基于迭代学习控制的开关磁阻电机转矩脉动最小化控制研究
|
摘要
开关磁阻电机具有结构简单坚固,制造成本低,工作可靠,控制灵活,运行效率高,适用于高速和恶劣环境下运行等优点。开关磁阻电机传动系统,具有许多交直流传动系统所没有的优点,引起世界各国广泛的研究兴趣。但是,由开关磁阻电机双凸级结构所带来的转矩脉动严重的问题,一直成为制约其进入更多应用领域的主要障碍。如何有效减小开关磁阻电机转矩脉动,逐渐成为国内外学者研究的热点。
本课题将迭代学习控制引入到开关磁阻电机转矩控制中。迭代学习控制具有算法简单,且控制过程不需要预知被控系统模型和参数的特点,用于减小开关磁阻电机的转矩脉动有明显的优势。本课题以TI公司的DSP TMS320F2812为控制核心,设计了转矩控制器实验系统,进行了理论分析和实验研究。
论文首先介绍了开关磁阻电机的发展情况和主要特点,以及在减小转矩脉动方面,国内外目前的研究现状;其次,介绍了开关磁阻电机的本体结构及其线性数学模型,阐述了开关磁阻电机调速系统的基本组成和运行机理,分析了目前通常采用的三种控制策略;第三,对迭代学习控制理论进行了介绍和分析,并对其收敛性情况进行了论证,建立了开关磁阻电机非线性数学模型,采用Matlab中的Simulink对基于迭代学习控制的转矩控制器进行了仿真研究;第四,设计了基于迭代学习控制的开关磁阻电机实际实验系统,对象为一台0.375kW的开关磁阻电机样机,详细说明了该控制策略运用于实际系统的思路和方法,并对硬件电路和软件流程分别进行了说明;最后在实际实验系统设计的基础上,进行了基于迭代学习控制的转矩控制器实验研究,分别给出了电流控制器和转矩控制器的实验结果和波形,并进行了实验结果分析。
Simple structure, low cost, reliability, flexible for controlling, high efficiency, suitable for high-speed and hostile environment application, etc. are advantages of Switched Reluctance Motor (SRM). Switched Reluctance Driving System(SRD) has lots of unique advantages compared with AC and DC Driving Systems. But due to double saliency of motor which produces large amount of torque ripples, SRD is still prevented from entering into more application areas. The problem of how to effectively reduce its torque ripples has gradually become research hotspots of both domestic and abroad scholars.
This paper introduced Iterative Learning Control(ILC) into torque control application of SRM. ILC algorithm is easy to use and it doesn't need to know accurate parameters of SRM model. So ILC has obvious advantages on reducing torque ripples. This topic has designed a experimental system of torque controller while choosing DSP TMS320F2812 as the core micro-controller and has done some further theoretic research as well as experimental research.
Firstly, this paper summarized the development of SRM and its main features, then described research status of SRM on torque ripple minimization.
Secondly, this paper described structure and linear-model of SRM, summarized basic composition and operation mechanism of SRD and analyzed three control strategy now in general use.
Thirdly, ILC theory was described and analyzed. The conclusion for astringency and stability of ILC was demonstrated. Also, an non-linear mathematical model of SRM was built. ILC based torque controller was simulated using Simulink.
Fourthly, this paper designed a experimental torque control system of a 0.375kW SRM based on ILC, described in details about idea and methods of using ILC in the real SRD, and summarized hardware and software design separately.
Finally, experimental results of current controller and torque controller using ILC was given though experiments on this practical torque controller based on ILC.
本课题将迭代学习控制引入到开关磁阻电机转矩控制中。迭代学习控制具有算法简单,且控制过程不需要预知被控系统模型和参数的特点,用于减小开关磁阻电机的转矩脉动有明显的优势。本课题以TI公司的DSP TMS320F2812为控制核心,设计了转矩控制器实验系统,进行了理论分析和实验研究。
论文首先介绍了开关磁阻电机的发展情况和主要特点,以及在减小转矩脉动方面,国内外目前的研究现状;其次,介绍了开关磁阻电机的本体结构及其线性数学模型,阐述了开关磁阻电机调速系统的基本组成和运行机理,分析了目前通常采用的三种控制策略;第三,对迭代学习控制理论进行了介绍和分析,并对其收敛性情况进行了论证,建立了开关磁阻电机非线性数学模型,采用Matlab中的Simulink对基于迭代学习控制的转矩控制器进行了仿真研究;第四,设计了基于迭代学习控制的开关磁阻电机实际实验系统,对象为一台0.375kW的开关磁阻电机样机,详细说明了该控制策略运用于实际系统的思路和方法,并对硬件电路和软件流程分别进行了说明;最后在实际实验系统设计的基础上,进行了基于迭代学习控制的转矩控制器实验研究,分别给出了电流控制器和转矩控制器的实验结果和波形,并进行了实验结果分析。
Simple structure, low cost, reliability, flexible for controlling, high efficiency, suitable for high-speed and hostile environment application, etc. are advantages of Switched Reluctance Motor (SRM). Switched Reluctance Driving System(SRD) has lots of unique advantages compared with AC and DC Driving Systems. But due to double saliency of motor which produces large amount of torque ripples, SRD is still prevented from entering into more application areas. The problem of how to effectively reduce its torque ripples has gradually become research hotspots of both domestic and abroad scholars.
