CN114844413A - Low-pulse control system and method for switched reluctance motor - Google Patents
Low-pulse control system and method for switched reluctance motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P21/22—Current control, e.g. using a current control loop
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- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
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- 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
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- 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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Abstract
The invention provides a low-pulsation control system and method for a switched reluctance motor, and relates to the technical field of control of switched reluctance motors. The system comprises a three-phase switch reluctance motor, a controller, a position sensor, a current sensor and a three-phase driving circuit, wherein the position sensor, the current sensor and the three-phase driving circuit are connected with the three-phase switch reluctance motor; the controller comprises a rotating speed closed-loop module, a PI regulator, a phase number conversion module, a forward conversion module, a current correction module and a current hysteresis controller. The method does not need torque and flux linkage feedback, a torque distribution function and adjustment of opening and closing angles, adjusts the reference phase current by referring to the d and q axis control thought of the synchronous motor and combining with the SRM characteristic, and finally achieves the effect of stable output torque through current hysteresis control. The low-pulsation operation of the SRM can be realized only by two sensors, namely a position sensor and a current sensor, the structure of a torque pulsation suppression control system is simplified, and the stability of the system is improved while the space and the cost of the system are saved.
Description
Technical Field
The invention relates to the technical field of control of a switched reluctance motor, in particular to a low-pulsation control system and method of the switched reluctance motor.
Background
The Switched Reluctance Motor (SRM) has the advantages of normal operation in a severe environment, wide speed regulation range, safety, reliability, low cost, and the like, and is a preferred choice in the driving device of the electric vehicle. However, since the SRM has a unique double salient pole structure and a highly non-linear internal magnetic field, it generates a large torque ripple during operation, thereby causing resonance and large noise. This is a fatal defect for electric vehicles that pursue comfort and high performance. Two common control methods for suppressing the torque ripple of the switched reluctance motor are available: one is a direct torque or direct instantaneous torque control method, and the other is a torque distribution function control method. The direct torque or direct instantaneous torque control method requires a torque sensor to feed back torque information in real time, and calculates the voltage, current and rotor angle of the SRM to feed back flux linkage information in real time; the torque distribution function control method needs to select a proper torque distribution function and adjust the turn-on and turn-off angles, and needs a torque sensor to acquire torque information in advance for converting the torque information into current information to form current closed-loop control, or adopts the torque sensor to feed back the torque information in real time to form torque closed-loop control, and the two common control methods need the torque sensor. It is known that the greater the number of sensors in a control system, the less stable the control system, and the more stringent the requirements on the use environment of the system. Therefore, it is the ideal goal of system optimization to use fewer sensors while ensuring control effectiveness.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a switched reluctance motor low-pulsation control system and a switched reluctance motor low-pulsation control method, aiming at reducing the number of sensors in a control system, reducing the complexity of the switched reluctance motor control system, improving the torque performance of the switched reluctance motor and ensuring the low-pulsation operation of the switched reluctance motor.
The technical scheme of the invention is as follows:
the invention provides a switched reluctance motor low-pulsation control system in a first aspect, which comprises a three-phase switched reluctance motor, a controller, a position sensor, a current sensor and a three-phase driving circuit, wherein the position sensor, the current sensor and the three-phase driving circuit are connected with the three-phase switched reluctance motor;
the controller includes:
the rotating speed closed-loop module is used for receiving the real-time position information of the motor rotor from the position sensor, converting the real-time position information of the motor rotor into the actual rotating speed information of the motor, calculating the difference value between the actual rotating speed of the motor and the given rotating speed of the motor, and outputting the difference value to the PI regulator;
the PI regulator is used for carrying out PI regulation on the difference value between the received actual motor rotating speed and the given motor rotating speed to obtain a reference total current function and outputting the obtained reference total current function to the phase number conversion module;
the phase number conversion module is used for converting a reference total current function received from the PI regulator into a three-phase reference current function and outputting the three-phase reference current function to the forward conversion module;
a forward conversion module for converting the three-phase reference current function received from the phase number conversion module into a non-negative reference current function and outputting the non-negative reference current function to the current correction module;
the current correction module is used for correcting the non-negative reference current function received from the positive conversion module to obtain the required three-phase reference current and outputting the three-phase reference current to the current hysteresis controller;
and the current hysteresis controller is used for generating PWM control signals according to the three-phase reference current received from the current correction module and the actual three-phase current of the motor received from the current sensor, and outputting the generated PWM control signals to the three-phase driving circuit so as to control the electrifying sequence of the armature winding and enable the motor to normally carry out phase-changing operation.
Further, according to the switched reluctance motor low-pulsation control system, the controller is a DSP.
Further, according to the switched reluctance motor low-pulsation control system, the three-phase driving circuit is a three-phase asymmetric half-bridge driving circuit.
The invention provides a low-pulse control method of a switched reluctance motor, which comprises the following steps:
step 1: supplying power to the three-phase driving circuit and the switched reluctance motor, and starting the three-phase driving circuit and the switched reluctance motor;
step 2: calculating the actual rotating speed information of the motor and the electrical angle information of the rotor position according to the real-time position information of the motor rotor, and calculating the difference e between the actual rotating speed of the motor and the given rotating speed;
and step 3: performing PI regulation on the difference e between the actual rotating speed and the given rotating speed of the motor to obtain a reference total current function;
and 4, step 4: firstly, decomposing a reference total current function into components along a d axis and a q axis, then setting the d axis component of the reference total current function to be zero, and carrying out phase number conversion calculation on the q axis component of the reference total current function according to the electrical angle of the rotor position to convert the q axis component of the reference total current function into a three-phase reference current function;
and 5: carrying out positive conversion on the three-phase reference current function to obtain a non-negative three-phase reference current function;
step 6: correcting the non-negative three-phase reference current function to obtain final three-phase reference current;
and 7: and generating PWM control signals according to the three-phase reference current and the actual three-phase current of the motor, and controlling the electrifying sequence of the armature winding to ensure that the motor normally operates in a phase-changing manner.
Further, according to the switched reluctance motor low-ripple control method, the reference total current function is:
f i (t)＝K P e(t)+K I ∫e(t)dt
in the above formula, K P As a parameter of the proportional term, K I Is an integral term parameter.
Further, according to the switched reluctance motor low-ripple control method, in the step 4, the q-axis component of the reference total current function is subjected to phase number conversion calculation according to the electrical angle of the rotor position and is converted into a three-phase reference current function;
in the above formula, f i_o A, b, c represent the reference current functions of the phases a, b and c, respectively, wherein f is given id ＝0；f id And f iq Components of the d-axis and q-axis of the total reference current function, respectively, where f iq ＝f i ；θ d Is the electrical angle of the rotor position.
Further, according to the low-ripple control method of the switched reluctance motor, in the step 5, the three-phase reference current function is converted in the positive direction according to the following formula according to the principle of torque conservation:
in the above formula, the first and second carbon atoms are,
f i_o+ and (o ═ a, b and c) is a non-negative reference current function of the phases a, b and c.
Further, the method can be used for preparing a novel materialAccording to the low-pulse control method of the switched reluctance motor, in the step 6, a non-negative three-phase reference current function f is subjected to a sine function relation between a function related to the position of the rotor and the electrical angle of the position of the rotor i_o+ (o ═ a, b, c) to obtain the final three-phase reference current i _o_ref (o ═ a, b, c), in particular to a non-negative three-phase reference current function f i_o+ (o ═ a, b, and c) by the reciprocal of the correction coefficient, which is represented by sin θ d Dividing the normalized result of the motor torque-angle curve under the rated current by the normalized result of the motor torque-angle curve, wherein the normalized result of the motor torque-angle curve is as follows:
f′ T (θ)＝f T (θ)/max(f T (θ))
in the above formula, θ is the mechanical angle of the rotor position; f. of T And (theta) represents a motor torque-angle curve at a rated current with the abscissa representing the mechanical angle theta of the rotor position and the ordinate representing the torque T.
The invention has the beneficial effects that:
the method is different from a common control method for inhibiting the SRM torque ripple, does not need torque feedback, flux linkage feedback, a torque distribution function and adjustment of a switching-on angle and a switching-off angle, adjusts the reference phase current by only using the d-axis and q-axis control ideas of a synchronous motor and combining the SRM characteristics, and finally achieves the effect of stably outputting the torque through current hysteresis control. From the perspective of sensors, the system can realize the low-pulsation operation of the SRM only by using two sensors, namely the position sensor and the current sensor, and a common torque pulsation suppression control system needs three sensors, namely the position sensor, the current sensor and the torque sensor, so that the system simplifies the structure of the torque pulsation suppression control system, saves the space and the cost of the system, and improves the stability of the system.
Drawings
Fig. 1 is a schematic structural diagram of a switched reluctance motor low-pulsation control system according to the present embodiment;
fig. 2 is a schematic diagram of a three-phase driving circuit of a switched reluctance motor according to the present embodiment;
fig. 3 is a schematic flow chart of a low-pulsation control method of a switched reluctance motor according to the present embodiment;
fig. 4 is a schematic control flow diagram of a current correction module according to the present embodiment;
fig. 5 is a motor torque-angle curve diagram at the rated current provided by the present embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
The invention aims to provide a system and a method for controlling the low pulsation of a switched reluctance motor, and the core idea is to ensure the stable output of the motor torque and realize the low pulsation operation of the switched reluctance motor by using the control method of a synchronous motor for reference under the condition of no torque feedback.
Fig. 1 is a schematic structural diagram of a switched reluctance motor low-pulsation control system according to a first aspect of the present invention. As shown in fig. 1, the switched reluctance motor low-pulsation control system includes a three-phase switched reluctance motor, a controller, and a position sensor, a current sensor and a three-phase driving circuit connected to the three-phase switched reluctance motor. In this embodiment, all types of position sensors are possible, such as an ohron type E6B2-CWZ6C encoder; all types of current sensors can be used, such as a Hall current sensor of CHB-200SF/5V type; the three-phase driving circuit adopts a three-phase asymmetric half-bridge driving circuit shown in fig. 2.
The controller comprises a rotating speed closed-loop module, a PI regulator, a phase-number conversion module, a forward conversion module, a current correction module and a current hysteresis controller. In this embodiment, the controller is a DSP, such as a TI TMS320F28335 type DSP. The rotating speed closed-loop module, the PI regulator, the phase number conversion module, the forward conversion module, the current correction module and the current hysteresis controller belong to a logic calculation part of the controller and are realized by writing software codes.
And the rotating speed closed-loop module is used for receiving the real-time position information of the motor rotor from the position sensor, converting the real-time position information of the motor rotor into the actual rotating speed information of the motor, calculating the difference value between the actual rotating speed of the motor and the given rotating speed of the motor, and outputting the difference value to the PI regulator.
And the PI regulator is used for carrying out PI regulation on the difference value between the received actual motor rotating speed and the given motor rotating speed to obtain a reference total current function and outputting the obtained reference total current function to the phase number conversion module.
The phase-number conversion module is used for 1) receiving the real-time position information of the motor rotor from the position sensor and calculating the electric angle of the rotor position according to the real-time position information of the motor rotor; 2) and decomposing the reference total current function received from the PI regulator into components along a d axis and a q axis, setting the d axis component of the reference total current function to be zero, converting the q axis component of the reference total current function into a three-phase reference current function according to the electrical angle of the rotor position, and outputting the three-phase reference current function to the forward conversion module.
And the forward conversion module is used for converting the three-phase reference current function received from the phase number conversion module into a non-negative reference current function according to a torque conservation principle and outputting the non-negative reference current function to the current correction module.
The current correction module is used for 1) receiving the real-time position information of the motor rotor from the position sensor and calculating the electric angle of the rotor position according to the real-time position information of the motor rotor; 2) and correcting the non-negative reference current function received from the positive conversion module according to the sine function relation between the function related to the rotor position and the rotor position electrical angle to obtain the required three-phase reference current, and outputting the three-phase reference current to the current hysteresis controller.
And the current hysteresis controller is used for generating PWM control signals according to the three-phase reference current received from the current correction module and the actual three-phase current of the motor received from the current sensor, and outputting the generated PWM control signals to the three-phase driving circuit so as to control the electrifying sequence of the armature winding and enable the motor to normally operate in a phase-changing manner.
The switched reluctance motor low-pulsation control method using the switched reluctance motor low-pulsation control system, as shown in fig. 3, includes the following steps:
step 1: and supplying power to the three-phase driving circuit and the switched reluctance motor, and starting the three-phase driving circuit and the switched reluctance motor.
The alternating current of the power grid is converted into 280V direct current through a rectifying circuit, energy storage capacitors in three-phase driving circuits are charged, the three-phase driving circuits are respectively supplied with power, and each phase of driving circuit controls one phase of armature winding;
step 2: the real-time position information of the motor rotor detected by the position sensor is sent to the controller DSP, the real-time position information of the motor rotor is stored in the controller DSP, the actual rotating speed information of the motor is calculated according to the real-time position information of the motor rotor through the rotating speed closed-loop module, and the difference e between the actual rotating speed of the motor and the given rotating speed is calculated.
And step 3: the difference e between the actual rotating speed of the motor and the given rotating speed is adjusted by the PI adjuster to obtain a reference total current function; according to the regulation rule of the PI regulator, the output reference total current function is expressed as:
f i (t)＝K P e(t)+K I ∫e(t)dt
wherein, K P As a parameter of the proportional term, K I Is an integral term parameter;
and 4, step 4: in a phase number conversion module, calculating the electrical angle of the rotor position according to the real-time position information of the motor rotor, decomposing a reference total current function into components along a d axis and a q axis, setting the d axis component of the reference total current function to be zero, and performing phase number conversion calculation on the q axis component of the reference total current function according to the electrical angle of the rotor position to convert the q axis component of the reference total current function into a three-phase reference current function;
the formula of the phase number transformation is as follows:
in the above formula, f i_o Where o denotes the reference current function for the phases a, b and c, respectively, and f denotes the reference current function for the phases a, b and c id And f iq The components of the total reference current function d-axis and q-axis, θ d Is the electrical angle of the rotor position. In general, a synchronous motor control system sets a d-axis component to be zero for simplicity of control, and the invention refers to a control mode of a synchronous motor to enable f id ＝0，f iq ＝f i ；
And 5: and in the positive conversion module, carrying out positive conversion on the three-phase reference current function according to a torque conservation principle to obtain a non-negative three-phase reference current function.
The formula of the forward conversion is as follows:
in the formula (I), the compound is shown in the specification,
f i_o+ (o ═ a, b, c) is a non-negative reference current function for phases a, b, c;
step 6: in the current correction module, a non-negative three-phase reference current function f is subjected to a sine function relation between a function related to the position of the rotor and the electrical angle of the position of the rotor i_o+ (o ═ a, b, c) to obtain the final three-phase reference current i _o_ref (o＝a、b、c)。
As shown in FIG. 4, the non-negative three-phase reference current function f is adopted i_o+ (o ═ a, b, and c) by the reciprocal of the correction coefficient, which is represented by sin θ d Dividing the normalized result of the motor torque-angle curve under the rated current by the following steps:
f′ T (θ)＝f T (θ)/max(f T (θ))
in the above formula, θ is the mechanical angle of the rotor position; f. of T (theta) machines with rotor position on the abscissaThe angle θ, the ordinate, is the motor torque-angle curve at rated current for the torque T, as shown in fig. 5.
And 7: the method comprises the steps that the actual three-phase current of a motor is detected through a current sensor, the actual current and the three-phase reference current of the motor are used as the input of a current hysteresis controller, the output of the current hysteresis controller is a PWM control signal, the conduction phase sequence of an IGBT in a three-phase driving circuit is determined, and the voltage at two ends of an armature winding of the motor is controlled, so that the energization sequence of the armature winding is controlled, and the motor is enabled to normally operate in a phase-changing manner;
it is to be understood that the above-described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. The above examples are only for explaining the present invention and do not constitute a limitation to the scope of protection of the present invention. All other embodiments, which can be derived by those skilled in the art from the above-described embodiments without any creative effort, namely all modifications, equivalents, improvements and the like made within the spirit and principle of the present application, fall within the protection scope of the present invention claimed.
Claims (8)
1. A switched reluctance motor low-pulse control system is characterized by comprising a three-phase switched reluctance motor, a controller, a position sensor, a current sensor and a three-phase driving circuit, wherein the position sensor, the current sensor and the three-phase driving circuit are connected with the three-phase switched reluctance motor;
the controller includes:
the rotating speed closed-loop module is used for receiving the real-time position information of the motor rotor from the position sensor, converting the real-time position information of the motor rotor into the actual rotating speed information of the motor, calculating the difference value between the actual rotating speed of the motor and the given rotating speed of the motor, and outputting the difference value to the PI regulator;
the PI regulator is used for carrying out PI regulation on the difference value between the received actual motor rotating speed and the given motor rotating speed to obtain a reference total current function and outputting the obtained reference total current function to the phase number conversion module;
the phase number conversion module is used for converting a reference total current function received from the PI regulator into a three-phase reference current function and outputting the three-phase reference current function to the forward conversion module;
a forward conversion module for converting the three-phase reference current function received from the phase number conversion module into a non-negative reference current function and outputting the non-negative reference current function to the current correction module;
the current correction module is used for correcting the non-negative reference current function received from the positive conversion module to obtain the required three-phase reference current and outputting the three-phase reference current to the current hysteresis controller;
and the current hysteresis controller is used for generating PWM control signals according to the three-phase reference current received from the current correction module and the actual three-phase current of the motor received from the current sensor, and outputting the generated PWM control signals to the three-phase driving circuit so as to control the electrifying sequence of the armature winding and enable the motor to normally carry out phase-changing operation.
2. The switched reluctance machine low ripple control system of claim 1, wherein the controller is a DSP.
3. The switched reluctance machine low ripple control system of claim 1, wherein the three phase drive circuit is a three phase asymmetric half bridge drive circuit.
4. A low-pulse control method of a switched reluctance motor is characterized by comprising the following steps:
step 1: supplying power to the three-phase driving circuit and the switched reluctance motor, and starting the three-phase driving circuit and the switched reluctance motor;
step 2: calculating the actual rotating speed information of the motor and the electrical angle information of the rotor position according to the real-time position information of the motor rotor, and calculating the difference e between the actual rotating speed of the motor and the given rotating speed;
and step 3: performing PI regulation on the difference e between the actual rotating speed and the given rotating speed of the motor to obtain a reference total current function;
and 4, step 4: firstly, decomposing a reference total current function into components along a d axis and a q axis, then setting the d axis component of the reference total current function to be zero, and carrying out phase number conversion calculation on the q axis component of the reference total current function according to the electrical angle of the rotor position to convert the q axis component of the reference total current function into a three-phase reference current function;
and 5: carrying out positive conversion on the three-phase reference current function to obtain a non-negative three-phase reference current function;
step 6: correcting the non-negative three-phase reference current function to obtain final three-phase reference current;
and 7: and generating PWM control signals according to the three-phase reference current and the actual three-phase current of the motor, and controlling the electrifying sequence of the armature winding to ensure that the motor normally operates in a phase-changing manner.
5. The switched reluctance motor low-ripple control method of claim 4, wherein the reference total current function is:
f i (t)＝K P e(t)+K I ∫e(t)dt
in the above formula, K P As a parameter of the proportional term, K I Is an integral term parameter.
6. The switched reluctance motor low-ripple control method of claim 5, wherein in the step 4, the q-axis component of the reference total current function is converted into a three-phase reference current function by performing a phase number conversion calculation according to an electrical angle of a rotor position;
in the above formula, f i_o A, b, c represent the reference current functions of the phases a, b and c, respectively, wherein f is given id ＝0；f id And f iq Components of the d-axis and q-axis of the total reference current function, respectively, where f iq ＝f i ；θ d Is the electrical angle of the rotor position.
7. The switched reluctance motor low-ripple control method of claim 6, wherein the three-phase reference current function is converted in the forward direction according to the following formula in the step 5 according to the torque conservation principle:
in the above formula, the first and second carbon atoms are,
f i_o+ and (o ═ a, b and c) is a non-negative reference current function of the phases a, b and c.
8. The switched reluctance motor low-ripple control method of claim 7, wherein in the step 6, the non-negative three-phase reference current function f is determined according to the sine function relationship between the rotor position-related function and the rotor position electrical angle i_o+ (o ═ a, b, c) to obtain the final three-phase reference current i _o_ref (o ═ a, b, c), in particular to a non-negative three-phase reference current function f i_o+ (o ═ a, b, and c) by the reciprocal of the correction coefficient, which is represented by sin θ d Dividing the normalized result of the motor torque-angle curve under the rated current by the normalized result of the motor torque-angle curve, wherein the normalized result of the motor torque-angle curve is as follows:
f T ′(θ)＝f T (θ)/max(f T (θ))
in the above formula, θ is the mechanical angle of the rotor position; f. of T And (theta) represents a motor torque-angle curve at a rated current with the abscissa representing the mechanical angle theta of the rotor position and the ordinate representing the torque T.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210322830.0A CN114844413B (en) | 2022-03-30 | 2022-03-30 | Low-pulsation control system and method for switched reluctance motor |
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