开关磁阻电机间接位置检测的数字控制研究
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摘要
开关磁阻电机驱动系统(简称SRD)是一种新颖的机电一体化装置,具有结构简单、换能效率高等优点。SRD的位置信息,对于通过决定开通、关断换相时刻来准确控制转速和转矩及进一步优化电机运行性能来说是必要的。所以位置检测环节是开关磁阻电动机正常运转的基础。由于传统的直接安装位置传感器检测方案存在着易受环境干扰等弊端,导致了利用SRD电气参数解算位置信号的间接位置检测技术的产生和发展。
本课题提出了一种新的间接位置检测技术,即低速时的脉冲注入法结合高速时的滑模观测器法,以TI公司电机控制专用芯片DSP(TMS320F240)为核心设计了无位置传感器运行的开关磁阻电动机驱动系统,并进行理论研究和实验探索。
首先,回顾开关磁阻电机的发展历程和应用状况,并简要介绍间接位置检测技术的分类和实际应用情况。
其次,详细介绍开关磁阻电机本体结构以及开关磁阻电机调速系统的组成和控制策略。
第三,通过有位置传感器的开关磁阻电机转子位置检测原理说明转子位置信号的作用与换相逻辑,提出一种新的间接位置检测技术,即低速时的脉冲注入法结合高速时的滑模观测器法,并对该技术进行仿真。
最后,设计了采用该间接位置检测技术的无位置传感器运行的数字系统,对象为一台1.22kW的开关磁阻电动机样机,以TMS320F240 DSP为核心,包括硬件电路设计和软件流程算法设计两部分,并在实际系统设计的基础上,进行了无位置检测器的开关磁阻电机实验研究,实验波形验证了相关理论。
The switched reluctance motor drive system (SRD) is a novel mechanical -electrical device with the virtue of simple structure and high efficient. The rotor position information in SRD is essential in detaining the switching instants for proper control of speed, torque and further optimizing the motor operation performance. So rotor-position estimation is a necessary factor of a SRD to run properly. As the drawbacks of the traditional direct rotor-position detecting schemes, which are liable to be influenced by the environmental factors, the indirect rotor-position estimation techniques, applying some of SRD's electrical parameters to work out rotor position information, are so that created and developed rapidly.
This paper presented a novel position estimation technique for Switched Reluctance Motors (SRM). The technique combines two different methods to deliver high resolution position information over the wide speed range. At zero and low speeds, a voltage pulse injection method is used to estimate the rotor position. For higher speeds, a sliding mode observer (SMO) based algorithm is used and combined to work with the low speed algorithm. The design of the new sensorless drive system for SRM is based on the Texas Instruments TMS320F240 DSP.
Firstly, this paper summarized the development and application of SRM, analyzed the indirect rotor position sensing methods of sensorless SRD.
Secondly, this paper summarized the running mechanism of SRD and analyzed how to control this system, and also compared all control methods.
Thirdly, this paper described the principle of rotor position sensing and commutation logic of SRM with the presence of position sensor, and then presented a novel direct rotor position sensing technique which combined a voltage pulse injection method at zero and low speeds to a sliding mode observer algorithm at higher speeds. The technique was simulated in MATLAB.
Finally, this paper designed a sensorless drive system based on TMS320F240 DSP. In this chapter, the hardware design and the software design were all listed clearly. Experiments had been done on this practical system. The experimental results demonstrate the effectiveness of this new combined technique.
本课题提出了一种新的间接位置检测技术,即低速时的脉冲注入法结合高速时的滑模观测器法,以TI公司电机控制专用芯片DSP(TMS320F240)为核心设计了无位置传感器运行的开关磁阻电动机驱动系统,并进行理论研究和实验探索。
首先,回顾开关磁阻电机的发展历程和应用状况,并简要介绍间接位置检测技术的分类和实际应用情况。
其次,详细介绍开关磁阻电机本体结构以及开关磁阻电机调速系统的组成和控制策略。
第三,通过有位置传感器的开关磁阻电机转子位置检测原理说明转子位置信号的作用与换相逻辑,提出一种新的间接位置检测技术,即低速时的脉冲注入法结合高速时的滑模观测器法,并对该技术进行仿真。
最后,设计了采用该间接位置检测技术的无位置传感器运行的数字系统,对象为一台1.22kW的开关磁阻电动机样机,以TMS320F240 DSP为核心,包括硬件电路设计和软件流程算法设计两部分,并在实际系统设计的基础上,进行了无位置检测器的开关磁阻电机实验研究,实验波形验证了相关理论。
The switched reluctance motor drive system (SRD) is a novel mechanical -electrical device with the virtue of simple structure and high efficient. The rotor position information in SRD is essential in detaining the switching instants for proper control of speed, torque and further optimizing the motor operation performance. So rotor-position estimation is a necessary factor of a SRD to run properly. As the drawbacks of the traditional direct rotor-position detecting schemes, which are liable to be influenced by the environmental factors, the indirect rotor-position estimation techniques, applying some of SRD's electrical parameters to work out rotor position information, are so that created and developed rapidly.