This paper introduced Iterative Learning Control(ILC) into torque control application of SRM. ILC algorithm is easy to use and it doesn't need to know accurate parameters of SRM model. So ILC has obvious advantages on reducing torque ripples. This topic has designed a experimental system of torque controller while choosing DSP TMS320F2812 as the core micro-controller and has done some further theoretic research as well as experimental research.
Firstly, this paper summarized the development of SRM and its main features, then described research status of SRM on torque ripple minimization.
Secondly, this paper described structure and linear-model of SRM, summarized basic composition and operation mechanism of SRD and analyzed three control strategy now in general use.
Thirdly, ILC theory was described and analyzed. The conclusion for astringency and stability of ILC was demonstrated. Also, an non-linear mathematical model of SRM was built. ILC based torque controller was simulated using Simulink.
Fourthly, this paper designed a experimental torque control system of a 0.375kW SRM based on ILC, described in details about idea and methods of using ILC in the real SRD, and summarized hardware and software design separately.
Finally, experimental results of current controller and torque controller using ILC was given though experiments on this practical torque controller based on ILC.
引文
[1]王宏华.开关型磁阻电动机调速控制技术[M].北京:机械工业出版社,1995.
[2]刘迪吉等.开关磁阻调速电动机[M].武汉:华中理工大学出版,1992.
[3]李俊卿、李和明.开关磁阻电机发展综述[J],华北电力大学学报2001年1月
[4]谢春林,庄寿平.开关磁阻调速电动机的发展及应用前景探讨[J].机电信息,2002,15:29-30.
[5]贾好来.SRM调速系统技术的研究热点[J].电工技术,2004,4.
[6]孙剑波.开关磁阻电机的减振降噪和低转矩脉动研究,博士学位论文,华中科技大学,2005
[7]黄建中、蒋全等,减小开关磁阻电机转矩脉动的控制策略研究[J],微特电机1996年第6期
[8]Chenadec J.L.Torque ripple minimization in switched reluctance motors by optimization of current waveforms and of tooth shape with copper losses and "V.A.silicon" constraints,ICEM1994:559-564
[9]于庆广,杨玉岗.开关磁阻电机(SRM)新型定子极型及其电磁关系仿真研究[J].系统仿真学报.2001,13(6).-798-801
[10]许家群,卞松江等.开关磁阻电机极型改进研究[J].煤矿机电.2001(4).-1-3
[11]D.A.Torrey,and J.H.Lang,Modelling a nonlinear variable-reluctance motor drive,Electric Power Applications,IEE Proceedings B,vol.137,Issue:5,pp.314-326,Sep.1990.
[12]J.Ish-Shalom and D.G.Manzer,Commutation and control of step motors in Proc.14th Symp.Incremental Motion,Contr.Syst.Devices,June,1985,pp.283-292.
[13]B.K.Bose,T.J.E.Miller,P.M.Szczesny and W.H.Bicknell,Microcomputer control of switched reluctance motor,IEEE Trans.Ind.Applicat.,vol.IA-22,pp.708-715,July/Aug.1986.
[14]Schramm D.S.,Williams B.W.,Green T.C.Torque ripple reduction of switched reluctance motors by phase current optimal profiling.Power Electronics Specialists Conference,PESC'92,IEEE,1992,vol.2:857-860
[15]王旭东,王喜莲等.开关磁阻电动机电流双幅值斩波控制[J],中国电机工程学报,2000,20(4).
[16]郑洪涛,蒋静坪.基于转矩矢量控制的开关磁阻电机转矩脉动控制[J],微特电机,2002年第1期
[17]Philip C.Kjaer,Jeremy J.Gribble and Timothy J.E.Miller.High-Grade Control of Switched Reluctance Machines,IEEE Trans.Ind.Applicat.,Vol.33,No.6,Nov./Dec.,1997.
