CN117155211A - Switch reluctance motor sensorless control method based on variable speed subsection compensation - Google Patents

Switch reluctance motor sensorless control method based on variable speed subsection compensation Download PDF

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CN117155211A
CN117155211A CN202310986331.6A CN202310986331A CN117155211A CN 117155211 A CN117155211 A CN 117155211A CN 202310986331 A CN202310986331 A CN 202310986331A CN 117155211 A CN117155211 A CN 117155211A
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motor
speed
angle
rotating
interval
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CN117155211B (en
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容毅
张奕璇
龚俊
余萍
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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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/086—Commutation
    • H02P25/089—Sensorless control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a control method of a switch reluctance motor without a position sensor based on variable speed sectionalized compensation, which comprises the steps of dividing a motor rated rotation speed range into a low-speed interval and a high-speed interval, respectively obtaining estimated position angles of a motor rotor rotating through a certain position under different rotation speeds of each interval, and comparing the estimated position angles with angle measurement values of the position to obtain corresponding angle deviations; determining a functional relation between the angle deviation in the two intervals and the motor rotating speed; and correcting the estimated position angle under the actual rotating speed of the motor according to the obtained functional relation to obtain an accurate position angle. The control method of the switch reluctance motor without the position sensor based on variable speed subsection compensation effectively overcomes the influence of the motor on the estimation precision of the rotor position angle due to the change of the rotating speed, and has the characteristics of simple algorithm, high consistency of the variable speed compensation precision and the like.

Description

Switch reluctance motor sensorless control method based on variable speed subsection compensation
Technical Field
The invention relates to the technical field of switched reluctance motors, in particular to a control method for a switched reluctance motor without a position sensor based on variable speed sectional compensation.
Background
The switch reluctance motor has the advantages of simple and firm structure, high efficiency, low cost and the like, and is widely applied to various fields such as mining locomotives, new energy automobiles and the like. However, to realize high-performance speed regulation control of the switched reluctance motor, accurate position information of a rotor of the switched reluctance motor must be acquired in real time; the traditional method for acquiring the rotor position information mainly adopts a position sensor, but the method not only increases the volume and the cost of the system, but also causes inconvenience for the installation and the maintenance of the system, so that the method has important significance in developing the control research of the switch reluctance motor without the position sensor.
At present, a great deal of researches on the control of a switch reluctance motor without a position sensor are carried out and various control methods are proposed, wherein a full-period inductance method is widely applied due to the characteristics of simple principle, high precision, small calculated amount and the like; however, the method has the defect of being greatly influenced by the rotating speed of the motor. In order to solve the problem, a patent (a switch reluctance motor non-position sensor control method based on variable speed compensation, application number 202211359934.5) proposes a variable speed compensation method, and although a better compensation effect is obtained, the method still has the defect of inconsistent compensation effects at different rotating speeds due to the adoption of a single compensation function.
Disclosure of Invention
Aiming at the technical problems to be solved, the invention provides a control method of a switch reluctance motor without a position sensor based on variable speed sectional compensation, which can effectively overcome the influence of motor rotation speed change on the estimation precision of the rotor position angle.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a control method of a switch reluctance motor without a position sensor based on variable speed sectionalized compensation includes dividing a motor rated rotation speed range into a low-speed interval and a high-speed interval, respectively obtaining estimated position angles of a motor rotor rotating past a certain position under different rotation speeds of each interval, and comparing the estimated position angles with angle measurement values of the position to obtain corresponding angle deviation; determining a functional relation between the angle deviation in the two intervals and the motor rotating speed; and correcting the estimated position angle under the actual rotating speed of the motor according to the obtained functional relation to obtain an accurate position angle.
The technical scheme is further improved as follows:
further, the control method includes the steps of:
step 1: dividing the motor rotation speed into a low-speed interval and a high-speed interval in the rated rotation speed range of the switch reluctance motor;
step 2: for each rotating speed interval, respectively selecting n groups of rotating speeds omega at equal intervals i (i＝1...n)；
Step 3: according to each group of rotating speeds omega selected in the step 2 i (i=1..n.) obtaining an estimated position angle value θ of the motor rotor when the motor rotor rotates past a certain position at the rotation speed by using a full-period inductance method i And an actual position angle theta with the position c Comparing to obtain corresponding angle deviation delta theta i ；
Step 4: according to the corresponding angle deviation of each group of rotating speeds obtained in the step 3, a numerical fitting method is adopted to obtain a functional relation delta theta (omega) between the angle deviation delta theta of two rotating speed intervals and the corresponding motor rotating speed omega;
step 5: obtaining the offset delta theta (omega ') of the estimated position angle of the motor relative to the actual position angle under the actual rotating speed omega ' according to the angle deviation function relation obtained in the step 4 and the actual rotating speed omega ' of the motor operation;
step 6: correcting the estimated position angle theta ' of the motor rotor according to the offset delta theta (omega ') obtained in the step 5 to obtain the accurate position angle theta of the motor rotor under the corresponding actual rotating speed omega ' a ；
Step 7: according to the accurate position angle theta of the motor rotor obtained in the step 6 a The speed regulation control of the switch reluctance motor without a position sensor is realized.
In step 1, a low-speed section is taken as a section corresponding to a half of the rated rotational speed of the motor from 0 to the rated rotational speed, and a high-speed section is taken as a section corresponding to a half of the rated rotational speed of the motor from the rated rotational speed.
Further, in the step 4, a functional relation between the angular deviation and the motor rotation speed in the low speed interval is:
wherein: Δθ (ω) represents an angular deviation function, ω represents a motor rotation speed, a 0 、a 1 、b 0 、b 1 、c 0 、c 1 The coefficients of the angular deviation functions, respectively.
Further, in the step 4, a functional relation between the angular deviation and the motor rotation speed in the high-speed interval is:
wherein: Δθ (ω) represents an angular deviation function, ω represents a motor rotation speed, h 0 、h 1 、h 2 、d 0 、d 1 K are coefficients of the angular deviation function, respectively.
Further, in the step 6, the accurate position angle θ of the motor rotor at the corresponding actual rotation speed ω a ：
θ a ＝θ'+Δθ(ω') (3)
Wherein: θ 'represents an estimated position angle of the motor rotor when the motor rotor rotates past a certain position at the actual rotation speed ω', Δθ (ω ') represents a corresponding position angle offset amount of the motor rotor at the actual rotation speed ω', θ a Representing the compensated position angle of the motor rotor at the actual rotational speed ω' when rotating past this position.
Compared with the prior art, the control method for the switch reluctance motor without the position sensor based on variable speed subsection compensation has the following advantages:
according to the control method of the switch reluctance motor without the position sensor based on variable speed sectionalized compensation, the rotating speed of the switch reluctance motor is divided into a low speed section and a high speed section according to the rated rotating speed of the switch reluctance motor; selecting a plurality of groups of rotating speeds at equal intervals for each interval; estimating the position angle of the motor rotor when the motor rotor rotates at a certain position according to the full-period inductance method for each group of rotating speeds, and comparing the position angle with the actual position angle of the position to obtain corresponding angle deviation; respectively obtaining the functional relation between the angle deviation and the motor rotating speed in each interval by adopting a numerical fitting method; correcting the estimated position angle of the rotor according to the obtained functional relation and the actual rotating speed of the motor during operation, so as to obtain the accurate position angle of the motor rotor at the rotating speed; according to the position angle, the high-performance speed regulation control of the switch reluctance motor without a position sensor can be realized. Compared with the prior art, the control method for the switched reluctance motor without the position sensor based on variable speed sectional compensation effectively overcomes the influence of motor rotation speed change on the rotor position angle estimation precision, has the characteristics of simple algorithm, high consistency of variable speed compensation precision and the like, and has good application value.
Drawings
FIG. 1 is a flow chart of an application implementation of the present invention.
Fig. 2 is a diagram showing the comparison between the effects of the variable speed subsection compensation control method of the switched reluctance motor and the conventional variable speed compensation method.
Detailed Description
The following describes specific embodiments of the present invention in detail. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
As shown in fig. 1, a flow chart of a control method of a position-less sensor control method of a switched reluctance motor based on variable speed piecewise compensation according to the present invention is shown in fig. 1, and a 6/4 pole switched reluctance motor is taken as an example, and main parameters thereof are shown in table 1, and the specific steps of the method provided by the embodiment of the present invention are as follows:
step 1: the interval corresponding to the half of the rated rotation speed of the motor from 0 to the rated rotation speed is taken as a low-speed interval, and the interval corresponding to the half of the rated rotation speed of the motor from the half of the rated rotation speed to the rated rotation speed is taken as a high-speed interval.
According to the parameters shown in Table 1, the rated rotation speed of the motor was 3000rpm, namely, the rotation speed range of 0 to 1500rpm was a low speed range, and the rotation speed range of 1500 to 3000rpm was a high speed range. Selecting 14 groups of rotating speed data (the starting point, the interval set value and the group number can be selected at random) at intervals by taking 100rpm as the starting point and taking 100rpm as the interval in a low-speed interval; in the high speed range, at 1600rpm as a starting point, and 100rpm as an interval, 14 sets of rotational speed data were equally spaced, as shown in table 2.
TABLE 1 main technical parameters of a 6/4 pole switch reluctance motor
Parameters (parameters) Numerical value
Rated power/kW 15
Rated voltage/V 250
Rated rotation speed/rpm 3000
Step 2: for each group of rotating speed data, estimating the position angle theta of the motor rotor when the motor rotor rotates through a certain position by adopting a full-period inductance method i 。
The full-period induction method is to adopt a pulse injection mode aiming at a non-excitation phase of a switch reluctance motor to obtain an inductance value of the motor, obtain the rotating speed of a corresponding section according to the position angle of an intersection point of two adjacent inductances and the time corresponding to the rotation of a rotor of the rotor through the two intersection points, and estimate the position angle of the next adjacent section according to the obtained rotating speed.
Step 3: the estimated position angle theta i Actual position angle θ to the position c And comparing to obtain corresponding angle deviation as shown in a formula (1).
Δθ i ＝θ i -θ c (1)
Wherein: θ i Indicating the rotation speed omega of the motor rotor i Estimated position angle, θ, when rotated down past a certain position c An actual position angle, Δθ, representing the position i Representing the corresponding angular deviation.
Setting the actual position angle theta c 90 degrees, according to the method, each group of rotating speeds and corresponding angle deviation delta theta thereof are obtained i As shown in table 2.
TABLE 2 position angle deviations Δθ for different rotational speeds i
Step 4: according to the motor rotating speeds and corresponding angle deviations of the two intervals obtained in the step 3, a numerical fitting method is adopted to respectively obtain functional relation formulas between the angle deviations and the motor rotating speeds, wherein the functional relation formulas specifically comprise:
1) Low speed interval: the functional relation between the angle deviation and the motor rotation speed is as follows:
wherein: Δθ (ω) represents an angular deviation function, ω represents a motor rotation speed, a 0 、a 1 、b 0 、b 1 、c 0 、c 1 The coefficients of the angular deviation functions, respectively. The coefficients obtained by fitting in this example are shown in table 3.
TABLE 3 coefficients of the low speed interval angular deviation function
Fitting coefficient Numerical value Fitting coefficient Numerical value
a 0 3.175 b 1 4.854
a 1 0.4481 c 0 922.7
b 0 1802 c 1 445.1
2) High speed interval: the functional relation between the angle deviation and the motor rotation speed is as follows:
wherein: Δθ (ω) represents an angular deviation function, ω represents a motor rotation speed, h 0 、h 1 、h 2 、d 0 、d 1 K are coefficients of the angular deviation function, respectively. The coefficients obtained by fitting in this example are shown in table 4.
TABLE 4 coefficients of the high speed interval angular deviation function
Substituting each coefficient in table 3 and table 4 into formula (2) and formula (3) respectively, the angle deviation function in the low-speed and high-speed intervals corresponding to the motor used in this embodiment can be obtained as shown in formulas (2 ') and (3') respectively:
step 5: the rotational speeds were set to 100rpm, 700rpm, 1200rpm, 1400rpm, 2300rpm, 2500rpm, 2700rpm, 2900rpm in the rated rotational speed range of the motor, and the rotational speeds were substituted into the formula (2 ') or the formula (3 '), respectively, to obtain the corresponding positional angle offsets Δθ (ω '), as shown in table 5.
TABLE 5 angular offset of positions corresponding to different rotational speeds
Actual rotational speed ω' (rpm) The angular offset Δθ (ω') (°)
100 0.179
700 1.182
1200 2.185
1400 2.658
2300 4.811
2500 5.474
2700 6.277
2900 6.758
Step 6: substituting the position angle offset delta theta (omega') obtained in the table 5 into the formula (4) to obtain the accurate position angle theta of the motor rotor under the actual rotating speed a ：
θ a ＝θ'+Δθ(ω') (4)
Wherein: θ 'represents an estimated position angle of the motor rotor when the motor rotor rotates past a certain position at the actual rotation speed ω', Δθ (ω ') represents a corresponding position angle offset amount of the motor rotor at the actual rotation speed ω', θ a Representing the compensated position angle of the motor rotor at the actual rotational speed ω' when rotating past this position.
According to the formula (4), the compensated position angles at different actual rotational speeds are shown in table 6:
TABLE 6 position and angle after Compensation at different speeds
In order to illustrate the effect of the variable speed sectionalized compensation-based switch reluctance motor sensorless control method (abbreviated as the method), the invention is compared and analyzed with the patent' variable speed compensation-based switch reluctance motor sensorless control method (CN 202211359934.5) (abbreviated as the comparison method). Both methods were performed with the motor parameters set in table 1 and the same rotational speeds were used for comparative analysis, and if the motor rotational speeds were still used for correlation analysis at 100rpm, 700rpm, 1200rpm, 1400rpm, 2300rpm, 2500rpm, 2700rpm, 2900rpm, respectively, the deviations of the estimated position angles after the two methods were compensated with respect to the actual position angles thereof were as shown in table 7.
TABLE 7 deviation of the estimated position angle after two methods compensation relative to the actual position angle
Rotating speed (rpm) 100 700 1200 1400 2300 2500 2700 2900
Contrast method (°) 0.056 0.042 0.039 0.045 0.034 0.06 0.048 0.06
The method (°) 0.026 0.026 0.024 0.024 0.026 0.028 0.025 0.027
According to the data shown in table 7, a comparison graph of the compensation effects corresponding to the two methods can be obtained, as shown in fig. 2. Therefore, after the variable speed subsection compensation method provided by the invention is adopted to compensate the estimated position angle of the motor rotor, the consistency of the compensation precision is greatly improved relative to a comparison method, and the overall compensation precision is also improved to a certain extent compared with the comparison method, so that the control effect of the switch reluctance motor without a position sensor can be effectively improved.
The above embodiments are merely preferred embodiments of the present invention, and are not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.

