CN102055391A - Absolute location sensor of switched reluctance motor for electric automobile and control method thereof - Google Patents
Absolute location sensor of switched reluctance motor for electric automobile and control method thereof Download PDFInfo
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- CN102055391A CN102055391A CN2011100093197A CN201110009319A CN102055391A CN 102055391 A CN102055391 A CN 102055391A CN 2011100093197 A CN2011100093197 A CN 2011100093197A CN 201110009319 A CN201110009319 A CN 201110009319A CN 102055391 A CN102055391 A CN 102055391A
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- switched reluctance
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Abstract
The invention discloses an absolute location sensor of a switched reluctance motor for an electric automobile and a control method thereof, relates to a rotor position detector of a switched reluctance motor for driving an electric automobile and matched control method thereof. The absolution location sensor is suitable for the switched reluctance motors with various number of phases and structures of the electric automobile. A rotor disk which synchronously revolves with a motor and integrates a switching angle parameter and a rotor magnetic pole position, and two groups of groove type high-precision photometer heads are adopted for the sensing part of the absolute location sensor, the two groups of photometer heads are interlocked on the circuit, the working of only one group is ensured, and the phase conversion sequence has no error hazard; each group of photometer head is corresponding to the number of phases of a stator, one photometer head is corresponding to one phase, each group of photometer head is arranged at the leading edge and rear edge positions of the magnetic pole of a stator according to the requirements of corotation, power generation and contrarotation, and the start, shut and fault tolerant capabilities of one-for-one independent control of each phase is high; and an output signal selected from the corotation and the dynamic brake group one photometer head as a rotation speed signal.
Description
Technical field
The present invention relates to motor vehicle and drive rotor position detector and its matching used control method of using switched reluctance machines, be applicable to the switched reluctance machines of the various numbers of phases of electric vehicles, structure.
Background technology
Switched reluctance variable speed machine (being called for short SRD) is a kind of novel electromechanical integration continuous speed regulation system, generally is made up of motor, power inverter, controller and position detector four parts.It has the advantage of Alternating Current Governor System motor simple rigid and direct current system good speed adjustment features concurrently.Staring torque is big, starting current is little, straight-through fault, speed-regulating range width can not appear in power device, the speed adjusting performance excellence, all has greater efficiency in the whole speed adjustable range, can realize easily that control of motor four quadrant running and braking regenerated energy reclaim, and are specially adapted to electric motor car and drive the field.
Because the nonlinear electromagnetic characteristic of SRD complexity, the key of operation control is exactly to want real-time detection rotor position of magnetic pole to determine each the phase switching angle of stator under the different rotating speeds, the adjustment of switching angle is main control parameters and the means of SRD, even can independently control the operation of SRD.
At present general industry is to provide each phase switching angle parameter of determining through optimum experimental in advance with tabling look-up by the microprocessor real-time resolving rotor magnetic pole position of controller after the Information Monitoring of all places detector with the control method of SRD, controls with phase current CCC and voltage pwm chopping way realization speed closed loop then.The process link is many, software is complicated, and to microprocessor computing speed and reliability requirement height, the cost height is difficult to directly utilization in motor vehicle driving field.The SRD drive system of motor vehicle is low but high to reliability and efficient requirement to the speed governing required precision; The Control Parameter of each phase switching angle resolve the fail safe that also directly concerns motor vehicle, should very vigilantly too rely on microprocessor Control of Automobile core drive system.
Summary of the invention
The purpose of this invention is to provide a kind of used for electric vehicle switched reluctance machines absolute position transducer and control method thereof.Can directly provide the absolute position and the switching angle scope of SRD rotor magnetic pole in service, requirement coupling rotating speed by each operating mode of four quadrant running of electric motor car SRD directly generates each each phase power device of phase switching angle driving parameter, controller does not need to resolve each phase switching angle parameter with microprocessor with software mode, only needs to use traditional, simple and reliable PID device and logical device that phase current, voltage are regulated and can satisfy electric motor car SRD operation control requirement.Have high reliability and fault-tolerant ability, dynamic response is fast, and specification requirement is low, and is practical, and cost is low, can promote SRD drives the field in electric motor car utilization greatly.
