Switched reluctance motor control method and system based on improved TSF control

Abstract

The invention relates to the technical field of motor control, and discloses a switched reluctance motor control method and system based on improved TSF control, and the method comprises the following steps: S1, employing an improved TSF control strategy, and optimizing a torque distribution function in traditional TSF control; s2, establishing a mathematical model of the switched reluctance motor, wherein the mathematical model comprises a rotor mechanical motion equation, a function relationship between winding current and a rotor position angle, and an energy conversion equation; s3, in combination with a table look-up method, calculating a corresponding current value according to a flux linkage-angle-ammeter look-up table, and calculating an electromagnetic torque by using a current-angle-torque table look-up table; s4, performing difference calculation on the current signal and a target current value, and inputting the current signal into a PI controller to generate a PWM signal; and S5, adjusting the running state of the motor simulator through a driving module according to the PWM signal, and realizing closed-loop feedback control. According to the invention, the motor simulator can output voltage and current signals with practical significance, so that the driving and operation test of actual equipment can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a switched reluctance motor control method and system based on improved TSF control. Background Art

[0002] Switched Reluctance Motor (SRM) has been widely used in the industrial field, household appliances and new energy vehicles due to its simple structure, low cost, high temperature resistance and high reliability. However, due to the significant nonlinear electromagnetic and magnetic resistance characteristics of SRM, it is easy to generate large torque pulsation and peak current during operation, which brings great challenges to the control design of the motor.

[0003] In the prior art, the switched reluctance motor simulation system can usually only output digital signals, but cannot generate actual voltage and current signals. Although such a design can be used to verify some control algorithms and simulate the motor state, its output signal is limited to simulation and cannot directly drive real electrical and mechanical equipment. This limitation makes the existing simulation system unable to be used for comprehensive testing of motor operating performance and direct driving of actual loads. Summary of the invention

[0004] In order to make up for the above deficiencies, the present invention provides a switched reluctance motor control method and system based on improved TSF control, aiming to improve the problem that the existing switched reluctance motor simulation system can usually only output digital signals but cannot generate actual voltage and current signals.

[0005] In a first aspect, the present invention provides the following technical solution: a switched reluctance motor control method based on improved TSF control, comprising the following steps:

[0006] S1: Adopting the improved TSF control strategy, according to the commutation interval characteristics of the switched reluctance motor, the torque distribution function in the traditional TSF control is optimized to reduce the torque ripple and peak current in the commutation interval;

[0007] S2: Establish a mathematical model of the switched reluctance motor, including the rotor mechanical motion equation, the functional relationship between the winding current and the rotor position angle, and the energy conversion equation, to describe the dynamic characteristics of the motor;

[0008] S3: Combined with the table lookup method, the corresponding current value is calculated according to the flux-angle-current table, and the electromagnetic torque is calculated using the current-angle-torque table;

[0009] S4: The voltage signal output by the motor controller and the current signal of the motor simulator are collected through the signal acquisition module, the difference between the current signal and the target current value is calculated, and the difference is input into the PI controller to generate a PWM signal;

[0010] S5: The driving module adjusts the operating state of the motor simulator according to the PWM signal so that the real-time operating state of the motor is consistent with the target control parameters, thereby realizing closed-loop feedback control.

[0011] Preferably, the improved TSF control strategy optimizes torque distribution by introducing a cubic compensation curve in the commutation interval on the basis of the traditional linear TSF function, specifically including:

[0012] Slow down the torque drop speed of the shut-off phase in the early stage of the commutation interval;

[0013] Increase the torque increase rate of the conducting phase in the late commutation interval;

[0014] The improved torque distribution function is smoothed by combining linear and cubic functions;

[0015] The expression of the cubic compensation curve is:

[0016]

[0017] Where: c1 and c2 are the cubic compensation curve functions in the rising and falling processes of TSF respectively; the linear and cubic compensation functions are combined in a certain proportion;

[0018] The cubic compensation TSF is expressed as:

[0019]

[0020] Where: θon, θov, θoff are the conduction angle, the overlapping angle of the adjacent two-phase current, and the turn-off angle respectively; τ is a rotor angle period of the SRM, which can be expressed as τ = 2π / Nr, where Nr is the number of SRM rotor poles, m and n are constants, and m + n = 1;

[0021] The cubic compensation TSF allocates a smaller torque to the conduction phase in the first half of the commutation interval and a larger torque to the conduction phase in the second half of the commutation interval, making the compensated TSF curve smoother and reducing torque pulsation.

