CN112953343B - Novel sensorless initial positioning method for switch reluctance motor - Google Patents
Novel sensorless initial positioning method for switch reluctance motor Download PDFInfo
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- 238000002347 injection Methods 0.000 claims abstract description 39
- 239000007924 injection Substances 0.000 claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 230000000630 rising effect Effects 0.000 claims abstract description 4
- 238000004804 winding Methods 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 15
- 238000005192 partition Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 3
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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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
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
Abstract
The invention provides a novel initial positioning method for a position-free sensor of a switched reluctance motor, and belongs to the field of switched reluctance motors. Firstly, predicting feedback current peaks at the intersection point positions of 2 phase inductors through a threshold automatic identification strategy, obtaining current thresholds at two special positions according to the high linearization of the inductance of a rotor inductance rising area of a switch reluctance motor, and then carrying out sector judgment and high-precision initial position estimation by comparing the magnitude relation between the detected feedback current peaks and the corrected current thresholds through pulse injection. The method provided by the invention not only can accurately control the initial conducting phase, but also can realize the non-reversing starting of the motor; according to the method, the current threshold value is obtained through an automatic measurement program, so that the consumption of a great deal of time for manual measurement is avoided, the threshold value is subjected to voltage correction, the influence of voltage fluctuation is effectively overcome, the opening and closing angles of a conducting phase are adjustable during low-speed operation, single-beat and double-beat operation can be realized, and the operation state of a motor is optimized.
Description
Technical Field
The invention belongs to the field of switch reluctance motors, and particularly relates to a novel initial positioning method without a position sensor for a switch reluctance motor.
Background
The switch reluctance motor is a typical brushless doubly salient motor, and accurate rotor position detection is an important link for ensuring reliable operation of the motor. At present, a photoelectric or magnetic-sensitive mechanical position sensor is commonly used for detecting the position of a rotor, but in an environment with more greasy dirt and dust, a detection element of the photoelectric position sensor is easy to malfunction, so that a position signal is wrong; the detection element of the magnetic-sensitive position sensor is extremely easy to be interfered by magnetic dust and high-frequency electromagnetic fields to fail; under the high-temperature environment, the detection element is easy to damage and fail; the disturbance of the high-frequency electromagnetic field may cause the detection accuracy of the magnetosensitive original to be lowered. The existence of the mechanical position sensor reduces the reliability of the switch reluctance motor system, so that the adoption of the position-sensor-free technology to detect the rotor position information has important significance in reducing the cost of the switch reluctance motor system and improving the reliability of the system.
In many applications, precise control of the initial conducting phase is required in order to achieve motor start-up without reverse rotation. The current initial positioning method of the position-free sensor based on the pulse injection method mainly comprises two methods: the first method is a pulse injection inductance partition method, which can only judge the interval range of the rotor position, is easy to cause reverse starting at the position very close to the interval boundary, and can not accurately control the initial conducting phase; the second method is a switch reluctance motor position estimation method based on combination of double-current threshold inductance partition and pulse injection, the method is only suitable for single-beat operation control, the current threshold needs to be measured manually off line, the motors of different models need to be subjected to the same experimental steps, a great deal of time is consumed, meanwhile, the on-phase on-off angle is not adjustable, the pulse injection angle is fixed, and redundant power device loss is caused.
Disclosure of Invention
The invention solves the technical problems of overcoming the defects of the traditional initial positioning method without a position sensor, and according to the inductance characteristic of the switch reluctance motor, the invention provides the automatic identification initial positioning method based on the new inductance partition and the threshold value, solves the accurate rotor position, and then determines the initial starting phase.
The invention adopts the technical scheme that:
the novel initial positioning method of the position-free sensor of the switch reluctance motor comprises the steps of predicting feedback current peaks at the intersection point positions of 2 phase inductors through a threshold automatic identification strategy, obtaining current thresholds at two special positions according to the high linearization of the inductance of a rotor inductance ascending area of the switch reluctance motor, and then carrying out sector judgment and high-precision initial position estimation by comparing the magnitude relation between the detected feedback current peaks and the corrected current thresholds through pulse injection.