Technical solution of the present invention is: the absolute position transducer transducing part adopt one with the motor synchronous rotation integrated the rotor disk of switching angle parameter (just commentaries on classics, brake power generating and counter-rotating) and rotor magnetic pole position and two groups of grooved high precision photoelectric heads (just changeing and one group of dynamic brake, reverse one group), two groups of photometer head interlockings on circuit, assurance has only wherein one group of work, commutation order zero defect hidden danger; One mutually of the corresponding stator number of phases one of every group of photometer head, by just change, generate electricity and forward position that requirements of reverse is arranged on magnetic pole of the stator with after along the position, independently control the open and close of each phase one to one, the fault-tolerant ability height; Just changeing with one group of photometer head of dynamic brake in select one
The signal of output is as tach signal.
The rotor disk outer rim is rotor magnetic pole and switching angle indication groove, and groove is represented rotor magnetic pole, and is corresponding with rotor magnetic pole number and angle; When just changeing, the forward position of groove forwards certain magnetic pole of the stator to is just changeing and dynamic brake photometer head position, light passes through, represent rotor magnetic pole to arrive the turn-on angle the earliest of this phase working range, photometer head is connected, by suitable one group of constant time lag and holding circuit, after opening this phase and keep official hour after 0 time-delay or the regulation time-delay, turn-off; Corresponding many group constant time lags and the next corresponding many group switching angle parameters of holding circuit of being provided with; On behalf of rotor magnetic pole, the back edge of groove arrive the angle of rupture of pass at the latest of this phase working range, and light is blocked, and the photometer head cut-off signals can be forced to turn-off this phase, and negative torque increases when avoiding turn-offing mistake.
Rotor disk links to each other with rotor and rotates synchronously, and the rotor magnetic pole and the switching angle that have respective rotor number of magnet poles and angle position to establish on the rotor disk are indicated groove, can indicate the absolute angular position and the switching angle parameter of each magnetic pole of rotor; Just changeing with generating with photometer head by one mutually of the number of phases one of stator, correspondence is installed in behind the magnetic pole of the stator along the respective angles position; One mutually of the number of phases one that counter-rotating is pressed stator with photometer head, correspondence is installed in respective angles position, magnetic pole of the stator forward position.
Generating is during (braking) operating mode, and photometer head is connected when forwarding the position of groove equally to, after corresponding constant time lag and holding circuit, turn-offs after opening this phase excitation and keep official hour after regulation being delayed time; Force to turn-off this phase without the photometer head cut-off signals, even because of turn-offing mistake, a long mutually logical braking function that also do not influence.
Reversing damped condition uses counter-rotating group photometer head and same rotor magnetic pole and switching angle indication groove; Counter-rotating only is operated in and starts and permanent torque low regime, and one group of fixing switching angle cooperates current chopping just can satisfy the control requirement, and therefore one group of time-delay and holding circuit only are set; The corresponding turn-on angle in back edge (promptly by the pass angle of rupture that is just changeing) of indication groove cooperates with counter-rotating group photometer head setting angle position, guarantees the correct of counter-rotating turn-on angle; By after constant time lag and the holding circuit, turn-off after opening this phase and keep official hour after 0 time-delay or the regulation time-delay equally, when groove turned over, the photometer head cut-off signals can be forced to turn-off this phase, and negative torque increases when avoiding turn-offing mistake.
The control method of the absolute position transducer that adopts in the technical solution of the present invention is as follows: forward and backward is by the not photometer head control on the same group of absolute position sensing controler, adopt under each operating mode and press the fixing many groups switching angle parameter of rotating speed segmentation, solidify with many groups of correspondence time-delays and holding circuit, phase voltage copped wave PWM speed closed loop PID control is opened than parameter control selection appropriate sections floatless switch angle (promptly selecting a certain time-delay and holding circuit) with phase voltage copped wave PWM.Phase current copped wave protection.Time-delay and holding circuit also can be used for adjusting the trueness error of photometer head and the installation of rotor disk machinery simultaneously.
Just change (advancing), by the range of speeds it is divided into 5 ~ 7 sections (being equivalent to the automobile gear), first section rotating speed is generally SRD from starting to first critical whirling speed (permanent torque interval), and maximum speed generally is lower than the SRD critical speed of second order, is permanent power interval between second section to last one section; Every section process optimum experimental is determined the switching angle parameter, solidifies with time-delay of many group hardware and holding circuit then; During starting, (advancing) signal is just changeed in input, controller is selected just commentaries on classics group photometer head and first group time-delay and holding circuit work, the photometer head that detects rotor magnetic pole and switching angle indication groove is connected, after first group of time-delay and holding circuit, turn-off after opening this phase and keep official hour after 0 time-delay or the regulation time-delay, drive this electricity work that communicates, SRD starts; Each group time-delay and holding circuit are prescribed a time limit near this segmentation at rotating speed, phase current reduces because of revolving electro-motive force increases, speed closed loop control phase voltage PWM is down opened than increasing, open when being increased to set point, start next group time-delay and holding circuit work (upgrading), until last group (vehicle reaches F-Zero); Each group rotating speed is near down in limited time, and phase voltage PWM opens than reducing, and opens when being reduced to set point, starts last one group of work (lowering category), until first group (vehicle deceleration parking).
One group of time-delay and holding circuit are only established in counter-rotating (reversing), and one group of floatless switch angle cooperates current chopping just can satisfy the control requirement.
The control method of used for electric vehicle switched reluctance machines absolute position transducer, rotor magnetic pole and switching angle indication groove have been indicated the turn-on angle the earliest and the maximum angle of rupture that closes of just changing a job and doing, the switching angle parameter that is divided into multistage by rotating speed with corresponding many groups just migrating time-delays and holding circuit (9) and generating with time-delay and holding circuit and reverse with delaying time and holding circuit solidifies, just changeing and generate electricity and insert and these two time-delays and holding circuit with photometer head, determine to realize switching between these two time-delays and the holding circuit group inside mating rotating speed and directly generate each phase switching angle parameter control requirement with speed closed loop control phase voltage PWM duty cycle parameters down.
Described counter-rotating is only established one group of counter-rotating and is respectively turn-offed mutually with time-delay and holding circuit control with photometer head and rotor magnetic pole and the cooperation of switching angle indication groove.
Described just changeing and generate electricity with one in the photometer head simultaneously the output speed signal be used for speed closed loop control.
Generating (braking energy recovery) is generally operational in higher rotation speed, and 2 ~ 3 groups of time-delay and holding circuits of solidifying the switching angle parameter are set equally, and phase voltage PWM controls exciting current, regulates braking energy; Rotating speed descends slow, and speed closed loop control phase voltage PWM is down opened when being increased to set point, starts next group time-delay and holding circuit work; Rotating speed descends fast, and phase voltage PWM opens than reducing, and starts last one group of work; Being lower than the setting rotating speed promptly deactivates; Braking and rotating speed speed be by the brake pedal signal controlling, and brake pedal reaches set depth promptly deactivate (change by mechanical braking, assurance safety).
Description of drawings
Fig. 1 is an embodiment of the invention switched reluctance machines schematic cross-section;
Fig. 2 is an embodiment of the invention absolute position transducer section of structure;
Fig. 3 is an embodiment of the invention absolute position transducer rotor disk schematic diagram;
Fig. 4 is an embodiment of the invention absolute position transducer control principle schematic diagram;
Fig. 5 is the scope schematic diagram at each power condition switch angle of the embodiment of the invention;
1. stators among the figure, 2. rotor, 3. front end-plate, 4. rotor disk, 5. end plate, 6. just changeing and generate electricity and use photometer head, 7. reverse and use photometer head, 8. rotor magnetic pole and switching angle indication groove is 9. just being migrated and is being delayed time and holding circuit, 10. generating is with delaying time and holding circuit 11. counter-rotating time-delay and holding circuits.
