CN114679103A - Sliding mode current compensation control system and method for switched reluctance motor - Google Patents
Sliding mode current compensation control system and method for switched reluctance motor Download PDFInfo
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- CN114679103A CN114679103A CN202210595783.7A CN202210595783A CN114679103A CN 114679103 A CN114679103 A CN 114679103A CN 202210595783 A CN202210595783 A CN 202210595783A CN 114679103 A CN114679103 A CN 114679103A
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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
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, 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
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The invention discloses a sliding mode current compensation control system and a method for a switched reluctance motor, wherein the system comprises the following steps: the device comprises a PID speed controller, a feedforward calculation module, a sliding mode current compensation module, a current distribution module, a current hysteresis module, an asymmetric half-bridge driving circuit, a switched reluctance motor, an encoder, a torque calculation module and a rotating speed calculation module. According to the invention, differential calculation processing is carried out on the speed error signal through the PID speed controller, and the input current of the switched reluctance motor is compensated through the sliding mode current compensation module, so that the phase change torque pulsation of the switched reluctance motor can be effectively inhibited in the process of improving the load of the switched reluctance motor. The sliding mode current compensation control system and method for the switched reluctance motor can be widely applied to the technical field of speed regulation control of the switched reluctance motor.
Description
Technical Field
The invention relates to the technical field of speed regulation control of a switched reluctance motor, in particular to a sliding mode current compensation control system and method of the switched reluctance motor.
Background
The Switched Reluctance Motor (SRM) is structurally characterized in that a rotor has no winding or permanent magnet, a stator pole is wound with concentrated windings, two diametrically opposite windings are connected to form a phase, the SRM has the advantages of simple structure, high reliability of a driving circuit and large starting torque, is particularly suitable for application occasions of frequent starting and stopping, and is expected to become the first choice of a power source of a next generation of new energy vehicles, but a doubly salient structure of the switched reluctance motor forms the serious nonlinear characteristic of phase inductance of the switched reluctance motor, so that the torque pulsation of the switched reluctance motor is serious when the switched reluctance motor works, the application of the switched reluctance motor to high-performance demand occasions is limited, in a control method for reducing the torque pulsation, the direct torque control method can be divided into a direct torque control method and a current control method according to whether the torque is directly controlled, the direct torque control method refers to a decoupling control mode of an asynchronous motor, but cannot fundamentally solve the problem of the situation that the torque pulsation is larger in a phase change process, for a traditional torque distribution method, a double closed loop control structure is used, an outer loop is a speed loop, and an inner loop is a current loop, however, the control performance of the double closed loop control method in the aspect of torque ripple suppression is very limited.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a sliding mode current compensation control system and method for a switched reluctance motor, which can effectively suppress phase change torque ripple of the switched reluctance motor in the process of increasing the load of the switched reluctance motor.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a sliding mode current compensation control system of a switched reluctance motor comprises a PID speed controller, a feedforward calculation module, a sliding mode current compensation module, a current distribution module, a current hysteresis module, an asymmetric half-bridge drive circuit, the switched reluctance motor, an encoder, a torque calculation module and a rotating speed calculation module, wherein the input end of the PID speed controller is connected with the output end of the rotating speed calculation module, the output end of the PID speed controller is connected with the input end of the feedforward calculation module and the input end of the sliding mode current compensation module, the output end of the feedforward calculation module is connected with the input end of the current distribution module, the input end of the sliding mode current compensation module is connected with the output end of the torque calculation module, the output end of the sliding mode current compensation module is connected with the input end of the current distribution module, and the output end of the current distribution module is connected with the input end of the current hysteresis module, the output of current hysteresis loop module is connected with asymmetric half-bridge drive circuit's input, asymmetric half-bridge drive circuit's output is connected with switched reluctance motor's input and torque calculation module's input, switched reluctance motor's output is connected with the output of encoder, the output of encoder is connected with the input of current distribution module, the input of torque calculation module and the input of rotational speed calculation module, wherein:
