CN114944806A - Method for detecting static position of switched reluctance motor - Google Patents
Method for detecting static position of switched reluctance motor Download PDFInfo
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- CN114944806A CN114944806A CN202210432855.6A CN202210432855A CN114944806A CN 114944806 A CN114944806 A CN 114944806A CN 202210432855 A CN202210432855 A CN 202210432855A CN 114944806 A CN114944806 A CN 114944806A
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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
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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
- H02P25/086—Commutation
- H02P25/089—Sensorless 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a method for detecting the static position of a switched reluctance motor, which is provided with a main circuit oscillator OSC and at least three drive circuits connected with the main circuit oscillator OSC, wherein each drive circuit is respectively provided with at least one item selection switch, at least one high-level MOS switch tube and at least one low-level MOS switch tube, a parasitic capacitor is formed between the source electrode and the drain electrode of each MOS switch tube, the oscillator and the drive circuits form a resistance-capacitance network, the stator inductance of the reluctance motor is connected with the resistance-capacitance network, and the reluctance position of the switched reluctance motor is judged by measuring the composite inductance value of the stator.
Description
Technical Field
The invention relates to the technical field of control of speed regulating motors, in particular to a method for detecting the static position of a switched reluctance motor.
Background
The Switched Reluctance Motor (SRM) integrates the SR Motor and modern electronic control technology, its speed regulation system has the advantages of asynchronous Motor frequency-variable speed regulation system and DC Motor speed regulation system, and the next-generation stepless speed regulation system of frequency-variable speed regulation system and brushless DC Motor speed regulation system, and the SR Motor is a doubly salient magneto-resistive torque Motor including stator and rotor structure. In addition, unlike conventional permanent magnet materials, the rotor of such machines is made of a magnetically permeable material, not a permanent magnet material. Therefore, the cost is lower, and the same function with the brushless motor can be achieved. Position closed-loop control is one of the basic characteristics of a switched reluctance motor, in order to control the operation of the switched reluctance motor, a controller needs to acquire specific position information of a rotor, and position detection of the switched reluctance motor is always a hot point of research. Typically, the position information may be collected by a position sensor and converted into a usable digital signal for the controller. However, the presence of position sensors has led to a lack of simplicity in construction, a corresponding increase in cost, and a decrease in system reliability, and there is a continuing effort in the industry to find position sensor-less detection schemes.
In the prior art, as an example of an existing switched reluctance motor driving System (SRD), as shown in fig. 1, the system is composed of a power inverter 1 having a power tube and a driving module thereof, a switched reluctance motor 2, a voltage sensor 3 for measuring a dc bus voltage, a current sensor 4 for measuring a winding current, a controller 5, and a position sensor 6 for measuring a rotor position of the motor. The rotor position detection link is an important component of the SRD, and an external mechanical position sensor 6 is adopted in the prior art, so that the size of the motor is increased, the manufacturing process difficulty of the motor is increased, the reliability of the system is reduced, and the cost of the motor system is increased.
Therefore, the technical development route in the field is turned to how to indirectly detect the position of the rotor, the basic principle of each indirect rotor position detection scheme is the same, and no matter the working phase or the non-working phase is processed, the winding voltage equation is analyzed to obtain the analytic mode of the winding flux linkage, the inductance or the electromotive force and other parameters, and the rotor position information is extracted from the parameters, so that the indirect detection of the position of the rotor is realized.
On the other hand, in general, the hall switch cannot detect the static position or the dynamic position of the switched reluctance motor. In the development of the prior art, a back electromotive force method can be used for detecting the dynamic position of the switched reluctance motor, in other words, the switched reluctance motor which is forcibly started can generate reverse rotation or forward rotation, and after the back electromotive force is obtained through the rotation of the motor, the rotation speed of the motor can be controlled by judging the back electromotive force and the corresponding reversing position; the static position can detect the rotor position by using an inductance measurement method, in other words, the inductance change of a non-working winding is identified by injecting high-frequency current into the non-working winding, so that the rotor position of the motor is determined, and the motor is controlled.
