CN114389486B - Commutation error compensation method for hybrid excitation doubly salient motor - Google Patents
Commutation error compensation method for hybrid excitation doubly salient motor Download PDFInfo
- Publication number
- CN114389486B CN114389486B CN202110408828.0A CN202110408828A CN114389486B CN 114389486 B CN114389486 B CN 114389486B CN 202110408828 A CN202110408828 A CN 202110408828A CN 114389486 B CN114389486 B CN 114389486B
- Authority
- CN
- China
- Prior art keywords
- commutation
- theta
- phase
- frequency
- switching frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- H02P6/15—Controlling commutation time
- H02P6/153—Controlling commutation time wherein the commutation is advanced from position signals phase in function of the speed
-
- 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
- H02P25/086—Commutation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
技术领域Technical Field
本发明属于变磁阻类电动机驱动控制技术领域。The invention belongs to the technical field of variable reluctance motor drive control.
背景技术Background technique
混合励磁双凸极电机作为一种变磁阻电机,在开关磁阻电机的基础上,保留了开关磁阻电机的双边凸极的定转子结构,并且在定子上引入额外的励磁绕组。由于其转子上无任何绕组和永磁体,使得转子结构简单可靠,天然适合高速运行。但目前针对混合励磁双凸极电机,尚未有成熟的高速控制算法。在工程实践中,通常采用提前角控制或三相九状态控制方法实现混合励磁双凸极电机的高速运行。这两种控制方法均需要进行三相电流的换相,能否实现电流的精确换相对电机的运行性能有很大影响。As a variable reluctance motor, the hybrid excitation double salient pole motor retains the stator-rotor structure of the switched reluctance motor on the basis of the switched reluctance motor, and introduces an additional excitation winding on the stator. Since there are no windings and permanent magnets on the rotor, the rotor structure is simple and reliable, and is naturally suitable for high-speed operation. However, there is currently no mature high-speed control algorithm for hybrid excitation double salient pole motors. In engineering practice, advance angle control or three-phase nine-state control methods are usually used to achieve high-speed operation of hybrid excitation double salient pole motors. Both control methods require commutation of the three-phase current, and whether the current can be accurately commutated has a great impact on the operating performance of the motor.
换相误差是由于数字控制系统中存在的延时导致的。误差主要分两类:一类是PWM更新延时导致的误差,另一类是离散采样的角度位置导致的误差。第一类误差是PWM数字控制系统固有的,数字处理器计数产生的三角波作为载波,与调制波交结产生PWM驱动信号。数字处理器在进入中断时,将采集到的信号进行运算。如果运算完成后立即更新,可能由于运算时间过长导致PWM信号缺失。所以只有处理器进入下一次中断时,才会进行PWM信号的更新,这样造成了一个开关周期的延时。第二类误差是由于离散的采样造成的,理想情况下采样频率无穷大,采集到的信号为连续量。但实际情况下,控制器的采样频率有限,采集到的信号为离散信号。设定的换相角度为一个确定的点,由于采样频率的限制,系统无法做到在此点精确采样,实际的采样点会在设定点附近波动。采样频率通常与开关频率相等,所以会产生0~1个开关周期的换相误差。综合以上两类误差,混合励磁双凸极电机系统总的换相误差为1~2个开关周期。The commutation error is caused by the delay in the digital control system. The error is mainly divided into two categories: one is the error caused by the PWM update delay, and the other is the error caused by the angle position of discrete sampling. The first type of error is inherent in the PWM digital control system. The triangular wave generated by the digital processor counts as the carrier, which intersects with the modulation wave to generate the PWM drive signal. When the digital processor enters the interrupt, it will calculate the collected signal. If the update is performed immediately after the calculation is completed, the PWM signal may be missing due to the long calculation time. Therefore, the PWM signal will be updated only when the processor enters the next interrupt, which causes a delay of one switching cycle. The second type of error is caused by discrete sampling. Ideally, the sampling frequency is infinite and the collected signal is a continuous quantity. However, in reality, the sampling frequency of the controller is limited, and the collected signal is a discrete signal. The set commutation angle is a certain point. Due to the limitation of the sampling frequency, the system cannot accurately sample at this point, and the actual sampling point will fluctuate around the set point. The sampling frequency is usually equal to the switching frequency, so a commutation error of 0 to 1 switching cycle will be generated. Combining the above two types of errors, the total commutation error of the hybrid excitation doubly salient motor system is 1 to 2 switching cycles.
