1附錄Switched Reluctance Motors Drive for theElectrical Traction in ShearerAbstract—The paper presented the double Switched Reluctance motors parallel drive system for the electrical traction in shearer. The system components, such as the Switched Reluctance motor, the main circuit of the power converter and the controller, were described. The control strategies of the closed-loop rotor speed control with PI algorithm and balancing the distribution of the loads with fuzzy logic algorithm were given. The tests results were also presented. It is shown that the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1 and in the Switched Reluctance motor 2 is within ±10% Keywords- switched reluctance; motor control; shearer; coal mine; electrical drive I. INTRODUCTIONThe underground surroundings of the coal mines are very execrable. One side, it is the moist, high dust and inflammable surroundings. On the other side, the space of roadway is limited since it is necessary to save the investment of exploiting coal mines so that it is difficult to maintain the equipments. In the modern coal mines, the automatization equipments could be used widely. The faults of the automatization equipments could affect the production and the benefit of the coal mines. The shearer is the mining equipment that coal could be cut from the coal wall. The traditional shearer was driven by the hydrostatic transmission system. The fault ratio of the hydrostatic transmission system is high since the fluid in hydrostatic transmission system could be polluted easily. The faults of the hydrostatic transmission system could affect the production and the benefit of the coal mines directly. The fault ratio of the motor drive system is lower than that of the hydrostatic transmission system, but it is difficult to cool the motor drive system in coal mines since the motor drive system should be installed within the flameproof enclosure for safety protection. The motor drive system is also one of the pivotal parts in the automatization equipments. The development of the novel types of the motor drive system had been attached importance to by the coal mines. The Switched Reluctance motor drive could become the main equipments for adjustable speed electrical drive system in coal mines [1], because it has the high operational reliability and the fault tolerant ability [2]. The Switched Reluctance motor drive made up of the double-salient pole Switched Reluctance motor, the unipolar power converter and the controller is firm in the motor and in 2the power converter. There is no brush structure in the motor and no fault of ambipolar power converter in the power converter [3][4]. The Switched Reluctance motor drive could be operated at the condition of lacked phases fault depended on the independence of each phase in the motor and the power converter [5]. There is no winding in the rotor so that there is no copper loss in the loss and there is only little iron loss in the rotor. It is easy to cool the motor since it is not necessary to cool the rotor. The shearer driven by the Switched Reluctance motor drive had been developed. The paper presented the developed prototype. II. SYSTEM COMPONENTSThe developed Switched Reluctance motors drive for the electrical traction in shearer is a type of the double Switched Reluctance motors parallel drive system. The system is made up of two Switched Reluctance motors, a control box installed the power converter and the controller. The adopted two Switched Reluctance motors are all three-phase 12/8 structure Switched Reluctance motor, which were shown in Figure 1. The two Switched Reluctance motors were packing by the explosion-proof enclosure, respectively. The rated output power of one motor is 40 KW at the rotor speed 1155 r/min, and the adjustable speed range is from 100 r/min to 1500r/min. Figure 1.Photograph of the two three-phase 12/8 structure Switched Reluctance motorThe power converter consists of two three-phase asymmetric bridge power converter in parallel. The IGBTs were used as the main switches. Three-phase 380V AC power source was rectificated and supplied to the power converter. The main circuit of the power converter was shown in Figure 23Figure 2. Main circuit of the power converter. In the controller, there were the rotor position detection circuit, the commutation circuit, the current and voltage protection circuit, the main switches’ gate driver circuit and the digital controller for rotor speed closed-loop and balancing the distribution of the loads. III. CONTROL STRATEGYThe two Switched Reluctance motor could all drive the shearer by the transmission outfit in the same traction guide way so that the rotor speed of the two Switched Reluctance motors could be synchronized.The closed-loop rotor speed control of the double Switched Reluctance motors parallel drive system could be implemented by PI algorithm. In the Switched Reluctance motor 1, the triggered signals of the main switches in the power converter are modulated by PWM signal, the comparison of the given rotor speed and the practical rotor speed are made and the duty ratio of PWM signal are regulated as follows, where, is the given rotor speed, is the practical rotor speed, is the difference of the rotor speed, is the increment of the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, is the integral coefficient, is the proportion coefficient, ek is the difference of the rotor speed at k time, ek-1 is the difference of the rotor speed at k-1 4time, D1(k) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, and D1(k-1) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k-1 time. The output power of the Switched Reluctance motor drive system is approximately in proportion to the average DC supplied current of the power converter as follows, where, P2 is the output power of the Switched Reluctance motor drive system, Iin is the average DC supplied current of the power converter.In the Switched Reluctance motor 2, the triggered signals of the main switches in the power converter are also modulated by PWM signal. The balancing the distribution of the loads between the two Switched Reluctance motors could be implemented by fuzzy logic algorithm. In the fuzzy logic regulator, there are two input control parameters, one is the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and the other is the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors. The output control parameter is the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2. The block diagram of the double Switched Reluctance motors parallel drive system for the electrical traction in shearer was shown in Figure 3. Figure 3. