CN205051611U - Motor drive system that restraines switched reluctance motor torque ripple - Google Patents

Motor drive system that restraines switched reluctance motor torque ripple Download PDF

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Publication number
CN205051611U
CN205051611U CN201520778343.0U CN201520778343U CN205051611U CN 205051611 U CN205051611 U CN 205051611U CN 201520778343 U CN201520778343 U CN 201520778343U CN 205051611 U CN205051611 U CN 205051611U
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torque
module
motor
control
ditc
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CN201520778343.0U
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Chinese (zh)
Inventor
吴荒原
王双红
闫琳
赵建培
陈逸潇
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Wuhan Shenlan Power Technology Co Ltd
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Wuhan Shenlan Power Technology Co Ltd
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Abstract

The utility model discloses a motor drive system that restraines switched reluctance motor torque ripple, this system include SR motor, power converter, controller and detecting element, wherein: the controller includes voltage control module and torque control module, power converter includes the asymmetric half -bridge circuit, and the asymmetric half -bridge circuit carries out the direct instantaneous torque control (DITC) to the SR motor under torque control module's control, this power converter is still including cascading the DCDC transfer circuit at this asymmetry half -bridge circuit front end, and the input voltage of asymmetric half -bridge circuit is adjusted in real time to this DCDC transfer circuit under the control of voltage controller's PWM. The utility model discloses can effectively restrain switched reluctance motor torque ripple.

Description

Suppress the motor driven systems of switched reluctance machines torque pulsation
Technical field
The utility model relates to electric machine control system field, particularly relates to a kind of motor driven systems suppressing switched reluctance machines torque pulsation.
Background technology
The many merits such as switching magnetic-resistance (hereinafter referred to as SR) motor has mechanical structure simple rigid, low cost of manufacture, can run at higher temperature and rotating speed.So SR motor speed regulation system is considered to a kind of New Speed Control System having development prospect and market potential.At present, in the fields such as new-energy automobile, universal industrial (oil pumper, compressor etc.), Aero-Space (starter-generator), obtained application in various degree.
SR motor traditional control method divides with control object, mainly comprises Current cut control (CCC), voltage chopping controls (CVC) and Angle-domain imaging (APC) three kinds.SR motor has different operation characteristics at different property interval, and control strategy comparatively common in practical application is that above three kinds of control methods are passed through combination, reaches the diversified demand meeting electric drive system, makes motor operate in best operating state.
Although traditional control method can realize the four quadrant running of switched reluctance motor system, the torque pulsation problem existing for switched reluctance machines effectively cannot be solved.Up to the present minimize in research at SR motor torque ripple, Chinese scholars has proposed much different technology.
At torque ripple reduction, improve torque output facet, at present main exist two kinds of approach: a kind of is optimal design from the viewpoint of motor body, as carried out torque ripple reduction by the rotor polar arc of adjustment SR motor, by changing electromechanics structural design to obtain good torque characteristics, be suitable under specific occasion and performance index, but this method will sacrifice motor output torque level.Another kind is based on calculated off-line data, the phase current waveform optimized under obtaining expectation torque is as control objectives, perform such algorithm in the controller and need a large amount of computing costs and memory space, implement comparatively complicated, and static data calculated off-line lacks the reaction to actual dynamic process, can there is certain error in control precision.If the torque that the control strategy of reasonable science can be adopted to improve SR motor exports, can realize in the larger context the suppression of torque pulsation, also more easily apply.
Utility model content
Utility model object of the present utility model, be the direct control object using torque as SR motor, and the control that can effectively realize synthesis torque, compared with other control mode, there is the fastest torque response, no matter, in low speed or High-speed Control, better torque effect of optimization can both be reached.
The utility model for the adopted technical scheme that achieves the above object is:
A kind of motor driven systems suppressing switched reluctance machines torque pulsation is provided, comprises SR motor, power inverter, controller and detecting unit, wherein:
Described controller comprises voltage control module and torque control module;
Described power inverter comprises asymmetry half-bridge circuit, and this asymmetry half-bridge circuit, under the control of torque control module, carries out direct Instantaneous torque control to SR motor; This power inverter also comprises the DC/DC translation circuit that level is associated in this asymmetry half-bridge circuit front end, and this DC/DC translation circuit, under the PWM of voltage controller controls, regulates the input voltage of asymmetry half-bridge circuit in real time.
In system described in the utility model, described detecting unit comprises position detecting module, electric circuit inspection module and voltage detection module, described position detecting module is connected with SR motor, and current detection module is connected with asymmetry half-bridge circuit, and described voltage detection module is connected with power inverter.