[18]Reay D.S.,Green T.C.,Williams B.W.,Neural networks used for torque ripple minimisation from a switched reluctance motor,Power Electronics and Applicat.,Fifth European Conference on Sep 13-16,1993,vol.6:1-6
[19]Yan Cai,Chao Gao,Torque Ripple Minimization in Switched Reluctance Motor Based on BP Neural Network,ICIEA 2007.2nd IEEE Conference on May 23-25,2007,pp.1198-1202.
[20]Sayeed Mir,Malik Elbuluk,Iqbal Husain,Torque Ripple Minimization in Switched Reluctance Motors using Adaptive Fuzzy Control,IEEE Ind.Applicat.Society,Annual Meeting,New Orleans,Louisiana,October 5-9,1997,pp.572-578.
[21]Mohammad S.Islam and Iqbal Husain,Torque-Ripple Minimization with Indirect Position and Speed Sensing for Switched Reluctance Motors,IEEE Trans.Ind.Electron.,Vol.47,no.5,pp.1126-1133,Oct.,2000
[22]Iqbal Husain,Minimization of Torque Ripple in SRM Drives,IEEE Trans.Ind.Electron.,Vol.49,no.1,pp.28-38,Feb.,2002.
[23]G.Baoming,W.Xiangheng,S.Pengsheng,and J.Jingping,"Nonlinear internal-model control for switched reluctance drives," IEEE Trans.Power Electron.,vol.17,pp.379-388,May 2002.
[24]S.K.Sahoo,S.K.Panda and J.X.Xu,Iterative Learning based Torque Controller for Switched Reluctance Motors,Ind.Electron.Society,IECON '03,The 29th Annual Conference of the IEEE.Vol.3,Nov,2003,pp.2459-2464.
[25]Robert B.lnderka and Rik W.A.A.De Doncker,DITC—Direct Instantaneous Torque Control of Switched Reluctance Drives,IEEE Trans.Ind.Applicat.,Vol.39,no.4,pp.1046-1051 July/Aug.2003.
[26]周春,基于DSP的开关磁阻电机调速系统实验平台设计,硕士学位论文,浙江大学2004
[27]廖海平,陈永校.永磁式开关磁阻电机原理及特性分析[J].浙江大学学报(工学版),2000,34(5).
[28]廖海平,林瑞光.基于新型功率变换器的SRM微机控制系统[J].微特电机,1997,25(5).
[29]金英,3KW开关磁阻电动机调速系统设计,硕士论文,浙江大学,2005
[30]刘珊珊等,开关磁阻电机的快速仿真非线性模型[J],清华大学学报,2002,42(9)
[31]张力、黄两一等,电力电子场控器件及其应用[M],北京机械工业出版社,1996
[32]陈吴等,开关磁阻电机功率变换器主电路研究[J],电力电子技术2000
[33]张全柱等,开关磁阻电机的几种功率变换器拓扑的性能分析[J],电气传动自动化1995年11月
[34]龚晟、杨向宇、孙明,开关磁阻电机功率变换器主电路拓扑的研究[J],电机电器技术2003年第6期
[35]张全柱、徐国卿,单片微机控制的开关磁阻电动机驱动系统[J],机车电传动,1998年第3期
[36]B.K.Bose,T.J.E.Miller,etc.Microprocessor Control of Switched Reluctance Motor.IEEE Trans.on IA,.1986,22(4)
[37]何伟挺,无位置传感器的开关磁阻电动机,硕士论文,浙江大学,2006
[38]樊小明,朱学忠等,电动车驱动开关磁阻电机的研究和实践[J],中小型电机,1997.24(2)
[39]吴建华,陈永校.开关磁阻电动机的噪声及其抑制方法[J].中小型电机,1997年03期.
[40]孙增圻,张再兴,邓志东,智能控制理论和技术[M].北京:清华大学出版社,1997
[41]刘山,迭代学习控制系统设计及应用,博士学位论文,浙江大学,2002.
[42]姚仲舒,王宏飞,杨成梧.迭代学习控制理论的现状与展望[J].自动化技术与应用,2002,1.
[43]张丽萍,杨富文.迭代学习控制理论的发展动态[J].信息与控制,2002,31(5).
[44]方忠,韩正之,陈彭年.迭代学习控制新进展[J].控制理论与应用,2002,19(2).