This paper presented a novel position estimation technique for Switched Reluctance Motors (SRM). The technique combines two different methods to deliver high resolution position information over the wide speed range. At zero and low speeds, a voltage pulse injection method is used to estimate the rotor position. For higher speeds, a sliding mode observer (SMO) based algorithm is used and combined to work with the low speed algorithm. The design of the new sensorless drive system for SRM is based on the Texas Instruments TMS320F240 DSP.
Firstly, this paper summarized the development and application of SRM, analyzed the indirect rotor position sensing methods of sensorless SRD.
Secondly, this paper summarized the running mechanism of SRD and analyzed how to control this system, and also compared all control methods.
Thirdly, this paper described the principle of rotor position sensing and commutation logic of SRM with the presence of position sensor, and then presented a novel direct rotor position sensing technique which combined a voltage pulse injection method at zero and low speeds to a sliding mode observer algorithm at higher speeds. The technique was simulated in MATLAB.
Finally, this paper designed a sensorless drive system based on TMS320F240 DSP. In this chapter, the hardware design and the software design were all listed clearly. Experiments had been done on this practical system. The experimental results demonstrate the effectiveness of this new combined technique.
引文
[1]詹琼华.开关磁阻电动机.武汉:华中理工大学出版社.1992
[2]刘迪吉.开关磁阻电机发展及应用.电气技术.2007(7):17-19
[3]樊继东,马志源,.SRM控制技术研究现状.煤矿机械.2005(12):6-8
[4]王振民.开关磁阻电动机的研究.煤炭学报.1992,17(2)
[5]陈吴,刘迪吉.国外开关磁阻电机近期研究动向.中小型电机.1994,21
[6]郑智惠.高性价比的DSP数字电机控制器.微特电机.2001(5):32-43
[7]王宏华.开关磁阻电机调速控制技术.北京:机械工业出版社.1995
[8]温志明,刘彬.开关磁阻电机调速系统间接位置检测技术比较.科技情报开发与经济.2005.15(18):199-200
[9]周素莹,林辉.无位置传感器的开关磁阻电机转子位置检测技术.电气传动.2006,36(2):8
[10]S.K.Panda,GA.J.Amaratunga.Analysis of the waveform detection technique for indirect rotor position sensing of switched reluctance motor drives.IEEE Trans.on Energy Conversion,1991,6(3):476-483
[11]S.K.Panda,GA.J.Amaratunga.Waveform detection techniques for indirect rotor position sensing of switched reluctance motor drives,Part Ⅰ Analysis and Part Ⅱ Experimental Results.IEE Proc.1993,140(1):80-96
[12]G.R.Dunlop,J.D.Marvelly.Evaluation of a self-commutated switched reluctance motor.Proc.of Int.Conf.on Electric Machines and Drives,1987:317-320
[13]W.D.Harris,J.H.Lang.A simple motion estimator for variable-reluctance motors.IEEE Trans.On Industry Applications,1990,26(2):237-243
[14]S.R.MacMinn,W.J.Rzesos.,et al.Application of sensor integration techniques to switched reluctance motor drives.IEEE Trans.on Industry Applications,1992,Vol.28(6):1339-1344
[15]N.H.Mvungi,J.M.Stephenson.Accurate sensorless rotor position detection in an SR motor.EPE Conf.Proc.1991,(1):390-393
[16]P.P.Acamley,R.J.Hill,et al.Detection of rotor position in stepping and switched reluctance motors by monitoring of current waveforms.IEEE Transactions on Industrial Electronics,1990,37(2):215-222
[17]A.Lumnsdaine,J.H.Lang.State observers for variable-reluctance motors.IEEE Transactions on Industrial Electronics,1990,37(2):133-142
[18]I.Husain,S.Sodhi,et al.Sliding mode observer based control for switched reluctance motors.IEEE-IAS Conf.Rec.,1994:635-643
[19]J.P.Lyons,S.R.McMirm,et al.Flux/Current methods for SRM rotor position estimation.IEEE-IAS Conference.1991:482-487
[20]B.G.Hedland.A method and a device for sensorless control of a reluctance motor.International patent,WO 91/02401,1986
