CN1848661A - Apparatus and method for realizing switch magnetic resistance motor electronic gear function - Google Patents
Apparatus and method for realizing switch magnetic resistance motor electronic gear function Download PDFInfo
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- CN1848661A CN1848661A CNA2006100132769A CN200610013276A CN1848661A CN 1848661 A CN1848661 A CN 1848661A CN A2006100132769 A CNA2006100132769 A CN A2006100132769A CN 200610013276 A CN200610013276 A CN 200610013276A CN 1848661 A CN1848661 A CN 1848661A
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Abstract
A method for realizing function of electronic gear on switching reluctance motor includes connecting said motor separately to servo controller of said motor, electronic gear circuit and power circuit; connecting electronic gear controller of said motor to power circuit, keyboard and display circuit; using said motor rotator position detected out by detection circuit and teeth number ratio set by client in advance to carry out vector addition on motor torque for realizing function of electronic gear. The device for realizing said method is also disclosed.
Description
Technical field
The invention belongs to a kind of electronic gear implementation method and device, particularly switched reluctance machines (Switched Reluctance Motor is called for short SRM) electronic gear function implement device and method with the alternative mechanical drive train of electric drive control system.
Background technology
Characteristics such as gear is accurate with its gearratio, transmitted power is big, stable drive machinery, metallurgy, papermaking, etc. obtained application widely in each industrial department.But in some application, gear drive exist driving error big, be difficult to realize defective (" electronic gearbox systematic research and application " such as distribution transmission, " 2001.3 Machine Design and manufacturing engineering "), as at print field, because the distortion and the gear clearance of power transmission shaft impact printing machine tension force and chromatography, to directly influence the qualification rate of product, cause unnecessary waste and economic loss.And in actual applications, motor and its mechanical location adopt the connected mode of gear, in case after fixedly connected, the motor mechanical axis displacement that produces that whenever turns around is certain.If to change that motor whenever turns around and the mechanical axis displacement that produces between relation, then need change the gear of the corresponding number of teeth, change inconvenient.Therefore, people are studying with electric drive control system always and are replacing mechanical gear transmission chain (" simple and easy method that electronic gear is realized in the position control system ", 2001.4, " machinery and electronics ").Current research to electronic gear concentrates in the digital servosystem with higher control precision mostly, and its servomotor mostly is the servomotor with high-resolution photoimpact encoder or rotary encoder, controller architecture complexity, cost height.At present the motor self-characteristic is fully studied less, particularly to firm in structure, reliability is high, control is simple and reliable, but the low switched reluctance machines of self-position feedback accuracy yet there are no further investigation in this respect.Switched reluctance machines is controlled with the method for work that is similar to brushless DC motor.Because of winding be folk prescription to energising, its electronic circuit is simple and reliable.Owing to do not have winding on the rotor, be to build up with the silicon steel sheet moulding, be concentrated winding on the stator, be easy to accomplish heat radiation, be easy to sealing, motor is sturdy and durable, the reliability height, it has higher efficient, little starting current and big detent torque, is fit to very much be applied to various transmission occasions.But switched reluctance machines develops from the wide-angle stepping motor, and step angle is big, and the P-pulse number of every circle seldom traditional pass through pulse and calculates the electronic gear method that realizes and can not be suitable for.And the characteristics that the nonlinear characteristic of switched reluctance machines and torque pulsation are difficult to suppress make its application in servo system have sizable difficulty, have increased it more and have realized the difficulty of electronic gear function.(" present Research of SRM control technology and development trend ", 2000.2, " information and exploitation ")
Summary of the invention
The purpose of this invention is to provide a kind of switch magnetic resistance motor electronic gear function implement device and method, at above-mentioned situation, solved that the nonlinear characteristic of switched reluctance machines and torque pulsation are difficult to suppress and the few problem of P-pulse number of every circle, and then find out the few switch magnetic resistance motor electronic gear function implementation method of every circle P-pulse number, and develop switch magnetic resistance motor electronic gear function and realize system.
Electronic gear is simulated mechanically operated a kind of method by the electronics mode, is driven in another axle with variable than closed loop axle of mode " pressure ".
Switch magnetic resistance motor electronic gear function device of the present invention mainly comprises: switch magnetic resistance motor electronic gear controller, power circuit, keyboard and display circuit, current detection circuit and position detecting circuit and switched reluctance machines (SRM); Its connected mode is: switched reluctance machines all links to each other with power circuit with the switch magnetic resistance motor electronic gear controller, switched reluctance machines is by linking to each other with the switch magnetic resistance motor electronic gear controller, and keyboard and display circuit link to each other with the switch magnetic resistance motor electronic gear controller.Current detection circuit links to each other with electronic gear controller, position detecting circuit and switched reluctance machines respectively, and position detecting circuit links to each other with switched reluctance machines with the electronic gear controller respectively.
