CN111697891A - Method for detecting current peak position of switched reluctance motor - Google Patents

Method for detecting current peak position of switched reluctance motor Download PDF

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CN111697891A
CN111697891A CN202010522747.9A CN202010522747A CN111697891A CN 111697891 A CN111697891 A CN 111697891A CN 202010522747 A CN202010522747 A CN 202010522747A CN 111697891 A CN111697891 A CN 111697891A
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current
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switched reluctance
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CN111697891B (en
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孙建忠
王岩
白凤仙
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Dalian University of 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
    • 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

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Abstract

The invention provides a method for detecting the current peak position of a switched reluctance motor, and belongs to the field of detection of the position of a rotor of the switched reluctance motor. The method only needs to detect the phase current and the phase voltage of the running motor, and does not need additional equipment such as a position sensor and the like. In the control process, when the motor phase current is detected to have a peak value, the motor phase inductance value at the moment is calculated through the motor current and the motor phase voltage, and the motor rotor position at the current peak moment can be calculated by multiplying the phase inductance value by a ratio coefficient of the motor rotor position and the inductance value at the rotating speed obtained through simulation. The method has the characteristics that the problem of current peak position fluctuation in the running process of the motor can be solved, and the detection is sensitive; the problems that the traditional table look-up method needs to aim at the influence of various factors, the occupied memory is large, and the data is inaccurate are solved; the motor detection device is more sensitive to different operation parameter changes of the motor and has higher detection precision.