However, in a switched reluctance motor (e.g., 12V/60W motor) operating at low voltage, the inductance of the stator is usually very small (5-20 uH), so that it is very difficult to perform position measurement in the conventional voltage-current mode; in addition, a flux linkage formed by the working winding influences the injection current, so that signal acquisition is interfered, and the identification precision of the position of the rotor is reduced; the simple flux linkage estimation method estimates the position of the rotor by measuring the voltage and current of the stator and then estimating the position of the rotor according to the corresponding relationship between the flux linkage and the position of the rotor. The algorithm comprises two current loop structures, an estimated value of an inner loop correction magnet and an estimated value of an outer loop adjustment position. The problems with this approach are: when the voltage of the stator is overlarge, the position can be changed because the inductance is relatively small and the rotor is easy to move; when the voltage of the stator is too small, firstly, the current change rate of the stator is low, secondly, the inductance of the motor working at low voltage is relatively small, the current change is too fast, and in conclusion, the detection accuracy of the method is not high due to the two adverse factors.
In the prior art, for example, chinese patent document CN110474593A describes a method for measuring equivalent resistance and inductance of a brushless dc motor armature, in which a frequency analyzer is used to test a current closed-loop frequency characteristic of a motor, a frequency characteristic curve is drawn, mathematical fitting is performed according to the actually measured current closed-loop frequency characteristic curve, and a fitted mathematical expression is compared with a mathematical expression obtained by theoretical analysis, so as to indirectly measure the equivalent resistance and the equivalent inductance of the motor armature. However, in this technical solution, expensive instruments are additionally required, which results in high detection cost and is not suitable for industrial application.
Chinese patent document CN104967385A discloses a technical scheme for estimating the position of a rotor of a switched reluctance motor, which includes an LC oscillating circuit, a frequency-voltage converting circuit, a photoelectric coupling isolator, and a digital signal processing device, which are connected in series, wherein the LC oscillating circuit includes a multiplexer and a modulation circuit. The method detects the position of a rotor by utilizing the periodic change of interpolar inductance in the rotation process of the rotor, namely, a high-frequency inductance change signal generates a waveform (rotor position signal) with phase inductance information through an LC (inductance capacitance), the parameters of components in the LC are set, the oscillation frequency is in direct proportion to the reciprocal of the square root of the phase inductance, a modulation signal with the phase inductance change information is converted into a voltage change signal, and the position of the rotor is estimated by a DSP (digital signal processor) after the voltage signal is subjected to photoelectric isolation. According to the scheme, the position of the rotor can be effectively detected through the periodic change of the inter-pole inductance in the rotation process of the rotor, but the multi-path modulation is needed, the gain of a secondary circuit loop of the oscillator is needed to be larger than 1, the resistance of R2 is far larger than that of a grounding resistor R1, the response to the change of the inter-pole magnetic quantity is needed to be high in sensitivity, and the industrial utilization is not facilitated.
The technical scheme of judging the reluctance position of the switched reluctance motor by measuring the size of the stator inductance is provided in the prior art.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, an object of the present invention is to provide a method for detecting a static position of a switched reluctance motor, which can measure a stator inductance of the switched reluctance motor based on a specific measurement system in a static state where the motor is not forcibly started, and determine specific position information of a rotor, thereby implementing detection of the static position of the motor.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a detection method for the static position of a switched reluctance motor is provided with a main circuit oscillator OSC and at least three drive circuits connected with the main circuit oscillator OSC, wherein each drive circuit is respectively provided with at least one item selection switch, at least one high-level MOS switch tube and at least one low-level MOS switch tube, a parasitic capacitor is formed between the source electrode and the drain electrode of each MOS switch tube, the oscillator and the drive circuits form a resistance-capacitance network, the stator inductor of the reluctance motor is connected with the resistance-capacitance network, and the reluctance position of the switched reluctance motor is judged by measuring the composite inductance value of the stator.
