阅读说明：本技术 用于控制开关磁阻电动马达的方法和设备 (Method and apparatus for control switch reluctance electric motor ) 是由 S·戈帕拉克里希南 A·M·奥麦凯达 T·W·尼尔 C·S·纳姆杜里 L·郝 于 2019-04-29 设计创作，主要内容包括：一种多相开关磁阻马达,其包括转子和定子、电子换向器子组件和控制器。所述电子换向器子组件包括电子马达控制单元、功率逆变器和旋转位置传感器,所述功率逆变器电连接到所述开关磁阻马达的所述定子。所述控制器与所述电子马达控制单元、所述功率逆变器和所述旋转位置传感器通信。所述控制器包括指令集,所述指令集可执行以表征所述开关磁阻马达的操作,基于所述表征操作来动态地确定所述开关磁阻马达的电感,并执行闭环转矩控制程序以基于所述开关磁阻马达的所述动态确定的电感来控制所述开关磁阻马达。所述闭环转矩控制程序基于所述动态确定的电感来动态地确定来自所述开关磁阻马达的转矩输出。(A kind of multiphase switched reluctance motor comprising rotor and stator, electronic commutator sub-component and controller.The electronic commutator sub-component includes electric motor control unit, power inverter and rotational position sensor, and the power inverter is electrically connected to the stator of the switched reluctance motor.The controller is communicated with the electric motor control unit, the power inverter and the rotational position sensor.The controller includes instruction set, the executable operation to characterize the switched reluctance motor of described instruction collection, it is operated based on the characterization to dynamically determine the inductance of the switched reluctance motor, and executes closed loop torque control procedure to control the switched reluctance motor based on the inductance being dynamically determined described in the switched reluctance motor.The closed loop torque control procedure dynamically determines the torque output from the switched reluctance motor based on the inductance being dynamically determined.)

1. a kind of starter for internal combustion engine comprising:

Multiphase switched reluctance motor comprising rotor and stator；

Electronic commutator sub-component comprising electric motor control unit, power inverter and rotational position sensor, including institute State the stator that power inverter is electrically connected to the switched reluctance motor；And

Controller communicates, institute with the electric motor control unit, the power inverter and the rotational position sensor Stating controller includes instruction set, described instruction collection be able to carry out with:

The operation of the switched reluctance motor is characterized,

The inductance of the switched reluctance motor is dynamically determined based on the characterization operation, and

It is described to be controlled based on the inductance being dynamically determined described in the switched reluctance motor to execute closed loop torque control procedure Switched reluctance motor；

Wherein the closed loop torque control procedure is dynamically determined based on the inductance being dynamically determined from the switch magnetic Hinder the torque output of motor.

2. starter according to claim 1 further includes the instruction set being able to carry out to perform the following operation:

It dynamically monitors the rotation position of the rotor and is supplied to the electric current and voltage of the switched reluctance motor, and

It is operated based on the characterization, the rotation position of the rotor, the electricity for being supplied to the switched reluctance motor Stream and the voltage, dynamically determine the inductance of the switched reluctance motor.

3. starter according to claim 1 further includes the instruction set being able to carry out to perform the following operation:

The torque output of the switched reluctance motor is dynamically determined based on the inductance of the switched reluctance motor,

Determine the torque command of the switched reluctance motor, and

Based on from the torque output and the torque command being dynamically determined described in the switched reluctance motor, closed described in execution Ring torque control procedure is to control the switched reluctance motor.

4. starter according to claim 1, wherein the rotor includes more than first a rotor magnetic poles, and wherein described Stator includes more than second a magnetic pole of the stator；And it is wherein able to carry out to characterize the finger of the operation of the switched reluctance motor Enabling collection includes the instruction set being able to carry out to perform the following operation:

One of described rotor magnetic pole is mutually associated with the first electricity of the switched reluctance motor with the magnetic pole of the stator Corresponding magnetic pole of the stator alignment,

First voltage pulse is applied to one of described electric phase, described one in the rotor magnetic pole of one of described electricity phase Person is aligned with the magnetic pole of the stator with the associated one magnetic pole of the stator of the one in the electric phase, and simultaneously The electric current in the one in the electric phase is monitored, and

The relationship between the inductance and the monitored electric current at the rotor magnetic pole of the alignment is determined based on this.

5. starter according to claim 4, wherein the inductance at the alignment rotor magnetic pole in the rotor magnetic pole Relationship expression between the monitored electric current is as follows:

Wherein

L₀(i)=f (L_a(i),L_m(i),L_u(i)), and

L_x(i)=g (L_a(i),L_m(i),L_u(i))

And wherein:

L (θ, i) indicates the inductance under given electrical angle θ and electric current i；

La (i) is in alignment with inductance；

Lm (i) is midpoint inductance；

Lu (i) is misalignment inductance；

Nr is the quantity of the rotor magnetic pole of the switched reluctance motor；And

φ x is phase angle.

6. starter according to claim 4 further includes the instruction set being able to carry out to perform the following operation:

Second voltage pulse is applied to both the in the electric phase, in the rotor magnetic pole of both the in the electricity phase One of the magnetic pole of the stator misalignment with the one in the electric phase, and monitor simultaneously described in the electric phase Electric current in the two, and

The relationship between the inductance and the monitored electric current at the rotor magnetic pole of the misalignment is determined based on this.

7. starter according to claim 6 further includes the instruction set being able to carry out to perform the following operation:

Tertiary voltage pulse is applied to the third party in the electric phase, in the rotor magnetic pole of the third party in the electricity phase Another one and the one in the electric phase the magnetic pole of the stator misalignment, and monitor the institute in the electric phase simultaneously The electric current in the third party is stated, and

Based on the electricity in the third party in the electric current and the electric phase in described the two in the electric phase The relationship between inductance and the monitored electric current at rotor magnetic pole of the stream to determine the misalignment.

8. a kind of method for controlling multiphase switched reluctance motor, the multiphase switched reluctance motor include rotor and stator, Electronic commutator sub-component including electric motor control unit, power inverter and rotational position sensor, wherein the function Rate inverter is electrically connected to the stator of the switched reluctance motor, and wherein the rotor includes more than first a rotor magnetic Pole, and wherein the stator includes more than second a magnetic pole of the stator, which comprises

Characterize the operation of the switched reluctance motor；

The inductance of the switched reluctance motor is dynamically determined based on the characterization operation；

The torque output from the switched reluctance motor is dynamically determined based on the inductance being dynamically determined；And

Based on the inductance being dynamically determined described in the switched reluctance motor and from the torque of the switched reluctance motor Output is to control the switched reluctance motor.

9. according to the method described in claim 8, its further include:

It dynamically monitors the rotation position of the rotor and is supplied to the electric current and voltage of the switched reluctance motor, and

It is operated based on the characterization, the rotation position of the rotor, the electricity for being supplied to the switched reluctance motor Stream and the voltage, dynamically determine the inductance of the switched reluctance motor.

10. according to the method described in claim 8, wherein being dynamically determined based on the inductance of the switched reluctance motor The torque output of the switched reluctance motor includes:

Determine the torque command of the switched reluctance motor；And

Based on from the torque output being dynamically determined described in the switched reluctance motor and the torque command control described in open Close magnetic resistance motor.

Summary of the invention

Describe a kind of electric motor, and the electric motor includes multiphase switched reluctance motor comprising rotor and Stator, electronic commutator sub-component and controller.The electronic commutator sub-component includes that electric motor control unit, power are inverse Become device and rotational position sensor, the power inverter are electrically connected to the stator of the switched reluctance motor.The control Device processed is communicated with the electric motor control unit, the power inverter and the rotational position sensor.The controller Including instruction set, the executable operation to characterize the switched reluctance motor of described instruction collection is operated based on the characterization to move It determines the inductance of the switched reluctance motor to state, and executes closed loop torque control procedure based on the switched reluctance motor The inductance being dynamically determined controls the switched reluctance motor.The closed loop torque control procedure is based on described be dynamically determined Inductance dynamically determine the torque output from the switched reluctance motor.

An aspect of of the present present invention includes the executable instruction set to perform the following operation: dynamically monitoring the rotation of the rotor The electric current and voltage of the switched reluctance motor are set and are supplied in indexing, and based on characterization operation, the rotor The rotation position, be supplied to the electric current and the voltage of the switched reluctance motor, dynamically determine described open Close the inductance of magnetic resistance motor.

An aspect of of the present present invention includes the executable instruction set to perform the following operation: based on the switched reluctance motor The inductance dynamically determines the torque output of the switched reluctance motor, and determines the torque of the switched reluctance motor Order, wherein the closed loop torque control procedure is executable based on from being dynamically determined described in the switched reluctance motor Torque output and the torque command control the switched reluctance motor.

An aspect of of the present present invention includes the executable instruction set to perform the following operation: characterizing the switched reluctance motor Operation, including by one of described rotor magnetic pole in the magnetic pole of the stator and in the electric phase of the switched reluctance motor One of associated corresponding magnetic pole of the stator alignment, predetermined voltage pulse is applied to one of described electric phase, the electricity phase One of rotor magnetic pole with and the electric phase in the associated magnetic pole of the stator of the one be aligned, and monitor simultaneously Electric current in the mutually powered-down phase.Determined based on this inductance at rotor magnetic pole of alignment and the monitored electric current it Between relationship.

An aspect of of the present present invention includes: that predetermined voltage pulse is applied to one of described electric phase, in the electricity phase The magnetic pole of the stator misalignment of the rotor magnetic pole of one and the one in the electric phase, and monitor simultaneously described mutually powered-down Electric current in phase, and determined based on this between inductance and the monitored electric current at the rotor magnetic pole of misalignment Relationship.

Features described above and advantage and other feature and advantage of this introduction from the described below of certain optimal modes and are used It will be easily apparent in the other embodiments for executing this introduction as limited in appended claims, in conjunction with attached drawing acquirement.

Detailed description of the invention

One or more embodiments are described by way of example with reference to the drawings, in which:

Fig. 1 is the cross sectional side view of one embodiment of starter according to the present invention；

Fig. 2 is according to the present invention for the motor sub-component of the switched reluctance electric motor in starter to can be set Exploded isometric view；

Fig. 3-1 is the cross sectional side view of switched reluctance electric motor according to the present invention；

Fig. 3-2 is the section end view of switched reluctance electric motor according to the present invention；

Fig. 3-3 is the cross sectional side view of the rotor of switched reluctance electric motor according to the present invention；

Fig. 3-4 is the cross sectional side view of the stator of switched reluctance electric motor according to the present invention；

Fig. 4 is the schematic diagram of the electronic commutator sub-component according to the present invention for control switch reluctance electric motor；

Fig. 5-1 graphically illustrates according to the present invention related to the operation of one embodiment of switched reluctance motor The inductance of connection and the first perspective view of relationship of electric current；

Fig. 5-2 graphically illustrates according to the present invention and switched reluctance motor as described herein one embodiment The associated inductance of operation and electric current relationship the second perspective view；

Fig. 6 schematically shows motor characterization program according to the present invention comprising calibration method is to realize switch magnetic Hinder the real-time self study of one embodiment of motor；

Fig. 7-1 and 7-2 schematically shows motor control scheme according to the present invention and dependence diagram, they and it is dynamic State the embodiment of control switch magnetic resistance motor operation with transmit torque to use power inverter and controller device It is related；

Fig. 8-1 and 8-2 graphically illustrates an implementation according to the present invention for switched reluctance motor respectively Example single phase operation current order and respective motors torque output, wherein current order be setting maximum point and zero-turn square it Between the pwm signal that changes；

Fig. 9-1 and 9-2 graphically illustrates an implementation according to the present invention for switched reluctance motor respectively The current order and respective motors torque output of the single phase operation of example, wherein current order is described using with reference to Fig. 7-1 and 7-2 Motor control scheme determine；

It should be appreciated that the drawings are not necessarily drawn to scale, and present as disclosed herein it is of the invention it is various preferably The slightly simplified expression of feature, the preferred feature include such as specific size, orientation, location and shape.With this category feature Associated details will be determined partly by specific intended application and use environment.

