WO2017084126A1

WO2017084126A1 - Electromechanical energy conversion switched reluctance motor simulation method

Info

Publication number: WO2017084126A1
Application number: PCT/CN2015/096786
Authority: WO
Inventors: 陈昊; 梁燕
Original assignee: 中国矿业大学
Priority date: 2015-11-19
Filing date: 2015-12-09
Publication date: 2017-05-26
Also published as: AU2015414867B2; AU2015414867A1; CN105450108A; CN105450108B

Abstract

A simulation method of electromechanical energy conversion switched reluctance motor, is suitable for switched reluctance motors with various phases. A switched reluctance motor phase winding simulator is composed of three operational amplifiers, three current transmitters, an inductance reciprocal module composed of a digital processing chip, an analog/digital converter, and a digital/analog converter, a multiplier, nine resistors, and a capacitor. The circuit simulation method is simple, can realize circuit simulation, real-time simulation and real-time control of the switched reluctance motor system, is high in calculation speed, is high in precision, does not occupy the storage space, lays a foundation for the pulsation elimination of output torque the switched reluctance motor system and the control of a no-position sensor, has important theoretical value and broad application prospect.

Description

Electromechanical energy conversion switch reluctance motor simulation method

Technical field

The invention relates to an electromechanical energy conversion switch reluctance motor simulation method, and is particularly suitable for various phase number switched reluctance motors.

Background technique

Accurate switched reluctance motor system models are important for evaluating motor performance, optimizing motor design, designing high-performance controllers, eliminating torque ripple, and achieving position sensorless control. The switched reluctance motor system model is based on the potential balance equation and the torque balance equation. The key and difficult point is the simulation of electromagnetic characteristics. At present, the phase winding simulation method of switched reluctance motor has: field-path coupling method, which is coupled with motor electromagnetic field analysis and winding circuit analysis in each simulation step, which can not realize real-time simulation; analytical method, through summary induction Or the finite element calculated magnetic chain curve family characteristics, using a binary fitting function to determine the function parameters from a small number of known flux linkage data, reconstructing a full range of continuous position and current nonlinear mapping of the flux linkage, The simulation accuracy and calculation time are also contradictory, and real-time simulation can not be realized. The table interpolation method and the neural network method first obtain a number of discrete flux-correlation data corresponding to the position angle and current, and establish the two-dimensional position and current of the flux linkage. The table, and then through the table interpolation or trained neural network to output the magnetic flux corresponding to any position and any current, under the condition of known motor structure and material parameters, the flux linkage data can be calculated using the finite element method. For the motor with relevant parameters, the flux linkage or inductance data needs to be obtained through experimental measurement. The simulation accuracy of this method depends mainly on the sample. Magnetic flux data is also difficult to achieve high-precision real-time simulation; equivalent magnetic network method, by analyzing the magnetic line path characteristics obtained by the finite element method, establishing the equivalent magnetic circuit network of the motor, applying the circuit analysis method to calculate the flux linkage, but In order to improve the detection accuracy, it is necessary to establish the mutual inductance between the phases, and to construct a three-dimensional or multi-dimensional table, that is, the current phase current, position, and other mutual senses on the flux linkage. However, the huge amount of calculation reduces its practicability. The application number is 201510247960.2. A modeling method of the switched reluctance motor is disclosed. The simulation error of the average torque of the switched reluctance motor is within 3.9%, and the simulation error of the rotational speed of the switched reluctance motor is within 0.16%. Therefore, it is urgent to establish a switched reluctance motor phase winding simulator with accurate simulation, fast calculation and no storage space, so as to realize high-precision real-time simulation and real-time control of the switched reluctance motor system.

Summary of the invention

The object of the present invention is to provide a method for simulating a switched reluctance motor that is simple in method and can realize circuit simulation of a switched reluctance motor system in view of the problems existing in the prior art.