In system described in the utility model, described DC/DC translation circuit is four-quadrant DC/DC translation circuit.
In system described in the utility model, torque control module comprises sector judge module, torque estimation module, hystersis controller and DITC switch list module, sector judge module is connected with position detecting module, torque estimation module is connected with position detecting module, current detection module, hystersis controller and torque estimation module, DITC switch list model calling;
Torque estimation module is according to the output calculating torque estimated value of position detecting module and current detection module; Hystersis controller generates Hysteresis control instruction according to torque instruction value and torque estimated value; Be previously stored with DITC switch list in DITC switch list module, the on off state value in DITC switch list is selected in the sector position that this DITC switch list module calculates according to sector judge module and Hysteresis control instruction, and exports to asymmetry half-bridge circuit.
In system described in the utility model, SR motor is SR three phase electric machine.
The utility model additionally provides a kind of method suppressing switched reluctance machines torque pulsation, comprises the following steps:
Cascade DC/DC translation circuit before asymmetry half-bridge circuit;
By the input voltage of PWM control DC/DC translation circuit, and regulate the direct current busbar voltage of SR motor;
By the torque of instantaneous torque value control SR motor.
In method described in the utility model, in the method, instantaneous torque value obtains especially by following steps:
Detect the position data of SR motor, and the current value of asymmetry half-bridge circuit;
The sector position of SR motor is calculated according to position data
Torque estimated value is generated according to the position data detected and current value;
Hysteresis control instruction is generated according to torque instruction value and torque estimated value;
Select the on off state value in the DITC switch list prestored according to sector position and Hysteresis control instruction, and export to asymmetry half-bridge circuit.
In method described in the utility model, the concrete computational process of torque estimated value is: using the rotor position angle in position data and the phase current in current value as input variable, through to table look-up and linear interpolation arithmetic obtains single-phase electromagnetic torque, three superimposedly obtain the total electromagnetic torque estimated value of SR motor.
The beneficial effect that the utility model produces is: the utility model proposes a kind of improving one's methods for traditional SRD power circuit, in order to realize the adjustment to DC bus-bar voltage, design a level and be associated in DC/DC translation circuit on asymmetry half-bridge circuit, control system is by controlling the PWM of this DC/DC translation circuit main switch IGBT, SR motor phase windings DC bus-bar voltage can be regulated in real time, realize DC bus-bar voltage Optimum Matching under different operating condition, further torque ripple reduction on the basis of DITC.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1 is the structured flowchart that the utility model embodiment suppresses the motor driven systems of switched reluctance machines torque pulsation;
Fig. 2 is the asymmetrical three-phase half-bridge circuit of the utility model embodiment;
Fig. 3 is that magnetic linkage is about position and current profile;
Fig. 4 is that torque is about position and current profile;
Fig. 5 is the DITC control block diagram of the utility model in conjunction with DC/DC translation circuit voltage-regulation;
Fig. 6 is the SR electric machine non-linear structure of the utility model embodiment;
Fig. 7 is the single-phase asymmetry half-bridge circuit of the utility model embodiment;
Fig. 8 is that the utility model embodiment suppresses the motor of switched reluctance machines torque pulsation to drive schematic diagram;
Fig. 9 is that online instantaneous torque measures structural representation.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Driving system for switched reluctance is formed primarily of four unit, is respectively SR motor, power inverter, controller and detecting unit, and its basic structure is shown in Fig. 1.Wherein, SR motor is the calutron of energy converting between mechanical in system, completes the conversion between mechanical energy and electric energy, is the tie realizing power conversion and transmission between governing system and mechanical transmission structure.The Main Function of power inverter provides electric energy to SR motor, or the electric energy that SR generator exports is delivered in external power source and gone, and is the interface between system and external power source.Because SR electric machine phase current has unidirectional characteristic, power inverter can adopt unipolar main circuit topology.
Controller is the part of SR motor driven systems most critical, it needs the voltage of real-time detecting system, electric current and position signalling, complete collection computing and the process of data, according to the driving systolic implementation of control command generating power contactor to the control of motor four quadrant running.
The utility model adopts asymmetry half-bridge circuit the most conventional in SR, and its circuit structure as shown in Figure 2.In asymmetry half-bridge circuit, each phase winding of SR motor forms series connection closed-loop path by two switching devices and power supply, and each phase full symmetric is connected in parallel on DC bus.This asymmetry half-bridge circuit is compared with the H bridge type circuit in AC speed regulating field, there is not the possibility of shoot through, so have higher stability and reliability owing to being in series with motor phase windings between two switching tubes.