[0022] Preferably, the mathematical model includes the following contents:

[0023] The mechanical motion equation of the rotor is:

[0024] The angular velocity is:

[0025] The functional relationship between winding current and rotor position angle: ψ k =L k (i k ,θ)×i k;

[0026] It can be concluded that: k =∫(U k -R k ×i k )dt;

[0027] It can be concluded that:

[0028] Among them, T L is the load torque; T e is the electromagnetic torque; J is the moment of inertia of the SRM rotor and load; ψ k is the k-th phase flux;

[0029] Energy conversion equation: According to the principle of electromechanical energy conversion, ΔWm=T avg Δθ, where T avg Output torque within the Δθ angle range:

[0030]

[0031] Where: T avg is the output torque within the Δθ angle range; ΔW' is the change in magnetic energy; ΔW f is the change of magnetic energy storage;

[0032] According to the limit method, T at any point a on the closed loop curve 2 α for:

[0033]

[0034] Due to the symmetry of the m-phase winding, the average electromagnetic torque T output by the SRM is:

[0035]

[0036] Where: ξ is the intermediate variable of phase current; M is the number of SRM phases; N is the number of SRM rotor teeth.

[0037] Preferably, the table lookup method comprises the following steps:

[0038] According to the flux-angle-current table, the winding current value is calculated;

[0039] Input the current value into the current-angle-torque table to calculate the corresponding electromagnetic torque;

[0040] Combining the relationship between torque and load, the motor speed and rotor position are calculated using the mechanical motion equation.

[0041] In a second aspect, the present invention provides the following technical solution, a switch reluctance motor control system based on improved TSF control, comprising:

[0042] A motor simulator module, used to simulate the operating state of the switched reluctance motor, including output voltage and current signals;

[0043] A driving module, used for receiving the PWM signal generated by the control module and controlling the operation of the motor simulator;

[0044] A control module, used to perform real-time calculations based on the improved TSF control strategy, including optimization of the torque distribution function and solution of the mathematical model;

[0045] A signal acquisition module, used to collect the voltage signal of the motor controller and the current signal of the motor simulator;

[0046] Human-computer interaction module, used to set and adjust motor control parameters.

[0047] Preferably, the control module performs the following functions:

[0048] Calculate the target torque distribution of the motor based on the improved TSF control strategy;

[0049] Combined with the table lookup method, the electromagnetic torque and operating status are calculated in real time.

[0050] Preferably, the signal acquisition module inputs the collected voltage signal and current signal into the control module, generates a PWM signal through difference calculation and a PI controller, and ensures the closed-loop feedback control accuracy of the motor operation.

[0051] Preferably, the driving module adopts a star-type three-phase full-bridge topology structure;

[0052] The control module includes two TMS320F28335 chips, wherein:

[0053] The main control chip is used to execute the improved TSF control strategy and mathematical model calculation;

[0054] The slave chip is used to process the feedback signal and the driving signal.

[0055] In the third aspect, the invention provides the following technical solution: a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned switched reluctance motor control method based on improved TSF control when executing the computer program.

[0056] In a fourth aspect, the present invention provides the following technical solution: a readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned switched reluctance motor control method based on improved TSF control.

[0057] The present invention has the following beneficial effects:

[0058] 1. In the present invention, the motor simulator is optimized to output voltage and current signals with practical significance, which can be directly connected to real electrical or mechanical equipment without the need for additional signal conversion modules, thereby realizing the drive and operation test of the actual equipment. This capability makes the simulation system closer to practical applications and is suitable for equipment performance verification and control algorithm optimization.

[0059] 2. In the present invention, a star-connected three-phase full-bridge topology is used to replace the three traditional back-to-back PWM converters, which significantly reduces the number of required components, simplifies the hardware design, and reduces the system cost. At the same time, the topology improves the tracking effect of current and torque, can achieve dynamic control of the motor simulator with higher accuracy, and improve the reliability and operation efficiency of the system.