混合励磁双凸极电机在低速运行下,开关频率远远大于电机的运行频率,所以一个开关周期对应的电角度很小,可以忽略在低速情况下的换相误差。当电机的运行速度提高,一个开关周期对应的电角度无法忽略。如果要保持载波比不变需要更高的开关频率,器件成本和设计难度大幅增加,这是不现实的。只能通过不提高开关频率的方法来消除换相误差。When the hybrid excitation double-salient-pole motor is running at low speed, the switching frequency is much greater than the motor's operating frequency, so the electrical angle corresponding to one switching cycle is very small, and the commutation error at low speed can be ignored. When the motor's operating speed increases, the electrical angle corresponding to one switching cycle cannot be ignored. If a higher switching frequency is required to keep the carrier ratio unchanged, the device cost and design difficulty will increase significantly, which is unrealistic. The commutation error can only be eliminated by not increasing the switching frequency.
高速运行下由于换相误差的存在,导致混合励磁双凸极电机三相电流存在低频振荡,每个周期的导通区间宽度不同,且电流的幅值也不相等。一方面,电流幅值的低频振荡会导致电机转矩产生相应脉动;另一方面,电流幅值的振荡会导致某些周期内电流幅值较小,某些周期内电流幅值较大,由于开关管的电流应力应按照最大电流应力选择,从而导致开关管的电流容量无法得到充分的利用。若能消除高速运行状态下的换相误差,就能消除电流幅值振荡,开关管容量能够得到充分利用,有助于进一步提高转速。Due to the existence of commutation error under high-speed operation, the three-phase current of the hybrid excitation double-salient-pole motor has low-frequency oscillation, the conduction interval width of each cycle is different, and the current amplitude is also unequal. On the one hand, the low-frequency oscillation of the current amplitude will cause the motor torque to produce corresponding pulsations; on the other hand, the oscillation of the current amplitude will cause the current amplitude to be small in some cycles and large in some cycles. Since the current stress of the switch tube should be selected according to the maximum current stress, the current capacity of the switch tube cannot be fully utilized. If the commutation error under high-speed operation can be eliminated, the current amplitude oscillation can be eliminated, the switch tube capacity can be fully utilized, and it will help to further increase the speed.
发明内容Summary of the invention
本发明提出的混合励磁双凸极换相误差补偿方法,在不改变电路拓扑的情况下,通过小幅度调整开关频率实现消除换相误差的效果。The hybrid excitation double-salient pole commutation error compensation method proposed in the present invention achieves the effect of eliminating the commutation error by slightly adjusting the switching frequency without changing the circuit topology.
为了达到上述目的,本发明所述的一种用于混合励磁双凸极电机的换相误差补偿方法的具体实现步骤为:In order to achieve the above object, the specific implementation steps of a commutation error compensation method for a hybrid excitation double-salient pole motor described in the present invention are as follows:
步骤一:通过与电机同轴安装的旋转变压器采样当前转子位置角θ,判断是否处于如下的区间中,其中换相角度为θ1,采样的位置信号为θ,开关频率为fs,最大开关频率为nfs,电频率为fe,一个开关周期对应的电角度为θd=fe*360/fs:Step 1: Sample the current rotor position angle θ through the rotary transformer installed coaxially with the motor to determine whether it is in the following range, where the commutation angle is θ 1 , the sampled position signal is θ, the switching frequency is f s , the maximum switching frequency is nf s , the electrical frequency is fe , and the electrical angle corresponding to one switching cycle is θ d = fe *360/f s :
(1)θ∈(θ1-θd*2/n,θ1-θd/n)(1)θ∈(θ 1 -θ d *2/n,θ 1 -θ d /n)
(2)θ∈(θ1-(1+1/n)*θd,θ1-θd*2/n)(2)θ∈(θ 1 -(1+1/n)*θ d ,θ 1 -θ d *2/n)
步骤二:若当前转子位置均不在上述的区间中,说明当前转子位置距离设定的换相点较远,所以此时无需进行操作,保持原有的开关频率fs不变即可。Step 2: If the current rotor position is not in the above range, it means that the current rotor position is far from the set commutation point, so no operation is required at this time, and the original switching frequency fs can be kept unchanged.