Compared with the common pulse injection inductance partition initial positioning method, the method provided by the invention converts sector judgment according to the traditional comparison of the magnitude relation of the three-phase response current peak value into the comparison of the magnitude relation of the two-phase response current peak value and the current threshold value, has high positioning precision, can accurately control the initial conducting phase, and can realize the non-inversion starting of the motor; compared with a double-current threshold starting method, the method provided by the invention has the advantages that the current threshold is obtained through an automatic measurement program, so that the consumption of a great deal of time for manual measurement is avoided, the voltage correction is carried out on the threshold, the influence of voltage fluctuation is effectively overcome, the opening and closing angles of a conducting phase are adjustable during low-speed operation, single-beat and double-beat operation can be realized, and the operation state of a motor is optimized.
The novel initial positioning method without the position sensor for the switched reluctance motor comprises the following steps:
the first step: threshold automatic identification
During pulse injection, the voltage balance equation of the injection phase winding is as follows:
wherein U represents the injection phase winding voltage; i represents the winding response current; r is the resistance of a phase winding; omega is the angular velocity of the rotor; l is the inductance of a phase winding; θ is the rotor position angle; t is the pulse injection time.
When the switching frequency is high and the duty cycle is small, the nonlinear effects of back electromotive force, winding voltage drop and magnetic saturation can be ignored, and the equation can be simplified into:
wherein i is p In response to the current peak, Δt is the time of pulse injection in one cycle.
The automatic threshold identification process is carried out under the rated bus voltage, and the automatic threshold identification is realized by adopting an automatic measurement strategy, and the method comprises the following steps:
1.1, electrifying the phase A, sucking the rotor to the alignment position of the phase A, keeping the position stationary after the electrifying is stopped, carrying out pulse injection on the phase B, C, and recording the average value of B, C phase response current peaks acquired at the position;
1.2, electrifying when A, B is the same, sucking the rotor to a position where the C phase is not aligned, keeping the position to be motionless after stopping electrifying, carrying out pulse injection on A, B phases, and recording the average value of A, B phase response current peaks acquired at the position;
1.3 judging whether the current value is the last attraction sequence value, if so, executing 1.4, otherwise, returning to 1.1;
1.4 summing the pulse injection detection values of the other two phases when only one phase is absorbed, and taking the average value to obtain I 1 The two phases of pulse injection detection values when two phases are sucked simultaneously are summed and averaged to obtain I 2 。
When the attraction sequence is determined, the attraction detection should be carried out in one mechanical period in consideration of the possible influence of the eccentricity of the motor rotating shaft, and the length of the attraction sequence is 2mN r ，N r For the rotor pole number, m is the phase number, and the actuation sequence is A, AB, B, BC, C, CA, A, AB, B, BC, C, CA, A.C. 48, actuation totally 48 times, actuation finishes the motor just to rotate a week.
When the voltage, frequency and duty ratio of pulse injection are all unchanged, the two-phase inductance intersection value calculation formula can be obtained by combining the response current peak value at the two-phase inductance intersection position:
in U N For the nominal voltage value, Δt is the pulse injection time.
As shown in fig. 1, in the case of a switched reluctance motor, the inductance varies almost linearly with the position from the position where the rotor pole and the stator pole just start to overlap to the position where the rotor pole and the stator pole completely overlap, and according to this characteristic, I is 1 、I 2 Obtaining a current threshold I H 、I L The calculation formula is as follows:
from L 1 、L 2 Obtain the inductance value L 3 、L 4 The calculation formula is as follows:
and a second step of: pulse injection feedback current peak detection
In order to keep the motor rotating shaft motionless during initial positioning, the three-phase power device is used for simultaneously injecting voltage pulses with fixed duty ratio to the three-phase winding, and the fixed duty ratio can ensure that the total torque is smaller than the resistance torque of the motor; in order to accurately detect the feedback current peak value, a controller collects current signals of the current sensor at the moment when the three-phase power device is changed from on to off, and the current signals are used as the feedback current peak value to respectively obtain the feedback current peak value of the three-phase winding. Since the feedback current peak value is small, the feedback current peak value is usually amplified by a hardware amplifying circuit and then sampled.
And a third step of: judging the area of the position
As shown in fig. 1, according to the new inductance partitioning principle, an electrical cycle of the three-phase switched reluctance motor is equally divided into 6 sectors, each of which is 60 °, wherein the maximum and minimum inductance areas are respectively regarded as one sector, in each sector, one phase inductance is a rising area, one phase inductance is a falling area, and the other phase inductance is either in the maximum area or in the minimum area. Since the threshold value of automatic identification is measured under the rated voltage, and the bus voltage and the rated voltage may be different under the working environment, when the actual motor is started, the threshold value needs to be standardized according to the actual voltage, and the correction formula is as follows:
in U N Is rated toBus voltage value, U actual Is the actual bus voltage value.
And comparing the feedback current peak value with the corrected current threshold value, and judging the sector where the rotor position is located according to the magnitude relation. The magnitude relation of the three-phase inductors and the magnitude relation of the feedback current peaks are different in each sector, as shown in fig. 1. The sector in which the rotor position is located can be determined from the current peak and current threshold relationships shown in table 1.
Table 1 shows the relationship between the feedback current peak value and the current threshold value and the rotor position area
In the table, i a 、i b 、i c The peak values of response currents of the A, B, C three-phase windings to the injection pulse; τ r Representing the mechanical angle corresponding to one rotor pole.
Fourth step: accurate calculation of rotor position
As shown in fig. 2, the symmetry of three-phase inductance of the switched reluctance motor and the high linearization of the corresponding section are utilized to accurately position the rotor in combination with the principle of similar triangle.
When the voltage, frequency and duty ratio of pulse injection are all unchanged, the feedback current peak value and the phase inductance are in inverse relation, so that the function graph of the inverse of the feedback current peak value and the position is the same as the function graph of the phase inductance and the position.
And (3) calculating inductance by inverting the feedback current peak value obtained by sampling, comparing the sector information obtained in the third step with the corresponding two-phase response current to judge the sector where the rotor is located, wherein the accurate rotor position calculation formula is shown in table 2.
Table 2 calculation formula for accurate rotor position for different sectors
The feedback current peak value at the intersection point position of the 2 phase inductances is measured in advance, the inductance value at the intersection point position of the 2 phase inductances can be calculated according to the principle of a pulse injection method, the inductance values at the other two positions are obtained according to the high linearization of the rising area of the rotor inductance of the switched reluctance motor, and then the initial position of the rotor is accurately and initially positioned, so that the conduction of the conduction phase is accurately controlled according to the conduction angle of the conduction phase.
The invention has the following obvious effects:
1. the initial position of the rotor is positioned with high precision, the initial conducting phase is accurately controlled, the starting without reverse rotation is realized, and the control precision is improved.
2. According to the initial positioning position of the rotor, the initial on-off control can be directly carried out according to the on-off angle of each phase, and the control flexibility is improved.
3. By writing the automatic measurement program, the automatic identification of the threshold value is completed, so that the consumption of a great amount of time for manual measurement is avoided, the practicability and universality of the method are improved, the threshold value is subjected to standardized treatment, the influence of voltage fluctuation on accurate initial positioning is overcome to a certain extent, and the reliability of the method is improved.
Drawings
FIG. 1 is a graph of phase inductance as a function of position for a three-phase switched reluctance motor.
Fig. 2 is a schematic diagram of the precise initial positioning.
FIG. 3 is a schematic diagram of a novel switched reluctance motor sensorless initial positioning strategy.
FIG. 4 is a diagram showing the comparison of the calculated position and the actual position of the initial positioning
FIG. 5 is a diagram of the initial position calculation position and the actual position error.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1: a12/8 pole 2200r/min 4.5kW switched reluctance motor is taken as a prototype, rated voltage is 60V, the pulse frequency of the injected voltage is 10kHz, and the duty ratio is 1/9. The current sensor adopts a 50A/5V closed loop Hall current sensor, and the output of the current sensor is amplified by 5.7 times by an operational amplifier and then is connected to an AD conversion pin of the microcontroller.
The specific implementation schematic diagram of the invention is shown in fig. 3, for different switched reluctance motors, an automatic measurement program is firstly operated under rated bus voltage, voltage pulse injection with fixed duty ratio is carried out on a three-phase winding according to a parameter automatic identification strategy through a power converter, a controller collects current signals of a current sensor as feedback current peaks, and response current peaks at intersection positions of phase inductors are obtained and used for calculating a current threshold and an inductance threshold. Prototype parameters (current values are all digital values displayed by a microcontroller) are obtained through an automatic measurement program, I 1 1154.14569, I 2 486.14638, the corresponding BC phase inductance intersection point value L is obtained by the formula (3) 1 8.31394, AB phase inductance intersection value L 2 A high current threshold I of 20.56929 obtained by the formula (4) H 820.14604, low current threshold I L 152.14673, the inductance L at E point is obtained from the formula (5) 3 14.44182, D-point inductance L 4 26.69736.
