THREE-PHASE SWITCHED RELUCTANCE MOTOR TORQUE RIPPLE THREE-LEVEL SUPPRESSION METHOD

Abstract

A three-phase switched reluctance motor torque ripple three-level suppression method. A first set of torque thresholds (th1.sub.low, th1.sub.zero, and th1.sub.up) is set in rotor position interval [0°, θ.sub.r/3]. A second set of torque thresholds (th2.sub.low, th2.sub.zero, and th2.sub.up) is set in rotor position interval [θ.sub.r/3, θ.sub.r/2]. Power is supplied to adjacent phase A and phase B for excitation. The power supplied for excitation to phase A leads the power supplied for excitation to phase B by θ.sub.r/3. An entire commutation process from phase A to phase B is divided into two intervals. In rotor position interval [0°, θ.sub.1], a phase A uses the second set of torque thresholds (th2.sub.low, th2.sub.zero, and th2.sub.up) while phase B uses the first set of torque thresholds (th1.sub.low, th1.sub.zero, th1.sub.up). Critical position θ.sub.1 automatically appears in the commutation process, thus obviating the need for additional calculations. Total torque is controlled between [T.sub.e+th2.sub.low and T.sub.e+th2.sub.up]. In rotor position interval [θ.sub.1, θ.sub.r/3], phase A continues to use the second set of torque thresholds (th2.sub.low, th2.sub.zero, and th2.sub.up), phase B continues to use the first set of torque thresholds (th1.sub.low, th1.sub.zero, and th1.sub.up), and the total torque is controlled between [T.sub.e+th1.sub.low and T.sub.e+th1.sub.up]. This suppresses torque ripples of a three-phase switched reluctance motor and provides great engineering application values.

Claims

1. A three-phase switched reluctance motor torque ripple three-level suppression method, wherein: a. setting a first group of torque threshold values (th1.sub.low, th1.sub.zero, th1.sub.up) in rotor position interval [0°, θ.sub.r/3], and a second group of torque threshold values (th2.sub.low, th2.sub.zero, th2.sub.up) in rotor position interval [θ.sub.r/3, θ.sub.r/2], wherein these six torque threshold values meet the following conditions:
th1.sub.up>th1.sub.zero>th2.sub.up>0   (1)
0>th1.sub.low>th2.sub.zero>th2.sub.low   (2)
|th1.sub.zero|=|th2.sub.zero|  (3)
|th1.sub.up|=|th2.sub.low|  (4)
|th2.sub.up|=|th1.sub.low|  (5) wherein, rotor position 0° is minimum phase inductance position, rotor position θ.sub.r is angular pitch, i.e., one rotor cycle, and a half rotor cycle is θ.sub.r/2; b. setting excited state S.sub.A as excited state of phase A power supply, wherein excited state S.sub.A=1 indicates that phase A exciting voltage is positive, excited state S.sub.A=0 indicates that phase A exciting voltage is zero, and excited state S.sub.A=−1 indicates that phase A exciting voltage is negative; setting excited state S.sub.B as excited state of phase B power supply, wherein excited state S.sub.B=1 indicates that phase B exciting voltage is positive, excited state S.sub.B=0 indicates that phase B exciting voltage is zero and excited state S.sub.B=−1 indicates that phase B exciting voltage is negative, and the expected total smooth torque is T.sub.e; c. for adjacent phase A and phase B power supply excitations, phase A power supply excitation is θ.sub.r/3 ahead of phase B power supply excitation; at this moment, phase A is turned off, phase B is turned on and three-level suppression of torque ripple of three-phase switched reluctance motor is realized by dividing the commutation process from phase A to phase B into two sections.