[45]XU Jian-xin,TAN Ying.Linear and nonlinear iterative learning control[M].New York:Springer,2003:69-80.
[46]David H Owens,Eric Rogers.Iterative Learning Control-Recent Progress and Open Research Problems[J].The Institution of Electrical Engineers.2000.
[47]Chen,Y.,Wen,C.Iterative learning control-convergence,robustness and applications. London:Spfinger,1999.
[48]陈哲明,开关磁阻驱动系统-控制策略研究与系统设计,硕士学位论文,浙江大学,2006
[49]孙明轩.迭代学习控制系统的鲁棒性分析[J].科技通报.1996,12(4).
[50]皮道映,张政江,孙优贤.非线性系统开闭环PI型迭代学习控制的鲁棒性[J].浙江大学学报(工学版),2001,35(5).
[51]皮道映,孙优贤.非线性系统开闭环PI型迭代学习控制律及其收敛性[J].控制理论与应用,1998,15(3).
[52]严星刚,林辉,戴冠中.基于闭环回路的非线性系统迭代学习控制[J].电机与控制学报,1997,1(4).
[53]陈哲明,潘再平.基于迭代学习的开关磁阻电动机最优控制研究[J].浙江大学学报(工学版),2006,1.
[54]徐国卿,陈永校,骊江等.一种新的开关磁阻电动机非线性模型[J].浙江大学学报(自然科学版),1997,31(2).
[55]徐国卿,陈永校.考虑非线性饱和特性的开关磁阻电机最优开关角规律[J].浙江大学学报(工学版),2000,34(1).
[56]N.C.Sahoo,J.X.Xu,and S.K.Panda,Low torque ripple control of switched reluctance motors using iterative learning,IEEE Trans.Energy Conv.,vol.16,no.4,pp.318-326,Dec,2001.
[57]I.Husain and M.Ehsani,Torque ripple minimization in switched reluctance motor drives by PWM current control,IEEE Trans.Power Electron.,vol.11,pp.83-88,Jan,1996.
[58]P.L.Chapman and S.D.Sudhoff,Design and precise realization of optimized current waveforms for an 8/6 switched reluctance drive,IEEE Trans.Power Electron.,vol.17,pp.76-83,Jan.2002.
[59]H.K.Bae and R.Krishnan,A study of current controllers and development of a novel current controller for high performance SRM drives,in Proc.IEEE Ind.Applicat.Soc.Meeting,vol.1,1996,pp.68-75.
[60]Chiang-Ju Chien,A discrete iterative learning control for a class of nonlinear time-varying systems,IEEE Trans.Automatic Control,Vol.43,pp.748-752,May,1998
[61]Reference Guide.TMS320F/C24x DSP Controllers CPU and Instruction Set[M].Texas Instruments,2001.
[62] Reference Guide. TMS320C28x DSP CPU and Instruction Set[M]. Texas Instruments, 2004.
[63] T. J. E. Miller, Switched reluctance motors and their control, in Monographs in Electrical and Electronic Engineering. Oxford, U.K.: Clarendon, 1993.
[63] Ismail A(?)girman, Aleksandar M. Stankovic' et al. Adaptive Torque-Ripple Minimization in Switched Reluctance Motors, IEEE Trans. Ind. Electron., vol. 48, no. 3, pp. 664-672,2001
[2]刘迪吉等.开关磁阻调速电动机[M].武汉:华中理工大学出版,1992.
[3]李俊卿、李和明.开关磁阻电机发展综述[J],华北电力大学学报2001年1月
[4]谢春林,庄寿平.开关磁阻调速电动机的发展及应用前景探讨[J].机电信息,2002,15:29-30.
[5]贾好来.SRM调速系统技术的研究热点[J].电工技术,2004,4.
[6]孙剑波.开关磁阻电机的减振降噪和低转矩脉动研究,博士学位论文,华中科技大学,2005
[7]黄建中、蒋全等,减小开关磁阻电机转矩脉动的控制策略研究[J],微特电机1996年第6期
[8]Chenadec J.L.Torque ripple minimization in switched reluctance motors by optimization of current waveforms and of tooth shape with copper losses and "V.A.silicon" constraints,ICEM1994:559-564
[9]于庆广,杨玉岗.开关磁阻电机(SRM)新型定子极型及其电磁关系仿真研究[J].系统仿真学报.2001,13(6).-798-801
[10]许家群,卞松江等.开关磁阻电机极型改进研究[J].煤矿机电.2001(4).-1-3
[11]D.A.Torrey,and J.H.Lang,Modelling a nonlinear variable-reluctance motor drive,Electric Power Applications,IEE Proceedings B,vol.137,Issue:5,pp.314-326,Sep.1990.
