WO2019129273A1 - 一种基于调节pwm载波频率降低开关磁阻电机噪声的方法 - Google Patents

一种基于调节pwm载波频率降低开关磁阻电机噪声的方法 Download PDF

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Publication number
WO2019129273A1
WO2019129273A1 PCT/CN2018/125523 CN2018125523W WO2019129273A1 WO 2019129273 A1 WO2019129273 A1 WO 2019129273A1 CN 2018125523 W CN2018125523 W CN 2018125523W WO 2019129273 A1 WO2019129273 A1 WO 2019129273A1
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WIPO (PCT)
Prior art keywords
switched reluctance
reluctance motor
signal
pwm
carrier frequency
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Ceased
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PCT/CN2018/125523
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English (en)
French (fr)
Inventor
钟锐
张铭书
张森
肖金玉
苏巍
孙伟锋
时龙兴
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Southeast University
CSMC Technologies Fab2 Co Ltd
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Southeast University
CSMC Technologies Fab2 Co Ltd
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Priority to US16/958,868 priority Critical patent/US11336217B2/en
Publication of WO2019129273A1 publication Critical patent/WO2019129273A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/098—Arrangements for reducing torque ripple

Definitions

  • the present invention relates to the field of motor technology, and in particular to a method and device for reducing the noise of a switched reluctance motor (SRM), a control system for a switched reluctance motor, and one or more stored computer readable
  • SRM switched reluctance motor
  • a non-volatile readable storage medium for instructions and a method for reducing noise of a switched reluctance motor based on adjusting a PWM carrier frequency.
  • Switched reluctance motors occupy an increasingly important position in the motor drive system, but due to the double salient pole structure of the switched reluctance motor and the discontinuous coil excitation mode, the noise generated during the operation of the switched reluctance motor is relatively conventional.
  • the motor is large; this is because the electromagnetic force generated by the excitation of the stator winding during commutation will change drastically, causing the radial electromagnetic force to change drastically, which will cause the stator to deform and generate vibration; especially when radial electromagnetic When the force frequency is coincident with the natural frequency of the stator, the vibration of the stator is more serious, which will cause more serious noise, and will further limit the application of the switched reluctance motor in the low noise field.
  • a method for reducing noise of a switched reluctance motor comprising:
  • the carrier frequency of the PWM signal is changed according to a change in the operating period of the switched reluctance motor; wherein, if the switched reluctance motor is commutated, it is determined that the operating period of the switched reluctance motor changes.
  • a method for reducing the noise of a switched reluctance motor based on adjusting the PWM carrier frequency is also proposed.
  • the speed control signal obtained by the speed regulation, the gear position signal obtained by the gear position switch, and the switched reluctance motor detected by the sampling resistor are also proposed.
  • the phase current signal and the rotor position signal of the switched reluctance motor detected by the Hall sensor are transmitted to an external signal processing circuit, and the external signal processing circuit transmits the processed signal to the microprocessor, and the microprocessor calculates the calculated carrier frequency.
  • the PWM signal of the duty ratio is output as a driving signal to the switching tube in the power converter of the asymmetric half-bridge circuit structure, and the speed regulating operation of the switched reluctance motor is controlled by the switching tube in the power converter;
  • the frequency of the PWM carrier output by the microprocessor is linearly changed while ensuring that the duty cycle of the PWM wave is constant, so that the switching frequency of the power tube is not fixed, and the micro-processing is continuously changed.
  • the carrier frequency of the PWM output interferes with the periodicity of the excitation, thereby destroying the periodicity of the electromagnetic force to avoid resonance noise caused by the spectral component of the electromagnetic force coincident with the natural frequency of the stator.
  • non-transitory readable storage mediums storing computer readable instructions, which when executed by one or more processors, cause the one or more processors to perform the reduction described above
  • a method of switching reluctance motor noise and the above-described method of reducing noise of a switched reluctance motor based on adjusting a PWM carrier frequency are also presented.
  • a control system for a switched reluctance motor comprising:
  • a microprocessor coupled to the driving circuit for providing a PWM signal as a driving signal to the driving circuit, and changing a carrier frequency of the PWM signal according to a change in a running period of the switched reluctance motor;
  • the switched reluctance motor is commutated to determine that the operating cycle of the switched reluctance motor changes.
  • a device for reducing the noise of a switched reluctance motor including:
  • a PWM signal supply module for providing a PWM signal as a drive signal to a drive circuit of the switched reluctance motor
  • a carrier frequency changing module configured to change a carrier frequency of the PWM signal according to a change of a running period of the switched reluctance motor; wherein, if the switched reluctance motor is commutated, determining a running cycle of the switched reluctance motor .
  • FIG. 1 is a schematic flow chart of a method for reducing noise of a switched reluctance motor in an embodiment
  • FIG. 2 is a schematic structural view of an asymmetric half bridge circuit in an embodiment
  • FIG. 3 is a schematic structural view of an asymmetric half bridge circuit in a specific embodiment
  • FIG. 4 is a schematic structural view of a four-phase 8/6-pole switched reluctance motor in one embodiment
  • FIG. 5 is a waveform diagram of an unmodulated PWM signal in one embodiment and a waveform diagram of a PWM signal modulated by the method of the embodiment;
  • Figure 6 is a spectral comparison diagram of radial electromagnetic forces using an unmodulated PWM signal and a PWM signal modulated using the method of the present embodiment in one embodiment.
  • FIG. 7 is a schematic diagram of an operation flow of a method for reducing noise of a switched reluctance motor based on adjusting a PWM carrier frequency in a specific embodiment
  • FIG. 8 is a schematic structural diagram of a control system of a switched reluctance motor in an embodiment
  • FIG. 9 is a schematic structural view of a control system of a switched reluctance motor in another embodiment
  • FIG. 10 is a schematic structural view of a corresponding switched reluctance motor control system in a specific embodiment
  • Figure 11 is a block diagram showing the structure of an apparatus for reducing the noise of a switched reluctance motor in one embodiment.
  • FIG. 1 is a schematic flow chart of a method for reducing noise of a switched reluctance motor in an embodiment.
  • the method for reducing noise of a switched reluctance motor includes steps 102 to 104:
  • step 102 the PWM signal is provided as a driving signal to the driving circuit of the switched reluctance motor.
  • the drive circuit of the switched reluctance motor includes more than two asymmetric half-bridge circuits; each phase winding of the switched reluctance motor is powered by a corresponding asymmetric half-bridge circuit; see Figure 2, each The asymmetric half-bridge circuit includes a first power 210, a second power tube 220, a first freewheeling diode 230, and a second freewheeling diode 240.
  • the power terminal of the first power tube 210 and the cathode of the second freewheeling diode 240 are both The anode of the second power tube 220 and the anode of the first freewheeling diode 230 are connected to the negative pole of the power source, and the output of the first power tube 210 is connected to the cathode of the first freewheeling diode 230.
  • the anode of the flow diode 240 is connected to the power supply terminal of the second power tube.
  • the switched reluctance motor is a three-phase switched reluctance motor
  • the stator windings of the three-phase switched reluctance motor are an A-phase winding, a B-phase winding, and a C-phase winding, respectively.
  • the asymmetric half-bridge circuit for energizing the A-phase winding includes a power tube S1, a power tube S2, a freewheeling diode D1, and a freewheeling diode D2.
  • the asymmetric half-bridge circuit for energizing the B-phase winding includes a power tube S3.
  • the asymmetric half-bridge circuit for energizing the C-phase winding comprises a power tube S5, a power tube S6, a freewheeling diode D5 and a freewheeling diode D6; the inductor L1 in FIG.
  • the inductor L2 and the inductor L3 are simplified models of the three-phase switched reluctance motor; the power terminal of the power tube S1, the power terminal of the power tube S3, the power terminal of the power tube S5, the cathode of the freewheeling diode D2, and the freewheeling diode D4.
  • the cathode and the cathode of the freewheeling diode D6 are both connected to the positive pole of the power supply, and are connected to one end of the DC bus capacitor C; the anode of the freewheeling diode D1, the anode of the freewheeling diode D3, the anode of the freewheeling diode D5, and the power tube S2.