the PID speed controller is used for adjusting the rotating speed error and the change rate thereof and outputting a reference torque value;
the feedforward calculation module is used for converting a reference torque value into a linear reference current through a linear torque current conversion formula;
the sliding mode current compensation module is used for adjusting the reference torque value, the feedback actual torque value and the torque difference value and outputting a compensation current;
the current distribution module is used for distributing total current and inputting the total current to each phase to obtain reference phase current, wherein the total current is the sum of linear reference current and compensation current;
the current hysteresis module is used for comparing the reference phase current with the feedback phase current and calculating a driving signal of the asymmetric half-bridge driving circuit;
the asymmetric half-bridge driving circuit is used for applying voltage to each phase winding or disconnecting the voltage of each phase winding to control the switched reluctance motor to work;
the encoder is used for detecting the position of the rotor of the switched reluctance motor, namely a rotor position angle;
the torque calculation module is used for looking up a table to obtain a feedback actual torque value according to the position of the switched reluctance motor rotor and the feedback phase current, performing difference processing on the actual torque value and outputting a torque difference value;
and the rotating speed calculation module is used for calculating according to the position of the rotor of the switched reluctance motor to obtain the real-time rotating speed of the motor.
Further, the differential coefficient of the PID speed controller is 0.
Further, the PID algorithm of the PID speed controller is specifically as follows:
in the above formula, the first and second carbon atoms are,
which represents the output variable of the PID control,
the scale factor is expressed in terms of a scale factor,
the value of the integral coefficient is represented by,
which is indicative of a differential coefficient of the light,
representing the difference between the given rotational speed and the real-time rotational speed,
which indicates the current time of day,
indicating the last time.
Further, the linear torque current transformation formula of the feedforward calculation module is specifically as follows:
in the above formula, the first and second carbon atoms are,
to express contraryThe actual value of the torque is fed back,
the value of the inductive partial derivative is represented,
representing a linear reference current.
Further, a calculation formula of the output compensation current of the sliding mode current compensation module is as follows:
in the above formula, the first and second carbon atoms are,
representing the compensation current of the sliding mode,
the scale factor is expressed in terms of a scale factor,
and
which represents a positive real number, is,
the function of the symbol is represented by,
showing the slip-form face of the slip-form current compensation module.
Further, the selected sliding mode surface concrete formula is expressed as follows:
in the above formula, the first and second carbon atoms are,
the deviation of the torque is indicated by a value,
representing torque deviation versus current
The derivative of (c).
Further, the specific working steps of the current hysteresis module further include:
comparing the reference phase current with the feedback phase current to obtain the change rate of the phase current difference value;
calculating the change rate of the phase current difference value through amplitude limiting calculation to obtain a driving signal;
inputting a driving signal to an asymmetric half-bridge driving circuit;
the operating state of the asymmetric half-bridge drive circuit is determined from the drive signal.
The asymmetric half-bridge driving circuit controls the phase current according to the voltage of the external power supply, and controls the switched reluctance motor to work by applying voltage or cutting off voltage to each phase winding of the switched reluctance motor.
Meanwhile, the invention also provides a sliding mode current compensation control method of the switched reluctance motor, which specifically comprises the following steps:
s1, carrying out PID adjustment processing on the rotating speed error signal to obtain a reference torque value;
s2, performing shunting processing on the reference torque value to obtain a first reference torque value and a second reference torque value;
s3, converting the first reference torque value through a linear torque current conversion formula to obtain a linear reference current;
s4, performing table look-up processing and difference processing on the second reference torque value to obtain a torque difference value;
s5, adjusting the reference torque value, the actual torque value and the torque difference value, and outputting a compensation current;
s6, distributing total current to obtain reference phase current, wherein the total current comprises linear reference current and compensation current;
s7, comparing and calculating the reference phase current and the feedback phase current, and outputting a driving signal to control the working state of the switched reluctance motor;
s8, obtaining a rotor position angle according to the working state of the switched reluctance motor and performing table lookup by combining feedback phase current to obtain a feedback actual torque value;
and S9, calculating the rotor position angle to obtain the real-time rotating speed of the motor.