In order to achieve the above object, the electromechanical energy conversion switch reluctance motor simulation method of the invention comprises the use of a switched reluctance motor phase winding simulator, and the switched reluctance motor phase winding simulator comprises three operational amplifiers U1, U2 and U3, three current conveyor U4, U5 and U6, the reciprocal inductance module, a multiplier U7-AD633, nine resistors R1, R2, R3, R4, R5, R6, R7, R d , and one of R _S and capacitor C _i, The input ports are A and B; the input port A is connected to the non-inverting input port of the operational amplifier U1 and the port z of the current transmitter U4 through the resistor R _S , respectively, and the input port B and the port z of the current transmitter U5 and the current transmission y U6, the port is connected to the output port of the operational amplifier U1 is O respectively inverting input of operational amplifier U1 ports - one end of resistors R ₁ and is connected to the other end of resistors R _1, respectively, the inverting input port of the operational amplifier U2. - connected to one end of the resistor R ₃ , the non-inverting input port + of the operational amplifier U2 is connected to one end of the resistor R ₂ and the resistor R ₄ , the other end of the resistor R ₄ is grounded, and the other end of the resistor R ₂ is connected to the current transmitter U6 port x is connected Then, the output of operational amplifier U2 O ports respectively connected to one end and the other end of the resistor R ₅ of the resistor R _3, the other end of the resistor R _5, respectively, and the inverting input port of operational amplifier U3 - end of the capacitor C _i and the phase Connection, the non-inverting input port of the operational amplifier U3 + ground, the port y of the current transmitter U4 is grounded, the port x of the current transmitter U4 is connected to the port x of the current transmitter U5 through the resistor Rd, and the port z of the current transmitter U6 is grounded The simulation method of the switched reluctance motor is as follows:

The output port O of the operational amplifier U3 is connected to the other end of the capacitor C _i and the x ₁ port of the multiplier U7-AD633, respectively, and the port y of the current transmitter U5 is connected to the w port of the multiplier U7-AD633, multiplication The x ₂ port of U7-AD633 is grounded, the y ₂ port of multiplier U7-AD633 is grounded, one end of resistor R6 is connected to the w port of multiplier U7-AD633, and the other end of resistor R6 is connected with multiplier U7-AD633 The z ports are connected, one end of the resistor R ₇ is connected to the z port of the multiplier U7-AD633, and the other end of the resistor R7 is grounded, and the output end O of the inductance reciprocal module is connected to the y ₁ port of the multiplier U7-AD633, The output voltage value of the inductance reciprocal module is v _y , the input of the inductance reciprocal module is the motor phase current instantaneous value i and the motor rotor position value θ; the equivalent model of the switched reluctance motor simulates the electromechanical energy conversion switch reluctance motor variable inductance The L value is related to the motor phase current instantaneous value i and the motor rotor position value θ. The variable inductance L value of the inductance reciprocal module is obtained by:

Where: R1, R3, R5, R6, R7, Rd are resistance values, Ci is the capacitance value, vy is the voltage value, and the voltage value vy is a function of the motor phase current instantaneous value i and the rotor position value θ;

The circuit model between the input port A and the input port B is equivalent to the series connection of the resistor Rs and the variable inductance L of the motor, and is constructed as an equivalent simulator of the phase reluctance of the switched reluctance motor, and the resistance Rs is simulated by the reluctance motor phase. Winding resistance, variable inductance L simulates the phase winding inductance of the switched reluctance motor, and the phase winding inductance of the switched reluctance motor is a function of the rotor position and phase current of the motor, and the equivalent model of the switched reluctance motor is obtained.

The inductor reciprocal module is composed of a digital processing chip, an analog/digital converter ADC, and a digital/analog converter DAC. The input of the analog/digital converter ADC is the motor phase current instantaneous value i and the motor rotor position value θ, simulation/ The output of the digitizer ADC is connected to the input phase of the digital processing chip. The output of the digital processing chip is connected to the input phase of the digital/analog converter DAC, and the output of the digital/analog converter DAC is the voltage value vy.

Advantageous Effects: The present invention uses an operational amplifier, a current transmitter, an inductor reciprocal module, a multiplier, a resistor, and a capacitor to construct a switched reluctance motor phase winding simulator, which can realize circuit simulation, real-time simulation and real-time control of a switched reluctance motor system, and calculation Fast, accurate and high, does not occupy storage space, the analog error of the average torque of the switched reluctance motor is within 0.34%, and the simulation error of the rotational speed of the switched reluctance motor is within 0.09%. It lays a foundation for the output torque ripple pulsation and position sensorless control of the switched reluctance motor system, and has important theoretical value and broad industrial application prospects.

DRAWINGS

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a circuit diagram of a phase winding simulator of a switched reluctance motor of the present invention.