  • the output end, the output end of the power tube S4 and the output end of the power tube S6 are all connected to the negative pole of the power supply, and are connected to the other end of the DC bus capacitor C; the output end of the power tube S1 is connected to the cathode of the freewheeling diode D1, the power An output terminal S3 and the cathode of the freewheeling diode D3 is connected to the output terminal of the power transistor S5 is connected to the cathode of the freewheeling diode D5, the power supply terminal S2 is connected to the anode of the freewheeling diode D2.
  • the power control tube S2, the power tube S4, and the power tube S6 are provided with a switch control signal without a PWM signal, and the power tube S1, the power tube S3, and the power tube S5 are PWM signals, and the carrier frequency of the PWM signal is changed with time.
  • Step 104 The carrier frequency of the PWM signal is changed according to a change of the operating period of the switched reluctance motor; wherein, if the switched reluctance motor is commutated, it is determined that the operating cycle of the switched reluctance motor changes.
  • the step of changing the carrier frequency of the PWM signal as the operating cycle of the switched reluctance motor changes comprises linearly varying the carrier frequency of the PWM signal as a function of the operating period of the switched reluctance motor.
  • the step of providing the PWM signal as a driving signal to the driving circuit of the switched reluctance motor comprises: providing a PWM signal for the initial carrier frequency to the driving circuit of the switched reluctance motor; linearly varying with the operating period of the switched reluctance motor
  • the step of changing the carrier frequency of the PWM signal includes: if the carrier frequency offset of the PWM signal is detected, the offset of the initial carrier frequency reaches a preset maximum offset, and the PWM of the subsequent operation cycle is changed in the opposite linear change manner.
  • the carrier frequency of the signal is if the carrier frequency offset of the PWM signal is detected, the offset of the initial carrier frequency reaches a preset maximum offset, and the PWM of the subsequent operation cycle is changed in the opposite linear change manner.
  • the carrier frequency of the PWM signal and the initial carrier frequency satisfy the following relationship:
  • f PWM is the carrier frequency of the PWM signal during the operation of the switched reluctance motor
  • m is the variation coefficient of the carrier frequency
  • the value range is 0, ⁇ 1, ⁇ 2... ⁇ n, with the rotation of the rotor of the switched reluctance motor
  • the value of m changes linearly with the increase of the number of cycles; the preset maximum offset is n* ⁇ f, and when the value of m increases linearly, until m is the maximum value n, the value of m begins to decrease linearly until m
  • the minimum value is -n, the value of m starts to increase linearly.
  • the carrier frequency of the PWM signal changes with the change of the operating cycle.
  • the carrier frequency of the PWM signal increases or decreases by a fixed value.
  • the carrier frequency of the PWM signal is decreased as the motor operating period increases.
  • it is reduced to the minimum value it continues to increase, so that it reciprocates, and the final effect is that the carrier frequency of the PWM signal is always Linearly varies up and down a fundamental frequency.
  • the step of changing the carrier frequency of the PWM signal according to the change of the operating period of the switched reluctance motor comprises: maintaining the duty ratio of the PWM signal unchanged, and changing the carrier frequency of the PWM signal according to the change of the operating period of the switched reluctance motor.
  • the duty ratio of the PWM signal is not affected by the number of operating cycles, that is, the control of the PWM carrier frequency and the duty ratio are independent of each other.
  • the performances such as the rotational speed, torque, and efficiency of the switched reluctance motor are not affected.
  • the step of changing the frequency of the PWM carrier of the driving signal over time includes: after detecting that the switched reluctance motor completes one operating cycle, determining that the switched reluctance motor enters the next operating cycle and changing the next operation The carrier frequency of the periodic PWM signal.
  • the carrier frequency of the PWM signal remains unchanged.
  • the step of determining the commutation of the switched reluctance motor comprises: if the axis of a salient pole of the stator of the switched reluctance motor coincides from the axis of a salient pole of the rotor, the axis of the salient pole becomes The axes of the next salient poles of the rotor coincide, and it is determined that the switched reluctance motor is commutating.
  • the four-phase 8/6-pole switched reluctance motor takes the phase C as an example.
  • the salient pole of the stator coincides with the salient pole axis of the rotor, and the rotor turns 60 degrees again, which becomes the rotor.
  • the next pair of salient poles coincide with the salient pole axis of the stator, indicating that the operating cycle of the switched reluctance motor has changed.
  • the method for reducing the noise of the switched reluctance motor in the embodiment of the present application further comprises: calculating the switched reluctance motor according to the number of salient poles of the rotor of the switched reluctance motor to complete a running cycle, switching magnetic The step of the resistance motor rotor corresponding to the reference angle to be rotated.
  • the switched reluctance motor is a three-phase 12/8-pole switched reluctance motor, that is, there are eight salient poles of the rotor, and then the switched reluctance motor completes one operation cycle, and the switched reluctance motor rotor corresponds to a reference angle to be rotated. It is 45°.
  • the step of changing the period includes: if it is detected that the axis of a salient pole of the stator of the switched reluctance motor coincides with the axis of a salient pole of the rotor, and then the rotor of the switched reluctance motor is detected to rotate as the switched reluctance motor continues to operate When the angle reaches the reference angle, it is determined that the switched reluctance motor enters a new operating cycle. After determining that the switched reluctance motor enters a new operating cycle, the carrier frequency of the PMW signal is changed.
  • FIG. 5(a) shows the waveform of the unmodulated PWM signal and the waveform of the PWM signal shown in FIG. 5(b) modulated by the method of the present embodiment because the control object is three-phase 12/8.
  • Switched reluctance motor so after calculation, the switched reluctance motor completes a running cycle, and the rotor of the switched reluctance motor needs to be rotated 45°, which is the mechanical angle. It can be seen from Fig. 5 that the carrier frequency of the unmodulated PWM signal remains unchanged, and the carrier frequency of the modulated waveform changes once every 45° of the rotor.
  • Figure 6 is a spectrum comparison diagram of a radial electromagnetic force using an unmodulated PWM signal and a PWM signal modulated using the method of the present embodiment.
  • the PWM signal that has not been modulated, the PWM carrier frequency remains unchanged.
  • the three phases are alternately excited, and the spectral components of the respective generated radial electromagnetic forces are fixed. If a component that coincides with the natural frequency of the stator is contained, resonance will occur and noise will be generated.
  • the PWM signal modulated by the method of the embodiment has a carrier frequency that is not fixed, that is, the switching frequency is not fixed, and the spectral component of the electromagnetic force is continuously changed.
  • the frequency domain of the radial electromagnetic force is wider. The amplitude of the radial electromagnetic force in the frequency domain extreme value is reduced, thereby reducing the resonance amplitude and reducing the noise of the switched reluctance motor.
  • the method for reducing the noise of the switched reluctance motor in the embodiment of the present application further includes: obtaining a speed regulation signal of the speed limit of the switched reluctance motor, a gear position signal of the switch reluctance motor gear position switch, and a switch magnetic quantity The phase current signal of the resistance motor and the rotor position signal of the switched reluctance motor; and determining the duty ratio of the PWM signal according to the speed regulation signal and the gear position signal, and compensating the PWM signal according to the phase current signal of the switched reluctance motor; The rotor position signal of the resistance motor calculates the carrier frequency of the PWM signal, and then changes the carrier frequency of the PWM signal according to the calculated carrier frequency.
  • the phase current signal of the switched switched reluctance motor is used to compensate the PWM signal, which is beneficial to the phase current signal outputted by the driving circuit to reach an expected value.
  • the carrier frequency of the PWM is changed to destroy the electromagnetic generated by the excitation during the commutation.
  • the periodicity of the force can reduce the overall noise of the switched reluctance motor, and the change of the carrier frequency of the PWM also reduces the probability that the frequency of the radial electromagnetic force coincides with the natural frequency of the stator, thereby reducing the probability of resonance noise generation.
  • a method for reducing the noise of a switched reluctance motor based on adjusting a PWM carrier frequency is also proposed.
  • the speed control signal obtained by the speed regulation, the gear position signal obtained by the gear position switch, and the sampling are adopted.
  • the phase current signal of the switched reluctance motor detected by the resistance and the rotor position signal of the switched reluctance motor detected by the Hall sensor are transmitted to an external signal processing circuit, and the external signal processing circuit transmits the processed signal to the microprocessor.
