SR电机相间互感特性及间接位置检测研究
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摘要
SR电机具有结构坚固、加工工艺简单、运行可靠、维护量小、控制方式简单等优点，可用于高温、甚至强振动等恶劣环境中。其功率变换器不会出现普通逆变电路中上、下桥臂直通的现象，进一步提高了SR电机运动控制系统的可靠性。在SR电机运动控制系统中，转子位置是电机闭环运行的必要条件，这也是区别于开环运行的步进电机的主要方面。转子位置检测对于SR电机达到预定性能指标有十分重要的意义。传统SR电机运动控制系统中，位置传感器的存在使电机加工工艺变得复杂，增加了成本，同时降低了整个系统运行的可靠性。本文在分析SR电机的相间互感和转子位置关系的基础上，提出了转子位置间接检测的新方法。
首先采用有限元方法建立了8/6结构SR电机的二维模型，在单相励磁和双相励磁模式下，分析了SR电机各相间互感和转子位置的关系。实测一台2.2kW的SR样机互感值和转子位置的关系，验证了有限元仿真结果的正确性。提出了利用低压、高频脉冲信号注入法来实现转子初始位置的检测方法。
本文将非励磁相的相电感等效成RL串联，再与C并联的RLC电路，分析了在H桥型功率结构下SR电机双相励磁、电压斩波控制模式下的非励磁相的互感电动势波形，提出了电机双相励磁运行时的转子位置检测的两种方法：一种是通过检测非励磁相互感电动势峰值的大小判断转子位置；另一方法是计算RLC电路自然振荡角频率得到转子位置。
其次，本文采用模糊推理的方法，以各相电流和控制器指定的换相角度作为模糊控制器的输入，以被测相互感电动势的估计值作为输出，通过与实际互感电动势峰值的比较判断转子是否到达指定位置。通过遗传算法对模糊推理规则及各变量的隶属度函数进行了优化。在电机运行时，控制器实时测量各相电流值，经过查表得到互感电动势的估计值。此估计值和实际被测相的互感电动势相比较得到转子位置，实现了SR电机在高速时的角度位置控制。
最后，本文利用前述的SR电机有限元分析的非线性结果，在Matlab/Simulink环境下搭建了SR电机运动控制系统的仿真模型，并验证了模型的准确性。为间接位置检测的模糊规则的优化设计提供了仿真基础。采用模块化的设计方法实现了SR电机的运动控制系统的无位置传感器控制。提出了两种确保转子正确换相的软件容错方法，提高了间接位置检测的可靠性。
SR motor has the advantages of solid structure, simple processing, reliable, lowmaintenance, simple control etc. It can be used in high temperature, even strong vibration andother harsh environments. When design the power converter, each power device series with thestator winding, to avoid the short-circuit phenomenon which appeared in ordinary inverter circuit.This further improves the reliability of SR motor control system. However, the rotor’s position isthe basis for synchronous operation of SR motor. It is the main different of open-loop steppermotor. The detection of the rotor’s position is very important to approach the performanceindications. It makes the motor processing complex, increases the cost and reduces the overallsystem reliability, due to the existence of position sensor in conventional SR motor motioncontrol system. In this paper, the relationship between the mutual inductance and rotor’s positionin SR motor has been researched, and we get a new indirect detection method to know the rotor’sposition by taking advantage of this relationship.
Fistly, established the2D model of8/6SR motor using finite element analysis method.Based on this model we analyses the relationship between mutual inductance and rotor’s positionin non-excitation phase, when single-phase and two-phase excitation. We measured therelationship of mutual inductance and rotor’s position of a2.2Kw prototype, and proved thecorrectness of the finite element analysis method. We proposed an initial rotor’s positiondetection method by using a low-voltage high frequency signal injection method.
The inductance of non-excitation phase is equivalent to RLC circuit which is RL series,then parallel with C. We analysis the mutual inductance electromotive force wave when the SRmotor in the two-phase excitation, chopped voltage control, and H-bridge chopper type powerstructure. We proposed two rotor position detection methods when SR motor is in two-phaseexcitation. One method is to detection the rotor’s position by detecting the EMF peak innon-excitation phase. Another method is to calculate the natural oscillation frequency of RLC toget the rotor’s position.
Secondly this paper proposed a fuzzy inference method which with each phase current andthe angle controller needed as input, the estimated value of mutual inductance EMF of testedphase as output. The inference rules and the membership function of each variable are optimizedby genetic algorithm. The controller measures the two phase’s current in real-time, when the motor is running, and looks-up the table to get the estimated value of mutual inductance EMF.The controller compared the value of the estimated and the measured to get the rotor’s position,to achieve the angular position control, when SR motor is in high speed.