Figure 3 shows that the distribution curve of the single-phase winding magnetic linkage of SR motor about position angle and electric current.As can be seen from this curve chart, the distribution of its magnetic linkage has complicated nonlinear characteristic.This feature is also embodied in the distribution curve of the single-phase torque of Fig. 4 about position and electric current.Also the nonlinearity characteristic of magnetic linkage and torque just determines SR motor there is larger torque pulsation under conventional Traditional control strategy.
In Fig. 4, usual torque is about the single-phase torque characteristics of curve description SR motor of electric current and angle (in Fig. 3 and 4, abscissa is three-phase 12/8 pole SR rotor mechanical angle), and the distribution of torque of each phase of SR motor is identical, therefore the total synthesis torque characteristics of SR motor can be obtained according to angle of flow relation is superimposed by each phase torque characteristic curve.So SR motor synthesis torque characteristics is not only relevant with the nonlinear Distribution of position angle about electric current with single-phase torque, be also subject to the number of phases of motor, salient pole number and angle of flow setting joint effect.
When SR motor runs near commutation point, if motor is in low cruise interval, currently during commutation turn off mutually, under larger inductance effect, current phase current has time enough to reduce to 0 before entering negative torque interval, and after conducting phase (next phase) opens, because rotating speed is not high, back electromotive force is less, and electric current increases rapidly, will produce larger electromagnetic torque, cause synthesis torque to be uprushed, and then cause pulsation; If motor is in high-speed cruising interval, currently during commutation to turn off mutually, because rotating speed is higher, current phase current cannot drop to 0 before entering negative torque interval, and now current phase will produce negative torque, and conducting is mutually open-minded, electric current growth rate is subject to enough large back electromotive force and suppresses, be not enough to the electromagnetic torque value required for producing, now will inevitably cause synthesis torque drop, and then cause pulsation.
According to above analysis, can know, the SR motor commutation moment will produce main torque pulsation, and commutation torque ripple also has different performance characteristics under different motor operating conditions.According to single-phase torque formula ideally
T ( i , θ ) = 1 2 i 2 d L ( θ ) d θ
Can know, torque characteristics depends on and phase current waveform and inductance characteristic, so the torque analyzing SR motor must from electric current and magnetic linkage angle.
The instantaneous torque of SR motor cannot be constant in less scope, and particularly in adjacent two phase winding commutation conducting phase, instantaneous torque pulsation is particularly evident, and this has had a strong impact on the runnability of SR motor.SR motor inherently has higher rotating energy at high speeds, although the instantaneous torque of motor is not steady, little on the impact of exerting oneself of motor, now larger to influence on Harmonic Armature parameter is average torque.But at low speeds, the impact of torque pulsation is just obvious.
The utility model is using torque as the direct control object of SR motor, and the control that can effectively realize synthesis torque, no matter have the fastest torque response compared with other control mode, be, in low speed or High-speed Control, can both reach better torque effect of optimization.The utility model is directly control object with instantaneous torque, is suppressed the torque pulsation of switched reluctance machines by the SRD control system of direct Instantaneous torque control (DITC).
As shown in Figure 5, the detecting unit of the utility model embodiment comprises position detecting module, electric circuit inspection module and voltage detection module, described position detecting module is connected with SR motor, and current detection module is connected with asymmetry half-bridge circuit, and described voltage detection module is connected with power inverter.
In embodiment of the present utility model, DC/DC translation circuit is four-quadrant DC/DC translation circuit.As shown in Figure 6, be the nonlinear model of built SR motor, its structure can be divided into two parts, and a part and power circuit interface, another part, according to the operation information of electromagnetic parameters motor, is connected with voltage interface by electric current between the two.Although three-phase SR motor has A, B and C tri-groups of windings, the power circuit of each winding is identical and be independently connected in parallel on DC bus.Fig. 7 is the winding circuit connecting C phase, and circuit input terminal V+ with V-is connected positive pole and the negative pole of DC bus respectively, C1 with C2 is connected SR motor model C phase winding end, G1 and G2 is the triggering signal of main switching device T1 and T2.When G1 and G2 triggers simultaneously, then T1 and T2 conducting, positive voltage is added on winding; When only having a road to trigger in G1 and G2, then winding current realizes no-voltage afterflow by an IGBT and diode; When G1 and G2 does not trigger, then T1 and T2 cut-off, winding will add back-pressure.Three kinds of voltage statuss on Here it is phase winding, namely DITC controller realizes the controls to SR motor by each three kinds of on off states mutually of reasonable distribution.
