CN113612426B - Low-speed operation control method of switch reluctance motor and switch reluctance motor - Google Patents
Low-speed operation control method of switch reluctance motor and switch reluctance motor Download PDFInfo
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- CN113612426B CN113612426B CN202110701453.7A CN202110701453A CN113612426B CN 113612426 B CN113612426 B CN 113612426B CN 202110701453 A CN202110701453 A CN 202110701453A CN 113612426 B CN113612426 B CN 113612426B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
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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
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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
- H02P25/092—Converters specially adapted for controlling reluctance motors
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Abstract
The invention relates to a low-speed operation control method of a switched reluctance motor, and the switched reluctance motor, comprising the following steps: acquiring the real-time rotating speed of the switch reluctance motor; determining a reference current according to the real-time rotating speed and the set rotating speed; obtaining control parameters of low-speed operation of the switched reluctance motor according to the reference current; and controlling the operation of the switch reluctance motor according to the control parameter. According to the invention, the reference current is determined based on the real-time rotating speed and the set rotating speed of the switched reluctance motor, and the control parameter of the low-speed operation of the switched reluctance motor is obtained according to the reference current, so that the low-speed operation of the switched reluctance motor is controlled according to the obtained control parameter, the stable operation of the switched reluctance motor in a low-speed state is controlled, and the stability and the reliability of the switched reluctance motor are improved.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a low-speed operation control method of a switched reluctance motor and the switched reluctance motor.
Background
The existing switched reluctance motor has a wider speed regulation range, which can reach 40 rpm-1200 rpm generally, however, the switched reluctance motor is unstable in low-speed operation and has poor stability control due to lower power when the switched reluctance motor is controlled in low-speed due to wide-range adjustment of the switched reluctance motor.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a low-speed operation control method of a switch reluctance motor and the switch reluctance motor.
The technical scheme adopted for solving the technical problems is as follows: a low-speed operation control method of a switch reluctance motor is constructed, which comprises the following steps:
acquiring the real-time rotating speed of the switch reluctance motor;
determining a reference current according to the real-time rotating speed and the set rotating speed;
obtaining control parameters of the low-speed operation of the switched reluctance motor according to the reference current;
And controlling the switch reluctance motor to run according to the control parameter.
In the method for controlling the low-speed operation of the switched reluctance motor, the determining the reference current according to the real-time rotating speed and the set rotating speed comprises the following steps:
the set rotating speed and the real-time rotating speed are subjected to difference to obtain a difference value between the set rotating speed and the real-time rotating speed;
And calculating by adopting a preset regulating algorithm according to the difference value between the set rotating speed and the real-time rotating speed to obtain the reference current.
In the low-speed operation control method of the switch reluctance motor, the preset regulating algorithm is any one or more of an incremental PI regulating algorithm, a position PI algorithm and a PID algorithm.
In the method for controlling the low-speed operation of the switched reluctance motor, the obtaining the control parameters of the low-speed operation of the switched reluctance motor according to the reference current comprises the following steps:
Determining a current deviation value according to the reference current;
And determining an upper current limit value and a lower current limit value according to the current deviation value and the reference current.
In the method for controlling the low-speed operation of the switched reluctance motor, the obtaining the control parameters of the low-speed operation of the switched reluctance motor according to the reference current comprises the following steps:
and determining a reference duty ratio for controlling the switched reluctance motor according to the reference current.
In the method for controlling the low-speed operation of the switched reluctance motor, the obtaining the control parameters of the low-speed operation of the switched reluctance motor according to the reference current comprises the following steps:
and acquiring the conduction angle and the off angle of each phase of the switched reluctance motor according to the reference current.
In the low-speed operation control method of the switched reluctance motor, the controlling the operation of the switched reluctance motor according to the control parameter comprises the following steps:
Acquiring real-time conduction current of the switched reluctance motor;
comparing the real-time conduction current with the current upper limit value and the current lower limit value;
and controlling the current conduction phase of the switch reluctance motor to be closed or controlling the current closing phase of the switch reluctance motor to be conducted according to the comparison result.
In the method for controlling the low-speed operation of the switched reluctance motor, the comparison result comprises: the real-time conduction current is larger than the current upper limit value or smaller than the current lower limit value.