步骤二:若当前转子位置位于(1)中所述的区间中,计算当前位置角θ与换相角θ1之间的角度差,设定合适的开关频率,恰好使得下一次采样的位置与换相角重合,保证精确采集到换相点。因此,设定的开关频率为fe*360/(θ1-θ)。Step 2: If the current rotor position is in the interval described in (1), calculate the angle difference between the current position angle θ and the commutation angle θ1 , and set the appropriate switching frequency so that the position of the next sampling coincides with the commutation angle to ensure that the commutation point is accurately collected. Therefore, the set switching frequency is fe *360/( θ1 -θ).
步骤三:若当前转子位置位于(2)中所述的区间中,直接将开关频率设置为最大开关频率nfs,经过一个开关周期,在下一个采样点处,能保证转子位置角位于(1)中所述的区间中。Step 3: If the current rotor position is in the interval described in (2), directly set the switching frequency to the maximum switching frequency nfs . After one switching cycle, at the next sampling point, the rotor position angle can be guaranteed to be in the interval described in (1).
步骤四:精确采样到换相点位置,在数字处理器中进行运算,并更新PWM信号,实现消除电流换相误差的效果。Step 4: Accurately sample the commutation point position, perform calculations in the digital processor, and update the PWM signal to achieve the effect of eliminating the current commutation error.
本发明提出的混合励磁双凸极电机换相误差补偿方法通过在控制流程中加入补偿算法来实现消除换相误差的效果。该补偿算法无需改变原有混合励磁双凸极电机系统结构,具有易实施的优点。本发明所提出的混合励磁双凸极电机换相误差补偿方法能够有效的补偿混合励磁双凸极电机系统的换相误差,消除由换相误差导致的相电流震荡和尖峰,减小驱动电路中开关管电流应力,从而有效利用开关管电流容量。进一步的,本发明所提出的混合励磁双凸极电机换相误差补偿方法有利于减小电机转矩脉动,提升转矩输出能力,对于提高混合励磁双凸极电机系统得到运行性能具有显著的效果。The hybrid excitation double salient pole motor commutation error compensation method proposed in the present invention achieves the effect of eliminating the commutation error by adding a compensation algorithm to the control process. The compensation algorithm does not need to change the original hybrid excitation double salient pole motor system structure, and has the advantage of being easy to implement. The hybrid excitation double salient pole motor commutation error compensation method proposed in the present invention can effectively compensate for the commutation error of the hybrid excitation double salient pole motor system, eliminate the phase current oscillation and spikes caused by the commutation error, and reduce the current stress of the switch tube in the drive circuit, thereby effectively utilizing the current capacity of the switch tube. Furthermore, the hybrid excitation double salient pole motor commutation error compensation method proposed in the present invention is conducive to reducing the motor torque pulsation and improving the torque output capacity, and has a significant effect on improving the operating performance of the hybrid excitation double salient pole motor system.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为三相12/8极混合励磁双凸极电机结构剖面图;FIG1 is a cross-sectional view of the structure of a three-phase 12/8-pole hybrid excitation doubly salient motor;
图2为混合励磁双凸极电机的三相全桥功率变换器拓扑;FIG2 is a three-phase full-bridge power converter topology for a hybrid excitation doubly salient motor;
图3为混合励磁双凸极电机简化电感模型及标准角控制导通模态;Figure 3 shows the simplified inductance model of the hybrid excitation doubly salient motor and the standard angle control conduction mode;
图4为第一类换相误差产生原理示意图;FIG4 is a schematic diagram showing the principle of generation of the first type of commutation error;
图5为第二类换相误差产生原理示意图;FIG5 is a schematic diagram showing the principle of generation of the second type of commutation error;
图6为该换相误差补偿算法的流程图。FIG6 is a flow chart of the commutation error compensation algorithm.
