CN114531078A - Method for inhibiting torque pulsation and bus current pulsation of switched reluctance motor - Google Patents
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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- H—ELECTRICITY
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- 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
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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Abstract
The invention discloses a method for inhibiting torque pulsation and bus current pulsation of a switched reluctance motor. The method needs to obtain flux linkage characteristics and torque characteristics of the switched reluctance motor through off-line measurement. The total torque reference value is output by the speed proportional-integral controller, and each phase reference torque value is calculated by the torque distribution function. And calculating flux linkage and current information at the k +1 moment by combining the optimal switching vector calculated at the previous moment according to the position and current information at the k moment and the position information stored at the k-1 moment for delay compensation. On the basis, the position information at the moment of k +2 and the flux linkage current information under the available switching vector are predicted, then the torque and the inverter input current value under each switching state are obtained by looking up a table and are brought into a cost function, and the operation state with the minimum cost function value is used as a switching signal and is applied to the control power converter, so that the effect of simultaneously restraining the torque ripple and the bus current ripple is achieved. The effectiveness of the method is verified through simulation, the method is simple in control logic, obvious in torque ripple and bus current ripple suppression effect, and the impact of bus current on the supporting capacitor is effectively reduced.
Description
Technical Field
The invention relates to a method for inhibiting torque pulsation and bus current pulsation of a switched reluctance motor, and belongs to the field of motor control.
Background
The switched reluctance motor has the characteristics of simple structure, wide speed regulation range, low production cost and the like, and has wide application prospects in the fields of aerospace, electric automobiles, wind power generation and the like. However, the unique double salient pole structure causes large commutation torque pulsation, and seriously influences the control performance of the double salient pole structure. Researchers have made a lot of studies on torque ripple suppression methods, and have proposed a series of control strategies, such as direct torque control, direct instantaneous torque control, torque distribution functions, iterative learning, and the like. However, most methods only aim at inhibiting torque ripple, but cannot simultaneously achieve bus current ripple, so that the supporting capacitor of the system bears large impact current, and the service life is shortened.
In digital control operating in a discrete mode, finite set model predictive control is a novel control method based on the switching states of a power converter. The optimization objective is constructed into a cost function in a weight mode, multi-objective optimization is intuitively and conveniently realized, and more attention is paid to the power electronic converter. In the switched reluctance motor driving system, the bus current is the sum of the inverter input current and the capacitor current, the inverter input current can be represented by each phase of switching signals and currents, each phase of torque is closely related to the switching signals, inverter input current ripples and torque ripples are taken as main objects, the problems of torque ripples and indirect suppression of the bus current ripples can be solved by constructing a cost function of the switched reluctance motor torque and the inverter input current value and taking the running state with the minimum cost function value as a switching signal, and the switched reluctance motor driving system plays an important role in improving the compactness and the speed regulation performance of the switched reluctance motor driving system.
Disclosure of Invention
The invention provides a method for inhibiting torque ripple and bus current ripple of a switched reluctance motor, aiming at a switched reluctance motor driving system. The method needs to obtain flux linkage characteristics and torque characteristics of the switched reluctance motor through off-line experimental measurement. The total torque reference value is output by the speed proportional-integral regulator, and each phase reference torque value is calculated by a torque distribution function. Predicting the position information of the k +1 moment according to the position and current information of the k moment and the stored position information of the k-1 moment, calculating the flux linkage and current information of the k +1 moment by combining the optimal switching vector obtained by calculation at the previous moment to perform delay compensation, predicting the position information of the k +2 moment and the flux linkage and current information under the available switching vector on the basis, then looking up a table to obtain the torque and the inverter input current value under each switching state and bringing the torque and the inverter input current value into a cost function, and applying the operating state with the minimum cost function value as a switching signal to control the power converter. The bus current is the sum of the inverter input current and the capacitor current, the inverter input current ripple and the torque ripple are taken as main objects, and the appropriate switch information is selected by the weight coefficients respectively applied to enable the inverter input current ripple and the torque ripple to be inhibited at the same time, namely the effects of directly inhibiting the torque ripple and indirectly inhibiting the bus current ripple are achieved.