The method and the device have the beneficial effects that: according to the invention, under closed-loop control, proportional-integral calculation is carried out on a speed link of a rotating speed error signal through a PID speed controller to obtain a reference torque value, the input current of the switched reluctance motor can be adjusted and compensated according to a torque error through a sliding mode current compensation module, the torque pulsation of the motor is inhibited, the difference value change rate of phase current is judged through a current hysteresis module, the current hysteresis of the switched reluctance motor in system control is considered, and the commutation torque pulsation of the switched reluctance motor can be effectively inhibited in the process of improving the load of the switched reluctance motor.
Drawings
Fig. 1 is a schematic flow chart of a sliding mode current compensation control system of a switched reluctance motor according to the present invention;
FIG. 2 is a flow chart of steps of a sliding mode current compensation control method of a switched reluctance motor according to the present invention;
FIG. 3 is a flow diagram of a method of current compensation using a conventional proportional-derivative PD;
FIG. 4 is a schematic diagram of an asymmetric half-bridge drive circuit of a switched reluctance motor of the present invention;
FIG. 5 is a schematic diagram comparing output torque ripple of a PD compensation method and a sliding mode compensation method of the present invention for a switched reluctance motor load torque of 1 Nm;
FIG. 6 is a schematic diagram comparing the output torque ripple of the PD compensation method and the sliding mode compensation method of the present invention for a switched reluctance motor load torque of 3 Nm;
fig. 7 is a schematic diagram comparing output torque ripple of the PD compensation method and the sliding mode compensation method of the present invention at a switched reluctance motor load torque of 5 Nm.
Reference numerals: 1. a PID speed controller; 2. a feedforward calculation module; 3. a sliding mode current compensation module; 4. a current distribution module; 5. a current hysteresis module; 6. an asymmetric half-bridge drive circuit; 7. a switched reluctance motor; 8. an encoder; 9. a torque calculation module; 10. and a rotating speed calculating module.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
Referring to fig. 1, the invention provides a sliding mode current compensation control system of a switched reluctance motor, comprising a PID speed controller 1, a feedforward calculation module 2, a sliding mode current compensation module 3, a current distribution module 4, a current hysteresis module 5, an asymmetric half-bridge driving circuit 6, a switched reluctance motor 7, an encoder 8, a torque calculation module 9 and a rotation speed calculation module 10, wherein an input end of the PID speed controller 1 is connected with an output end of the rotation speed calculation module 10, an output end of the PID speed controller 1 is connected with an input end of the feedforward calculation module 2 and an input end of the sliding mode current compensation module 3, an output end of the feedforward calculation module 2 is connected with an input end of the current distribution module 4, an input end of the sliding mode current compensation module 3 is connected with an output end of the torque calculation module 9, an output end of the sliding mode current compensation module 3 is connected with an input end of the current distribution module 4, the output of current distribution module 4 is connected with current hysteresis module 5's input, current hysteresis module 5's output is connected with asymmetric half-bridge drive circuit 6's input, asymmetric half-bridge drive circuit 6's output is connected with switched reluctance motor 7's input and torque calculation module 9's input, switched reluctance motor 7's output is connected with encoder 8's output, encoder 8's output is connected with current distribution module 4's input, torque calculation module 9's input and rotational speed calculation module 10's input.
