Switched reluctance motor control method, control device, electronic equipment and storage medium

Abstract

The application discloses a switched reluctance motor control method, a switched reluctance motor control device, an electronic device and a computer readable storage medium. The scheme sets a reference position and a reference phase current of a rotor. A position deviation of the current position of the rotor relative to the reference position is calculated. A phase current adjustment value is obtained by mapping processing the position deviation. The reference phase current is adjusted according to the phase current adjustment value. An adjusted phase current is obtained. The switched reluctance motor is driven according to the adjusted phase current. The application uses the phase current adjustment value to offset at least part of the torque ripple caused by the position deviation of the rotor, thereby suppressing the torque ripple of the switched reluctance motor. When the application is applied to a new energy heavy truck direct drive system, the starting jitter of the automobile can be obviously reduced.

Description

Technical Field

[0001] The present application relates to the technical field of switched reluctance motors, and in particular to a switched reluctance motor control method, a control device, an electronic device, and a storage medium. Background Art

[0002] The switched reluctance motor (SRM) has the advantages of simple structure, large starting torque, low manufacturing cost, wide speed regulation range, high reliability and efficiency. It is increasingly widely used in mining machinery, oil field pumping units, wind power generation, electric vehicles and other fields.

[0003] However, the switched reluctance motor's dual-pole structure, highly nonlinear electromagnetic characteristics, and strong coupling result in significant torque ripple during operation, especially at low speeds. In particular, direct-drive switched reluctance motors used in new energy heavy-duty trucks, where the motor shaft is directly connected to the vehicle's rear axle, can improve vehicle range and reliability. However, this connection requires the switched reluctance motor to output greater torque, which in turn leads to jitter at low speeds during heavy-load vehicle startups due to the high torque ripple of the switched reluctance motor. Summary of the Invention

[0004] In order to solve the problem of large torque pulsation of a switched reluctance motor under low-speed operation, the present application provides a switched reluctance motor control method, a switched reluctance motor control device, an electronic device and a computer-readable storage medium.

[0005] According to one aspect of an embodiment of the present application, a switched reluctance motor control method is disclosed, the switched reluctance motor control method comprising:

[0006] Obtaining a reference position of a rotor of a switched reluctance motor;

[0007] calculating a position deviation of a current position of a rotor of the switched reluctance motor relative to the reference position, and performing mapping processing on the position deviation to obtain a phase current adjustment value, wherein the phase current adjustment value is used to offset at least a portion of the torque ripple caused by the position deviation;

[0008] Adjusting the set reference phase current according to the phase current adjustment value to obtain an adjusted phase current;

[0009] The switched reluctance motor is driven according to the adjusted phase current.

[0010] In an exemplary embodiment, obtaining a reference position of a rotor of the switched reluctance motor includes:

[0011] Obtaining a rotor position of the switched reluctance motor at which a change rate of a winding inductance of the switched reluctance motor is maximum as the rotor of the switched reluctance motor rotates;

[0012] The rotor position where the winding inductance change rate is the largest is used as the reference position.

[0013] In an exemplary embodiment, the reference phase current is:

[0014] Under a fixed torque, the phase current corresponding to the maximum change rate of the winding inductance of the switched reluctance motor; the torque is positively correlated with the change rate of the winding inductance and the phase current.

[0015] In an exemplary embodiment, mapping the position deviation to obtain a phase current adjustment value includes:

[0016] Obtaining the maximum and minimum values ​​of the winding inductance of the switched reluctance motor and the rotor position interval corresponding to the maximum winding inductance change rate;

[0017] Obtaining an upper limit value of a current adjustment ratio according to the maximum and minimum values ​​of the winding inductance and the difference between the two end values ​​of the position interval, wherein the current adjustment ratio is used to indicate a multiple relationship between the adjusted phase current and the reference phase current;

[0018] Obtaining a phase current adjustment parameter according to the current adjustment ratio upper limit and the maximum position deviation of the rotor;

[0019] A phase current adjustment value is obtained based on the phase current adjustment parameter, the position deviation, and the reference phase current.

