阅读说明：本技术 改进模糊控制的开关磁阻电机转矩分配函数控制系统 (Switched reluctance motor torque distribution function control system with improved fuzzy control ) 是由 朱景伟 宋鑫 吕潇涵 荆哲 于 2020-06-10 设计创作，主要内容包括：本发明公开了一种改进模糊控制的开关磁阻电机转矩分配函数控制系统,包括：位置检测模块,改进模糊控制模块,转矩分配函数模块,转矩特性表估算模块,转矩滞环模块,功率变换器模块以及开关磁阻电机。本控制系统外环为改进模糊的控制方法,所述改进模糊控制模块对比例因子K<Sub>e</Sub>和K<Sub>u</Sub>进行自整定,将给定转矩送给转矩分配函数模块,本控制系统内环为转矩分配函数的控制方法,函数本体采用余弦型分配函数,可以让转矩分配函数的开通角大于电机实际开通角,使得在电感变化率变化比较大的时候开始分配转矩,从而实现电机的实际转矩能更好的跟踪给定转矩,本发明可以较快的提高电机的转速响应速度及其运行性能,降低换相期间的转矩脉动,很好的保障了电机的正常运行。(The invention discloses a switch reluctance motor torque distribution function control system for improving fuzzy control, which comprises: the device comprises a position detection module, an improved fuzzy control module, a torque distribution function module, a torque characteristic table estimation module, a torque hysteresis module, a power converter module and a switched reluctance motor. The control method of the control system comprises the step of controlling the outer ring of the control system to improve the fuzzy, wherein the improved fuzzy control module controls a scale factor K e And K u The control system has an inner ring as a control method of the torque distribution function, a function body adopts a cosine type distribution function, the opening angle of the torque distribution function can be larger than the actual opening angle of the motor, so that the torque is distributed when the change rate of the inductance is large, and the actual change rate of the motor is realizedThe invention can improve the speed response speed and the running performance of the motor, reduce the torque pulsation during the phase change and well ensure the normal running of the motor.)

1. A switched reluctance motor torque distribution function control system for improved fuzzy control, comprising:

the position detection module is used for receiving the rotating speed information transmitted by the switched reluctance motor and processing the rotating speed information to obtain a motor rotor position angle;

the improved fuzzy control module receives the difference value and the change rate of the given rotating speed and the actual rotating speed of the motor and outputs the given torque after processing;

the torque distribution function module receives the given torque transmitted by the improved fuzzy control module and the motor rotor position angle transmitted by the position detection module, and acquires the given torques of the three phases through the torque distribution function;

the torque characteristic table estimation module is used for receiving the rotor position angle information transmitted by the position detection module and the three-phase current information transmitted by the switched reluctance motor, carrying out interpolation through the current-angle-torque characteristic table according to the three-phase current information and the rotor position angle information of the switched reluctance motor to obtain actual three-phase estimated torque, and simultaneously comparing the three-phase given torque with the obtained actual three-phase estimated torque;

the torque hysteresis module is used for receiving the three-phase given torque transmitted by the torque distribution function module and the three-phase estimated torque transmitted by the torque characteristic table estimation module, comparing the received data, and when the deviation exceeds the hysteresis width, if the deviation value is positive, outputting 1 by the hysteresis comparator to increase the torque; if the deviation value is negative, the output of the hysteresis comparator is 0, the torque is reduced, and a three-phase switching signal is output;

and the power converter module is used for receiving the three-phase switching signals transmitted by the torque hysteresis module, and applying or disconnecting the voltage on the winding for the switched reluctance motor winding so as to control the motor to work.

2. The control system of claim 1, wherein: the improved fuzzy control module comprises a selection unit, a derivation calculation unit, a rounding operation unit, a fuzzy rule calculation unit I, a fuzzy rule calculation unit II and a PID control unit;

the difference between the given rotating speed and the actual rotating speed output by the position detection module is made to form a rotating speed error signal e, the rotating speed error signal e is transmitted to a selection unit, the given torque is output by adopting a fuzzy control method when the rotating speed error is larger than a set value, and the given torque is output by switching to PID control when the rotating speed error is smaller than the set value;

the derivative calculating unit receives the rotating speed error signal e and outputs an error change rate signal ec after derivative calculation;

