CN114598231A - Switched reluctance motor torque control method and modular power converter thereof - Google Patents
Switched reluctance motor torque control method and modular power converter thereof Download PDFInfo
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- CN114598231A CN114598231A CN202210211433.6A CN202210211433A CN114598231A CN 114598231 A CN114598231 A CN 114598231A CN 202210211433 A CN202210211433 A CN 202210211433A CN 114598231 A CN114598231 A CN 114598231A
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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
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
-
- 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
- H02P25/0805—Reluctance motors whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
-
- 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
-
- 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
- H02P27/08—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 with pulse width modulation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a switched reluctance motor torque control method and a modular power converter, wherein the input of a rotating speed ring is a set reference rotating speed and an actual rotating speed obtained by measurement to obtain a rotating speed error, the rotating speed error is used as the input to obtain a total reference torque through PI control, the input of the torque ring is the total reference torque, the actual torque of each phase, an opening angle and a closing angle, and the total reference torque is distributed to each phase by utilizing a torque distribution function to obtain the phase reference torque; and according to the numerical value relationship between the phase reference torque and each phase actual torque, obtaining a pulse width modulation control signal through a torque hysteresis loop, and applying the pulse width modulation control signal to a corresponding switch tube in the modular power converter to complete control. According to the invention, at each sampling moment, the overlap angle in the torque distribution function is subjected to online self-adjustment, and the torque hysteresis is based on a pulse width modulation algorithm, so that pulse width modulation signals with different duty ratios and polarities are generated within the hysteresis limit, and free response is avoided.
Description
Technical Field
The invention relates to the field of motor control, in particular to a torque control method of a switched reluctance motor.
Background
The switched reluctance motor speed regulating system has the advantages of simple structure, reliable work, high mechanical strength, high efficiency, energy conservation, high speed regulating precision, small starting current, frequent forward and reverse rotation operation and the like, and has wide application prospect in the fields of aerospace, electric automobiles, household appliances, industrial transmission and the like. The modular power converter has the advantages of universalization, standardization, serialization and the like, and has potential advantages in the aspects of improving the integration level of a switched reluctance motor driving system, reducing the cost and the like. However, due to the application of the modular power converter, the switched reluctance motor windings are in star connection and have the characteristic of bipolar excitation, the inductance is the superposition of two-phase windings, the phase current is slowly established, the torque cannot well track the reference value of the switched reluctance motor, the traditional direct instantaneous torque control method is not applicable any more, the torque pulsation of the switched reluctance motor is large, the vibration and the noise are still obvious, and the wider application of the switched reluctance motor is limited to a great extent.
The torque distribution function control strategy of the switched reluctance motor aims at keeping the synthesized instantaneous torque constant, and the expected torque of each phase winding at different positions is distributed through the torque distribution function, so that the method is an effective method for improving the torque tracking capability. The torque distribution function is related to an on angle, an off angle and a current overlap angle, the current overlap angle is generally defined as a constant by the traditional torque distribution function, but when the switched reluctance motor runs electrically, if the rotating speed of the motor or the load of the motor changes suddenly, phase current changes, so that the current overlap angle of two adjacent phases changes, and finally the torque changes according to an electromagnetic torque equation of the switched reluctance motor. Therefore, setting a constant overlap angle does not strictly guarantee that the sum of the distribution functions of the phases of the switched reluctance motor is always 1, resulting in that the resultant electromagnetic torque is not equal to the reference torque, thereby generating large torque ripple. The core of the direct instantaneous torque control of the switched reluctance motor lies in the design of a torque controller, the torque controller adopts a traditional hysteresis control method, the structure is simple, and the application effect of the hysteresis control method can be influenced by the setting size of the hysteresis limit. When the hysteresis limit range is set to be smaller, although the response speed of the system can be improved, the load of the power switching device is undoubtedly increased, and the power switching device can not respond under the condition of higher switching frequency, so that the serious consequence of system runaway can be caused; when the hysteresis limit is set to be larger, the control action of the system is weakened, the aim of inhibiting torque pulsation cannot be well achieved, and the power switch device of the system does not act in the hysteresis limit, so that the system enters a free response stage.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a switched reluctance motor torque control method and a modular power converter.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
the method for controlling the torque of the switched reluctance motor driven by the modular power converter comprises a rotating speed ring and a torque ring, wherein the outer ring is the rotating speed ring, and the inner ring is the torque ring; the input of the rotating speed ring is a set reference rotating speed nrefWith the measured actual speed nrealFrom n to nref-nrealObtaining a rotation speed error delta n, and obtaining a total reference torque T through PI control by taking the rotation speed error delta n as an inputref(ii) a Input to the torque ring is TrefActual torque T of each phaseprealAnd opening angle thetaonAnd off angle thetaoff(ii) a Using a torque distribution function, dividing TrefIs distributed to each phase to obtain phase reference torque Tpref(ii) a According to TprefAnd TprealThe value magnitude relation between the two signals is obtained through the torque hysteresis loop, and the pulse width modulation control signal is obtainedAnd applying the voltage to a corresponding switch tube in the modular power converter to complete control.