[0020] In an exemplary embodiment, obtaining the upper limit of the current adjustment ratio according to the maximum and minimum values ​​of the winding inductance and the difference between the two end values ​​of the position interval includes:

[0021] According to the relationship Obtain the upper limit value of the current adjustment ratio;

[0022] Wherein, Ki represents the upper limit of the current adjustment ratio, L max Indicates the maximum value of the winding inductance, L min represents the minimum value of the winding inductance, θ3 represents one end value of the position interval, and θ2 represents the other end value of the position interval.

[0023] In an exemplary embodiment, obtaining the phase current adjustment parameter according to the current adjustment ratio upper limit and the maximum position deviation of the rotor includes:

[0024] According to the relationship Obtain phase current adjustment parameters;

[0025] Among them, θ i represents the phase current adjustment parameter, Δθmax represents the maximum position deviation, and Ki represents the upper limit of the current adjustment ratio;

[0026] The obtaining of the phase current adjustment value based on the phase current adjustment parameter, the position deviation and the reference phase current includes:

[0027] According to the relationship Obtaining phase current adjustment value;

[0028] Wherein, Δi represents the phase current adjustment value, Δθ represents the position deviation, and θ i represents the phase current adjustment parameter, i o represents the reference phase current;

[0029] The step of adjusting the set reference phase current according to the phase current adjustment value to obtain the adjusted phase current includes:

[0030] According to the relationship i t = o +Δi, obtain the adjusted phase current;

[0031] Among them, i t represents the adjusted phase current, i o represents the reference phase current, and Δi represents the phase current adjustment value.

[0032] In an exemplary embodiment, the switched reluctance motor includes a stator and a rotor rotatably arranged in the stator, a plurality of first salient poles are spaced apart on the inner wall of the stator, the first salient poles are respectively provided with windings, and the windings on the plurality of first salient poles constitute a three-phase winding, and a plurality of second salient poles are spaced apart on the outer wall of the rotor.

[0033] According to one aspect of an embodiment of the present application, a switched reluctance motor control device is disclosed, the switched reluctance motor control device comprising:

[0034] An information acquisition module, used to acquire a reference position of a rotor of the switched reluctance motor;

[0035] an adjustment value calculation module, configured to calculate a position deviation of a current position of the rotor of the switched reluctance motor relative to the reference position, and perform mapping processing on the position deviation to obtain a phase current adjustment value, wherein the phase current adjustment value is used to offset at least a portion of the torque ripple caused by the position deviation;

[0036] a phase current determination module, configured to adjust a set reference phase current according to the phase current adjustment value to obtain an adjusted phase current;

[0037] A control module is used to drive the switched reluctance motor according to the adjusted phase current.

[0038] According to one aspect of an embodiment of the present application, an electronic device is disclosed, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the processor implements the aforementioned switched reluctance motor control method.

[0039] According to one aspect of an embodiment of the present application, a computer-readable storage medium is disclosed, which stores computer-readable instructions. When the computer-readable instructions are executed by a processor of a computer, the computer executes the aforementioned switched reluctance motor control method.

[0040] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0041] The technical solution provided by the present application sets a reference position and a reference phase current of the rotor, calculates the position deviation of the current position of the rotor relative to the reference position, maps the position deviation to obtain a phase current adjustment value, and then adjusts the set reference phase current according to the phase current adjustment value to obtain the adjusted phase current. The switched reluctance motor is then driven according to the adjusted phase current. The present application utilizes the phase current adjustment value to offset at least part of the torque pulsation caused by the position deviation of the rotor, thereby suppressing the torque pulsation of the switched reluctance motor. When the present application is applied to the direct drive system of a new energy heavy-duty truck, the startup jitter of the vehicle can be significantly reduced.

[0042] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] Figure 1 FIG. 1 is a schematic diagram of a switched reluctance motor according to an exemplary embodiment.

[0045] Figure 2 It is a curve diagram showing the relationship between the winding inductance and the rotor position of the switched reluctance motor.

[0046] Figure 3 The flowchart of the switched reluctance motor control method is shown in an exemplary embodiment.

[0047] Figure 4 yes Figure 3Detailed flowchart of step S101 in FIG.

[0048] Figure 5 yes Figure 3 Detailed flowchart of step S102 in FIG.

[0049] Figure 6 FIG. 4 is a flow chart of a switched reluctance motor control method according to another exemplary embodiment.