FIG 2 is a phase winding of a switched reluctance motor according to the present invention, the simulator reproduced switched reluctance motor phase voltages U _A ', the phase currents i _A' and flux ψ _A 'waveform.

detailed description

An embodiment of the present invention will be further described below with reference to the accompanying drawings:

As shown in Figure 1, the switched reluctance motor simulation method includes the use of a switched reluctance motor phase winding simulator. The switched reluctance motor phase winding simulator uses three operational amplifiers U1, U2 and U3, three current transmitters U4, U5 and U6, inductance reciprocal module, one multiplier U7-AD633, nine resistors R1, R2, R3, R4, R5, R6, R7, R _d and R _S , and a capacitor C _i , the input port is A And B;

The input port A is respectively connected to the non-inverting input port of the operational amplifier U1 and the port z of the current transmitter U4 through the resistor R _S , and the input port B is respectively connected to the port z of the current transmitter U5 and the port y of the current transmitter U6. connector, an output port of the operational amplifier U1 is O respectively inverting input port of operational amplifier U1 - and is connected to one end of resistors R _1, resistors R ₁ and the other end of each operational amplifier U2 and the inverting input port - and the resistor R ₃ One end is connected, the non-inverting input port of the operational amplifier U2 is connected to one end of the resistor R ₂ and the resistor R ₄ , the other end of the resistor R ₄ is grounded, and the other end of the resistor R ₂ is connected to the port x of the current transmitter U6. , the output of operational amplifier U2 O ports respectively connected to one end and the other end of the resistor R ₅ of the resistor R _3, the other end of the resistor R _5, respectively, and the inverting input port of operational amplifier U3 - and one end of the capacitor C _i is connected The non-inverting input port of the operational amplifier U3 is grounded, the port y of the current transmitter U4 is grounded, and the port x of the current transmitter U4 is connected to the port x of the current transmitter U5 through the resistor Rd, and the port z of the current transmitter U6 Grounding, the circuit model between input port A and input port B is equivalent to the series connection of the resistor R _s and the variable inductance L of the motor, and is constructed as a phase reversal equivalent simulator of the switched reluctance motor, and an analog switch of the resistor R _s Reluctance motor phase winding resistance, variable inductance L analog switched reluctance motor phase winding inductance, switched reluctance motor phase winding inductance is a function of motor rotor position and phase current, get the equivalent model of switched reluctance motor, by switching magnetic The equivalent model of the resistance motor simulates the relationship between the variable inductance L value of the electromechanical energy conversion switch reluctance motor and the instantaneous value i of the motor phase current and the motor rotor position value θ:

(1) The output port O of the operational amplifier U3 is connected to the other end of the capacitor C _i and the x1 port of the multiplier U7-AD633, respectively, and the port y of the current transmitter U5 is connected to the w port of the multiplier U7-AD633, The x2 port of the multiplier U7-AD633 is grounded, the y2 port of the multiplier U7-AD633 is grounded, one end of the resistor R6 is connected to the w port of the multiplier U7-AD633, the other end of the resistor R6 and the z port of the multiplier U7-AD633 Connected, one end of the resistor R7 is connected to the z port of the multiplier U7-AD633, the other end of the resistor R7 is grounded, the output end O of the inductance reciprocal module is connected to the y1 port of the multiplier U7-AD633, and the output of the inductance reciprocal module The voltage value is v _y , and the input of the inductance reciprocal module is the motor phase current instantaneous value i and the motor rotor position value θ;

(2) The variable inductance L value of the inductance reciprocal module can be expressed as:

Where R1, R3, R5, R6, R7, Rd are the corresponding resistance values, and Ci is the corresponding capacitance value. The voltage value vy is a function of the motor phase current instantaneous value i and the rotor position value θ.

The inductance reciprocal module is composed of a digital processing chip, an analog/digital converter ADC, and a digital/analog converter DAC. The input of the analog/digital converter ADC is the motor phase current instantaneous value i and the motor rotor position value θ, analog/digital The output of the converter ADC is connected to the input of the digital processing chip, the output of the digital processing chip is connected to the input of the digital/analog converter DAC, and the output of the digital/analog converter DAC is the voltage value v _y .

