CN107046388A - A kind of switched reluctance machines curren tracing control method, controller and governing system - Google Patents
A kind of switched reluctance machines curren tracing control method, controller and governing system Download PDFInfo
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Abstract
The invention discloses a kind of switched reluctance machines curren tracing control method, controller and governing system, according to the positive and negative and size of current deviation signal, the voltage duty cycle of each controlling cycle is calculated, the renewal of controlled quentity controlled variable is realized；The voltage control quantity of commutation stage output also contemplates the mutual inductance influence of adjacent to and opposite conducting phase.The present invention improves current tracking precision under low control frequency, the effect of high switching frequency is reached, improve electric current dynamic tracking capabilities, torque pulsation during efficiently reducing commutation and during non-commutation, and switching device need not be exposed under high current for a long time in the case where power device switching frequency is limited, control method is simple and easy to apply, highly reliable, suitable for promoting.
Description
Technical field
The present invention relates to Motor Control Field, more particularly to a kind of switched reluctance machines curren tracing control method, control
Device and governing system.
Background technology
Switched reluctance motor (SRM) due to simple in construction, reliable operation, the advantage that starting torque is big, mechanical efficiency is high,
It is considered as a member of variable speed drives field great potential.But due to the double-salient-pole structure of its stator and rotor, phase inductance value is with rotor
Position significant changes so that switched reluctance motor has without mathematical models, serious nonlinear feature, to its phase current
It is extremely difficult to be accurately controlled, and the suppression of torque pulsation is heavily dependent on the control accuracy to phase winding electric current, because
This, the current controller for designing a high tracking performance is extremely urgent.
When the control set of frequency of Switched Reluctance Motor is in low frequency 5kHz, using current hysteresis-band control,
Switching device will be always held at electric current in the state of being switched on or off, whole switch periods and will rise always in one switch periods
Or decline, it may appear that the pulse current of peak value, especially with the further reduction of the hysteresis band peak value pulse current
Frequency by continue improve.Electric current occurs uses current hysteresis under the high situation of high-frequency current pulse peak value, 5kHz control frequencies
Ring control electric current curve controlled degree is low.Moreover, current hysteresis-band control is to be limited to electric current by setting tolerance ring width
Itself it is exactly the control mode that a kind of tolerance is present within ring width, the raising of control accuracy depends on the reduction of ring width.
But the reduction of ring width means the raising of switching frequency, and power device switching frequency is limited, especially in high current situation
Lower switching frequency can not be maintained at very high numerical value.And switching device is exposed to high current for a long time under current hysteresis-band control
Under, fragile power device.During the adjacent two-phase commutation of switched reluctance machines, there is current flowing in winding, wherein one is relative
The mutual inductance influence of another phase is present, that is, needs to consider mutual inductance magnetic linkage when controlling it, especially when mutual inducing current is larger
When, mutual inductance influence can not be ignored.
Therefore, it is necessary to which the not enough and existing control method for above-mentioned traditional current hysteresis-band control ignores mutual inductance influence
Deficiency, design a kind of new switch reluctance motor control method.
The content of the invention
Technical problem solved by the invention is, in view of the shortcomings of the prior art, the present invention provides a kind of switching magnetic-resistance electricity
Machine curren tracing control method, controller and governing system.
The present invention is for the technical scheme that is used of solution technical problem：
A kind of switched reluctance machines curren tracing control method, based on pulse duty cycle control module (PWM_Duty_
Control), torque distribute module and torque-current conversion module (T_I) carry out current follow-up control；Wherein torque distributes mould
The input of block switches through fast PI controllers, and output end connects torque-current conversion module；The output end of torque-current conversion module
Connect pulse duty cycle control module；Pulse duty cycle control module receives the reference current signal of each phase of motor, actual current letter
Number, angle position signal and commutation signal, it exports termination power inverter；
The torque reference that rotating speed PI controllers are exported is distributed to each phase winding of motor by the torque distribute module, that is, is produced
Each phase reference torque signal, output to connect torque-current conversion module；Torque-current conversion module mutually refers to each of input
Dtc signal is converted into each phase reference current signal, output to pulse duty cycle control module；Pulse duty cycle control module ratio
Compared with the reference current signal and actual current signal of the module input that converted by torque-current, current deviation signal is obtained；According to electricity
The positive and negative and size for flowing deviation signal exports corresponding PWM duty cycle, controls the open and close time of power device, i.e. real-time update
The gate electrode drive signals of power device in power inverter.
Non- during commutation and during commutation, the side of the gate electrode drive signals of power device in real-time update power inverter
Method is：
When actual current signal is more than reference current signal, i.e., when current deviation signal is bears, if winding is in malleation
Application state, then update the gate electrode drive signals of power device in power inverter, turn off power device, so as to the winding
When applying the difference of zero-pressure or negative pressure, i.e. actual current signal and reference current signal more than given threshold, apply negative pressure, otherwise apply
Plus zero-pressure, actual current signal is quickly tracked reference current signal, until the difference of actual current signal and reference current
It is zero, otherwise applies zero-pressure；
When actual current signal is less than reference current signal, if winding is in zero-pressure or negative pressure applies state, update
The gate electrode drive signals of power device in power inverter, make power device forward conduction, so as to apply malleation to the winding, make
Actual current signal quickly tracks upper reference current signal, until the difference of actual current signal and reference current is zero, that is, reaches
Desired difference value of zero target is arrived.
The given threshold is 1A.
PWM control modules dutycycle is calculated to be completed by the Fcn functions voluntarily write；The PWM duty cycle in commutation stage is calculated
Also contemplate the influence of the adjacent to and opposite mutual inductance magnetic linkage for opening phase winding.
The computational methods of the PWM duty cycle are：
(1) during non-commutation, PWM duty cycle is calculated by below equation group：
Wherein, ρ is PWM duty cycle, and T is controlling cycle, ikref(t) it is t k phase reference currents；S (j) be kth around
"on" position of the group in j-th of controlling cycle, value is 1, -1 or 0, and malleation, three kinds of shapes of negative pressure and zero-pressure are corresponded to respectively
State；UdcFor busbar voltage, θ is t rotor position angle, Lk(θ) is average for inductance of the k phase windings in next controlling cycle T
Value, R is that the resistance value of k phase windings, ω are the actual speeds of switched reluctance machines；
(2) during commutation, PWM duty cycle is calculated by below equation group：
Wherein, s (i) is "on" position of the phase winding of kth+1 in i-th of controlling cycle, and value is 1, -1 or 0, respectively
Correspondence malleation, three kinds of states of negative pressure and zero-pressure, for 8/6 switched reluctance machines, k represents any phase in the phase of A, B, C, D tetra-,
For 6/4 switched reluctance machines, k represents any phase in A, B, C three-phase, Mk,k+1Be because k+1 phase windings curent change k phases around
Mutual inductance, mutual inductance M caused by the mutual inductance magnetic linkage produced in groupk,k+1By magnetic linkage characteristic measuring device respectively to single-phase and two-phase excitation
When flux linkage characteristic measure, then obtain by mathematical computations, UmFor mutual voltage.
The invention also discloses a kind of switched reluctance machines current tracing controller, including pulse duty cycle control module,
Torque distribute module and torque-current conversion module；The input of wherein torque distribute module switches through fast PI controllers, output end
Connect torque-current conversion module；The output termination pulse duty cycle control module of torque-current conversion module；Pulse duty cycle
Control module receives three-phase reference current signal and actual current signal, and it exports termination power inverter；
The current tracing controller carries out current follow-up control using the above method.
The invention also discloses a kind of Switched Reluctance Motor, including above-mentioned current tracing controller, rotating speed PI
Controller and power inverter；Power inverter output is connected to switched reluctance machines, and electric energy, and controlled motor are provided for motor
Rotating speed；
The actual speed and given rotating speed of the input access switched reluctance machines of the rotating speed PI controllers, are converted to ginseng
Examine dtc signal, input to current tracing controller；Current tracing controller produces corresponding PWM duties according to input signal
Than the gate electrode drive signals of power device in real-time update power inverter control the open and close time of power device, so that real
Existing current tracking and motor speed control.
Beneficial effect：
PWM duty cycle in positive and negative and size of the invention according to current deviation signal, real-time update difference controlling cycle
I.e. voltage control quantity, improves current tracking precision under low control frequency, has reached the effect of high switching frequency, improved electricity
Flowable state ability of tracking, the torque pulsation during efficiently reducing commutation and during non-commutation, and switch frequency in power device
In the case that rate is limited, switching device need not be exposed under high current for a long time.Control method of the present invention is simple and easy to apply, reliability
By force, suitable for promoting
Brief description of the drawings
Fig. 1 is the system simulation model used in the embodiment of the present invention；
Fig. 2 is pulse duty cycle control (PWM_Duty_Control) device emulation module used in the embodiment of the present invention；
Fig. 3 is that the detailed PWM duty cycle of K phase is calculated and application process during commutating in the embodiment of the present invention；
Fig. 4 is that the detailed PWM duty cycle of K phases is calculated with applying when reference current is constant during non-commutation in the embodiment of the present invention
Plus process；
Embodiment
The curren tracing control method under PWM working methods is further illustrated with specific embodiment below in conjunction with the accompanying drawings.
In order to verify the validity of this curren tracing control method, Switched Reluctance Motor simulink has been built
Simulation model, as shown in figure 1, the model is mainly made up of 5 units, respectively switched reluctance machines, power inverter, pulsewidth
Duty cycle control module (PWM_Duty_Control), torque distribute module and torque-current conversion module (T_I).Wherein, open
Close reluctance motor and use 6/4 motor model carried in MATLAB component libraries, power inverter uses asymmetry half-bridge circuit.
The Duty ratio control simulation model of this curren tracing control method is as shown in Fig. 2 by signal decomposition (Demux), three
Angle wave producer (Repeating Sequence), relational operator (Relational Operator), logical operator
The module such as (Logical Operator), summation (Sum), multiplication (Product) and the Fcn construction of function duties voluntarily write
Than calculating and prediction, the accurate tracking of achievable electric current.Wherein, pulse duty cycle control module (PWM_Duty_Control)
Input as current deviation, by calculating the PWM duty cycle ρ in next controlling cycle under the Fcn functions voluntarily write, its
For controlling the open and close time of power device, PWM controls are realized.
Embodiment 1：
Based on the simulink simulation models shown in Fig. 1 and Fig. 2, the electric equation of kth phase winding is：
S (j) is "on" position of the kth phase winding in j-th of controlling cycle, and value is 1, -1 or 0, is corresponded to respectively just
Pressure, three kinds of states of negative pressure and zero-pressure, for 8/6 switched reluctance machines, k represents any phase in the phase of A, B, C, D tetra-, and for
6/4 switched reluctance machines, k represents any phase in A, B, C three-phase.The electric current side of t k phase windings is derived from by formula (1)
Cheng Wei：
Wherein, θ is t rotor position angle, UdcFor busbar voltage, Lk(θ) is k phase windings in next controlling cycle T
Inductance average value, R is that the resistance value of k phase windings, ω are the actual speeds of switched reluctance machines.
As shown in figure 3, set dutycycle as ρ, middle T is the time of controlling cycle, then two-tube on or off, i.e., plus malleation or
The time of negative pressure is Δ T=ρ T, then subsequent time is used for the k phase winding current deviation signal deltas i for carrying out current compensationkFor：
Therefore have：
Wherein, Δ ik=ikref(t)-ik(t) it is k phase winding current deviation signals；
For inductance average value of the k phase windings in next controlling cycle T；
Based on Fig. 3 and Fig. 4, during non-commutation, when actual current feedback be more than reference current when, should disconnect conducting around
Group, applies zero-pressure or negative pressure to it, that is, differ greatly (normative reference value is set as 1A) when, apply negative pressure, make actual current fast
Speed follows reference current, otherwise applies zero-pressure.
Based on Fig. 3 and Fig. 4, during commutation, remember that adjacent two-phase is respectively kth phase and the phase of kth+1.Consider kth+1 with respect to kth
The mutual inductance magnetic linkage of phase influences, and the electric equation of kth phase is：
Wherein, s (i) is "on" position of the phase winding of kth+1 in i-th of controlling cycle, and value is 1, -1 or 0, respectively
Correspondence malleation, three kinds of states of negative pressure and zero-pressure, for 8/6 switched reluctance machines, k represents any phase in the phase of A, B, C, D tetra-,
For 6/4 switched reluctance machines, k represents any phase in A, B, C three-phase, Mk,k+1Be because k+1 phase windings curent change k phases around
Mutual inductance, mutual inductance M caused by the mutual inductance magnetic linkage produced in groupk,k+1By magnetic linkage characteristic measuring device respectively to single-phase and two-phase excitation
When flux linkage characteristic measure, then obtain by mathematical computations, UmFor mutual voltage.Equally, when actual current feedback is more than
During reference current, conducting winding should be disconnected, applies zero-pressure or negative pressure to it, that is, when differing greatly, applies negative pressure, makes actual electricity
Stream quickly follows reference current, otherwise applies zero-pressure.PWM duty cycle ρ during the commutation being derived by by formula (5) is：
In formula (6), Δ ikFor k phase winding current deviation signals, Δ ik=ikref(t)-ik(t), ik(t) it is each PWM weeks
The midpoint moment of phase carries out the obtained sampled value of sampling to actual current.
Claims (6)
1. a kind of switched reluctance machines curren tracing control method, based on pulse duty cycle control module, torque distribute module and
Torque-current conversion module carries out current follow-up control；The input of wherein torque distribute module switches through fast PI controllers, output
Terminate torque-current conversion module；The output termination pulse duty cycle control module of torque-current conversion module；Pulsewidth duty
Three-phase reference current signal and actual current signal are received than control module, it exports termination power inverter；
The torque reference that rotating speed PI controllers are exported is distributed to each phase winding of motor by the torque distribute module, that is, produces each phase
Reference torque signal, and export to connect torque-current conversion module；Torque-current converts module by the torque reference of input
Signal is converted into reference current signal, and exports to pulse duty cycle control module；Pulse duty cycle control module compares by turning
The reference current signal and actual current signal of square-electric current conversion module input, obtain current deviation signal；According to current deviation
The positive and negative and size of signal exports corresponding PWM duty cycle, i.e., the gate-drive of power device in real-time update power inverter
Signal, controls the open and close time of power device, so as to realize current tracking.
2. switched reluctance machines curren tracing control method according to claim 1, it is characterised in that real-time update power
The method of the gate electrode drive signals of power device is in converter：
When actual current signal is more than reference current signal, i.e., when current deviation signal is bears, if winding applies in malleation
State, then update the gate electrode drive signals of power device in power inverter, turn off power device, so as to apply to the winding
When the difference of zero-pressure or negative pressure, i.e. actual current signal and reference current signal is more than given threshold, apply negative pressure, otherwise apply zero
Pressure, makes actual current signal quickly track reference current signal, until the difference of actual current signal and reference current is zero；
When actual current signal is less than reference current signal, i.e., current deviation signal is timing, if winding is in zero-pressure or negative
Application state is pressed, then updates the gate electrode drive signals of power device in power inverter, makes power device forward conduction, so that right
The winding applies malleation, actual current signal is quickly tracked reference current signal, until actual current signal and reference electricity
The difference of stream is zero.
3. switched reluctance machines curren tracing control method according to claim 1, it is characterised in that the given threshold
For 1A.
4. switched reluctance machines curren tracing control method according to claim 1, it is characterised in that the PWM duties
The computational methods of ratio are：
(1) during non-commutation, PWM duty cycle is calculated by below equation group：
Wherein, ρ is PWM duty cycle, and T is controlling cycle, ikref(t) it is t k phase reference currents；S (j) is that kth phase winding exists
"on" position in j-th of controlling cycle, value is 1, -1 or 0, and malleation, three kinds of states of negative pressure and zero-pressure are corresponded to respectively；Udc
For busbar voltage, θ is t rotor position angle, Lk(θ) is inductance average value of the k phase windings in next controlling cycle T, and R is
The resistance value of k phase windings, ω are the actual speeds of switched reluctance machines；
(2) during commutation, PWM duty cycle is calculated by below equation group：
Wherein, s (i) is "on" position of the phase winding of kth+1 in i-th of controlling cycle, and s (j) is kth phase winding at j-th
"on" position in controlling cycle, the two value is 1, -1 or 0, and malleation, three kinds of states of negative pressure and zero-pressure, M are corresponded to respectivelyk,k+1
It is the mutual inductance caused by the mutual inductance magnetic linkage that k+1 phase windings curent change is produced in k phase windings, mutual inductance Mk,k+1Pass through flux linkage characteristic
Measurement apparatus respectively to single-phase and two-phase excitation when flux linkage characteristic measure, then obtain by mathematical computations, UmFor mutual inductance
Voltage.
5. a kind of switched reluctance machines current tracing controller, it is characterised in that including pulse duty cycle control module, torque point
With module and torque-current conversion module；The input of wherein torque distribute module switches through fast PI controllers, and output end is switched through
Square-electric current conversion module；The output termination pulse duty cycle control module of torque-current conversion module；Pulse duty cycle is controlled
Module receives three-phase reference current signal and actual current signal, and it exports termination power inverter；
The current tracing controller carries out current follow-up control using method according to any one of claims 1 to 4.
6. a kind of Switched Reluctance Motor, it is characterised in that including current tracing controller described in claim 4, turn
Fast PI controllers and power inverter；Power inverter output is connected to switched reluctance machines, provides electric energy for motor, and control
Motor speed；
The actual speed and given rotating speed of the input access switched reluctance machines of the rotating speed PI controllers, are converted to reference and turn
Square signal, input to current tracing controller；Current tracing controller produces corresponding PWM duty cycle according to input signal, real
The gate electrode drive signals of power device in Shi Gengxin power inverters, control the open and close time of power device, so as to realize electric current
Tracking and motor speed control.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107659223A (en) * | 2017-11-13 | 2018-02-02 | 中国科学院宁波材料技术与工程研究所 | A kind of torque control unit for reducing switched reluctance machines torque pulsation |
| CN109742999A (en) * | 2019-01-17 | 2019-05-10 | 桂林电子科技大学 | A kind of the SRM method for controlling torque and system of dynamic neural network adaptive inversion |
| CN110829940A (en) * | 2019-11-27 | 2020-02-21 | 西北工业大学 | Method for predictive control of torque distribution model of switched reluctance motor |
| CN114389486A (en) * | 2021-04-16 | 2022-04-22 | 南京航空航天大学 | Commutation error compensation method for hybrid excitation doubly salient motor |
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| CN104506092A (en) * | 2014-12-11 | 2015-04-08 | 东南大学 | Switched reluctance motor current hysteresis control method based on inductance Fourier decomposition |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107659223A (en) * | 2017-11-13 | 2018-02-02 | 中国科学院宁波材料技术与工程研究所 | A kind of torque control unit for reducing switched reluctance machines torque pulsation |
| CN109742999A (en) * | 2019-01-17 | 2019-05-10 | 桂林电子科技大学 | A kind of the SRM method for controlling torque and system of dynamic neural network adaptive inversion |
| CN110829940A (en) * | 2019-11-27 | 2020-02-21 | 西北工业大学 | Method for predictive control of torque distribution model of switched reluctance motor |
| CN110829940B (en) * | 2019-11-27 | 2021-01-15 | 西北工业大学 | Method for predictive control of torque distribution model of switched reluctance motor |
| CN114389486A (en) * | 2021-04-16 | 2022-04-22 | 南京航空航天大学 | Commutation error compensation method for hybrid excitation doubly salient motor |
| CN114389486B (en) * | 2021-04-16 | 2024-04-16 | 南京航空航天大学 | Commutation error compensation method for hybrid excitation doubly salient motor |
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