CN105915152A - Switched reluctance motor speed regulation system and torque ripple suppression method - Google Patents
Switched reluctance motor speed regulation system and torque ripple suppression method Download PDFInfo
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- CN105915152A CN105915152A CN201610256115.6A CN201610256115A CN105915152A CN 105915152 A CN105915152 A CN 105915152A CN 201610256115 A CN201610256115 A CN 201610256115A CN 105915152 A CN105915152 A CN 105915152A
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Abstract
The invention discloses a switched reluctance motor speed regulation system and torque ripple suppression method, and is used for performing speed regulation on a switched reluctance motor according to a speed signal and a position signal. The switched reluctance motor speed regulation system comprises a speed detection module, a position detection module, a controller, an optical coupling isolation module and a power conversion module. When a rotor position angle is in a certain state, corresponding expected phase current can be solved according to the expected torque and the number of degrees of the rotor position angle, and each phase of current is planned according to the expected phase current. The sum of the torque generated by each phase of winding is equal to the expected torque so that torque ripple and noise can be reduced, and the switched reluctance motor system is enabled to be widely applied to the field of household electrical appliances, the general industry, a servo and speed regulation system, a traction motor, a high-rotating-speed motor and aerospace.
Description
Technical field
The present invention relates to switched reluctance machines field, particularly relate toA kind of Switched Reluctance Motor and method for suppressing torque ripple。
Background technology
Switched reluctance machines (SRM) is because of simple in construction, firm, low cost of manufacture, speed-regulating range width and efficiency advantages of higher so that it is become the newcomer of great potential in variable speed drive system.But, its stator, the double-salient-pole structure of rotor and switch form power supply, make the system that driving system for switched reluctance (Switched Reluctance Drives) becomes a multivariate height coupling, non-linear exception is serious, in operation, torque pulsation is obvious, thus cause noise of motor and torque ripple, directly affects the application that SRM requires high field to close in running quality, limit the range of application of SRM to a certain extent.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention providesA kind of Switched Reluctance Motor and method for suppressing torque ripple, torque pulsation and the noise of switched reluctance machines can be reduced, make switched reluctance motor system can be widely applied to the fields such as household electrical appliance, universal industrial, servo and governing system, traction electric machine, pot motor, Aero-Space.
For this, first aspect present invention provides a kind of Switched Reluctance Motor, for switched reluctance machines being carried out speed governing according to rate signal and position signalling, including velocity measuring module, position detecting module, controller, light-coupled isolation module and power conversion modules.
The input of described velocity measuring module connects described switched reluctance machines, and outfan is connected to described controller, and rate signal transmission to described controller for the described switched reluctance machines of detection in real time process.
The input of described position detecting module connects described switched reluctance machines, and outfan is connected to described controller, and position signalling transmission to described controller for the described switched reluctance machines of detection in real time process.
Described power conversion modules is connected to the outfan of described controller by light-coupled isolation module, instruction for exporting according to described controller controls the conducting of its each power switch with cut-off so that described switched reluctance machines to carry out speed governing, and described power conversion modules includes three switching transistors Q1, Q2, the Q3 controlling three-phase coil A, B, C current switching respectively.
Preferably, the two ends of each described switching transistor are all parallel with diode, and when switching transistor turns off, corresponding diode can be used for current of electric is carried out afterflow.
Second aspect present invention provides a kind of switched reluctance machines method for suppressing torque ripple, comprises the steps:
S1, power on, system initialization, set pwm signal dutycycle；
S2, controller receive velocity measuring module and the level signal of position detecting module and carry out judging and processing, and obtain the energized phase of switched reluctance machines, and carry out commutation control according to this；
S3, the level signal obtained according to capture velocity detection module and position detecting module, obtain the signal period, thus calculate the actual speed of switched reluctance machines；
S4, when rotor position angle is a certain state, the number of degrees according to expectation torque and rotor position angle can try to achieve the expectation phase current of correspondence, and plan each phase current according to expectation phase current, torque sum produced by each phase winding is equal to expect torque, reduces torque pulsation with this.