[0050] Figure 7 is a graph of phase current before and after adjustment of an exemplary embodiment.

[0051] Figure 8 The figure is a graph showing the relationship between torque and rotor position before and after adjusting the phase current in an exemplary embodiment.

[0052] Figure 9 The figure is a block diagram showing the composition of a switched reluctance motor control device according to an exemplary embodiment.

[0053] Figure 10 The figure is a block diagram of an electronic device shown in an exemplary embodiment.

[0054] Figure 11 A block diagram of a computer system is shown as an exemplary embodiment.

[0055] The following are the descriptions of the reference numerals:

[0056] 100. Switched reluctance motor; 1. Stator; 11. First salient pole; 2. Rotor; 21. Second salient pole; 200. Switched reluctance motor control device; 210. Information acquisition module; 220. Adjustment value calculation module; 230. Phase current determination module; 240. Control module; 300. Electronic device; 301. Processor; 302. Memory; 400. Computer system; 401. CPU; 402. ROM; 403. Storage part; 404. RAM; 405. Bus; 406. I / O interface; 407. Input part; 408. Output part; 409. Communication part; 410. Drive; 411. Removable media. DETAILED DESCRIPTION

[0057] Although the present application can be easily embodied in different forms of embodiments, only some of the specific embodiments are shown in the drawings and will be described in detail in this specification. It should be understood that this description should be regarded as an exemplary illustration of the principles of the application and is not intended to limit the application to what is described herein.

[0058] Furthermore, the terms "comprises," "includes," "has," and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally include other steps or modules not listed, or may optionally include other steps or modules inherent to the process, method, product, or apparatus.

[0059] It should be noted that, in the embodiments of the present application, words such as "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in the embodiments of the present application as "exemplary," "for example," or "for example" should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0060] The exemplary embodiments will be described in detail below. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the Summary of the Invention.

[0061] Please see first Figure 1 As shown, the switched reluctance motor 100 includes a stator 1 and a rotor 2 disposed within the stator 1. A plurality of first salient poles 11 are spaced apart on the inner wall of the stator 1. Each of the first salient poles 11 is provided with a winding (not shown) for providing an operating magnetic field. A plurality of second salient poles 21 are spaced apart on the outer wall of the rotor 2. A gap is defined between the rotor 2 and the stator 1, allowing the rotor 2 to rotate freely within the stator 1. As the rotor 2 rotates, the winding inductance changes with the position of the rotor 2, which in turn causes the generated magnetic field strength to change, ultimately resulting in a change in the torque of the switched reluctance motor 100.

[0062] exist Figure 1 In the embodiment shown, the stator 1 is provided with 12 salient poles 11, the rotor 2 is provided with 8 salient poles 21, and the windings on the plurality of salient poles 11 constitute a three-phase winding. Of course, the number of salient poles 11 and salient poles 21 is not limited to Figure 1 In the illustrated embodiment, for example, the stator 1 is provided with six salient poles 11 and the rotor 2 is provided with four salient poles 21 .

[0063] When the switched reluctance motor is running at low speed, the commutation frequency is very low. Refer to the relationship between the static torque of the switched reluctance motor and the rate of change of phase current and winding inductance. Where T represents torque, W′ mrepresents the maximum magnetic field strength, θ represents the rotor rotation angle, that is, the rotor position, L(θ) represents the relationship between the winding inductance and the rotor position, i represents the phase current, It is known that the rotor position is determined by the relationship Affects the torque of the switched reluctance motor.

[0064] Figure 2 The relationship between winding inductance and rotor position is shown in the graph, Figure 2 As shown in the figure, the winding inductance varies with the rotor rotation angle. Specifically, the range of θ1 to θ5 is a change cycle of the winding inductance. In the range of θ1 to θ2, the winding inductance remains at the minimum value L. min In the range of θ2 to θ3, the winding inductance gradually increases and reaches the maximum value L at θ3. max , in the range of θ3 to θ4, the winding inductance remains at the maximum value L max In the range of θ4 to θ5, the winding inductance gradually decreases and reaches the minimum value L at θ5. min Among them, θ=0 indicates that the axis of the stator salient pole coincides with the center of the rotor groove, θ1(θ5) indicates the position where the leading edge of the rotor groove meets the leading edge of the stator salient pole, θ2 indicates the position where the leading edge of the rotor salient pole meets the leading edge of the stator salient pole, θ3 indicates the position where the leading edge of the rotor salient pole coincides with the leading edge of the stator salient pole, and θ4 indicates the position where the leading edge of the rotor groove coincides with the trailing edge of the stator salient pole.