Further, the driving circuit is a three-item driving circuit A, B, C, the item selection switches are three item selection switches SA, SB, SC, and the stator inductance of the switched reluctance motor is three inductances LA, LB, LC, and the values of LB/LA and LC/LA are obtained by measuring the magnitude of the composite inductance of the stator, so as to determine the magnitudes of LA, LB, and LC of the switched reluctance motor.
Further, the inductance value of LA, LB, and LC is the largest inductance of the stator closest to the rotor, and the smallest inductance is the inductance of the stator farthest from the rotor.
Further, the deviation angle of the rotor and the stator is judged according to the proportion of LB/LA and LC/LA.
Further, the parasitic capacitance between the source and the drain of each MOS switch tube is marked one by adopting a calibration method, and the marked data is preprocessed in advance during calculation.
Preferably, according to the above-mentioned detection method, different LC oscillation circuits are formed by using the lower bridge wall driven by the reluctance motor and controlling the on/off of the item selection switches SA, SB, SC, and the oscillation frequencies fA, fB, fC are output after being shaped by the oscillator OSC.
Preferably, according to the above-mentioned detection method, the measured frequency and the formula are used
And
and calculating to obtain inductance composite values L1, L2 and L3.
Preferably, according to the above detection method, according to the established connection relationship:
、
、
and obtaining the values of LB/LA and LC/LA through mathematical derivation so as to judge the sizes of LA, LB and LC.
According to the above detection method, OSC is a main circuit of an oscillator, and for simplicity, it is assumed that only 0 is off and 1 is on, regardless of the threshold of the MOS switch. When the switch SA is closed (SA = 1), the gate GLB of the MOS transistor QLB and the gate GLC of the MOS transistor QLC are 1, and at this time, the QLB and the QLC are conducted, and the inductor (L) path is specifically a parallel connection of the LB and the LC and then a series connection with LA. The capacitor (C) acts as a parasitic capacitor for the QLA, so that the OSC circuit forms an oscillator with the LC, and is shaped by the OSC circuit and output, and recorded as fA.
According to the detection method, when the switches are switched to be SB and SC, the corresponding switch and the corresponding MOS tube are changed to respectively obtain fB and fC.
And calculating inductance composite values L1, L2 and L3 according to an LC oscillating circuit calculation formula by using the measured frequencies fA, fB and fC, thereby realizing the judgment of the reluctance position of the reluctance motor.
Compared with the prior art, the invention has the following beneficial effects:
1. the detection method can measure the stator inductance of the switched reluctance motor by utilizing the influence of the rotor of the motor on the inductance of the stator at different positions on the basis of a specific measurement system under the static state that the motor is not forcibly started, thereby determining the specific position information of the rotor and further realizing the detection of the static position of the motor.
2. The measuring system adopted by the detection method only utilizes the parasitic capacitance of the MOS tube and the inductance L of the motor stator to form the oscillator, thereby realizing the improvement of the detection precision and simultaneously reducing the detection cost.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic diagram of a prior art switched reluctance motor drive System (SRD) having a position sensor.
Fig. 2 is a schematic diagram of a prior art switched reluctance motor driving system without a position sensor.
Fig. 3 is a schematic circuit block diagram of the switched reluctance motor SRM static position detection of the present invention.
Wherein: 1. the device comprises a power inverter 2, a switched reluctance motor 3, a voltage sensor 4 for measuring direct current bus voltage, a current sensor 5 for measuring winding current, a controller 6 and a position sensor for measuring the position of a motor rotor.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a schematic diagram of a prior art switched reluctance motor drive System (SRD) with a position sensor, fig. 2 is a schematic diagram of a prior art switched reluctance motor drive system without a position sensor, and the present invention is further described below with reference to the schematic block diagram of fig. 3.