2. The three-phase switched reluctance motor torque ripple three-level suppression method according to claim 1, wherein the commutation process from phase A to phase B is divided into two sections: (1) in rotor position interval [0°, θ1], phase A uses the second group of torque threshold values (th2low, th2zero, th2up), phase B uses the first group of torque threshold values (th1low, th1zero, th1up), critical position θ1 appears automatically in the commutation process, and no extra calculation is needed; (1.1) phase B breakover cycle is started in rotor position 0°, initial excited state S.sub.B=1 is set, and phase B current and torque increase from 0; excited state S.sub.A maintains original state S.sub.A=1, and phase A current and torque increase. Total torque increases; (1.2) when total torque increases to torque value T.sub.e+th2.sub.up, excited state S.sub.A is converted from 1 to −1, and phase A torque decreases; phase B maintains original state, and phase B torque continues to increase; as phase B inductance change rate and phase current are small at this moment, the increase rate of phase B torque is smaller than the decrease rate of phase A torque, the change trend of total torque is decided by phase A, and total torque decreases; (1.3) when total torque first decreases to torque value T.sub.e+th1.sub.low, phase A and phase B state transfer conditions are not met, excited states S.sub.A and S.sub.B maintain original states and total torque continues to decrease; (1.4) when total torque decreases to torque value T.sub.e+th2.sub.zero, conversion of phase A state from excited state S.sub.A=−1 to excited state S.sub.A=0 is triggered, and phase A torque decreases, but the decrease rate is smaller than that when excited state S.sub.A=−1; phase B maintains original excited state and torque continues to increase; at this moment, under the condition of excited state S.sub.A=0 and excited state S.sub.B=1, the decrease rate of phase A torque is larger than the increase rate of phase B torque, and total torque decreases; (1.5) when total torque decreases to torque value T.sub.e+th2.sub.low, phase A state transfer conditions are met, phase A state is converted from excited state S.sub.A=0 to excited state S.sub.A=1 and phase A torque increases; phase B maintains original state and torque continues to increase; total torque increases; (1.6) when total torque increases to torque value T.sub.e+th2.sub.zero and T.sub.e+th1.sub.low in turn, phase A and phase B state transfer conditions are not met in both cases, and total torque continues to increase; (1.7) when total torque increases to torque value T.sub.e+th2.sub.up, steps (1.2)˜(1.6) are repeated, and phase B state is not triggered and changed and maintains excited state S.sub.B=1; phase A excited state is switched among 1, 0 and −1, and total torque is controlled in [T.sub.e+th2.sub.low, T.sub.e+th2.sub.up], thereby inhibiting ripple of three-phase switched reluctance motor torque in rotor position interval [0°, θ.sub.1]; (1.8) with the increase of rotor position, phase B inductance change rate and current increase to a specific level; after a specific critical position is reached, when excited state S.sub.A=0 and excited state S.sub.B=1, the decrease rate of phase A torque is smaller than the increase rate of phase B torque and total torque increases; (2) in rotor position interval [θ.sub.1, θ.sub.r/3], phase A continues to use the second group of torque threshold values (th2.sub.low, th2.sub.zero, th2.sub.up) and phase B continues to use the first group of torque threshold values (th1.sub.low, th1.sub.zero, th1.sub.up); (2.1) in rotor position θ.sub.1, total torque reaches torque value T.sub.e+th2.sub.up and phase A state is switched to excited state S.sub.A=−1; phase B maintains excited state S.sub.B=1, and in this position the decrease rate of phase A torque under the excitation of negative supply voltage is larger than the increase rate of phase B torque under the excitation of positive supply voltage, so total torque decreases; however, this situation is changed subsequently; following the increase of rotor position, although the excited states of phase A and phase B both remain unchanged, the torque decrease rate of phase A in excited state S.sub.A=−1 is smaller than the torque increase rate of phase B in excited state S.sub.B=1, thereby total torque increases; (2.2) when total torque increases to torque value T.sub.e+th2.sub.up, neither excited state S.sub.A nor excited state S.sub.B is triggered and changed, and total torque continues to increase; (2.3) when total torque reaches torque value T.sub.e+th1.sub.zero, phase B state transfer conditions are met, excited state S.sub.B is converted into 0 and phase B torque decreases; phase A maintains original excited state S.sub.A=−1 and total torque decreases; (2.4) when total torque decreases to torque value T.sub.e+th2.sub.up, neither excited state S.sub.A nor excited state S.sub.B is triggered and changed, and total torque continues to decrease; (2.5) when total torque decreases to torque value T.sub.e+th1.sub.low, phase B state transfer conditions are met, excited state S.sub.B is converted into 1 and phase B torque increases; phase A maintains original excited state S.sub.A=−1 and total torque increases; (2.6) steps (2.2)˜(2.5) are repeated, excited state S.sub.A remains to be −1 and phase A torque and current continue to decrease; excited state S.sub.B is switched between 0 and 1, and total torque is controlled in [T.sub.e+th1.sub.low, T.sub.e+th1.sub.zero], thereby inhibiting ripple of three-phase switched reluctance motor torque in rotor position interval [θ.sub.1, θ.sub.r/3]; (2.7) when the rotor is in a critical position, phase B torque increases in excited state S.sub.B=0, and the increase rate is larger than the phase A torque decrease rate in excited state S.sub.A=−1; at this moment, total torque increases; (2.8) when total torque increases to torque value T.sub.e+th1.sub.up, phase B state is triggered and changed, excited state S.sub.B is converted from 0 to −1 and phase B torque decreases; phase A torque continues to decrease and total torque decreases; (2.9) when total torque decreases to torque value T.sub.e+th1.sub.zero and torque value T.sub.e+th2.sub.up in turn, neither excited state S.sub.A nor excited state S.sub.B is triggered and changed, and total torque continues to decrease; (2.10) when total torque decreases to torque value T.sub.e+th1.sub.low, excited state S.sub.B is triggered and changed into 1 and phase B torque increases; phase A maintains original state, phase A torque continues to decrease and total torque increases; (2.11) when total torque increases to torque value T.sub.e+th1.sub.zero, excited state S.sub.B is triggered and changed into 0 and excited state S.sub.A remains to be −1. The situation at this moment is the same as that of (2.7); steps (2.7)˜(2.11) are repeated, excited state S.sub.A remains to be −1, excited state S.sub.B is switched among −1, 0 and 1, and total torque is controlled in [T.sub.e+th1.sub.low, T.sub.e+th1.sub.up], thereby inhibiting the ripple of three-phase switched reluctance motor torque in rotor position interval [θ.sub.1, θ.sub.r/3]; (2.12) when the rotor is in a critical position and phase B torque is in excited state S.sub.B=0 and excited state S.sub.A=−1, total torque no longer increases but decreases. (2.2)˜(2.5) are repeated from this moment and total torque is controlled in [T.sub.e+th1.sub.low, T.sub.e+th1.sub.zero], thereby inhibiting ripple of three-phase switched reluctance motor torque in rotor position interval [θ.sub.1, θ.sub.r/3].