Specific embodiment

It a variety of different can configure as described herein with the component of the disclosed embodiments of explanation to arrange and set Meter.Therefore, described in detail below to be not intended to limit the scope of the present invention as claimed, but being merely representative of it may Embodiment.In addition, though numerous specific details are set forth in the following description to provide to presently disclosed embodiment It understands thoroughly, but some embodiments can be practiced in the case where more no such details.In addition, for the sake of clarity, Certain technologic materials known in the prior art are not described in, to avoid unnecessarily making the present invention become to obscure.This Outside, attached drawing is to present and not draw by precise proportions in simplified form.In addition, as noted herein with the present invention of description It can be not practiced in the case where element not specifically disclosed herein.

With reference to attached drawing, wherein identical appended drawing reference corresponds to same or similar component, Fig. 1 and 2 in several attached drawings Starter 100 is consistently shown with embodiment disclosed herein, the starter can be set on internal combustion engine (engine) To provide engine rotation starting torque as a part of engine startup process, including it is used for engine stop-start journey Sequence.Engine can be set on vehicle in one embodiment, and vehicle can include but is not limited to commerial vehicle, industry The forms such as vehicle, agri-vehicle, passenger vehicle, aircraft, ship, train, all-terrain vehicle, personal mobile device, robot Mobile platform is to complete the purpose of the present invention.Alternatively, starter 100 can be set in the engine in fixed power source On.

Starter 100 can be electrically connected to DC power supply 104 via cable or power bus, and can directly and/or warp It is communicated by controller 170 with starter switch.Starter 100 includes switched reluctance machines (switched reluctance motor) 125, is set It sets with the order in response to rotary engine and generates engine rotation starting torque.

Starter 100 is advantageously configured to multiple sub-components, and the multiple sub-component includes causing comprising single solenoid Gear-box/installation sub-component 155, the motor including switched reluctance motor 125 of dynamic pinion drive and planetary gear set Sub-component 135 and electronic commutator sub-component 115.Gear-box/installation sub-component 155, motor sub-component 135 and electronic commutation Device sub-component 115 is assembled into the single unit system using one or more fasteners 105.This configuration promotes Integration Assembly And Checkout, and And the high-density packages of power electronic element, noise filter, controller and interconnection piece are provided to reduce EMI.104 electricity of DC power supply Switched reluctance motor 125 is connected to provide DC electric current.DC power supply 104 can be 12V DC voltage level, 48V DC voltage electric Flat or another DC voltage level.

Gearbox/installation sub-component 155 include shell 152, shaft extension 150, planetary gear set 134, pinion gear 138, One-way clutch 136, pinion gear control solenoid 142 and pinion gear lever control arm 146.Pinion gear lever control arm 146 is set It sets and is controlled between solenoid 142 and pinion gear 138 in pinion gear, and be pivotally secured to shell via pivoting point 148 152.Planetary gear set 134 is connected to the motor output shaft 124 of switched reluctance motor 125.

The torque output generated by switched reluctance motor 125 is transmitted to planetary gear set 134 by motor output shaft 124, The planetary gear set provides gear reduction and comes with reduced speed amplification torque so that engine rotation starts.Some In example, reduction ratio can be in the range of 25:1 to 55:1.One-way clutch is passed through by the torque that planetary gear set 134 is transmitted 136.One-way clutch 136 is configured as that torque is locked and transmitted along first direction associated with engine rotation starting, and And allow to carry out rotation-sliding along second opposite direction, as may be during start event by one or more engine airs As occurring in overspeed condition caused by the igniting of cylinder.By this method, negative torque does not return to switched reluctance motor 125. It is fluctuated with compensation speed in addition, the engine situation of transfiniting can be absorbed in one-way clutch 136 and allows engine speed More than starter motor revolving speed.

The output torque generated by switched reluctance motor 125 is transmitted to rotatable engine rotation by pinion gear 138 Start input element 140.In one embodiment, engine rotation starts the crankshaft that input element 140 is engine.At one In embodiment, it is flywheel, belt drive unit or chain and sprocket driving device that engine rotation, which starts input element 140, is connected to hair The crankshaft of motivation.Pinion gear 138 is also arranged to translation and indexing between the first disengaging configuration and the second bonding station.Small tooth Wheel control solenoid 142 includes that there are two the electrical activation pistons of position (that is, extended position and retracted position) for tool.Controller 170 Pinion gear control signal 144 can be transmitted so that solenoid 142 is powered and power-off.In some instances, pinion gear controls signal 144 coordinate with motor operation signal.In alternative exemplary, pinion gear controls signal 144 can be by starter motor sub-component 108 Another external propulsion system controller provides.Pinion gear lever control arm 146 setting pinion gear control solenoid 142 with Between pinion gear 138.When pinion gear control solenoid 142 powers off, piston is in retracted position, and pinion gear 138 retracts simultaneously It is detached from.When pinion gear control solenoid 142 is powered, piston is moved to extended position, and pinion gear 138 extends and engages.It is small Gear controls the first end of 142 energization actuation lever control arm 146 of solenoid, and the first end is pivoted around pivoting point 148, and And pinion gear 138 is moved to the second bonding station by the opposite end of lever control arm 146.In one example, 138 quilt of pinion gear The sliding of shaft extension 150 is placed along with indexable between the first disengaging configuration and the second bonding station.Shell 152 includes opening 158, the opening allows 138 engagement engine of pinion gear to rotate starting importation 140 to provide rotation starting torque.

