CN108712127B - Method and device for controlling switched reluctance motor without position sensor - Google Patents

Method and device for controlling switched reluctance motor without position sensor Download PDF

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CN108712127B
CN108712127B CN201810562944.6A CN201810562944A CN108712127B CN 108712127 B CN108712127 B CN 108712127B CN 201810562944 A CN201810562944 A CN 201810562944A CN 108712127 B CN108712127 B CN 108712127B
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motor
current
rotor
conducting phase
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CN108712127A (en
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匡斯建
姜海鹏
张铸
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Hunan University of Science and Technology
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder

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Abstract

The invention discloses a method and a device for controlling a switched reluctance motor without a position sensor, wherein the control method obtains the average rotating speed and the acceleration of a rotor corresponding to a motor rotor through the accurate position angle of an inductance intersection point in an interval; obtaining the position angle of the motor rotor through the average rotating speed and the acceleration of the rotor; the control device comprises a microprocessor, a phase current control module, a phase current detection module, a bus voltage detection module, a power converter and a touch liquid crystal display screen, wherein the microprocessor is respectively connected with the phase current control module, the phase current detection module, the bus voltage detection module and the touch liquid crystal display screen; and the power converter is respectively connected with the phase current control module, the phase current detection module and the bus voltage detection module. Compared with the prior art, the position sensorless control method and device for the switched reluctance motor effectively improve the estimation precision of the position of the motor rotor and can realize the position sensorless precise control of the switched reluctance motor.

Description

Method and device for controlling switched reluctance motor without position sensor
Technical Field
The invention relates to the field of control of switched reluctance motors, in particular to a method and a device for controlling a switched reluctance motor without a position sensor.
Background
The switched reluctance motor has the series advantages of small starting current, large starting torque, high efficiency, simple and firm structure, strong fault-tolerant capability, wide speed regulation range and the like, and is widely applied to various fields at present. To realize high-performance control of the switched reluctance motor, the position information of the motor rotor must be accurately acquired. The traditional rotor position detection mode mainly adopts photoelectric type, electromagnetic type and other position sensors, but the introduction of the position sensors not only increases the cost and complexity of the system, but also reduces the reliability and environmental adaptability of the system. Therefore, the research on the control method of the switched reluctance motor without the position sensor is significant.
At present, a great deal of research is carried out on the aspects of position-sensorless control of the switched reluctance motor at home and abroad, and various position-sensorless control methods are proposed, mainly including an inductance model method, an intelligent control method, a flux linkage/current method and the like. The inductance model method needs to store a large amount of magnetic linkage-current-position angle data in advance, and occupies a large amount of software and hardware resources of the system; the intelligent control method has the defects of complex algorithm, large operation workload, long operation time and the like; compared with the two methods, the flux linkage/current rule has the advantages of less occupied system resources, proper operation workload and the like, thereby being widely applied.
The flux linkage/current method is used for estimating the position of a motor rotor at any moment according to the position angle of the intersection point of the conducting phase and the non-conducting phase of the switched reluctance motor. In practical application, when the current of the conducting phase of the motor is greater than the critical saturation current, the position of the intersection point of the conducting phase and the non-conducting phase of the motor inductor deviates, so that the estimation of the position angle of the rotor of the motor at any moment by using the position angle of the intersection point of the inductor generates larger deviation, and the currently adopted flux linkage/current method does not consider the influence of the conducting phase saturation current on the position deviation of the intersection point of the inductor, thereby seriously influencing the improvement of the control precision of the motor. In addition, when the flux linkage/current method is adopted to estimate the position of the motor rotor at present, the position of the motor rotor is estimated by considering the motor rotor to be in constant-speed operation, and the adverse effect of the estimation mode on the position estimation precision when the motor runs at variable speed is not considered.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a device for controlling a switched reluctance motor without a position sensor, which can accurately acquire the position information of a motor rotor, so that the switched reluctance motor has small control error and high precision.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the invention provides a control method of a switched reluctance motor without a position sensor, which comprises the following steps:
step S1) judging whether the position of the intersection point of the inductance of the conducting phase and the non-conducting phase of the motor needs to be corrected according to a functional relation formula (1) between the saturated current of the conducting phase of the switched reluctance motor and the angle offset of the intersection point of the inductance of the conducting phase and the non-conducting phase relative to the reference position of the intersection point, so as to obtain the accurate position angle of the intersection point of the inductance in the nth interval;
Figure BDA0001683331820000021
where Δ θ is the offset of the inductance intersection point of the conducting phase and the non-conducting phase of the motor relative to the reference position angle, IsIs the critical saturation current of the motor, InFor the actual saturation current of the nth phase of the motor, coefficients A, B and C are determined by adopting sine sum theory;
step S2) obtaining the average rotor speed corresponding to the two adjacent inductance intersection points of the motor rotor in the nth interval according to the accurate position angle of the inductance intersection point obtained in the step S1
Figure BDA0001683331820000022
And the acceleration of the motor rotor from the (n-1) th interval to the nth interval
Figure BDA0001683331820000023
Step S3) of the average rotating speed of the rotor of the motor in the nth interval
Figure BDA0001683331820000024
As the initial rotation speed of the motor rotor in the (n +1) th interval, the motor rotor is operated at the acceleration from the (n-1) th interval to the nth interval
Figure BDA0001683331820000025
As the expected acceleration of the motor rotor in the (n +1) th interval, the rotor position angle θ of the motor rotor at the arbitrary time t in the (n +1) th interval is obtained by equation (2)n+1(t); wherein:
Figure BDA0001683331820000026
in the formula: thetan+1(t) is an electric machinePosition angle theta of rotor at arbitrary time t in (n +1) th intervaln+1(t0) For the motor rotor at the starting time t of the (n +1) th interval0The position angle of (a);
step S4) based on the rotor position angle theta obtained in step S3n+1And (t) outputting a control signal to the switched reluctance motor.
Preferably, the step of determining formula (1) in step S1 is:
step S11) determines the on-phase critical saturation current: aligning a stator salient pole and a rotor salient pole of a conducting phase of the switched reluctance motor, gradually increasing conducting phase current, recording the change condition of a magnetizing curve of the conducting phase in real time, and determining the corresponding conducting phase current value as critical saturation current when the magnetizing curve is bent;
step S12) determining a reference position angle of an intersection of inductances of a conductive phase and a non-conductive phase of the motor: controlling the switched reluctance motor to operate in a single-phase sequential circulating conduction mode, regulating the conduction phase current of the motor to critical saturation current, acquiring the inductance values of all phases of the switched reluctance motor in real time by adopting a pulse injection method, and taking the corresponding rotor position angle as the reference position angle of the intersection point of the conduction phase and the non-conduction phase of the motor when the conduction phase inductance is equal to the non-conduction phase inductance;
step S13) determines the offset amount of the position angle: taking critical saturation current as initial current of a conducting phase, gradually increasing the phase current of the conducting phase at the same current interval x, determining the offset of the corresponding inductance intersection point of the conducting phase and the non-conducting phase relative to the reference position angle of the corresponding inductance intersection point, and respectively changing the current interval x to repeatedly obtain a plurality of groups of conducting phase saturation current and corresponding position angle offset;
step S14), according to the conducting phase saturated current obtained in the step S13 and the corresponding position angle offset thereof, a numerical fitting method is adopted to obtain a functional relation (1) between the motor conducting phase saturated current and the reference position angle offset of the intersection point of the conducting phase inductor and the non-conducting phase inductor relative to the reference position angle offset.
More preferably, the step of correcting the position of the intersection of the inductances of the conducting phase and the non-conducting phase of the motor in step S1 is:
step S15), detecting the conducting phase current of the switched reluctance motor in real time, comparing the conducting phase current detected in real time with the conducting phase critical saturation current value, and when the conducting phase current is less than the conducting phase critical saturation current, correcting the position angle of the intersection point of the conducting phase inductor and the non-conducting phase inductor of the motor without need, otherwise, entering the step S16;
step S16) the conduction phase current is substituted into formula (1) to calculate the angle offset of the intersection point of the inductance of the conduction phase and the non-conduction phase corresponding to the conduction phase current relative to the reference position;
step S17), the position angle of the intersection point of the conducting phase and the non-conducting phase is corrected according to the angle offset obtained in the step S16, and therefore the accurate position angle value of the intersection point of the conducting phase and the non-conducting phase is obtained.