The PID speed controller 1 is configured to perform adjustment processing on the rotation speed error and the change rate thereof and output a reference torque value, wherein a PID algorithm of the PID speed controller 1 is specifically as follows:
in the above formula, the first and second carbon atoms are,
which represents the output variable of the PID control,
the scale factor is expressed in terms of a scale factor,
the value of the integral coefficient is represented by,
which is indicative of a differential coefficient of the light,
representing the difference between the given rotational speed and the real-time rotational speed,
which indicates the current time of day,
representing the last time;
the PID speed controller 1 only comprises a proportional link and an integral link, and the differential coefficient of the PID speed controller 1 is 0, namely proportional differential control, and belongs to a model-free control method.
The feedforward calculation module 2 is configured to convert the reference torque value into a linear reference current through a linear torque current conversion formula, where the linear torque current conversion formula of the feedforward calculation module 2 is specifically as follows:
in the above-mentioned formula, the compound has the following structure,
the value of the feedback actual torque is represented,
represents the inductance partial derivative value and has the value range of 0.05 to 0.2,
represents a linear reference current;
referring to fig. 3, the linearized value range of the inductance partial derivative can better describe the value of the inductance partial derivative, and the error part is compensated by the sliding mode current compensation module or the proportional differential PD current compensator, compared with the proportional differential PD current compensator, the compensation speed of the sliding mode current compensation module is faster, and the compensation current can be better adjusted according to the torque error, so that the effect of suppressing the torque ripple is better;
further, the inductance partial derivative value is linearized according to a torque generation formula, and a linear reference current is output, wherein the torque generation formula is specifically as follows:
in the above formula, the first and second carbon atoms are,
represents the square value of the linear reference current;
namely, it is
Is then provided with
，
。
The sliding mode current compensation module 3 is used for adjusting the reference torque value, the feedback actual torque value and the torque difference value and outputting a compensation current, wherein a formula for designing a sliding mode surface is as follows:
in the above formula, the first and second carbon atoms are,
representing the torque deviation, i.e. the difference between the reference torque value and the feedback actual torque value,
representing torque deviation versus current
Derivative of, i.e.
=
；
And further carrying out difference processing on the feedback actual torque value and the reference torque value to obtain a torque difference value, wherein the calculation formula is as follows:
in the above formula, the first and second carbon atoms are,
which is indicative of a reference torque value,
representing a feedback actual torque value;
further selecting sliding mode trendThe law of approximation is
Wherein
The specific expression of the symbolic function is as follows:
and a sliding mode stability criterion is set according to the sign function, which is specifically as follows:
when in use
Occasionally, there are-
>0, then
<0；
When in use
Occasionally, there are-
<0, then
<0；
When the temperature is higher than the set temperature
Occasionally, there are-
=0Is thus
=0；
So for the sliding mode control stability is guaranteed, namely
Therefore, the output compensation current expression of the sliding mode current compensation module 3 is as follows:
in the above formula, the first and second carbon atoms are,
which represents the compensation current, is shown,
the scale factor is expressed in terms of a ratio,
and
which represents a positive real number, is,
a function of the sign is represented by,
representing sliding mode current compensationThe slip form face of the module 3;
scaling factor
For adjusting the proportion of the compensating current, constant-speed approach factors for adjusting
And the approach time is close to zero, the exponential approach factor is used for shortening the time for reaching the switching surface, the output of the feedforward controller is summed with the output of the sliding mode current compensation module, and the summed result is sent to the current distributor.
The current distribution module 4 is configured to distribute and input a total current to each phase, where the total current is used to provide an operating current of the switched reluctance motor 7.