具体实施方式Detailed ways
下面结合附图对本发明的具体实施方案做进一步说明。The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
如图1所示的是三相12/8混合励磁双凸极电机结构剖面图,其励磁绕组、电枢绕组和永磁体均位于定子上,转子上无任何绕组和永磁体。图2所示为混合励磁双凸极电机的主功率变换器拓扑,为三相全桥逆变器。其中的A-X、B-Y和C-Z分别为A相、B相和C相电枢绕组,采用星形连接。电流ia、ib和ic分别是相应的相电流,其箭头方向定义为正方向。Ea、Eb和Ec分别是电枢绕组的反电势,“+”端为绕组中反电势高的一端。可以看出此时电流是从反电势的正端流入电枢绕组的,即电枢绕组是吸收电能量的,电机处于电动工作模态。V1~V6为六个开关管,其中V1、V3和V5为上管,V4、V6和V2为下管。图中D1~D6为开关管的体二极管,在相电流斩波控制中起到续流的作用。另外,图中Udc为直流母线电压,idc为直流母线电流,Cf为母线上的滤波电容。As shown in Figure 1, it is a cross-sectional view of the structure of a three-phase 12/8 hybrid excitation double-pole motor, in which the excitation winding, armature winding and permanent magnet are all located on the stator, and there are no windings and permanent magnets on the rotor. Figure 2 shows the main power converter topology of the hybrid excitation double-pole motor, which is a three-phase full-bridge inverter. AX, BY and CZ are the armature windings of phase A, phase B and phase C, respectively, and are connected in star shape. The currents i a , i b and i c are the corresponding phase currents, and the arrow direction is defined as the positive direction. E a , E b and E c are the back electromotive force of the armature winding, respectively, and the "+" end is the end with the high back electromotive force in the winding. It can be seen that at this time, the current flows into the armature winding from the positive end of the back electromotive force, that is, the armature winding absorbs electrical energy, and the motor is in the electric working mode. V1~V6 are six switch tubes, of which V1, V3 and V5 are upper tubes, and V4, V6 and V2 are lower tubes. In the figure, D1~D6 are the body diodes of the switch tubes, which play the role of freewheeling in the phase current chopping control. In addition, in the figure, U dc is the DC bus voltage, i dc is the DC bus current, and C f is the filter capacitor on the bus.
混合励磁双凸极电机一相绕组通入电流时,产生的转矩为:When current flows into one phase winding of a hybrid excitation doubly salient motor, the torque generated is:
其中Tp是单相的总转矩输出,Tpr表示单相磁阻转矩,Tpe表示单相励磁转矩,Lp表示相绕组自感,if表示励磁电流,Lpf表示励磁绕组与相绕组互感,表示转子位置角。电枢绕组的自感及电枢绕组与励磁绕组的互感均与电机转子位置角有关。混合励磁双凸极电机简化电感模型及标准角控制导通模态如图3所示。由于电枢绕组的自感一般比电枢绕组与励磁绕组的互感小一个数量级,图3中只体现了电枢绕组与励磁绕组的互感。混合励磁双凸极电机电动运行时,在电感上升区给相应的绕组通入正电流,在电感下降区给相应的绕组通入负电流,就可以产生连续的驱动转矩。Where Tp is the total torque output of a single phase, Tpr represents the single-phase reluctance torque, Tpe represents the single-phase excitation torque, Lp represents the self-inductance of the phase winding, if represents the excitation current, Lpf represents the mutual inductance of the excitation winding and the phase winding, and represents the rotor position angle. The self-inductance of the armature winding and the mutual inductance of the armature winding and the excitation winding are both related to the rotor position angle of the motor. The simplified inductance model and standard angle control conduction mode of the hybrid excitation double-pole motor are shown in Figure 3. Since the self-inductance of the armature winding is generally one order of magnitude smaller than the mutual inductance of the armature winding and the excitation winding, only the mutual inductance of the armature winding and the excitation winding is shown in Figure 3. When the hybrid excitation double-pole motor is running, a positive current is passed through the corresponding winding in the inductance rising area, and a negative current is passed through the corresponding winding in the inductance falling area, so that a continuous driving torque can be generated.