The technical scheme of the invention is as follows:
the method for inhibiting the torque ripple and the bus current ripple of the switched reluctance motor comprises the following steps:
step 1: the flux linkage characteristic and the torque characteristic of the switched reluctance motor are obtained through experimental measurement; acquiring flux linkage characteristics psi (i, theta) of the switched reluctance motor by a rotor fixed clamping method, wherein psi is flux linkage, i is current, and theta is position; and constructing a current data table i (psi, theta) by utilizing an interpolation method according to the magnetic linkage characteristics psi (i, theta). On the basis of the flux linkage characteristics, solving the offset derivative of the position according to the magnetic common energy to construct a torque data table T (i, theta); the calculation formula of the magnetic common energy W' is as follows:
the torque T is calculated by the formula:
step 2: given reference torque TrefIn a closed loop system, TrefCan be obtained by the output of a rotating speed ring proportional integral regulator;
and step 3: torque distribution function versus reference torque TrefCalculating and obtaining the reference value T of the torque of each phaseph,ref；
And 4, step 4: collecting rotor position theta (k) and phase current i of the motor at the moment kph(k) Further looking up the flux linkage characteristic data table psi (i, theta) to obtain the flux linkage psi at the time kph(k) Storing the rotor position information at the time of theta (k-1);
and 5: predicting rotor position theta (k +1) and phase flux linkage psi at time k +1ph(k +1), and further predicting the current i at the time of k +1 by looking up the current characteristic data table i (ψ, θ)ph(k + 1); the specific calculation formula of θ (k +1) is:
θ(k+1)＝θ(k)+(θ(k)-θ(k-1))
ψphthe calculation formula of (k +1) is:
ψph(k+1)＝ψph(k)+[V*-Rphi(k)]Ts
in the formula, TsFor sampling frequency, RphIs the winding resistance, V*The optimal voltage vector calculated for time k-1.
Step 6: predicting the rotor position theta (k +2) at the time of k +2, judging the motor running state, and predicting the phase flux linkage psi at the time of k +2ph(k +2), and further by looking up the table i (ψ, θ), the current i at the time of k +2 is obtainedphThe calculation formula of the rotor position theta (k +2) at the moment of (k +2) and k +2 is as follows:
θ(k+2)＝2θ(k+1)-θ(k)
predicting the k +2 time phase flux linkage psiphThe calculation formula of (k +2) is:
ψph(k+2)＝ψph(k+1)+(Vph(k+1)-Rphiph(k+1))Ts
in the formula, Vph(k +1) is the predicted phase voltage value at time k +1, the value of which is related to the switching vector, TsFor sampling frequency, RphIs a winding resistance;
and 7: predicting the torque T of each phase at the time k +2 by looking up the table T (i, theta) in combination with the phase current predicted at the time k +2 and the rotor position informationph(k +2), calculating the predicted torque value of each phase and the reference value T thereofph,refSum of squares of differences Tp(k +2), and inverter input current value iSRM(k+2)：
In the formula NphRepresenting the number of phases, T, of a switched reluctance machinep(k +2) represents the sum of squares of the differences between the predicted torque values of the respective phases at the time k +2 and the reference values thereof;
wherein iSRM(k +2) represents the predicted inverter input current value at time k +2, sphIs a switching vector;
and 8: calculating a cost function J by predicting the square sum of the difference between the predicted torque of each phase at the time k +2 and the reference value thereof and the inverter input current value in step 7
J＝ωTTp(k+2)+ωiiSRM(k+2)2
In the formula, ωT、ωiThe weight coefficients are the square sum of the difference between each phase torque predicted value and the reference value thereof and the inverter input current value respectively;
and step 9: and taking the operation state with the minimum cost function value as an optimal state as a switching signal to control the switch in the power converter.
Advantageous effects
The invention discloses a method for inhibiting torque ripple and bus current ripple of a switched reluctance motor. The method needs to obtain flux linkage characteristics and torque characteristics of the switched reluctance motor through off-line experimental measurement. The total torque reference value is calculated by a speed ring proportional-dividing controller and a torque distribution function according to each phase of reference torque values. According to the position and current information of the moment k and the position information of the moment k-1, calculating the flux linkage and current information of the moment k +1 by combining the optimal switching vector calculated at the previous moment, performing delay compensation, on the basis, predicting the position information of the moment k +2 and the flux linkage and current information under the available switching vector, looking up a table to obtain the torque and the inverter input current value in each switching state and bringing the torque and the inverter input current value into a cost function, taking the operating state with the minimum cost function value as a switching signal, applying the switching signal to a control power converter, and thus directly suppressing the torque ripple and realizing the effect of indirectly suppressing the bus current ripple by reducing the inverter input current ripple.
The effectiveness of the method is verified through simulation, the method is simple in control logic, obvious in torque ripple and bus current ripple suppression effect, and the impact of bus current on the supporting capacitor is effectively reduced while smooth control of the motor is achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flux linkage characteristic curve of a switched reluctance motor;
FIG. 2 is a switched reluctance motor current data table plot;
FIG. 3 is a torque characteristic curve of a switched reluctance motor;
FIG. 4 is a schematic block diagram of a control method proposed by the present invention;
FIG. 5 is a flow chart of a method for controlling the predicted torque of an efficiency optimization model of a switched reluctance motor;
FIG. 6 is a graph illustrating the control effect of conventional current chopping control when operating at 1000 rpm;
FIG. 7 is a control effect diagram of a conventional model predictive torque control method when operating at 1000 rpm;
FIG. 8 is a control effect diagram of the model predictive torque control method proposed by the present invention when operating at 1000 rpm;
Detailed Description
The technical scheme of the invention is explained in detail in the following by combining the drawings and specific examples. The motor used in the example was a 1kW three-phase 12/8 pole switched reluctance motor.