the rounding operation unit divides the optimal constant value and the given rotating speed to be used as a self-adjusting scale factor K_eDividing the scale factor K_eMultiplying the error signal E by the rotation speed error signal, transmitting the result to a rounding operation unit for operation processing to output a fuzzy quantity E, and outputting an error change rate signal ec and a scale factor K_ecAfter multiplication, inputting the multiplied data into a rounding operation unit for fuzzification so as to form a fuzzy quantity EC;

the fuzzy rule calculation unit I and the fuzzy rule calculation unit II simultaneously receive the fuzzy quantity E and the fuzzy quantity EC transmitted by the rounding operation unit, wherein the fuzzy rule calculation unit I outputs K_uMultiplying fuzzy quantity by K to obtain fuzzy self-tuning torque scale factor K_uThe fuzzy rule calculating unit II outputs a torque fuzzy quantity U and a torque scale factor K_uMultiplying the torque to obtain a given torque and outputting the given torque;

when the rotating speed error is smaller than the set value, the PID control unit receives the rotating speed error signal, and outputs the given torque after processing.

3. The control system of claim 1, wherein: the control system of claim 1, wherein: the torque distribution function module adopts a cosine distribution function to control the opening angle theta of the switched reluctance motor_o′_nAnd off angle theta_o′_ffAnd (3) carrying out independent control, specifically adopting the following mode:

where θ is the rotor position angle of the switched reluctance motor, θ_o′_vAnd (3) giving the torque distribution function an angle of overlap of the torques of the two adjacent phases.

Technical Field

The invention relates to the field of motor control, in particular to a switched reluctance motor torque distribution function control system for improving fuzzy control.

Background

Three patents were retrieved regarding the motor control process as follows:

1. a speed regulator of switch reluctance motor based on composite fuzzy control and its method (application number: CN201811111081.7) features that an adaptive fuzzy PI control method is used, and the PI parameters are regulated according to the load change, so optimizing the traditional PI speed loop by adaptive fuzzy control speed, i.e. the control strategy combining PI control with fuzzy control is used. The basic idea is that fuzzy control is adopted to rapidly reduce errors when the torque errors are large, after the errors enter a certain error band, the idea of combining fuzzy control and PI control is adopted to eliminate steady-state errors, reference torques required by direct torque control are dynamically output, the dynamic performance and the control precision of the system are improved, and the system can also obtain proper reference torques in the face of complex environments.

The second patent is: 2. a switched reluctance motor fuzzy self-adaptive control system and a method (application number: CN201910624331.5) disclose the technical proposal that: the difference between the given rotating speed and the actual rotating speed forms a rotating speed error signal, the signal and the change rate thereof are used as input signals of a fuzzy controller, fuzzy reasoning operation is carried out through a set fuzzy rule, dynamic parameters delta Kp and delta Ki are output, the two parameters respectively determine control parameters Kp and Ki of a fractional order PI controller module, the obtained parameters Kp and Ki directly act on a controlled object, thus a fuzzy self-adaptive fractional order PI control algorithm is realized, the rotating speed error signal outputs a given torque value through the fuzzy self-adaptive fractional order PI controller, the given torque value and a feedback torque value output by a torque calculation module are subjected to difference to obtain a torque error signal, the torque error signal enters a PWM module, and the output signal of the PWM module is amplified by an asymmetric half-bridge driving circuit to drive the switched reluctance motor to operate.

The third patent is: 3. a torque control system (application number: CN201811495606.1) of a switch reluctance motor with improved PID control is provided, wherein the technical scheme is as follows: according to the characteristics of the single-neuron PID and the switched reluctance motor, the original differentiation is replaced by differentiation in advance, namely a differentiation advance single-neuron PID speed controller is adopted; and introducing fuzzy control to adjust the output gain of the differential leading single-neuron PID to form a fuzzy-differential leading single-neuron PID speed controller, wherein the controller obtains a reference torque according to a given rotating speed and an actual rotating speed, the difference between the reference torque and a measured torque is a total torque deviation, the reference torque and the measured torque are connected into a torque distribution module, the torque deviation of each phase of the switched reluctance motor is obtained through a torque distribution function and is sent to a torque hysteresis controller, a control signal of each phase of the switched reluctance motor is obtained through the torque deviation of each phase, each phase control signal is used as an input signal of a power converter, and the power converter controls the three-phase input current of the switched reluctance motor.