混合励磁双凸极电机驱动采用PWM调制方式,每个开关周期产生一次驱动信号。如图4所示的是第一类换相误差的示意图。控制器在k时刻进入中断,通过旋转变压器采样位置信号,通过电流霍尔传感器采样三相电流信号,根据位置信号和电流信号计算相应的PWM信号。理想情况下,控制器应当立即输出计算出的PWM信号,作用于k到k+1时刻之间。实际情况时,由于控制器计算需要一定的时间,无法做到立即输出计算出的PWM信号,需要等到下一次进入中断时,输出上一个中断内计算出的PWM信号,作用于k+1到k+2时刻之间,从而导致了一个开关周期的换相误差。The hybrid excitation double-pole motor drive adopts PWM modulation, and a drive signal is generated once in each switching cycle. Figure 4 is a schematic diagram of the first type of commutation error. The controller enters an interrupt at time k, samples the position signal through the rotary transformer, samples the three-phase current signal through the current Hall sensor, and calculates the corresponding PWM signal based on the position signal and the current signal. Ideally, the controller should immediately output the calculated PWM signal, which acts between k and k+1. In actual situations, since the controller calculation requires a certain amount of time, it is impossible to output the calculated PWM signal immediately. It is necessary to wait until the next interrupt to output the PWM signal calculated in the previous interrupt, which acts between k+1 and k+2, resulting in a commutation error of a switching cycle.
如图5所示的是第二类换相误差的示意图。理想情况下,采样频率无穷大,控制器采样到的位置信号为连续信号,控制器根据连续的位置信号和设定的换相角度参数,决定换相的位置。此时,不考虑第一类换相误差,换相位置应当与设定的换相角度一致。然而,实际情况下,控制器的采样频率有限,控制器采样到的位置信号为离散信号,可能存在图5所示的情况。控制器在k+1时刻采样到的位置信号恰好在设定的换相角度参数之前,此时控制器会比较采样到的位置信号和设定的换相角度参数,从而将不进行换相的PWM信号作用于k+1到k+2时刻之间(不考虑第一类换相误差)。直至k+2时刻,控制器根据采样到的位置信号和设定的换相角度参数,从而将换相的PWM信号作用于k+2到k+3时刻之间。这导致了图中α角度的换相误差。As shown in Figure 5, it is a schematic diagram of the second type of commutation error. Ideally, the sampling frequency is infinite, and the position signal sampled by the controller is a continuous signal. The controller determines the commutation position based on the continuous position signal and the set commutation angle parameter. At this time, the first type of commutation error is not considered, and the commutation position should be consistent with the set commutation angle. However, in actual situations, the sampling frequency of the controller is limited, and the position signal sampled by the controller is a discrete signal, and the situation shown in Figure 5 may exist. The position signal sampled by the controller at time k+1 is just before the set commutation angle parameter. At this time, the controller will compare the sampled position signal with the set commutation angle parameter, so that the PWM signal without commutation is applied between k+1 and k+2 (without considering the first type of commutation error). Until k+2, the controller applies the commutation PWM signal between k+2 and k+3 based on the sampled position signal and the set commutation angle parameter. This leads to the commutation error of angle α in the figure.
图6为本发明所研究的用于混合励磁双凸极电机的换相误差补偿算法流程图,根据该算法流程图,具体的实施方案用文字描述如下:FIG6 is a flow chart of a commutation error compensation algorithm for a hybrid excitation double-salient-pole motor studied in the present invention. According to the algorithm flow chart, a specific implementation scheme is described in words as follows:
步骤一:通过与电机同轴安装的旋转变压器采样当前转子位置角θ,判断是否处于如下的区间中,其中换相角度为θ1,采样的位置信号为θ,开关频率为fs,最大开关频率为nfs,电频率为fe,一个开关周期对应的电角度为θd=fe*360/fs:Step 1: Sample the current rotor position angle θ through the rotary transformer installed coaxially with the motor to determine whether it is in the following range, where the commutation angle is θ 1 , the sampled position signal is θ, the switching frequency is f s , the maximum switching frequency is nf s , the electrical frequency is fe , and the electrical angle corresponding to one switching cycle is θ d = fe *360/f s :
(1)θ∈(θ1-θd*2/n,θ1-θd/n)(1)θ∈(θ 1 -θ d *2/n,θ 1 -θ d /n)
(2)θ∈(θ1-(1+1/n)*θd,θ1-θd*2/n)(2)θ∈(θ 1 -(1+1/n)*θ d ,θ 1 -θ d *2/n)
步骤二:若当前转子位置均不在上述的区间中,说明当前转子位置距离设定的换相点较远,所以此时无需进行操作,保持原有的开关频率fs不变即可。Step 2: If the current rotor position is not in the above range, it means that the current rotor position is far from the set commutation point, so no operation is required at this time, and the original switching frequency fs can be kept unchanged.