Description

Method for detecting current peak position of switched reluctance motor
Technical Field
The invention belongs to the field of switched reluctance motors, relates to a method for accurately detecting the position of a rotor and accurately controlling the switched reluctance motor, and mainly aims to improve the detection precision of the position of a current peak value when the position of the rotor of the motor is detected by using a phase current gradient method.
Background
The switched reluctance motor has a series of advantages of simple structure, high power factor, small starting current, large starting torque, wide speed regulation range, high operation efficiency, frequent start and stop and the like, so that the switched reluctance motor is widely applied to various industries and industrial fields. Rotor position information needs to be known in the motor control operation process, although traditional mechanical position sensors such as a rotary transformer and a photoelectric encoder can obtain accurate motor rotor positions, the motor operation cost is increased, the detection precision is greatly influenced by the operation environment and the like, and the reliability of a motor driving system is reduced. Compared with a mechanical sensor detection method, the position sensor-free control method reduces the overall cost and the mechanical size and is less influenced by the environment. The phase current gradient method for the switched reluctance motor in high-speed operation has the advantages of strong universality and simplicity in operation, and can obtain the position information of the rotor in operation of the motor by detecting the peak position of the phase current without performing the operations of storage, table look-up, complex model calculation and the like of flux linkage and inductance. However, in actual control, the current peak position is influenced by many factors, so that the current peak does not appear at the position where salient poles of a stator and a rotor of the motor just coincide, the detection result is inaccurate, the generated position detection error greatly reduces the control performance of the motor, and the problems of vibration, torque pulsation and the like possibly occur in the operation of the motor.
Because the current peak position of the switched reluctance motor is greatly influenced by factors such as rotating speed, current, opening angle, direct-current bus voltage and the like, and in the actual control process, the rotating speed of the motor still fluctuates even when the motor is in stable operation due to a plurality of factors such as motor structure, friction, delay of double closed loop PI control and the like, so that the current peak position fluctuates obviously and cannot be detected accurately, the invention needs to provide a control method for accurately detecting the current peak position under different operation states of the switched reluctance motor, so that the motor can operate stably.
Disclosure of Invention
The invention aims to solve the technical problem of inventing a control method for accurately detecting the motor position information of a switched reluctance motor under the phase current peak position fluctuation, and achieving the purpose of stable and accurate motor operation.
The technical scheme of the invention is as follows:
a switched reluctance motor current peak position detection method, the switched reluctance drive system which finishes the detection method includes microcontroller 1, three-phase rectification and filter circuit and its bus voltage detection circuit 2, power converter 3, three-phase switched reluctance motor 4 and current sensor and current detection filter circuit 5; the switched reluctance drive system is not additionally provided with a position sensor and an additional circuit thereof, only the current of a three-phase switched reluctance motor 4 needs to be sampled by using a current sensor and a current detection filter circuit 5, the current is filtered and transmitted to a microcontroller 1 for calculation and judgment to obtain real-time rotor position information, the three-phase rectification and filter circuit and a bus voltage detection circuit 2 thereof are used for rectifying alternating current into direct current to supply the direct current to the switched reluctance motor drive system, and detect a direct current bus voltage signal of the three-phase switched reluctance motor 4, a power converter 3 adopts a three-phase asymmetric half-bridge structure, and is controlled by a PWM module of the microcontroller 1 to be used for driving the motor. The specific detection method comprises the following steps:
after a switched reluctance drive system is electrified and operated, the traditional rotating speed and current double closed-loop control without braking is adopted, the winding current and bus voltage signals are sampled through a current detection filter circuit, a three-phase rectification and filter circuit and a bus voltage detection circuit 2, the current and the voltage are transmitted to a microcontroller 1 after filtering treatment, when the rotating speed meets certain requirements, according to a formula (1), the fact that the derivative of the inductance and the position is changed from zero to positive time under the ideal inductance condition at the superposition part of salient poles of a stator and a rotor is recorded as theta0At position, the current will spike;
Figure BDA0002532738280000031
wherein i is the current of a motor winding, theta is the position angle of a motor rotor, u is the terminal voltage of the motor winding, R is the resistance value of the winding, omega is the angular velocity of the motor, and L is the inductance of the motor;
the current signal and the bus voltage signal are converted into digital signals through digital-to-analog conversion in the microcontroller 1 to become discrete states, the moment when the maximum current value appears is obtained by comparing the amplitudes of the current signal in a plurality of moments, the winding flux linkage at the moment of the current peak value is obtained by calculating and processing the obtained current signal and the voltage value through formulas (2) and (3), and the inductance value at the current peak value is calculated through a formula (4). Because the inductance is still in an unsaturated state at the position where the salient poles of the stator and the rotor just coincide, a certain proportional relation exists between the inductance at the position and the rotor position at the same rotating speed, and a proportional value k corresponding to the inductance at the current peak position and the rotor position at different rotating speeds is obtained through simulationωAnd collated as a table. In the control method, the ratio k of the inductance value corresponding to the rotating speed to the rotor position is obtained by a table look-up method at the moment of the current peak valueωAnd calculating to obtain a more accurate rotor position at the moment of the current peak by using the formula (5).