The speed regulating system of the switched reluctance motor has the characteristics of simple control circuit, good speed regulating performance and high efficiency of a direct current speed regulating system and the characteristics of firmness, durability and simple structure of a motor of an alternating current variable frequency speed regulating system, and is a speed regulating system with higher cost performance. However, the double salient pole structure of the switched reluctance motor and the switching on/off switching mode of the switch power supply cause the characteristic of large torque pulsation, and limit the development of the switched reluctance motor. Due to the characteristics of high nonlinearity, variable structure and multivariable coupling of the switched reluctance motor, the conventional PID speed controller has a simple structure but cannot achieve a good control effect. A speed regulator and method for switched reluctance motor based on composite fuzzy control features that fuzzy control is used, but a fixed fuzzy control method is used according to the difference between rotation speed and the variation rate of rotation speed difference to output a given torque. A switched reluctance motor fuzzy self-adaptive control system and a method dynamically adjust delta Kp and delta Ki according to the rotating speed difference and the change rate thereof, but do not consider the effect of differentiation. A torque control system of a switch reluctance motor with improved PID control mainly outputs a torque signal by a neuron PID speed controller according to a rotating speed difference, fuzzy control only influences the output gain of the neuron PID, and the system is essentially different from the invention.

Disclosure of Invention

According to the problems existing in the prior art, the invention discloses a switched reluctance motor torque distribution function control system for improving fuzzy control, which comprises the following specific technical schemes:

the position detection module is used for receiving the rotating speed information transmitted by the switched reluctance motor and processing the rotating speed information to obtain a motor rotor position angle;

the improved fuzzy control module receives the difference value and the change rate of the given rotating speed and the actual rotating speed of the motor and outputs the given torque after processing;

the torque distribution function module receives the given torque transmitted by the improved fuzzy control module and the motor rotor position angle transmitted by the position detection module, and acquires the given torques of the three phases through the torque distribution function;

the torque characteristic table estimation module is used for receiving the rotor position angle information transmitted by the position detection module and the three-phase current information transmitted by the switched reluctance motor, carrying out interpolation through the current-angle-torque characteristic table according to the three-phase current information and the rotor position angle information of the switched reluctance motor to obtain actual three-phase estimated torque, and simultaneously comparing the three-phase given torque with the obtained actual three-phase estimated torque;

the torque hysteresis module is used for receiving the three-phase given torque transmitted by the torque distribution function module and the three-phase estimated torque transmitted by the torque characteristic table estimation module, comparing the received data, and when the deviation exceeds the hysteresis width, if the deviation value is positive, outputting 1 by the hysteresis comparator to increase the torque; if the deviation value is negative, the output of the hysteresis comparator is 0, the torque is reduced, and a three-phase switching signal is output;

and the power converter module is used for receiving the three-phase switching signals transmitted by the torque hysteresis module, and applying or disconnecting the voltage on the winding for the switched reluctance motor winding so as to control the motor to work.

Further, the improved fuzzy control module comprises a selection unit, a derivation calculation unit, a rounding operation unit, a fuzzy rule calculation unit I, a fuzzy rule calculation unit II and a PID control unit;

the difference between the given rotating speed and the actual rotating speed output by the position detection module is made to form a rotating speed error signal e, the rotating speed error signal e is transmitted to a selection unit, the given torque is output by adopting a fuzzy control method when the rotating speed error is larger than a set value, and the given torque is output by switching to PID control when the rotating speed error is smaller than the set value;

the derivative calculating unit receives the rotating speed error signal e and outputs an error change rate signal ec after derivative calculation;

the rounding operation unit divides the optimal constant value and the given rotating speed to be used as a self-adjusting scale factor K_eDividing the scale factor K_eMultiplying the error signal E by the rotation speed error signal, transmitting the result to a rounding operation unit for operation processing to output a fuzzy quantity E, and outputting an error change rate signal ec and a scale factor K_ecAfter multiplication, inputting the multiplied data into a rounding operation unit for fuzzification so as to form a fuzzy quantity EC;

the fuzzy rule calculation unit I and the fuzzy rule calculation unit II simultaneously receive the fuzzy quantity E and the fuzzy quantity EC transmitted by the rounding operation unit, wherein the fuzzy rule calculation unit I outputs K_uMultiplying fuzzy quantity by K to obtain fuzzy self-tuning torque scale factor K_uThe fuzzy rule calculating unit II outputs a torque fuzzy quantity U and a torque scale factor K_uMultiplying the torque to obtain a given torque and outputting the given torque;

when the rotating speed error is smaller than the set value, the PID control unit receives the rotating speed error signal, and outputs the given torque after processing.