After a motor starting signal is sent out, a threshold value is calibrated according to a real-time voltage signal, pulse voltage injection is carried out on a motor three-phase winding at the same time, an amplified feedback current peak value is detected, 50 times of continuous sampling and average value taking are carried out, a sector where a rotor position is located is determined according to the magnitude relation between the three-phase feedback current peak value and the calibrated current threshold value, a corresponding phase is selected according to the magnitude relation between the two phases of the sector and the corresponding sector to carry out accurate initial positioning, the inverse current peak value of the opposite feed current is calculated to obtain an inductance value, and the rotor position is accurately and initially positioned according to the similar triangle principle and the inductance values at 4 known positions.
For even sectors, taking sector II as an example, as shown in FIG. 2, a point E is the midpoint of the intersection point of the inductors of the AB phase and the BC phase, a point D is the symmetrical point of the point E about the intersection point of the inductor of the AB phase, a point F is the intersection point of the right boundary of sector II and the A phase, a right triangle is formed by a point DEF, and the DF is the inductance value L 4 And L 3 The difference between them, EF is 1/6 of the angle of one inductance period, and the position of the B phase inductance is detected to be the position of the G pointThe corresponding inductance value is based on the proportional relation of similar trianglesThe GH size can be obtained, the position difference represented by GH is subtracted from the rotor position corresponding to the D point to obtain the accurate value of the current position, and other even sector rotor position calculation methods are the same as the above method.
For odd sectors, for example, using sector III as shown in FIG. 2, point 0 is the AC phase inductance intersection point, point FON and point MOP form a right triangle, and FN and MP are both inductance values L 3 And L 1 When the peak value of the A phase response current is smaller than or equal to C phase, the difference between the ON and OP is 1/12 of the inductance period angle, and the inductance value corresponding to the J point position of the A phase inductance at the moment is detected, according to the proportional relation of similar trianglesThe IJ size can be obtained, and then the accurate value of the current position can be obtained by adding the position difference represented by IJ to the rotor position corresponding to the F point; when the peak value of the A-phase response current is larger than that of the C-phase, selecting and detecting that the inductance of the C-phase is the inductance value corresponding to the position of the K point at the moment, and according to the proportional relation of similar triangles +.>The KL size can be obtained, the position difference represented by KL is subtracted from the rotor position corresponding to the M point to obtain the accurate value of the current position, and other odd sector rotor position calculation methods are the same as the above method.
In order to detect the position calculation accuracy of the initial positioning, a position dial is mounted on the motor, the position angle indicated by the dial is taken as the actual position, the measurement interval is 1 degree mechanical angle, the obtained position comparison diagram is shown in fig. 4, and the initial positioning position error diagram is shown in fig. 5. In one mechanical cycle, the average position detection error is 0.4089 ° mechanical angle, and the maximum position detection error is 1.1016 ° mechanical angle.
The novel initial positioning method for the switch reluctance motor without the position sensor is simple and effective, can position the initial rotor position with high precision, accurately control the initial conducting phase and realize the starting without reverse rotation; through high-precision initial positioning, initial on-off control can be directly performed according to the on-off angle of each phase, so that the control flexibility is improved; meanwhile, the threshold automatic identification strategy is adopted, so that the consumption of a great deal of time for manual measurement is avoided, the voltage correction is carried out on the current threshold, the influence of voltage fluctuation on initial positioning is effectively overcome, the method can be applied to different switch reluctance motors, the reliability is higher, and the practicability and universality are higher.