The torque distribution function has an online self-adjusting overlap angle, and the rotor position angle theta when the demagnetization phase current is 0 is obtained through online detection at each sampling momentoThrough θov＝θo-θionObtaining an overlap angle theta of a current sampling instantovWherein thetaionThe open angle of the excitation phase; by calculated thetaovAnd replacing the original overlap angle in the torque distribution function to complete the online self-adjustment of the overlap angle.
The torque hysteresis is combined with a pulse width modulation algorithm, and the torque hysteresis limit delta is TprefTr/2 wherein TrA desired torque ripple factor; in the single-phase conducting region, Tpref-TprealWhen > delta, Sip＝1；0≤Tpref-TprealWhen delta is not more than delta, SipGenerated by positive unipolar pulse width modulation; -delta ≦ Tpref-Tpreal<At 0, SipGenerated by negative unipolar pulse width modulation; t ispref-Tpreal<Delta time, Sip-1; in the overlapping conduction region, Tpref-TprealWhen > delta, Sip＝Sop＝1；-δ≤Tpref-TprealWhen delta is less than or equal to SipGenerated by bipolar pulse width modulation, SopGenerated by negative unipolar pulse width modulation; t ispref-Tpreal<Delta time, Sip＝Sop-1; said Sip、SopRespectively representing the excitation states corresponding to the excitation phase and the demagnetization phase, wherein-1, 0 and 1 respectively represent negative-pressure demagnetization, zero-pressure follow current and positive-pressure excitation; the duty ratio D of the pulse width modulation signal is equal to Upref/UdcWherein U isdcIs a DC bus voltage, UprefIs a phase reference voltage; and obtaining a phase reference current by utilizing the phase reference torque through a lookup table formed by the static torque characteristics of the switched reluctance motor, and obtaining a phase reference voltage through the lookup table formed by the flux linkage characteristics of the switched reluctance motor.
The invention also provides a modular power converter adopted by the switched reluctance motor torque control method, wherein the modular power converter comprises a three-phase full-bridge switch module and a half-bridge switch module, and the three-phase full-bridge switch module and the half-bridge switch module share a direct current bus; the three-phase full-bridge switch module comprises a first switch tube T1-a sixth switch tube T6, and a first diode-a sixth diode D1-D6; the switching tube T1 and the diode D1, the switching tube T3 and the diode D3, the switching tube T5 and the diode D5 are respectively connected in parallel in an opposite direction to form three upper bridge arms, and the switching tube T2 and the diode D2, the switching tube T4 and the diode D4, the switching tube T6 and the diode D6 are respectively connected in parallel in an opposite direction to form three lower bridge arms; the half-bridge switch module comprises a seventh switch tube T7, an eighth switch tube T8, a seventh diode D7 and an eighth diode D8, the switch tube T7 and the diode D7 are reversely connected in parallel to form an upper bridge arm, and the switch tube T8 and the diode D8 are reversely connected in parallel to form a lower bridge arm; each upper bridge arm in the three-phase full-bridge switch module and the half-bridge switch module is connected with a positive end of a direct-current power supply, and each lower bridge arm is connected with a negative end of the direct-current power supply; leading-out wires at the joints of three upper bridge arms and three lower bridge arms of the three-phase full-bridge switch module are respectively connected with a three-phase winding of the switched reluctance motor, and the leading-out wires at the joints of the upper bridge arms and the lower bridge arms of the half-bridge switch module are connected with a three-phase winding connection point N of the switched reluctance motor.
The method disclosed by the invention realizes the torque fluctuation suppression of the switched reluctance motor under the driving of the modular power converter, and has important significance for the application of the modular power converter in the switched reluctance motor.