  • the microprocessor outputs the calculated carrier frequency and the duty cycle PWM signal as a driving signal to the switching tube in the power converter of the asymmetric half-bridge circuit structure, and controls the switching reluctance motor through the switching tube in the power converter.
  • the frequency of the PWM carrier output by the microprocessor is linearly changed while ensuring that the duty cycle of the PWM wave is constant, so that the switching frequency of the power tube is not fixed, and the micro-processing is continuously changed.
  • the carrier frequency of the PWM output interferes with the periodicity of the excitation, thereby destroying the periodicity of the electromagnetic force to avoid resonance noise caused by the spectral component of the electromagnetic force coincident with the natural frequency of the stator.
  • the microprocessor calculates the rotor position ⁇ r of the motor according to the position signal obtained by the Hall position signal sensor.
  • the PWM carrier frequency is changed, and the rotor position ⁇ r changes periodically with the motor operation.
  • f PWM is the carrier frequency of the actual PWM operation
  • m is the variation coefficient of the carrier frequency
  • the value range is 0, ⁇ 1, ⁇ 2... ⁇ n.
  • the frequency of the PWM carrier is updated.
  • the change mode is as follows: suppose the PWM carrier frequency is first increased with the frequency of the current PWM carrier, and a frequency unit offset ⁇ f is added to the current PWM carrier frequency. When the PWM carrier frequency is increased to the maximum value (f 0 +n* ⁇ f) When the frequency of the PWM carrier decreases with the increase of the motor cycle, the value of each decrease is also a frequency unit offset ⁇ f until it decreases to the minimum value (f 0 -n* ⁇ f). The PWM carrier frequency is increased as the motor cycle increases, and so cycles. If the motor does not enter a new cycle, keep the frequency of the PWM carrier unchanged;
  • the microprocessor outputs the PWM signal of the carrier frequency and the duty ratio as a driving signal to the power converter of the asymmetric half-bridge circuit structure, and outputs the corresponding switching signal of the upper and lower power tubes according to the operation result of the control program.
  • the switching control signal of the power tube is a modulated PWM signal output by the microprocessor, and the control signal of the lower power tube is a PWM-free switching control signal directly output by the microprocessor.
  • the microprocessor MCU uses the STM32F103B as the main control chip, the phase current sampling of the motor uses the constantan wire as the sampling resistor, and the rotor position of the motor is detected by the pulsed Hall sensor US4881KUA.
  • the above method for reducing the noise of the switched reluctance motor based on adjusting the PWM carrier frequency can be applied to the controller of the switched reluctance motor to destroy the periodicity of the electromagnetic force generated by the excitation, and avoiding the coincidence of the frequency component of the electromagnetic force and the natural frequency of the stator.
  • the resulting resonance noise reduces the overall noise of the motor.
  • the PWM carrier frequency is controlled by the microprocessor to change with the motor running cycle. As the number of motor running cycles increases, the PWM carrier frequency increases or decreases by a fixed value.
  • the PWM carrier frequency first increase with the increase of the motor running cycle, and then reach a maximum value, so that the PWM carrier frequency decreases with the increase of the motor running cycle, and when it decreases to the minimum value, it continues to increase.
  • the effect of the reciprocating change is that the PWM carrier frequency always varies linearly up and down a fundamental frequency.
  • the duty cycle of the PWM is not affected by the number of operating cycles of the motor, that is, the control of the PWM carrier frequency and duty cycle are independent of each other.
  • the carrier frequency of the PWM is changed, the performances such as the rotational speed, torque, and efficiency of the switched reluctance motor are not affected, and the noise during the operation of the motor is significantly reduced.
  • the above method for reducing the noise of the switched reluctance motor based on adjusting the PWM carrier frequency does not require much speed and load, has a wide application range, and has a simple technical solution, and can be implemented without a hardware auxiliary circuit.
  • the operation flow chart of the method for reducing the noise of the switched reluctance motor based on adjusting the PWM carrier frequency is shown in FIG. 7.
  • the PWM carrier initial frequency f 0 (1) is set and set.
  • the microprocessor determines the rotor position signal of the switched reluctance motor through the Hall signal transmitted by the Hall position signal sensor, and converts the Hall signal input to the microprocessor into the motor rotor position signal (34) after the operation, and then according to the actual
  • the mechanical angle of the cycle of the controlled reluctance motor is compared with the mechanical angle of the rotor to determine whether the motor enters a new cycle (5). If a new cycle is entered, the frequency of the PWM carrier is updated, and the specific change is made.
  • the method is as follows: suppose that the PWM carrier frequency is first increased with the frequency of the current PWM carrier, and a frequency unit offset ⁇ f is added to the current PWM carrier frequency, and the PWM carrier frequency is increased to the maximum value (f 0 +n* ⁇ f).
  • the frequency of the PWM carrier decreases with the increase of the motor cycle, the value of each decrease is also a frequency unit offset ⁇ f until it is reduced to the minimum value (f 0 -n* ⁇ f), and then
  • the PWM carrier frequency increases as the motor cycle increases, thus cycling. If the motor does not enter a new cycle, keep the frequency of the PWM carrier unchanged (6).
  • the microprocessor will calculate the carrier frequency and duty cycle PWM signal as the drive signal output (7).
  • the embodiment of the present application also proposes a control system for a switched reluctance motor.
  • the control system includes a driving circuit 810 and a microprocessor 820.
  • the driving circuit 810 is used to drive the switched reluctance motor.
  • the microprocessor 820 is connected to the driving circuit 810 for providing the PWM signal as a driving signal.
  • the driving circuit changes the carrier frequency of the PWM signal according to the change of the operating period of the switched reluctance motor; if the switched reluctance motor is commutated, it is determined that the operating cycle of the switched reluctance motor changes.
  • the control system of the switched reluctance motor of the embodiment of the present application further includes: a Hall sensor 830, a sampling resistor 840, a speed regulating handle 860 for connecting the switched reluctance motor 880, and a signal processing circuit 850 of the gear switch 870, the Hall sensor 830 is used to detect the rotor position signal of the switched reluctance motor; the Hall sensor 830 is provided at the switched reluctance motor 830; the sampling resistor 840 and the input of the switched reluctance motor 880
  • the signal processing circuit 850 is also connected to the Hall sensor 830 and the sampling resistor 840 respectively; the signal processing circuit 850 is configured to sample the phase current signal of the switched reluctance motor 880 through the sampling resistor 830, and according to the speed regulation signal and the gear position signal.
  • the duty ratio of the PWM signal is determined, the PWM signal is compensated according to the phase current signal; the carrier frequency of the PWM signal is calculated according to the rotor position signal, and the carrier frequency of the PWM signal is changed according to the calculated carrier frequency. Specifically, it can be determined based on the rotor position signal whether or not the switched reluctance motor 880 has completed one motion cycle.
  • the driving circuit 810 includes two or more asymmetric half bridge circuits; each phase winding of the switched reluctance motor is powered by a corresponding asymmetric half bridge circuit; referring to FIG. 2, each asymmetric half bridge circuit includes The first power 210, the second power tube 220, the first freewheeling diode 230, and the second freewheeling diode 240; the power terminal of the first power tube 210 and the cathode of the second freewheeling diode 240 are both connected to the positive pole of the power source, and the second The output end of the power tube 220 and the anode of the first freewheeling diode 230 are both connected to the negative pole of the power source.
  • the output end of the first power tube 210 is connected to the cathode of the first freewheeling diode 230, and the anode and the second of the second freewheeling diode 240 are connected.
  • the power terminals of the two power tubes are connected.
  • the step of subsequently providing the PWM signal as a driving signal to the driving circuit of the switched reluctance motor comprises: providing a PWM signal to the control terminals of the respective first power transistors 210.
  • the Hall sensor 830 can be a pulsed Hall sensor.
  • the microprocessor 820 can be a master chip by the STM32F103B.
  • the sampling resistor 840 can be a constantan wire.
  • FIG. 10 is a schematic structural diagram of a corresponding switched reluctance motor control system in a specific embodiment of the present application.
  • the microprocessor MCU is composed of STM32F103B as a main control chip, and receives peripheral signals and motor rotor position signals. And the sampled phase current signal is controlled by the switched reluctance motor control program to output the power MOS tube drive signal.
