CN107846170B - Control method of double-sampling-point switched reluctance motor position-sensorless - Google Patents
Control method of double-sampling-point switched reluctance motor position-sensorless Download PDFInfo
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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
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- H02P25/089—Sensorless control
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Abstract
A control method of a double-sampling-point switched reluctance motor position-sensorless belongs to the technical field of switched reluctance motor control. The method comprises the following steps: 1001, starting a switched reluctance motor to work; step 1002, injecting a voltage pulse; step 1003, sampling and calculating a position characteristic value; step 1004, judging whether the requirement of a door threshold value is met; step 1005, the motor is subjected to phase change, internal interruption is generated, and the interruption time is recorded; step 1006, calculating the rotation speed of the motor; step 1007, whether the rotating speed is changed or not; step 1008, calculating a pulse width T of the injection voltage pulsew. In the control method of the switched reluctance motor position-less sensor with the double sampling points, the ratio of the winding current difference value obtained through the double sampling points to the injection time is used as the motor position characteristic value, so that the current sampling error caused by the change of the cold and hot resistance of the motor winding, the drift of a signal conditioning circuit and the like can be avoided, and the motor position identification precision is improved.
Description
Technical Field
A control method of a double-sampling-point switched reluctance motor position-sensorless belongs to the technical field of switched reluctance motor control.
Background
A Switched Reluctance Motor speed regulation System (SRD) is a novel alternating current speed regulation system developed in the middle of the 80 th century, integrates a novel Motor structure, namely a Switched Reluctance Motor (SRM), with modern power electronic technology and control technology, has the advantages of an asynchronous Motor variable frequency speed regulation system and a direct current Motor speed regulation system, becomes one of research hotspots of electric transmission at present, and is popularized vigorously in recent years, and the market scale is larger and larger.
The switched reluctance motor is a double salient pole motor, the working principle is that the opposite phase windings are electrified in turn according to the relative positions of a stator and a rotor of the motor, so that the relative positions of the stator and the rotor of the switched reluctance motor must be accurately known in operation, the switched reluctance motor products on the market all adopt photoelectric or Hall position sensors to obtain position signals, and a photoelectric disc or an encoder is arranged inside the motor. The position sensor is easily polluted or damaged by dust and oil stains, control errors are caused, the reliability of the motor is influenced, meanwhile, difficulties are caused to engineering problems such as field wiring of the motor, electromagnetic interference resistance and the like, the signal precision is also influenced by long-distance transmission of position signals, and the problem can be well solved by adopting a detection method without the position sensor.
In recent years, a position sensorless control method for a switched reluctance motor has been studied, and in the existing literature, methods such as a fuzzy control method, a neural network method, a pulse injection method, flux linkage calculation and the like exist, wherein the pulse injection method has the advantages that an additional hardware circuit is not required to be added, a large amount of flux linkage data is not required to be stored, and the method is simpler than other algorithms and is the most likely control method for realizing practical application. The existing pulse injection method is that voltage pulse is injected into a motor winding, then the maximum amplitude of the phase winding current is detected and compared with a preset amplitude threshold, and if the conditions are met, the motor is controlled to change phases to realize operation. In practical application, the change of the winding current amplitude value can be caused by the resistance value change of the motor winding in cold and hot states or the drift of the signal conditioning module and the like, so that the motor position identification error is caused, and the phase change point is inaccurate.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the control method of the switched reluctance motor position sensorless with the double sampling points can overcome the defects of the prior art, provide a control method of the switched reluctance motor position sensorless with the double sampling points, wherein the ratio of the winding current difference value obtained through the double sampling points to the injection time is used as a motor position characteristic value, can avoid current sampling errors caused by the change of the cold and hot resistance of a motor winding, the drift of a signal conditioning circuit and the like, and improves the motor position identification precision.
The technical scheme adopted by the invention for solving the technical problems is as follows: the control method of the switched reluctance motor position sensorless with double sampling points comprises the switched reluctance motor and a switched reluctance motor controller connected with the switched reluctance motor through a connecting cable, and is characterized in that: the method comprises the following steps:
1001, starting a switched reluctance motor to work;
Preferably, before performing step 1001, a gate threshold of a motor position characteristic of the switched reluctance motor is first determined and stored in the sampling control unit.