Drawings
Fig. 1 is a block diagram of a modular power converter topology for a switched reluctance motor of the present invention.
FIG. 2 is a schematic block diagram of a modular power converter driven switched reluctance motor torque control method of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and specific examples, and the method for controlling the torque of the switched reluctance motor provided by the invention comprises the following steps:
the method for controlling the torque of the switched reluctance motor driven by the modular power converter comprises a rotating speed ring and a torque ring, wherein the outer ring is the rotating speed ring, and the inner ring is the torque ring; the input of the rotating speed ring is a set reference rotating speed nrefWith the measured actual speed nrealFrom n to nref-nrealObtaining a rotation speed error delta n, and obtaining a total reference torque T through PI control by taking the rotation speed error delta n as an inputref(ii) a Input to the torque ring is TrefActual torque T of each phaseprealAnd opening angle thetaonAnd off angle thetaoff(ii) a Using a torque distribution function, dividing TrefIs distributed to each phase to obtain phase reference torque Tpref(ii) a According to TprefAnd TprealThe phase current output by the modular power converter outputs actual torque T of each phase through static torque characteristicsprealTo a torque hysteresis loop, the modularized power converter inputs a rotor position angle theta into a static torque characteristic through a motor, and obtains an actual rotating speed n through rotating speed calculationreal。
At each sampling moment, the rotor position angle theta when the demagnetization phase current is 0 is obtained through online detectionoThrough θov＝θo-θionObtaining an overlap angle theta of a current sampling instantov(ii) a By calculated thetaovReplacing the original overlap angle in the torque distribution function to complete the online self-adjustment of the overlap angle;
in the single-phase conducting region, Tpref-TprealWhen > delta, Sip＝1；0≤Tpref-TprealWhen delta is not more than delta, SipGenerated by positive unipolar pulse width modulation; -delta. ltoreq.Tpref-Tpreal<At 0, SipGenerated by negative unipolar pulse width modulation; t ispref-Tpreal<Delta time, Sip-1; in the overlapping conduction region, Tpref-TprealWhen > delta, Sip＝Sop＝1；-δ≤Tpref-TprealWhen delta is less than or equal to SipGenerated by bipolar pulse width modulation, SopGenerated by negative unipolar pulse width modulation; t ispref-Tpreal<Delta time, Sip＝Sop-1; obtaining phase reference current by using phase reference torque through a lookup table formed by static torque characteristics of the switched reluctance motor, and then obtaining phase reference voltage U through the lookup table formed by flux linkage characteristics of the switched reluctance motorprefDuty ratio of the pulse width modulation signal D ═ Upref/Udc。
In the embodiment, in the torque control method of the switched reluctance motor, the adopted motor is a three-phase 12/8-pole switched reluctance motor, and the topological structure of the modular power converter is shown in fig. 1 and consists of a three-phase full-bridge switch module and a half-bridge switch module; the three-phase full-bridge switch module comprises switch tubes T1-T6 from one to six and diodes D1-D6 from one to six; the switching tube T1 and the diode D1, the switching tube T3 and the diode D3, the switching tube T5 and the diode D5 are respectively connected in parallel in an opposite direction to form three upper bridge arms, and the switching tube T2 and the diode D2, the switching tube T4 and the diode D4, the switching tube T6 and the diode D6 are respectively connected in parallel in an opposite direction to form three lower bridge arms; the half-bridge switch module comprises a seventh switch tube T7, an eighth switch tube T8, a seventh diode D7 and an eighth diode D8, the switch tube T7 and the diode D7 are reversely connected in parallel to form an upper bridge arm, and the switch tube T8 and the diode D8 are reversely connected in parallel to form a lower bridge arm; each upper bridge arm in the three-phase full-bridge switch module and the half-bridge switch module is connected with a positive end of a direct-current power supply, and each lower bridge arm is connected with a negative end of the direct-current power supply; leading-out wires at the joints of three upper and lower bridge arms of the three-phase full-bridge switch module are respectively connected with a three-phase winding of the switched reluctance motor, and leading-out wires at the joints of the upper and lower bridge arms of the half-bridge switch module are connected with a three-phase winding connection point N of the switched reluctance motor.