  • the workflow of the entire control system is as follows: the speed control and the gear position switch transmit the speed control signal and the gear position signal to the external signal processing circuit, and then the external signal processing circuit transmits the processed signal to the microprocessor, and the microprocessor passes through The output power tube driving signal is controlled and operated to the power converter to control the operation of the motor.
  • the power converter of the present application adopts an asymmetric half bridge circuit structure.
  • the microprocessor mainly controls the motor speed control by PWM mode.
  • the microprocessor generates PWM waveform during normal operation, wherein the carrier frequency and duty ratio of the PWM are adjustable (duty cycle is used to adjust the speed of the motor)
  • the microprocessor outputs a corresponding switching signal of the upper and lower power tubes according to the running result of the control program, the switching signal of the lower power tube is directly output by the microcontroller, and the upper power tube is the microprocessor controls the PWM through the output control signal Whether the signal is output to the upper power tube as a switching signal, so adjusting the duty cycle of the PWM and the carrier frequency directly affect the turn-on time and switching frequency of the upper power tube.
  • the current sampling uses the constant copper wire on the controller board as the sampling resistor to detect the phase current signal of the switched reluctance motor.
  • the position detection uses the pulsed Hall sensor US4881KUA to detect the rotor position of the switched reluctance motor and the phase current signal obtained by sampling. And the acquired position signal is processed by the peripheral circuit of the microprocessor and transmitted to the microprocessor.
  • the power module in Figure 10 is typically a 48V to 72V DC power supply, depending on the electric vehicle industry.
  • Figure 3 shows the structure of the asymmetric half-bridge circuit used in the power converter.
  • the three inductors in Figure 3 are simplified models of the three-phase switched reluctance motor.
  • S1, S3 and S5 are the power converters.
  • the switching signal of the tube, S2, S4 and S6 are the switching signals of the lower power tube, C is the DC bus capacitor, D1-D6 is the freewheeling diode, the turn-on signal of the upper power tube is the modulated PWM signal, the switch of the lower power tube
  • the signal does not contain a PWM signal.
  • the working process of the switched reluctance motor is divided into three stages: excitation, reflow and freewheeling.
  • phase A in the excitation phase, both S1 and S2 are closed, that is, the upper and lower power tubes are simultaneously turned on, the power supply is energized to phase A, the phase current is from the power source, and the power is returned to the power supply through S1, the equivalent inductance of the motor, and S2.
  • a current loop is formed, and the equivalent inductance is stored at this stage.
  • S1 is closed, S2 is turned on, that is, the upper power tube is turned off, and the lower power tube is turned on.
  • the energy stored in phase A is used as the power source, and the phase current returns to phase A through D2 and S1 to form a loop.
  • the current loss is small.
  • phase current starts from phase A, passes through D2, the power module and D1 return to phase A, and the motor is in a reflow state.
  • the specific excitation sequence for the three-phase power tube allows the motor to operate in different states and smoothly rotate.
  • the power converter can also be equivalent to a switch-controlled voltage source without considering various types of losses.
  • the microprocessor 810 controls the switching reluctance motor to enter a new operating cycle when the commutation of the switched reluctance motor is performed, and then changes the carrier frequency of the PWM to destroy the commutation.
  • the periodicity of the electromagnetic force generated by the excitation can reduce the overall noise of the switched reluctance motor, and the carrier frequency change of the PWM also reduces the probability that the frequency of the radial electromagnetic force coincides with the natural frequency of the stator, thereby reducing the probability of resonance noise generation.