Claims (6)

1. A control method of a switch reluctance motor without a position sensor based on variable speed subsection compensation is characterized in that a low-speed interval and a high-speed interval are divided in a rated rotating speed range of the motor, estimated position angles of a motor rotor rotating through a certain position under different rotating speeds of each interval are respectively obtained, and the estimated position angles are compared with angle measurement values of the position to obtain corresponding angle deviations; determining a functional relation between the angle deviation in the two intervals and the motor rotating speed; and correcting the estimated position angle under the actual rotating speed of the motor according to the obtained functional relation to obtain an accurate position angle.
2. The switched reluctance motor sensorless control method based on variable speed segment compensation according to claim 1, characterized in that the control method comprises the steps of:
step 1: dividing the motor rotation speed into a low-speed interval and a high-speed interval in the rated rotation speed range of the switch reluctance motor;
step 2: for each rotating speed interval, respectively selecting n groups of rotating speeds omega at equal intervals i (i＝1...n)；
Step 3: according to each group of rotating speeds omega selected in the step 2 i (i=1..n.) obtaining an estimated position angle value θ of the motor rotor when the motor rotor rotates past a certain position at the rotation speed by using a full-period inductance method i And an actual position angle theta with the position c Comparing to obtain corresponding angle deviation delta theta i ；
Step 4: according to the corresponding angle deviation of each group of rotating speeds obtained in the step 3, a numerical fitting method is adopted to obtain a functional relation delta theta (omega) between the angle deviation delta theta of two rotating speed intervals and the corresponding motor rotating speed omega;
step 5: obtaining the offset delta theta (omega ') of the estimated position angle of the motor relative to the actual position angle under the actual rotating speed omega ' according to the angle deviation function relation obtained in the step 4 and the actual rotating speed omega ' of the motor operation;
step 6: correcting the estimated position angle theta ' of the motor rotor according to the offset delta theta (omega ') obtained in the step 5 to obtain the accurate position angle theta of the motor rotor under the corresponding actual rotating speed omega ' a ；
Step 7: according to the accurate position angle theta of the motor rotor obtained in the step 6 a The speed regulation control of the switch reluctance motor without a position sensor is realized.
3. The method for controlling the switched reluctance motor without position sensor based on variable speed piecewise compensation according to claim 2, wherein in the step 1, a section corresponding to a half of a rated rotational speed of the motor is taken as a low speed section, and a section corresponding to a half of the rated rotational speed of the motor is taken as a high speed section.
4. The method for controlling a switched reluctance motor sensorless based on variable speed piecewise compensation according to claim 2, wherein in step 4, the functional relation between the angular deviation and the motor rotation speed in the low speed interval is:
wherein: Δθ (ω) represents an angular deviation function, ω represents a motor rotation speed, a 0 、a 1 、b 0 、b 1 、c 0 、c 1 The coefficients of the angular deviation functions, respectively.
5. The method for controlling a switched reluctance motor sensorless based on variable speed piecewise compensation according to claim 2, wherein in step 4, the functional relation between the angular deviation and the motor rotation speed in the high speed interval is:
wherein: Δθ (ω) represents an angular deviation function, ω represents a motor rotation speed, h 0 、h 1 、h 2 、d 0 、d 1 K are coefficients of the angular deviation function, respectively.
6. The method according to claim 2, wherein in step 6, the accurate position angle θ of the motor rotor at the corresponding actual rotation speed ω' is determined a ：
θ a ＝θ'+Δθ(ω') (3)
Wherein: θ 'represents an estimated position angle of the motor rotor when the motor rotor rotates past a certain position at the actual rotation speed ω', Δθ (ω ') represents a corresponding position angle offset amount of the motor rotor at the actual rotation speed ω', θ a Representing the compensated position angle of the motor rotor at the actual rotational speed ω' when rotating past this position.
CN202310986331.6A 2023-08-07 2023-08-07 Switch reluctance motor sensorless control method based on variable speed subsection compensation Active CN117155211B (en)

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