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG. 1 is a schematic diagram for setting of three-level torque threshold values of switched reluctance motor provided by the present invention;

[0034] FIG. 2(a) is a schematic diagram for conversion of excited state of phase B power supply of switched reluctance motor provided by the present invention;

[0035] FIG. 2(b) is a schematic diagram for conversion of excited state of phase A power supply of switched reluctance motor provided by the present invention;

[0036] FIG. 3 is torque waveform of switched reluctance motor provided by the present invention.

EMBODIMENTS

[0037] The present invention is further described below in connection with the examples shown in accompanying drawings:

[0038] As shown in FIG. 1, for one three-phase switched reluctance motor, the detailed steps are as follows: [0039] a. Setting a first group of torque threshold values (th1.sub.low, th1.sub.zero, th1.sub.up) in rotor position interval [0°, θ.sub.r/3], and a second group of torque threshold values (th2.sub.low, th2.sub.zero, th2.sub.up) in rotor position interval [θ.sub.r/3, θ.sub.r/2], wherein these six torque threshold values meet the following conditions:

th1.sub.up>th1.sub.zero>th2.sub.up>0   (1)

0>th1.sub.low>th2.sub.zero>th2.sub.low   (2)

|th1.sub.zero|=|th2.sub.zero|  (3)

|th1.sub.up|=|th2.sub.low|  (4)