[0060] 3. In the present invention, the table lookup method is used to pre-build data models such as flux-angle-current table and current-angle-torque table, replacing the traditional complex online nonlinear equation calculation. Through the table lookup method, the system realizes fast and accurate motor characteristic calculation, greatly improves the control response speed, simplifies the motor parameter adjustment process, makes the system more flexible and easy to adapt to different types of motors.

[0061] 4. In the present invention, an improved TSF control strategy is adopted. By introducing a cubic compensation curve into the traditional TSF control to optimize the torque distribution in the commutation interval, the torque ripple and peak current are significantly reduced, and the operation stability and efficiency of the system are improved. The improved control strategy has stronger real-time and adaptability under different operating conditions, and can more accurately meet the control requirements in complex dynamic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A method flow chart of a switched reluctance motor control method based on improved TSF control proposed by the present invention;

[0063] Figure 2 This is a system architecture diagram of a switched reluctance motor control system based on improved TSF control proposed by the present invention;

[0064] Figure 3 This is a switched reluctance motor simulation system diagram of the switched reluctance motor control method and system based on improved TSF control proposed in the present invention. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] Embodiment 1

[0067] Reference Figure 1 In a first embodiment of the present invention, the present invention provides a switched reluctance motor control method based on improved TSF control, comprising the following steps:

[0068] S1: Adopting the improved TSF control strategy, according to the commutation interval characteristics of the switched reluctance motor, the torque distribution function in the traditional TSF control is optimized to reduce the torque ripple and peak current in the commutation interval;

[0069] S2: Establish a mathematical model of the switched reluctance motor, including the rotor mechanical motion equation, the functional relationship between the winding current and the rotor position angle, and the energy conversion equation, to describe the dynamic characteristics of the motor;

[0070] S3: Combined with the table lookup method, the corresponding current value is calculated according to the flux-angle-current table, and the electromagnetic torque is calculated using the current-angle-torque table;

[0071] S4: The voltage signal output by the motor controller and the current signal of the motor simulator are collected through the signal acquisition module, the difference between the current signal and the target current value is calculated, and the difference is input into the PI controller to generate a PWM signal;

[0072] S5: The driving module adjusts the operating state of the motor simulator according to the PWM signal so that the real-time operating state of the motor is consistent with the target control parameters, thereby realizing closed-loop feedback control.

[0073] Specifically, the present invention can directly drive real electrical and mechanical equipment by actually outputting voltage and current signals with real meanings, without the need for additional conversion modules, which significantly improves the practicality of the system. The star-connected three-phase full-bridge topology structure is used to replace the traditional back-to-back PWM converter, which reduces the number of components and hardware costs, while improving the tracking accuracy of current and torque and enhancing system reliability. The motor mathematical model is constructed using the table lookup method, and the characteristic data table is established in advance to replace complex online calculations, which greatly improves the response speed and accuracy of the system, simplifies the parameter adjustment process, and facilitates adaptation to different types of motors. In addition, the improved TSF control strategy effectively reduces torque pulsation and peak current by optimizing the torque distribution in the commutation interval, further improves the stability and operating efficiency of the system, and demonstrates stronger real-time and adaptability under complex dynamic conditions.

[0074] The improved TSF control strategy optimizes torque distribution by introducing a cubic compensation curve in the commutation interval based on the traditional linear TSF function. Specifically, it includes:

[0075] Slow down the torque drop speed of the shut-off phase in the early stage of the commutation interval;

[0076] Increase the torque increase rate of the conducting phase in the late commutation interval;

[0077] The improved torque distribution function is smoothed by combining linear and cubic functions;

[0078] The expression of the cubic compensation curve is:

[0079]

[0080] Where: c1 and c2 are the cubic compensation curve functions in the rising and falling processes of TSF respectively; the linear and cubic compensation functions are combined in a certain proportion;

[0081] The cubic compensation TSF is expressed as:

[0082]

[0083] Where: θon, θov, θoff are the conduction angle, the overlapping angle of the adjacent two-phase current, and the turn-off angle respectively; τ is a rotor angle period of the SRM, which can be expressed as τ = 2π / Nr, where Nr is the number of SRM rotor poles, m and n are constants, and m + n = 1;

[0084] The cubic compensation TSF allocates a smaller torque to the conduction phase in the first half of the commutation interval and a larger torque to the conduction phase in the second half of the commutation interval, making the compensated TSF curve smoother and reducing torque pulsation.