Electronic commutator sub-component 115 includes electric motor control unit (MCU) 128, power inverter 110, Yi Jiji One or more rotational position sensors 120 as the individual unit that can be assembled on motor sub-component 135.Electronic commutation Device sub-component 115 is depicted as coaxial relative to central rotation axis 133.Alternatively, one of electronic commutator sub-component 115 Or multiple portions can be arranged to 133 off-axis of central rotation axis relative to switched reluctance motor 125.It is real in other substitutions It applies in example, electronic commutator sub-component 115 is arranged to as the independent control with 135 physical separation of motor sub-component. Alternatively, the element of electronic commutator sub-component 115 is desirably integrated into controller 170, and the controller can be engine Control unit (ECU) controller.Electronic commutator sub-component 115 includes power management section, and the power management section includes Power inverter 110 is to be converted into three-phase current for direct current with driving switch magnetic resistance motor 125.Power inverter 110 can be with It is integrated into a part of printed circuit board (PCB) 112, the printed circuit board is set to manage electronic commutator sub-component 115 power section.

PCB 112 be connected to the stator winding 119 of switched reluctance motor 125 so that pulse width-modulated three-phase current Pass through electric terminal.Switched reluctance motor 125 can also include one or more position sensors 120 to detect the rotation of rotor 126 Turn and position.In some instances, position sensor 120 is hall effect sensor, is arranged on PCB 112 and by cloth It is set to the presence of take-off location target, the Place object can be a part that the motor output shaft 124 of rotor 126 is arranged in On one or more position magnets 122 form.Position magnet 122 can be same with the rotation axis 133 of motor output shaft 124 Heart positioning.The magnetic field of position magnet 122 is rotated together with rotor 126 (and output shaft 124), therefore changes polar orientation, Thus input is provided to indicate the variation of the rotation position of rotor 126 to position sensor 120.Type and magnetic field based on magnet Intensity, position sensor 120 is arranged in the predetermined axial interval away from magnet.In one embodiment and as indicated, position The magnet that magnet 122 can be arranged to diametrical magnetization is set, one end of motor output shaft 124, and position sensing are set Device 120 is arranged on PCB 112 with arrangement form on axis.Alternatively, position magnet 122 can be arranged to the magnetic of diametrical magnetization One end of motor output shaft 124 is arranged in body (not shown), and position sensor 120 is arranged in the form of off-axis arrangement At the magnet intended radial spacing being arranged on PCB 112.

The embodiment of position sensor 120 includes original angle position sensor, and monitoring objective is to provide increment or absolutely To position signal.No matter motor output shaft 124 is static or movement, and the position signal from absolute position transducer is all It is proportional to actual position.Incremental position transducer detects change in location.In one embodiment, position sensor 120 includes Multiplication encoder or digital hall sensor, for example, using the multi-pole magnet of polymer-bound, and wherein generate encoder/ Hall pulse and commutating pulse are exported as signal.Position sensor 120 can also include the chip based on intelligent microprocessor To extract simultaneously transmission location signal.Another embodiment of position sensor is analog hall-effect sensor, for example, using by The sensor for the target that neodymium magnet is formed, or can be used to generate sinusoidal and cosine signal as sensor other exported Sensor based on field.The other positions sensor type for generating similar sinusoidal and cosine output includes inductive type and magnetic resistance type position Set sensor.In one embodiment, position sensor 120 is all effect sensor assembly comprising first and second suddenly That effect sensing element, the Hall effect sensing element, which can be assembled on the end cap of switched reluctance motor and be arranged, to be turned Near sub- magnet assembly, the rotor magnet component can be ring device, and one end of rotor 126 is arranged in the ring device It is connected in parallel to the end of the rotor.

Electronic commutator sub-component 115 further includes at least one processor, such as motor control unit (MCU) 128, packet Gate drivers are included to receive the low power motor control signal from peripheral control unit to activate switched reluctance motor 125.MCU 128 adjust the high current driving input from power supply 104 also with operation power inverter 110.MCU 128 is communicated with power supply 104, And it can receive the signal of instruction power source performance, such as battery charging state, Voltage Feedback, current feedback or other parameters. MCU 128 can transmit the signal of the timing of instruction engine restarting for use as other function (such as, the example of vehicle propulsion system As transmission shift scheduling, hybrid vehicle promote model selection and power regenerating) input.

In some instances, MCU 128 is the processor being arranged on control panel 132, the control panel and power management Spaced-apart.MCU 128 may include such as digital signal processor (DSP) microcontroller or specific integrated circuit (ASIC). Interval between control section and power unit is arranged to by allowing the heat generated from power management section sufficiently to dissipate The heat management of control panel 132 is assisted without influencing the operation of MCU 128.Moreover, it is described interval reduce at MCU 128 with can The relevant interference of electrical noise that can be generated by the switch of power inverter 110.Indicate that the signal of starter system operation is transmitted To control panel 132.Order is sent to the switch of power inverter 110 from MCU 128.The operation of inverter switching device can be based on turning The combination of sub- position, temperature, motor feedback current, battery feedback current, cell voltage, ECU signal or other parameters.Power supply pipe Managing part can also include one or more capacitors 154, and the PWM electric current for serving as filter will export from switch will be smooth Change.In some alternative exemplaries, the power filter part of electronic device can be located at outside the shell of electronic commutator sub-component 115 Portion.

Fig. 2 depicts the exploded isometric view of motor sub-component 135, to show details associated with motor sub-component, The motor sub-component includes switched reluctance motor 125, and the switched reluctance motor, which has to be mounted on, limits rotation axis 133 Annular stator 118 and rotor 126, multiple stator winding 119 on motor output shaft 124 and packet are in shell 137 and subsidiary Bearing in end cap 139.Switched reluctance motor 125 does not have commutator, permanent magnet, rotor cage or other rotor windings.Rotor 126 are formed by multiple stacking laminates, and the laminate is formed by ferromagnetic material and including multiple outwardly projecting rotor magnetic poles 127.Stator 118 is formed by multiple stacking laminates, and the laminate is formed by ferromagnetic material and including multiple inwardly projecting Magnetic pole of the stator 117, wherein forming void area 116 between adjacent magnetic pole of the stator 117.Stator winding 119 is inserted into interstice coverage In domain 116.MCU 128 sends to the switch of power inverter 110 and orders, and the power inverter successively makes switched reluctance motor 125 stator winding 119 is powered promotes rotor 126 to rotate to generate rotary electromagnetic field.As described herein, switched reluctance motor 125 generate by using the magnetic pull incuded on magnetic pole of the stator 117 and the field spider magnetic pole 127 being formed on rotor 126 Torque.