In the method for controlling low-speed operation of a switched reluctance motor according to the present invention, the controlling the current conducting phase of the switched reluctance motor to be closed or controlling the current conducting phase of the switched reluctance motor to be closed according to the comparison result comprises:
and if the real-time conduction current is larger than the current upper limit value, controlling the current conduction phase of the switched reluctance motor to be closed.
In the method for controlling low-speed operation of a switched reluctance motor according to the present invention, the controlling the current conducting phase of the switched reluctance motor to be closed or controlling the current conducting phase of the switched reluctance motor to be closed according to the comparison result comprises:
And if the real-time conduction current is smaller than the current lower limit value, controlling the current closed phase conduction of the switched reluctance motor.
In the low-speed operation control method of the switched reluctance motor, the controlling the operation of the switched reluctance motor according to the control parameter comprises the following steps:
and controlling the duty ratio of the current conducting phase of the switched reluctance motor according to the reference duty ratio.
The present invention also provides a switched reluctance motor comprising: a detection device and a controller;
The detection device is used for detecting the rotating speed of the switched reluctance motor and outputting a photoelectric switch signal;
The controller is used for executing the low-speed operation control method of the switch reluctance motor.
The implementation of the low-speed operation control method of the switch reluctance motor and the switch reluctance motor has the following beneficial effects: comprising the following steps: acquiring the real-time rotating speed of the switch reluctance motor; determining a reference current according to the real-time rotating speed and the set rotating speed; obtaining control parameters of low-speed operation of the switched reluctance motor according to the reference current; and controlling the operation of the switch reluctance motor according to the control parameter. According to the invention, the reference current is determined based on the real-time rotating speed and the set rotating speed of the switched reluctance motor, and the control parameter of the low-speed operation of the switched reluctance motor is obtained according to the reference current, so that the low-speed operation of the switched reluctance motor is controlled according to the obtained control parameter, the stable operation of the switched reluctance motor in a low-speed state is controlled, and the stability and the reliability of the switched reluctance motor are improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic flow chart of a control method for low-speed operation of a switched reluctance motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a current waveform for current chopping control;
FIG. 3 is a schematic diagram of a current waveform for voltage chopping control;
FIG. 4 is a schematic diagram of current waveforms when conduction angles are different;
FIG. 5 is a schematic diagram of current waveforms when the off angle is different;
FIG. 6 is a schematic diagram of a motor drive circuit;
Fig. 7 is a schematic diagram of winding inductance relative position and sector division.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
In order to solve the problem that the switched reluctance motor is unstable in low-speed operation, the invention provides a low-speed operation control method of the switched reluctance motor, which combines three driving modes of current chopping control, voltage chopping control and conduction position angle control so that the switched reluctance motor can stably operate at a low speed. In addition, the method can also improve the response speed of the switch reluctance motor, so that the switch reluctance motor can rapidly respond to the change of the load.
Specifically, referring to fig. 1, a flow chart of an alternative embodiment of a method for controlling low-speed operation of a switched reluctance motor according to the present invention is shown. Alternatively, the method of controlling the low-speed operation of the switched reluctance motor may be applied to a switched reluctance motor including, but not limited to, a four-phase switched reluctance motor, a six-phase switched reluctance motor, an eight-phase switched reluctance motor, and the like. For example, as shown in fig. 6, a drive circuit of a four-phase switched reluctance motor. In fig. 6, A, C phases share the upper bridge (Q1), B, D phases share the upper bridge (Q5), and when the phase a needs to be turned on, Q1 and Q3 are controlled to be turned on; when the C phase needs to be turned on, controlling the conduction of Q1 and Q4; when the phase B needs to be opened, controlling the conduction of Q5 and Q6; when the D phase needs to be turned on, the Q5 and the Q2 are controlled to be conducted. In fig. 6, R1 is a current sensing resistor. By detecting the current flowing through R1, the on-current of the corresponding on-phase can be detected.
Specifically, as shown in fig. 1, the method for controlling the low-speed operation of the switched reluctance motor is characterized by comprising the following steps:
and step S101, acquiring the real-time rotating speed of the switched reluctance motor.
Alternatively, the real-time rotational speed of the switched reluctance motor may be detected using conventional methods.