Step 1: the flux linkage characteristic and the torque characteristic of the switched reluctance motor are obtained through experimental measurement; acquiring flux linkage characteristics psi (i, theta) of the switched reluctance motor by a rotor fixed clamping method, wherein psi is flux linkage, i is current, and theta is position; and constructing a current lookup table i (psi, theta) by utilizing an interpolation method. On the basis of the flux linkage characteristics, a torque data table T (i, theta) is constructed by calculating the position deviation according to the magnetic common energy. The characteristics of flux linkage, current and torque are shown in fig. 1-3. The calculation formula of the magnetic common energy W' is shown as the formula (1), and the calculation formula of the torque T is shown as the formula (2);
step 2: given reference torque Tref. In a closed loop system as shown in FIG. 4, TrefThe output of a rotating speed loop Proportional Integral (PI) controller is obtained;
and step 3: calculating the torque value of each phase by a torque distribution function; the torque distribution function is shown in equation (3);
in the formula, thetaon、θov、θoff、θpRespectively representing the on-angle, the commutation angle, the off-angle and the rotor period angle, Tph,refRepresenting the torque reference value of each phase;
and 4, step 4: collecting rotor position theta (k) and phase current i of the motor at the moment kph(k) And further looking up the flux linkage characteristic data table psi (i, theta) to obtain the flux linkage psi at the time kph(k) Simultaneously storing the rotor position information at the time theta (k-1);
and 5: predicting rotor position theta (k +1) and phase flux linkage psi at time k +1 from equations (4) and (5)ph(k +1), and further predicting the current i at the time of k +1 by looking up the current data table i (psi, theta)ph(k+1)。
θ(k+1)＝θ(k)+(θ(k)-θ(k-1)) (4)
ψph(k+1)＝ψph(k)+[V*-Rphi(k)]Ts (5)
In the formula, TsFor sampling frequency, RphIs the winding resistance, V*Calculating an optimal voltage vector for the k-1 moment;
step 6: predicting the rotor position theta (k +2) at the time k +2 by the equation (6), determining the motor operation state, and predicting the phase flux linkage psi at the time k +2ph(k +2), and further by looking up the table i (ψ, θ), the current i at the time of k +2 is obtainedph(k + 2). Defining a switching vector sphThe relationship with the phase voltage is shown in formula (7), wherein sph1 denotes that both switching tubes of the asymmetric half-bridge power converter are on, sphWhen 0, only one switch tube is on, s is representedph-1 means that both switching tubes are closed; the combination principle of the switch states is as follows: in the one-way conduction area, only the switch state of the current conduction phase is calculated, and the other phases are-1; in the commutation zone, only the two-phase switching states that are commutation are predicted, and the table of prediction of switching states is shown in table 1. Predicting the phase flux linkage psi at the time k +2 from the predicted phase voltage at the time k +1 by equation (8)ph(k +2), looking up the data table i (psi, theta) to obtain the current i at the time of k +2ph(k+2)；
θ(k+2)＝2θ(k+1)-θ(k) (6)
Where θ (k +2) is the predicted rotor position at time k + 2;
in the formula VbusRepresenting bus voltage, VT、VD、Vph、sphRespectively representing the voltage drop of a switching tube, the voltage drop of a freewheeling diode, phase voltage and state variables;
ψph(k+2)＝ψph(k+1)+(Vph(k+1)-Rphiph(k+1))Ts (8)
in the formula, Vph(k +1) is the predicted phase voltage value at time k +1, TsFor sampling frequency, RphIs a winding resistance;
and 7: predicting the predicted value of the torque of each phase at the moment k +2 by looking up a table T (i, theta) in combination with the phase current at the moment k +2 and the rotor position information, and respectively obtaining the square sum T of the difference between the predicted value of the torque of each phase and the reference value thereof by equations (9) and (10)pAnd inverter input current value iSRM；
In the formula, NphRepresenting the number of phases, T, of a switched reluctance machinep(k+2)、iSRM(k +2) represents the sum of squares of the differences between the predicted torque values and the reference value for each phase at the time of k +2 and the inverter input current value, sphIs a switching vector;
and 8: predicting the square sum of the difference between each phase torque predicted value and the reference value at the moment of k +2 and the inverter input current value according to the step 7, and solving the value of the cost function through an equation (11);
J＝ωTTp(k+2)+ωiiSRM(k+2)2 (11)
in the formula, omegaT、ωiThe weight coefficients are the square sum of the difference between each phase torque predicted value and the reference value thereof and the inverter input current value respectively;
and step 9: the operation state with the minimum cost function value is taken as an optimal state to be used as a switching signal to control a switch in the power converter;
fig. 5 is a flowchart of a control method proposed by the present invention, and fig. 6, 7 and 8 are control effect diagrams of current chopping control, a conventional model predictive control method and the control method proposed by the present invention, respectively, when a motor operates at 1000 rpm; the supply resistance was set to 0.16 Ω in the simulation, defining the average torque TavgAnd torque ripple TrippleIs expressed by the formulas (12) and (13), and the bus current ripple iSRM_rippleThe formula (2) is shown in formula (14);
in the formula, theta1、θ2Respectively representing a starting value and an ending value of a rotor angle period, and T (theta) is the sum of the torques of all phases;
in the formula iSRM_max，iSRM_min，iSRM_avgRespectively representing the maximum, minimum and average values of the bus current.