[0065] Based on the relationship between winding inductance and rotor position, and the relationship between torque, winding inductance, and phase current, the switched reluctance motor control method of the embodiment of the present application sets the rotor's reference position and reference phase current, calculates the position deviation of the rotor's current position relative to the reference position, maps the position deviation to obtain a phase current adjustment value, and then adjusts the set reference phase current according to the phase current adjustment value to obtain the adjusted phase current, and then drives the switched reluctance motor according to the adjusted phase current. The present application utilizes the phase current adjustment value to offset at least part of the torque pulsation caused by the rotor's position deviation, thereby suppressing the torque pulsation of the switched reluctance motor. When the present application is applied to a new energy heavy-duty truck direct drive system, the startup jitter of the vehicle can be significantly reduced.

[0066] In an exemplary embodiment, Figure 3 As shown, the switched reluctance motor control method of the present application includes an information acquisition step, an adjustment value calculation step, a phase current determination step, and a drive control step, which correspond to the following steps S101 to S104 respectively.

[0067] S101 , obtaining a reference position of a rotor of a switched reluctance motor.

[0068] Specifically, the rotor position at which the winding inductance change rate is the largest may be used as the reference position, or a rotor position other than the rotor position at which the winding inductance change rate is the largest may be used as the reference position.

[0069] In an exemplary embodiment, the rotor position where the winding inductance change rate is the largest is used as the reference position, such as Figure 4 As shown, in this exemplary embodiment, step S101 includes the following steps S1011 to S1012.

[0070] S1011 , obtaining a rotor position of the switched reluctance motor at which the rate of change of the winding inductance is maximum as the rotor of the switched reluctance motor rotates.

[0071] S1012, taking the rotor position where the winding inductance change rate is the largest as the reference position.

[0072] According to the relationship between torque, phase current and winding inductance It can be seen that the rotor position with the largest winding inductance change rate is taken as the reference position. Under the condition of fixed torque T, the corresponding phase current i is the smallest at this time. The phase current adjustment value determined by the subsequent step S102 is the current value that needs to be increased on the basis of the reference phase current.

[0073] It can be understood that if in some embodiments the rotor position at which the winding inductance change rate is the smallest is used as the reference position, under the condition of a fixed torque T, the corresponding phase current i is the largest at this time, and the phase current adjustment value determined by the subsequent step S102 is the current value that needs to be reduced based on the reference phase current.

[0074] S102 , calculating a position deviation of a current position of the rotor of the switched reluctance motor relative to a reference position, and performing mapping processing on the position deviation to obtain a phase current adjustment value.

[0075] The phase current adjustment value is used to offset at least part of the torque ripple caused by the position deviation. In the best case, the phase current adjustment value just offsets the torque ripple caused by the position deviation, so that the torque is maintained at a constant value.

[0076] In an exemplary embodiment, Figure 5 As shown, step S102 includes the following steps S1021 to S1025.

[0077] S1021 , calculating a position deviation of the current position of the rotor of the switched reluctance motor relative to a reference position.

[0078] S1022, obtaining the maximum and minimum values ​​of the winding inductance of the switched reluctance motor and the rotor position interval corresponding to the maximum winding inductance change rate.

[0079] See Figure 2 It can be seen that the maximum value of the winding inductance of the switched reluctance motor is L max , the minimum value of the winding inductance of the switched reluctance motor is L min , the rotor position range corresponding to the maximum winding inductance change rate is θ2~θ3.

[0080] S1023 , obtaining an upper limit value of the current adjustment ratio according to the maximum and minimum values ​​of the winding inductance and the difference between the two end values ​​of the rotor position interval corresponding to the maximum winding inductance change rate.

[0081] The current adjustment ratio is used to indicate the multiple relationship between the adjusted phase current and the reference phase current.