Figure BDA0002532738280000032
Where psi is the winding flux, psi(0)And (3) setting the initial value of winding flux linkage, wherein i is the current of a motor winding, u is the terminal voltage of the motor winding, and R is the resistance value of the winding. t is the time to the peak of the current;
in the microprocessing of the microcontroller 1, the calculation of the flux linkage takes the form of digital integration:
ψ(k+1)＝ψ(k)+[u(k)-Ri(k)]×Ts(3)
wherein: psi(k)And psi(k+1)Respectively are flux linkage values at the kth sampling moment and the (k + 1) th sampling moment; t issIs the sampling period of the microcontroller 1; i.e. i(k)And u(k)The current and the voltage at the kth sampling moment are respectively;
Figure BDA0002532738280000041
θi max＝kw×Li max(5)
in the formula, thetai maxIs the rotor position angle at the current peak, kwIs the ratio of the current peak time inductance to the rotor position angle, Li maxThe inductance value at the time of the current peak.
The invention has the following remarkable effects:
1) only the phase current of the running motor needs to be detected, and devices such as a position sensor and the like do not need to be additionally arranged.
2) The problems that the traditional table look-up method needs to be used for aiming at the influence of various factors, the occupied memory is large, and the data is inaccurate are solved.
3) The motor detection device is more sensitive to different operation parameter changes of the motor and has higher detection precision.
Drawings
FIG. 1 is a schematic diagram of a switched reluctance drive system.
Fig. 2 is an ideal inductance diagram of the motor and phase current waveforms.
In fig. 1: 1, a microcontroller; 2 three-phase rectifying and filtering circuit and bus voltage detection circuit; 3 a power converter; 4 three-phase switched reluctance motor; 5 current sensor and current detection filter circuit.
In FIG. 2, θ0For the position of salient poles of stator and rotor of motor just coinciding, theta1-θ3The stator and the rotor are in complete coincidence positions. Under ideal conditions, the phase current is at θ0Where the point of maximum amplitude occurs.
Detailed Description
The specific implementation of the invention is shown in fig. 1, the microcontroller 1 is a DSP chip TMS320F28069 of TI company, the three-phase rectifying and filtering circuit and its bus voltage detection circuit 2 detect the dc bus voltage U of the power converter 3, and after conditioning, input it to the ADC0 port of the microcontroller 1, and the power converter 3 adopts a three-phase asymmetric half-bridge structure. The switched reluctance motor 4 is a 12/8-pole three-phase switched reluctance motor with rated power of 5kW and rated rotating speed of 2000r/min, is powered by the power converter 3, and the current of three-phase windings of the switched reluctance motor is detected by the current detection circuit 5 and is respectively input to an ADC1 port, an ADC2 port and an ADC3 port of the microcontroller 1.
In a period of time after the switched reluctance motor system starts to be powered on and run, the switched reluctance motor system adopts the traditional rotating speed and current double closed-loop control without braking, a bus voltage detection circuit 2 detects the direct-current bus voltage of a motor of a power converter 3, a Hall current sensor of a current detection circuit 5 detects the current of a three-phase winding of the motor, the current is respectively input to an ADC (analog-to-digital converter) port of a DSP (digital signal processor) chip of a microcontroller 1 after circuit filtering processing, and the microcontroller converts a digital signal into a discrete analog signal through digital-to-analog conversion. The microprocessor compares the three-phase current amplitudes respectively to obtain the current peak time, the microprocessor calculates the inductance value of the current peak time through the current value of each phase and the winding end voltage, the ratio of the three-phase current peak time inductance value and the rotor position obtained through simulation is made into a table, the ratio of the three-phase inductance and the rotor position at the rotating speed is found out by utilizing a table look-up method, and the rotor position value at the current peak position is calculated.
And (3) building a simulation model, wherein in the simulation, the given rotating speed is 1500r/min-1700r/min, and the load torque is 3 N.m. The difference is made between the target rotating speed and the actual rotating speed, the rotating speed difference value is subjected to proportional and integral operation by a rotating speed loop and a current loop PI control module to obtain a three-phase current control value of the switched reluctance motor, and a PWM module generates a driving signal for controlling a power circuit of a three-phase asymmetric half-bridge structure by the current control value and three-phase on-angle and off-angle information generated by PI control, controls the on-off of an IGBT in the power circuit and drives the motor to rotate. The rotating speed calculation module calculates the angular speed and the rotating speed of the motor by utilizing the relation between the electromagnetic torque of the motor and the load torque. And the angle of the motor rotor is obtained through the angle calculation module, and the on-off angle are controlled. The three-phase current peak detection module obtains a current peak point by comparing the current amplitude, records the inductance value and the rotor position value at the peak moment, and finally calculates to obtain the three-phase rotor position and the inductance proportion value of the motor at the peak moment and arranges the three-phase rotor position and the inductance proportion value as a table.
The motor rotating speed is tested from 1500r/min to 1700r/min, and the proportion value of the three-phase rotor position and the inductance of the motor at the moment of the current peak is shown in table 1 by simulation under different rotating speeds:
TABLE 1 ratio of rotor position to inductance value at different rotational speed current peak positions
Phase A Phase B Phase C
1500r/min 9047.55 9210.56 9264.56
1600r/min 9156.23 9361.48 9432.10
1700r/min 9553.76 9544.93 9639.10
Compared with the traditional phase current gradient method, under the condition of the same rotating speed and the same opening angle, the position error of the three-phase rotor at the current peak value is respectively reduced by using the method as shown in the following table:
TABLE 2 comparison of error drop values with conventional methods of detecting current peak position
Phase A Phase B Phase C
1500r/min 24.90％ 27.92％ 30.05％
1600r/min 25.08％ 29.14％ 30.43％
1700r/min 29.08％ 27.98％ 28.26％
The phase current peak position detection method of the switched reluctance motor can improve the phase current gradient method detection precision of a position-sensorless phase current, and enhance the running stability of the motor.

