US 20010024099 A1 Abstract A method and an apparatus for regulating the phase current in the windings of a reluctance machine. Regulation is carried out using a digital regulator, which operates using a PI characteristic and presets pulse-width-modulated pulses for a DC chopper controller. Set values, which are a function of the phase voltage, are superimposed on the regulator manipulated variable by means of a pilot control.
Claims(10) 1. A method for regulating the phase current in a switched reluctance machine, whose stator windings in each phase are each connected to a DC chopper controller, which is connected to a regulator which processes control error between the required current value and a measured actual current value and applies pulse-width-modulated electrical pulses to the DC chopper controller, comprising the steps of:
determining the control error from the required current values and from actual current values obtained by sampling at equidistant intervals: digitally forming a first manipulated variable from the control error using a proportional-integral characteristic, by linear superimposition of an integral element and a proportional element and by multiplying said proportional-integral characteristic by a respective electrical angular position of the reluctance machine rotor; linearly superimposing a second manipulating variable on the first manipulated variable wherein said second manipulated variable is formed as a pilot control value of a characteristic value by multiplication by the rotor rotation speed, which characteristic value is read, as a function of the phase current and as a function of the electrical angular position, from a characteristic map, which includes the derivative of the magnetic flux of the reluctance machine with regard to the electrical angular position, as a function of the electrical angular position of the rotor and as a function of the phase current. 2. The method according to claim 1 3. The method according to claim 1 _{K}=k*T_{A }using the following equation: e(k)=w(k)−x(k) where e (k) is the control error, W (k) is the required current value, x (k) is the actual current value, t
_{K }is the time, k is the number of sampling intervals and T_{A }is the sampling time, and in that the manipulated variable is calculated using the following equation: y(k)=K _{p} *e(k)+Y _{I}(k−1)+K _{I} *e(k−1) where y (k) is the manipulated variable, K
_{p }is the proportional gain, Y_{I }is the integral element of the manipulated variable, K_{I }is the product of the proportional gain and the quotient of the sampling time and the readjustment time of the regulation, and e is the control error. 4. The method according to claim 1 where K
_{I }is the factor for the integral element, T_{A }is the sampling interval, K_{s }is the path time constant of the controlled system, and T_{t }is the dead time of the regulation, while the gain factor is readjusted as a function of the rotor position using the following relationship:
where K
_{p }(γ) is the gain factor, T_{1 }(γ) is the current-dependent and rotor-position-dependent time constant of the phase winding, K_{s }is the path time constant and T_{t }is the dead time of the regulation. 5. The method according to claim 1 where T
_{1 }is the time constant, Ψ is the magnetic flux, γ is the rotor position, i the phase current and R the pure resistance of the phase winding. 6. The method according to claim 1 _{1 }(γ) of the phase winding for the q-position and for the d-position of the rotor using the following relationships:
and, for the intermediate positions of the rotor between the q-position and the d-position, are multiplied by the product of the electrical angular position and the ratio T
_{1d}/T_{1q}, where T_{1q }is the time constant of the phase winding in the q-position of the rotor, T_{1d }is the time constant of the phase winding in the d-position of the rotor, Ψ (γ_{q}, i_{max}) is the magnetic flux of the reluctance machine when the rotor is in the q-position and the current is a maximum during operation of the reluctance machine, R is the pure resistance of the phase winding and Ψ (γ_{d}, i_{max}) is the magnetic flux of the reluctance machine when the rotor is in the d-position and the current is at the maximum value at which the reluctance machine is intended to operate. 7. The method according to claim 1 where PWM
_{start }is the start pulse, n is the measured rotation speed, n_{max }is the maximum rotation speed, I_{max }is the maximum current of the drive, i_{w }is the required current setting and PWM_{100% }is the pulse-width pulse for full control. 8. An apparatus for regulating the phase current in a switched reluctance machine, whose stator windings in each phase are each connected to a DC chopper controller, which is connected to a regulator which processes the control error between the required current value and the measured actual current value and applies pulse-width-modulated electrical pulses to the DC chopper controller, said system comprising:
a regulator having a microcontroller to whose input side required current values (e (k)) and actual current values (x (k)) are supplied via an A/D converter, and to which rotation position signals are supplied which are produced by a rotation position sensor in the reluctance machine: means for calculating the manipulated variable (y (k)) from the control error using a PI characteristic is stored in the regulator, wherein separately calculated proportional and I-elements are added, and a stored constant is used to calculate the I-element as the quotient of a constant sampling interval and the product of twice a path gain of the controlled system and a dead time of the regulator: means for storing values of a time constant of the phase winding, as a function of the rotor position, in a memory in order to determine a gain factor: means for determining pilot values by multiplication of the rotor rotation speed by characteristic values stored in a characteristic map, and superimposed on the manipulated variable of an output of the regulator wherein said characteristic map contains the derivative of the magnetic flux of the reluctance machine with respect to the electrical angular position as a function of the electrical rotor angle position and the phase current. 9. The apparatus according to claim 8 10. The apparatus according to claim 8 Description [0001] This application claims the priority of German Application 19961798.8, filed Dec. 22, 1999, the disclosure of which is expressly incorporated by reference herein. [0002] The invention relates to a method and an arrangement for regulating the phase current in a switched reluctance machine, whose stator windings in each phase are each connected to a DC chopper controller which is connected to a regulator which processes the control error between the required current value and the measured actual current value and applies pulse-width-modulated electrical pulses to the DC chopper controller. [0003] An arrangement of the type described above is known (U.S. Pat. No. 5,754,024). The DC chopper controller in each phase of the known arrangement comprises a first series circuit of a switching transistor with a freewheeling diode, and a second series circuit of a freewheeling diode with a switching transistor. The switching transistor in the first series circuit is connected to the positive pole of a DC voltage source, and the switching transistor in the second series circuit is connected to the negative pole of the DC voltage source. The freewheeling diodes are reverse-biassed with respect to the polarity of the DC voltage source. The control electrodes of the switching transistors, which are IGBTs, are connected to a pulse-width modulator which has a first input connected to a clock generator, a second input connected to a comparator, and a third input to which an on/off signal is applied. The phase winding is arranged in series with a current sensor between the points where the switching transistors are connected to the freewheeling diodes. A first input of the comparator has a required current value applied to it, and a second input has the actual current value from the current sensor applied to it. The required current value and the on signal together with the off signal for the pulse-width modulator are determined as a function of the rotor position, measured by a sensor. The pulse-width modulator starts when it is intended to apply current to the respective winding, and stops when it is intended to stop current flowing in the winding once again. [0004] German Patent DE 43 10 772 C2 discloses a method for regulating the phase current in a switched reluctance machine, whose stator windings in each phase are each connected to a DC chopper controller, which is connected to a regulator which processes the control error between the required current value and the measured actual current value and applies pulse-width-modulated electrical pulses to the DC chopper controller. In the case of the control circuit disclosed there, the control error between the required current value and the actual current value is supplied to a PI regulator. [0005] European Patent EP 0 684 693 A2 discloses an arrangement for regulating the phase current of brushless DC machines and switched reluctance machines, in which the control error is determined from the required values and from actual current values obtained by sampling and equidistant intervals. [0006] A three-point regulator with hysteresis is suitable for regulating the phase current in the reluctance machine. The output of the three-point regulator can assume three states, each of which can be associated with a switching state of a converter or DC chopper controller. The association with the “on, short-circuit” and “off” switching states of the current regulator allows the phase current to be regulated not only in motor operation but also in generator operation down to zero speed, without the three-point regulator needing to be switched. If the three-point regulator has identical switching thresholds when the reluctance machine is being operated as a motor and as a generator, this, in fact, results in a higher mean current value in generator operation than in motor operation. This effect can be minimized by hysteresis loops which are shifted one above the other. One advantage of a three-point regulator with hysteresis is its simple structure. [0007] A disadvantage of the three-point regulator is that the converter switching frequency caused by the three-point regulator depends not only on the switching thresholds but also on the rate of current change in the machine winding, which in turn depends on the phase voltage, the winding resistance, the present current value, the phase inductance (which is dependent on the rotor position) and the rotation speed. Taking account of these influencing variables, the switching thresholds of the three-point regulator must be selected such that the maximum switching frequency of the power semiconductors in the converter is not exceeded. During operation of the reluctance machine, this results in switching frequencies which are well below the maximum switching frequency and are in the audible range. As a result the reluctance machine produces irritating noises. [0008] The invention is based on the problem of specifying a method which can be matched flexibly to different situations that occur with reluctance