The embodiment of the invention provides a method for detecting the static position of a switched reluctance motor, wherein a measuring system based on which the detection method is realized comprises a direct-current switched reluctance motor, a resistance-capacitance network and an oscillator circuit; parasitic capacitance exists between a source electrode and a drain electrode of each MOS switch tube, a calibration method is adopted to mark one of the MOS switch tubes, and the marked data is preprocessed in advance during calculation. In the embodiment, the specific measurement system for the static position of the switched reluctance motor specifically relates to an LC oscillator. Since this oscillator can output a sine wave of a certain specified frequency, a frequency-selective network is generally included in a closed loop, and if the frequency-selective network is composed of LC elements, this oscillator is called an LC oscillator.
The embodiment of the invention mainly judges the position of the reluctance rotor of the switched reluctance motor by measuring the inductance of the stator, and particularly takes three driving circuits as an example.
As shown in fig. 3, SA, SB, and SC are term selection switches, GLA denotes a gate of the MOS transistor QLA, GLB denotes a gate of the MOS transistor QLB, GLC denotes a gate of the MOS transistor QLC, GHA denotes a gate of the MOS transistor QHA, GHB denotes a gate of the MOS transistor QHB, and GHC denotes a gate of the MOS transistor QHC.
For simplicity, the threshold of the MOS transistor is not considered, and only 0 is off and 1 is on. OSC is the main circuit of the oscillator, and LA, LB, LC represent the stator inductance of the switched reluctance machine, respectively.
The method for detecting the static position of the switched reluctance motor is realized based on a measuring system shown in figure 3, wherein the measuring system comprises a direct current switched reluctance motor, a resistance-capacitance network and an oscillator circuit. Parasitic capacitance exists between the source electrode and the drain electrode of each MOS switch tube, the difference of the parasitic capacitance of the MOS tubes in the same batch is very small, and the parasitic capacitances can be marked one by additionally adopting a calibration method. Meanwhile, the data can be preprocessed in advance during calculation.
The detection method comprises the following steps:
step 1: and establishing connection between the switched reluctance motor and the capacitance-resistance network.
Step 2: the lower bridge wall driven by the motor and the item selection switches SA, SB and SC are utilized.
For example: when the switch SA is closed (SA = 1), GLB and GLC are 1, and at this time QLB and QLC are turned on, and the inductor (L) path is specifically a parallel connection of LB and LC and then a series connection with LA. The capacitor (C) acts as a parasitic capacitor to the QLA, so that the OSC circuit forms an oscillator with the LC, and is shaped by the OSC circuit and output, and recorded as fA. When the switches are switched to SB and SC by the same method, fB and fC can be obtained by changing the corresponding switches and the corresponding MOS tubes.
And step 3: inductance complex values L1, L2, L3 were calculated using the measured frequency and the following formula.
Wherein, L represents the inductance,frepresenting frequency, C represents capacitance;
and 4, step 4: according to the basic relation expression of series connection and parallel connection of inductors in physics, the circuit form is as follows (in the following equation, "|" means parallel connection, and "+" means series connection):
according to the above equation, the mathematical expression is:
through the mathematical derivation, the values of LB/LA and LC/LA are obtained, so that the sizes of the stator inductances LA, LB and LC can be judged. And in LA, LB and LC, the term of the maximum value of the inductance is judged to be the stator closest to the rotor, and the term of the minimum value is judged to be the stator farthest from the rotor. The deviation angles between the rotor and the stators A, B and C can be further judged from an equal proportion formula, and in addition, other combination modes of measuring inductance can be used for measurement to achieve the same effect.
The foregoing detailed description is to be considered as illustrative only of the principles of the invention and its efficacy, and not to limit the scope of the invention. Any modification or variation which may be made by a person skilled in the art having the general knowledge in the field of variable speed motors without departing from the spirit and technical idea disclosed herein still falls within the scope of the invention as claimed in the appended claims.