And step S102, determining a reference current according to the real-time rotating speed and the set rotating speed.
In some embodiments, determining the reference current from the real-time rotational speed and the set rotational speed includes: the set rotating speed and the real-time rotating speed are subjected to difference to obtain a difference value between the set rotating speed and the real-time rotating speed; and calculating by adopting a preset regulating algorithm according to the difference value between the set rotating speed and the real-time rotating speed to obtain the reference current. Optionally, the preset adjusting algorithm is any one or more of an incremental PI adjusting algorithm, a position PI algorithm and a PID algorithm. PID is a linear control algorithm that adjusts the output based on the deviation of the setting from the feedback. P refers to the ratio (Proportion), I refers to the Integral (Integral), and D refers to the Differential (Differential). The PID control formula is as follows:
(1) Where Kp- - -proportional gain (scaling factor); tt-an integration time constant; td- -differential time constant; u (t) - - - -output; e (t) - - - -deviation.
Discretizing the formula (1) to obtain:
(2) In the method, in the process of the invention, -An integral coefficient; k d＝KpTd — -differential coefficient; u (k) - - - - - - - - - - - - - - - - - - - - - - -, the kth time output; e (k) - - - - - - - - - - - - - - - - - - - - - - -, the kth offset.
As can be seen from the formula (2), the proportional part output is in proportional relation with the deviation, namely when the system has deviation, the proportional output exists, so that the deviation can be reduced in a quick response manner, but the pure proportional control needs the deviation to exist, and a certain output can be maintained, so that the pure proportional control inevitably has steady-state error, and integral control needs to be introduced;
The existence of the integral control function is related to the existence time of the deviation, so long as the deviation exists in the system, the integral control function continuously acts to integrate the input deviation, the output is continuously changed, and the control function is generated to reduce the deviation. In case the integration time is sufficient, the static difference can be completely eliminated, in which case the integration control effect will remain unchanged. Therefore, the proportional Plus Integral (PI) controller can make the system have no steady-state error after entering a steady state, and the introduction of integral control can eliminate the steady-state error, but reduces the response speed of the system, and particularly for a control object with larger inertia, the PI controller is only used for difficultly obtaining better dynamic adjustment quality, and the system can generate larger overshoot and oscillation, so that differential control can be introduced. The differential control adjusts the output in advance according to the variation trend of the deviation, so that the response speed of the system is increased, and the adjustment time is reduced, but the differential control belongs to the predictive control, and if the duty ratio of the differential action is too large (the WeChat coefficient is large), the anti-interference capability of the system is reduced.
(2) The formula is a discretization formula, which has one problem: the product part needs to accumulate the deviation continuously and needs a larger storage space, so that the incremental formula can be deduced according to the formula (1) as follows:
The formula (3) is adopted, the accumulation operation is not needed for the deviation, the requirement on the storage space can be greatly reduced, and the motor belongs to a control object with small inertia, so that in the embodiment of the invention, an incremental PI regulating algorithm is preferably adopted. The input deviation is the difference between the set rotation speed and the real-time rotation speed, and the increment value of the reference current can be obtained by the following formula:
ΔIref(k)＝Kp(e(k)-e(k-1))+Kie(k) (4).
(4) Where ΔI ref (k) is the reference current increment value.
(5) Wherein I ref (k) is a reference current.
Step S103, obtaining control parameters of low-speed operation of the switched reluctance motor according to the reference current.
In some embodiments, obtaining control parameters for low speed operation of the switched reluctance motor based on the reference current comprises: determining a current deviation value according to the reference current; and determining an upper current limit value and a lower current limit value according to the current deviation value and the reference current.
Specifically, after the reference current is calculated, an allowable current deviation value is set according to the reference current, and then a current upper limit value and a current lower limit value are calculated based on the obtained current deviation value.
For example, if the calculated reference current is 1000mA, at this time, the reference current is large, and the allowable current deviation value may be set to be correspondingly large, and if 200mA is possible, the current upper limit value is 1200mA, and the current lower limit value is 800mA. If the reference current is 200mA, at this time, the reference current is smaller, and the allowable current deviation value may be set to be smaller correspondingly, if it may be set to 50mA, the current upper limit is 250mA, and the current lower limit is 150mA.