machines, and an arrangement for regulating the current in phase windings of a switched reluctance machine, in which irritating noise from the reluctance machine, caused by the switching frequencies of the converter active devices is largely avoided and in which the phase currents can be set dynamically and quickly to the predetermined required values. [0009] According to the invention, with regard to a method of the type described initially, the problem is solved by determining the control error from the required values and from actual current values obtained by sampling at equidistant intervals. Also a first manipulated variable is formed from the control error digitally using a proportional-integral characteristic, by linear superimposition of an integral element and a proportional element which is multiplied by the respective electrical angular position of the reluctance machine. Furthermore the first manipulated variable has a second manipulated variable superimposed on it linearly, which is formed as a pilot control value of a characteristic value by multiplication by the rotation speed, which characteristic value is read, as a function of the phase current and as a function of the electrical angular position of the rotor, from a characteristic map, which includes the derivative of the magnetic flux of the reluctance machine with regard to the electrical angular position, as a function of the electrical angular position of the rotor of the reluctance machine and as a function of the phase current. The method according to the invention allows the phase currents to be well regulated even at high rotation speeds and at high pulse-width-modulation frequencies, as well as allows for rapid changes in the induced phase voltage. [0010] One preferred embodiment provides that characteristic values are stored in a table as a function of the electrical rotor angle positions. The characteristic values are determined from a data set with the magnetic flux values of the reluctance machine as a function of the electrical rotor angular position and of the phase currents by deriving the flux values with respect to the rotor angle, by division by a saturation current which is typical for the transition to the saturated magnetic state, and by forming the mean values of the respective rotor position. The pilot value is formed by multiplication of the characteristic value, which is read as a function of the measured electrical rotor angular position, by the rotation speed and the phase current. In this embodiment, relatively little memory capacity is required for storing the characteristic values. The approximate determination of the rotational voltage value for the pilot control is not a disadvantage, because the regulator can quickly compensate for a relatively small error between the required value and the actual value. [0011] In one expedient embodiment, the control error at the time t [0012] where y (k) is the manipulated variable, K [0013] In particular, the readjustment time of the PI regulation is on the one hand set to the time constant of the phase winding of the reluctance machine, and the factor of the integral element is on the other hand set using the following relationship:
[0014] where K [0015] where K [0016] Switched reluctance machines have a time constant which is dependent on the current and the rotor position and for which:
[0017] where T [0018] It is particularly advantageous if the time constant T [0019] and, for the intermediate positions of the rotor between the q-position and the d-position, are multiplied by the product of the electrical angular position of the rotor and the ratio T [0020] In a further preferred embodiment, whenever a switch-on angle for the phase current is reached, a start pulse is produced by the converter using the following relationship:
[0021] where PWM [0022] In an arrangement for regulating the phase current in a switched reluctance machine, whose stator windings in each phase are each connected to a DC chopper controller, which is connected to a regulator which processes the control error between the required current value and the measured actual current value and applies pulse-width-modulated electrical pulses to the DC chopper controller, the problem is solved, according to the invention, in that the regulator has a microcontroller to whose input side required current values and actual current values can be supplied via an A/D converter, and to which rotation position signals can be supplied which are produced by a rotation position sensor in the reluctance machine. A program calculator the control error and the manipulated variable, using a PI characteristic, is stored in the regulator. The program has a part for separately calculating the proportional and I-elements in accordance with the PI characteristic. The proportional and I elements are added. A constant is stored for calculating the I-element as the quotient of a constant sampling interval and the product of twice the path gain of the controlled system and the dead time of the regulator. In order to determine the gain factor, values of the time constant of the phase winding are stored as a function of the rotor position in a memory. Furthermore, in order to determine pilot values (which can be formed by multiplication of the rotor rotation speed by characteristic values and are superimposed on the manipulated variable of the output of the regulator), a characteristic map, which contains the derivative of the magnetic flux of the reluctance machine with respect to the electrical angular position as a function of the electrical rotor angle position and the phase current, is stored as a function of the phase current and of the rotor angular