Fig. 3-1 to 3-4 shows the various aspects of switched reluctance motor 125, including stator 118, rotor 126, armature spindle 124 With rotation axis 133, including multiple critical design dimensions.Stator 118 includes the inwardly projecting stator magnet of multiple radial directeds Pole 117 has wherein inserted with the intermediate stator gap 116 of stator coil winding 119 in the magnetic pole of the stator.Rotor 126 wraps Include the outwardly projecting rotor magnetic pole 127 from the multiple radial directeds outstanding of armature spindle 124.Critical size may include as follows:

Effective length 161 is the overlapping axial length between stator 118 and rotor 126；

Gas length 162 is the gas between inwardly projecting magnetic pole of the stator 117 and outwardly projecting rotor magnetic pole 127 The radical length of gap；

The outer diameter 167 of stator 118；

Rotor magnetic pole length 164 is the radical length from each rotor magnetic pole 127 outstanding of armature spindle 124；

Magnetic pole of the stator length 165 is the radical length from inner surface each magnetic pole of the stator 117 outstanding of stator 118；

Stator magnet polar arc 166, A_S, be from the angle measured between 133 outstanding two radial line of rotation axis, In two radial line intersect with the corresponding opposite corners point of inwardly projecting magnetic pole of the stator 117；And

Rotor magnetic pole arc 163, A_R, be from the angle measured between 133 outstanding two radial line of rotation axis, In two radial line intersect with the corresponding opposite corners point of outwardly projecting rotor magnetic pole 127.

Switched reluctance motor 125 is configured as three-phase installation, has the first quantity N_SMagnetic pole of the stator 117 and second number Measure N_RRotor magnetic pole 127, generate multiple angular widths.Angular width is defined as being equal to difference of the rotor magnetic pole away from magnetic pole of the stator away between Value.According to these geometric definitions, the rotor/stator number of magnetic poles (N of threephase switch magnetic resistance motor 125_S/N_R) between relationship root Descend relationship accordingly to determine:

N_S: stator magnet number of poles and N_R: rotor magnetic pole number；

For threephase switch magnetic resistance motor 125, N_SIt is 3 multiple, and N_RIt is integer.

Advantageously, switched reluctance motor 125 has a certain number of magnetic pole of the stator 117 between 8 to 24, and 6 to A certain number of rotor magnetic poles 127 between 16.

In an advantageous embodiment, there are 18 magnetic pole of the stator 117 and 12 rotor magnetic poles 127, this is referred to as 18/12 Combination.

In an advantageous embodiment, there are 24 magnetic pole of the stator 117 and 16 rotor magnetic poles 127, this is referred to as 24/16 Combination.

In an advantageous embodiment, switched reluctance motor 125 is configured as follows:

Machine outer diameter 167 is less than 85mm；

Effective length 161 is less than 50mm；

Gas length 162 is between 0.1mm between 0.5mm；

Rotor magnetic pole arc 166A_RWith stator magnet polar arc 166A_SRatio be greater than or equal to 1.0.Advantageously, ratio A_R/A_SIn Between 1.0 to 1.2；

Stator diameter 167d_SWith root diameter 168d_RRatio be at least 2.0:1.Advantageously, ratio d_S/d_R1.8 to Between 2.5；And

Magnetic pole of the stator length 165h_SWith rotor magnetic pole length 164h_RRatio be equal to or more than 2.5.Advantageously, ratio h_S/ h_RBetween 2.1 to 2.5.

Relational languages such as term " controller " and control module, module, control, control unit, processor and similar Term refer to specific integrated circuit (ASIC), electronic circuit, central processing unit (for example, microprocessor) and in memory and One of the related non-transitory memory component of the form of storage device (read-only, may be programmed read-only, arbitrary access, hard disk etc.) Or various combinations.Non-transitory memory component can store in the form of one or more softwares or firmware program or routine Machine readable instructions, are combinational logic circuit, input/output circuitry and device, Signal Regulation and buffer circuit, and can be by mentioning For the other component of described functional one or more processors access.Input/output circuitry and device include simulation/number Word converter and monitor the input from sensor relevant apparatus, wherein it is such input with preset sample frequency or in response to Trigger event and monitor.Software, firmware, program, instruction, control routine, code, algorithm and similar terms mean to include scale With any controller executable instruction set of look-up table.Each controller executes control routine to provide desired function.Routine can It executes at regular intervals, such as every 100 microsecond executes once during the operation just carried out.Alternatively, routine can respond In trigger event generation and execute.Communication and controller, actuator between controller and/or the communication between sensor can The reality to use direct wired point-to-point link, connected network communication bus links, Radio Link or another suitable communication link It is existing.Communication includes including (for example) being handed over via conducting medium switching telecommunication number, via air with suitable form exchange data signals Change electromagnetic signal, via optical waveguide exchange optical signalling etc..Data-signal may include indicate the input from sensor from It dissipates, the communication between analog or digital analog signal, actuator commands and controller.Term " signal ", which refers to, conveys information It is any physically to distinguish indicator, and can be can travel through medium suitable waveform (for example, electricity, optics, magnetism, Mechanically or electrically magnetic), DC, AC, sine wave, triangular wave, rectangular, vibration etc..Term ' model ' refer to based on processor or place Manage the related scale of device executable code and simulator or physical process being physically present.As used herein, term ' it is dynamic ' and ' of state dynamically ' describe and execute in real time and with monitoring or otherwise determine the state of parameter and holding in routine It regularly or is updated periodically the step of the state of parameter is characterized or program between the departure date or between iteration that routine executes.Term " calibration (calibration) ", " calibration (calibrate) " and relational language refer to reality associated with device or standard The result or process that measured value is compared with measured value that is perceiving or observing or command position.School as described herein Will definitely by simplified to storable parameter list, multiple executable equations or it is another it is suitable in the form of.Parameter is defined as table Show can measure using the physical property of one or more sensors and/or the recognizable device of physical model or other elements. Parameter can have discrete value, such as " 1 " or " 0 " or its value can change to infinite variable.