Preferably, the average rotor speed is calculated in step S2
Figure BDA0001683331820000031
The formula of (1) is:
Figure BDA0001683331820000032
in the formula:
Figure BDA0001683331820000033
the average rotating speed of the rotor in the nth interval corresponding to the nth to (n +1) th inductance intersection points; thetanAnd thetan+1The position angles of the n-th and (n +1) -th inductance intersection points are respectively; t is tnAnd tn+1Respectively corresponding to the time when the motor rotor rotates to the nth and (n +1) th inductance intersection point positions.
Preferably, the acceleration is calculated in step S3
Figure BDA0001683331820000034
The formula of (1) is:
Figure BDA0001683331820000035
in the formula:
Figure BDA0001683331820000036
andrespectively representing the average rotating speed of the rotor in the nth interval and the (n-1) th interval,
Figure BDA0001683331820000038
representing the acceleration of the rotor of the machine from the (n-1) th interval to the nth interval, tn-1And tn+1Respectively showing the time corresponding to the rotor of the motor rotating to the (n-1) th and (n +1) th inductance intersection point positions.
The invention also aims to provide a position-sensorless control device of a switched reluctance motor, which comprises a microprocessor, a phase current control module, a phase current detection module, a bus voltage detection module, a power converter and a touch liquid crystal display screen, wherein the microprocessor is respectively connected with the phase current control module, the phase current detection module, the bus voltage detection module and the touch liquid crystal display screen; the power converter is respectively connected with the phase current control module, the phase current detection module and the bus voltage detection module; wherein the content of the first and second substances,
the microprocessor is used for sending a control signal to the power converter through the phase current control module, injecting high-frequency pulse to a switched reluctance motor winding through the power converter, and calculating the rotor position angle of the switched reluctance motor according to voltage and current feedback signals detected by the bus voltage detection module and the phase current detection module respectively;
the phase current control module is used for receiving a PWM control signal output by the microprocessor and controlling the switching state of a corresponding power switch in the power converter after driving and amplifying the PWM control signal;
the phase current detection module is used for detecting the current value of each phase of the corresponding switched reluctance motor in the power converter in real time;
the bus voltage detection module is used for detecting the bus voltage value in the power converter in real time;
the power converter is used for receiving the control signal output by the phase current control module and respectively outputting chopping control current to the conducting phase winding and high-frequency control pulse to the non-conducting phase winding of the switched reluctance motor;
the touch liquid crystal display screen is used for setting relevant control parameters and displaying state parameters such as rotating speed, rotor position angle and the like.
Compared with the prior art, the method and the device for controlling the position-free sensor of the switched reluctance motor provided by the invention have the advantages that the offset of the intersection point position of the inductance of the conducting phase and the non-conducting phase of the motor when the conducting phase current is larger than the critical saturation current is corrected, and the influence on the estimation precision of the rotor position when the motor operates at a variable speed is considered, so the estimation precision of the rotor position of the motor is effectively improved, the position angle of the rotor of the motor at any moment in a certain interval can be accurately calculated, and the position-free sensor of the switched reluctance motor can be accurately controlled according to the position angle. Compared with the existing rotor position estimation method, the method has the advantages of high position estimation precision, easiness in implementation and the like, and improves the effect of the motor control without a position sensor.
Drawings
FIG. 1 is a flow chart of the present invention for obtaining the reference position angle of the intersection point of the conducting phase and non-conducting phase inductances in an electrical cycle of a switched reluctance motor;
FIG. 2 is a flow chart of the present invention for obtaining the angle offset between the conductive phase saturation current and the intersection of the conductive phase and the non-conductive phase inductance of the switched reluctance motor relative to the reference position thereof;
FIG. 3 is a schematic diagram of the switched reluctance motor in which the intersection point of the inductances of the conducting phase and the non-conducting phase shifts with the change of the saturation current of the conducting phase;
FIG. 4 is a partial enlarged view of the inductance intersection point of the A-phase winding and the C-phase winding of the switched reluctance motor of the present invention shifted with the phase A current;
fig. 5 is a schematic structural diagram of a switched reluctance motor position sensorless control apparatus according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Example 1
The control method of the switch motor position-free sensor provided by the invention comprises the following specific steps:
function fitting
As shown in fig. 1, the step of obtaining the reference position angle of the intersection point of the inductances of the conducting phase and the non-conducting phase of the switched reluctance motor in an electrical cycle according to the present invention specifically includes:
step (a 1): firstly, aligning and fixing a stator salient pole and a rotor salient pole of a motor conducting phase, then gradually increasing conducting phase current from zero, recording the change condition of a conducting phase magnetization curve, and when the magnetization curve is bent, obtaining the corresponding conducting phase current value as the critical saturation current of the motor conducting phase;
step (a 2): stabilizing the conducting phase current of the motor at critical saturation current, and controlling the motor to operate in a single-phase sequential circulating conducting mode;
step (a 3): obtaining inductance values of the windings of each phase of the motor by adopting a pulse injection method, and comparing the inductance values of the conducting phase and the non-conducting phase in real time;
step (a 4): if the inductance values of the conducting phase and the non-conducting phase of the motor are not equal, returning to the step a 3; otherwise, acquiring the current position angle of the motor rotor through a position sensor, wherein the position angle is the reference position angle of the intersection point of the conductive phase and the non-conductive phase of the motor, and storing the reference position angle;
step (a 5): judging whether the motor rotor rotates for an electrical period, if so, ending the operation, and displaying the relevant result through a touch liquid crystal display screen; otherwise, the step a2 is returned.
As shown in fig. 2, the step of obtaining the angular offset of the intersection point of the conductive phase saturated current and the conductive phase and the non-conductive phase inductance of the switched reluctance motor relative to the reference position thereof according to the present invention specifically includes:
step (b 1): adjusting the conducting phase current of the switched reluctance motor to the critical saturation current of the switched reluctance motor;
step (b 2): gradually increasing the current value of the conducting phase according to the same current interval;
step (b 3): controlling the motor to run in a single-phase sequential cyclic conduction mode;
step (b 4): obtaining inductance values of the windings of each phase of the motor by adopting a pulse injection method, and comparing the inductance values of the conducting phase and the non-conducting phase;
step (b 5): if the inductance values of the conducting phase and the non-conducting phase of the motor are not equal, returning to the step b 4; otherwise, acquiring the position angle value of the current motor rotor through a position sensor;
step (b 6): according to the position angle of the intersection point of the inductance of the conducting phase and the non-conducting phase of the motor obtained in the step b5, comparing the position angle with the reference position angle corresponding to the intersection point to obtain corresponding angle deviation, and storing the angle deviation and the corresponding saturated current of the conducting phase;
step (b 7): judging whether the saturation current of the conduction phase of the motor reaches a set upper limit value or not, and returning to the step b2 if the saturation current of the conduction phase of the motor does not reach the set upper limit value; otherwise, the operation process is finished, and the obtained plurality of groups of conducting phase saturated currents and the deviation of the corresponding conducting phase and non-conducting phase inductance intersection point relative to the reference position angle are displayed through the touch liquid crystal display screen.
Fig. 3 is a schematic diagram of the switched reluctance motor in which the intersection point of the inductances of the conducting phase and the non-conducting phase shifts with the change of the saturation current of the conducting phase. In the schematic diagram, a three-phase 12/8-pole switched reluctance motor is taken as an example, and an a-phase winding is taken as a conducting phase for explanation. In the figure, the critical saturation current of the phase a winding is 20A, the reference position of the intersection point of the phase a winding and the phase C winding is X1, and the corresponding reference position angle is 120 °. As can be seen from the figure, when the phase a current is greater than the critical saturation current, the intersection point of the phase a inductor and the phase C inductor deviates from the reference position X1; and the distance of the inductance intersection point from the reference position X1 point is gradually increased along with the gradual increase of the phase A current; similarly, the intersection point of the phase a inductance and the phase B inductance has the same phenomenon as described above, that is, the position of the intersection point of the inductances is shifted as the phase a current increases. The same problems as described above are present in both the B-phase and C-phase windings as the conducting phase.
Fig. 4 is a partially enlarged view showing the deviation of the inductance intersection point of the a-phase winding and the C-phase winding of the switched reluctance motor according to the a-phase current. In the figure, the critical saturation current of the phase a winding is assumed to be 20A, and the phase a inductance and the phase C inductance intersect at a reference position angle of 120 °. It can be seen that when the phase a current is less than or equal to 20A, the phase a and phase C inductances both intersect at the reference position angle of 120 °, i.e., the corresponding position offsets are both 0 °; when the phase A current is larger than 20A, the intersection point of the phase A and the phase C inductors deviates from the reference position angle by 120 degrees, and the deviation amount of the intersection point from the reference position angle is synchronously increased along with the gradual increase of the phase A current; the graph shows the phase a current stepwise increased in 5A increments, corresponding to the offset of the intersection of the phase a and phase C inductances. It can be seen that when phase a current reaches 100A, the position of the intersection of the phase a and phase C inductances is 170 °, which is angularly offset by 50 ° from the reference position. Therefore, according to the above analysis, with phase A current IAAnd its critical saturation current ISThe deviation of the phase A and the phase C inductance intersection point is used as independent variable, the offset of the phase A and the phase C inductance intersection point relative to the reference position angle is used as dependent variable, a numerical fitting method is adopted to fit the functional relation between the phase A current and the phase A and phase C inductance intersection point relative to the reference position angle offset, and the obtained fitted formula is as follows:
in the formula: delta thetaACThe offset of the intersection point of the A-phase inductance and the C-phase inductance relative to the reference position angle of the motor is represented; i issRepresents the critical saturation current; i isARepresenting the actual saturation current of the A phase; the coefficients A, B and C are determined using sine sum theory.
And obtaining a functional relation formula (1) between the saturated current of the conducting phase of the switched reluctance motor and the angle offset of the intersection point of the inductances of the conducting phase and the non-conducting phase relative to the reference position in the nth interval:
where Δ θ is the offset of the inductance intersection point of the conducting phase and the non-conducting phase of the motor relative to the reference position angle, IsIs the critical saturation current of the motor, InFor the actual saturation current of the nth phase of the motor, the coefficients A, B and C are determined using sine sum theory.
Taking the control of the switched reluctance motor without the position sensor in the nth interval as an example, the method specifically comprises the following steps:
data correction
Correcting the position of the intersection point of the n conducting phase and non-conducting phase inductors of the switched reluctance motor to obtain the accurate position angle of the intersection point of the inductors, wherein the specific method comprises the following steps:
step (c 1): detecting the conducting phase current of the switched reluctance motor in real time, comparing the conducting phase current with the critical saturation current of the switched reluctance motor, and if the conducting phase current is smaller than the critical saturation current of the switched reluctance motor, correcting the position angle of the intersection point of the conducting phase inductor and the non-conducting phase inductor of the motor without; otherwise go to step c 2;
step (c 2): calculating the offset of the inductance intersection point of the conducting phase and the non-conducting phase corresponding to the conducting phase current relative to the reference position angle according to the conducting phase current and the functional relation determined by the formula (1);
step (c 3): and c, correcting the position angle of the intersection point of the inductors of the conducting phase and the non-conducting phase according to the angle offset obtained in the step c2, so as to obtain an accurate position angle value of the intersection point of the inductors of the nth conducting phase and the non-conducting phase.
Acceleration determination for a rotor of an electric machine from an (n-1) th interval to an nth interval
Step d1) obtaining the accurate position angle of the (n-1) th, nth and (n +1) th inductance intersection points according to the calculation of the steps, and calculating the average rotating speed of the rotor in the (n-1) th interval corresponding to the (n-1) th and nth inductance intersection points through the formula (3) and the formula (4) respectively
Figure BDA0001683331820000071
Average rotor speed in nth interval corresponding to nth and (n +1) th inductance intersection points
Figure BDA0001683331820000072
Wherein:
in the formula:
Figure BDA0001683331820000075
the average rotating speed of the rotor in the (n-1) th interval corresponding to the (n-1) th to the nth inductance intersection point is represented;
Figure BDA0001683331820000076
the average rotating speed of the rotor in the nth interval corresponding to the nth to (n +1) th inductance intersection points is represented; thetan-1、θnAnd thetan+1Respectively representing the accurate position angles of the (n-1) th, nth and (n +1) th inductance intersection points; t is tn-1、tnAnd tn+1Respectively showing the time corresponding to the rotor of the motor rotating to the (n-1) th, the nth and the (n +1) th inductance intersection point positions.
Step d2) is based on
Figure BDA0001683331820000077
And
Figure BDA0001683331820000078
calculating corresponding acceleration of motor rotor
Figure BDA0001683331820000079
The specific expression is as follows:
Figure BDA00016833318200000710
in the formula:
Figure BDA00016833318200000711
and
Figure BDA00016833318200000712
the average rotating speed of the rotor in the nth interval and the average rotating speed of the rotor in the (n-1) th interval respectively,acceleration for the rotation of the rotor of the machine from the (n-1) th interval to the nth interval, tn-1And tn+1Respectively corresponding to the time when the motor rotor rotates to the (n-1) th and (n +1) th inductance intersection point positions.
Calculating rotor position angle
The average rotating speed of the rotor of the motor in the nth interval
Figure BDA0001683331820000081
As the initial rotation speed of the motor rotor in the (n +1) th interval and with the acceleration of the motor rotor from the (n-1) th interval to the nth interval
Figure BDA0001683331820000082
Calculating a rotor position angle theta of the motor rotor at any time in the (n +1) th interval according to the initial rotation speed and the expected acceleration of the motor rotor in the (n +1) th interval as the expected acceleration of the motor rotor from the n-th interval to the (n +1) th intervaln+1(t), wherein:
Figure BDA0001683331820000083
in the formula: thetan+1(t) is the position angle of the motor rotor at the arbitrary time t in the (n +1) th interval, thetan+1(t0) For the motor rotor at the starting time t of the (n +1) th interval0The angle of position of (a).
In this embodiment, the method for controlling a switched reluctance motor without a position sensor according to the present invention includes determining a functional relation formula 1 between a saturated current of a conducting phase of the switched reluctance motor and an angle offset of an intersection of an inductor of the conducting phase and an inductor of a non-conducting phase with respect to a reference position of the intersection, and correcting a position angle of the intersection of the inductor of the conducting phase and the inductor of the non-conducting phase of the motor according to formula 1 to obtain an accurate position angle of the intersection of the inductors; then calculating the average rotating speed of the rotor in the corresponding interval of the two adjacent inductance intersection points according to the obtained accurate position angle of the two adjacent inductance intersection points, and taking the average rotating speed as the initial rotating speed of the rotor in the next corresponding interval; then, calculating the acceleration existing in the operation of the rotor according to the average rotating speed of the motor rotor in the current interval and the average rotating speed of the motor rotor in the previous interval, and taking the acceleration as the expected acceleration of the rotor in the next interval; finally, according to the initial rotating speed and the expected acceleration of the rotor in the next interval, the position angle of the rotor at any moment in the next interval can be calculated; according to the obtained rotor position angle, the position-sensorless control of the switched reluctance motor can be realized.
Example 2
Fig. 5 is a block diagram of a switched reluctance motor position sensorless control apparatus according to the present invention. As shown in the figure, the position-sensorless control device of the switched reluctance motor comprises a microprocessor, a phase current control module, a phase current detection module, a bus voltage detection module, a power converter and a touch liquid crystal display screen, wherein the microprocessor is respectively connected with the phase current control module, the phase current detection module, the bus voltage detection module and the touch liquid crystal display screen; the phase current control module is connected with the microprocessor and the power converter; the phase current detection module is connected with the microprocessor and the power converter; the bus voltage detection module is connected with the microprocessor and the power converter; the power converter is connected with the phase current control module, the phase current detection module and the bus voltage detection module; the touch liquid crystal display screen is connected with the microprocessor.
The microprocessor sends a control signal to the power converter through the phase current control module, outputs chopped wave control current and high-frequency control pulse to a conducting phase winding and a non-conducting phase winding of the switched reluctance motor through the power converter respectively, detects a bus voltage feedback signal and each phase current feedback signal of the switched reluctance motor respectively through the bus voltage detection module and the phase current detection module, calculates inductance values of the phase windings of the motor according to the feedback signals, judges whether the switched reluctance motor is positioned at the intersection point position of the conducting phase and the non-conducting phase inductance according to the inductance values of the phase windings and determines whether the position angle of the switched reluctance motor needs to be corrected; and then, calculating the average rotating speed and the corresponding acceleration of the motor rotor in the corresponding interval according to the corrected position angle of the inductance intersection point, and finally calculating the position angle of the rotor at any moment in the next interval according to the average rotating speed and the acceleration.
The phase current control module receives a PWM control signal output by the microprocessor, drives and amplifies the PWM control signal and controls the switching state of a corresponding power switch in the power converter so as to realize chopping control on the conducting phase current of the motor and high-frequency pulse injection control on a non-conducting phase winding.
The phase current detection module is used for detecting the current value of each phase of the corresponding motor in the power converter in real time.
The bus voltage detection module is used for detecting the bus voltage value in the power converter in real time.
The power converter receives the control signal output by the phase current control module, and respectively outputs chopping control current to the conducting phase winding and high-frequency control pulse to the non-conducting phase winding of the switched reluctance motor, so that the high-precision control of the switched reluctance motor without a position sensor is realized.
The touch liquid crystal display screen is used for setting relevant control parameters and displaying state parameters such as rotating speed, rotor position angle and the like.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims (6)

1. A control method of a switched reluctance motor without a position sensor is characterized by comprising the following steps:
step S1) judging whether the position of the intersection point of the inductance of the conducting phase and the non-conducting phase of the motor needs to be corrected according to a functional relation formula (1) between the saturated current of the conducting phase of the switched reluctance motor and the angle offset of the intersection point of the inductance of the conducting phase and the non-conducting phase relative to the reference position of the intersection point, so as to obtain the accurate position angle of the intersection point of the inductance in the nth interval;
Figure FDA0002238295150000011
where Δ θ is the offset of the inductance intersection point of the conducting phase and the non-conducting phase of the motor relative to the reference position angle, IsIs the critical saturation current of the motor, InFor the actual saturation current of the nth phase of the motor, A, B and C are coefficients;
step S2) obtaining the average rotor speed corresponding to the two adjacent inductance intersection points of the motor rotor in the nth interval according to the accurate position angle of the inductance intersection point obtained in the step S1
Figure FDA0002238295150000012
And the acceleration of the motor rotor from the (n-1) th interval to the nth interval
Figure FDA0002238295150000013
Step S3) of the average rotating speed of the rotor of the motor in the nth interval
Figure FDA0002238295150000014
As the initial rotation speed of the motor rotor in the (n +1) th interval, the motor rotor is operated at the acceleration from the (n-1) th interval to the nth interval
Figure FDA0002238295150000015
As the expected acceleration of the motor rotor in the (n +1) th interval, the motor rotor is obtained by equation (2)Rotor position angle θ at arbitrary time t in (n +1) th sectionn+1(t); wherein:
Figure FDA0002238295150000016
in the formula: thetan+1(t) is the position angle of the motor rotor at the arbitrary time t in the (n +1) th interval, thetan+1(t0) For the motor rotor at the starting time t of the (n +1) th interval0The position angle of (a);
step S4) based on the rotor position angle theta obtained in step S3n+1And (t) outputting a control signal to the switched reluctance motor.
2. The switched reluctance motor position sensorless control method according to claim 1, wherein the step of determining equation (1) in step S1 is:
step S11) determines the on-phase critical saturation current: aligning a stator salient pole and a rotor salient pole of a conducting phase of the switched reluctance motor, gradually increasing conducting phase current, recording the change condition of a magnetizing curve of the conducting phase in real time, and determining the corresponding conducting phase current value as critical saturation current when the magnetizing curve is bent;
step S12) determining a reference position angle of an intersection of inductances of a conductive phase and a non-conductive phase of the motor: controlling the switched reluctance motor to operate in a single-phase sequential circulating conduction mode, regulating the conduction phase current of the motor to critical saturation current, acquiring the inductance values of all phases of the switched reluctance motor in real time by adopting a pulse injection method, and taking the corresponding rotor position angle as the reference position angle of the intersection point of the conduction phase and the non-conduction phase of the motor when the conduction phase inductance is equal to the non-conduction phase inductance;
step S13) determines the offset amount of the position angle: taking critical saturation current as initial current of a conducting phase, gradually increasing the phase current of the conducting phase at the same current interval x, determining the offset of the corresponding inductance intersection point of the conducting phase and the non-conducting phase relative to the reference position angle of the corresponding inductance intersection point, and respectively changing the current interval x to repeatedly obtain a plurality of groups of conducting phase saturation current and corresponding position angle offset;
step S14), according to the conducting phase saturated current obtained in the step S13 and the corresponding position angle offset thereof, a numerical fitting method is adopted to obtain a functional relation (1) between the motor conducting phase saturated current and the reference position angle offset of the intersection point of the conducting phase inductor and the non-conducting phase inductor relative to the reference position angle offset.
3. The switched reluctance motor position sensorless control method according to claim 2, wherein the step of correcting the position of the intersection of the inductances of the conductive and non-conductive phases of the motor in step S1 is:
step S15), detecting the conducting phase current of the switched reluctance motor in real time, comparing the conducting phase current detected in real time with the conducting phase critical saturation current value, and when the conducting phase current is less than the conducting phase critical saturation current, correcting the position angle of the intersection point of the conducting phase inductor and the non-conducting phase inductor of the motor without need, otherwise, entering the step S16;
step S16) the conduction phase current is substituted into formula (1) to calculate the angle offset of the intersection point of the inductance of the conduction phase and the non-conduction phase corresponding to the conduction phase current relative to the reference position;
step S17), the position angle of the intersection point of the conducting phase and the non-conducting phase is corrected according to the angle offset obtained in the step S16, and therefore the accurate position angle value of the intersection point of the conducting phase and the non-conducting phase is obtained.
4. The switched reluctance motor position sensorless control method according to claim 1, wherein the average rotation speed of the rotor is calculated in step S2
Figure FDA0002238295150000021
The formula of (1) is:
in the formula:
Figure FDA0002238295150000023
corresponding to the n-th to (n +1) -th inductance intersection pointThe average rotating speed of the rotor in the nth interval; thetanAnd thetan+1The position angles of the n-th and (n +1) -th inductance intersection points are respectively; t is tnAnd tn+1Respectively corresponding to the time when the motor rotor rotates to the nth and (n +1) th inductance intersection point positions.
5. The switched reluctance motor position sensorless control method according to claim 1, wherein the acceleration is calculated in step S2
Figure FDA0002238295150000024
The formula of (1) is:
Figure FDA0002238295150000025
in the formula:
Figure FDA0002238295150000026
and
Figure FDA0002238295150000027
respectively representing the average rotating speed of the rotor in the nth interval and the (n-1) th interval,
Figure FDA0002238295150000028
representing the acceleration of the rotor of the machine from the (n-1) th interval to the nth interval, tn-1And tn+1Respectively showing the time corresponding to the rotor of the motor rotating to the (n-1) th and (n +1) th inductance intersection point positions.
6. A switched reluctance motor position sensorless control device adopting the control method of any one of claims 1 to 5, characterized in that: the control device comprises a microprocessor, a phase current control module, a phase current detection module, a bus voltage detection module, a power converter and a touch liquid crystal display screen, wherein the microprocessor is respectively connected with the phase current control module, the phase current detection module, the bus voltage detection module and the touch liquid crystal display screen; the power converter is respectively connected with the phase current control module, the phase current detection module and the bus voltage detection module; wherein the content of the first and second substances,
the microprocessor is used for sending a control signal to the power converter through the phase current control module, injecting high-frequency pulse to a switched reluctance motor winding through the power converter, and calculating the rotor position angle of the switched reluctance motor according to voltage and current feedback signals detected by the bus voltage detection module and the phase current detection module respectively;
the phase current control module is used for receiving a PWM control signal output by the microprocessor and controlling the switching state of a corresponding power switch in the power converter after driving and amplifying the PWM control signal;
the phase current detection module is used for detecting the current value of each phase of the corresponding switched reluctance motor in the power converter in real time;
the bus voltage detection module is used for detecting the bus voltage value in the power converter in real time;
the power converter is used for receiving the control signal output by the phase current control module and respectively outputting chopping control current to the conducting phase winding and high-frequency control pulse to the non-conducting phase winding of the switched reluctance motor;
the touch liquid crystal display screen is used for setting relevant control parameters and displaying state parameters such as rotating speed, rotor position angle and the like.
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