步骤二:若当前转子位置位于(1)中所述的区间中,计算当前位置角θ与换相角θ1之间的角度差,设定合适的开关频率,恰好使得下一次采样的位置与换相角重合,保证精确采集到换相点。因此,设定的开关频率为fe*360/(θ1-θ)。Step 2: If the current rotor position is in the interval described in (1), calculate the angle difference between the current position angle θ and the commutation angle θ1 , and set the appropriate switching frequency so that the position of the next sampling coincides with the commutation angle to ensure that the commutation point is accurately collected. Therefore, the set switching frequency is fe *360/( θ1 -θ).
步骤三:若当前转子位置位于(2)中所述的区间中,直接将开关频率设置为最大开关频率nfs,经过一个开关周期,在下一个采样点处,能保证转子位置角位于(1)中所述的区间中。Step 3: If the current rotor position is in the interval described in (2), directly set the switching frequency to the maximum switching frequency nfs . After one switching cycle, at the next sampling point, the rotor position angle can be guaranteed to be in the interval described in (1).
步骤四:精确采样到换相点位置,在数字处理器中进行运算,并更新PWM信号,实现消除电流换相误差的效果。Step 4: Accurately sample the commutation point position, perform calculations in the digital processor, and update the PWM signal to eliminate the current commutation error.
最终,本发明提出的补偿算法减小了电流波动幅值,相电流波形不再产生不稳定的尖峰,从而大幅降低转矩脉动,能够使开关管的电流容量得到充分利用。Finally, the compensation algorithm proposed in the present invention reduces the current fluctuation amplitude, and the phase current waveform no longer produces unstable peaks, thereby greatly reducing the torque pulsation and enabling the current capacity of the switch tube to be fully utilized.
以上实施方式仅为说明本发明的技术思想,并不用于限制本发明的保护范围,凡是按照本发明提出的技术思想,在本发明技术方案基础上所做的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above implementation modes are only for illustrating the technical idea of the present invention and are not used to limit the protection scope of the present invention. Any modification, equivalent substitution, improvement, etc. made on the basis of the technical scheme of the present invention in accordance with the technical idea proposed by the present invention shall be included in the protection scope of the present invention.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110408828.0A CN114389486B (en) | 2021-04-16 | 2021-04-16 | Commutation error compensation method for hybrid excitation doubly salient motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110408828.0A CN114389486B (en) | 2021-04-16 | 2021-04-16 | Commutation error compensation method for hybrid excitation doubly salient motor |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114389486A CN114389486A (en) | 2022-04-22 |
CN114389486B true CN114389486B (en) | 2024-04-16 |
Family
ID=81194894
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110408828.0A Active CN114389486B (en) | 2021-04-16 | 2021-04-16 | Commutation error compensation method for hybrid excitation doubly salient motor |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114389486B (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN117767824B (en) * | 2023-12-25 | 2024-10-11 | 格至达智能科技(江苏)有限公司 | Motor angle compensation method of single-core processor, motor controller and storage medium |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104393802A (en) * | 2014-11-07 | 2015-03-04 | 南京航空航天大学 | Line voltage detection-based doubly salient electro-magnetic motor position-less control method |
CN105703687A (en) * | 2014-12-13 | 2016-06-22 | 包米勒公司 | Method for operating a converter and converter |
CN106059409A (en) * | 2016-05-27 | 2016-10-26 | 北京航空航天大学 | Position sensor-free brushless direct-current motor rotor phase commutation error correction method and control system |
CN107046388A (en) * | 2017-03-07 | 2017-08-15 | 湖南大学 | A kind of switched reluctance machines curren tracing control method, controller and governing system |
CN109995304A (en) * | 2017-12-29 | 2019-07-09 | 东南大学 | A method for reducing switched reluctance motor noise based on adjusting PWM carrier frequency |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2800261B1 (en) * | 2013-04-29 | 2019-03-06 | Nxp B.V. | Mobile computing device comprising high voltage resonant DC-DC converter |