Claims (1)

1. A detection method for the current peak position of a switched reluctance motor is characterized in that a switched reluctance drive system for completing the detection method comprises a microcontroller (1), a three-phase rectification and filter circuit and a bus voltage detection circuit (2) thereof, a power converter (3), a three-phase switched reluctance motor (4), a current sensor and a current detection filter circuit (5); the switched reluctance drive system is not additionally provided with a position sensor and an additional circuit thereof, only a current sensor and a current detection filter circuit (5) are needed to sample the current of a three-phase switched reluctance motor (4), the current is filtered and transmitted to a microcontroller (1) for calculation and judgment to obtain real-time rotor position information, a three-phase rectification and filter circuit and a bus voltage detection circuit (2) thereof are used for rectifying alternating current into direct current to be supplied to the switched reluctance motor drive system and detecting the direct current bus voltage signal of the three-phase switched reluctance motor (4), a power converter (3) adopts a three-phase asymmetric half-bridge structure, and a PWM module of the microcontroller (1) is used for controlling the drive motor; the specific detection method comprises the following steps:
after a switched reluctance drive system is electrified and operated, the traditional rotating speed and current double closed-loop control without braking is adopted, the winding current and bus voltage signals are sampled through a current detection filter circuit, a three-phase rectification and filter circuit and a bus voltage detection circuit (2) of the three-phase rectification and filter circuit, the current and the voltage are transmitted to a microcontroller (1) through filtering treatment, and when the rotating speed meets certain requirements, according to a formula (1), under the condition of ideal inductance, the derivative of the inductance and the position is converted from zero to positive time and is recorded as theta0At position, the current will spike;
Figure FDA0002532738270000011
wherein i is the current of a motor winding, theta is the position angle of a motor rotor, u is the terminal voltage of the motor winding, R is the resistance value of the winding, omega is the angular velocity of the motor, and L is the inductance of the motor;
the current signal and the bus voltage signal are converted into analog signals through digital-analog conversion in the microcontroller (1) to become discrete states, the moment when the maximum value of the current occurs is obtained by comparing the amplitudes of the current signal in a plurality of moments, the winding flux linkage at the moment of the current peak value is obtained by calculation processing of formulas (2) and (3) through the obtained current signal and voltage value, and the inductance value at the current peak value is calculated through a formula (4); because the inductance is still in an unsaturated state at the position where the salient poles of the stator and the rotor just coincide, a certain proportional relation exists between the inductance value at the position and the position of the rotor at the same rotating speed, and MATLAB simulation is carried outTruly obtaining a proportional value k corresponding to the position of the rotor and the inductance value at the current peak value at different rotating speedsωAnd is arranged as a table; in the control method, the ratio k of the inductance value corresponding to the rotating speed to the rotor position is obtained by a table look-up method at the moment of the current peak valueωCalculating to obtain a more accurate rotor position at the current peak time by using a formula (5);
Figure FDA0002532738270000021
where psi is the winding flux, psi(0)The initial value of winding flux linkage is i, the current of a motor winding is i, the terminal voltage of the motor winding is u, and the resistance value of the winding is R; t is the time to the peak of the current;
in the microprocessing of the microcontroller (1), the calculation of the flux linkage takes the form of digital integration:
ψ(k+1)＝ψ(k)+[u(k)-Ri(k)]×Ts(3)
wherein: psi(k)And psi(k+1)Respectively are flux linkage values at the kth sampling moment and the (k + 1) th sampling moment; t issIs the sampling period of the microcontroller (1); i.e. i(k)And u(k)The current and the voltage at the kth sampling moment are respectively;
Figure FDA0002532738270000022
θimax＝kw×Limax(5)
in the formula, thetaimaxIs the rotor position angle at the current peak, kwIs the ratio of the current peak time inductance to the rotor position angle, LimaxThe inductance value at the time of the current peak.
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Cited By (5)

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Publication number Priority date Publication date Assignee Title
CN112421994A (en) * 2020-10-09 2021-02-26 大连理工大学 Current loop reconstruction method for controlling four-phase switch reluctance motor
CN112688612A (en) * 2020-12-17 2021-04-20 聚辰半导体股份有限公司 Three-phase brushless direct current motor stator inductance change detection device
CN113311248A (en) * 2021-06-25 2021-08-27 安徽大学 Stator coil inductance measuring method for reluctance type spherical motor
CN114137282A (en) * 2021-11-26 2022-03-04 珠海格力电器股份有限公司 Sampling circuit, sampling chip, sampling and fitting method, storage medium and equipment
CN114374345A (en) * 2021-12-10 2022-04-19 广州大学 Improved phase current gradient detection method for switched reluctance motor

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JP2016226084A (en) * 2015-05-27 2016-12-28 株式会社デンソー Control device for switched reluctance motor
CN109672386A (en) * 2018-11-13 2019-04-23 江苏大学 A kind of switch magnetoresistance motor rotor position detection method
CN110336513A (en) * 2019-06-19 2019-10-15 大连理工大学 A kind of non position sensor switch magnetic resistance motor initial alignment method
CN110829938A (en) * 2019-11-25 2020-02-21 中国矿业大学 Low-speed operation control method for switched reluctance motor without position sensor

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Publication number Priority date Publication date Assignee Title
JP2010193700A (en) * 2008-08-25 2010-09-02 Suri-Ai:Kk Switched reluctance motor apparatus
JP2016226084A (en) * 2015-05-27 2016-12-28 株式会社デンソー Control device for switched reluctance motor
CN105827161A (en) * 2016-05-25 2016-08-03 南京航空航天大学 Switched reluctance motor sensorless rotor position estimation method
CN105897112A (en) * 2016-05-25 2016-08-24 南京航空航天大学 Position sensorless rotor position estimation method of switch reluctance machine running at high speed
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112421994A (en) * 2020-10-09 2021-02-26 大连理工大学 Current loop reconstruction method for controlling four-phase switch reluctance motor
CN112688612A (en) * 2020-12-17 2021-04-20 聚辰半导体股份有限公司 Three-phase brushless direct current motor stator inductance change detection device
CN113311248A (en) * 2021-06-25 2021-08-27 安徽大学 Stator coil inductance measuring method for reluctance type spherical motor
CN113311248B (en) * 2021-06-25 2022-05-10 安徽大学 Stator coil inductance measuring method for reluctance type spherical motor
CN114137282A (en) * 2021-11-26 2022-03-04 珠海格力电器股份有限公司 Sampling circuit, sampling chip, sampling and fitting method, storage medium and equipment
CN114374345A (en) * 2021-12-10 2022-04-19 广州大学 Improved phase current gradient detection method for switched reluctance motor

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