In some embodiments, obtaining control parameters for low speed operation of the switched reluctance motor based on the reference current comprises: a reference duty cycle for controlling the switched reluctance motor is determined based on the reference current.
It will be appreciated that the duty cycle is used to adjust the current rise rate, and therefore, after the reference duty cycle is calculated from the calculated reference current, the duty cycle control can be performed on the switched reluctance motor using the calculated reference duty cycle to adjust the current rise rate. For example, when the reference current is 1000mA, the current is larger, the current rising rate can be correspondingly set larger, for example, the reference duty cycle can be set to be 100%, that is, the opened phase is fully conducted, and at this time, the current rising speed is highest; if the reference current is 200mA, the current is smaller, and the current rising rate also needs to be reduced, so that the duty ratio can be correspondingly reduced, for example, the duty ratio can be set to be 20%, the rising speed of the current is reduced, and the current control is more accurate.
In some embodiments, obtaining control parameters for low speed operation of the switched reluctance motor based on the reference current comprises: and acquiring the conduction angle and the off angle of each phase of the switched reluctance motor according to the reference current.
Step S104, controlling the operation of the switch reluctance motor according to the control parameters.
In some embodiments, controlling the operation of the switched reluctance motor according to the control parameter includes: acquiring real-time conduction current of a switched reluctance motor; comparing the real-time on current with the current upper limit value and the current lower limit value; and controlling the current conduction phase of the switch reluctance motor to be closed or controlling the current closing phase of the switch reluctance motor to be conducted according to the comparison result.
Optionally, the comparison result includes: the real-time conduction current is larger than the upper current limit value or smaller than the lower current limit value.
Wherein controlling the current conducting phase of the switch reluctance motor to be closed or controlling the current closing phase of the switch reluctance motor to be conducted according to the comparison result comprises: and if the real-time conduction current is larger than the current upper limit value, controlling the current conduction phase of the switched reluctance motor to be closed. Or if the real-time conduction current is smaller than the current lower limit value, controlling the current closed phase conduction of the switched reluctance motor.
Specifically, as shown in fig. 6, the real-time conduction current of the switched reluctance motor can be obtained by detecting the current flowing through the current detection resistor, the real-time conduction current is compared with the current upper limit value and the current lower limit value respectively, and if the real-time conduction current is greater than the current upper limit value, the corresponding switch is controlled to be closed so as to control the current conduction phase to be closed; as shown in fig. 6, if the current conducting phase is the a phase or the C phase, Q1 is controlled to be turned off; if the current conducting phase is B phase or D phase, the control Q5 is closed. If the real-time conduction current is smaller than the current lower limit value, controlling the corresponding switch to be conducted so as to control the current closing phase to be conducted; as shown in fig. 6, if the current shutdown phase is the a phase or the C phase, Q1 is controlled to be turned on; and if the current closing phase is the B phase or the D phase, controlling the conduction of Q5.
As shown in fig. 2, when the real-time on current is greater than the current upper limit value, Q1 is controlled to be turned off, and the current upper limit is limited; when the real-time on current is smaller than the current lower limit value, the Q5 is controlled to be closed, the current lower limit is limited, and the current fluctuates within a set range, so that the magnitude of the generated positive and negative torque can be controlled.
In some embodiments, controlling the operation of the switched reluctance motor according to the control parameter includes: and controlling the duty ratio of the current conducting phase of the switched reluctance motor according to the reference duty ratio.
Specifically, as shown in fig. 6, if the current conducting phase is the a phase or the C phase, the duty ratio when Q1 is turned on is controlled according to the calculated reference duty ratio to adjust the current rising speed; and if the current conducting phase is the B phase or the D phase, controlling the duty ratio of the Q5 when the Q5 is on according to the calculated reference duty ratio so as to adjust the current rising speed.
As shown in fig. 3, the average voltage is adjusted by adjusting the duty ratio when Q1 or Q5 is turned on, so as to change the current, so as to adjust the current rising speed, so that the current chopping control precision is higher, for example, smaller reference current, the current rising speed is faster due to larger voltage, and the current is difficult to be controlled accurately, at this time, the current rising speed can be limited by reducing the duty ratio, so that the precision of current control is improved; when the load is larger and the reference current is larger, the duty ratio can be increased to increase the rising speed of the current, the response speed of the current is increased, and the response speed of the motor to load change is increased.