Claims (4)
1. A torque control method of a switched reluctance motor is characterized by comprising the following steps:
the method for controlling the torque of the switched reluctance motor driven by the modular power converter comprises a rotating speed ring and a torque ring, wherein the outer ring is the rotating speed ring, and the inner ring is the torque ring; the input of the rotating speed ring is a set reference rotating speed nrefWith the measured actual speed nrealFrom n to nref-nrealObtaining a rotation speed error delta n, and obtaining a total reference torque T through PI control by taking the rotation speed error delta n as an inputref(ii) a Input to the torque ring is TrefActual torque T of each phaseprealAnd opening angle thetaonAnd off angle thetaoff(ii) a Using a torque distribution function, dividing TrefIs distributed to each phase to obtain phase reference torque Tpref(ii) a According to TprefAnd TprealThe value size relation between the two is obtained through the torque hysteresis loop, and the pulse width modulation control signal is applied to a corresponding switch tube in the modular power converter to complete the control.
2. The switched reluctance motor torque control method according to claim 1, wherein:
the torque distribution function has an online self-adjusting overlap angle, and the rotor position angle theta when the demagnetization phase current is 0 is obtained through online detection at each sampling momentoThrough thetaov＝θo-θionObtaining an overlap angle theta of a current sampling instantovWherein thetaionThe open angle of the excitation phase; by calculated thetaovAnd replacing the original overlap angle in the torque distribution function to complete the online self-adjustment of the overlap angle.
3. The switched reluctance motor torque control method according to claim 1, wherein:
the torque hysteresis is combined with a pulse width modulation algorithm, and the torque hysteresis limit delta is TprefTr/2, wherein TrA desired torque ripple factor; in the single-phase conducting region, Tpref-TprealWhen > delta, Sip＝1；0≤Tpref-TprealWhen delta is not more than delta, SipGenerated by positive unipolar pulse width modulation; -delta ≦ Tpref-Tpreal<At 0, SipGenerated by negative unipolar pulse width modulation; t ispref-Tpreal<Delta time, Sip-1; in the overlapping conduction region, Tpref-TprealWhen > delta, Sip＝Sop＝1；-δ≤Tpref-TprealWhen delta is not more than delta, SipGenerated by bipolar pulse width modulation, SopGenerated by negative unipolar pulse width modulation; t ispref-Tpreal<Delta time, Sip＝Sop-1; s isip、SopRespectively representing the excitation states corresponding to the excitation phase and the demagnetization phase, wherein-1, 0 and 1 respectively represent negative-pressure demagnetization, zero-pressure follow current and positive-pressure excitation; the duty ratio D of the pulse width modulation signal is equal to Upref/UdcWherein U isdcIs a DC bus voltage, UprefIs a phase reference voltage; and obtaining a phase reference current by utilizing the phase reference torque through a lookup table formed by the static torque characteristics of the switched reluctance motor, and obtaining a phase reference voltage through the lookup table formed by the flux linkage characteristics of the switched reluctance motor.
4. A modular power converter using the switched reluctance motor torque control method of claim 1, characterized in that:
the modular power converter adopted by the switched reluctance motor torque control method comprises a three-phase full-bridge switch module and a half-bridge switch module, wherein the three-phase full-bridge switch module and the half-bridge switch module share a direct current bus; the three-phase full-bridge switch module comprises a first switch tube T1-a sixth switch tube T6, and a first diode-a sixth diode D1-D6; the switching tube T1 and the diode D1, the switching tube T3 and the diode D3, the switching tube T5 and the diode D5 are respectively connected in parallel in an opposite direction to form three upper bridge arms, and the switching tube T2 and the diode D2, the switching tube T4 and the diode D4, the switching tube T6 and the diode D6 are respectively connected in parallel in an opposite direction to form three lower bridge arms; the half-bridge switch module comprises a seventh switch tube T7, an eighth switch tube T8, a seventh diode D7 and an eighth diode D8, the switch tube T7 and the diode D7 are reversely connected in parallel to form an upper bridge arm, and the switch tube T8 and the diode D8 are reversely connected in parallel to form a lower bridge arm; each upper bridge arm in the three-phase full-bridge switch module and the half-bridge switch module is connected with a positive end of a direct-current power supply, and each lower bridge arm is connected with a negative end of the direct-current power supply; leading-out wires at the joints of three upper bridge arms and three lower bridge arms of the three-phase full-bridge switch module are respectively connected with a three-phase winding of the switched reluctance motor, and the leading-out wires at the joints of the upper bridge arms and the lower bridge arms of the half-bridge switch module are connected with a three-phase winding connection point N of the switched reluctance motor.
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