The current hysteresis module 5 is configured to compare the reference phase current with the feedback phase current and calculate a driving signal of the asymmetric half-bridge driving circuit 6, wherein, the reference phase current is compared with the feedback phase current, the change rate of the phase current difference value is obtained, and the driving signals of plus 1, 0 and minus 1 are obtained through amplitude limiting calculation and the change rate of the phase current difference value, judging whether each phase winding of the switched reluctance motor 7 works in a single-phase conduction area or a commutation conduction area according to the rotor position angle of the switched reluctance motor 7, acquiring phase current difference values IAe, IBe and ICe of ABC three phases, determining the switching states of +1, 0 and-1 of the asymmetric half-bridge driving circuit 6, controlling the voltage of each phase winding, further controlling the output torque of the switched reluctance motor 7, wherein a switching signal '+ 1' indicates that the upper and lower switching tubes are simultaneously conducted; "0" indicates that only one switch tube is on; "-1" indicates that the upper and lower switching tubes are turned off simultaneously;
further, when each phase winding of the switched reluctance motor 7 works in an a-phase single-phase conduction region, when the a-phase current error IAe is greater than the upper limit of the hysteresis loop, the switching state of the a-phase winding power converter is "1", and at this time, the a-phase winding current is too small, and the forward excitation state is maintained; when the phase current error IAe is smaller than the lower limit of the hysteresis loop, the switching state of the phase A winding power converter is '-1', and at the moment, the phase current of the phase A winding is overlarge and needs to be reversely turned off; when the phase current error IAe is greater than the lower limit of the hysteresis loop and less than the upper limit of the hysteresis loop, the switching state of the A-phase winding power converter is '0', the phase current of the phase winding is not less than the lower limit and does not exceed the upper limit, and the freewheeling state is maintained; when the A-phase single phase is conducted, the other two phases are in a reverse turn-off state;
when each phase winding of the switched reluctance motor 7 works in a period of converting the A phase into the B phase, the C phase maintains an inverted off state, and for the A phase to be switched off, when the phase current error IAe of the A phase is greater than the upper limit of a hysteresis loop, the switching state of the A phase winding power converter is '1', and at the moment, the phase current of the A phase winding is too small, and the forward excitation state is maintained; when the phase current error IAe is smaller than the lower limit of the hysteresis loop, the switching state of the A-phase winding power converter is '-1', and at the moment, the phase current of the phase winding is overlarge and needs to be reversely turned off; when the phase current error IAe is greater than the lower limit of the hysteresis loop and less than the upper limit of the hysteresis loop, the switching state of the A-phase winding power converter is '0', the phase current of the phase winding is not less than the lower limit and does not exceed the upper limit, and the freewheeling state is maintained;
for the phase B which starts to be conducted, when the phase B current error IBe is greater than the upper limit of the hysteresis loop, the switching state of the phase B winding power converter is 1, and the phase B winding current is too small, so that the positive excitation state is maintained; when the phase current error IBe is smaller than the lower limit of the hysteresis loop, the switching state of the B-phase winding power converter is '-1', and at the moment, the phase current of the phase winding is overlarge and needs to be reversely turned off; when the phase current error IBe is greater than the hysteresis lower limit and less than the hysteresis upper limit, the switching state of the B-phase winding power converter is "0", and at this time, the phase current of the phase winding does not fall below the hysteresis lower limit nor exceed the hysteresis upper limit, and the freewheeling state is maintained.
Referring to fig. 4, the asymmetric half-bridge driving circuit 6 includes three phases, ABC phases respectively, each phase including two power transistors and a freewheeling diode; taking phase a as an example, when a drive signal of "+ 1" is given, both the power transistors VT1 and VT2 are turned on, the switching state of the phase a winding power converter is "1", when a drive signal of "0" is given, the power transistor VT1 is turned off, the power transistor VT2 is turned on, the power transistor VT2 is in a freewheeling state, the switching state of the phase a winding power converter is "0", when a drive signal of "-1" is given, both the power transistors VT1 and VT2 are turned off, and at this time, the power transistor VT1 and VT2 are turned offThe switching state of the phase-A winding power converter is '-1', the asymmetric half-bridge driving circuit 6 is used for applying voltage to each phase winding or disconnecting the voltage of each phase winding to control the operation of the switched reluctance motor 7, wherein the input end of the asymmetric half-bridge driving circuit 6 is also connected with an external power supply, the magnitude of phase current is controlled through the magnitude of the voltage of the external power supply, and the operation of the switched reluctance motor 7 is controlled through applying voltage to each phase winding or disconnecting voltage from each phase winding of the switched reluctance motor 7; in the asymmetric half-bridge driving circuit 6, the rated voltages of the switching elements in the circuit are allUsThe phase current is changed by adjusting the voltage of the external power supply; according to the connection mode of the windings in the topological structure, when all the windings work, the windings cannot interfere with each other; each winding has three voltage modes, the first is positive voltage excitation mode, i.e. the switching elements of upper and lower bridge arms are conducted simultaneously, and the voltage drop on the winding is the power supply voltage of positive directionUs(ii) a The second mode is a zero-voltage follow current mode, namely only a switching element on one bridge arm is switched on to form a follow current loop; the third mode is a back-pressure demagnetization mode, that is, the switching elements in the upper and lower bridge arms are turned off at the same time, and the voltage drop across the winding becomes the power supply voltage in the negative direction.