The torque control module of the utility model embodiment comprises sector judge module, torque estimation module, hystersis controller and DITC switch list module, table 1 is DITC switch function table, sector judge module is connected with position detecting module, torque estimation module is connected with position detecting module, current detection module, hystersis controller and torque estimation module, DITC switch list model calling.
Table 1DITC switch function table
Δ T > the interior stagnant ring upper limit Δ T < interior stagnant ring lower limit Δ T > the stagnant ring upper limit outward Δ T < outer stagnant ring lower limit
Sector I (1,-1,0) (0,-1,0) (1,-1,1) (0,-1,-1)
Sector II (1,-1,-1) (0,-1,-1) --- ---
Sector III (0,1,-1) (0,0,-1) (1,1,-1) (-1,0,-1)
Sector IV (-1,1,-1) (-1,0,-1) --- ---
Sector V (-1,0,1) (-1,0,0) (-1,1,1) (-1,-1,0)
Sector VI (-1,-1,1) (-1,-1,0) --- ---
Torque estimation module generates torque estimated value according to the output of position detecting module and current detection module; Hystersis controller generates Hysteresis control instruction according to torque instruction value and torque estimated value; Be previously stored with DITC switch list in DITC switch list module, the on off state value in DITC switch list is selected in the sector position that this DITC switch list module calculates according to sector judge module and Hysteresis control instruction, and exports to asymmetry half-bridge circuit.
The utility model is for high rotating speed and the larger situation of slow-speed of revolution occasion SR motor torque ripple, a kind of new improved though is proposed: namely on traditional asymmetry half-bridge circuit basis, front end cascade DC/DC translation circuit, based on direct Instantaneous torque control, be aided with SR motor direct current varying DC link voltage, realize on the original basis torque ripple reduction further.
DITC control theory is using the direct control object of the synthesis torque of instantaneous for SR motor output as system.The difference of torque instruction value and torque estimated value is sent into torque hysteresis-controller, generates in conjunction with sector position residing for rotor the control that each phase on off state of SR motor realizes synthesis torque by Hysteresis control logic.
Fig. 8 is the theory diagram of the direct Instantaneous torque control system of SR motor, and as seen from the figure, control system sector position residing for torque deviation and rotor determines the operating state for electric converter.In direct Instantaneous torque control, sector judges to need to calculate in conjunction with turn-on angle and the pass angle of rupture according to rotor position information, and the instantaneous torque value of SR motor needs to estimate according to motor operating condition.
First, need setting turn-on angle and close the angle of rupture to determine the operating state of each phase according to rotor-position.In load one timing, when motor is in slow-speed of revolution interval, because rotational voltage is very little, phase current rapid development, now turn-on angle should be suitably delayed, avoids opening rear phase current and rise rapidly under small electric sense, close the angle of rupture and should be positioned at inductance ascent stage, enter negative torque interval to avoid phase current.When motor is in high rotating speed interval, now rotational voltage is larger, phase current is set up slowly cannot produce enough electromagnetic torques, now turn-on angle should suitably shift to an earlier date, close the angle of rupture and be also positioned at inductance ascent stage, open so in advance and contribute to the quick foundation of conducting phase current in small inductor interval, the torque pulsation of commutation point can be reduced and avoid the generation of negative torque.So the setting of the angle of flow should change along with the situation change of rotating speed and load, to obtain best performance index.
According to DITC principle, the accuracy of static torque distribution table is vital for the importance of DITC precision.So, in controller algorithm design, based on the static torque table of FEM (finite element) calculation, adopt linear interpolation algorithm to estimate real-time torque, better precision effect can be obtained.Fig. 9 gives the structure chart that online instantaneous torque is estimated, its groundwork process is: rotor position angle and phase current are as input variable, and through to table look-up and linear interpolation arithmetic obtains single-phase electromagnetic torque, three superimposedly obtain the total electromagnetic torque value of SR motor.
The utility model also proposed the method suppressing switched reluctance machines torque pulsation according to said system, specifically comprise the following steps:
Cascade DC/DC translation circuit before asymmetry half-bridge circuit;
By the input voltage of PWM control DC/DC translation circuit, and regulate the direct current busbar voltage of SR motor;
By the torque of instantaneous torque value control SR motor.