Fig. 4 schematically shows the embodiment of the circuit 400 for power inverter 110, the circuit is for controlling The element of the electronic commutator sub-component 115 of the operation of the embodiment of the switched reluctance motor 125 of starter 100 processed.At one In embodiment, switched reluctance motor 125 is configured as three-phase installation.Other multiple polyphase dynamoelectric motor configurations can be used and are described herein Concept carry out advantageously configuration and operation, and therefore fall within the scope of the present invention.Circuit 400 is configured as that DC electricity will be originated from The electrical power of the pulse width-modulated in source 104 is supplied to the stator winding 119 of switched reluctance motor 125, the stator winding It is depicted as the first stator winding 422, the second stator winding 432 and third stator winding 442 respectively.Exemplary pulse width tune Control program processed indicates by control figure, the control figure include Q1 corresponding with the control signal of the first stator winding 422, with The corresponding Q2 of control signal of second stator winding 432, and it is corresponding with the control signal of third stator winding 442 Q3, all these control signals are all drawn relative to electric swing, are indicated on the horizontal axis.First stator winding 422, second Each of stator winding 432 and third stator winding 442 are respectively between the first high-voltage bus 412 and low voltage bus 414 444 arranged in series of corresponding first power switch 424, second source switch 434 and third power switch, the bus is electrically connected It is connected to DC power supply 104.

First high-voltage bus 412 is electrically connected to DC power supply 104 via intervening power control switch 415.First stator winding 422, the second stator winding 432 and third stator winding 442 and accordingly each knot of switch 424,434,444 respectively via Corresponding first diode 426, the second diode 436 and third diode 446 are electrically connected to the second high-voltage bus 413.4th Diode 456 provides current divider/drain electrode between the first high-voltage bus 412 and low voltage bus 414.

First power switch 424, second source switch 434 and third power switch 444 and power control switch 415 Activation and the deactivated gate drivers by being arranged in MCU 128 control.It is operatively controlled the first power switch 424, second Power switch 434 and third power switch 444 are to be transferred to the corresponding windings of stator 118 from DC power supply 104 by electrical power to drive Dynamic switched reluctance motor 125.In one embodiment, the first power switch 424, second source switch 434 and third power supply are opened Closing 444 is MOSFET device.Alternatively, the first power switch 424, second source switch 434 and third power switch 444 can be with Using in paralleling MOS FET, GaN FET, SiC FET, IGBT or other kinds of semiconductor switch single switch or multiple institutes Switch is stated to be formed.PCB construction can be configured to the FR4 multi-layer board with the copper intermediate layer of suitable thickness.Show in other substitutions In example, power management section may include power module assembly rather than wherein microchip is mounted directly to Direct Bonding copper (DBC) PCB of substrate.The sheet material of copper or aluminium can use copper tracing wire and be bonded to insulating substrate (for example, aluminium oxide or silicon nitride) One or both sides.Sheet material can be pre-formed before firing, or using printed-board technology carry out chemical etching with Circuit is formed, and bottom sheet can keep smooth.In a further example, microchip may be coupled to copper busbar or company It connects on the lead frame of isolating device for also facilitating electric switch.In general, power management section includes multiple switch, It is configured as managing the power from power supply and applies the pulse width modulation (PWM) discussed in greater detail below.These are opened Close can be ready to encapsulate together with the lead of PCB over-assemble, or can be formed " in tube core " and be mounted on copper lead On frame and wire bonding is to form electrical connection.

Circuit 400 for power inverter 110 is configured as (n+1) dc-dc converter of modification, can operate to control The embodiment of the switched reluctance motor 125 of starter 100 processed.Alternatively, for the embodiment of control switch magnetic resistance motor 125 Circuit 400 can be configured as asymmetrical half-bridge electric transducer, two-wire winding electric transducer, capacitor energy storage type (C-dump) electricity and turn Parallel operation or the suitable electric transducer of another kind for DC electrical power to be converted to AC electrical power, another suitable electricity turn Parallel operation can be used for the operation of the embodiment of control switch magnetic resistance motor 125.

The operation of starter 100 can be controlled by controller 170, the controller with include MCU128, power inverter 110 and rotational position sensor 120 electronic commutator sub-component 115 communicate.Controller 170 includes instruction set, described instruction The executable operation dynamically to characterize switched reluctance motor 125 of collection dynamically determines switching magnetic-resistance based on its characterization operation The inductance of motor 125, and execute closed loop torque control procedure with based on the inductance being dynamically determined come control switch magnetic resistance motor 125.The closed loop torque control procedure is dynamically determined based on the inductance being dynamically determined to be turned from switched reluctance motor 125 Square output.The operation is described with reference to Fig. 5-1,5-2,6,7-1 and 7-2.

Switched reluctance motor 125 is more by using the pulse width-modulated supplied from electronic commutator sub-component 115 Phase current successively applies electrical power to stator winding 119 to operate.The electrical power for being applied to stator winding 119 causes magnetic field, institute Stating magnetic field promotes rotor magnetic pole 127 and the magnetic pole of the stator 117 of excitation to be mechanically aligned.