And the encoder 8 is arranged at the end part of the motor, generates a code counting signal when the motor rotates, and obtains the position of the rotor of the switched reluctance motor, namely the rotor position angle, through the increase and decrease calculation or zero clearing of the counting value.
The torque calculation module 9 is configured to perform table lookup to obtain a feedback actual torque value according to the rotor position angle and the phase current of the switched reluctance motor 7.
The rotating speed calculation module 10 is configured to calculate according to the rotor position angle of the switched reluctance motor 7 to obtain a real-time rotating speed of the motor, where the rotating speed of the motor is equal to an increment of the rotor position angle in unit time divided by a count value of one rotation of the encoder, and an obtained result is divided by the unit time value.
Meanwhile, the invention also provides a sliding mode current compensation control method of the switched reluctance motor, which specifically comprises the following steps:
s1, carrying out PID adjustment processing on the rotating speed error signal to obtain a reference torque value;
s2, performing shunting processing on the reference torque value to obtain a first reference torque value and a second reference torque value;
s3, converting the first reference torque value through a linear torque current conversion formula to obtain a linear reference current;
s4, performing table look-up processing and difference processing on the second reference torque value to obtain a torque difference value;
s5, adjusting the reference torque value, the actual torque value and the torque difference value, and outputting a compensation current;
s6, distributing total current to obtain reference phase current, wherein the total current comprises linear reference current and compensation current;
s7, comparing and calculating the reference phase current and the feedback phase current, and outputting a driving signal to control the working state of the switched reluctance motor;
s8, obtaining a rotor position angle according to the working state of the switched reluctance motor and performing table lookup by combining feedback phase current to obtain a feedback actual torque value;
and S9, calculating the rotor position angle to obtain the real-time rotating speed of the motor.
Specifically, referring to fig. 2, the speed error signal obtains a given reference torque value through the PID speed controller 1, the reference torque value is divided into two paths, and one path obtains a linear reference current through the feedforward calculation module 2
The other path of the compensation current is subjected to real-time torque processing obtained by table lookup through the encoder 8 and the torque calculation module 9 and difference operation in the torque calculation module 9 to obtain a torque difference value, and the torque difference value is connected to the sliding mode current compensation module 3 by combining the reference torque value, the feedback actual torque value and the torque difference value to obtain the compensation current
Will be
And
the summed current is sent to a current distribution module 4, the distributed current and the actually detected current are sent to a current hysteresis module 5 together, the output of the current hysteresis module 5 is connected to an asymmetric half-bridge driving circuit 6, the asymmetric half-bridge driving circuit 6 is connected to a switched reluctance motor 7, the asymmetric half-bridge driving circuit 6 has a current detection function and outputs feedback phase current, the operating state of the switched reluctance motor 7 obtains a rotor position angle through an encoder 8, the obtained feedback phase current and the rotor position angle obtain the actual feedback torque through a torque table lookup mode, a rotating speed calculation module 10 converts the rotor position angle into the real-time rotating speed of the motor, a rotating speed control loop forms a control outer loop, and a current control loop forms a control inner loop.