Furthermore, the torque distribution function module adopts a cosine type distribution function to provide an opening angle theta 'to the switched reluctance motor'_onAnd off angle θ'_offAnd (3) carrying out independent control, specifically adopting the following mode:

wherein theta is a rotor position angle of the switched reluctance motor, theta'_ovAnd (3) giving the torque distribution function an angle of overlap of the torques of the two adjacent phases.

The invention provides a switch reluctance motor torque distribution function control system with improved fuzzy control, which adopts an improved fuzzy control module to replace a PID speed controller in the outer ring of the control system, wherein the difference between the given rotating speed and the actual rotating speed forms a rotating speed error signal, the signal and the change rate thereof are used as input signals of the fuzzy controller, and meanwhile, a membership function with low resolution is selected when the deviation is larger, namely the slope of the function is smaller, and a membership function with high resolution is selected when the deviation is smaller, namely the slope of the function is larger.

Whereas for the scale factor, when it is fixed, it is not possible to achieve the desired control effect of the system and it is important to output a given torque u, the scale factor K is compared_uFuzzy control taking the rotating speed difference and the change rate thereof as input is also adopted, but the fuzzy rule at the moment is different from the fuzzy rule of the output fuzzy quantity U; meanwhile, when the given rotating speed is higher, the error is larger, and a smaller scale factor K is selected_eFor a given rotation speed, the error is small, and a large scale factor K should be selected_eTherefore, the comparative example factor K_eSelf-tuning control methods should also be adopted.

According to the control method for the torque distribution function of the inner ring of the control system, the function body adopts the cosine type distribution function, and the opening angle of the traditional torque distribution function is strictly the same as the opening angle given by the motor. However, in actual operation, at the beginning stage of phase commutation of two-phase windings of the motor, because the position where the winding of the conducting phase (the phase where the rising edge of the TSF is located) generates torque is close to the misalignment position of the stator and the rotor of the switched reluctance motor, at this time, the change rate of the rise of the inductance in the actual motor model is relatively low, the phase torque generated by the phase is relatively low, which causes insufficient torque tracking and causes relatively low total torque of the motor, so that the opening angle of the torque distribution function can be made larger than the actual opening angle of the motor, the torque starts to be distributed when the change rate of the inductance is relatively large, and the actual torque of the motor can better track the given torque, thereby inhibiting torque ripple.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a schematic diagram of the operation of the improved fuzzy control in the system of the present invention;

FIG. 3 is a schematic diagram of membership functions for inputs E and EC during operation of the system of the present invention;

FIG. 4 shows the output K of the system of the present invention during operation_uA schematic diagram of membership functions of (a);

FIG. 5 is a schematic diagram of a modified fuzzy control speed waveform during operation of the system of the present invention;

FIG. 6 is a schematic diagram of an improved fuzzy control torque waveform during operation of the system of the present invention;

Detailed Description

In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:

as shown in fig. 1, a switched reluctance motor torque distribution function control system with improved fuzzy control specifically adopts the following technical scheme, including:

the position detection module receives the rotating speed calculated in the switched reluctance motor as input data, outputs a rotor position angle to the torque characteristic table estimation module and the torque distribution function module after conditioning, and outputs the converted rotating speed to be compared with the given rotating speed, and the specific scheme is as follows: the improved fuzzy control module receives the rotating speed error signal and analyzes and processes the rotating speed error signal to obtain given torque, the given torque is transmitted to the torque distribution function module to obtain distributed given torque of each phase, the given torque is subtracted from three-phase estimated torque output by the torque characteristic table estimation module to obtain a torque error signal, the torque error signal is transmitted to the torque hysteresis module to obtain switching signals of each phase 1 and 0, and the signals pass through the power converter module to control the operation of the switched reluctance motor.