Simulator simulates the phase windings of a switched reluctance motor of the present invention. FIG. 2 switched reluctance motor phase voltages U _A ', the phase currents i _A' and flux ψ _A 'waveform. As can be seen from Fig. 2, the established phase reluctance motor phase winding simulator can simulate the relationship between the variable inductance L value of the electromechanical energy conversion switch reluctance motor and the motor phase current instantaneous value i and the motor rotor position value θ. Reluctance motor system circuit simulation, real-time simulation and real-time control, calculation fast, accurate high, does not occupy storage space, solves the contradiction between the simulation simulation cost and real-time performance of the switched reluctance motor system, will make the output of the switched reluctance motor system Torque elimination pulsation, no position sensor control is accurate and high.

Claims

An electromechanical energy conversion switch reluctance motor simulation method, comprising a switched reluctance motor phase winding simulator, the switched reluctance motor phase winding simulator comprises three operational amplifiers U1, U2 and U3, three current transmitters U4, U5 And U6, inductance reciprocal module, a multiplier U7-AD633, nine resistors R1, R2, R3, R4, R5, R6, R7, R d , R S and a capacitor C i , the input ports are A and B The input port A is connected to the non-inverting input port of the operational amplifier U1 and the port z of the current transmitter U4 through the resistor R S , respectively, and the input port B is respectively connected to the port z of the current transmitter U5 and the port y of the current transmitter U6 connector, an output port of the operational amplifier U1 is O respectively inverting input port of operational amplifier U1 - and is connected to one end of resistors R 1, resistors R 1 and the other end of each operational amplifier U2 and the inverting input port - and the resistor R 3 One end is connected, the non-inverting input port of the operational amplifier U2 is connected to one end of the resistor R 2 and the resistor R 4 , the other end of the resistor R 4 is grounded, and the other end of the resistor R 2 is connected to the port x of the current transmitter U6. , the input of the operational amplifier U2 Port O are connected to one end of resistor R the other end of the resistor R 3 to 5, the other end of the resistor R 5, respectively, and the inverting input port of operational amplifier U3 - and one end of the capacitor C i is connected noninverting operational amplifier U3 The input port + ground, the port y of the current transmitter U4 is grounded, the port x of the current transmitter U4 is connected to the port x of the current transmitter U5 through the resistor Rd, and the port z of the current transmitter U6 is grounded, characterized in that:

The output port O of the operational amplifier U3 is connected to the other end of the capacitor C i and the x 1 port of the multiplier U7-AD633, respectively, and the port y of the current transmitter U5 is connected to the w port of the multiplier U7-AD633, multiplication The x 2 port of U7-AD633 is grounded, the y 2 port of multiplier U7-AD633 is grounded, one end of resistor R6 is connected to the w port of multiplier U7-AD633, and the other end of resistor R6 is connected with multiplier U7-AD633 The z ports are connected, one end of the resistor R 7 is connected to the z port of the multiplier U7-AD633, and the other end of the resistor R7 is grounded, and the output end O of the inductance reciprocal module is connected to the y 1 port of the multiplier U7-AD633, The output voltage value of the inductance reciprocal module is v y , the input of the inductance reciprocal module is the motor phase current instantaneous value i and the motor rotor position value θ; the equivalent model of the switched reluctance motor simulates the electromechanical energy conversion switch reluctance motor variable inductance The L value is related to the motor phase current instantaneous value i and the motor rotor position value θ. The variable inductance L value of the inductance reciprocal module is obtained by:

Where: R1, R3, R5, R6, R7, Rd are resistance values, Ci is the capacitance value, vy is the voltage value, and the voltage value vy is a function of the motor phase current instantaneous value i and the rotor position value θ;

The circuit model between the input port A and the input port B is equivalent to the series connection of the resistor Rs and the variable inductance L of the motor, and is constructed as an equivalent simulator of the phase reluctance of the switched reluctance motor, and the resistance Rs is simulated by the reluctance motor phase. Winding resistance, variable inductance L analog switched reluctance motor phase winding inductance, switched reluctance motor phase winding inductance is motor rotor position and phase The function of the current gives the equivalent model of the switched reluctance motor.
The electromechanical energy transfer switch reluctance motor simulation method according to claim 1, wherein the inductance reciprocal module is composed of a digital processing chip, an analog/digital converter ADC, and a digital/analog converter DAC, analog/digital. The input of the converter ADC is the motor phase current instantaneous value i and the motor rotor position value θ. The output of the analog/digital converter ADC is connected to the input phase of the digital processing chip, and the output of the digital processing chip is connected to the digital/analog converter DAC. The input phase of the digital/analog converter DAC is the voltage value vy.