The simulation experiment process of the invention is as follows:
based on simulation experiments carried out on a Matlab/Simulink platform, the parameters of the switched reluctance motor are as follows: the number of stator poles is 12, the number of rotor poles is 8, the voltage of a direct current bus is 60V, and the rotational inertia is
Coefficient of friction of
The rotational speed is set to
Setting simulation time to be 0.2s, switching from PD compensation to sliding mode compensation method in 0.15s, and because the method only improves the current compensation inner ring, the rotating speed control effect cannot be influenced, the simulation result retains the last 0.1s graph, certain jitter exists during switching, the system is automatically stabilized because the time required by the switching control method is required, and the torque ripple is calculated by adopting the method
Wherein, in the step (A),
to representThe torque is pulsated by the torque ripple,
the value representing the maximum torque in the measurement,
for the minimum value of the torque in the measurement,
is the average torque value in the measurement;
referring to fig. 5, when the load torque of the switched reluctance motor is 1Nm, the PD-compensated torque ripple is 14.1%, while the torque ripple is 9.3% by using the sliding mode compensation method of the present invention;
referring to fig. 6, when the load torque of the switched reluctance motor is 3Nm, the PD-compensated torque ripple is 12.3%, while the slip-form compensation method of the present invention is used, the torque ripple is 3.6%;
referring to fig. 7, when the load torque of the switched reluctance motor is 5Nm, the PD-compensated torque ripple is 12.1%, while the slip-form compensation method of the present invention is used, the torque ripple is 2.3%;
in conclusion, the sliding mode compensation method can effectively inhibit the phase change torque pulsation of the switched reluctance motor in the process of improving the load of the switched reluctance motor.
The contents in the system embodiment are all applicable to the embodiment of the method, the functions specifically realized by the embodiment of the method are the same as those of the system embodiment, and the beneficial effects achieved by the embodiment of the method are also the same as those achieved by the system embodiment.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A sliding mode current compensation control system of a switched reluctance motor comprises a PID speed controller, a feedforward calculation module, a sliding mode current compensation module, a current distribution module, a current hysteresis module, an asymmetric half-bridge drive circuit, the switched reluctance motor, an encoder, a torque calculation module and a rotating speed calculation module, wherein the input end of the PID speed controller is connected with the output end of the rotating speed calculation module, the output end of the PID speed controller is connected with the input end of the feedforward calculation module and the input end of the sliding mode current compensation module, the output end of the feedforward calculation module is connected with the input end of the current distribution module, the input end of the sliding mode current compensation module is connected with the output end of the torque calculation module, the output end of the sliding mode current compensation module is connected with the input end of the current distribution module, and the output end of the current distribution module is connected with the input end of the current hysteresis module, the output of current hysteresis loop module is connected with asymmetric half-bridge drive circuit's input, asymmetric half-bridge drive circuit's output is connected with switched reluctance motor's input and torque calculation module's input, switched reluctance motor's output is connected with the output of encoder, the output of encoder is connected with the input of current distribution module, the input of torque calculation module and the input of rotational speed calculation module, wherein:
the PID speed controller is used for adjusting the rotating speed error and the change rate thereof and outputting a reference torque value;
the feedforward calculation module is used for converting the reference torque value into a linear reference current through a linear torque current conversion formula;
the sliding mode current compensation module is used for adjusting the reference torque value, the feedback actual torque value and the torque difference value and outputting a compensation current;
the current distribution module is used for distributing total current and inputting the total current to each phase to obtain reference phase current, wherein the total current is the sum of linear reference current and compensation current;
the current hysteresis module is used for comparing the reference phase current with the feedback phase current and calculating a driving signal of the asymmetric half-bridge driving circuit;
the asymmetric half-bridge driving circuit is used for applying voltage to each phase winding or disconnecting the voltage of each phase winding to control the switched reluctance motor to work;
the encoder is used for detecting the position of the rotor of the switched reluctance motor, namely a rotor position angle;
the torque calculation module is used for looking up a table to obtain a feedback actual torque value according to the position of the switched reluctance motor rotor and the feedback phase current;
and the rotating speed calculating module is used for calculating according to the rotor position angle of the rotor of the switched reluctance motor to obtain the real-time rotating speed of the motor.