  • the hardware of the control system of the switched reluctance motor in the embodiment of the present application is simple to implement.
  • FIG. 11 A device for reducing the noise of a switched reluctance motor is also proposed, see FIG. 11, including:
  • a PWM signal providing module 1110 configured to provide the PWM signal as a driving signal to a driving circuit of the switched reluctance motor
  • the carrier frequency changing module 1120 is configured to change the carrier frequency of the PWM signal according to the change of the operating period of the switched reluctance motor; wherein, if the switched reluctance motor is commutated, it is determined that the operating period of the switched reluctance motor changes.
  • each module in the above device for reducing the noise of the switched reluctance motor is for illustrative purposes only.
  • the device for reducing the noise of the switched reluctance motor can be divided into different modules as needed to complete the above-mentioned reduction of the switching magnetic All or part of the function of the device that blocks motor noise.
  • each of the above-described modules in the apparatus for reducing the noise of the switched reluctance motor can be implemented in whole or in part by software, hardware, and combinations thereof.
  • Each of the above modules may be embedded in or independent of the processor in the computer device, or may be stored in a memory in the computer device in a software form, so that the processor invokes the operations corresponding to the above modules.
  • One or more non-volatile readable storage media storing computer readable instructions are also presented.
  • one or more non-transitory readable storage mediums storing computer readable instructions, when executed by one or more processors, cause one or more processors to perform any of the above The steps of the method of reducing the noise of the switched reluctance machine in the embodiment and the method of reducing the noise of the switched reluctance motor based on adjusting the PWM carrier frequency in any of the above embodiments.

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Abstract

一种降低开关磁阻电机噪声的方法和装置，包括：将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路；以及随开关磁阻电机运行周期的变化改变PWM信号的载波频率；其中，若开关磁阻电机换相，判定开关磁阻电机运行周期发生变化。

Description

一种基于调节PWM载波频率降低开关磁阻电机噪声的方法 技术领域
本发明涉及电机技术领域，特别是涉及一种降低开关磁阻电机(Switched Reluctance Motor，简称SRM)噪声的方法和装置、一种开关磁阻电机的控制系统、一个或多个存储有计算机可读指令的非易失性可读存储介质以及一种基于调节PWM载波频率降低开关磁阻电机噪声的方法。
背景技术
开关磁阻电机在电机驱动系统中占有越来越重要的地位，但由于开关磁阻电机其双凸极结构和不连续的线圈激励方式，在开关磁阻电机运行过程中产生的噪声相对于传统电机较大；这是因为定子绕组在换相时激励产生的电磁力会发生剧烈变化，导致径向电磁力也会发生剧烈变化，这就会使定子发生形变并产生振动；特别是当径向电磁力频率中含有和定子固有频率重合时，定子振动更加严重，会造成更严重的噪声，更加会限制开关磁阻电机在低噪声领域的应用。
发明内容
基于此，有必要提出一种降低开关磁阻电机噪声的方法和装置、一种开关磁阻电机的控制系统、以及一个或多个存储有计算机可读指令的非易失性可读存储介质。
一种降低开关磁阻电机噪声的方法，包括：
将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路；以及
随所述开关磁阻电机运行周期的变化改变所述PWM信号的载波频率；其中，若所述开关磁阻电机换相，判定所述开关磁阻电机运行周期发生变化。
还提出一种基于调节PWM载波频率降低开关磁阻电机噪声的方法，将通过调速把得到的调速信号、通过档位开关得到的档位信号、通过采样电阻 检测到的开关磁阻电机的相电流信号和通过霍尔传感器检测到的开关磁阻电机的转子位置信号传递给外部信号处理电路，外部信号处理电路将处理过的信号传递给微处理器，微处理器将计算出的载波频率和占空比的PWM信号作为驱动信号输出给不对称半桥电路结构的功率变换器中的开关管，通过功率变换器中的开关管控制开关磁阻电机的调速运行；
开关磁阻电机每运行一个周期时，在保证PWM波占空比不变的情况下，线性改变微处理器输出的PWM载波的频率，使得功率管的开关变化频率不固定，通过不断改变微处理器输出的PWM的载波频率，干扰激励周期性，进而破坏电磁力的周期性，以避免电磁力的频谱分量与定子的固有频率重合时引起的共振噪声。
还提出一个或多个存储有计算机可读指令的非易失性可读存储介质，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器执行上述降低开关磁阻电机噪声的方法和上述基于调节PWM载波频率降低开关磁阻电机噪声的方法的步骤。
还提出一种开关磁阻电机的控制系统，包括：
驱动电路，用于驱动开关磁阻电机；
微处理器，与所述驱动电路连接，用于将PWM信号作为驱动信号提供给所述驱动电路，并随所述开关磁阻电机运行周期的变化改变所述PWM信号的载波频率；若所述开关磁阻电机换相，判定所述开关磁阻电机运行周期发生变化。
还提出一种降低开关磁阻电机噪声的装置，包括：
PWM信号提供模块，用于将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路；以及
载波频率改变模块，用于随所述开关磁阻电机运行周期的变化改变所述PWM信号的载波频率；其中，若所述开关磁阻电机换相，判定所述开关磁阻电机运行周期发生变化。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
通过附图中所示的本发明的优选实施例的更具体说明，本发明的上述及其它目的、特征和优势将变得更加清晰。在全部附图中相同的附图标记指示相同的部分，且并未刻意按实际尺寸等比例缩放绘制附图，重点在于示出本发明的主旨。
图1为一个实施例中的降低开关磁阻电机噪声的方法的流程示意图；
图2为一个实施例中的不对称半桥电路的结构示意图；
图3是一个具体实施例中的不对称半桥电路的结构示意图；
图4为一个实施例中的四相8/6极开关磁阻电机的结构示意图；
图5为一个实施例中的没有调制过的PWM信号的波形图和利用本实施例的方法调制过的PWM信号的波形图；
图6为一个实施例中的利用没有调制过的PWM信号和使用利用本实施例的方法调制过的PWM信号的径向电磁力的频谱对比图。
图7为一个具体实施例中的基于调节PWM载波频率降低开关磁阻电机噪声方法的运行流程示意图；图8为一个实施例中的开关磁阻电机的控制系统的结构示意图；
图9为另一个实施例中的开关磁阻电机的控制系统的结构示意图；
图10为一个具体实施例中对应的开关磁阻电机控制系统的结构示意图；
图11为一个实施例中的降低开关磁阻电机噪声的装置的结构示意图。
具体实施方法