Fig. 5-1 graphically illustrates the operation phase with one embodiment of switched reluctance motor 125 as described herein The relationship of associated inductance and electric current.Inductance amplitude indicates that the rotor-position exists relative to rotor-position on vertical axis 510 It is shown on trunnion axis 520.Rotor-position is illustrated as in the range of 0 electrical angle to 360 electrical angle.Electric current includes comprising minimum electricity The range of the current value and intermediate current value of stream 514 and maximum current 512.For minimum current 514 and maximum current 512 it Between each current value, maximum induction occurs when rotor-position is in 180 electrical angle, this be referred to as be aligned inductance La (i) 526.For each current value between minimum current 514 and maximum current 512, when rotor-position is in 0 or 360 electrical angle Minimum inductance occurs, this is referred to as misalignment inductance Lu (i) 522.For every between minimum current 514 and maximum current 512 Midpoint inductance occurs between the rotor-position of 0 electrical angle to 180 electrical angles for a current value, this is referred to as midpoint inductance Lm (i) 524。

Fig. 5-2 graphically illustrates one with switched reluctance motor 125 as described herein using the data of Fig. 5-1 The relationship of the operation associated inductance and electric current of embodiment.Herein, inductance amplitude refers on vertical axis 510 relative to electric current Show, the electric current is directed to 0 electric current 511 and maximum current for reference Fig. 5-1 with the data shown in figure on trunnion axis 515 Range between 514 is shown.As a result indicate: alignment inductance La (i) 526 is greater than midpoint inductance Lm (i) 524 and misalignment inductance Lu (i) 522, and reduce as electric current increases to maximum current 514, and misalignment inductance Lu (i) 522 is increased to by electric current The influence of maximum current 514 is minimum.

The relationship between electric current and inductance in switched reluctance motor 125 can be characterized as below:

Wherein

L₀(i)=f (L_a(i),L_m(i),L_u(i)), and

L_x(i)=g (L_a(i),L_m(i),L_u(i))

And wherein:

L (θ, i) it indicates to give the inductance under electrical angle θ and electric current i；

La (i) is in alignment with inductance；

Lm (i) is midpoint inductance；

Lu (i) is misalignment inductance；

Nr is the number or amount of rotor magnetic pole；And

φ x is phase angle.

Inductance item La (i), Lm (i) and Lu (i) can be represented as polynomial equation related with electric current i as follows:

La (i)=a₀₁+a₁₁(i)+a₂₁(i)²+a₃₁(i)³+….

Lm (i)=a₀₂+a₁₂(i)+a₂₂(i)²+a₃₂(i)³+….

Lu (i)=a₀₃+a₁₃(i)+a₂₃(i)²+a₃₃(i)³+….

The relationship between electric current and inductance in switched reluctance motor 125 can be applied to dynamically characterize switching magnetic-resistance horse Up to 125 operation.Each phase of switched reluctance motor is independent, that is, the inductance of inductance in one of phase to other phases Do not influence.

Fig. 6 schematically shows motor characterization program 600 using one embodiment of system as described above comprising Calibration method is to realize the real-time self study of one embodiment of switched reluctance motor 125.Table 1 is provided as and motor table The corresponding explanation of journey sequence 600, wherein as described below with the frame of numeral mark and corresponding function.Herein can be according to function And/or logical block components and each processing step describe to instruct.Frame part can be by having been configured as executing specified function Hardware, software and/or firmware component composition.

Table 1

The execution of motor characterization program 600 can carry out as follows.The step of motor characterization program 600, can be by proper order It executes, and is not limited to the sequence with reference to Fig. 6 description.As employed herein, term " 1 " instruction answer is affirmative, or "Yes", and term " 0 " instruction answer is negative or "No".

It executes motor characterization program 600 and can be used for dynamically controlling an individual switched reluctance motor 125 to be formed Calibration.After completing motor characterization program 600, horse can be dynamically determined using equation 1 based on electric current i and phase angle φ x Up to inductance.Motor characterization program 600 is described with reference to threephase switch magnetic resistance motor 125, the threephase switch magnetic resistance motor includes name It is known as the phase of A, B and C in justice.

At initiation (602), motor characterization program 600 pass through determine one of rotor magnetic pole in magnetic pole of the stator with phase The perfectly aligned of A associated corresponding magnetic pole of the stator executes (604), applies primary voltage pulse (606) to phase A at this time.Just The voltage amplitude of step voltage pulse can be equal to or more than the system voltage of starter 100, and the duration is 1ms to 2ms. During primary voltage pulse is applied to phase A, the phase current for flowing through phase A is monitored and records, until reaching maximum current Imax (608).For aligned position inductance using curve fitting procedure using flowing through the monitored electric current of phase A come calculation equation 1 Multinomial coefficient (610).Curve fitting procedure can be using regression analysis come the multinomial coefficient of calculation equation 1, wherein more Binomial coefficient includes a₀₁、a₀₂、a₀₃、…a₁₁、a₀₂、a₁₂、a₂₂、a₃₂、…a₀₃、a₁₃、a₂₃、a₃₃…。

It is still in the position relative to phase A alignment due to switched reluctance motor 125, secondary voltage pulses successively apply To phase B and C, wherein each secondary voltage pulses are similar to the primary voltage pulse for being applied to phase A.The corresponding mutually electricity of monitoring again It flows and maximum current Imax (612) is recorded from 0 in it.Stream is used using curve fitting procedure for the inductance of middle position The monitored electric current for crossing phase B and C carrys out the multinomial coefficient (614) of calculation equation 1.When completing curve fitting procedure, characterize At (616) and captures gained coefficient and store it in controller 170.The result of motor characterization program 600 can be used in To dynamically determine motor inductance using equation 1 based on electric current i and phase angle φ x in another program.

Fig. 7-1 schematically shows motor control scheme using one embodiment of power inverter 110 and MCU 128 700, dynamically the operation of one embodiment of control switch magnetic resistance motor 125 is to transmit torque to device, for example, transmitting To engine flywheel 140.The description of torque reference undulated control program 760 includes making the controlling party of the operation of torque-ripple minimization The detailed operation of case 700, torque ripple control procedure reference Fig. 7-2 description.Control concept described herein can be applied In the various embodiments of switched reluctance motor 125, and it is not limited to switched reluctance motor 125 and realizes in starter 100 start The application that machine starts.

Control program 700 uses torque estimator program 730, based on including the electric current from switched reluctance motor 125 706, the monitored parameter of voltage 708 and rotor-position 707 real-time dynamicly estimates total motor torque 702.Implement at one In example, dynamic estimation value can be calculated by the resolution ratio of 1 electric degree.Preferably, the electric current 706 of each motor phase is measured.

Torque estimator program 730 estimates the torque of each phase according to following equation:

Wherein:

T_e,phaseIt is the Assumption torque of phase (that is, one of phase A, B or C)；

Indicate that the inductance of phase is changed and determined using equation 1 above；

i_phaseIt is the electric current of phase；And

θ is phase angle.

The motor torque 702, T of estimation_eThe Assumption torque value of each phase that can be summed by arithmetic (being indicated by x) is come really It is fixed, as determined using equation 2.

Motor control scheme 700 passes through the arithmetical difference determined between motor torque command 701 and the motor torque 702 of estimation It operates, the arithmetical difference is input into PI (proportional, integral) controller 710, the PI controller determines electric current based on this Order 703.Current order 703 is together with the voltage 704 from DC power supply 104 and the pwm control signal 709 generated by MCU 128 It is input to power inverter 110 together.Electrical power 705 is transmitted to switched reluctance motor 125 by power inverter 110, described to open Magnetic resistance motor is closed to operate in response to rotary engine flywheel 140.

The operation of motor control scheme 700 is described using the control of torque ripple shown in reference Fig. 7-2 program 760, Including operating the selectivity of torque-ripple minimization.Table 2 is provided as corresponding with torque ripple control program 760 It explains, wherein as described below with the frame of numeral mark and corresponding function.Herein can according to function and/or logical block components and Each processing step describes to instruct.Frame part can be by having been configured as executing the hardware of specified function, software and/or solid Part component composition.

Table 2

Torque ripple controls the operation operation of program 760 so that torque-ripple minimization, and carries out as follows.Step can be with It is executed by proper order, and is not limited to the sequence described with reference to Fig. 7-2.As employed herein, term " 1 " indicates that answer is Affirm or "Yes", and term " 0 " instruction answer is negative or "No".

Motor torque command is monitored, while monitoring motor rotary speed (764).When motor rotary speed is less than base speed (766) (0) When, horse needed for being selected from the pre-calibration relationship between motor rotary speed, motor torque and the operating characteristic of switched reluctance motor 125 Up to electric current (773), and implement required motor current to control its operation, and the iteration terminates (774).

When motor rotary speed be greater than base speed (766) (1) when, described program determine torque ripple control model whether by It activates (768), and (768) (0) if not, then from the operating characteristic of motor rotary speed, motor torque and switched reluctance motor 125 Between pre-calibration relationship in select needed for motor current (773), and implement needed for motor current to control its operation, and The iteration terminates (774).Torque ripple control model advantageously activates under low motor rotary speed, for example, in one embodiment It is activated when motor rotary speed is less than 1000rpm.

When torque ripple control model has been activated (768) (1), based on the difference between torque command and Assumption torque Determine torque error item, (770) as described in reference to the equation 2 and 3 of Fig. 7-1.Torque error item obeys proportional plus integral control, That is, PI controller 710, to determine current order 703 (774), as with reference to shown in Fig. 7 .1.Current order 703 is together with from DC electricity The voltage 704 in source 104 and the pwm control signal 709 generated by MCU 128 are input to power inverter 110 together.Power inverting Device 110 is operated in response to current order 703, voltage 704 and pwm control signal 709 to transmit electrical power 705 with control switch The operation of magnetic resistance motor 125, and the iteration terminates (774).

Fig. 8-1 graphically illustrates the electric current of the single phase operation of one embodiment for switched reluctance motor 125 Order 815, wherein current order 815 is pwm signal, is shown as on vertical axis 810 relative to the time on trunnion axis 820 And the electric current drawn.As indicated, the amplitude of current order 815 changes between setting maximum point and smallest point.Fig. 8-2 is with figure Mode shows respective torque output 825 associated with the operation of the embodiment of switched reluctance motor 125, wherein in vertical axis The torque drawn relative to the time on trunnion axis 820 is shown on 830.Torque output 825 includes big during activating part Swing amplitude can show as audible noise and/or system vibration.

Fig. 9-1 graphically illustrates the electric current of the single phase operation of one embodiment for switched reluctance motor 125 Order 915, wherein current order 915 is determined using the motor control scheme 700 with reference to Fig. 7-1 and 7-2 description, described Motor control scheme includes the current order 915 drawn on vertical axis 910 relative to the time on trunnion axis 920.As institute Show, the size of current order 915 changes in response to Assumption torque and PI control program.Fig. 9-2 graphically illustrate with The associated respective torque output 925 of the operation of the embodiment of switched reluctance motor 125, wherein being shown on vertical axis 930 The torque drawn relative to the time on trunnion axis 920.Torque output 925 has small variation during activating part.Such as Shown, this influence to torque output 925 leads to little or no recognizable torque variation, this causes in switching magnetic-resistance horse Up to 125 operation during it is minimum to the negative effect of NVH (noise-vibration-roughness) rated value or have no adverse effect.

Concept described herein provides a kind of configuration, has the switch of the application suitable for such as engine starter The self adapting and study of magnetic resistance motor controls.Real-time characterization switched reluctance motor is in its whole operation speed/torque range Interior control motor be it is useful, this promote dynamic torque control with minimize torque ripple and therefore improve NVH.

Feature associated with switched reluctance motor (SRM) 125 includes robustness, the simplicity of machine construction, required Failure safe ability and quasi- insensitivity to motor temperature.Different from other kinds of electric motor, SRM does not have brush change To device, without permanent magnet, without rotor windings, also without mouse cage, this allow it to high speed operation and due to low inertia and Quick response.During current control operation mode, performance is independently of environment temperature.Machine performance depends on pulse and operates mould Stator Ohmic resistance under formula.The stator Ohmic resistance is based on winding temperature.For quick starting machine application, SRM has certainly It starts, symmetrical, reversible and inexpensive number of magnetic poles and phase required combination.

This introduction is supported and described to detailed description and figure or schema, but the range of this introduction is only to be limited by claim It is fixed.Although the certain optimal modes and other embodiments for carrying out this introduction have been described in detail, exist for real Trample the various supplement or replacements of the invention limited in appended claims.