Described switch magnetic resistance motor electronic gear controller comprises: DSP (Digital Signal Processing) processor circuit, current signal treatment circuit, motor protective circuit connect successively.The current signal treatment circuit changes into the acceptable voltage signal of DSP with detected motor windings current signal; and this signal is connected to motor protective circuit; motor protective circuit judges whether to provide protection to motor according to the electric current and voltage state of the motor that detects, and the abnormality information of motor is offered motor protective circuit.
Current detection circuit is selected Hall current sensor for use, and the motor lead is passed Hall current sensor, and Hall current sensor just can be sensed the current value that the motor lead flows through, and is connected to the current signal treatment circuit.
Position detecting circuit comprises: photoelectrical position sensor, inverter CD4049 and position-sensor-free rotor position estimation link.Photoelectrical position sensor links to each other with inverter CD4049 (six anti-phase buffering/converters), and position-sensor-free rotor position estimation link is realized by DSP.
The operation principle of switch magnetic resistance motor electronic gear controller is: the switched reluctance machines position signalling is sent into dsp processor; current signal is isolated through the current signal treatment circuit; amplitude limit is sent into dsp processor; the detected electric motor protecting signal of power circuit sends into dsp processor respectively and motor protective circuit carries out soft; the hardware duplicate protection; guarantee the safety of system; reliability; dsp processor will be responsible for receiving the electronic gear number of teeth ratio that keyboard feeds; and according to the detected rotor-position of position detecting circuit; the current stator current that the current signal treatment circuit draws; conducting is controlled mutually to the switched reluctance machines stator winding; electric current is carried out PWM (pulse-width modulation) control, thereby realize the function of electronic gear.
The switched reluctance machines position detecting circuit is: original photoelectrical position sensor combines with position-sensor-free rotor position estimation technology; Wherein, position-sensor-free rotor position estimation technology is utilized the detected current value of current detection circuit and with formula ψ=∫ (U
s-Ri) dt (Us refers to the winding phase voltage) the magnetic linkage value of trying to achieve obtains rotor-position by the fuzzy model between switch reluctance machine rotor, electric current and the magnetic linkage three, and utilizes the position signalling of original photoelectrical position sensor to carry out on-line correction.
Power circuit comprises rectification circuit, splits phase capacitance partial pressure circuit, half bridge inverter circuit, Switching Power Supply.Its connected mode is: AC power is connected to rectification circuit, and capacitance partial pressure circuit, Switching Power Supply are connected rectification circuit with splitting mutually respectively, split phase capacitance partial pressure circuit and connect half bridge inverter circuit.
Keyboard and display circuit comprise button, charactron and chip for driving thereof, in order to realizing the given of electronic gear gear ratio, stabilized (steady-state) speed and stroke, and realize the real-time demonstration to motor operating parameters such as rotating speed, strokes.
The switch magnetic resistance motor electronic gear function implementation method is: utilize position detecting circuit that the switch reluctance machine rotor position signalling is passed to the switch magnetic resistance motor electronic gear controller, conducting phase by controller decision motor stator winding this moment, by reading the user in advance by the given electronic gear gear ratio of keyboard, the size of current of definite phase of will switching on, stator winding electrifying can produce the torque of a certain size and direction, by to the energising mutually given corresponding electric current, vector addition is carried out in the torque that energising produces mutually, so spatially just formed the orientational vector that satisfies the electronic gear gear ratio, realize that given pulse is consistent with the actual mechanical axis displacement that requires, thereby realize electronic gear function.
The invention provides a cover switch magnetic resistance motor electronic gear system, overcome that the nonlinear characteristic of switched reluctance machines and torque pulsation are difficult to suppress and the few problem of P-pulse number of every circle, and then find out the few switch magnetic resistance motor electronic gear function implementation method of every circle P-pulse number, make the switched reluctance machines step angle to be segmented according to given gear ratio, the connected mode that replaces mechanical gear, thereby simplification drive system, avoided the distortion of the power transmission shaft that brings by the connected mode of mechanical gear, gear clearance, driving error is big, the influence that the defectives such as transmission that are difficult to realize to distribute cause makes switched reluctance machines be able to use in high-performance driving field.Compare with other electronic gears, this system electronic gear implementation method does not need input pulse treatment circuit digital control frequency generation circuit, and this system electronic gear and the shared dsp processor of switched reluctance motor controller, and is therefore simple in structure, easy to operate, cost is low.