[0085] Specifically, in the first half of the commutation interval, the torque provided by the shut-off phase is gradually reduced by controlling the torque reduction speed, thereby avoiding the aggravation of torque pulsation caused by torque mutation.

[0086] In the second half of the commutation interval, the increase rate of the conduction phase torque is increased so that the conduction phase quickly takes over the torque output, ensuring the smoothness of the torque curve during the entire commutation process.

[0087] The introduced cubic compensation curve is an enhancement of the traditional linear distribution function. By segmented control of the commutation interval, the torque distribution efficiency is further improved, while the peak current is effectively suppressed.

[0088] The improved torque distribution function can adapt to different load and speed conditions, and dynamically adjust the parameters of the distribution curve during the control process to achieve higher system stability and responsiveness.

[0089] The mathematical model includes the following:

[0090] The mechanical motion equation of the rotor is:

[0091] The angular velocity is:

[0092] The functional relationship between winding current and rotor position angle: ψ k =L k (i k ,θ)×i k ;

[0093] It can be concluded that: k =∫(U k -R k ×i k )dt;

[0094] It can be concluded that:

[0095] Among them, T L is the load torque; T e is the electromagnetic torque; J is the moment of inertia of the SRM rotor and load; ψ k is the k-th phase flux;

[0096] Energy conversion equation: According to the principle of electromechanical energy conversion, ΔWm=T avg Δθ, where T avg Output torque within the Δθ angle range:

[0097]

[0098] Where: T avgis the output torque within the Δθ angle range; ΔW' is the change in magnetic energy; ΔW f is the change of magnetic energy storage;

[0099] According to the limit method, T at any point a on the closed loop curve 2 α for:

[0100]

[0101] Due to the symmetry of the m-phase winding, the average electromagnetic torque T output by the SRM is:

[0102]

[0103] Where: ξ is the intermediate variable of phase current; M is the number of SRM phases; N is the number of SRM rotor teeth.

[0104] Specifically, the rotor mechanical motion equation: This equation is used to describe the dynamic relationship between the rotor's angular velocity, torque, and load torque under the action of external forces. By combining the actual operating conditions, the mechanical motion equation can calculate the angular velocity changes of the motor in real time, thereby providing basic data support for the control strategy.

[0105] Functional relationship between winding current and rotor position angle: This part describes the dynamic characteristics between winding current, flux and rotor angle, which can reflect the real-time changes of the electromagnetic state inside the motor. By modeling the flux change law, it can be further used for torque calculation and current distribution control.

[0106] Energy conversion equation: This equation is used to describe the conversion relationship between electromagnetic energy and mechanical energy during motor operation, and clarifies the specific relationship between torque generation and input current. Through this equation, the control system can dynamically calculate the output torque to provide support for subsequent control.

[0107] The mathematical model is constructed based on the operating characteristics and physical laws of the switched reluctance motor and can accurately describe the dynamic characteristics of the motor.

[0108] By establishing the model and combining the actual measurement data with the control objectives, comprehensive monitoring and optimized control of the motor's operating status can be achieved.

[0109] This mathematical model is the basis for realizing improved TSF control and can provide support for torque distribution, speed regulation and load adaptability in the commutation interval.

[0110] The table lookup method includes the following steps:

[0111] According to the flux-angle-current table, the winding current value is calculated;

[0112] Input the current value into the current-angle-torque table to calculate the corresponding electromagnetic torque;

[0113] Combining the relationship between torque and load, the motor speed and rotor position are calculated using the mechanical motion equation.

[0114] Specifically, the table lookup method includes the following steps:

[0115] Step 1: Calculate winding current by looking up the table

[0116] Through the flux-angle-current table lookup, the winding current value can be quickly found and calculated according to the current rotor position angle and the target flux value. This step can reflect the motor operating status in real time and provide necessary data support for subsequent torque calculation.

[0117] Step 2: Look up the table to calculate the electromagnetic torque

[0118] The winding current value obtained in the first step is input into the current-angle-torque table, and the electromagnetic torque value is quickly calculated by matching it with the rotor angle. The table lookup process does not require complex online calculations, which can effectively reduce the calculation burden and improve the accuracy and response speed of real-time control.