Embodiment
Embodiment: as shown in Figure 1, be example with three-phase 6/4 structure switch magnetic resistance motor; Motor comprises coil by stator 1(), rotor 2 forms, stator 1 two relative magnetic poles are total mutually A, a B, C three-phase.As shown in Figure 2, the rotor position sensing controller is formed photometer head employing high accuracy grooved photometer head by front end-plate 3, rotor disk 4, end plate 5, the just commentaries on classics and the generating that are installed on the front end-plate 3 with photometer head 7 with photometer head 6 and counter-rotating; Rotor disk 4 links to each other with rotor 2 and rotates synchronously, and front end-plate 3 is fixed on stator 1 or the motor body, and end plate 5 is fixed on the front end-plate 3.As Fig. 3, Fig. 4, shown in Figure 5, respective rotor 2 magnetic pole angle positions are provided with four rotor magnetic poles and switching angle indication groove 8 on the rotor disk 4, can indicate absolute angular position and the switching angle parameter of rotor 2 each magnetic pole under the rotating operating mode; Just changeing and generating electricity has three with photometer head 6, and respective rotor magnetic pole and switching angle indication groove 8 is installed in behind stator 1 left side three magnetic pole A, B, the C along the respective angles position, controls stator 1 three-phase work respectively, selects one of them output speed signal simultaneously; Counter-rotating also has three with photometer head 7, and correspondence is installed in stator 1 the right three magnetic pole A ', B ', respective angles position, C ' forward position, controls the work of motor three-phase respectively; Just changeing with generating and all inserting seven groups of just migrating time-delays and holding circuit 9 and three groups of generatings mutually and use and delay time and holding circuits 10 with photometer head 6 is every, counter-rotating all inserts one group of counter-rotating with delaying time and holding circuit 11 with photometer head 7 every phases, three time-delays and holding circuit have been solidified respectively and just having been changeed seven sections rotating speeds and three sections rotating speeds of generating and the corresponding switching angle parameter of counter-rotating through optimum experimental, during work just, counter-rotating is switched by manual control, switch by throttle and brake signal between all the other two time-delays and the holding circuit, determine can realize switching between two time-delays and the holding circuit group inside mating rotating speed and directly generate each working condition requirement of four quadrant running that each phase switching angle parameter is controlled SRD by speed closed loop control PWM duty cycle parameters down.
Claims (4)
1. used for electric vehicle switched reluctance machines absolute position transducer, it is characterized in that: rotor disk (4) links to each other with rotor (2) and rotates synchronously, the rotor magnetic pole and the switching angle that have respective rotor (2) number of magnet poles and angle position to establish on the rotor disk (4) are indicated groove (8), can indicate the absolute angular position and the switching angle parameter of each magnetic pole of rotor (2); Just changeing one mutually of the number of phases one of pressing stator (1) with photometer head (6) with generating, correspondence is installed in behind stator (1) magnetic pole along the respective angles position; One of the number of phases one phase that counter-rotating press stator (1) with photometer head (7), correspondence is installed in respective angles position, stator (1) magnetic pole forward position.
2. the control method of used for electric vehicle switched reluctance machines absolute position transducer, it is characterized in that: rotor magnetic pole and switching angle indication groove (8) have been indicated the turn-on angle the earliest and the maximum angle of rupture that closes of just changing a job and doing, the switching angle parameter that is divided into multistage by rotating speed with corresponding many groups just migrating time-delays and holding circuit (9) and generating with delaying time and holding circuit (10) and reversing with delaying time and holding circuit (11) is solidified, just changeing and generate electricity these two time-delays of usefulness photometer head (6) access (9) and (10) and holding circuit, determine to realize switching between these two time-delays and the holding circuit group inside mating rotating speed and directly generate each phase switching angle parameter control requirement with speed closed loop control phase voltage PWM duty cycle parameters down.
3. according to the control method of the described used for electric vehicle switched reluctance machines of claim 2 absolute position transducer, it is characterized in that: described counter-rotating is only established one group of counter-rotating and is respectively turn-offed mutually with time-delay and holding circuit (11) control with photometer head (7) and rotor magnetic pole and switching angle indication groove (8) cooperation.