The present invention can form high performance switched reluctance motor servo system, be applied to systems such as robot, Digit Control Machine Tool, radar tracking, cannon servo-actuated, be widely used in industries such as mine, metallurgy, electric power, chemical industry, oil, can effectively improve its dynamic and static state performance, can reduce complicated in mechanical structure, improve control precision.
Description of drawings
Fig. 1: system configuration schematic diagram of the present invention.
Fig. 2: electronic gear implementation method schematic diagram of the present invention.
Fig. 3: torque composition principle figure of the present invention.
Embodiment
Shown in Figure 1, switch magnetic resistance motor electronic gear function implementation method of the present invention and device mainly comprise: switch magnetic resistance motor electronic gear controller, power circuit, keyboard and display circuit, current detection circuit and position detecting circuit and switched reluctance machines.Its connected mode is: switched reluctance machines all links to each other with power circuit with the switch magnetic resistance motor electronic gear controller, switched reluctance machines is by linking to each other with the switch magnetic resistance motor electronic gear controller, and keyboard and display circuit link to each other with the switch magnetic resistance motor electronic gear controller.Current detection circuit links to each other with electronic gear controller, position detecting circuit and switched reluctance machines respectively, and position detecting circuit links to each other with switched reluctance machines with the electronic gear controller respectively.
Described switch magnetic resistance motor electronic gear controller comprises: dsp processor circuit, current signal treatment circuit, motor protective circuit; its connected mode is: the current signal treatment circuit changes into the acceptable voltage signal of DSP with detected motor windings current signal; and this signal is connected to motor protective circuit; motor protective circuit judges whether to provide protection to motor according to the electric current and voltage state of the motor that detects, and the abnormality information of motor is offered motor protective circuit.
Current detection circuit is selected Hall current sensor for use, and the motor lead is passed Hall current sensor, and Hall current sensor just can be sensed the current value that the motor lead flows through, and is connected to the current signal treatment circuit
Position detecting circuit comprises: photoelectrical position sensor, inverter CD4049 and position-sensor-free rotor position estimation link.Photoelectrical position sensor links to each other with inverter CD4049, and position-sensor-free rotor position estimation link is realized by DSP.Switched reluctance machines position detecting circuit operation principle is: original photoelectrical position sensor combines with position-sensor-free rotor position estimation technology; Wherein, position-sensor-free rotor position estimation technology is utilized the detected current value of current detection circuit and with formula ψ=∫ (U
s-Ri) dt (Us refers to the winding phase voltage) the magnetic linkage value of trying to achieve obtains rotor-position by the fuzzy model between switch reluctance machine rotor, electric current and the magnetic linkage three, and utilizes the position signalling of original photoelectrical position sensor to carry out on-line correction.
The operation principle of switch magnetic resistance motor electronic gear controller is: the switched reluctance machines position signalling is sent into dsp processor; current signal is isolated through the current signal treatment circuit; amplitude limit is sent into dsp processor; the detected electric motor protecting signal of power circuit sends into dsp processor respectively and motor protective circuit carries out soft; the hardware duplicate protection; guarantee the safety of system; reliability; dsp processor will be responsible for receiving the electronic gear number of teeth ratio that keyboard feeds; and according to the detected rotor-position of position detecting circuit; the current stator current that the current signal treatment circuit draws; conducting is controlled mutually to the switched reluctance machines stator winding; electric current is carried out PWM control, thereby realize the function of electronic gear.
Power circuit comprises rectification circuit, splits phase capacitance partial pressure circuit, half bridge inverter circuit, Switching Power Supply.Its connected mode is: AC power is connected to rectification circuit, and capacitance partial pressure circuit, Switching Power Supply are connected rectification circuit with splitting mutually respectively, split phase capacitance partial pressure circuit and connect half bridge inverter circuit.
Keyboard and display circuit comprise button, charactron and chip for driving thereof, in order to realizing the given of electronic gear gear ratio, stabilized (steady-state) speed and stroke, and realize the real-time demonstration to motor operating parameters such as rotating speed, strokes.
