CN1333517C - Method for starting and controlling switch reluctance motor no-rotor position sensor - Google Patents
Method for starting and controlling switch reluctance motor no-rotor position sensor Download PDFInfo
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- CN1333517C CN1333517C CNB2005100410401A CN200510041040A CN1333517C CN 1333517 C CN1333517 C CN 1333517C CN B2005100410401 A CNB2005100410401 A CN B2005100410401A CN 200510041040 A CN200510041040 A CN 200510041040A CN 1333517 C CN1333517 C CN 1333517C
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Abstract
The present invention relates to a method for starting and controlling a sensor at the no-rotor position for a switch reluctance motor. Before the switch reluctance motor is switched on for starting, impulse voltage passes through each phase winding of a stator, and the time of switching on power and the impulse voltage value of switching on power of each phase in the stator are the same, and then the current size of each phase winding in the stator is measured and compared with the obtained size order of the inductance among phases in the stator, so the position range of a rotor and the switching on phase when the switch reluctance motor is started, can be determined for electrifying the rotor. Without a rotor position sensor, the start-up of the switch reluctance motor is realized. The present invention can be used for the switch reluctance motor system with different number and structures, having the advantages of simple method, low cost, high system reliability and wide practicality.
Description
Technical field
The present invention relates to a kind of start-up control method of switch reluctance motor no-rotor position sensor, be applicable to the startup of the switched reluctance motor of the various numbers of phases, structure.
Background technology
Motor is the basic equipment of electrical energy production and application, and it and development and national economy are closely related, and in the national economic development, the development of new motor also improves its runnability, comprises saves energy etc., has become the research topic that people often pay close attention to.Motor also is the critical component in the automated arm.High-performance, the control of high efficiency motor movement and Position Control are one of core technologies of automated arm.Switch magnetic-resistance motor system is the energy-saving adjustable-speed motor of an a kind of electromechanical integration system.It is firm in structure durable, and low cost of manufacture is easy to maintenance, and the system regulation performance is good, and four-quadrant control is flexible, the operational efficiency height, and energy-saving effect is remarkable.The rotor-position closed-loop control is the essential characteristic of switching magnetic-resistance electric system.The rotor-position closed-loop control is arranged, just can not lose step, step-out.Normally the non-shaft stretching end at switched reluctance motor is provided with the direct-type rotor-position sensor, provides rotor position information to controller.Traditional switched reluctance motor direct-type rotor-position sensor mainly contains photoelectric type, electromagnetic type, Mageneto-sensitive type etc.The existence of direct-type rotor-position sensor makes the switched reluctance motor advantage of simple structure become inferior, has reduced system reliability, particularly be operated under the adverse circumstances of high dust, humidity, strong vibration and impact, traditional direct-type rotor-position sensor easily lost efficacy, destroyed.Moreover adopt traditional direct-type rotor-position sensor, the switch magnetic-resistance motor system line is many, poor reliability.The switched reluctance motor rotor is the reaction equation structure, and is complicated with its rotor-position of supply waveform information processing identification.Set up and use various state observers, also can obtain the switched reluctance motor rotor position information indirectly, its difficult point is to set up accurate switched reluctance motor non linear system Mathematical Modeling; Promptly allow to set up more accurate switched reluctance motor non linear system Mathematical Modeling by various modeling methods, the also current controller of its complexity of calculation is difficult to bear, and, also be difficult to adapt to the requirement of switch magnetic-resistance motor system real-time the online computing time that controller consumed.Therefore, it is very significant exploring the practical non-direct-type rotor-position sensor of switched reluctance motor scheme.
Summary of the invention
In view of the problem that prior art exists, the purpose of this invention is to provide a kind of practical, method for starting and controlling switch reluctance motor no-rotor position sensor that reliability is high.