4. according to the control method of the described used for electric vehicle switched reluctance machines of claim 2 absolute position transducer, it is characterized in that: described just changeing and generate electricity with one in the photometer head (6) simultaneously the output speed signal be used for speed closed loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100093197A CN102055391A (en) | 2011-01-17 | 2011-01-17 | Absolute location sensor of switched reluctance motor for electric automobile and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100093197A CN102055391A (en) | 2011-01-17 | 2011-01-17 | Absolute location sensor of switched reluctance motor for electric automobile and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104092416A (en) * | 2014-07-24 | 2014-10-08 | 艾大洲 | Switched reluctance motor controller and control method thereof |
| CN106772155A (en) * | 2016-12-20 | 2017-05-31 | 江苏大学 | A kind of method for rapidly judging of switched reluctance machines pole polarity |
| WO2018032352A1 (en) * | 2016-08-16 | 2018-02-22 | Robert Bosch Gmbh | An optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor |
| CN108712132A (en) * | 2018-05-26 | 2018-10-26 | 太原理工大学 | Reduce current fluctuation control method under switched reluctance machines Current cut control mode |
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| EP0732802A1 (en) * | 1995-03-14 | 1996-09-18 | A.O. Smith Corporation | Switched reluctance motor provided with rotor position detection |
| JP2007116810A (en) * | 2005-10-19 | 2007-05-10 | Komatsu Ltd | Rotor position detector |
| CN101266284A (en) * | 2007-03-16 | 2008-09-17 | 北京中纺锐力机电有限公司 | Switch reluctance machine rotor angular position and rotation speed detection device and method |
| CN201322622Y (en) * | 2008-11-19 | 2009-10-07 | 北京中纺锐力机电有限公司 | High-reliability switched reluctance motor sensor |
| CN101860298A (en) * | 2010-05-25 | 2010-10-13 | 安徽络力机电科技有限公司 | Switched reluctance motor controller |
| CN201910728U (en) * | 2011-01-17 | 2011-07-27 | 杨衍圣 | Switched reluctance motor absolute position sensor for electric vehicles |
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2011
- 2011-01-17 CN CN2011100093197A patent/CN102055391A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0732802A1 (en) * | 1995-03-14 | 1996-09-18 | A.O. Smith Corporation | Switched reluctance motor provided with rotor position detection |
| JP2007116810A (en) * | 2005-10-19 | 2007-05-10 | Komatsu Ltd | Rotor position detector |
| CN101266284A (en) * | 2007-03-16 | 2008-09-17 | 北京中纺锐力机电有限公司 | Switch reluctance machine rotor angular position and rotation speed detection device and method |
| CN201322622Y (en) * | 2008-11-19 | 2009-10-07 | 北京中纺锐力机电有限公司 | High-reliability switched reluctance motor sensor |
| CN101860298A (en) * | 2010-05-25 | 2010-10-13 | 安徽络力机电科技有限公司 | Switched reluctance motor controller |
| CN201910728U (en) * | 2011-01-17 | 2011-07-27 | 杨衍圣 | Switched reluctance motor absolute position sensor for electric vehicles |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104092416A (en) * | 2014-07-24 | 2014-10-08 | 艾大洲 | Switched reluctance motor controller and control method thereof |
| WO2018032352A1 (en) * | 2016-08-16 | 2018-02-22 | Robert Bosch Gmbh | An optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor |
| US10644574B2 (en) | 2016-08-16 | 2020-05-05 | Robert Bosch Gmbh | Optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor |
| CN106772155A (en) * | 2016-12-20 | 2017-05-31 | 江苏大学 | A kind of method for rapidly judging of switched reluctance machines pole polarity |
| CN106772155B (en) * | 2016-12-20 | 2019-11-05 | 江苏大学 | A kind of method for rapidly judging of switched reluctance machines pole polarity |
| CN108712132A (en) * | 2018-05-26 | 2018-10-26 | 太原理工大学 | Reduce current fluctuation control method under switched reluctance machines Current cut control mode |
| CN108712132B (en) * | 2018-05-26 | 2022-02-22 | 太原理工大学 | Current fluctuation control method for reducing current chopping control mode of switched reluctance motor |
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Application publication date: 20110511 |