[0082] In detail, in an exemplary embodiment, in step S1023, according to the relation Calculate and obtain the upper limit value of the current adjustment ratio.

[0083] Among them, Ki represents the upper limit of the current adjustment ratio, L max Indicates the maximum value of the winding inductance, L min represents the minimum value of the winding inductance, θ3 represents one end value of the rotor position interval corresponding to the maximum winding inductance change rate, and θ2 represents the other end value of the rotor position interval corresponding to the maximum winding inductance change rate.

[0084] S1024: Obtain a phase current adjustment parameter according to the current adjustment ratio upper limit and the maximum position deviation of the rotor.

[0085] In detail, in an exemplary embodiment, in step S1024, according to the relationship The phase current adjustment parameters are calculated.

[0086] Among them, θ i represents the phase current adjustment parameter, Δθmax represents the maximum position deviation, and Ki represents the upper limit of the current adjustment ratio.

[0087] S1025 , obtaining a phase current adjustment value based on the phase current adjustment parameter, the position deviation, and the reference phase current.

[0088] In detail, in an exemplary embodiment, in step S1025, according to the relationship The phase current adjustment value is obtained by calculation.

[0089] Among them, Δi represents the phase current adjustment value, Δθ represents the position deviation, and θ i Indicates the phase current adjustment parameter, i o Indicates the reference phase current.

[0090] S103 , adjusting the set reference phase current according to the phase current adjustment value to obtain an adjusted phase current.

[0091] Among them, the reference phase current is the phase current corresponding to the maximum change rate of the winding inductance of the switched reluctance motor under fixed torque. According to the relationship between torque, phase current and winding inductance change rate, It can be seen that the torque is positively correlated with the change rate of winding inductance and phase current.

[0092] In detail, in an exemplary embodiment, in step S103, according to the relationship i t = o +Δi, calculate and obtain the adjusted phase current.

[0093] Among them, i t Represents the adjusted phase current, i o represents the reference phase current, and Δi represents the phase current adjustment value.

[0094] S104 , driving the switched reluctance motor according to the adjusted phase current.

[0095] Next, a specific embodiment is taken as an example to further elaborate on the switched reluctance motor control method of the present application.

[0096] See Figure 6 As shown, in this specific embodiment, the switched reluctance motor control method includes the following steps S201 to S204.

[0097] S201 , obtaining a reference position θ0 of the rotor of the switched reluctance motor.

[0098] During the actual operation of the switched reluctance motor, the relationship between the winding inductance and the rotor position may not be strictly in accordance with Figure 2 As shown in the graph, in this embodiment, when the phase current is fixed, in the range of θ2 to θ3, the torque of the switched reluctance motor is the largest at the middle position of θ2 to θ3, that is, the winding inductance change rate is the largest at the middle position of θ2 to θ3. Therefore, the middle position of the range of θ2 to θ3 is selected. As a reference position.

[0099] S202, calculating the position deviation Δθ=θ of the current position of the rotor of the switched reluctance motor relative to the reference position t -θ0.

[0100] Where Δθ represents the position deviation, θ t represents the current position of the rotor, and θ0 represents the reference position.

[0101] S203, calculate the target phase current

[0102] Among them, i t represents the target phase current, i.e. the adjusted phase current, Δθ represents the position deviation, θ i Indicates the phase current adjustment parameter, i o Indicates the reference phase current.

[0103] First, the upper limit of the current adjustment ratio must be determined. In the range of θ2 to θ3, the relationship between the winding inductance and the rotor position can be expressed as L(θ) = K(θ-θ2) + L min In the range of θ4 to θ5, the relationship between the winding inductance and the rotor position can be expressed as L(θ)=L max -K(θ-θ4), where K=(L max -L min ) / (θ3-θ2), for the same switched reluctance motor, K is a constant coefficient, which reflects the ratio of the maximum torque and the minimum torque generated by the single-phase winding when the rotor rotates at different angles. Therefore, the current adjustment ratio upper limit Ki can be reversed according to the value of the constant coefficient K, and then the phase current adjustment parameter θ can be determined according to the current adjustment ratio upper limit Ki. i The value of .