The technical scheme of method for starting and controlling switch reluctance motor no-rotor position sensor of the present invention is: before the energising of four phase switch reluctance motors starts, each phase winding in the stator is passed to pulse voltage, pass through the size of electric current in measurement and each phase winding of comparison stator then, obtain the size ordering between each phase inductance of stator, determine rotor present located position range with this, when the setting rotor counterclockwise rotates, between 0 °～7.5 °, determine the conducting phase when D is startup mutually with A mutually in the stator as if the respective rotor position; Between 7.5 °～15 °, determine the conducting phase when D is startup mutually with A mutually in the stator as if the respective rotor position; Between 15 °～22.5 °, determine the conducting phase when A is startup mutually with B mutually in the stator as if the respective rotor position; Between 22.5 °～30 °, determine the conducting phase when A is startup mutually with B mutually in the stator as if the respective rotor position; Between 30 °～37.5 °, determine the conducting phase when B is startup mutually with C mutually in the stator as if the respective rotor position; Between 37.5 °～45 °, determine the conducting phase when B is startup mutually with C mutually in the stator as if the respective rotor position; Between 45 °～52.5 °, determine the conducting phase when C is startup mutually with D mutually in the stator as if the respective rotor position; Between 52.5 °～60 °, determine the conducting phase when C is startup mutually with D mutually in the stator as if the respective rotor position, the conducting when switched reluctance motor is started is switched on mutually and is realized the startup of switched reluctance motor.
When the rotation of setting rotor clockwise direction, between 0 °～7.5 °, determine the conducting phase when B is startup mutually with A mutually in the stator as if the respective rotor position; Between 7.5 °～15 °, determine the conducting phase when B is startup mutually with A mutually in the stator as if the respective rotor position; Between 15 °～22.5 °, determine the conducting phase when A is startup mutually with D mutually in the stator as if the respective rotor position; Between 22.5 °～30 °, determine the conducting phase when A is startup mutually with D mutually in the stator as if the respective rotor position; Between 30 °～37.5 °, determine the conducting phase when D is startup mutually with C mutually in the stator as if the respective rotor position; Between 37.5 °～45 °, determine the conducting phase when D is startup mutually with C mutually in the stator as if the respective rotor position; Between 45 °～52.5 °, determine the conducting phase when C is startup mutually with B mutually in the stator as if the respective rotor position; Between 52.5 °～60 °, determine the conducting phase when C is startup mutually with B mutually in the stator as if the respective rotor position, the conducting when switched reluctance motor is started is switched on mutually and is realized the startup of switched reluctance motor.Each phase winding in the stator is passed to pulse voltage, make the conduction time of each phase of stator identical, the electrical pulse magnitude of voltage of each phase of stator is also identical, size by electric current in measurement and each phase winding of comparison stator, obtain the size ordering between each phase inductance of stator, determine rotor present located position range with this, thereby determine the conducting phase when switched reluctance motor starts,, need not the startup that rotor-position sensor is promptly realized switched reluctance motor its energising.
Method for starting and controlling switch reluctance motor no-rotor position sensor of the present invention is applicable to the switch magnetic-resistance motor system of the various numbers of phases, structure.Pass to the pulse voltage of very short time for each phase winding in the switched reluctance motor stator before the energising startup, and the conduction time that guarantees each phase of stator is identical, the electrical pulse magnitude of voltage of each phase of stator is also identical, size by electric current in measurement and each phase winding of comparison stator, just can obtain the size ordering between each phase inductance of stator, determine rotor present located position range, thereby determine the conducting phase when switched reluctance motor starts, to its energising, implement the startup of switched reluctance motor.Compared with the prior art: need not rotor-position sensor, method of testing is simple, designs simplification, and system has higher operational reliability and fault-tolerant ability, and dynamic response is fast, and cost is low, has practicality widely.
Description of drawings
Fig. 1 is a switched reluctance motor schematic cross-section of the present invention.
Fig. 2 is switched reluctance motor of the present invention phase inductance curve phase diagram when counterclockwise rotating.
Phase inductance curve phase diagram when Fig. 3 is switched reluctance motor clockwise direction of the present invention rotation.
Among the figure: 1-stator 2-rotor
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are further described:
Method for starting and controlling switch reluctance motor no-rotor position sensor of the present invention, shown in Figure 1, with four mutually 8/6 configuration switches reluctance motor be example, get position that A phase stator poles center line and rotor center line coincide and be the rotor-position of θ=0 °.