[0119] Step 3: Calculate the speed and rotor position based on the mechanical motion equation

[0120] According to the electromagnetic torque value obtained from the table, the motor speed and rotor angle are dynamically calculated through the mechanical motion equation to ensure that the motor's operating state is consistent with the target control parameters.

[0121] The table lookup method makes full use of pre-established motor operating characteristic data tables, including flux-angle-current relationship tables and current-angle-torque relationship tables.

[0122] Through the high efficiency of the table lookup method, the real-time and accuracy of the control strategy can be maintained when the motor runs at high speed.

[0123] The combination of table lookup method and mathematical model realizes the accurate description of motor operation status and provides basic support for closed-loop feedback control.

[0124] Embodiment 2:

[0125] Reference Figure 2 In a second embodiment of the present invention, the present invention provides a switched reluctance motor control system based on improved TSF control, comprising:

[0126] A motor simulator module is used to simulate the operating state of the switched reluctance motor, including output voltage and current signals;

[0127] A driving module, used for receiving the PWM signal generated by the control module and controlling the operation of the motor simulator;

[0128] A control module, used to perform real-time calculations based on the improved TSF control strategy, including optimization of the torque distribution function and solution of the mathematical model;

[0129] A signal acquisition module, used to collect the voltage signal of the motor controller and the current signal of the motor simulator;

[0130] Human-computer interaction module, used to set and adjust motor control parameters.

[0131] Specifically, the motor simulator module is used to simulate the operating state of the switched reluctance motor. Its main functions include generating voltage and current signals consistent with the actual motor operation and outputting the dynamic state of the motor. The simulator can dynamically calculate the port characteristics of the motor based on the preset mathematical model and table lookup method to ensure that the actual operating behavior of the motor is accurately reflected under different working conditions.

[0132] The drive module receives the PWM control signal output by the control module and is used to drive and adjust the motor simulator. Its core function is to adjust the output current and voltage in real time according to the feedback control signal to simulate the actual dynamic response of the motor.

[0133] The control module is the core part of the system, responsible for executing the improved TSF control strategy, calculating torque distribution in real time, and completing the dynamic solution of the mathematical model. The control module is connected to the signal acquisition module and the drive module, and generates control signals by comparing the operating data collected by the signal with the calculated target parameters in real time.

[0134] The signal acquisition module is used to collect the output voltage signal of the controlled motor controller and the current signal of the motor simulator. The signal acquisition module converts the analog signal into a digital signal and transmits it to the control module for subsequent processing.

[0135] The human-computer interaction module provides a user interface for users to set and adjust motor control parameters in the system, including the simulator's working mode, controller parameters, operating targets, etc.

[0136] The system adopts modular design, each module independently completes specific functions, and efficient collaboration is achieved through signal transmission between modules.

[0137] The design of the simulator module and control module ensures the high-precision operation of the system and can adapt to the real-time control requirements under complex working conditions.

[0138] like Figure 3The motor simulation module is connected to the motor controller under test and is used to simulate the various operating states of the switched reluctance motor; the resistive-inductive load consumes energy; the signal acquisition module is used to collect the current of the motor simulator and the voltage of the motor controller under test for sampling and sorting, and input them to the control module for real-time control of the motor simulation; the control module is connected to the drive module, and the control module performs signal processing and related calculations and inputs them to the drive module; the drive module is used to transmit the drive signal to the motor simulator; the human-computer interaction module is connected to the control module, and this module enables the user to set the various parameters of the simulated motor on the computer side.

[0139] The motor simulation module is connected to the motor controller under test and is used to simulate the various operating states of the switched reluctance motor; the signal acquisition module is used to collect the current of the motor simulator and the voltage of the motor controller under test for sampling and sorting, and input it to the control module for real-time control of the motor simulation; the control module is connected to the drive module, and the control module performs signal processing and related calculations and inputs them to the drive module; the drive module is used to transmit the drive signal to the motor simulator. The motor simulation module is composed of a PWM converter, which simulates the motor port characteristics by controlling its port current according to the current change of the real motor connected to the system. The signal acquisition module collects the output voltage of the motor controller under test in real time. The control module selects the controller and the mathematical model of the switched reluctance motor to be equivalent to a complex nonlinear load, calculates the current of the controller's output switched reluctance motor, and controls the motor simulator by the command current to make its port characteristics consistent with the actual motor. The command current formula and the Euler discretization mathematical model are written into the control module. The control module is composed of two TMS320F28335 chips produced by TI and corresponding peripheral circuits, one of which is used as a master control chip and the other is used as a slave control chip of the simulation system.