[0104] Among them, different types of switched reluctance motors have different upper limits of current adjustment ratio Ki, which is related to the maximum value of the switched reluctance motor winding inductance L. max , the minimum value of winding inductance L min And it is related to the range of θ2 to θ3. In this embodiment, θ3-θ2=15.2°, L max =28.17mH, L min =2.46mH.

[0105] Calculate the current adjustment ratio upper limit Ki as:

[0106]

[0107] That is, The maximum value of is 1.3, that is, the adjusted phase current (target phase current) is at most 1.3 times the reference phase current.

[0108] Then, according to the conduction angle parameters of the switched reluctance motor and the set maximum off angle, the maximum value of the position deviation Δθ is calculated to be 6.9 degrees, and the phase current adjustment parameter θ can be calculated. i :

[0109]

[0110] At this time, the adjusted phase current (target phase current) can be obtained based on the obtained phase current adjustment parameter, the position deviation amount, and the reference phase current.

[0111] In this specific embodiment, the windings on the stator salient poles of the switched reluctance motor constitute three-phase windings, corresponding to the U phase, the V phase and the W phase respectively. Figure 7 The graphs of the U-phase, V-phase and W-phase currents before and after adjustment are shown in FIG. Figure 7 (a) is the curve diagram of U phase, V phase and W phase current before adjustment. Figure 7 (b) is the curve diagram of the U-phase, V-phase and W-phase current after adjustment.

[0112] S204, based on the target phase current i t Drives a switched reluctance motor.

[0113] Figure 8 The figure shows the relationship between the torque and the rotor position before and after the phase current is adjusted in this embodiment, wherein: Figure 8 (a) shows the relationship between torque and rotor position before adjusting the U-phase, V-phase, and W-phase currents. The U-phase, V-phase, and W-phase currents are fixed at 100A. As shown in (a), the difference between the upper and lower peak values ​​of torque as the rotor position changes reaches more than 100, and the torque pulsation is large. Figure 8 (b) is a curve diagram showing the relationship between torque and rotor position after adjusting the currents of phase U, phase V and phase W by the method of this application. As can be seen from (b), during the rotation of the rotor, the torque is almost kept at the same torque value of 350. Figure 8 It can be seen that the present application achieves a very good torque pulsation suppression effect.

[0114] Understandably, based on Figure 2 From the curve graph shown, it can be seen that theoretically, the winding inductance change rate is the same in the range of θ2 to θ3. In practice, the winding inductance change rate in the range of θ2 to θ3 also has only slight fluctuations. Therefore, in some embodiments, for ease of implementation, the phase current in the range of θ2 to θ3 does not need to be adjusted anymore, and the motor can be driven directly with the reference phase current.

[0115] The following is an embodiment of the switched reluctance motor control device of the present application. For details not disclosed in the embodiment of the switched reluctance motor control device of the present application, please refer to the above-mentioned embodiment of the switched reluctance motor control method of the present application.

[0116] Figure 9 A switch reluctance motor control device is shown according to an exemplary embodiment. The control device 200 can be applied to the driving process of the switch reluctance motor to perform Figures 3 to 6 All or part of the steps of any of the switching reluctance motor control methods shown. Figure 9 As shown, the control device 200 includes but is not limited to: an information acquisition module 210 , an adjustment value calculation module 220 , a phase current determination module 230 and a control module 240 .

[0117] The information acquisition module 210 is used to acquire a reference position of the rotor of the switched reluctance motor.

[0118] The adjustment value calculation module 220 is used to calculate the position deviation of the current position of the rotor of the switched reluctance motor relative to the reference position, and map the position deviation to obtain a phase current adjustment value, which is used to offset at least part of the torque pulsation caused by the position deviation.

[0119] The phase current determination module 230 is configured to adjust a set reference phase current according to the phase current adjustment value to obtain an adjusted phase current.

[0120] The control module 240 is configured to drive the switched reluctance motor according to the adjusted phase current.

[0121] In an exemplary embodiment, the information acquisition module 210 acquires the rotor position where the winding inductance of the switched reluctance motor changes the most as the rotor of the switched reluctance motor rotates, and uses the rotor position where the winding inductance changes the most as the reference position.

[0122] In an exemplary embodiment, the reference phase current is the phase current corresponding to the maximum change rate of the winding inductance of the switched reluctance motor under a fixed torque, wherein the torque is positively correlated with the change rate of the winding inductance and the phase current.

