【摘要】：開關(guān)磁阻電機(SRM)結(jié)構(gòu)簡單堅固、工作穩(wěn)定可靠、成本低廉、控制靈活,近些年來頗受關(guān)注。開關(guān)磁阻電機驅(qū)動系統(tǒng)(SRD)亦發(fā)展迅猛,現(xiàn)已廣泛應(yīng)用于礦山開采、石油開采、電動車驅(qū)動和家電等諸多工業(yè)領(lǐng)域。然而,由于SRM的結(jié)構(gòu)以及控制方式的原因,使得電機的轉(zhuǎn)矩波動較大,這就限制其在高精度控制領(lǐng)域的應(yīng)用。因此,如何有效的減小SRM轉(zhuǎn)矩脈動逐漸成為了國內(nèi)外學者的研究熱點之一。本文基于模型預(yù)測的控制方法,對開關(guān)磁阻電機調(diào)速系統(tǒng)進行研究,在分析了有限開關(guān)控制集的模型預(yù)測控制方法的優(yōu)缺點之后,通過對優(yōu)化后的電流波形進行無差拍的預(yù)測控制,實現(xiàn)減小SRM轉(zhuǎn)矩波動的控制。本文首先分析總結(jié)了國內(nèi)外在減小SRM轉(zhuǎn)矩脈動優(yōu)化方面的研究進展,介紹了SRM的基本工作原理、數(shù)學方程和一般控制方法以及功率電路。之后,為了獲得電機準確的磁鏈模型,給出了一種在線獲取模型參數(shù)的實驗方法,其實質(zhì)上就是一種SRM磁鏈特性的在線檢測方法。先從控制器自身角度,分析了軟件磁鏈估算在靜止或極低速條件下的誤差來源,并根據(jù)所提出等效電阻校準方法對磁鏈估算進行了修正。然后給出了兩種在線檢測的具體運行方案,并通過轉(zhuǎn)速開環(huán)的方案獲得了18.5k WSRM磁鏈特性數(shù)據(jù)。緊接著介紹了一種基于轉(zhuǎn)矩最小化情況下,獲得最優(yōu)的參考電流的方法,為后文的實驗仿真部分提供數(shù)據(jù)支持。隨后,在介紹了模型預(yù)測控制(MPC)基本原理以及基本特點的基礎(chǔ)上,實現(xiàn)了基于有限開關(guān)控制集模型的控制系統(tǒng),實現(xiàn)了對電機轉(zhuǎn)矩脈動,電流大小,以及開關(guān)頻率的控制,對于該控制系統(tǒng)中電流波動大,以及開關(guān)頻率不固定,諧波含量高的問題,提出了一種改進的模型預(yù)測控制方法,即無差拍的模型預(yù)測控制,基于前文獲得的轉(zhuǎn)矩波動最小化的最優(yōu)的電流,實現(xiàn)對參考電流的無差拍預(yù)測控制,以此來減小電機轉(zhuǎn)矩的脈動。最后,本文介紹了控制系統(tǒng)的硬件組成和軟件結(jié)構(gòu),并通過實驗平臺完成了基于模型預(yù)測的電機運行測試。實驗結(jié)果表明:在全速范圍內(nèi),該控制器可以實現(xiàn)對參考電流實現(xiàn)較好的跟定,實現(xiàn)對轉(zhuǎn)矩脈動的抑制作用,同時,輸出轉(zhuǎn)矩能夠快速跟隨負載與轉(zhuǎn)速的變化,實現(xiàn)了電機的高性能控制,具有一定的實用性與參考價值。
[Abstract]:Switched reluctance motor (SRM) has attracted much attention in recent years due to its simple structure, reliable operation, low cost and flexible control. Switched reluctance motor drive system (SRD) has been widely used in many industrial fields, such as mining, oil mining, electric vehicle driving and home appliances. However, due to the structure and control mode of SRM, the torque fluctuation of the motor is large, which limits its application in the field of high-precision control. Therefore, how to effectively reduce SRM torque ripple has gradually become one of the hot research topics of domestic and foreign scholars. Based on the model predictive control method, the switched reluctance motor speed control system is studied in this paper. After analyzing the advantages and disadvantages of the model predictive control method of the finite switch control set, In order to reduce the torque ripple of SRM, the optimized current waveform is predicted and controlled without beat. This paper firstly analyzes and summarizes the research progress in reducing the torque ripple of SRM at home and abroad, and introduces the basic working principle, mathematical equation, general control method and power circuit of SRM. Then, in order to obtain the accurate flux model of the motor, an experimental method to obtain the parameters of the model on line is presented, which is in fact an on-line detection method for the characteristics of the SRM flux chain. In this paper, the error sources of the software flux estimation under static or very low speed conditions are analyzed from the point of view of the controller itself, and the flux estimation is modified according to the proposed equivalent resistance calibration method. Then two specific operation schemes of on-line detection are given, and 18.5k WSRM flux characteristic data are obtained by the open-loop rotational speed scheme. Then a method based on torque minimization to obtain the optimal reference current is introduced, which provides the data support for the later part of the experiment simulation. Then, on the basis of introducing the basic principle and characteristics of Model Predictive Control (MPC), the control system based on finite switch control set model is realized, and the torque ripple, current magnitude and switching frequency of motor are controlled. For the problems of large current fluctuation, unstable switching frequency and high harmonic content in the control system, an improved model predictive control method, that is, model predictive control without beat, is proposed. Based on the optimal current of torque ripple minimization obtained in the previous paper, the non-beat predictive control of reference current is realized to reduce the torque ripple of motor. Finally, this paper introduces the hardware structure and software structure of the control system, and completes the motor operation test based on model prediction through the experimental platform. The experimental results show that the controller can follow the reference current well and restrain the torque ripple in the full speed range. At the same time, the output torque can follow the change of load and speed quickly. The high performance control of the motor is realized, which has certain practicability and reference value.
【學位授予單位】：中國礦業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TM352;TP273

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