[0140] The motor controller under test is connected to the analog converter through a resistive-inductive load, in which the resistive-inductive load bears the energy consumption. The three-phase voltage of the controlled motor controller is collected through the voltage sampling module, and the obtained three-phase voltage analog quantity is converted into a digital quantity, and the digital quantity is sent to the motor real-time simulator for mathematical operation to obtain the real-time operating status of the motor. The three-phase current of the analog converter is collected through the voltage sampling module, and the obtained three-phase current analog quantity is converted into a digital quantity, and the obtained digital quantity is subtracted from the digital quantity of the three-phase current of the switched reluctance motor obtained in the motor real-time simulator, and the difference is input into the PI controller. The input side of the PWM pulse generator is connected to the output of the PI controller, and the control signal on the output side controls the on-off of the IGBT in the single-phase PWM rectifier circuit in the analog converter, so that the three-phase current on the analog converter side tracks the three-phase current of the switched reluctance motor to be consistent. At this time, the three-phase current sampled by the analog converter is the three-phase current of the switched reluctance motor.

[0141] The method for establishing the discrete mathematical model of the switched reluctance motor of the present invention is as follows:

[0142] (I) SRM rotor mechanical motion equation

[0143]

[0144] The angular velocity is

[0145]

[0146] The function of winding current and rotor position angle is

[0147] ψ k =L k (i k ,θ)×i k

[0148] It can be concluded that

[0149] ψ k =∫(U k -R k ×i k )dt

[0150] It can be concluded that

[0151]

[0152] (II) Energy conversion equation

[0153] According to the principle of electromechanical energy conversion, ΔWm=T avg Δθ, where T avg The output torque is within the Δθ angle variation range.

[0154]

[0155] According to the limit method, T at any point a on the closed loop curve 2 α for

[0156]

[0157] Due to the symmetry of the m-phase winding, the average electromagnetic torque T output by the SRM is:

[0158]

[0159] Where: ξ——intermediate variable of phase current;

[0160] M——SRM phase number;

[0161] N——The number of SRM rotor teeth.

[0162] In the present invention, the result is obtained by looking up a flux-angle-current table, and then inputted into a current-angle-torque table to obtain the corresponding torque value. The torque and load are calculated by formula to obtain the angle and speed.

[0163] The control module performs the following functions:

[0164] Calculate the target torque distribution of the motor based on the improved TSF control strategy;

[0165] Combined with the table lookup method, the electromagnetic torque and operating status are calculated in real time.

[0166] Specifically, the control module performs the following functions:

[0167] Execution of the improved TSF control strategy: The control module implements real-time calculation based on the torque distribution function and dynamically adjusts the TSF control parameters based on the actual working conditions to optimize the torque distribution scheme in the commutation interval and reduce the peak current and torque pulsation.

[0168] Efficient calculation by table lookup method: The control module uses the pre-established flux-angle-current table and current-angle-torque table to quickly find the winding current and electromagnetic torque based on the real-time collected data. The table lookup calculation replaces the complex formula operation to improve the real-time performance of the control strategy.

[0169] Real-time solution of mathematical models: The control module calculates the real-time speed and torque output state of the motor by dynamically solving the rotor mechanical motion equation and energy conversion equation, providing precise control targets for the drive module.

[0170] The core design of the control module lies in the efficient execution of the algorithm. By solidifying the complex mathematical calculations and optimization strategies in advance, it ensures rapid response and high-precision control of the motor operation.

[0171] The module has real-time processing capability based on DSP chip and can adapt to various dynamic working conditions.

[0172] The signal acquisition module inputs the collected voltage and current signals into the control module, generates PWM signals through difference calculation and PI controller, and ensures the closed-loop feedback control accuracy of the motor operation.

[0173] Specifically, the signal acquisition module is used to collect the current signal of the analog converter and the output voltage signal of the motor controller, and perform the following functions:

[0174] Signal conversion: Convert the collected analog signal into a digital signal and improve the signal quality through filtering and amplification.