[21]J.P.Lyons,S.R.MacMinn,et al.Rotor position estimation for a switched reluctance machine using a lumped parameter flux/current model.USA patent.5107195,1991
[22]I.Husain,M.Ehsani.Rotor position sensing in switched reluctance motor drives by measuring mutually induced voltages.IEEE Transactions on Industry Applications,1994,30(3):665-672
[23]王宏华.2.2KW开关磁阻电动机功率变换器设计.电力电子技术.1995
[24]柴春蕾,林辉.开关磁阻电机驱动新型功率变换器分析与设计.电力电子技术.2007,41(9):41-43
[25]郭传伟,殷天明等.开关磁阻电机无位置传感器控制的研究.机车电传动.2006(1):26-29
[26]葛宝明,王祥晰等.开关磁阻电机控制策略综述.电气传动.2002(2):8-11
[27]孙鹤旭,宋桂英等.SRD新型控制策略研究.河北工业大学学报.2004,33(2):25-27
[28]S.Gopalakrishnn,M.Ehsani.Inductance Model Based Sensodess Switched Reluctance Motor Drives for High Performance Applications.May 2000
[29]M.Ehsani,I.Husain,et al.New Modulation Encoding Techniques for Indirect Rotor Position Sensing in Switched Reluctance Motors.IEEE Transactions on Industry Applications.1994,30(1):85-91
[30]M.Ehsani,I.Husain,et al.Elimination of Discrete Position Sensor and Current Sensor in Switched Reluctance Motor Drives.IEEE Transactions on Industry Applications.1992,28(1):128-135
[31]蒯松岩,谭国俊等.一种新型无何置传感器开关磁阻电机控制方法.电力电子技术.2007,41(2):54-56
[32]A.Lumsdaine,J.H.Lang.State observers for variable-reluctance motors.IEEE Transactions on Industrial Electronics.1990,37(2):133-142
[33]I.Husain,S.Sodhi,et al.A sliding mode observer based controller for switched reluctance motor drives.Industry Applications Society Annual Meeting 1994:;Conference Record of the 1994 IEEE2-6 1994(1):635-643
[34]Ice-Woo Yang,Young-Seok Kim,et al.The rotor speed and position sensorless control of SRM using the binary observer.Thiriy-Fourth IAS Annual Meeting:Conference Record of the 1999 IEEE Conference;1999(1):533-538
[35]Han-Woong,Jin-Hyun,et al.A novel high performance position sensorless control of switched reluctance motor drives.Industrial Electronics,2001.Proceedings.ISLE 2001.IEEE International Symposium on Volume 1,12-16 June 2001 643-648
[36]Mohammad S.Islam,Iqbal Husain,et al.Design and Performance Analysis of Sliding-Mode Observers for Sensor-less Operation of Switched Reluctance Motors.IEEE Transactions on Control Systems Technology,2003,11(3):383-389
[37]江小军,齐蓉等.开关磁阻电机调速系统控制器的设计和保护.微电机.2006,36(4):51-55
[38]孙长春.开关磁阻电机控制系统新型设计.科技情报开发与经济.2005,15(2):278
[39]容毅.MAX7219串行LED驱动器的扩展应用.国外电子元器件.2000
[40]Chen H.et al.Commutation of Switched Reluctance Motor Drives.Proceedings of The International Power Electronics & Motion Control Conference,Budapest,Hungary,1996(2):437-446
[2]刘迪吉.开关磁阻电机发展及应用.电气技术.2007(7):17-19
[3]樊继东,马志源,.SRM控制技术研究现状.煤矿机械.2005(12):6-8
[4]王振民.开关磁阻电动机的研究.煤炭学报.1992,17(2)
[5]陈吴,刘迪吉.国外开关磁阻电机近期研究动向.中小型电机.1994,21
[6]郑智惠.高性价比的DSP数字电机控制器.微特电机.2001(5):32-43
[7]王宏华.开关磁阻电机调速控制技术.北京:机械工业出版社.1995
[8]温志明,刘彬.开关磁阻电机调速系统间接位置检测技术比较.科技情报开发与经济.2005.15(18):199-200
[9]周素莹,林辉.无位置传感器的开关磁阻电机转子位置检测技术.电气传动.2006,36(2):8
[10]S.K.Panda,GA.J.Amaratunga.Analysis of the waveform detection technique for indirect rotor position sensing of switched reluctance motor drives.IEEE Trans.on Energy Conversion,1991,6(3):476-483
[11]S.K.Panda,GA.J.Amaratunga.Waveform detection techniques for indirect rotor position sensing of switched reluctance motor drives,Part Ⅰ Analysis and Part Ⅱ Experimental Results.IEE Proc.1993,140(1):80-96
[12]G.R.Dunlop,J.D.Marvelly.Evaluation of a self-commutated switched reluctance motor.Proc.of Int.Conf.on Electric Machines and Drives,1987:317-320
[13]W.D.Harris,J.H.Lang.A simple motion estimator for variable-reluctance motors.IEEE Trans.On Industry Applications,1990,26(2):237-243