position. [0023] A considerable saving in memory space is achieved if the characteristic map includes a series of characteristic values which have been determined in the following way: differentiation of the magnetic flux values of the reluctance machine as a function of the electrical rotor angular position and of the phase currents with respect to the rotor angular position; division of the differentiated values by a saturation current which is typical for the transition to the saturated magnetic state; and formation of the mean values for the respective rotor position. [0024] The invention will be described in more detail in the following text with reference to an exemplary embodiment which is illustrated in the drawings and from which further details, features and advantages are evident. [0025] Other objects, advantages and novel features of the present invention will become apparent from the following detailed description of the invention when considered in conjunction with the accompanying drawings. [0026]FIG. 1 shows a block diagram of an arrangement for regulating the phase current in a switched reluctance machine; [0027]FIG. 2 shows a control loop for regulating the phase current; [0028]FIG. 3 shows a timing diagram of pulse-width-modulated pulses with different duty ratios; [0029]FIG. 4 shows further details of the structogramm illustrated in FIG. 2; [0030]FIG. 5 shows characteristics, which are typical for a reluctance machine, for the flux as a function of the phase current, with the rotor rotation position as a parameter; [0031]FIG. 6 shows approximated characteristics of the flux as a function of the phase current for a reluctance machine, [0032]FIG. 7 shows the approximate profile of the time constant of the reluctance machine as a function of the rotor rotation position; [0033]FIG. 8 shows a characteristic, which is typical for the reluctance machine, of the magnetic flux as a function of the rotor rotation position with a constant phase current; and [0034]FIG. 9 shows the partial derivative of the characteristic shown in FIG. 8 with respect to the rotor rotation position for a constant phase current. [0035] An arrangement for regulating the phase current in a switched reluctance machine has a regulation and control arrangement which is denoted by [0036] The reluctance machine may have a number of phases, only one of which is illustrated in FIG. 1. The number of DC chopper controllers corresponds to the number of phase windings. [0037] The rotor [0038]FIG. 2 shows a structogramm of the control loop. The converter or inverter [0039] The regulator [0040] Since the converter or inverter [0041]FIG. 3 shows the pulses for duty ratios of 10%, 50% and 90% for the period T [0042] If the regulator output is negative, as is the situation if the required value is exceeded, logic causes the PWM to switch backwards and forwards between the two switching states “off” and “short-circuit”, in order to reduce the phase current (Mode “0”=decrease current). If the regulator output is positive, if the required current value is undershot, the control logic results in the PWM switching backwards and forwards between “on” and “short-circuit” in order to increase the phase current (Mode “1”increase current). [0043] The range −100% to 0 is converted to a PWM value of 0 to +100%, and the range between 0 and +100% is likewise converted to a PWM value between 0 and +100%. [0044] This corresponds to a phase voltage of −U [0045] The path gain of the control loop illustrated in FIG. 2 is K [0046] In order to determine the gain of the control element K [0047] The gain of the phase winding [0048] This value indicates the current which will be produced for a specific applied (DC) voltage when the reluctance machine rotation speed is zero. [0049] The current sensor [0050] that is to say the ratio of the maximum output value of the ADC to the maximum current in the reluctance machine. [0051] By virtue of the microcontroller, the digital regulator [0052] The digital regulator [0053] The steady-state mean value of the sampling time is added to this computation time T [0054] A disturbance variable may occur in the time period from immediately after to immediately before the sampling by the A/D converter. However, the shortest effective computation time is the period of the pulse-width-modulation, since no new PWM value is transferred until the PWM unit starts a new period. [0055]FIG. 4 shows the structure of the PI regulator [0056] The I-element is determined by the constant
[0057] where T [0058] The control error e (k) is calculated by the regulation and control arrangement [0059] The P-element y [0060] The I-element
[0061] is determined separately from the P-element. The P and I elements are added, thus giving: y(k)=y [0062] In order to reduce the computation complexity, only the changes Δy (K) from the previous value y (k−1) are calculated and added to this: [0063] The P and I-elements are then given by: Δ and Δ [0064] The combined elements y and [0065] Since only the error and the I-element which was determined in the previous sampling interval need ever be stored when using the procedure described above, this results in a short computation time. [0066] In a switched reluctance machine, the electrical time constant of the individual phase windings is highly dependent on the rotor rotation position γ and on the phase current i. This results in a current-dependent and position-dependent time constant T [0067] The time constant T [0068]FIG. 5 shows a typical characteristic of the flux Ψ of a reluctance machine as a function of the phase current i, with the rotation position γ of the rotor as a parameter. The rate of change of the current is determined from the gradient of a straight line through the origin and the instantaneous operating point on the Ψ-i characteristic. It has been found that an approximate determination of the time constant leads to good regulation characteristics, described below: [0069] In a switched reluctance machine, the magnetic reluctance varies as a function of the rotation position of the rotor. The minimum value is reached when a rotor tooth is opposite a stator tooth which has been excited by current. This position is referred to as a direct-axis field position or d-position. When the center of the rotor slot is opposite a stator tooth which has been excited by current, the magnetic reluctance is at its maximum. This position is referred to as the quadrature-axis field position, or q-position. The phase inductance L varies inversely with the magnetic reluctance. An idealized profile with respect to the rotor rotation position γ can be assumed for the phase inductance and thus for the time constant. This profile is shown for the time constant T [0070] The time constant in the d-position is given by:
[0071] The intermediate values of the time constants between T [0072] This gives good results since the only occasion on which a sudden change in the required value is applied to the regulator [0073] The readjustment time T [0074] The regulation is set on the basis of the optimum magnitude. On this basis, the gain factor of the regulator [0075] since T [0076] For the I-element of the regulator [0077] K [0078] The phase voltage induced in the phase winding [0079] In the vicinity of the q-position, the induced voltage is [0080] The pilot control value can be read from the characteristic
[0081] which is determined and stored for the respective reluctance machine, as a function of the present phase current, can be multiplied by the rotation speed or the angular velocity, and can be added to the output of the regulator [0082] However, it has been found that there is no need to determine the induced voltage exactly, since the regulator [0083] It is assumed that, in the unsaturated region of the T-i characteristics, as shown in FIG. 5, the partial derivative
[0084] is related linearly to the phase current for any given rotor angle. This linear profile is shown in FIG. 6. In the saturation region, the Ψ-i characteristics are assumed to be straight lines which run parallel, and are likewise illustrated in FIG. 6. The characteristic map ∂Ψ (γ, i) can thus be reduced to the profile
[0085] In the linear region, the induced voltage is then given by:
[0086] In the saturated region, for currents above I [0087] In order to determine the profile of
[0088] the Ψ (γ, i) profiles are formed for all the phase current values contained in the
[0089] data set, are divided by the phase current limited to I [0090]FIG. 9 illustrates a profile which is typical for a reluctance machine
[0091] Such a characteristic for the respective reluctance machine is stored in a one-dimensional table, as is illustrated in FIG. 4 by the block annotated pilot control. An appropriate value is read from the table as a function of the phase current and of the rotor rotation position, is multiplied by the rotation speed or the angular velocity, and is added, as a pilot control value, to the regulator output. The value for the saturation limit I [0092] All the phase-current regulators and pulse-width-modulation units expediently operate synchronously with a common timebase. [0093] The individual phases must be switched on and off as a function of the present rotor position and of the on-and-off-switching angles. Owing to the variable rotation speed of the GRM, this switching of the phases is completely asynchronous with respect to the clock. [0094] In order to avoid the regulator cycle just having been processed on reaching the switch-on angle, and thus not being calculated until after the next sampling time T [0095] A further advantage of this start value for the PWM is that the reaction time of the regulator in response to a phase being switched on is minimized. [0096] A further reason in favour of the use of a PWM start value is the transition from pulsed operation of the GRM to block operation. In pulsed operation, the regulator has to act as a limiting element for the phase current. In block operation, however, the regulator output must be driven at the 100% level beyond the switch-on angle in order to make the full intermediate-circuit voltage available for that phase. This is the only way in which the GRM can be used optimally. This transition does not take place suddenly, but is dependent on the rotation speed and the required current value. [0097] It therefore makes sense not to use a constant start value for the PWM, but to produce a relationship between the rotation speed and the required current value. One possible way of achieving this is:
[0098] In this case, n [0099] The DC chopper controller illustrated in FIG. 1 operates in the two-quadrant mode. [0100] Three of these DC chopper controllers are required to operate a three-phase GRM and, in a corresponding manner, three identical current regulators, which are independent of one another. [0101] This topology results in the current flowing in one direction in that phase, although this does not limit the operating range of the GRM, since the torque is formed independently of the current direction. Four switching states can be provided with this embodiment of the converter. [0102] If both switches [0103] The regulation method according to the invention can in principle also be used with other converter topologies. [0104] The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof. Referenced by
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