Preferably, the motor position characteristic value calculation formula in step 1003 is as follows:
wherein: pnRepresenting the position characteristic value of the switched reluctance motor in ampere/microsecond and TwIs the pulse width in microseconds, IbRepresents the pulse width TwThe current value of the motor winding is obtained by sampling at 90 percent of the time, and the unit is ampere and IaRepresents the pulse width TwThe current value of the motor winding obtained by sampling at the time of 10 percent is in ampere.
Preferably, the pulse width calculation formula in step 1008 is:
wherein: omega represents the rotating speed of the switched reluctance motor, unit revolution/minute, NsRepresenting the number of stator poles, N, of a switched reluctance motorrRepresenting the number of poles, T, of the rotor of the switched reluctance motorwIs the pulse width in microseconds.
Preferably, the switched reluctance motor controller comprises a signal conditioning module, a sampling control unit, a power module and a current transformer, wherein the output end of the sampling control unit is connected with the switched reluctance motor through the power module, the current sensor is installed on a connecting cable between the power module and the switched reluctance motor, the output end of the current sensor is connected to the input end of the signal conditioning module, and the output end of the signal conditioning module is connected with the input end of the sampling control unit.
Compared with the prior art, the invention has the beneficial effects that:
in the control method of the switched reluctance motor position-less sensor with the double sampling points, the ratio of the winding current difference value obtained through the double sampling points to the injection time is used as the motor position characteristic value, so that the current sampling error caused by the change of the cold and hot resistance of the motor winding, the drift of a signal conditioning circuit and the like can be avoided, and the motor position identification precision is improved.
The control method of the double-sampling-point switched reluctance motor position-sensorless can automatically adjust the pulse width of the injection voltage pulse according to the rotating speed of the motor, and the pulse width of the injection voltage pulse is provided with a maximum value, a minimum value and a linear change interval value, so that the switching frequency requirement of a power module can be met, the jumping change of the pulse injection width can be avoided, and the control method is suitable for application requirements of most occasions.
Drawings
Fig. 1 is a schematic structural diagram of a control system of a switched reluctance motor position sensorless with double sampling points.
Fig. 2 is a flow chart of a control method of a switched reluctance motor position sensorless with double sampling points.
Detailed Description
FIGS. 1-2 illustrate preferred embodiments of the present invention, and the present invention will be further described with reference to FIGS. 1-2.
As shown in fig. 1, the control system of the switched reluctance motor position sensorless with double sampling points comprises a switched reluctance motor controller and a switched reluctance motor, wherein the switched reluctance motor and the switched reluctance motor controller are connected by a connecting cable. A signal conditioning module, a sampling control unit, a power module and a current transformer are arranged in the switched reluctance motor controller. The output end of the sampling control unit is connected with the switched reluctance motor through the power module, the current sensor is installed on a connecting cable between the power module and the switched reluctance motor, the current sensor can convert a large-current signal of a motor phase winding into a small-current signal to be output, the output end of the current sensor is connected to the input end of the signal conditioning module, the signal conditioning module is used for conditioning an operational amplifier conditioning circuit and performing analog-to-digital conversion through an AD conversion chip and then sending the signal to the sampling control unit, and the sampling control unit can judge the relative position of a stator and a rotor of the switched reluctance motor according to acquired data by using a calculation method of double sampling points.
The sampling control unit can be realized by taking a microprocessor MCU or a digital signal processor DSP as a core, and the power module can be composed of an insulated gate bipolar transistor IGBT or an insulated gate field effect transistor MOSFET. The sampling control unit judges a human-computer interface instruction and a feedback signal of the switched reluctance motor, and acquires a phase winding current signal of the switched reluctance motor through the current sensor to control the on-off of a phase winding of the switched reluctance motor. The power module receives the command of the sampling control unit to control the current of the phase winding of the switched reluctance motor and transmit the electric energy to the motor winding. The power module can be realized by various chips and corresponding peripheral circuits, such as the following types: FF200R12KT3, FF300R12KT4, FF450R12KT3, and the like. When the sampling control unit is implemented by using the MCU, the sampling control unit can be implemented by adopting various types of MCUs, such as P89V51 and MC9S12E 64; when the sampling control unit is implemented by using a DSP, various chips such as TMS320F2812, MC96002, ADSP2185M may be used.