When setting rotor 2 counterclockwise rotates, the inductance L of the A in the stator 1, B, C, D four phase windings
A, L
B, L
C, L
DSize and phase relation as shown in Figure 2; Every 7.5 °, the inductance L of A, B, C, D four phase windings in the stator 1
A, L
B, L
C, L
DSize ordering can take place once to change.A, B, each phase winding of C, D pass to the pulse voltage of very short time in the switched reluctance motor stator 1 before starting for energising, about 5～10 milliseconds of times, guarantee that the conduction time of A, B, C, each phase of D in the stator 1 is identical, the electrical pulse magnitude of voltage is also identical; Measure each phase current size by current sensor or resistance sampling device, with current i in A, B, each phase winding of C, D in comparator or the CPU comparison stator 1
A, i
B, i
C, i
DSize, if i
A＞i
B＞i
D＞i
C, then each phase inductance magnitude relationship is L
A＜L
B＜L
D＜L
C, corresponding diagram 2, rotor-position just between 0 °～7.5 °, determines that D is the conducting phase mutually with A mutually in the stator 1, when D is switched on mutually with A mutually, can produce the detent torque that allows rotor counterclockwise rotate.When should rotor being in other rotor-position scope, also can allow motor produce the detent torque that rotor is counterclockwise rotated.
When setting the rotation of rotor 2 clockwise directions, the inductance L of the A in the stator 1, B, C, D four phase windings
A, L
B, L
C, L
DSize and phase relation as shown in Figure 3.Every 7.5 °, the inductance L of A, B, C, D four phase windings in the stator 1
A, L
B, L
C, L
DSize ordering can take place once to change.A, B, each phase winding of C, D pass to the pulse voltage of very short time in the switched reluctance motor stator 1 before starting for energising, about 5～10 milliseconds of times, guarantee that the conduction time of A, B, C, each phase of D in the stator 1 is identical, the electrical pulse magnitude of voltage is also identical; Measure each phase current size by current sensor or resistance sampling device, with current i in A, B, each phase winding of C, D in comparator or the CPU comparison stator 1
A, i
B, i
C, i
DSize, if i
A＞i
B＞i
D＞i
C, then each phase inductance magnitude relationship is L
A＜L
B＜L
D＜L
C, corresponding diagram 3, rotor-position just between 52.5 °～60 °, determine in the stator 1 C mutually and B be the conducting phase mutually, allow the right handed detent torque of rotor when the C phase being switched on mutually with B, can producing.When should rotor being in other rotor-position scope, also can allowing motor produce and make the right handed detent torque of rotor.
Claims (2)
1. method for starting and controlling switch reluctance motor no-rotor position sensor, it is characterized in that: before the energising of four phase switch reluctance motors starts, each phase winding in the stator (1) is passed to pulse voltage, pass through the size of electric current in measurement and each phase winding of comparison stator (1) then, obtain the size ordering between each phase inductance of stator (1), determine rotor (2) present located position range with this, when setting rotor (2) counterclockwise rotates, between 0 °～7.5 °, determine the conducting phase when middle D phase of stator (1) and A are startup mutually as if the respective rotor position; Between 7.5 °～15 °, determine the conducting phase when middle D phase of stator (1) and A are startup mutually as if the respective rotor position; Between 15 °～22.5 °, determine the conducting phase when middle A phase of stator (1) and B are startup mutually as if the respective rotor position; Between 22.5 °～30 °, determine the conducting phase when middle A phase of stator (1) and B are startup mutually as if the respective rotor position; Between 30 °～37.5 °, determine the conducting phase when middle B phase of stator (1) and C are startup mutually as if the respective rotor position; Between 37.5 °～45 °, determine the conducting phase when middle B phase of stator (1) and C are startup mutually as if the respective rotor position; Between 45 °～52.5 °, determine the conducting phase when middle C phase of stator (1) and D are startup mutually as if the respective rotor position; Between 52.5 °～60 °, determine the conducting phase when middle C phase of stator (1) and D are startup mutually as if the respective rotor position, the conducting when switched reluctance motor is started is switched on mutually and is realized the startup of switched reluctance motor;