In some embodiments, controlling the operation of the switched reluctance motor according to the control parameter includes: and according to the determined conduction angle and the determined turn-off angle, controlling the conduction time (conduction angle) and turn-off time (turn-off angle) of each phase of the switched reluctance motor so as to control the conduction interval of each phase, thereby generating proper average torque.
As shown in fig. 4 and 5, by adjusting the on angle and the off angle, the current waveform and the relative position of the current waveform and the winding inductance waveform can be changed, so as to control the operation of the motor.
Fig. 7 is a schematic diagram showing the relative positions of the winding inductances and the sector division. The sector division can be detected by two photoelectric switches arranged on the motor, according to the running direction (forward rotation) of the motor in the figure, the A phase is taken as an example for illustration, and four sectors which are respectively an inductance rising area (1), an inductance maximum area (0), an inductance falling area (2) and an inductance minimum area (3) exist in the inductance in one period. In fig. 7, for convenience of explanation, the inductance of the maximum area and the minimum area still changes, the inductance rising and the inductance falling are not completely linear, the four-phase winding inductance distribution is separated by 90 degrees, and the four-phase winding inductance distribution corresponds to exactly one sector, that is, the sector 1 corresponds to the a-phase inductance rising area, the B-phase inductance maximum area, the C-phase inductance falling area, and the D-phase inductance minimum area. According to the operating principle of the switched reluctance motor, still taking phase a as an example, current flows through the motor to generate positive torque in the rising stage of the inductance (the parts of the sector 1, the sector 0 and the sector 3), and current flows through the motor to generate negative torque in the falling stage of the inductance (the parts of the sector 2, the sector 0 and the sector 3), so that the conduction interval of each phase can be further controlled by adjusting the conduction time (conduction angle) and the turn-off time (turn-off angle) of the phase a to generate proper average torque so as to ensure that the motor stably operates. For example, in order to stabilize the speed, more negative torque is generated, under the condition of heavy load, the phase A is conducted only in the positive torque interval, the conduction angle and the off angle change along with the change of the load, wherein the on-off of the Q3, the Q4, the Q6 and the Q2 correspond to the on-off of the phase A, the phase B, the phase C and the phase D.
Further, in order to make the switched reluctance motor operate more stably, the invention also introduces current chopping control (i.e. controlling the operation of the switched reluctance motor according to the set upper and lower limit values of current) and voltage chopping control (i.e. controlling the operation of the switched reluctance motor according to the duty ratio) at the same time.
The invention combines three driving modes of current chopping control, voltage chopping control and conduction position angle control, so that the switch reluctance motor can stably run at a low speed, can rapidly respond to the change of a load, and effectively improves the stability and reliability of the switch reluctance motor.
The present invention also provides a switched reluctance motor comprising: a detection device and a controller;
the detection device is used for detecting the rotating speed of the switched reluctance motor and outputting a photoelectric switch signal.
The controller is used for executing the low-speed operation control method of the switch reluctance motor disclosed by the embodiment of the invention. The controller calculates the real-time rotating speed of the switched reluctance motor according to the received photoelectric switch signal. Alternatively, the detection means may be a photoelectric switch.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same according to the content of the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made with the scope of the claims should be covered by the claims.
Claims (10)
1. The low-speed operation control method of the switched reluctance motor is characterized by comprising the following steps of:
acquiring the real-time rotating speed of the switch reluctance motor;
determining a reference current according to the real-time rotating speed and the set rotating speed;
Obtaining control parameters of the low-speed operation of the switched reluctance motor according to the reference current; the control parameters include: current upper limit value and current lower limit value, reference duty ratio, and conduction angle and turn-off angle of each phase of the switched reluctance motor;
controlling the switch reluctance motor to run according to the control parameter;
the controlling the operation of the switched reluctance motor according to the control parameter comprises the following steps:
Controlling the operation of the switch reluctance motor according to the conduction angle and the disconnection angle of each phase, the comparison result of the real-time conduction current of the switch reluctance motor, the current upper limit value and the current lower limit value and the reference duty ratio;
the controlling the operation of the switch reluctance motor according to the conduction angle and the off angle of each phase, the comparison result of the real-time conduction current of the switch reluctance motor and the upper limit value and the lower limit value of the current and the reference duty ratio comprises:
acquiring real-time conduction current of the switched reluctance motor; comparing the real-time conduction current with the current upper limit value and the current lower limit value; controlling the current conduction phase of the switch reluctance motor to be closed or controlling the current closing phase of the switch reluctance motor to be conducted according to the comparison result;
According to the reference duty ratio, controlling the duty ratio of the current conducting phase of the switched reluctance motor;
And controlling the on time and the off time of each phase of the switched reluctance motor according to the on angle and the off angle of each phase.