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的首选实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本申请提出一种降低开关磁阻电机噪声的方法。图1为一个实施例中的降低开关磁阻电机噪声的方法的流程示意图，请参阅图1，该降低开关磁阻电机噪声的方法包括步骤102至步骤104：
步骤102，将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路。
在其中一个实施例中，开关磁阻电机的驱动电路包括两个以上不对称半桥电路；开关磁阻电机的每一相绕组均由相应的不对称半桥电路供电；请参阅图2，各个不对称半桥电路均包括第一功率210、第二功率管220、第一续流二极管230以及第二续流二极管240；第一功率管210的电源端、第二续流二极管240的阴极均与电源正极连接，第二功率管220的输出端、第一续流二极管230的阳极均与电源负极连接，第一功率管210的输出端与第一续流二极管230的阴极连接，第二续流二极管240的阳极与第二功率管的电源端连接。那么后续将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路的步骤包括：向各个第一功率管210的控制端提供PWM信号。
具体地，开关磁阻电机为三相开关磁阻电机，三相开关磁阻电机的定子绕组分别为A相绕组、B相绕组、C相绕组。请参阅图3，给A相绕组通电的不对称半桥电路包括功率管S1、功率管S2、续流二极管D1以及续流二极管D2；给B相绕组通电的不对称半桥电路包括功率管S3、功率管S4、续流二极管D3以及续流二极管D4；给C相绕组通电的不对称半桥电路包括功率管S5、功率管S6、续流二极管D5以及续流二极管D6；图3中电感L1、电感L2以及电感L3为三相开关磁阻电机的简化模型；功率管S1的电源端、功率管S3的电源端、功率管S5的电源端、续流二极管D2的阴极、续流二极管D4的阴极、以及续流二极管D6的阴极均接入电源正极，并均连接直流母线电容C的一端；续流二极管D1的阳极、续流二极管D3的阳极、续流二极管D5的阳极、功率管S2的输出端、功率管S4的输出端以及功率管S6的输出端均连接电源负极，并均连接直流母线电容C的另一端；功率管S1的输出端与续流二极管D1的阴极连接，功率管S3的输出端与续流二极管D3 的阴极连接，功率管S5的输出端与续流二极管D5的阴极连接，功率管S2的电源端与续流二极管D2的阳极连接。给功率管S2、功率管S4、功率管S6提供不含PWM信号的开关控制信号，给功率管S1、功率管S3、功率管S5PWM信号，并随时间改变PWM信号的载波频率。
步骤104，随开关磁阻电机运行周期的变化改变PWM信号的载波频率；其中，若开关磁阻电机换相，判定开关磁阻电机运行周期发生变化。
在其中一个实施例中，随开关磁阻电机运行周期的变化改变PWM信号的载波频率的步骤包括：随开关磁阻电机运行周期的变化线性改变PWM信号的载波频率。
具体地，将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路的步骤包括：将为初始载波频率的PWM信号提供给开关磁阻电机的驱动电路；随开关磁阻电机运行周期的变化线性改变PWM信号的载波频率的步骤包括：若检测到PWM信号的载波频率偏移初始载波频率的偏移量达到预设的最大偏移量，则以相反的线性改变方式，改变后续运行周期的PWM信号的载波频率。
例如，PWM信号的载波频率与初始载波频率满足以下关系：
f PWM＝f 0+m*Δf；
其中f PWM为PWM信号在开关磁阻电机运行过程中的载波频率，m为载波频率的变化系数，取值范围为0，±1，±2…±n，随着开关磁阻电机转子的旋转，m的值随着周期数的增加线性变化；预设的最大偏移量为n*Δf，当m取值线性增加，直到m为最大值n时，m取值开始线性减小，直到m为最小值-n时，m取值开始线性增加。
本实施例PWM信号的载波频率随运行周期变化而变化，随着电机运行周期数的增加，PWM信号的载波频率增加或者减小一个定值。当到达一个最大值时，使PWM信号的载波频率随电机运行周期的增加而减小，当减小到最小值时，再继续增加，如此往复变化，最后到达的效果是PWM信号的载波频率始终在一个基础频率上下线性变化。
具体地，随开关磁阻电机运行周期的变化改变PWM信号的载波频率的 步骤包括：保持PWM信号的占空比不变，随开关磁阻电机运行周期的变化改变PWM信号的载波频率。本实施例改变PWM信号的载波频率的时候，PWM信号的占空比不受运行周期数的影响，即PWM载波频率和占空比的控制相互独立。在改变PWM信号的载波频率的时候，不影响开关磁阻电机的转速、转矩、效率等性能。
在其中一个实施例中，随时间改变驱动信号的PWM载波的频率的步骤包括：在检测到开关磁阻电机完成一个运行周期后，判定开关磁阻电机进入下一运行周期，并改变下一运行周期的PWM信号的载波频率。
其他实施例中，若开关磁阻电机还没有进入到新的运行周期中，PWM信号的载波频率保持不变。
在其中一个实施例中，判定开关磁阻电机换相的步骤包括：若开关磁阻电机定子的一凸极的轴线从与转子的一凸极的轴线重合，变为这一凸极的轴线与转子的下一凸极的轴线重合，判定开关磁阻电机换相。
例如，如图4所示的四相8/6极开关磁阻电机，以C相为例，定子的凸极与转子的凸极轴线重合，转子再转过60度，就会变为转子的下一对凸极跟定子的这个凸极轴线重合，则表明开关磁阻电机的运行周期发生了变化。
进一步地，在一个具体实施例中，本申请实施例中的降低开关磁阻电机噪声的方法，还包括根据开关磁阻电机转子的凸极个数计算开关磁阻电机完成一个运行周期，开关磁阻电机转子对应需转过的参考角度的步骤。具体地，开关磁阻电机为三相12/8极开关磁阻电机，即转子的凸极有8个，那么开关磁阻电机完成一个运行周期，开关磁阻电机转子对应需转过的参考角度为45°。那么，若开关磁阻电机定子的一凸极的轴线从与转子的一凸极的轴线重合，变为这一凸极的轴线与转子的下一凸极的轴线重合，判定开关磁阻电机运行周期发生变化的步骤包括：若检测到开关磁阻电机定子的一凸极的轴线与转子的一凸极的轴线重合，然后随着开关磁阻电机继续运行检测到开关磁阻电机的转子转过的角度达到参考角度，则判定开关磁阻电机进入新的运行周期。在判定开关磁阻电机进入新的运行周期后，改变PMW信号的载波频率。
例如，图5(a)所示的是没有调制过的PWM信号的波形和利用本实施 例的方法调制过的图5(b)所示PWM信号的波形，因为控制对象为三相12/8开关磁阻电机，所以经过计算可知，开关磁阻电机完成一个运行周期，开关磁阻电机转子对应需转过45°，该角度为机械角度。从图5中可以看出没有调制过的PWM信号的载波频率保持不变，调制过的波形的载波频率转子每转过45°变化一次。
图6所示的是利用没有调制过的PWM信号和使用利用本实施例的方法调制过的PWM信号的径向电磁力的频谱对比图。利用没有调制过的PWM信号，PWM载波频率保持不变，在电机以稳速正常运行时，三相交替激励，各自产生的径向电磁力的频谱分量固定。其中如果含有和定子固有频率重合的分量，则会引起共振，产生噪声。而利用本实施例的方法调制过的PWM信号，其载波频率不固定，即令开关频率不固定，使电磁力的频谱分量不断变化，总体上看会使径向电磁力的频域范围更广，径向电磁力频域极值处的幅值随之降低，以此减小共振幅度，降低开关磁阻电机噪声。
其中一个实施例中，本申请实施例中的降低开关磁阻电机噪声的方法还包括：获取开关磁阻电机调速把的调速信号、开关磁阻电机档位开关的档位信号、开关磁阻电机的相电流信号以及开关磁阻电机的转子位置信号；以及根据调速信号、档位信号确定PWM信号的占空比，并根据开关磁阻电机的相电流信号补偿PWM信号；根据开关磁阻电机的转子位置信号计算PWM信号的载波频率的步骤，然后按照计算的载波频率改变PWM信号的载波频率。
本实施例，利用反馈的开关磁阻电机的相电流信号补偿PWM信号，有利于使驱动电路输出的相电流信号达到预期值。
本申请实施例的降低开关磁阻电机的噪声的方法，在开关磁阻电机换相时，判定开关磁阻电机进入新的运行周期，然后改变PWM的载波频率，破坏换相时激励产生的电磁力的周期性，能够降低开关磁阻电机的整体噪声，且PWM的载波频率改变也减小径向电磁力的频率和定子固有频率重合的几率，从而减小共振噪声产生的几率。
在本申请的一个实施例中，还提出一种基于调节PWM载波频率降低开关磁阻电机噪声的方法，将通过调速把得到的调速信号、通过档位开关得到的档位信号、通过采样电阻检测到的开关磁阻电机的相电流信号和通过霍尔传感器检测到的开关磁阻电机的转子位置信号传递给外部信号处理电路，外部信号处理电路将处理过的信号传递给微处理器，微处理器将计算出的载波频率和占空比的PWM信号作为驱动信号输出给不对称半桥电路结构的功率变换器中的开关管，通过功率变换器中的开关管控制开关磁阻电机的调速运行；
开关磁阻电机每运行一个周期时，在保证PWM波占空比不变的情况下，线性改变微处理器输出的PWM载波的频率，使得功率管的开关变化频率不固定，通过不断改变微处理器输出的PWM的载波频率，干扰激励周期性，进而破坏电磁力的周期性，以避免电磁力的频谱分量与定子的固有频率重合时引起的共振噪声。
具体地，1)在开关磁阻电机运行之前，设置好PWM载波初始频率f 0以及载波频率单位偏移量Δf和最大偏移量n*Δf，Δf是在电机每运行一个周期时的时候，载波频率的变化量，n*Δf是PWM载波频率偏离基础频率f 0的最大偏移值；
2)在开关磁阻电机运行时，微处理器根据霍尔位置信号传感器获得的位置信号计算出电机转子位置θ r，当电机旋转到转子凸极和定子凸极重合，即转子位置为θ r＝θ 0时，改变PWM载波频率，转子位置θ r随电机运行进行周期性变化，计算公式如下：
f PWM＝f 0+m*Δf；
其中f PWM为PWM实际运行中的载波频率，m为载波频率的变化系数，取值范围为0，±1，±2…±n，随着电机旋转，m的值随着周期数的增加线性变化，当m取到最大值n或者最小值-n时，再反向线性变化；
3)根据实际控制的开关磁阻电机的一个周期对应的机械角度大小和转子转过的机械角度进行比较，判断电机是否进入新的周期，如果进入新的周期，就更新PWM载波的频率，具体变化方式为：假设先使PWM载波频率随着电机周期的增加，在目前的PWM载波的频率基础上增加一个频率单位偏移 量Δf，当PWM载波频率增加到最大值(f 0+n*Δf)时，PWM载波的频率再随着电机周期的增加而减小，每次减小的值也为一个频率单位偏移量Δf，直至减小到最小值(f 0-n*Δf)，再使PWM载波频率随着电机周期增加而增加，如此循环。如果电机没有进入新的周期，则保持PWM载波的频率不变；
4)微处理器将计算好载波频率和占空比的PWM信号作为驱动信号输出给不对称半桥电路结构的功率变换器，根据控制程序的运行结果输出对应的上下功率管的开关信号，上功率管的开关控制信号是微处理器输出的调制过的PWM信号，下功率管的控制信号则是由微处理器直接输出的不含PWM的开关控制信号。
具体地，微处理器MCU采用STM32F103B作为主控芯片，电机的相电流采样采用康铜丝作为采样电阻，电机转子位置的检测采用脉冲式霍尔传感器US4881KUA。
上述基于调节PWM载波频率降低开关磁阻电机噪声的方法可以运用到开关磁阻电机的控制器中，破坏由激励产生的电磁力的周期性，避免了电磁力的频率分量和定子固有频率重合时引起的共振噪声，降低了电机的整体噪声。通过微处理器控制PWM载波频率随电机运行周期变化，随着电机运行周期数的增加，PWM载波频率增加或者减小一个定值。例如先让PWM载波频率先随电机运行周期的增加而增加，然后到达一个最大值时，使PWM载波频率随电机运行周期的增加而减小，当减小到最小值时，再继续增加，如此往复变化，最后到达的效果是PWM载波频率始终在一个基础频率上下线性变化。在改变PWM载波频率的时候，PWM的占空比不受电机运行周期数的影响，即PWM载波频率和占空比的控制相互独立。在改变PWM的载波频率的时候，不影响开关磁阻电机的转速、转矩、效率等性能，并且明显的降低了电机运行过程中的噪声。上述基于调节PWM载波频率降低开关磁阻电机噪声的方法，对转速和负载没有太多要求，适用范围广，并且技术方案简单，可以不需要硬件辅助电路，实现简单。
具体地，该基于调节PWM载波频率降低开关磁阻电机噪声的方法的运行流程图如图7所示，在开关磁阻电机运行之前，设置好PWM载波初始频 率f 0(①)，并设置好载波频率单位偏移量Δf和最大偏移量n*Δf(②)，Δf是在电机每运行一个周期时的时候，载波频率的变化量，n*Δf是PWM载波频率偏离基础频率f 0的最大偏移值。微处理器通过霍尔位置信号传感器传递的霍尔信号判断开关磁阻电机的转子位置信号，并通过运算后将输入微处理器的霍尔信号转换为电机转子位置信号(③④)，然后根据实际控制的开关磁阻电机的一个周期对应的机械角度大小和转子转过的机械角度进行比较，判断电机是否进入新的周期(⑤)，如果进入新的周期，就更新PWM载波的频率，具体变化方式为：假设先使PWM载波频率随着电机周期的增加，在目前的PWM载波的频率基础上增加一个频率单位偏移量Δf，当PWM载波频率增加到最大值(f 0+n*Δf)时，PWM载波的频率再随着电机周期的增加而减小，每次减小的值也为一个频率单位偏移量Δf，直至减小到最小值(f 0-n*Δf)，再使PWM载波频率随着电机周期增加而增加，如此循环。如果电机没有进入新的周期，则保持PWM载波的频率不变(⑥)。最后微处理器将计算好载波频率和占空比的PWM信号作为驱动信号输出(⑦)。
本申请实施例还提出一种开关磁阻电机的控制系统。请参阅图8，该控制系统包括：驱动电路810以及微处理器820，驱动电路810用于驱动开关磁阻电机；微处理器820与驱动电路810连接，用于将PWM信号作为驱动信号提供给驱动电路，并随开关磁阻电机运行周期的变化改变PWM信号的载波频率；若开关磁阻电机换相，判定开关磁阻电机运行周期发生变化。
其中一个实施例中，请参阅图9，本申请实施例的开关磁阻电机的控制系统，还包括：霍尔传感器830、采样电阻840、用于连接开关磁阻电机880的调速把860以及档位开关870的信号处理电路850，霍尔传感器830用于检测开关磁阻电机的转子位置信号；霍尔传感器830设于开关磁阻电机830处；采样电阻840与开关磁阻电机880的输入端连接；信号处理电路850还分别与霍尔传感器830、采样电阻840连接；信号处理电路850用于通过采样电阻830采样开关磁阻电机880的相电流信号，并根据调速信号、档位信号确定PWM信号的占空比，根据相电流信号补偿PWM信号；根据转子位置信号计算PWM信号的载波频率，按照计算的载波频率改变PWM信号的 载波频率。具体地，根据转子位置信号可以判定开关磁阻电机880是否完成一个运动周期。
具体地，该驱动电路810包括两个以上不对称半桥电路；开关磁阻电机的每一相绕组均由相应的不对称半桥电路供电；请参阅图2，各个不对称半桥电路均包括第一功率210、第二功率管220、第一续流二极管230以及第二续流二极管240；第一功率管210的电源端、第二续流二极管240的阴极均与电源正极连接，第二功率管220的输出端、第一续流二极管230的阳极均与电源负极连接，第一功率管210的输出端与第一续流二极管230的阴极连接，第二续流二极管240的阳极与第二功率管的电源端连接。那么后续将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路的步骤包括：向各个第一功率管210的控制端提供PWM信号。
具体地，霍尔传感器830可为脉冲式霍尔传感器。微处理器820可以是由STM32F103B作为主控芯片。采样电阻840可为康铜丝。
图10所示的是本申请一个具体实施例中对应的开关磁阻电机控制系统的结构示意图，图10中，微处理器MCU是由STM32F103B作为主控芯片，接受外设信号、电机转子位置信号和采样的相电流信号，通过开关磁阻电机控制程序的控制，输出功率MOS管驱动信号。整个控制系统的工作流程如下：调速把和档位开关将调速信号和档位信号传递给外部信号处理电路，然后外部信号处理电路将处理过的信号传递给微处理器，微处理器经过控制和运算输出功率管驱动信号给功率变换器，控制电机的运行，本申请的功率变换器采用的是不对称半桥电路结构。微处理器主要通过PWM方式来控制电机调速运行，微处理器在正常工作时产生PWM波形，其中PWM的载波频率和占空比都是可调的(占空比用于对电机进行调速)，微处理器根据控制程序的运行结果输出对应的上下功率管的开关信号，下功率管的开关信号是微控制器直接输出的，而上功率管是微处理器通过输出的控制信号控制PWM信号是否作为开关信号输出给上功率管，因此调节PWM的占空比和载波频率直接影响上功率管的开通时间和开关频率。电流采样使用控制器板上的康铜丝作为采样电阻，检测开关磁阻电机的相电流信号，位置检测采用脉冲式霍尔传感器US4881KUA，检测开关磁阻电机的转子位置，采样得到的相电流信号 和获取的位置信号经过微处理器外围电路处理后传递给微处理器。图10中的电源模块根据电动车行业的情况通常采用的是48V～72V的直流电源。
图3所示的是功率变换器所采用的不对称半桥电路的结构示意图，图3中的三个电感为三相开关磁阻电机的简化模型，S1、S3和S5为功率转换器上功率管的开关信号，S2、S4和S6为下功率管的开关信号，C为直流母线电容，D1-D6为续流二极管，上功率管的开通信号就是调制过的PWM信号，下功率管的开关信号不含PWM信号。开关磁阻电机工作过程分为励磁、回流和续流三个阶段。以A相为例，在励磁阶段，S1和S2均闭合，即上下功率管同时导通，电源给A相供能，相电流从电源出发，经过S1、电机等效电感和S2，回到电源，形成电流回路，等效电感在这一阶段进行储能。当S1闭合S2打开时，即上功率管关断，下功率管导通，此时处于续流阶段，A相存储的能量作为电源，相电流经过D2和S1回到A相，形成回路，相电流损失较小。当S1和S2都关闭，即上下功率管同时关断，相电流从A相出发，经过D2、电源模块和D1回到A相，此时电机处于回流状态。给三相功率管特定的激励顺序，可以使电机工作在不同的状态并顺利运行旋转。在不考虑各类损耗的情况下，功率变换器也可等效为受开关控制的电压源。
本申请实施例中的开关磁阻电机的控制系统，微处理器810控制在开关磁阻电机换相时，判定开关磁阻电机进入新的运行周期，然后改变PWM的载波频率，破坏换相时激励产生的电磁力的周期性，能够降低开关磁阻电机的整体噪声，且PWM的载波频率改变也减小径向电磁力的频率和定子固有频率重合的几率，从而减小共振噪声产生的几率。且本申请实施例中的开关磁阻电机的控制系统硬件搭建实现简单。
还提出一种降低开关磁阻电机噪声的装置，请参阅图11，包括：
PWM信号提供模块1110，用于将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路；以及
载波频率改变模块1120，用于随开关磁阻电机运行周期的变化改变PWM信号的载波频率；其中，若开关磁阻电机换相，判定开关磁阻电机运行周期发生变化。
上述降低开关磁阻电机噪声的装置中各个模块的划分仅用于举例说明，在其他实施例中，可将降低开关磁阻电机噪声的装置按照需要划分为不同的模块，以完成上述降低开关磁阻电机噪声的装置的全部或部分功能。
关于降低开关磁阻电机噪声的装置的具体限定可以参见上文中对于降低开关磁阻电机噪声的方法的限定，在此不再赘述。上述降低开关磁阻电机噪声的装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
还提出一个或多个存储有计算机可读指令的非易失性可读存储介质。
一个实施例中，一个或多个存储有计算机可读指令的非易失性可读存储介质，计算机可读指令被一个或多个处理器执行时，使得一个或多个处理器执行如上任一实施例中降低开关磁阻电机噪声的方法的步骤和如上任一实施例中基于调节PWM载波频率降低开关磁阻电机噪声的方法的步骤。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (19)

  1. 一种基于调节PWM载波频率降低开关磁阻电机噪声的方法，将通过调速把得到的调速信号、通过档位开关得到的档位信号、通过采样电阻检测到的开关磁阻电机的相电流信号和通过霍尔传感器检测到的开关磁阻电机的转子位置信号传递给外部信号处理电路，外部信号处理电路将处理过的信号传递给微处理器，微处理器将计算出的载波频率和占空比的PWM信号作为驱动信号输出给不对称半桥电路结构的功率变换器中的开关管，通过功率变换器中的开关管控制开关磁阻电机的调速运行；