[0123] In an exemplary embodiment, the adjustment value calculation module 220 obtains the maximum and minimum values ​​of the winding inductance of the switched reluctance motor and the rotor position interval corresponding to the maximum winding inductance change rate; obtains the current adjustment ratio upper limit value based on the maximum and minimum values ​​of the winding inductance and the difference between the two end values ​​of the position interval, and the current adjustment ratio is used to indicate the multiple relationship between the adjusted phase current and the reference phase current; obtains the phase current adjustment parameter based on the current adjustment ratio upper limit value and the maximum position deviation of the rotor; and obtains the phase current adjustment value based on the phase current adjustment parameter, the position deviation and the reference phase current.

[0124] In an exemplary embodiment, the adjustment value calculation module 220 calculates the value of Calculate the upper limit of the current adjustment ratio, according to the relationship Calculate the phase current adjustment parameters according to the relationship Calculate the phase current adjustment value; where Ki represents the upper limit of the current adjustment ratio, L max Indicates the maximum value of the winding inductance, L min represents the minimum value of the winding inductance, θ3 represents one end value of the rotor position interval corresponding to the maximum rate of change of the winding inductance, θ2 represents the other end value of the rotor position interval corresponding to the maximum rate of change of the winding inductance, θi Indicates the phase current adjustment parameter, Δθmax indicates the maximum position deviation, Δi indicates the phase current adjustment value, Δθ indicates the position deviation, i o Indicates the reference phase current.

[0125] In an exemplary embodiment, the phase current determination module 230 determines the phase current according to the relationship i t = o +Δi, calculate the adjusted phase current; where i t Represents the adjusted phase current, i o represents the reference phase current, and Δi represents the phase current adjustment value.

[0126] The control device 200 can be installed in any device with data processing function, such as a desktop computer, a laptop computer, etc.

[0127] See Figure 10 As shown, this embodiment provides an electronic device 300, which includes one or more processors 301 and a memory 302. The memory 302 is used to store one or more programs. When the one or more programs are executed by one or more processors 301, the electronic device 300 implements the switched reluctance motor control method of the present application.

[0128] Figure 11 The following schematically shows a block diagram of a computer system structure of an electronic device for implementing an embodiment of the present application. Figure 11 The computer system shown is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0129] like Figure 11 As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory 402 (ROM) or the program loaded from the storage part 403 to the random access memory 404 (RAM). Various programs and data required for device operation are also stored in the random access memory 404. The CPU 401, the read-only memory 402, and the random access memory 404 are connected to each other via a bus 405. An input / output interface 406 (input / output interface, i.e., I / O interface) is also connected to the bus 405.

[0130] The following components are connected to the input / output interface 406: an input section 407 including a keyboard, a mouse, and the like; an output section 408 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 403 including a hard disk; and a communication section 409 including a network interface card such as a local area network card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the input / output interface 406 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like, is installed in the drive 410 as needed, so that a computer program read therefrom can be installed into the storage section 403 as needed.

[0131] In particular, according to embodiments of the present application, the processes described in the various method flow charts can be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods shown in the flow charts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 409 and / or installed from a removable medium 411. When the computer program is executed by the central processing unit 401, the various functions defined in the apparatus of the present application are performed.

[0132] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor device, apparatus or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution device, apparatus or device. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution apparatus, device, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0133] Those skilled in the art will appreciate that, in one or more of the above examples, the functions described herein may be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions may be stored in a computer-readable storage medium or transmitted as one or more instructions or codes on a computer-readable storage medium.

[0134] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0135] In the several embodiments provided herein, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, modular division is merely a logical functional division, and actual implementation may employ other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be omitted or not implemented.