2. The method of claim 1, wherein determining the reference current based on the real-time rotational speed and the set rotational speed comprises:
the set rotating speed and the real-time rotating speed are subjected to difference to obtain a difference value between the set rotating speed and the real-time rotating speed;
And calculating by adopting a preset regulating algorithm according to the difference value between the set rotating speed and the real-time rotating speed to obtain the reference current.
3. The method for controlling the low-speed operation of the switched reluctance motor according to claim 2, wherein the preset adjusting algorithm is any one or more of an incremental PI adjusting algorithm, a positional PI algorithm and a PID algorithm.
4. The method according to claim 1, wherein the obtaining the control parameter of the low-speed operation of the switched reluctance motor according to the reference current comprises:
Determining a current deviation value according to the reference current;
And determining an upper current limit value and a lower current limit value according to the current deviation value and the reference current.
5. The method according to claim 1, wherein the obtaining the control parameter of the low-speed operation of the switched reluctance motor according to the reference current comprises:
and determining a reference duty ratio for controlling the switched reluctance motor according to the reference current.
6. The method according to claim 1, wherein the obtaining the control parameter of the low-speed operation of the switched reluctance motor according to the reference current comprises:
and acquiring the conduction angle and the off angle of each phase of the switched reluctance motor according to the reference current.
7. The method of claim 1, wherein the comparison result includes: the real-time conduction current is larger than the current upper limit value or smaller than the current lower limit value.
8. The method of claim 7, wherein controlling the current on-phase of the switched reluctance motor to be turned off or controlling the current off-phase of the switched reluctance motor to be turned on according to the comparison result comprises:
and if the real-time conduction current is larger than the current upper limit value, controlling the current conduction phase of the switched reluctance motor to be closed.
9. The method of claim 7, wherein controlling the current on-phase of the switched reluctance motor to be turned off or controlling the current off-phase of the switched reluctance motor to be turned on according to the comparison result comprises:
And if the real-time conduction current is smaller than the current lower limit value, controlling the current closed phase conduction of the switched reluctance motor.
10. A switched reluctance motor comprising: a detection device and a controller;
The detection device is used for detecting the rotating speed of the switched reluctance motor and outputting a photoelectric switch signal;
the controller is configured to execute the low-speed operation control method of a switched reluctance motor according to any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110701453.7A CN113612426B (en) | 2021-06-23 | 2021-06-23 | Low-speed operation control method of switch reluctance motor and switch reluctance motor |
| PCT/CN2021/137227 WO2022267378A1 (en) | 2021-06-23 | 2021-12-10 | Low-speed operation control method for switched reluctance motor, and switched reluctance motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110701453.7A CN113612426B (en) | 2021-06-23 | 2021-06-23 | Low-speed operation control method of switch reluctance motor and switch reluctance motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113612426A CN113612426A (en) | 2021-11-05 |
| CN113612426B true CN113612426B (en) | 2024-06-28 |
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| JPH06133580A (en) * | 1992-10-14 | 1994-05-13 | Tokyo Electric Co Ltd | Rotating speed controller for dc motor |
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| CN106452208A (en) * | 2016-11-18 | 2017-02-22 | 南京信息工程大学 | Brushless direct current motor control method based on fractional order PI forecasting function |
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| CN113612426B (en) * | 2021-06-23 | 2024-06-28 | 深圳拓邦股份有限公司 | Low-speed operation control method of switch reluctance motor and switch reluctance motor |
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