Claims (1)
1. The initial positioning method without the position sensor for the switched reluctance motor is characterized by comprising the following steps of:
the first step: threshold automatic identification
During pulse injection, the voltage balance equation of the injection phase winding is as follows:
wherein U represents the injection phase winding voltage; i represents the winding response current; r is the resistance of a phase winding; omega is the angular velocity of the rotor; l is the inductance of a phase winding; θ is the rotor position angle; t is pulse injection time;
when the switching frequency is high and the duty cycle is small, the nonlinear effects of back electromotive force, winding voltage drop and magnetic saturation are ignored, and the equation is simplified into:
wherein i is p In response to the current peak, Δt is the time of pulse injection in one cycle;
the automatic threshold identification process is carried out under the rated bus voltage, and the automatic threshold identification is realized by adopting an automatic measurement strategy, and the method comprises the following steps:
1.1, electrifying the phase A, sucking the rotor to the alignment position of the phase A, keeping the position stationary after the electrifying is stopped, carrying out pulse injection on the phase B, C, and recording the average value of B, C phase response current peaks acquired at the position;
1.2, electrifying when A, B is the same, sucking the rotor to a position where the C phase is not aligned, keeping the position to be motionless after stopping electrifying, carrying out pulse injection on A, B phases, and recording the average value of A, B phase response current peaks acquired at the position;
1.3 judging whether the current value is the last attraction sequence value, if so, executing 1.4, otherwise, returning to 1.1;
1.4 summing the pulse injection detection values of the other two phases when only one phase is absorbed, and taking the average value to obtain I 1 The two phases of pulse injection detection values when two phases are sucked simultaneously are summed and averaged to obtain I 2 ；
When the sucking sequence is determined, sucking detection is carried out on one mechanical period, and the length of the sucking sequence is 2mN r ，N r The rotor pole number, m is the phase number, the suction sequence is A, AB, B, BC, C, CA, A, AB, B, BC, C, CA, A.level.level.48 times, and the motor just rotates by one circle after the suction is finished;
when the voltage, frequency and duty ratio of pulse injection are all unchanged, a two-phase inductance intersection value calculation formula is obtained by combining a response current peak value at the two-phase inductance intersection position:
in U N As the rated voltage value, Δt is the pulse injection time;
for a switched reluctance motor, from a position where a rotor pole and a stator pole just start to coincide to a position where the rotor pole and the stator pole completely coincide, inductance varies linearly with position, and according to this characteristic, I is that 1 、I 2 Obtaining a current threshold I H 、I L The calculation formula is as follows:
from L 1 、L 2 Obtain the inductance value L 3 、L 4 The calculation formula is as follows:
and a second step of: pulse injection feedback current peak detection
The three-phase power device is used for simultaneously injecting voltage pulses with fixed duty ratio to the three-phase winding, and the fixed duty ratio can ensure that the total torque is smaller than the resistance torque of the motor; at the moment that the three-phase power device is turned from on to off, the controller collects current signals of the current sensor at the moment and takes the current signals as feedback current peaks to respectively obtain feedback current peaks of the three-phase windings;
and a third step of: judging the area of the position
According to a new inductance partition principle, an electric period of the three-phase switch reluctance motor is equally divided into 6 sectors, each sector is 60 degrees, wherein the maximum inductance area and the minimum inductance area are respectively used as a sector, one phase of inductance is used as an ascending area, one phase of inductance is used as a descending area, and the other phase of inductance is used as a largest area or a smallest area; when the actual motor is started, the threshold value is required to be standardized according to the actual voltage, and the correction formula is as follows:
in U N U is the rated bus voltage value actual Is the actual bus voltage value;
then comparing the feedback current peak value with the corrected current threshold value, and further judging the sector where the rotor position is located; the magnitude relation of the three-phase inductors in each sector is different from the magnitude relation of the feedback current peak value; the sector in which the rotor position is located can be determined from the current peak and current threshold relationships shown in table 1;
table 1 shows the relationship between the feedback current peak value and the current threshold value and the rotor position area
In the table, i a 、i b 、i c The peak values of response currents of the A, B, C three-phase windings to the injection pulse; τ r Representing a mechanical angle corresponding to one rotor pole;
fourth step: accurate calculation of rotor position
The symmetry of the three-phase inductance of the switch reluctance motor and the high linearization of the corresponding interval are utilized, and the principle of similar triangles is combined to accurately position the rotor;
when the voltage, frequency and duty ratio of pulse injection are all unchanged, the feedback current peak value and the phase inductance are in inverse relation, so that the function graph of the inverse of the feedback current peak value and the position is the same as the function graph of the phase inductance and the position;
calculating inductance by inverting the feedback current peak value obtained by sampling, comparing the sector information obtained in the third step with the corresponding two-phase response current to judge the sector where the rotor is located, wherein the accurate rotor position calculation formula is shown in table 2;
table 2 calculation formula for accurate rotor position for different sectors
The feedback current peak value at the intersection point position of 2 phase inductances is measured in advance, the inductance value at the intersection point position of 2 phase inductances is calculated according to the principle of a pulse injection method, the inductance values at the other two positions are obtained according to the high linearization of the rising area of the rotor inductance of the switch reluctance motor, and then the initial position of the rotor is accurately and initially positioned, so that the conduction of the conduction phase is accurately controlled according to the conduction angle of the conduction phase.
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