In the method, instantaneous torque value obtains especially by following steps:
Detect the position data of SR motor, and the current value of asymmetry half-bridge circuit;
The sector position of SR motor is calculated according to position data
According to the position data detected and current value calculating torque estimated value;
Hysteresis control instruction is generated according to torque instruction value and torque estimated value;
Select the on off state value in the DITC switch list prestored according to sector position and Hysteresis control instruction, and export to asymmetry half-bridge circuit.
Wherein, the concrete computational process of torque estimated value is: using the rotor position angle in position data and the phase current in current value as input variable, through to table look-up and linear interpolation arithmetic obtains single-phase electromagnetic torque, three superimposedly obtain the total electromagnetic torque estimated value of SR motor.
In order to verify method and system of the present utility model, Matlab simulation model emulates the simulation analysis that whole motor driven systems can realize SR motor D ITC control system performance based on this model.Meeting under performance requirement prerequisite, Electromagnetic Design with torque pulsation little as far as possible for target,
The rated operation point can choosing this SR motor carries out DITC Control System Imitation, and wherein SR machine operation is under rated voltage and rated speed, and command torque is set to nominal torque value.Can verify that through above-mentioned emulation the method for the suppression SR motor torque ripple based on DITC that the utility model proposes can reduce switching magnetic-resistance torque pulsation.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection range that all should belong to the utility model claims.

Claims (5)

1. suppress a motor driven systems for switched reluctance machines torque pulsation, it is characterized in that, comprise SR motor, power inverter, controller and detecting unit, wherein:
Described controller comprises voltage control module and torque control module;
Described power inverter comprises asymmetry half-bridge circuit, and this asymmetry half-bridge circuit, under the control of torque control module, carries out direct Instantaneous torque control to SR motor; This power inverter also comprises the DC/DC translation circuit that level is associated in this asymmetry half-bridge circuit front end, and this DC/DC translation circuit, under the PWM of voltage controller controls, regulates the input voltage of asymmetry half-bridge circuit in real time.
2. system according to claim 1, it is characterized in that, described detecting unit comprises position detecting module, electric circuit inspection module and voltage detection module, described position detecting module is connected with SR motor, current detection module is connected with asymmetry half-bridge circuit, and described voltage detection module is connected with power inverter.
3. system according to claim 1, is characterized in that, described DC/DC translation circuit is four-quadrant DC/DC translation circuit.
4. system according to claim 1, it is characterized in that, torque control module comprises sector judge module, torque estimation module, hystersis controller and DITC switch list module, sector judge module is connected with position detecting module, torque estimation module is connected with position detecting module, current detection module, hystersis controller and torque estimation module, DITC switch list model calling;
Torque estimation module is according to the output calculating torque estimated value of position detecting module and current detection module; Hystersis controller generates Hysteresis control instruction according to torque instruction value and torque estimated value; Be previously stored with DITC switch list in DITC switch list module, the on off state value in DITC switch list is selected in the sector position that this DITC switch list module calculates according to sector judge module and Hysteresis control instruction, and exports to asymmetry half-bridge circuit.
5. system according to claim 1, is characterized in that, SR motor is SR three phase electric machine.
CN201520778343.0U 2015-10-09 2015-10-09 Motor drive system that restraines switched reluctance motor torque ripple Expired - Fee Related CN205051611U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105162371A (en) * 2015-10-09 2015-12-16 武汉市深蓝动力科技有限公司 Motor drive system and method for inhibiting torque pulsation of switch reluctance motor
CN105897076A (en) * 2016-04-15 2016-08-24 东南大学 Switched reluctance motor direct instantaneous torque control method based on voltage vectors
CN106202836A (en) * 2016-08-24 2016-12-07 江苏大学 A kind of Optimization Design of piecemeal rotor switched reluctance motor
CN109067268A (en) * 2018-08-13 2018-12-21 张新华 Brshless DC motor opens phase retardation and opens control method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105162371A (en) * 2015-10-09 2015-12-16 武汉市深蓝动力科技有限公司 Motor drive system and method for inhibiting torque pulsation of switch reluctance motor
CN105897076A (en) * 2016-04-15 2016-08-24 东南大学 Switched reluctance motor direct instantaneous torque control method based on voltage vectors
CN105897076B (en) * 2016-04-15 2018-05-04 东南大学 The direct Instantaneous torque control method of switched reluctance machines based on voltage vector
CN106202836A (en) * 2016-08-24 2016-12-07 江苏大学 A kind of Optimization Design of piecemeal rotor switched reluctance motor
CN109067268A (en) * 2018-08-13 2018-12-21 张新华 Brshless DC motor opens phase retardation and opens control method

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