsatand determining the saturated inductance of the position where the center line of the salient pole of the rotor is completely aligned.
The electromagnetic torque can be obtained by the following formula:
Figure BDA0002828756640000061
according to the circuit equation and the mechanical equation of the switched reluctance motor, the phase current and the rotation speed can be expressed as:
Figure BDA0002828756640000062
the position sensor collects the angle signal theta at the moment kkCalculating the rotation speed omega at the k moment by the rotor angular speed conversion module through the anglekThe collected current i output by the power converter at the time kkAnd angle signal thetakAnd the input model prediction control module calculates the torque at the moment k +1, and the evaluation function selects the minimum state to control the power converter by comparing the difference value of the reference torque and the torque at the moment k + 1. In order to select the optimal control vector, a series of predicted values need to be evaluated by a cost function. The cost function equation is as follows:
J(Uk+1)＝(Tpre-Tref)2 (8)
wherein: t ispreIs the predicted torque value, TrefIs a given torque value.
The model prediction control module outputs a switching-on/off signal to be sent to the three-phase asymmetric half-bridge power converter, and the three-phase asymmetric half-bridge power converter applies voltage to each phase winding or switches off the voltage on the winding according to the output of the model prediction control module to control the motor to work.
The rotating speed signal output by the switched reluctance motor can obtain the position angle of the rotor through the position detection module.
And finally, the switched reluctance motor obtains an actual feedback rotating speed value through a rotating speed calculating module and sends the actual feedback rotating speed value to be differed with the given rotating speed to form a rotating speed outer ring.
Fig. 3 is a waveform of an output rotation speed of the switched reluctance motor of the present system, in which an initial given rotation speed is 500r/min, a load torque is 5N · m, and fig. 4 is a waveform of an output torque of the switched reluctance motor of the present system.
Simulation results show that the model predictive control system of the switched reluctance motor adopting the exponential type torque distribution function can improve the rotating speed response speed and the running performance of the motor quickly, reduce the torque pulsation during phase commutation and well ensure the normal running of the motor.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (1)

1. A switched reluctance motor model predictive control system based on an exponential torque distribution function, comprising: a switched reluctance motor;
a position sensor for detecting the position angle of the rotor of the switched reluctance motor;
the rotor angular speed conversion module is used for receiving the position angle of the rotor of the switched reluctance motor transmitted by the position sensor and converting the position angle of the rotor into the angular speed of the rotor of the switched reluctance motor;
the rotating speed calculation module is used for receiving the rotor angular speed of the switched reluctance motor transmitted by the rotor angular speed conversion module and calculating the actual rotating speed of the switched reluctance motor;
a PID speed controller for receiving the rotating speed error signal obtained by the difference between the actual rotating speed transmitted by the rotating speed calculating module and the given reference rotating speed and outputting the given torque;
the torque distribution function module receives the given torque transmitted by the PID speed controller and the position angle transmitted by the position sensor and outputs three-phase reference torque;
the model prediction control module is used for receiving the three-phase reference torque transmitted by the torque distribution function module, the rotor position angle transmitted by the position sensor, the three-phase current of the switched reluctance motor and the rotor angular speed and outputting a switching-on control signal or a switching-off control signal;
the power converter is used for receiving the switching-on control signal or the switching-off control signal transmitted by the model prediction control module and controlling the switching-on or switching-off of the switched reluctance motor;
the torque distribution function module adopts an exponential distribution function, and the exponential distribution function is expressed as follows:
Figure FDA0003505201470000011
wherein: theta corresponds to the position angle of the switched reluctance motor, thetaon、θoffAnd thetaovThe on-off angle and the off-off angle which are given by the torque distribution function respectively correspond to the torque overlapping angles of two adjacent phases.
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CN113890428B (en) * 2021-11-17 2024-05-28 江苏科技大学 Brushless direct current motor control method for restraining torque pulsation through multi-step commutation
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CN115051620B (en) * 2022-07-12 2024-04-30 江南大学 Torque control system and control method for switched reluctance motor

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