[12]J.Ish-Shalom and D.G.Manzer,Commutation and control of step motors in Proc.14th Symp.Incremental Motion,Contr.Syst.Devices,June,1985,pp.283-292.
[13]B.K.Bose,T.J.E.Miller,P.M.Szczesny and W.H.Bicknell,Microcomputer control of switched reluctance motor,IEEE Trans.Ind.Applicat.,vol.IA-22,pp.708-715,July/Aug.1986.
[14]Schramm D.S.,Williams B.W.,Green T.C.Torque ripple reduction of switched reluctance motors by phase current optimal profiling.Power Electronics Specialists Conference,PESC'92,IEEE,1992,vol.2:857-860
[15]王旭东,王喜莲等.开关磁阻电动机电流双幅值斩波控制[J],中国电机工程学报,2000,20(4).
[16]郑洪涛,蒋静坪.基于转矩矢量控制的开关磁阻电机转矩脉动控制[J],微特电机,2002年第1期
[17]Philip C.Kjaer,Jeremy J.Gribble and Timothy J.E.Miller.High-Grade Control of Switched Reluctance Machines,IEEE Trans.Ind.Applicat.,Vol.33,No.6,Nov./Dec.,1997.
[18]Reay D.S.,Green T.C.,Williams B.W.,Neural networks used for torque ripple minimisation from a switched reluctance motor,Power Electronics and Applicat.,Fifth European Conference on Sep 13-16,1993,vol.6:1-6
[19]Yan Cai,Chao Gao,Torque Ripple Minimization in Switched Reluctance Motor Based on BP Neural Network,ICIEA 2007.2nd IEEE Conference on May 23-25,2007,pp.1198-1202.
[20]Sayeed Mir,Malik Elbuluk,Iqbal Husain,Torque Ripple Minimization in Switched Reluctance Motors using Adaptive Fuzzy Control,IEEE Ind.Applicat.Society,Annual Meeting,New Orleans,Louisiana,October 5-9,1997,pp.572-578.
[21]Mohammad S.Islam and Iqbal Husain,Torque-Ripple Minimization with Indirect Position and Speed Sensing for Switched Reluctance Motors,IEEE Trans.Ind.Electron.,Vol.47,no.5,pp.1126-1133,Oct.,2000
[22]Iqbal Husain,Minimization of Torque Ripple in SRM Drives,IEEE Trans.Ind.Electron.,Vol.49,no.1,pp.28-38,Feb.,2002.
[23]G.Baoming,W.Xiangheng,S.Pengsheng,and J.Jingping,"Nonlinear internal-model control for switched reluctance drives," IEEE Trans.Power Electron.,vol.17,pp.379-388,May 2002.
[24]S.K.Sahoo,S.K.Panda and J.X.Xu,Iterative Learning based Torque Controller for Switched Reluctance Motors,Ind.Electron.Society,IECON '03,The 29th Annual Conference of the IEEE.Vol.3,Nov,2003,pp.2459-2464.
[25]Robert B.lnderka and Rik W.A.A.De Doncker,DITC—Direct Instantaneous Torque Control of Switched Reluctance Drives,IEEE Trans.Ind.Applicat.,Vol.39,no.4,pp.1046-1051 July/Aug.2003.
[26]周春,基于DSP的开关磁阻电机调速系统实验平台设计,硕士学位论文,浙江大学2004
[27]廖海平,陈永校.永磁式开关磁阻电机原理及特性分析[J].浙江大学学报(工学版),2000,34(5).
[28]廖海平,林瑞光.基于新型功率变换器的SRM微机控制系统[J].微特电机,1997,25(5).
[29]金英,3KW开关磁阻电动机调速系统设计,硕士论文,浙江大学,2005
[30]刘珊珊等,开关磁阻电机的快速仿真非线性模型[J],清华大学学报,2002,42(9)
[31]张力、黄两一等,电力电子场控器件及其应用[M],北京机械工业出版社,1996
[32]陈吴等,开关磁阻电机功率变换器主电路研究[J],电力电子技术2000
[33]张全柱等,开关磁阻电机的几种功率变换器拓扑的性能分析[J],电气传动自动化1995年11月
[34]龚晟、杨向宇、孙明,开关磁阻电机功率变换器主电路拓扑的研究[J],电机电器技术2003年第6期
[35]张全柱、徐国卿,单片微机控制的开关磁阻电动机驱动系统[J],机车电传动,1998年第3期
[36]B.K.Bose,T.J.E.Miller,etc.Microprocessor Control of Switched Reluctance Motor.IEEE Trans.on IA,.1986,22(4)
[37]何伟挺,无位置传感器的开关磁阻电动机,硕士论文,浙江大学,2006
[38]樊小明,朱学忠等,电动车驱动开关磁阻电机的研究和实践[J],中小型电机,1997.24(2)
[39]吴建华,陈永校.开关磁阻电动机的噪声及其抑制方法[J].中小型电机,1997年03期.