[0175] Data transmission: The processed current and voltage signals are transmitted to the control module for real-time comparison with the target parameters.

[0176] Support for feedback control: The acquisition module provides the necessary input data for the closed-loop feedback control of the system, ensuring that the PWM signal generated by the control module is consistent with the actual motor state.

[0177] The high-precision signal processing capability of the signal acquisition module is the key to the efficient operation of the closed-loop control system.

[0178] The module integrates a multi-channel signal acquisition unit, which can simultaneously collect multi-phase current signals to meet the control requirements of the three-phase switched reluctance motor.

[0179] The drive module adopts a star-type three-phase full-bridge topology;

[0180] The control module includes two TMS320F28335 chips, among which:

[0181] The main control chip is used to execute the improved TSF control strategy and mathematical model calculation;

[0182] The slave chip is used to process the feedback signal and the driving signal.

[0183] Specifically, the drive module adopts a star-type three-phase full-bridge topology structure, and its design includes the following features:

[0184] Topology optimization: Compared with traditional back-to-back PWM converters, the star-type three-phase full-bridge topology uses fewer components, thereby reducing the hardware complexity and cost of the system while improving the reliability of the system.

[0185] High-precision control: The drive module receives the PWM signal from the control module and adjusts the current output of the simulator to achieve high-precision dynamic control, so that the current and torque output of the simulator are consistent with the target motor.

[0186] Real-time response: The drive module quickly adjusts the output characteristics based on the PWM signal, which can meet the fast commutation and response requirements of the switched reluctance motor under complex working conditions.

[0187] The star-type three-phase full-bridge topology not only reduces the hardware cost but also improves the control accuracy of the system. It is an important design feature of the drive module.

[0188] The module integrates overcurrent protection and temperature monitoring functions to ensure the safety of system operation.

[0189] The control module includes two TMS320F28335 chips, and their functions are divided as follows:

[0190] Main control chip:

[0191] Used to implement improved TSF control strategy;

[0192] Real-time calculation of torque distribution function;

[0193] The fast calculation of winding current and electromagnetic torque is completed based on the table lookup method.

[0194] Slave Chip:

[0195] Responsible for processing the real-time data transmitted by the signal acquisition module;

[0196] Generate and adjust the PWM signal and transmit it to the drive module.

[0197] Extended Notes:

[0198] The division of labor and cooperation design between the master chip and the slave chip fully utilizes the high-speed computing capability of the TMS320F28335 chip to ensure the real-time performance and stability of the system.

[0199] The two chips share data and allocate tasks through a high-speed communication interface, which can quickly respond to control requirements under complex working conditions.

[0200] Embodiment 3

[0201] The third embodiment of the present invention is based on the same inventive concept. The present invention proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the switched reluctance motor control method based on improved TSF control of the above embodiment.

[0202] Embodiment 4

[0203] The fourth embodiment of the present invention is based on the same inventive concept. The present invention proposes a computer device, the terminal includes: a processor, a memory; the processor and the memory communicate with each other; the memory is used to store instructions; the processor is used to execute the instructions in the memory, and execute the switched reluctance motor control method based on improved TSF control of the above embodiment.

[0204] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0205] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A switched reluctance motor control method based on improved TSF control, comprising, characterized in that: The following steps are involved: S1: Adopting the improved TSF control strategy, according to the commutation interval characteristics of the switched reluctance motor, the torque distribution function in the traditional TSF control is optimized to reduce the torque ripple and peak current in the commutation interval; S2: Establish a mathematical model of the switched reluctance motor, including the rotor mechanical motion equation, the functional relationship between the winding current and the rotor position angle, and the energy conversion equation, to describe the dynamic characteristics of the motor; S3: Combined with the table lookup method, the corresponding current value is calculated according to the flux-angle-current table, and the electromagnetic torque is calculated using the current-angle-torque table; S4: The voltage signal output by the motor controller and the current signal of the motor simulator are collected through the signal acquisition module, the difference between the current signal and the target current value is calculated, and the difference is input into the PI controller to generate a PWM signal; S5: The driving module adjusts the operating state of the motor simulator according to the PWM signal so that the real-time operating state of the motor is consistent with the target control parameters, thereby realizing closed-loop feedback control.