The control performance of the three methods is shown in table 1.
TABLE 1 comparison of the effects of different control methods
The results in table 1 show that the method for suppressing the torque ripple and the bus current ripple of the switched reluctance motor provided by the invention has an obvious effect on suppressing the bus current ripple while reducing the torque ripple, and has smooth torque control and small harm to the support capacitor.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (4)
1. A method for suppressing torque ripple and bus current ripple of a switched reluctance motor is characterized by comprising the following steps:
the method comprises the following steps:
step 1: carrying out experimental measurement by a rotor fixed clamping method to obtain flux linkage characteristics and torque characteristics of the switched reluctance motor;
step 2: given reference torque TrefIn a closed loop system, TrefCan be obtained by the output of a rotating speed ring proportional integral regulator;
and 3, step 3: torque distribution function versus reference torque TrefCalculating and obtaining the reference value T of the torque of each phaseph,ref；
And 4, step 4: collecting rotor position theta (k) and phase current i of the motor at the moment kph(k) Further looking up the flux linkage data table i (psi, theta) to obtain the flux linkage psi at the time kph(k) Storing rotor position information theta (k-1) at the time k-1;
and 5: predicting rotor position theta (k +1) and phase flux linkage psi at time k +1ph(k +1), and further predicting the current i at the time of k +1 by looking up the current data table i (ψ, θ)ph(k+1)；
Step 6: predicting the rotor position theta (k +2) at the time of k +2, judging the motor running state, and predicting the phase flux linkage psi at the time of k +2ph(k +2), and further by looking up the table i (ψ, θ), the current i at the time of k +2 is obtainedph(k+2)；
And 7: predicting predicted value T of torque of each phase at the time k +2 by looking up table T (i, theta) in combination with predicted phase current at the time k +2 and rotor position informationph(k +2) and inverter input current value iSRM(k+2)；
And 8: predicting the square sum of the predicted value of each phase torque at the moment of k +2 and the difference between the predicted value and the reference value and the input current value of the inverter according to the step 7, and calculating a cost function;
and step 9: and taking the operation state with the minimum cost function value as an optimal state as a switching signal to control the switch in the power converter.
2. The method for suppressing the torque ripple and the bus current ripple of the switched reluctance motor according to claim 1, wherein: step 7 according to the formula
Calculating an inverter input current value; wherein iSRM(k +2) represents the predicted inverter input current value at time k +2, sphIs a switching vector;
according to the formula
Calculating the square sum of the difference between each phase torque predicted value and the reference value thereof; in the formula, NphRepresenting the number of phases of the switched reluctance motor.
3. The method for suppressing the torque ripple and the bus current ripple of the switched reluctance motor according to claim 1, wherein: step 8 according to the formula
J＝ωTTp(k+2)+ωiiSRM(k+2)2
Calculating a cost function; in the formula, ωT、ωiRespectively are predicted values of the torque of each phase andthe sum of the squares of their reference value differences and the weighting factor of the inverter input current value.
4. A method for suppressing torque ripple and bus current ripple of a switched reluctance motor is characterized by comprising the following steps: the method inputs a reference torque, and utilizes the method of any one of claims 1-3 to realize the suppression of the torque ripple and the bus current ripple of the switched reluctance motor.
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| CN115065294A (en) * | 2022-07-11 | 2022-09-16 | 西北工业大学 | Switched reluctance motor model prediction torque control method based on multi-level power converter |
| CN116800160A (en) * | 2023-04-26 | 2023-09-22 | 中国矿业大学 | Novel predictive control method, device and system for double-stator switch reluctance motor |
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