    开关磁阻电机每运行一个周期时，在保证PWM波占空比不变的情况下，线性改变微处理器输出的PWM载波的频率，使得功率管的开关变化频率不固定，通过不断改变微处理器输出的PWM的载波频率，干扰激励周期性，进而破坏电磁力的周期性，以避免电磁力的频谱分量与定子的固有频率重合时引起的共振噪声。
  2. 根据权利要求1所述的基于调节PWM载波频率降低开关磁阻电机噪声的方法，其特征在于，包括以下步骤：
    1)在开关磁阻电机运行之前，设置好PWM载波初始频率f 0以及载波频率单位偏移量Δf和最大偏移量n*Δf，Δf是在电机每运行一个周期时的时候，载波频率的变化量，n*Δf是PWM载波频率偏离基础频率f 0的最大偏移值；
    2)在开关磁阻电机运行时，微处理器根据霍尔位置信号传感器获得的位置信号计算出电机转子位置θ r，当电机旋转到转子凸极和定子凸极重合，即转子位置为θ r＝θ 0时，改变PWM载波频率，转子位置θ r随电机运行进行周期性变化，计算公式如下：
    f PWM＝f 0+m*Δf；
    其中f PWM为PWM实际运行中的载波频率，m为载波频率的变化系数，取值范围为0，±1，±2…±n，随着电机旋转，m的值随着周期数的增加线性变化，当m取到最大值n或者最小值-n时，再反向线性变化；
    3)根据实际控制的开关磁阻电机的一个周期对应的机械角度大小和转子转过的机械角度进行比较，判断电机是否进入新的周期，如果进入新的周期， 就更新PWM载波的频率，具体变化方式为：假设先使PWM载波频率随着电机周期的增加，在目前的PWM载波的频率基础上增加一个频率单位偏移量Δf，当PWM载波频率增加到最大值(f 0+n*Δf)时，PWM载波的频率再随着电机周期的增加而减小，每次减小的值也为一个频率单位偏移量Δf，直至减小到最小值(f 0-n*Δf)，再使PWM载波频率随着电机周期增加而增加，如此循环。如果电机没有进入新的周期，则保持PWM载波的频率不变；
    4)微处理器将计算好载波频率和占空比的PWM信号作为驱动信号输出给不对称半桥电路结构的功率变换器，根据控制程序的运行结果输出对应的上下功率管的开关信号，上功率管的开关控制信号是微处理器输出的调制过的PWM信号，下功率管的控制信号则是由微处理器直接输出的不含PWM的开关控制信号。
  3. 根据权利要求1所述的基于调节PWM载波频率降低开关磁阻电机噪声的方法，其特征在于：微处理器MCU采用STM32F103B作为主控芯片，电机的相电流采样采用康铜丝作为采样电阻，电机转子位置的检测采用脉冲式霍尔传感器US4881KUA。
  4. 一种降低开关磁阻电机噪声的方法，包括：
    将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路；以及
    随所述开关磁阻电机运行周期的变化改变所述PWM信号的载波频率；其中，若所述开关磁阻电机换相，判定所述开关磁阻电机运行周期发生变化。
  5. 根据权利要求4所述的方法，其特征在于，所述随所述开关磁阻电机运行周期的变化改变PWM信号的载波频率的步骤包括：随所述开关磁阻电机运行周期的变化线性改变PWM信号的载波频率。
  6. 根据权利要求5所述的方法，其特征在于，所述将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路的步骤包括：
    将为初始载波频率的PWM信号提供给开关磁阻电机的驱动电路；
    所述随所述开关磁阻电机运行周期的变化线性改变PWM信号的载波频率的步骤包括：
    若检测到PWM信号的载波频率偏移所述初始载波频率的偏移量达到预设的最大偏移量，则以相反的线性改变方式，改变后续运行周期的PWM信 号的载波频率。
  7. 根据权利要求6所述的方法，其特征在于，所述随所述开关磁阻电机运行周期的变化改变PWM信号的载波频率的步骤包括：保持PWM信号的占空比不变，随所述开关磁阻电机运行周期的变化改变PWM信号的载波频率。
  8. 根据权利要求4所述的方法，其特征在于，所述随时间改变驱动信号的PWM载波的频率的步骤包括：
    在检测到所述开关磁阻电机完成一个运行周期后，判定所述开关磁阻电机进入下一运行周期，并改变下一运行周期的PWM信号的载波频率。
  9. 根据权利要求8所述的方法，其特征在于，还包括：若所述开关磁阻电机还没有进入到新的运行周期中，所述PWM信号的载波频率保持不变。
  10. 根据权利要求4所述的方法，其特征在于，所述判定所述开关磁阻电机换相的步骤包括：若所述开关磁阻电机定子的一凸极的轴线从与转子的一凸极的轴线重合，变为这一凸极的轴线与转子的下一凸极的轴线重合，判定所述开关磁阻电机换相。
  11. 根据权利要求10所述的方法，其特征在于，还包括根据开关磁阻电机转子的凸极个数计算开关磁阻电机完成一个运行周期，所述开关磁阻电机转子对应需转过的参考角度的步骤；
    所述若所述开关磁阻电机定子的一凸极的轴线从与转子的一凸极的轴线重合，变为这一凸极的轴线与转子的下一凸极的轴线重合，判定所述开关磁阻电机运行周期发生变化的步骤包括：
    若检测到所述开关磁阻电机定子的一凸极的轴线与转子的一凸极的轴线重合，然后随着所述开关磁阻电机继续运行检测到开关磁阻电机的转子转过的角度达到所述参考角度，则判定所述开关磁阻电机进入新的运行周期。
  12. 根据权利要求4所述的方法，其特征在于，所述开关磁阻电机的驱动电路包括两个以上不对称半桥电路；所述开关磁阻电机的每一相绕组均由相应的不对称半桥电路供电；各个不对称半桥电路均包括第一功率管、第二功率管、第一续流二极管以及第二续流二极管；第一功率管的电源端、第二续流二极管的阴极均与电源正极连接，第二功率管的输出端、第一续流二极 管的阳极均与电源负极连接，第一功率管的输出端与第一续流二极管的阴极连接，第二续流二极管的阳极与第二功率管的电源端连接；
    所述将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路的步骤包括：向各个所述第一功率管的控制端提供所述PWM信号。
  13. 根据权利要求4所述的方法，其特征在于，还包括：
    获取所述开关磁阻电机调速把的调速信号、所述开关磁阻电机档位开关的档位信号、所述开关磁阻电机的相电流信号以及所述开关磁阻电机的转子位置信号；以及
    根据所述调速信号、档位信号确定所述PWM信号的占空比，并根据所述开关磁阻电机的相电流信号补偿所述PWM信号；根据所述开关磁阻电机的转子位置信号计算PWM信号的载波频率；
    所述改变所述PWM信号的载波频率的步骤是按照计算的载波频率改变PWM信号的载波频率。
  14. 一种开关磁阻电机的控制系统，包括：
    驱动电路，用于驱动开关磁阻电机；以及
    微处理器，与所述驱动电路连接，用于将PWM信号作为驱动信号提供给所述驱动电路，并随所述开关磁阻电机运行周期的变化改变所述PWM信号的载波频率；若所述开关磁阻电机换相，判定所述开关磁阻电机运行周期发生变化。
  15. 根据权利要求14所述的控制系统，其特征在于，还包括：
    霍尔传感器，用于检测所述开关磁阻电机的转子位置信号；
    采样电阻，与开关磁阻电机的输入端连接；以及
    用于连接所述开关磁阻电机的调速把以及档位开关的信号处理电路，所述信号处理电路还分别与所述霍尔传感器、采样电阻连接；所述信号处理电路用于通过所述采样电阻采样所述开关磁阻电机的相电流信号，并根据所述调速信号、档位信号确定所述PWM信号的占空比，根据所述相电流信号补偿所述PWM信号；根据所述转子位置信号计算PWM信号的载波频率，按照计算的载波频率改变PWM信号的载波频率。
  16. 根据权利要求14所述的控制系统，其特征在于，
    所述开关磁阻电机的驱动电路包括两个以上不对称半桥电路；所述开关磁阻电机的每一相绕组均由相应的不对称半桥电路供电；各个不对称半桥电路均包括第一功率管、第二功率管、第一续流二极管以及第二续流二极管；第一功率管的电源端、第二续流二极管的阴极均与电源正极连接，第二功率管的输出端、第一续流二极管的阳极均与电源负极连接，第一功率管的输出端与第一续流二极管的阴极连接，第二续流二极管的阳极与第二功率管的电源端连接；
    所述微处理器用于向各个所述第一功率管的控制端提供所述PWM信号。
  17. 根据权利要求16所述的控制系统，其特征在于，
    所述霍尔传感器为脉冲式霍尔传感器。
  18. 一个或多个存储有计算机可读指令的非易失性可读存储介质，所述计算机可读指令被一个或多个处理器执行时，使得所述一个或多个处理器执行如权利要求1-3和权利要求4-13中任一项所述的方法的步骤。
  19. 一种降低开关磁阻电机噪声的装置，包括：
    PWM信号提供模块，用于将PWM信号作为驱动信号提供给开关磁阻电机的驱动电路；以及
    载波频率改变模块，用于随所述开关磁阻电机运行周期的变化改变所述PWM信号的载波频率；其中，若所述开关磁阻电机换相，判定所述开关磁阻电机运行周期发生变化。
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US11557959B2 (en) 2017-12-29 2023-01-17 Csmc Technologies Fab2 Co., Ltd. Deadtime automatic-optimization system for flyback power supply having primary-side feedback in CCM, control system and method for flyback power supply having primary-side feedback in CCM
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CN114844406A (zh) * 2022-03-25 2022-08-02 中国矿业大学 预测电流控制下开关磁阻电机单电流传感器故障容错方法
CN115378338A (zh) * 2022-08-29 2022-11-22 南京信息工程大学 一种无线开关磁阻电机驱动控制方法

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