Further, in described step S2, commutation control includes:
S21, controller control the conducting of switching transistor Q1, A phase coil power on, produce magnetic flux, and the magnetic line of force passes through rotor core from nearest rotor tooth pole；Under the traction of magnetic force, rotor starts to rotate counterclockwise, until till rotor forwards θ degree to；
S22, before rotor forwards θ degree to, control switching transistor Q1 cut-off, cut off A phase power supply；Turning
Son forwards θ to when spending, and controls the conducting of switching transistor Q2, connects B phase power supply, the magnetic line of force from nearest rotor tooth pole by rotor core, under the traction of magnetic force, till rotor forwards θ+30 degree to；
S23, rotor forward to θ+30 degree before, control switching transistor Q2 cut-off, cut off B phase power supply；Rotor forward to θ+30 spend time, control the conducting of switching transistor Q3, connect C phase power supply, the magnetic line of force is from nearest rotor tooth pole by rotor core, and rotor is rotated further, and magnetic force draws till rotor forwards θ+60 degree to always；
S24, when rotor forward to θ+60 degree before, control the cut-off of switching transistor Q3, cut off C phase power supply, rotor forward to θ+60 spend time, control switching transistor Q1 conducting, connect A phase power supply, rotor is rotated further under the traction of magnetic force, rotor as when above θ degree starts, i.e. repeats S1 to S4 in the state that θ+60 spends, and rotor will ceaselessly rotate.
Further, when there is the phenomenons such as under-voltage, mistake stream and short circuit when system, power conversion modules can send a low level signal automatically, produces fault interrupting when controller receives this low level signal, stop the output of pwm signal, with guaranteed output conversion module and the safety of switched reluctance machines.
The inverse function relation of torque and phase current and rotor position angle is T=f (i, θ), i.e. phase current i corresponding to the inverse function relation of torque T and rotor position angle θ is i=f-1(T, θ)；When rotor position angle is a certain state, the number of degrees according to expectation torque and rotor position angle can try to achieve the expectation phase current of correspondence, and plan each phase current according to expectation phase current, torque sum produced by each phase winding is equal to expect torque, reduce torque pulsation with this, thus realize effective control of switched reluctance machines instantaneous torque.
Accompanying drawing explanation
Figure 1Structural frames for a kind of Switched Reluctance Motor that the present invention providesFigure；
Figure 2ForFigure 1The structural representation of middle power conversion modulesFigure。
Detailed description of the invention
Below in conjunction withAccompanying drawingEmbodiments of the invention are described in detail.
Refer toFigure 1, thisInventionThere is provided a kind of Switched Reluctance Motor, for switched reluctance machines 1 being carried out speed governing according to rate signal and position signalling, including velocity measuring module 23, position detecting module 24, controller 21, light-coupled isolation module 22 and power conversion modules 25.
The input of described velocity measuring module 23 connects described switched reluctance machines 1, and outfan is connected to described controller 21, and rate signal transmission to described controller 21 for the described switched reluctance machines 1 of detection in real time process.
The input of described position detecting module 24 connects described switched reluctance machines 1, and outfan is connected to described controller 21, and position signalling transmission to described controller 21 for the described switched reluctance machines 1 of detection in real time process.
Described power conversion modules 25 is connected to the outfan of described controller 21 by light-coupled isolation module 22, and the instruction for exporting according to described controller 21 controls the conducting of its each power switch with cut-off so that described switched reluctance machines 1 is carried out speed governing.Refer toFigure 2, described power conversion modules includes three switching transistors Q1, Q2, the Q3 controlling three-phase coil A, B, C current switching respectively.The two ends of each described switching transistor are all parallel with diode, i.e. diode D1 and are parallel to the two ends of switching transistor Q1, and diode D2 is parallel to the two ends of switching transistor Q2, and diode D3 is parallel to the two ends of switching transistor Q3；When switching transistor turns off, the diode of its correspondence can be used for current of electric is carried out afterflow.
When system is run, comprise the steps:
S1, power on, system initialization, set pwm signal dutycycle；
S2, controller receive velocity measuring module and the level signal of position detecting module and carry out judging and processing, and obtain the energized phase of switched reluctance machines, and carry out commutation control according to this；
S3, the level signal obtained according to capture velocity detection module and position detecting module, obtain the signal period, thus calculate the actual speed of switched reluctance machines；
S4, when rotor position angle is a certain state, the number of degrees according to expectation torque and rotor position angle can try to achieve the expectation phase current of correspondence, and plan each phase current according to expectation phase current, torque sum produced by each phase winding is equal to expect torque, reduces torque pulsation with this.
In described step S2, commutation control includes:
S21, controller control the conducting of switching transistor Q1, A phase coil power on, produce magnetic flux, and the magnetic line of force passes through rotor core from nearest rotor tooth pole；Under the traction of magnetic force, rotor starts to rotate counterclockwise, until till rotor forwards θ degree to；
S22, before rotor forwards θ degree to, control switching transistor Q1 cut-off, cut off A phase power supply；Rotor forward to θ spend time, control the conducting of switching transistor Q2, connect B phase power supply, the magnetic line of force from nearest rotor tooth pole by rotor core, under the traction of magnetic force, till rotor forwards θ+30 degree to；
S23, rotor forward to θ+30 degree before, control switching transistor Q2 cut-off, cut off B phase power supply；Rotor forward to θ+30 spend time, control the conducting of switching transistor Q3, connect C phase power supply, the magnetic line of force is from nearest rotor tooth pole by rotor core, and rotor is rotated further, and magnetic force draws till rotor forwards θ+60 degree to always；
S24, when rotor forward to θ+60 degree before, control the cut-off of switching transistor Q3, cut off C phase power supply, rotor forward to θ+60 spend time, control switching transistor Q1 conducting, connect A phase power supply, rotor is rotated further under the traction of magnetic force, rotor as when above θ degree starts, i.e. repeats S1 to S4 in the state that θ+60 spends, and rotor will ceaselessly rotate.
When there is the phenomenons such as under-voltage, mistake stream and short circuit when system, power conversion modules can send a low level signal automatically, produce fault interrupting when controller receives this low level signal, stop the output of pwm signal, with guaranteed output conversion module and the safety of switched reluctance machines.
The inverse function relation of torque and phase current and rotor position angle is T=f (i, θ), i.e. phase current i corresponding to the inverse function relation of torque T and rotor position angle θ is i=f-1(T, θ)；When rotor position angle is a certain state, the number of degrees according to expectation torque and rotor position angle can try to achieve the expectation phase current of correspondence, and plan each phase current according to expectation phase current, torque sum produced by each phase winding is equal to expect torque, reduce torque pulsation with this, thus realize effective control of switched reluctance machines instantaneous torque.
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; according to technical scheme and inventive concept equivalent or change in addition thereof, all should contain within protection scope of the present invention.
Claims (6)
1. a Switched Reluctance Motor, for according to rate signal and position signalling to switching magnetic-resistance
Motor carries out speed governing, it is characterised in that include velocity measuring module, position detecting module, controller, light
Coupling isolation module and power conversion modules, wherein:
The input of described velocity measuring module connects described switched reluctance machines, and outfan is connected to described control
Device processed, at the rate signal detecting described switched reluctance machines in real time transmission extremely described controller
Reason；
The input of described position detecting module connects described switched reluctance machines, and outfan is connected to described control
Device processed, at the position signalling detecting described switched reluctance machines in real time transmission extremely described controller
Reason；
Described power conversion modules is connected to the outfan of described controller by light-coupled isolation module, for root
The instruction exported according to described controller controls the conducting of its each power switch with cut-off with to described switching magnetic-resistance electricity
Machine carries out speed governing, and described power conversion modules includes controlling the three of three-phase coil A, B, C current switching respectively
Individual switching transistor Q1, Q2, Q3.
A kind of Switched Reluctance Motor the most according to claim 1, it is characterised in that each
The two ends of described switching transistor are all parallel with diode, when switching transistor turns off, and corresponding diode
Can be used for current of electric is carried out afterflow.
3. a switched reluctance machines method for suppressing torque ripple, based on such as claim 1 to claim 2
Described Switched Reluctance Motor, it is characterised in that comprise the steps:
S1, power on, system initialization, set pwm signal dutycycle；
S2, controller receive velocity measuring module and the level signal of position detecting module and carry out judging and locating
Reason, obtains the energized phase of switched reluctance machines, and carries out commutation control according to this；
S3, the level signal obtained according to capture velocity detection module and position detecting module, obtain signal week
Phase, thus calculate the actual speed of switched reluctance machines；
S4, when rotor position angle is a certain state, according to expectation torque and the number of degrees of rotor position angle
Try to achieve the expectation phase current of correspondence, and plan each phase current according to expectation phase current, produced by each phase winding
Torque sum is equal to expect torque, reduces torque pulsation with this.
A kind of switched reluctance machines method for suppressing torque ripple the most according to claim 3, its feature exists
In, in described step S2, commutation control includes:
S21, controller control the conducting of switching transistor Q1, A phase coil power on, produce magnetic flux, magnetic
The line of force passes through rotor core from nearest rotor tooth pole；Under the traction of magnetic force, rotor starts to rotate counterclockwise,
Until till rotor forwards θ degree to；
S22, before rotor forwards θ degree to, control switching transistor Q1 cut-off, cut off A phase power supply；Turning
Son forwards θ to when spending, and controls the conducting of switching transistor Q2, connects B phase power supply, and the magnetic line of force is from nearest rotor
Rotor core is passed through in tooth pole, under the traction of magnetic force, till rotor forwards θ+30 degree to；
S23, rotor forward to θ+30 degree before, control switching transistor Q2 cut-off, cut off B phase power supply；
Rotor forward to θ+30 spend time, control the conducting of switching transistor Q3, connect C phase power supply, the magnetic line of force is from
Rotor core is passed through near rotor tooth pole, and rotor is rotated further, and magnetic force draws rotor always and forwards θ+60 degree to
Till；
S24, when rotor forward to θ+60 degree before, control switching transistor Q3 cut-off, cut off C phase power supply,
Rotor forward to θ+60 spend time, control switching transistor Q1 conducting, connect A phase power supply, rotor is at magnetic force
Traction under be rotated further, rotor as when above θ degree starts, i.e. repeats S1 in the state that θ+60 spends
To S4, rotor will ceaselessly rotate.
A kind of switched reluctance machines method for suppressing torque ripple the most according to claim 3, its feature exists
In, torque is T=f (i, θ) with the inverse function relation of phase current and rotor position angle, at rotor position angle
During for a certain state, the expectation phase current of correspondence can be tried to achieve according to the number of degrees of expectation torque and rotor position angle.
A kind of switched reluctance machines method for suppressing torque ripple the most according to claim 3, its feature exists
In, when system occur under-voltage, cross stream and the phenomenon such as short circuit time, power conversion modules can automatically send one low
Level signal, produces fault interrupting, stops the defeated of pwm signal when controller receives this low level signal
Go out, with guaranteed output conversion module and the safety of switched reluctance machines.
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Cited By (3)
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| CN108923716A (en) * | 2018-08-20 | 2018-11-30 | 西安科技大学 | Switch reluctance motor control method based on error matching PWM-DITC |
| CN109286350A (en) * | 2017-07-21 | 2019-01-29 | 深圳市配天电机技术有限公司 | The control method of electric vehicle, wheel, switched reluctance machines and its electric current |
| CN112953315A (en) * | 2021-01-14 | 2021-06-11 | 山东省科学院自动化研究所 | Real-time torque ripple suppression method and system for switched reluctance motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109286350A (en) * | 2017-07-21 | 2019-01-29 | 深圳市配天电机技术有限公司 | The control method of electric vehicle, wheel, switched reluctance machines and its electric current |
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| CN108923716A (en) * | 2018-08-20 | 2018-11-30 | 西安科技大学 | Switch reluctance motor control method based on error matching PWM-DITC |
| CN112953315A (en) * | 2021-01-14 | 2021-06-11 | 山东省科学院自动化研究所 | Real-time torque ripple suppression method and system for switched reluctance motor |
| CN112953315B (en) * | 2021-01-14 | 2022-06-07 | 山东省科学院自动化研究所 | Real-time torque ripple suppression method and system for switched reluctance motor |
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