[40]孙增圻,张再兴,邓志东,智能控制理论和技术[M].北京:清华大学出版社,1997
[41]刘山,迭代学习控制系统设计及应用,博士学位论文,浙江大学,2002.
[42]姚仲舒,王宏飞,杨成梧.迭代学习控制理论的现状与展望[J].自动化技术与应用,2002,1.
[43]张丽萍,杨富文.迭代学习控制理论的发展动态[J].信息与控制,2002,31(5).
[44]方忠,韩正之,陈彭年.迭代学习控制新进展[J].控制理论与应用,2002,19(2).
[45]XU Jian-xin,TAN Ying.Linear and nonlinear iterative learning control[M].New York:Springer,2003:69-80.
[46]David H Owens,Eric Rogers.Iterative Learning Control-Recent Progress and Open Research Problems[J].The Institution of Electrical Engineers.2000.
[47]Chen,Y.,Wen,C.Iterative learning control-convergence,robustness and applications. London:Spfinger,1999.
[48]陈哲明,开关磁阻驱动系统-控制策略研究与系统设计,硕士学位论文,浙江大学,2006
[49]孙明轩.迭代学习控制系统的鲁棒性分析[J].科技通报.1996,12(4).
[50]皮道映,张政江,孙优贤.非线性系统开闭环PI型迭代学习控制的鲁棒性[J].浙江大学学报(工学版),2001,35(5).
[51]皮道映,孙优贤.非线性系统开闭环PI型迭代学习控制律及其收敛性[J].控制理论与应用,1998,15(3).
[52]严星刚,林辉,戴冠中.基于闭环回路的非线性系统迭代学习控制[J].电机与控制学报,1997,1(4).
[53]陈哲明,潘再平.基于迭代学习的开关磁阻电动机最优控制研究[J].浙江大学学报(工学版),2006,1.
[54]徐国卿,陈永校,骊江等.一种新的开关磁阻电动机非线性模型[J].浙江大学学报(自然科学版),1997,31(2).
[55]徐国卿,陈永校.考虑非线性饱和特性的开关磁阻电机最优开关角规律[J].浙江大学学报(工学版),2000,34(1).
[56]N.C.Sahoo,J.X.Xu,and S.K.Panda,Low torque ripple control of switched reluctance motors using iterative learning,IEEE Trans.Energy Conv.,vol.16,no.4,pp.318-326,Dec,2001.
[57]I.Husain and M.Ehsani,Torque ripple minimization in switched reluctance motor drives by PWM current control,IEEE Trans.Power Electron.,vol.11,pp.83-88,Jan,1996.
[58]P.L.Chapman and S.D.Sudhoff,Design and precise realization of optimized current waveforms for an 8/6 switched reluctance drive,IEEE Trans.Power Electron.,vol.17,pp.76-83,Jan.2002.
[59]H.K.Bae and R.Krishnan,A study of current controllers and development of a novel current controller for high performance SRM drives,in Proc.IEEE Ind.Applicat.Soc.Meeting,vol.1,1996,pp.68-75.
[60]Chiang-Ju Chien,A discrete iterative learning control for a class of nonlinear time-varying systems,IEEE Trans.Automatic Control,Vol.43,pp.748-752,May,1998
[61]Reference Guide.TMS320F/C24x DSP Controllers CPU and Instruction Set[M].Texas Instruments,2001.
[62] Reference Guide. TMS320C28x DSP CPU and Instruction Set[M]. Texas Instruments, 2004.
[63] T. J. E. Miller, Switched reluctance motors and their control, in Monographs in Electrical and Electronic Engineering. Oxford, U.K.: Clarendon, 1993.
[63] Ismail A(?)girman, Aleksandar M. Stankovic' et al. Adaptive Torque-Ripple Minimization in Switched Reluctance Motors, IEEE Trans. Ind. Electron., vol. 48, no. 3, pp. 664-672,2001