2. The switched reluctance motor control method based on improved TSF control according to claim 1, characterized in that: The improved TSF control strategy is based on the traditional linear TSF function and optimizes torque distribution by introducing a cubic compensation curve in the commutation interval. Specifically, it includes: Slow down the torque drop speed of the shut-off phase in the early stage of the commutation interval; Increase the torque increase rate of the conducting phase in the late commutation interval; The improved torque distribution function is smoothed by combining linear and cubic functions; The expression of the cubic compensation curve is: Where: c1 and c2 are the cubic compensation curve functions in the rising and falling processes of TSF respectively; the linear and cubic compensation functions are combined in a certain proportion; The cubic compensation TSF is expressed as: Where: θon, θov, θoff are the conduction angle, the overlapping angle of the adjacent two-phase current, and the turn-off angle respectively; τ is a rotor angle period of the SRM, which can be expressed as τ = 2π / Nr, where Nr is the number of SRM rotor poles, m and n are constants, and m + n = 1; The cubic compensation TSF allocates a smaller torque to the conduction phase in the first half of the commutation interval and a larger torque to the conduction phase in the second half of the commutation interval, making the compensated TSF curve smoother and reducing torque pulsation.

3. The switched reluctance motor control method based on improved TSF control according to claim 1, characterized in that: The mathematical model includes the following contents: The mechanical motion equation of the rotor is: The angular velocity is: The functional relationship between winding current and rotor position angle: ψ k =L k (i k ,θ)×i k ; It can be concluded that: k =∫(U k -R k ×i k )dt; It can be concluded that: Among them, T L is the load torque; T e is the electromagnetic torque; J is the moment of inertia of the SRM rotor and load; ψ k is the k-th phase flux; Energy conversion equation: According to the principle of electromechanical energy conversion, ΔWm=T avg Δθ, where T avg Output torque within the Δθ angle range: Where: T avg is the output torque within the Δθ angle range; ΔW' is the change in magnetic energy; ΔW f is the change of magnetic energy storage; According to the limit method, T at any point a on the closed loop curve 2 α for: Due to the symmetry of the m-phase winding, the average electromagnetic torque T output by the SRM is: Where: ξ is the intermediate variable of phase current; M is the number of SRM phases; N is the number of SRM rotor teeth.

4. The switched reluctance motor control method based on improved TSF control according to claim 1, characterized in that: The table lookup method comprises the following steps: According to the flux-angle-current table, the winding current value is calculated; Input the current value into the current-angle-torque table to calculate the corresponding electromagnetic torque; Combining the relationship between torque and load, the motor speed and rotor position are calculated using the mechanical motion equation.

5. A switched reluctance motor control system based on improved TSF control, characterized in that: The switched reluctance motor control method based on improved TSF control according to any one of claims 1 to 4 comprises: A motor simulator module, used to simulate the operating state of the switched reluctance motor, including output voltage and current signals; A driving module, used for receiving the PWM signal generated by the control module and controlling the operation of the motor simulator; A control module, used to perform real-time calculations based on the improved TSF control strategy, including optimization of the torque distribution function and solution of the mathematical model; A signal acquisition module, used to collect the voltage signal of the motor controller and the current signal of the motor simulator; Human-computer interaction module, used to set and adjust motor control parameters.

6. The switched reluctance motor control system based on improved TSF control according to claim 5, characterized in that: The control module performs the following functions: Calculate the target torque distribution of the motor based on the improved TSF control strategy; Combined with the table lookup method, the electromagnetic torque and operating status are calculated in real time.

7. The switched reluctance motor control system based on improved TSF control according to claim 5, characterized in that: The signal acquisition module inputs the collected voltage signal and current signal into the control module, generates a PWM signal through difference calculation and a PI controller, and ensures the closed-loop feedback control accuracy of the motor operation.

8. The switched reluctance motor control system based on improved TSF control according to claim 5, characterized in that: The drive module adopts a star-type three-phase full-bridge topology structure; The control module includes two TMS320F28335 chips, wherein: The main control chip is used to execute the improved TSF control strategy and mathematical model calculation; The slave chip is used to process the feedback signal and the driving signal.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the switched reluctance motor control method based on improved TSF control as described in any one of claims 1 to 4 is implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the switched reluctance motor control method based on improved TSF control as claimed in any one of claims 1 to 4 is implemented.

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