[14]S.R.MacMinn,W.J.Rzesos.,et al.Application of sensor integration techniques to switched reluctance motor drives.IEEE Trans.on Industry Applications,1992,Vol.28(6):1339-1344
[15]N.H.Mvungi,J.M.Stephenson.Accurate sensorless rotor position detection in an SR motor.EPE Conf.Proc.1991,(1):390-393
[16]P.P.Acamley,R.J.Hill,et al.Detection of rotor position in stepping and switched reluctance motors by monitoring of current waveforms.IEEE Transactions on Industrial Electronics,1990,37(2):215-222
[17]A.Lumnsdaine,J.H.Lang.State observers for variable-reluctance motors.IEEE Transactions on Industrial Electronics,1990,37(2):133-142
[18]I.Husain,S.Sodhi,et al.Sliding mode observer based control for switched reluctance motors.IEEE-IAS Conf.Rec.,1994:635-643
[19]J.P.Lyons,S.R.McMirm,et al.Flux/Current methods for SRM rotor position estimation.IEEE-IAS Conference.1991:482-487
[20]B.G.Hedland.A method and a device for sensorless control of a reluctance motor.International patent,WO 91/02401,1986
[21]J.P.Lyons,S.R.MacMinn,et al.Rotor position estimation for a switched reluctance machine using a lumped parameter flux/current model.USA patent.5107195,1991
[22]I.Husain,M.Ehsani.Rotor position sensing in switched reluctance motor drives by measuring mutually induced voltages.IEEE Transactions on Industry Applications,1994,30(3):665-672
[23]王宏华.2.2KW开关磁阻电动机功率变换器设计.电力电子技术.1995
[24]柴春蕾,林辉.开关磁阻电机驱动新型功率变换器分析与设计.电力电子技术.2007,41(9):41-43
[25]郭传伟,殷天明等.开关磁阻电机无位置传感器控制的研究.机车电传动.2006(1):26-29
[26]葛宝明,王祥晰等.开关磁阻电机控制策略综述.电气传动.2002(2):8-11
[27]孙鹤旭,宋桂英等.SRD新型控制策略研究.河北工业大学学报.2004,33(2):25-27
[28]S.Gopalakrishnn,M.Ehsani.Inductance Model Based Sensodess Switched Reluctance Motor Drives for High Performance Applications.May 2000
[29]M.Ehsani,I.Husain,et al.New Modulation Encoding Techniques for Indirect Rotor Position Sensing in Switched Reluctance Motors.IEEE Transactions on Industry Applications.1994,30(1):85-91
[30]M.Ehsani,I.Husain,et al.Elimination of Discrete Position Sensor and Current Sensor in Switched Reluctance Motor Drives.IEEE Transactions on Industry Applications.1992,28(1):128-135
[31]蒯松岩,谭国俊等.一种新型无何置传感器开关磁阻电机控制方法.电力电子技术.2007,41(2):54-56
[32]A.Lumsdaine,J.H.Lang.State observers for variable-reluctance motors.IEEE Transactions on Industrial Electronics.1990,37(2):133-142
[33]I.Husain,S.Sodhi,et al.A sliding mode observer based controller for switched reluctance motor drives.Industry Applications Society Annual Meeting 1994:;Conference Record of the 1994 IEEE2-6 1994(1):635-643
[34]Ice-Woo Yang,Young-Seok Kim,et al.The rotor speed and position sensorless control of SRM using the binary observer.Thiriy-Fourth IAS Annual Meeting:Conference Record of the 1999 IEEE Conference;1999(1):533-538
[35]Han-Woong,Jin-Hyun,et al.A novel high performance position sensorless control of switched reluctance motor drives.Industrial Electronics,2001.Proceedings.ISLE 2001.IEEE International Symposium on Volume 1,12-16 June 2001 643-648
[36]Mohammad S.Islam,Iqbal Husain,et al.Design and Performance Analysis of Sliding-Mode Observers for Sensor-less Operation of Switched Reluctance Motors.IEEE Transactions on Control Systems Technology,2003,11(3):383-389
[37]江小军,齐蓉等.开关磁阻电机调速系统控制器的设计和保护.微电机.2006,36(4):51-55
[38]孙长春.开关磁阻电机控制系统新型设计.科技情报开发与经济.2005,15(2):278
[39]容毅.MAX7219串行LED驱动器的扩展应用.国外电子元器件.2000
[40]Chen H.et al.Commutation of Switched Reluctance Motor Drives.Proceedings of The International Power Electronics & Motion Control Conference,Budapest,Hungary,1996(2):437-446