-
2021
- 2021-04-16 CN CN202110408828.0A patent/CN114389486B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104393802A (en) * | 2014-11-07 | 2015-03-04 | 南京航空航天大学 | Line voltage detection-based doubly salient electro-magnetic motor position-less control method |
CN105703687A (en) * | 2014-12-13 | 2016-06-22 | 包米勒公司 | Method for operating a converter and converter |
CN106059409A (en) * | 2016-05-27 | 2016-10-26 | 北京航空航天大学 | Position sensor-free brushless direct-current motor rotor phase commutation error correction method and control system |
CN107046388A (en) * | 2017-03-07 | 2017-08-15 | 湖南大学 | A kind of switched reluctance machines curren tracing control method, controller and governing system |
CN109995304A (en) * | 2017-12-29 | 2019-07-09 | 东南大学 | A method for reducing switched reluctance motor noise based on adjusting PWM carrier frequency |
Also Published As
Publication number | Publication date |
---|---|
CN114389486A (en) | 2022-04-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN201383787Y (en) | Controller of brushless direct current motor | |
CN102075128B (en) | Rotor magnetic shunt mixed excitation synchronous motor driving system and current control method thereof | |
CN109450330A (en) | A kind of method for controlling torque for electric excitation biconvex electrode electric machine | |
CN110829939A (en) | Control method for reducing torque ripple of doubly salient electro-magnetic motor | |
CN103501146A (en) | Commutation torque ripple restraining method and system for brushless DC (Direct Current) motor driving system | |
CN103236813B (en) | A kind of control system of permanent-magnet brushless DC electric machine | |
CN109194218B (en) | Control device, control method and system of direct-current bias type hybrid excitation motor | |
CN111431450B (en) | A torque ripple suppression control system and control method for a magnetic flux switching motor | |
CN110601606A (en) | High-dynamic internal power angle control method for brushless direct current motor | |
CN104811100B (en) | A kind of asymmetric current control system of electric excitation biconvex electrode electric machine and its method | |
CN109039171A (en) | A kind of high-speed permanent-magnet brushless DC motor control method based on variable turn-on cycle | |
CN103560725A (en) | Brushless direct-current motor position detection method independent of rotating speed | |
CN106788041A (en) | A kind of stator permanent magnetic type memory electrical machine high efficiency and wide speed regulation control method | |
CN115037221A (en) | DITC control system of switched reluctance motor based on self-adaptive conduction angle TSF | |
CN105262406A (en) | Switching reluctance motor driving mechanism based on three-level inverter and control method thereof | |
CN114389486B (en) | Commutation error compensation method for hybrid excitation doubly salient motor | |
CN105790651B (en) | A kind of control method and its drive system of three-phase doubly-salient brushless DC generator | |
CN104716878A (en) | Control method and driving system of three-phase double-salient-pole brushless direct current motor | |
CN113300653B (en) | Direct instantaneous torque control system and method for switched reluctance motor | |
CN102223129A (en) | Controllable half-wave rectifier generating system for double-salient electro-magnetic motor | |
CN101814887B (en) | Driving control method of low-loss hybrid stepping motor | |
CN116131689B (en) | Torque Distribution Control Method for Electrically Excited Doubly Salient Motor Based on H-Bridge Converter | |
CN201467049U (en) | Sensorless Switched Reluctance Motor Control | |
CN116979857A (en) | PWM-DITC control method for switched reluctance motor based on novel multi-level power converter | |
CN2874908Y (en) | Composite exciting permanent magnet synchronous speed regulation motor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |