CN114710094A - Multi-target optimization-based multi-mode operation method for double-stator switched reluctance motor - Google Patents
Multi-target optimization-based multi-mode operation method for double-stator switched reluctance motor Download PDFInfo
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- CN114710094A CN114710094A CN202210504707.0A CN202210504707A CN114710094A CN 114710094 A CN114710094 A CN 114710094A CN 202210504707 A CN202210504707 A CN 202210504707A CN 114710094 A CN114710094 A CN 114710094A
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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
- 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
- H02P23/0013—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy 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
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a multi-mode operation method of a double-stator switched reluctance motor based on multi-objective optimization, and belongs to the technical field of motor control. The invention solves the problem of working mode selection of the double-stator switched reluctance motor in the running process and also adopts a method to inhibit the problem of larger torque pulsation of the switched reluctance motor. Aiming at the special structure of the double-stator switched reluctance motor different from the conventional single-stator switched reluctance motor, the invention adopts a novel power converter to ensure that the double-stator switched reluctance motor can work under five working modes of an inner stator, an outer stator, parallel connection of the inner stator and the outer stator, series connection of the inner stator and the outer stator and double stators. And a multi-objective optimization function is constructed, each optimization objective weight coefficient is given, the working performance of the double-stator switched reluctance motor is improved under the working mode that the function value is maximum when the double-stator switched reluctance motor works under the same working condition, and high working efficiency and low torque pulsation operation of the motor are realized.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a multi-mode operation method of a double-stator switched reluctance motor based on multi-objective optimization.
Background
The switched reluctance motor has the advantages of high reliability, low cost, simple structure, large starting torque, wide speed regulation range and the like, and has good application prospect in the fields of aerospace, electric automobiles, household appliances, textile engineering and the like. However, the traditional switched reluctance motor has the defects of low power density and large torque ripple, and the defects seriously limit the popularization and application of the switched reluctance motor. In order to solve the above disadvantages, patent application No. 2019108191531 discloses a novel double-stator switched reluctance motor adopting a sectional type U-shaped stator structure and having a rotor tooth axis staggered by a certain mechanical angle, which can effectively reduce torque pulsation and improve power density due to the staggered certain mechanical angle of the inner and outer rotor tooth axes. And patent application number 2021101978204 discloses a novel two stator switched reluctance motor power converter, has not only reduced the cost, can realize letting two stator switched reluctance motor work under five kinds of modes moreover, nevertheless to under the different work condition, the selection basis of two stator switched reluctance motor mode is still worth thinking. In order to improve the running performance of the switched reluctance motor, the scholars in the prior art mostly optimize control parameters aiming at a single target, but cannot integrally improve the running performance of the motor. Therefore, the improvement of the multi-mode operation performance of the double-stator switched reluctance motor by considering a plurality of optimization targets is a problem which needs to be solved urgently at present.
Disclosure of Invention
Aiming at the problems, the invention provides a multi-mode operation method of a double-stator switched reluctance motor based on multi-objective optimization, which can enable the double-stator switched reluctance motor to always work in a working mode with the maximum function value so as to improve the overall operation performance of the motor.
In order to achieve the technical purpose, the invention adopts the following technical scheme to realize:
the first aspect of the invention is to adopt a fuzzy PI control and prediction control method to restrain the torque pulsation of a double-stator switch reluctance motor, and the concrete process comprises the following steps:
the fuzzy controller adopted by the fuzzy PI control of the invention is in a double-input and double-output mode, and the two-dimensional input is the deviation e and the deviation change rate e of a given signal and a feedback signalcThe output is K in PI controlpAnd KiThe value is obtained. The output of the fuzzy PI control is controlled by fuzzifying and defuzzifying the input to obtain a given current value. And in the prediction control link, the state quantity at the next moment is predicted according to the state quantity at the current moment by using the mathematical model established in the earlier stage. The method and the device predict the state value of the motor at the next moment according to the phase current of the inner stator winding and the outer stator winding of the double-stator switched reluctance motor sampled in real time and the position of the rotor, and realize predictive control.
The established mathematical model is as follows:
in the formula ikAnd thetakIndicating the value of the phase current of the electronic winding and the rotor position, i, of the motor at the present momentk+1And thetak+1And Uk+1Which represents the phase current value of the stator winding, the rotor position and the voltage across the phase winding at the next moment of the motor, psi, deltat and omega representing the flux linkage, the sampling interval time and the angular velocity, respectively.
In the second aspect of the invention, the working efficiency and the torque smoothing coefficient of the double-stator switched reluctance motor are used as optimization targets, and a multi-objective optimization function is constructed. The method comprises the following specific steps:
five motor working models are built according to the characteristics of five working modes of the double-stator switched reluctance motor, and the characteristics of the five working modes are as follows: when the double-stator switched reluctance motor works in the inner stator working mode, only the inner stator works at the moment, namely, only the inner stator winding is excited. In the working mode, only the on-off of the power switch device related to the inner stator needs to be controlled, and the power switch device related to the outer stator is always in the off state. When the double-stator switched reluctance motor works in an external stator working mode, only the external stator works at the moment, namely, only the external stator winding is excited. In the working mode, only the on-off of the power switch device related to the outer stator needs to be controlled, and the power switch device related to the inner stator is always in an off state. When the double-stator switched reluctance motor works in the internal and external stator parallel working mode, the internal and external stator windings of the double-stator switched reluctance motor are simultaneously excited, the on-off of a power switch device in the power converter is jointly determined by the states of the internal and external stators, and because the internal and external stators work in parallel, the voltages applied to the two ends of the internal and external stator windings are the same. When the double-stator switched reluctance motor works in the inner and outer stator series working mode, the inner and outer stator windings of the double-stator switched reluctance motor are excited simultaneously, the on-off of a power switch device in the power converter is determined by the states of the inner and outer stators, and the currents flowing through the inner and outer stator windings are the same because the inner and outer stators work in series. When the double-stator switched reluctance motor works in a double-stator working mode, the inner stator and the outer stator of the double-stator switched reluctance motor work at the moment, but the double-stator switched reluctance motor is different from a parallel working mode and a series working mode in that the inner stator winding and the outer stator winding are not necessarily excited simultaneously, but are excited sequentially according to respective driving signals.
And (3) building a simulation model according to the working characteristics of the five working modes, and calculating the working efficiency and the torque smoothing coefficient of the motor in the five working modes under different working conditions according to a mathematical formula. Wherein the efficiency calculation formula is as follows:
in the formula PeThe output power of the double-stator switched reluctance motor is obtained; psAll losses are summed for a double stator switched reluctance machine.
The torque smoothing coefficient calculation formula is as follows:
wherein tau is a torque smoothing coefficient; t ismaxIs the maximum instantaneous torque; t isminIs the most excellentA small instantaneous torque; t is a unit ofaveAverage torque of the motor.
The objective optimization function is expressed as:
kη+kτ＝1
in the formula, f (eta, tau) is a multi-objective optimization function; k is a radical of formulaηIs a system efficiency weight coefficient; k is a radical ofτIs a smoothing coefficient weight coefficient; etamaxAnd τmaxThe maximum values of the working efficiency and the smoothing coefficient of the motor are respectively.
The weight coefficients of the optimization targets are reasonably distributed according to the emphasis points of the optimization targets and the requirements of the operating environment. The invention proposes that the weight coefficient of the motor working efficiency is 0.7, and the weight coefficient of the torque smoothing coefficient is 0.3.
The third aspect of the invention is that the double-stator switch reluctance motor can always work under the working mode of maximum multi-objective optimization function value under different working conditions. The method comprises the following specific steps:
according to the established multi-objective optimization function, when the double-stator switched reluctance motor is under a certain working condition, the five working modes of the motor respectively output one multi-objective optimization function value. And then, the five multi-objective optimization function values pass through a numerical comparison module to determine the working mode corresponding to the maximum function value. Finally, the driving signal corresponding to the working mode is used as the input of the double-stator switched reluctance motor power converter, so that the motor works in the working mode.
Has the advantages that: the invention provides a novel speed regulating system suitable for a double-stator switched reluctance motor, which is used for performing multi-target optimization analysis on the performance of the double-stator switched reluctance motor under five working modes under different working conditions; compared with single-target optimization, the method has the advantages that the optimal operation state of the double-stator switched reluctance motor is determined through two optimization targets, and the performance of the double-stator switched reluctance motor is considered in multiple directions; the invention can effectively match the maximum multi-objective optimization function value areas of various working modes, the maximum multi-objective optimization function value areas under different working modes can cover different torque and rotating speed requirements of the motor, and the overall operation performance of the double-stator switched reluctance motor is improved. The invention adopts off-line multi-objective optimization, avoids the phenomenon that the working mode is continuously switched because the motor does not run stably when the working condition is not changed, is simpler and more reliable than on-line optimization, and is easy to realize in an actual system. The invention adopts fuzzy PI control and predictive control to restrain the torque pulsation of the double-stator switch reluctance motor.
Drawings
FIG. 1 is a schematic structural diagram of a system for selecting an operating mode of a double-stator switched reluctance motor based on a multi-objective optimization function according to an embodiment of the present invention;
FIG. 2 is a block diagram illustrating an exemplary embodiment of a method for determining an internal structure of a working mode module for a double-stator switched reluctance motor having a maximum multi-objective optimization function;
FIG. 3 is a plot of the speed of a dual stator switched reluctance motor at a given speed of 800 rpm and a load torque of 5 Nm;
fig. 4 is a graph of electromagnetic torque for a double stator switched reluctance machine at a given speed of 800r/min and a load torque of 5 Nm.
Detailed Description
An embodiment of the invention is further described below with reference to the accompanying drawings:
the object studied in this example is an 16/18/16 magnetic field decoupling type double-stator switched reluctance motor, in which the number of poles of the inner and outer stators is 16, and the number of teeth of the inner and outer rotors is 18.
As shown in fig. 1, the diagram is a schematic structural diagram of a multi-mode operation system of a double-stator switched reluctance motor based on a multi-objective optimization function, and the schematic structural diagram comprises:
a sampling link: the phase current and rotor position of the stator winding at the present time are sampled.
A prediction link: and predicting the state value of the motor at the next moment according to the phase current of the inner stator winding and the outer stator winding of the double-stator switched reluctance motor sampled in real time and the rotor position by using the established mathematical model.
And (3) a control link: and taking the output of the prediction link as the input of the controller, and taking the outputs of the controller, the PWM control and the fuzzy PI control as the input of the CCC control.
And a mode selection link: and when the motor runs, the five working modes output corresponding function values according to the given rotating speed and the load torque, and the working mode with the maximum function value is determined through a numerical comparison module.
In a specific embodiment, the method for selecting the operating mode of the double-stator switched reluctance motor based on the multi-objective optimization function includes:
sampling phase current i of inner and outer stator windings of double-stator switched reluctance motor at current momentkAnd rotor position θkAs the calculation of the phase current i of the inner and outer stator windings at the next timek+1And rotor position θk+1The basis of (1). Then, phase current i output by the prediction link is predictedk+1And rotor position θk+1As an input of the controller, outputs of the controller, the PWM control, and the fuzzy PI control are input of the CCC control. Finally, the output of the CCC is used as the driving signal of the power converter.
In the mode selection link, simulation models of the double-stator switched reluctance motor in five working modes are established, multi-objective optimization function values are output according to given load torque and rotating speed respectively, and the working mode with the maximum function value is determined through a numerical comparison module.
As shown in fig. 2, the diagram is an internal specific structure of a working mode module for determining a maximum multi-objective optimization function value of a dual-stator switched reluctance motor in a structural schematic diagram, and the internal specific structure is composed of five working mode driving signal modules and a driving signal selection module.
Figures 3 and 4 show the speed and electromagnetic torque curves for a double stator switched reluctance machine at a given speed of 800r/min and a load torque of 5 Nm. From the curves shown in the figures, under a given working condition, when the operation of the double-stator switched reluctance motor is stable, the curves of the rotating speed and the electromagnetic torque do not have obvious fluctuation, which is the advantage of off-line optimization relative to on-line optimization, namely, under the determined working condition, the selection system of the working mode of the double-stator switched reluctance motor based on the multi-objective optimization function can determine the working mode of the motor at the first time. And if the given working condition is not changed, the working mode is not changed.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. It will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (2)
1. A multi-mode operation method of a double-stator switched reluctance motor based on multi-objective optimization comprises the following steps:
1) a sampling link: the method comprises the steps of sampling phase current of a stator winding and a rotor position at the current moment;
2) a prediction link: combining the pre-established mathematical model of the double-stator switched reluctance motor to predict the stator winding current and the rotor position at the next moment;
3) and (3) a control link: the controller is used for taking the phase current of the stator winding and the position of the rotor output in the prediction link as the input of the controller, and then taking the output of the controller, the PWM control output and the fuzzy PI control output together as the input of CCC control;
4) and a mode selection link: the method is used for selecting the working mode with the highest multi-objective optimization function value under the same working condition, so that the double-stator switched reluctance motor works under the working mode, and the working mode selection of the double-stator switched reluctance motor is realized.
2. The multi-mode operation method of the double-stator switched reluctance motor based on multi-objective optimization according to claim 1, characterized in that:
sampling phase current i of inner and outer stator windings of double-stator switched reluctance motor at current momentkAnd rotor position θkAs the calculation of the phase current i of the inner and outer stator windings at the next timek+1And rotor position θk+1The basis of (1); phase current i output by the prediction linkk+1And rotor position θk+1As the input of the controller, the output of the controller, PWM control and fuzzy PI control is used as the input of CCC control; taking an output signal of the CCC as a driving signal of the power converter; and constructing a multi-objective optimization function, giving each optimization objective weight coefficient, solving respective function values of five working modes of the double-stator switched reluctance motor under different working conditions, outputting corresponding function values according to a given rotating speed and a load torque by the five working modes when the motor runs, and determining the working mode with the highest function value through a numerical comparison module.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116070371A (en) * | 2023-01-19 | 2023-05-05 | 佛山仙湖实验室 | Double-stator motor design method and device, electronic equipment and storage medium |
| CN116248003A (en) * | 2023-05-06 | 2023-06-09 | 四川省产品质量监督检验检测院 | Sliding mode control-based method and system for controlling active disturbance rejection speed of switched reluctance motor |
| CN117674658A (en) * | 2023-12-02 | 2024-03-08 | 中国矿业大学 | Torque pulsation suppression method and device for novel decoupling double-stator switch reluctance motor |
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- 2022-05-10 CN CN202210504707.0A patent/CN114710094A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116070371A (en) * | 2023-01-19 | 2023-05-05 | 佛山仙湖实验室 | Double-stator motor design method and device, electronic equipment and storage medium |
| CN116070371B (en) * | 2023-01-19 | 2023-08-22 | 佛山仙湖实验室 | Double-stator motor design method and device, electronic equipment and storage medium |
| CN116248003A (en) * | 2023-05-06 | 2023-06-09 | 四川省产品质量监督检验检测院 | Sliding mode control-based method and system for controlling active disturbance rejection speed of switched reluctance motor |
| CN116248003B (en) * | 2023-05-06 | 2023-07-28 | 四川省产品质量监督检验检测院 | Sliding mode control-based method and system for controlling active disturbance rejection speed of switched reluctance motor |
| CN117674658A (en) * | 2023-12-02 | 2024-03-08 | 中国矿业大学 | Torque pulsation suppression method and device for novel decoupling double-stator switch reluctance motor |
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