As shown in fig. 2, the method for controlling the position sensorless switched reluctance motor with double sampling points includes the following steps:
the switched reluctance motor starts to operate.
Before the switched reluctance motor runs, a gate threshold value of the motor position characteristic value of the switched reluctance motor is determined through testing and stored in the sampling control unit.
when the switched reluctance motor just starts to work, a sampling control unit in a switched reluctance motor controller injects a pulse width of T into a phase winding of the switched reluctance motor through a power modulewVoltage pulse of (2).
the current sensor sends a phase winding current signal of the switched reluctance motor into the sampling control unit after passing through the signal conditioning module, and the sampling control unit starts timing when injecting voltage pulses and respectively starts timing at the pulse width TwTime and pulse width T of 10%wThe current value of the winding is sampled and stored twice at 90 percent of the time, and the current voltage pulse is calculated according to a calculation formula of the position characteristic value of the motorMotor position characteristic value P obtained by punching injectionn；
The motor position characteristic value calculation formula is shown as formula (1):
wherein: pnRepresenting the position characteristic value of the switched reluctance motor in ampere/microsecond and TwIs the pulse width in microseconds, IbRepresents the pulse width TwThe current value of the motor winding is obtained by sampling at 90 percent of the time, and the unit is ampere and IaRepresents the pulse width TwThe current value of the motor winding obtained by sampling at the time of 10 percent is in ampere.
the sampling control unit determines the motor position characteristic value P calculated in step 1003nWhether a pre-stored door threshold value is reached, if the motor position characteristic value PnIf the pre-stored gate threshold value is reached, executing step 1005, and if the gate threshold value is not reached, returning to step 1002;
when the step 1004 returns to execute the step 1002, the sampling control unit still injects the voltage pulse with the original width into the phase winding of the switched reluctance motor through the power module.
the sampling control unit carries out phase change operation of the switched reluctance motor, simultaneously generates an internal interrupt signal, sends the internal interrupt signal to a timer in the sampling control unit, and records triggering time by the timer.
and the sampling control unit calculates the rotating speed of the switched reluctance motor according to the interval of two trigger times recorded by the internal timer.
the sampling control unit judges whether the rotating speed of the switched reluctance motor is changed or not, if so, the rotating speed is changedIf the rotational speed has not changed, step 1008 is executed, and T is waited forwAfter that time, the process returns to step 1002.
The sampling control unit recalculates the pulse width T of the injection voltage pulse according to the pulse width calculation formulawAnd wait for TwReturning to the step 1002 after the moment;
the pulse width calculation formula is shown in formula (2):
wherein: omega represents the rotating speed of the switched reluctance motor, unit revolution/minute, NsRepresenting the number of stator poles, N, of a switched reluctance motorrRepresenting the number of poles, T, of the rotor of the switched reluctance motorwIs the pulse width in microseconds.
When the step 1008 returns to the step 1002, the pulse width of the voltage pulse injected into the phase winding of the switched reluctance motor by the sampling control unit through the power module is the pulse width newly calculated by the sampling control unit.
The specific working process and working principle are as follows:
before the switched reluctance motor runs, a gate threshold value of the motor position characteristic value of the switched reluctance motor is determined through testing and stored in the sampling control unit. When the switched reluctance motor just starts to work, a sampling control unit in a switched reluctance motor controller injects a pulse width of T into a phase winding of the switched reluctance motor through a power modulewVoltage pulse of (2).
The current sensor sends a phase winding current signal of the switched reluctance motor into the sampling control unit after passing through the signal conditioning module, and the sampling control unit starts timing when voltage pulses are injected and respectively has a pulse width TwTime and pulse width T of 10%wThe current value of the winding is sampled and stored twice at 90 percent of the time, and the motor position obtained by the current voltage pulse injection is calculated according to a motor position characteristic value calculation formulaSet characteristic value Pn. The sampling control unit judges the calculated motor position characteristic value PnWhether a pre-stored door threshold value is reached, if the motor position characteristic value PnWhen the pre-stored gate threshold value is reached, the sampling control unit still injects voltage pulses with original width into a phase winding of the switched reluctance motor through the power module; if the motor position characteristic value PnWhen the pre-stored gate threshold value is reached, the sampling control unit carries out phase change operation of the switched reluctance motor, simultaneously the sampling control unit generates an internal interrupt signal, the sampling control unit sends the internal interrupt signal to a timer in the sampling control unit, and the timer records the trigger time.
And the sampling control unit calculates the rotating speed of the switched reluctance motor according to the interval of two trigger times recorded by the internal timer. The sampling control unit judges whether the rotating speed of the switched reluctance motor is changed, if the rotating speed is not changed, the sampling control unit still injects the voltage pulse with the original width into the phase winding of the switched reluctance motor through the power module, and if the rotating speed is changed, the sampling control unit recalculates the pulse width T of the injected voltage pulsew。
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
Claims (4)
1. The control method of the switched reluctance motor position sensorless with double sampling points comprises the switched reluctance motor and a switched reluctance motor controller connected with the switched reluctance motor through a connecting cable, and is characterized in that: the method comprises the following steps:
1001, starting a switched reluctance motor to work;
step 1002, when the switched reluctance motor just starts to work, the switched reluctance motor controller switches the magnetic field to the switched reluctance motorThe pulse width of the injection in the phase winding of the resistance motor is TwVoltage pulses of (a);
step 1003, the switched reluctance motor controller starts timing when voltage pulses are injected, and the timing is respectively carried out at the pulse width TwTime and pulse width T of 10%wThe current value of the winding is sampled and stored twice at 90 percent of the time, and the motor position characteristic value P obtained by the current voltage pulse injection is calculated according to a motor position characteristic value calculation formulan；
Step 1004, the switched reluctance motor controller judges the motor position characteristic value PnWhether a pre-stored door threshold value is reached, if the motor position characteristic value PnIf the pre-stored gate threshold value is reached, executing step 1005, and if the gate threshold value is not reached, returning to step 1002;
step 1005, the switched reluctance motor controller carries out the phase change operation of the switched reluctance motor and simultaneously generates an internal interrupt signal, the switched reluctance motor controller sends the internal interrupt signal to a timer in the switched reluctance motor controller, and the timer records the trigger time;
step 1006, the switched reluctance motor controller calculates the rotating speed of the switched reluctance motor according to the interval of the two triggering times recorded by the internal timer;
step 1007, the controller of the switched reluctance motor judges whether the rotating speed of the switched reluctance motor is changed, if the rotating speed is changed, step 1008 is executed, if the rotating speed is not changed, T is waitedwReturning to the step 1002 after the moment;
step 1008, the switched reluctance motor controller recalculates the pulse width T of the injection voltage pulse according to the pulse width calculation formulawAnd wait for TwReturning to the step 1002 after the moment;
the motor position characteristic value calculation formula in step 1003 is as follows:
wherein: pnRepresenting the position characteristic value of the switched reluctance motor in ampere/microsecond and TwIs the width of the pulse or pulses,in units of microseconds, IbRepresents the pulse width TwThe current value of the motor winding is obtained by sampling at 90 percent of the time, and the unit is ampere and IaRepresents the pulse width TwThe current value of the motor winding obtained by sampling at the time of 10 percent is in ampere.
2. The control method of the double sampling point switched reluctance motor position sensorless according to claim 1, wherein: before the step 1001 is executed, a gate threshold value of a motor position characteristic value of the switched reluctance motor is first determined and stored in the sampling control unit.
3. The control method of the double sampling point switched reluctance motor position sensorless according to claim 1, wherein: the pulse width calculation formula described in step 1008 is:
wherein: omega represents the rotating speed of the switched reluctance motor, unit revolution/minute, NsRepresenting the number of stator poles, N, of a switched reluctance motorrRepresenting the number of poles, T, of the rotor of the switched reluctance motorwIs the pulse width in microseconds.
4. The control method of the double sampling point switched reluctance motor position sensorless according to claim 1, wherein: the switched reluctance motor controller comprises a signal conditioning module, a sampling control unit, a power module and a current transformer, wherein the output end of the sampling control unit is connected with the switched reluctance motor through the power module, the current sensor is installed on a connecting cable between the power module and the switched reluctance motor, the output end of the current sensor is connected to the input end of the signal conditioning module, and the output end of the signal conditioning module is connected with the input end of the sampling control unit.
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