Claims (8)
1. A detection method for the static position of a switched reluctance motor is characterized in that a main circuit oscillator OSC and at least three drive circuits connected with the oscillator OSC are arranged, each drive circuit is respectively provided with at least one item selection switch, at least one high-level MOS switch tube and at least one low-level MOS switch tube, a parasitic capacitor is formed between the source electrode and the drain electrode of each MOS switch tube, the oscillator and the drive circuits form a resistance-capacitance network, the stator inductance of the reluctance motor is connected with the resistance-capacitance network, and the reluctance position of the switched reluctance motor is judged by measuring the composite inductance value of the stator.
2. The detection method according to claim 1, wherein the driving circuit is a three-term driving circuit A, B, C, the term selection switches are three term selection switches SA, SB, SC, the stator inductance of the switched reluctance motor is three inductances LA, LB, LC, and the values of LB/LA and LC/LA are obtained by measuring the magnitude of the composite inductance of the stator to determine the magnitudes of LA, LB, and LC of the switched reluctance motor.
3. The detection method according to claim 2, wherein the largest inductance value among LA, LB, and LC is the inductance of the stator closest to the rotor, and the smallest inductance value is the inductance of the stator farthest from the rotor.
4. The detection method according to claim 2, wherein the deviation angle between the rotor and the stator is determined according to the ratio of LB/LA to LC/LA.
5. The detection method according to claim 1, wherein the parasitic capacitance between the source and the drain of each MOS switch tube is labeled one by adopting a calibration method, and the labeled data is preprocessed in advance during calculation.
6. The detecting method according to claim 1, wherein the lower bridge wall driven by the reluctance motor and the switches SA, SB, SC are controlled to open and close to form different LC oscillating circuits, and the oscillating frequencies fA, fB, fC are output after being shaped by the oscillator OSC.
7. Detection method according to claim 6, characterised in that the measured frequency and the formula are used
And
and calculating to obtain inductance composite values L1, L2 and L3.
8. The detection method according to claim 7,
according to the established connection relation:
、
、
and calculating the values of LB/LA and LC/LA through mathematical deduction so as to judge the sizes of LA, LB and LC.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11275890A (en) * | 1998-03-23 | 1999-10-08 | Mitsubishi Electric Corp | Drive circuit for sensorless switched reluctance motor |
| JP2001128490A (en) * | 1999-10-22 | 2001-05-11 | Denso Corp | Switched reluctance motor and rotation-control device |
| US20040004455A1 (en) * | 2002-07-05 | 2004-01-08 | Nec Electronics Corporation | Method and apparatus for detecting stationary rotor angle of sensorless brushless DC motor, and starting method and apparatus using the same |
| DE102019100281A1 (en) * | 2019-01-08 | 2020-07-09 | Miele & Cie. Kg | Rotor orientation detection in a permanent magnet synchronous motor |
| CN112787560A (en) * | 2020-12-30 | 2021-05-11 | 大连海事大学 | Switched reluctance motor position sensorless method based on difference inductance vector method |
-
2022
- 2022-04-24 CN CN202210432855.6A patent/CN114944806B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11275890A (en) * | 1998-03-23 | 1999-10-08 | Mitsubishi Electric Corp | Drive circuit for sensorless switched reluctance motor |
| JP2001128490A (en) * | 1999-10-22 | 2001-05-11 | Denso Corp | Switched reluctance motor and rotation-control device |
| US20040004455A1 (en) * | 2002-07-05 | 2004-01-08 | Nec Electronics Corporation | Method and apparatus for detecting stationary rotor angle of sensorless brushless DC motor, and starting method and apparatus using the same |
| DE102019100281A1 (en) * | 2019-01-08 | 2020-07-09 | Miele & Cie. Kg | Rotor orientation detection in a permanent magnet synchronous motor |
| CN112787560A (en) * | 2020-12-30 | 2021-05-11 | 大连海事大学 | Switched reluctance motor position sensorless method based on difference inductance vector method |
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