Finally we build a nonlinear model of SR motor used the nonlinear finite element analysisresults in the Matlab/Simulink environment. The correctness of the model was proved andprovided simulation basis for optimize the design of the fuzzy rules which used for indirectposition detection. This paper uses a modular design approach to achieve the hardware design ofspeed control system and indirect position detection of SR motor, and achieved positionsensorless control of SR motor motion control system. We proposed two methods to ensure thecorrect commutation when the system is working with indirect position detection, this isimproved the reliability of indirect position detection.
首先采用有限元方法建立了8/6结构SR电机的二维模型，在单相励磁和双相励磁模式下，分析了SR电机各相间互感和转子位置的关系。实测一台2.2kW的SR样机互感值和转子位置的关系，验证了有限元仿真结果的正确性。提出了利用低压、高频脉冲信号注入法来实现转子初始位置的检测方法。
本文将非励磁相的相电感等效成RL串联，再与C并联的RLC电路，分析了在H桥型功率结构下SR电机双相励磁、电压斩波控制模式下的非励磁相的互感电动势波形，提出了电机双相励磁运行时的转子位置检测的两种方法：一种是通过检测非励磁相互感电动势峰值的大小判断转子位置；另一方法是计算RLC电路自然振荡角频率得到转子位置。
其次，本文采用模糊推理的方法，以各相电流和控制器指定的换相角度作为模糊控制器的输入，以被测相互感电动势的估计值作为输出，通过与实际互感电动势峰值的比较判断转子是否到达指定位置。通过遗传算法对模糊推理规则及各变量的隶属度函数进行了优化。在电机运行时，控制器实时测量各相电流值，经过查表得到互感电动势的估计值。此估计值和实际被测相的互感电动势相比较得到转子位置，实现了SR电机在高速时的角度位置控制。
最后，本文利用前述的SR电机有限元分析的非线性结果，在Matlab/Simulink环境下搭建了SR电机运动控制系统的仿真模型，并验证了模型的准确性。为间接位置检测的模糊规则的优化设计提供了仿真基础。采用模块化的设计方法实现了SR电机的运动控制系统的无位置传感器控制。提出了两种确保转子正确换相的软件容错方法，提高了间接位置检测的可靠性。
SR motor has the advantages of solid structure, simple processing, reliable, lowmaintenance, simple control etc. It can be used in high temperature, even strong vibration andother harsh environments. When design the power converter, each power device series with thestator winding, to avoid the short-circuit phenomenon which appeared in ordinary inverter circuit.This further improves the reliability of SR motor control system. However, the rotor’s position isthe basis for synchronous operation of SR motor. It is the main different of open-loop steppermotor. The detection of the rotor’s position is very important to approach the performanceindications. It makes the motor processing complex, increases the cost and reduces the overallsystem reliability, due to the existence of position sensor in conventional SR motor motioncontrol system. In this paper, the relationship between the mutual inductance and rotor’s positionin SR motor has been researched, and we get a new indirect detection method to know the rotor’sposition by taking advantage of this relationship.
Fistly, established the2D model of8/6SR motor using finite element analysis method.Based on this model we analyses the relationship between mutual inductance and rotor’s positionin non-excitation phase, when single-phase and two-phase excitation. We measured therelationship of mutual inductance and rotor’s position of a2.2Kw prototype, and proved thecorrectness of the finite element analysis method. We proposed an initial rotor’s positiondetection method by using a low-voltage high frequency signal injection method.
The inductance of non-excitation phase is equivalent to RLC circuit which is RL series,then parallel with C. We analysis the mutual inductance electromotive force wave when the SRmotor in the two-phase excitation, chopped voltage control, and H-bridge chopper type powerstructure. We proposed two rotor position detection methods when SR motor is in two-phaseexcitation. One method is to detection the rotor’s position by detecting the EMF peak innon-excitation phase. Another method is to calculate the natural oscillation frequency of RLC toget the rotor’s position.
Secondly this paper proposed a fuzzy inference method which with each phase current andthe angle controller needed as input, the estimated value of mutual inductance EMF of testedphase as output. The inference rules and the membership function of each variable are optimizedby genetic algorithm. The controller measures the two phase’s current in real-time, when the motor is running, and looks-up the table to get the estimated value of mutual inductance EMF.The controller compared the value of the estimated and the measured to get the rotor’s position,to achieve the angular position control, when SR motor is in high speed.
Finally we build a nonlinear model of SR motor used the nonlinear finite element analysisresults in the Matlab/Simulink environment. The correctness of the model was proved andprovided simulation basis for optimize the design of the fuzzy rules which used for indirectposition detection. This paper uses a modular design approach to achieve the hardware design ofspeed control system and indirect position detection of SR motor, and achieved positionsensorless control of SR motor motion control system. We proposed two methods to ensure thecorrect commutation when the system is working with indirect position detection, this isimproved the reliability of indirect position detection.
引文
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