When setting rotor (2) clockwise direction rotates, between 0 °～7.5 °, determine the conducting phase when middle B phase of stator (1) and A are startup mutually as if the respective rotor position; Between 7.5 °～15 °, determine the conducting phase when middle B phase of stator (1) and A are startup mutually as if the respective rotor position; Between 15 °～22.5 °, determine the conducting phase when middle A phase of stator (1) and D are startup mutually as if the respective rotor position; Between 22.5 °～30 °, determine the conducting phase when middle A phase of stator (1) and D are startup mutually as if the respective rotor position; Between 30 °～37.5 °, determine the conducting phase when middle D phase of stator (1) and C are startup mutually as if the respective rotor position; Between 37.5 °～45 °, determine the conducting phase when middle D phase of stator (1) and C are startup mutually as if the respective rotor position; Between 45 °～52.5 °, determine the conducting phase when middle C phase of stator (1) and B are startup mutually as if the respective rotor position; Between 52.5 °～60 °, determine the conducting phase when middle C phase of stator (1) and B are startup mutually as if the respective rotor position, the conducting when switched reluctance motor is started is switched on mutually and is realized the startup of switched reluctance motor.
2. method for starting and controlling switch reluctance motor no-rotor position sensor according to claim 1 is characterized in that: the conduction time to each phase in the stator (1) is identical, and is also identical to the electrical pulse magnitude of voltage of each phase in the stator (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100410401A CN1333517C (en) | 2005-07-11 | 2005-07-11 | Method for starting and controlling switch reluctance motor no-rotor position sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100410401A CN1333517C (en) | 2005-07-11 | 2005-07-11 | Method for starting and controlling switch reluctance motor no-rotor position sensor |
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| Publication Number | Publication Date |
|---|---|
| CN1734928A CN1734928A (en) | 2006-02-15 |
| CN1333517C true CN1333517C (en) | 2007-08-22 |
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| CNB2005100410401A Expired - Fee Related CN1333517C (en) | 2005-07-11 | 2005-07-11 | Method for starting and controlling switch reluctance motor no-rotor position sensor |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101902190B (en) * | 2010-07-28 | 2012-07-04 | 南京航空航天大学 | Method for estimating rotor position of switched reluctance motor without position sensor |
| CN103078586A (en) * | 2012-12-25 | 2013-05-01 | 南京航空航天大学 | Non-location technology for three-phase electro-magnetic double-salient pole machine starting and accelerating based on induction method |
| WO2014174339A1 (en) * | 2013-04-22 | 2014-10-30 | Freescale Semiconductor, Inc. | Method, computer program product and controller for starting-up a switched reluctance motor, and electrical apparatus implementing same |
| CN106026843B (en) * | 2016-06-15 | 2018-04-10 | 南京晓庄学院 | A kind of switched reluctance machines initial position estimation method based on time threshold |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5627444A (en) * | 1995-05-30 | 1997-05-06 | General Motors Corporation | Switched reluctance motor control |
| US5859518A (en) * | 1997-12-22 | 1999-01-12 | Micro Linear Corporation | Switched reluctance motor controller with sensorless rotor position detection |
| CN1412938A (en) * | 2001-10-12 | 2003-04-23 | 乐金电子(天津)电器有限公司 | Primary starting method for switch reluctance machine |
-
2005
- 2005-07-11 CN CNB2005100410401A patent/CN1333517C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5627444A (en) * | 1995-05-30 | 1997-05-06 | General Motors Corporation | Switched reluctance motor control |
| US5859518A (en) * | 1997-12-22 | 1999-01-12 | Micro Linear Corporation | Switched reluctance motor controller with sensorless rotor position detection |
| CN1412938A (en) * | 2001-10-12 | 2003-04-23 | 乐金电子(天津)电器有限公司 | Primary starting method for switch reluctance machine |
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|---|---|
| CN1734928A (en) | 2006-02-15 |
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Granted publication date: 20070822 Termination date: 20180711 |