And the torque characteristic table estimation module is used for taking the motor rotor position angle output by the position detection module and the three-phase current of the switched reluctance motor as input information, and performing interpolation through the current-angle-torque characteristic table to obtain actual three-phase estimated torque and three-phase given torque output by the torque distribution function module to respectively compare the actual three-phase estimated torque and the three-phase given torque.

And the improved fuzzy control module takes the difference value between the given rotating speed and the actual rotating speed of the motor and the change rate thereof as input data, and outputs the given torque to the torque distribution function module after processing and calculation.

And the torque distribution function module outputs three-phase given torques through the torque distribution function by taking the given torque output by the improved fuzzy control module and the motor rotor position angle output by the position detection module as input information.

The torque hysteresis module compares the three-phase given torque output by the torque distribution function module with the three-phase estimated torque output by the torque characteristic table estimation module to serve as input information, and when the deviation exceeds the hysteresis width, if the deviation value is positive, the output of the hysteresis comparator is 1, so that the torque is increased; if the deviation value is negative, the output of the hysteresis comparator is 0, so that the torque is reduced, and a three-phase switching signal is output to the power converter module.

And the power converter module takes the three-phase switching signals output by the torque hysteresis module as input information, so that voltage is applied or disconnected to each phase winding to control the motor to work.

Further, the rotating speed error signal is input to the improved fuzzy control module, the given torque is output after processing and calculation, the given torque is sent to the torque distribution function module to obtain the distributed given torque of each phase, the given torque is subtracted from the three-phase estimated torque output by the torque characteristic table estimation module to obtain a torque error signal, the torque error signal passes through the torque hysteresis module to obtain switching signals of 1 and 0 of each phase, and the signals pass through the power converter module to control the operation of the switched reluctance motor.

Further, the improved fuzzy control module comprises a selection unit, a derivation calculation unit, a rounding operation unit, a fuzzy rule calculation unit I, a fuzzy rule calculation unit II and a PID control unit.

Furthermore, the difference between the given rotation speed and the actual rotation speed output by the position detection module is formed into a rotation speed error signal e, the rotation speed error signal e outputs an error change rate signal ec after passing through the derivation calculation module, and the error change rate signal ec passes through a scale factor K_ecAnd after the rounding operation module fuzzifies, a fuzzy quantity EC is formed. The method specifically adopts the following steps:

the difference between the given rotating speed and the actual rotating speed output by the position detection module is made to form a rotating speed error signal e, the rotating speed error signal e is transmitted to a selection unit, the given torque is output by adopting a fuzzy control method when the rotating speed error is larger than a set value, and the given torque is output by switching to PID control when the rotating speed error is smaller than the set value;

the derivative calculating unit receives the rotating speed error signal e and outputs an error change rate signal ec after derivative calculation;

the rounding operation unit divides the optimal constant value and the given rotating speed to be used as a self-adjusting scale factor K_eDividing the scale factor K_eMultiplying the error signal E by the rotation speed error signal, transmitting the result to a rounding operation unit for operation processing to output a fuzzy quantity E, and outputting an error change rate signal ec and a scale factor K_ecAfter multiplication, inputting the multiplied data into a rounding operation unit for fuzzification so as to form a fuzzy quantity EC;

the fuzzy rule calculation unit I and the fuzzy rule calculation unit II simultaneously receive the fuzzy quantity E and the fuzzy quantity EC transmitted by the rounding operation unit, wherein the fuzzy rule calculation unit I outputs K_uMultiplying fuzzy quantity by K to obtain fuzzy self-tuning torque scale factor K_uThe fuzzy rule calculating unit II willOutput torque fuzzy quantity U and torque scale factor K_uMultiplying the torque to obtain a given torque and outputting the given torque;

when the rotating speed error is smaller than the set value, the PID control unit receives the rotating speed error signal, and outputs the given torque after processing.