|th2.sub.up|=|th1.sub.low|  (5) [0040] wherein, rotor position 0° is minimum phase inductance position, rotor position θ.sub.r is angular pitch, i.e., one rotor cycle, and a half rotor cycle is θ.sub.r/2; [0041] b. As shown in FIGS. 2(a, b), setting excited state S.sub.A as excited state of phase A power supply, wherein excited state S.sub.A=1 indicates that phase A exciting voltage is positive, excited state S.sub.A=0 indicates that phase A exciting voltage is zero, and excited state S.sub.A=−1 indicates that phase A exciting voltage is negative; setting excited state S.sub.B as excited state of phase B power supply, wherein excited state S.sub.B=1 indicates that phase B exciting voltage is positive, excited state S.sub.B=0 indicates that phase B exciting voltage is zero and excited state S.sub.B=−1 indicates that phase B exciting voltage is negative, and the expected total smooth torque is T.sub.e, [0042] c. For adjacent phase A and phase B power supply excitations, phase A power supply excitation is θ.sub.r/3 ahead of phase B power supply excitation. At this moment, phase A is turned off, phase B is turned on and three-level suppression of torque ripple of three-phase switched reluctance motor is realized by dividing the commutation process from phase A to phase B into two sections, as shown in FIG. 1.

[0043] The commutation process from phase A to phase B is divided into two sections as follows: [0044] (1) In rotor position interval [0°, θ.sub.1], phase A uses the second group of torque threshold values (th2.sub.low, th2.sub.zero, th2.sub.up), phase B uses the first group of torque threshold values (th1.sub.low, th1.sub.zero, th1.sub.up), critical position θ.sub.1 appears automatically in the commutation process, and no extra calculation is needed; [0045] (1.1) Phase B breakover cycle is started in rotor position 0°, initial excited state SB=1 is set, and phase B current and torque increase from 0; excited state SA maintains original state SA=1, and phase A current and torque increase. Total torque increases; [0046] (1.2) When total torque increases to torque value Te+th2up, excited state SA is converted from 1 to −1, and phase A torque decreases; phase B maintains original state, and phase B torque continues to increase. As phase B inductance change rate and phase current are small at this moment, the increase rate of phase B torque is smaller than the decrease rate of phase A torque, the change trend of total torque is decided by phase A, and total torque decreases; [0047] (1.3) When total torque first decreases to torque value Te+th1low, phase A and phase B state transfer conditions are not met, excited states SA and SB maintain original states and total torque continues to decrease; [0048] (1.4) When total torque decreases to torque value Te+th2zero, conversion of phase A state from excited state SA=−1 to excited state SA=0 is triggered, and phase A torque decreases, but the decrease rate is smaller than that when excited state SA=−1; phase B maintains original excited state and torque continues to increase. At this moment, under the condition of excited state SA=0 and excited state SB=1, the decrease rate of phase A torque is larger than the increase rate of phase B torque, and total torque decreases; [0049] (1.5) When total torque decreases to torque value Te+th2low, phase A state transfer conditions are met, phase A state is converted from excited state SA=0 to excited state SA=1 and phase A torque increases; phase B maintains original state and torque continues to increase; total torque increases; [0050] (1.6) When total torque increases to torque value Te+th2zero and Te+th1low in turn, phase A and phase B state transfer conditions are not met in both cases, and total torque continues to increase; [0051] (1.7) When total torque increases to torque value Te+th2up, steps (1.2)˜(1.6) are repeated, and phase B state is not triggered and changed and maintains excited state SB=1; phase A excited state is switched among 1, 0 and −1, and total torque is controlled in [Te+th2low, Te+th2up], thereby inhibiting ripple of three-phase switched reluctance motor torque in rotor position interval [0°, θ1]; [0052] (1.8) With the increase of rotor position, phase B inductance change rate and current increase to a specific level. After a specific critical position is reached, when excited state SA=0 and excited state SB=1, the decrease rate of phase A torque is smaller than the increase rate of phase B torque and total torque increases; [0053] (2) In rotor position interval [θ.sub.1, θ.sub.r/3], phase A continues to use the second group of torque threshold values (th2.sub.low, th2.sub.zero, th2.sub.up) and phase B continues to use the first group of torque threshold values (th1.sub.low, th1.sub.zero, th1.sub.up); [0054] (2.1) In