588506 玖K發哪證纖 【發明所屬之技術領域】 本發明係關於一種切換磁阻馬達之暫態過速抑制方法 ，尤指一種利用負轉矩壓抑磁阻馬達暫態過速現象之方法 【先前技術】 按，切換磁阻馬達（SRM)係一種低成本、構造簡單、控 速範圍廣且具較大轉矩的電動設備，其馬力數可高達數百 馬力以上，係屬一種理想的動力源。基於前述特性，切換 % 磁阻馬達未來在工業用途上的發展潛力即可預見，然而， 磁阻馬達在控制上依然存在改善的空間。 不論是何種形式的馬達，包括切換磁阻馬達在內，過 速現象的抑制都是極爲重要的一環。傳統切換磁阻馬達對 於暫態過速發生時，係採取自由飛輪的方法令過速度降至 所需之値。此種方法固然可以抑制暫態過速現象，但經由 自由飛輪釋放能量過於緩慢，因而使切換磁阻馬達無法在 _ 很短的時間內解除暫態過速現象，故既有切換磁阻馬達在 _ 暫態過速的抑制技術上顯然有待進一步檢討，並應謀求具 體有效的解決方案。 【發明內容】 因此，本發明主要目的在提供一種可在切換磁阻馬達 出現暫態過速現象時迅速釋放能量而使轉速降至預定値之 暫態過速抑制方法。 6 588506 爲達成前述目的採取的主要技術手段係利用切換磁阻 馬達之相激勵位置影響轉矩正負値之關係，而在切換磁阻 ’ 馬達發生暫態過速時，改變其相激勵位置，使其產生負轉 矩，以便將過速之能量快速釋放，令馬達轉速得以迅速下 降至所需之値，而有效抑制切換磁阻馬達暫態過速度之現 象； 利用前述方法可有效解決傳統切換磁阻馬達於暫態過 速時，透過自由飛輪釋出能量而過於緩慢之問題。 前述抑制方法係在一遲滯寬帶邊界値區間作正/負轉 % 矩切換，以防止振盪產生。 【實施方式】 爲方便理解本發明之技術特徵，以下先針對切換磁阻 馬達之基本原理加以說明： 與一般交流馬達不同，切換磁阻馬達須經由電感L對 角位置的微分以控制其轉矩的正負値，換言之，當馬達 之相電感只與角位置有關，則其轉矩公式係如下列：588506 证 K hair which card fiber [Technical Field of the Invention] The present invention relates to a method for suppressing transient overspeed of a switched reluctance motor, especially a method for suppressing transient overspeed of a reluctance motor using negative torque. Prior technology] Pressed, switched reluctance motor (SRM) is a low-cost, simple structure, wide speed control range and large torque electric equipment, its horsepower can reach hundreds of horsepower or more, it is an ideal power source. Based on the foregoing characteristics, the future development potential of switching% reluctance motors in industrial applications can be foreseen. However, there is still room for improvement in the control of reluctance motors. Regardless of the type of motor, including the switched reluctance motor, the suppression of overspeed is an extremely important part. The traditional switched reluctance motor adopts the free flywheel method to reduce the overspeed to the required speed when transient overspeed occurs. Although this method can suppress the transient overspeed phenomenon, the energy released by the free flywheel is too slow, so that the switched reluctance motor cannot release the transient overspeed phenomenon in a short time. Therefore, the existing switched reluctance motor _ The suppression of transient overspeed obviously needs further review technically, and a concrete and effective solution should be sought. SUMMARY OF THE INVENTION Therefore, the main object of the present invention is to provide a transient overspeed suppression method that can quickly release energy and reduce the speed to a predetermined level when a transient overspeed phenomenon occurs in a switched reluctance motor. 6 588506 The main technical means adopted to achieve the foregoing purpose is to use the switching of the phase excitation position of the reluctance motor to affect the relationship between the positive and negative torque. When the reluctance motor is subjected to a transient overspeed, its phase excitation position is changed so that It generates negative torque in order to quickly release the energy of overspeed, so that the speed of the motor can be quickly reduced to the required level, and effectively suppress the phenomenon of transient overspeed of the switched reluctance motor; using the aforementioned method can effectively solve the traditional switching magnetism The problem that the resistance motor is too slow to release energy through the free flywheel when the transient overspeed occurs. The foregoing suppression method is to perform positive / negative rotation% moment switching at a hysteresis wideband boundary 値 interval to prevent oscillation. [Embodiment] In order to facilitate the understanding of the technical features of the present invention, the basic principle of the switched reluctance motor will be described below: Unlike ordinary AC motors, the switched reluctance motor must be differentiated by the diagonal position of the inductance L to control its torque In other words, when the phase inductance of the motor is only related to the angular position, the torque formula is as follows:
Td =0.5/2 dUd6r 假設切換磁阻馬達由某一馬達帶至定轉速下，則若在 切換磁阻馬達的某相注入直流電流，該相產生的轉矩係如 第一圖A所示，當切換磁阻馬達工作於區域I，係令該相產 生正轉矩，又，如切換磁阻馬達係工作於在區域II，則使 該相產生負轉矩。實際上切換磁阻馬達運轉時係在區域I 激勵（請參閱第一圖B所示馬達運轉時，其轉子與定子之 7 相對位置關係示意圖）。 在前述理論基礎下，若馬達轉速出現暫態過速現象， 則可令馬達工作在區域II以產生負轉矩，以快速釋出能量 ，令馬達轉速快速降至所需之値，此一手段可有效改善傳 統利用自由飛輪釋出能量緩慢之缺點。 以下謹配合一切換磁阻馬達之驅動系統，進一步說明 前述抑制方法之具體技術手段： 請參閱第二圖所示，其爲一 N相Μ極切換磁阻馬達驅 動系統，相線圈組L^Ln係串接於上臂開關組Ti〜TN與下臂 開關組S!〜Sn之間，其中： 上臂開關組T^Tn係分別由一脈寬調變電路（1 〇 )以 脈寬調變（PWM)方式控制，又下臂開關組S^Sn則由一換向 信號產生器（2 0 )所控制； 又前述系統的控制係採串接式控制，其由一編碼器 (EC) ( 1 1 )檢知馬達轉速，該編碼器（1 1 )檢出即時 轉速％後，即與一設定的轉速<比較，並將結果送至一速 度控制器（1 2 )，再由速度控制器（1 2 )產生一恆大 於或等於0的電流命令1〇送至相電流命令產生器（1 3 ) ，由相電流命令產生器（1 3 )產生各相的電流命令 iCl〜icN，並與馬達每相線圈之感測電流進行運算，再將運算 結果送至一各相分設的電流控制器（1 4 )，由各相分設 的電流控制器（1 4 )產生回授控制信號〜予脈寬 調變電路（1 0 )，令其改變輸出信號的脈波寬度，使馬 達轉速趨於穩定。 588506 再者，前述驅動系統係以一霍爾位置感測器（HPS) ( 1 5 )取得磁極換向時的兩正交信號α、沒，兩正交信號α 、石又送至換向信號產生器（2 0 )，供作爲換向之依據 〇 而本發明前述的暫態過速抑制方法係內建於前述的換 向信號產生器（2 0 )中，其具體工作流程請參閱第三圖 所示： a. 先擷取馬達轉速値及霍爾位置感測器（HPS) ( 1 5 ) 輸出的兩正交信號α、/?，用以準備切換相激勵位置； b. 判斷馬達轉速値是否大於或等於一預設馬達轉速上 限値，當馬達轉速値大於或等於該預設馬達轉速上限値， 則變換相激勵位置，使其產生負轉矩，當馬達轉速値未大 於此一預設馬達轉速上限値，令相激勵於正轉矩區段，維 持原激勵方式。 在前述狀態下，換向信號產生器（2 0 )將送出信號 至脈寬調變電路（1 0 )使上臂開關組Ti〜TN關閉，而線圈 上的能量少部分經由下臂開關組S!〜Sn及二極體自由飛輪釋 出，但大部分則因產生負轉矩，使得過速之能量快速釋出 ，如此一來，馬達轉速即可迅速下降。本創作可設定將該 馬達轉速降至一預先設定的馬達轉速値。 仍請參閱第三圖所示，當馬達切換爲負轉矩，換向信 號產生器（2 0 )仍將偵測馬達之轉速，並判斷馬達轉速 値是否低於或等於一預設馬達轉速下限値，如結果爲否， 即維持負轉矩；若結果爲是，則變換其相激勵位置以產生 9 588506 正轉矩。 有關前述流程中的上限値與下限値，請參閱第四圖揭 ‘ 示切換磁阻馬達暫態過速之速度軌跡，該上限値係 ，又下限値係％ + a，其中，a與q係用以防止振盪之遲 滯寬帶邊界値。 由上述說明可瞭解本發明係利用切換磁阻馬達其相激 勵位置與正/負轉矩之對應關係，故在切換磁阻馬達發生 暫態過速現象，即改變其相激勵位置，使其產生負轉矩， 遂可使過速之能量迅速地釋放，使馬達迅速下降至預定的 β 轉速，以有效抑制磁阻馬達之暫態過速現象；以前述方法 相較於傳統磁阻馬達透過自由飛輪緩慢釋出能量之暫態過 速抑制方式，在抑制的速度上將可大幅提升。故以前述的 切換磁阻馬達暫態過速抑制方法已具備顯著的產業上利用 性、新穎性與進步性，並符合發明專利要件，爰依法提起 申請0Td = 0.5 / 2 dUd6r Assuming that the switched reluctance motor is brought from a certain motor to a fixed speed, if a DC current is injected into a phase of the switched reluctance motor, the torque generated by this phase is shown in Figure A, When the switched reluctance motor works in area I, the phase generates positive torque, and if the switched reluctance motor works in area II, the phase generates negative torque. Actually, the switched reluctance motor is excited in zone I (see the schematic diagram of the relative position of the rotor and the stator when the motor is running as shown in the first figure B). On the basis of the foregoing theory, if the speed of the motor is transient overspeed, the motor can be operated in area II to generate negative torque to quickly release energy and quickly reduce the speed of the motor to the required level. Can effectively improve the traditional use of free flywheel to release the disadvantage of slow energy. The following is a detailed description of the specific technical means of the aforementioned suppression method with a drive system of a switched reluctance motor: Please refer to the second figure, which is an N-phase M-pole switched reluctance motor drive system, and the phase coil group L ^ Ln It is connected in series between the upper arm switch group Ti ~ TN and the lower arm switch group S! ~ Sn, where: The upper arm switch group T ^ Tn is respectively controlled by a pulse width modulation circuit (10) with a pulse width modulation ( PWM) mode control, and the lower arm switch group S ^ Sn is controlled by a commutation signal generator (20); the control of the aforementioned system is tandem control, which is controlled by an encoder (EC) (1 1) The motor speed is detected. After the encoder (1 1) detects the instantaneous speed%, it compares with a set speed < and sends the result to a speed controller (1 2), and then the speed controller (1 2) Generate a current command 10 that is constant greater than or equal to 0 and send it to the phase current command generator (1 3). The phase current command generator (1 3) generates the current commands iCl ~ icN of each phase, and Calculate the sensing current of the coils of each phase of the motor, and then send the calculation results to a current control for each phase. (1 4), the current controller (1 4) separately provided for each phase generates a feedback control signal ~ a pulse width modulation circuit (1 0), so that it changes the pulse width of the output signal, so that the motor speed tends to Yu stable. 588506 Furthermore, the aforementioned drive system uses a Hall position sensor (HPS) (1 5) to obtain the two orthogonal signals α and No when the magnetic poles are commutated, and the two orthogonal signals α and R are sent to the commutation signals. The generator (20) is used as a basis for commutation. The foregoing transient overspeed suppression method of the present invention is built in the aforementioned commutation signal generator (20). For the specific working process, please refer to the third. As shown in the figure: a. First capture the motor speed 値 and the two orthogonal signals α, /? Output by the Hall Position Sensor (HPS) (1 5) to prepare for switching the phase excitation position; b. Determine the motor speed値 Is greater than or equal to a preset upper limit of motor speed 値, when the motor speed 値 is greater than or equal to the preset upper limit of motor speed 値, the phase excitation position is changed to generate a negative torque, and when the motor speed 马达 is not greater than this preset Set the upper limit of the motor speed 値 so that the phase is excited in the positive torque section and maintain the original excitation mode. In the aforementioned state, the commutation signal generator (20) will send a signal to the pulse width modulation circuit (10) to close the upper arm switch group Ti ~ TN, and a small part of the energy on the coil passes through the lower arm switch group S ! ~ Sn and free flywheels of diodes are released, but most of them cause the over-speed energy to be released quickly due to the negative torque generated. In this way, the speed of the motor can decrease rapidly. This creation can be set to reduce the motor speed to a preset motor speed 値. Still referring to the third figure, when the motor is switched to negative torque, the commutation signal generator (20) will still detect the motor speed and determine whether the motor speed 値 is lower than or equal to a preset lower limit of the motor speed Alas, if the result is no, the negative torque is maintained; if the result is yes, the phase excitation position is changed to generate 9 588506 positive torque. For the upper limit 値 and lower limit 中 in the foregoing process, please refer to the fourth figure to show the speed trajectory of the switching overspeed of the reluctance motor. The upper limit is the lower limit and the lower limit is% + a, where a and q are A hysteretic broadband boundary to prevent oscillation. From the above description, it can be understood that the present invention uses the corresponding relationship between the phase excitation position of the switched reluctance motor and the positive / negative torque. Therefore, a transient overspeed phenomenon occurs when the switched reluctance motor is changed, that is, its phase excitation position is changed to generate Negative torque can then quickly release the energy of overspeed, so that the motor quickly drops to a predetermined β speed, in order to effectively suppress the transient overspeed phenomenon of the reluctance motor; compared with the traditional reluctance motor through the aforementioned method, The transient overspeed suppression method that the flywheel slowly releases energy can greatly increase the speed of suppression. Therefore, the above-mentioned method for suppressing the transient overspeed of the switched reluctance motor already has significant industrial applicability, novelty, and progress, and meets the requirements of the invention patent.
【圖式簡單說明】 (一）圖號部分 第一圖A :係理想相線圈電感與對應相產生轉矩之關係圖 第一圖B:係馬達運轉時轉子與定子之相對位置關係圖。 第二圖：係本發明之系統架構圖。 第三圖：係本發明之工作流程圖。 第四圖：係切換磁阻馬達暫態過速之速度軌跡示意圖。 10 588506 (二）圖號部分 (1 0 )脈寬調變電路 （1 1 )編碼器 (1 2 )速度控制器 （1 3 )相電流命令產生器 (1 4 )電流控制器 （1 5 )霍爾位置感測器 (2 0 )換向信號產生器[Brief description of the drawings] (I) Drawing No. Part 1 Figure A: The relationship between the ideal phase coil inductance and the torque generated by the corresponding phase. Figure B: The relative position relationship between the rotor and the stator when the motor is running. The second figure is a system architecture diagram of the present invention. The third figure is a working flowchart of the present invention. Figure 4: Schematic diagram of the speed trajectory of the transient overspeed of the switched reluctance motor. 10 588506 (II) Part of drawing number (1 0) Pulse width modulation circuit (1 1) Encoder (1 2) Speed controller (1 3) Phase current command generator (1 4) Current controller (1 5 ) Hall position sensor (2 0) commutation signal generator
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