Furthermore, for the error signal e of the rotation speed, the scaling factor is determined according to the rotation speed, and for a higher error of a given rotation speed, a smaller scaling factor K should be selected_eFor a given rotation speed, the error is small, and a large scale factor K should be selected_eThus, an optimum constant obtained by extensive simulation and a given rotation speed are used as the scaling factor K divided by the rotation speed error signal e_eK of rotation speed error signal e through self-tuning_eAnd rounding the block to form the blur amount E after blurring. Meanwhile, when the deviation is large, a membership function with low resolution is selected, namely the slope of the function is small, when the deviation is small, a membership function with high resolution is selected, namely the slope of the function is large, E and EC are selected from { NB, NM, NS, ZE, PS, PM and PB } which correspond to negative large, negative medium, negative small, zero, positive small, positive medium and positive large respectively, and membership functions of E and EC are shown in figure 3. E and EC carry out fuzzy reasoning operation through a torque fuzzy rule calculation module to output a torque fuzzy quantity U, and the subset of the output fuzzy quantity U of the torque fuzzy rule calculation module is selected to be the same as E and EC. E and EC are also subjected to a scaling factor K_uThe fuzzy rule calculation module carries out fuzzy inference operation and outputs a scale factor K_uWith output subsets { S, M, B, H } corresponding to small, medium, large and maximum, respectively, with the scale factor K output_uThe membership function of (a) is a Gaussian function, as shown in FIG. 4, and a scale factor K_uIs shown in Table 1, the fuzzy quantity U and the scale factor K_uMultiplying and outputting a given torque signal. However, the fuzzy control has a control blind area, and a steady-state rotating speed error exists in the actual operation, so a PID control module is introduced, when a rotating speed error signal e is less than 3r/min, the PID control is switched to, and when e is more than 3r/min, the fuzzy control is switched to.

Table 1: scale factor K_uFuzzy rule table

The given torque output by the improved fuzzy control module is sent to a torque distribution function module, the torque distribution function module outputs three-phase given torque, and the torque distribution function is a cosine type distribution function as follows:

where θ corresponds to a position angle, θ ', of the switched reluctance motor'_on，θ′_offAnd θ'_ovThe opening angle, the opening angle and the adjacent two-phase torque overlapping angle are respectively corresponding to the torque distribution function. Given on angle θ 'of torque distribution function module'_onAnd off angle θ'_offThe actual on angle and off angle of the electric machine are different, i.e. the on angle θ 'of the torque distribution function module can be adjusted'_onAnd off angle θ'_offAnd carrying out independent control.

(1) The three-phase given torque output by the torque distribution function module and the three-phase actual torque output by the torque estimation module are subjected to difference to obtain torque deviation, the torque deviation is sent to the torque hysteresis module, and when the deviation exceeds the hysteresis width, if the deviation value is positive, the output of the hysteresis comparator is 1, so that the torque is increased; if the deviation value is negative, the output of the hysteresis comparator is 0, so that the torque is reduced.

(2) The torque hysteresis module outputs a switching-on/off signal to be sent to the power converter module, and the power converter module applies or switches off voltage on the winding to each phase winding according to the output of the torque hysteresis module to control the motor to work.

(3) The position angle of the rotor can be obtained through a rotating speed signal output by the switched reluctance motor through a position detection module. The three-phase current of the switched reluctance motor obtained through detection and the rotor position angle obtained through detection are sent to a torque estimation module, and interpolation is carried out through a current-angle-torque characteristic table to obtain the actual three-phase torque so as to form a torque inner ring

(4) And finally, the switched reluctance motor obtains an actual feedback rotating speed value through a rotating speed calculating module and sends the actual feedback rotating speed value to be differed with the given rotating speed to form a rotating speed outer ring.

(5) FIG. 5 is a diagram showing a rotational speed waveform of a switched reluctance motor of the present system, in which an initial given rotational speed is 200r/min, a load torque is 10N · m, and a change given rotational speed is 300r/min at 0.04s, and FIG. 6 is a diagram showing a torque waveform of a switched reluctance motor of the present system.

Simulation results show that the improved fuzzy control method provided by the system can be used for rapidly improving the rotating speed response speed and the running performance of the motor, reducing the torque pulsation during phase commutation and well ensuring the normal running of the motor.

The system improves the speed PID controller of the switched reluctance motor, adopts the fuzzy controller and correspondingly improves the fuzzy controller, and simultaneously independently controls the opening angle of the torque distribution function, thereby improving the running performance and the response speed of the switched reluctance motor and reducing the torque pulsation.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.