In conjunction with shown in Figure 1, alternating-current power supply is controlled by the controller through over-power circuit and offers switched reluctance machines.The position signalling of the position detecting circuit of switch magnetic resistance motor electronic gear controller receiving key reluctance motor decides the conducting phase of motor this moment, by reading the user by the given electronic gear number of teeth of keyboard recently determine the to switch on size of current of phase winding, and electric current is carried out closed-loop adjustment by the current signal that current sensor transmits, to obtain the winding current of expectation, obtain the space orientation torque vector, realize that given pulse is consistent with the actual mechanical axis displacement that requires, thereby realize electronic gear function.Wherein current detection circuit also provides required current value for position detecting circuit.
Shown in Figure 2 is electronic gear implementation method schematic diagram of the present invention; the implementation method principle of switch magnetic resistance motor electronic gear controller is: the switched reluctance machines position signalling is sent into dsp processor; current signal is isolated through the current signal treatment circuit; amplitude limit is sent into dsp processor; the detected electric motor protecting signal of power circuit sends into dsp processor respectively and motor protective circuit carries out soft; the hardware duplicate protection; guarantee the safety of system; reliability; dsp processor will be responsible for receiving the electronic gear number of teeth ratio that keyboard feeds; and according to the detected rotor-position of position detecting circuit; the current stator current that the current signal treatment circuit draws; conducting is controlled mutually to the switched reluctance machines stator winding; electric current is carried out PWM control, thereby realize the function of electronic gear.By the position feedback quantity is calculated, judge whether motor covers given stroke, does not finish the appointment stroke generally, then allow to carry out electric current and distribute, otherwise, then stop any winding power supply.On the other hand, the feedback signal of position decides to switch on to which phase or which two phase winding of motor this moment.Electric current distributes link by the electronic gear number of teeth recently determine the to switch on size of current of phase winding.Stator winding electrifying can produce the torque of a certain size and direction, and by to the mutually given corresponding electric current of energising, vector addition is carried out in the torque that energising produces mutually, so spatially just formed the orientational vector that satisfies the electronic gear gear ratio.
As shown in Figure 3, be example with 8/6 structure switch magnetic resistance motor, A, B, the mutually single energising of C, D produce torque T accordingly
A, T
B, T
C, T
D, conducting successively in order, then the each stepping of motor is 15 °, if gear ratio is given as 1: 3, electric current distributes corresponding identical each the self-corresponding electric current of A, B of giving successively of link, produces torque T
A, T
AB, T
AB ', T
BAnd its synthetic level of torque is equated, as T
AB, be by T
A ', T
B 'Synthetic and next.Motor will be realized the function of electronic gear with the 5 ° of steppings of per step like this, and because the size of synthetic torque is the same, well overcome the torque pulsation of switched reluctance machines.
Claims (8)
1. a switch magnetic resistance motor electronic gear function implement device is characterized in that it mainly comprises: switch magnetic resistance motor electronic gear controller, power circuit, keyboard and display circuit, current detection circuit and position detecting circuit and switched reluctance machines;
Switched reluctance machines all links to each other with power circuit with the switch magnetic resistance motor electronic gear controller, and switched reluctance machines is by linking to each other with the switch magnetic resistance motor electronic gear controller, and keyboard and display circuit link to each other with the switch magnetic resistance motor electronic gear controller; Current detection circuit links to each other with electronic gear controller, position detecting circuit and switched reluctance machines respectively, and position detecting circuit links to each other with switched reluctance machines with the electronic gear controller respectively.
2, according to the described switch magnetic resistance motor electronic gear function implement device of claim 1; it is characterized in that described switch magnetic resistance motor electronic gear controller comprises: digital signal processor circuit, current signal treatment circuit, motor protective circuit connect successively.The current signal treatment circuit changes into the acceptable voltage signal of DSP with detected motor windings current signal; and this signal is connected to motor protective circuit; motor protective circuit judges whether to provide protection to motor according to the electric current and voltage state of the motor that detects, and the abnormality information of motor is offered motor protective circuit.
3, according to the described switch magnetic resistance motor electronic gear function implement device of claim 1, it is characterized in that described current detection circuit selects Hall current sensor for use, the motor lead is passed Hall current sensor, Hall current sensor just can be sensed the current value that the motor lead flows through, and is connected to the current signal treatment circuit.
4, according to the described switch magnetic resistance motor electronic gear function implement device of claim 1, it is characterized in that described position detecting circuit comprises: photoelectrical position sensor, inverter CD4049 and position-sensor-free rotor position estimation link; Photoelectrical position sensor links to each other with inverter CD4049, and position-sensor-free rotor position estimation link is realized by DSP.