2. The switched reluctance motor sliding-mode current compensation control system according to claim 1, wherein the differential coefficient of the PID speed controller is 0.
3. The sliding-mode current compensation control system of the switched reluctance motor according to claim 2, wherein the PID algorithm of the PID speed controller is specifically as follows:
in the above formula, the first and second carbon atoms are,
which represents the output variable of the PID control,
the scale factor is expressed in terms of a scale factor,
the value of the integral coefficient is represented by,
which is indicative of a differential coefficient of the light,
representing the difference between the given rotational speed and the real-time rotational speed,
which is indicative of the current time of day,
indicating the last time.
4. The sliding-mode current compensation control system of the switched reluctance motor according to claim 1, wherein the linear torque current transformation formula of the feedforward calculation module is specifically as follows:
in the above formula, the first and second carbon atoms are,
the value of the feedback actual torque is represented,
the value of the inductive partial derivative is represented,
representing a linear reference current.
5. The sliding-mode current compensation control system of the switched reluctance motor according to claim 1, wherein the output compensation current of the sliding-mode current compensation module is calculated according to the following formula:
in the above formula, the first and second carbon atoms are,
representing the sliding-mode compensation current,
the scale factor is expressed in terms of a scale factor,
and
which represents a positive real number, is,
a function of the sign is represented by,
showing the slip-form face of the slip-form current compensation module.
6. The sliding-mode current compensation control system of the switched reluctance motor according to claim 5, wherein the selected sliding-mode surface is expressed by the following concrete formula:
in the above formula, the first and second carbon atoms are,
the deviation of the torque is indicated by a value,
representing torque deviation versus current
The derivative of (c).
7. The sliding-mode current compensation control system of the switched reluctance motor according to claim 1, wherein the specific working steps of the current hysteresis module further comprise:
comparing the reference phase current with the feedback phase current to obtain a phase current difference value;
calculating the change rate of the phase current difference value through amplitude limiting calculation to obtain a driving signal;
inputting a driving signal to an asymmetric half-bridge driving circuit;
the operating state of the asymmetric half-bridge drive circuit is determined from the drive signal.
8. The sliding-mode current compensation control system of the switched reluctance motor according to claim 1, further comprising an external power supply, wherein the asymmetric half-bridge driving circuit controls the magnitude of the phase current according to the magnitude of the voltage of the external power supply, and controls the operation of the switched reluctance motor by applying or disconnecting the voltage to each phase winding of the switched reluctance motor.
9. A sliding mode current compensation control method for a switched reluctance motor is characterized by comprising the following steps:
s1, carrying out PID adjustment processing on the rotating speed error signal to obtain a reference torque value;
s2, performing shunting processing on the reference torque value to obtain a first reference torque value and a second reference torque value;
s3, converting the first reference torque value through a linear torque current conversion formula to obtain a linear reference current;
s4, performing table look-up processing and difference processing on the second reference torque value to obtain a torque difference value;
s5, adjusting the reference torque value, the feedback actual torque value and the torque difference value, and outputting a compensation current;
s6, distributing total current to obtain reference phase current, wherein the total current comprises linear reference current and compensation current;
s7, comparing and calculating the reference phase current and the feedback phase current, and outputting a driving signal to control the working state of the switched reluctance motor;
s8, obtaining a rotor position angle according to the working state of the switched reluctance motor and performing table lookup by combining feedback phase current to obtain a feedback actual torque value;
and S9, calculating the rotor position angle to obtain the real-time rotating speed of the motor.
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