rotor position θ.sub.1, total torque reaches torque value T.sub.e+th2.sub.up and phase A state is switched to excited state S.sub.A=−1; phase B maintains excited state S.sub.B=1, and in this position the decrease rate of phase A torque under the excitation of negative supply voltage is larger than the increase rate of phase B torque under the excitation of positive supply voltage, so total torque decreases. However, this situation is changed subsequently. Following the increase of rotor position, although the excited states of phase A and phase B both remain unchanged, the torque decrease rate of phase A in excited state S.sub.A=−1 is smaller than the torque increase rate of phase B in excited state S.sub.B=1, thereby total torque increases; [0055] (2.2) When total torque increases to torque value T.sub.e+th2.sub.up, neither excited state S.sub.A nor excited state S.sub.B is triggered and changed, and total torque continues to increase; [0056] (2.3) When total torque reaches torque value T.sub.e+th1.sub.zero, phase B state transfer conditions are met, excited state S.sub.B is converted into 0 and phase B torque decreases; phase A maintains original excited state S.sub.A=−1 and total torque decreases; [0057] (2.4) When total torque decreases to torque value T.sub.e+th2.sub.up, neither excited state S.sub.A nor excited state S.sub.B is triggered and changed, and total torque continues to decrease; [0058] (2.5) When total torque decreases to torque value T.sub.e+th1.sub.low, phase B state transfer conditions are met, excited state S.sub.B is converted into 1 and phase B torque increases; phase A maintains original excited state S.sub.A=−1 and total torque increases; [0059] (2.6) Steps (2.2)˜(2.5) are repeated, excited state S.sub.A remains to be −1 and phase A torque and current continue to decrease; excited state S.sub.B is switched between 0 and 1, and total torque is controlled in [T.sub.e+th1.sub.low, T.sub.e+th1.sub.zero], thereby inhibiting ripple of three-phase switched reluctance motor torque in rotor position interval [θ.sub.1, θ.sub.r/3]; [0060] (2.7) When the rotor is in a critical position, phase B torque increases in excited state S.sub.B=0, and the increase rate is larger than the phase A torque decrease rate in excited state S.sub.A=−1. At this moment, total torque increases; [0061] (2.8) When total torque increases to torque value T.sub.e+th1.sub.up, phase B state is triggered and changed, excited state S.sub.B is converted from 0 to −1 and phase B torque decreases; phase A torque continues to decrease and total torque decreases; [0062] (2.9) When total torque decreases to torque value T.sub.e+th1.sub.zero and torque value T.sub.e+th2.sub.up in turn, neither excited state S.sub.A nor excited state S.sub.B is triggered and changed, and total torque continues to decrease; [0063] (2.10) When total torque decreases to torque value T.sub.e+th1.sub.low, excited state S.sub.B is triggered and changed into 1 and phase B torque increases; phase A maintains original state, phase A torque continues to decrease and total torque increases; [0064] (2.11) When total torque increases to torque value T.sub.e+th1.sub.zero, excited state S.sub.B is triggered and changed into 0 and excited state S.sub.A remains to be −1. The situation at this moment is the same as that of (2.7). Steps (2.7)˜(2.11) are repeated, excited state S.sub.A remains to be −1, excited state S.sub.B is switched among −1, 0 and 1, and total torque is controlled in [T.sub.e+th1.sub.low, T.sub.e+th1.sub.up], thereby inhibiting the ripple of three-phase switched reluctance motor torque in rotor position interval [θ.sub.1, θ.sub.r/3]; [0065] (2.12) When the rotor is in a critical position and phase B torque is in excited state S.sub.B=0 and excited state S.sub.A=−1, total torque no longer increases but decreases. (2.2)˜(2.5) are repeated from this moment and total torque is controlled in [T.sub.e+th1.sub.low, T.sub.e+th1.sub.zero], thereby inhibiting ripple of three-phase switched reluctance motor torque in rotor position interval [θ.sub.1, θ.sub.r/3].

[0066] For adjacent phase B and phase C power supply excitations, when phase B power supply excitation is θ.sub.r/3 ahead of phase C power supply excitation, torque threshold value setting, commutation process, and phase B and phase C excited state switch and transfer methods are similar to the foregoing circumstance.

[0067] For adjacent phase C and phase A power supply excitations, when phase C power supply excitation is θ.sub.r/3 ahead of phase A power supply excitation, torque threshold value setting, commutation process, and phase C and phase A excited state switch and transfer methods are similar to the foregoing circumstance.

[0068] The acquired switched reluctance motor torque waveform is as shown in FIG. 3.