5, according to the described switch magnetic resistance motor electronic gear function implement device of claim 1, it is characterized in that described switched reluctance machines position detecting circuit is: original photoelectrical position sensor combines with position-sensor-free rotor position estimation technology; Wherein, position-sensor-free rotor position estimation technology is utilized the detected current value of current detection circuit and with formula ψ=∫ (U
s-R
i) dt, Us refers to the winding phase voltage, the magnetic linkage value of trying to achieve obtains rotor-position by the fuzzy model between switch reluctance machine rotor, electric current and the magnetic linkage three, and utilizes the position signalling of original photoelectrical position sensor to carry out on-line correction.
6, according to the described switch magnetic resistance motor electronic gear function implement device of claim 1, it is characterized in that described power circuit comprises rectification circuit, splits phase capacitance partial pressure circuit, half bridge inverter circuit, Switching Power Supply, its connected mode is: AC power is connected to rectification circuit, capacitance partial pressure circuit, Switching Power Supply are connected rectification circuit with splitting mutually respectively, split phase capacitance partial pressure circuit and connect half bridge inverter circuit.
7, according to the described switch magnetic resistance motor electronic gear function implement device of claim 1, it is characterized in that described keyboard and display circuit comprise button, charactron and chip for driving thereof, in order to realizing the given of electronic gear gear ratio, stabilized (steady-state) speed and stroke, and realize real-time demonstration to motor operating parameters such as rotating speed, strokes.
8, the implementation method of the described switch magnetic resistance motor electronic gear function of claim 1, it is characterized in that utilizing position detecting circuit that the switch reluctance machine rotor position signalling is passed to the switch magnetic resistance motor electronic gear controller, conducting phase by controller decision motor stator winding this moment, by reading the user in advance by the given electronic gear gear ratio of keyboard, the size of current of definite phase of will switching on, stator winding electrifying can produce the torque of a certain size and direction, by to the energising mutually given corresponding electric current, vector addition is carried out in the torque that energising produces mutually, so spatially just formed the orientational vector that satisfies the electronic gear gear ratio, realize that given pulse is consistent with the actual mechanical axis displacement that requires, thereby realize electronic gear function.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102361426A (en) * | 2011-10-28 | 2012-02-22 | 常州华阳电子科技有限公司 | Rotor angle subdivision method for switched reluctance motor speed regulation system |
| CN103611990A (en) * | 2013-11-15 | 2014-03-05 | 天津大学 | Method for processing spiral bevel gears on general six-axle numerically-controlled machine tool |
| CN113364388A (en) * | 2021-06-15 | 2021-09-07 | 河北工业大学 | Drive reconstruction type circuit based on SRM and vehicle-mounted integrated charging and feeding system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101860298B (en) * | 2010-05-25 | 2013-06-05 | 安徽络力机电科技有限公司 | Switched reluctance motor controller |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6448736B1 (en) * | 2001-04-16 | 2002-09-10 | Motorola, Inc. | Method for controlling switched reluctance motor, and controller |
| CN1457142A (en) * | 2002-05-10 | 2003-11-19 | 扬州中凌电机技术有限公司 | Magnetic resistance switch speed-adjustable motor controller |
| JP2004096842A (en) * | 2002-08-29 | 2004-03-25 | Mitsubishi Heavy Ind Ltd | Switched reluctance motor controller |
-
2006
- 2006-03-13 CN CNB2006100132769A patent/CN100449931C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102361426A (en) * | 2011-10-28 | 2012-02-22 | 常州华阳电子科技有限公司 | Rotor angle subdivision method for switched reluctance motor speed regulation system |
| CN102361426B (en) * | 2011-10-28 | 2013-04-24 | 常州华阳电子科技有限公司 | Rotor angle subdivision method for switched reluctance motor speed regulation system |
| CN103611990A (en) * | 2013-11-15 | 2014-03-05 | 天津大学 | Method for processing spiral bevel gears on general six-axle numerically-controlled machine tool |
| CN103611990B (en) * | 2013-11-15 | 2015-12-02 | 天津大学 | A kind of method of processing spiral bevel gear on general six Shaft and NC Machining Test lathes |
| CN113364388A (en) * | 2021-06-15 | 2021-09-07 | 河北工业大学 | Drive reconstruction type circuit based on SRM and vehicle-mounted integrated charging and feeding system |
| CN113364388B (en) * | 2021-06-15 | 2022-07-22 | 河北工业大学 | Drive reconstruction type circuit based on SRM and vehicle-mounted integrated charging and feeding system |
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