[0136] It should be understood that the present application is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be performed without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A switched reluctance motor control method, characterized in that: include: Obtaining a reference position of a rotor of a switched reluctance motor; calculating a position deviation of a current position of a rotor of the switched reluctance motor relative to the reference position, and performing mapping processing on the position deviation to obtain a phase current adjustment value, wherein the phase current adjustment value is used to offset at least a portion of the torque ripple caused by the position deviation; Adjusting the set reference phase current according to the phase current adjustment value to obtain an adjusted phase current; driving the switched reluctance motor according to the adjusted phase current; The step of mapping the position deviation to obtain the phase current adjustment value includes: Obtaining the maximum and minimum values ​​of the winding inductance of the switched reluctance motor and the rotor position interval corresponding to the maximum winding inductance change rate; According to the relationship Obtain the upper limit value of the current adjustment ratio, where Ki represents the upper limit value of the current adjustment ratio, L max Indicates the maximum value of the winding inductance, L min represents the minimum value of the winding inductance, θ3 represents one end value of the position interval, θ2 represents the other end value of the position interval, and the current adjustment ratio is used to indicate the multiple relationship between the adjusted phase current and the reference phase current; According to the relationship Obtain the phase current adjustment parameters, where θ i represents the phase current adjustment parameter, Δθmax represents the maximum position deviation of the rotor, and Ki represents the upper limit of the current adjustment ratio; According to the relationship Obtain the phase current adjustment value, wherein Δi represents the phase current adjustment value, Δθ represents the position deviation, and θ i represents the phase current adjustment parameter, i o represents the reference phase current.

2. The switched reluctance motor control method according to claim 1, wherein: The obtaining of the reference position of the rotor of the switched reluctance motor comprises: Obtaining a rotor position of the switched reluctance motor at which a change rate of a winding inductance of the switched reluctance motor is maximum as the rotor of the switched reluctance motor rotates; The rotor position where the winding inductance change rate is the largest is used as the reference position.

3. The switched reluctance motor control method according to claim 2, wherein: The reference phase current is: Under a fixed torque, the phase current corresponding to the maximum change rate of the winding inductance of the switched reluctance motor; the torque is positively correlated with the change rate of the winding inductance and the phase current.

4. The switched reluctance motor control method according to claim 1, wherein: The step of adjusting the set reference phase current according to the phase current adjustment value to obtain the adjusted phase current includes: According to the relationship i t =i o +Δi, obtain the adjusted phase current; Among them, i t represents the adjusted phase current, i o represents the reference phase current, and Δi represents the phase current adjustment value.

5. The switched reluctance motor control method according to claim 1, wherein: The switched reluctance motor includes a stator and a rotor rotatably arranged in the stator. A plurality of first salient poles are arranged at intervals on the inner wall of the stator. The first salient poles are respectively provided with windings. The windings on the plurality of first salient poles constitute a three-phase winding. A plurality of second salient poles are arranged at intervals on the outer wall of the rotor.

6. A switched reluctance motor control device, characterized in that: include: An information acquisition module, used to acquire a reference position of a rotor of the switched reluctance motor; an adjustment value calculation module, configured to calculate a position deviation of a current position of the rotor of the switched reluctance motor relative to the reference position, and perform mapping processing on the position deviation to obtain a phase current adjustment value, wherein the phase current adjustment value is used to offset at least a portion of the torque ripple caused by the position deviation; The step of mapping the position deviation to obtain the phase current adjustment value includes: Obtaining the maximum and minimum values ​​of the winding inductance of the switched reluctance motor and the rotor position interval corresponding to the maximum winding inductance change rate; According to the relationship Obtain the upper limit value of the current adjustment ratio, where Ki represents the upper limit value of the current adjustment ratio, L max Indicates the maximum value of the winding inductance, L min represents the minimum value of the winding inductance, θ3 represents one end value of the position interval, θ2 represents the other end value of the position interval, and the current adjustment ratio is used to indicate the multiple relationship between the adjusted phase current and the reference phase current; According to the relationship Obtain the phase current adjustment parameters, where θ i represents the phase current adjustment parameter, Δθmax represents the maximum position deviation of the rotor, and Ki represents the upper limit of the current adjustment ratio; According to the relationship Obtain the phase current adjustment value, wherein Δi represents the phase current adjustment value, Δθ represents the position deviation, and θ i represents the phase current adjustment parameter, i o represents the reference phase current; a phase current determination module, configured to adjust a set reference phase current according to the phase current adjustment value to obtain an adjusted phase current; A control module is used to drive the switched reluctance motor according to the adjusted phase current.

7. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, enables the processors to implement the switched reluctance motor control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the switched reluctance motor control method according to any one of claims 1 to 5.

Images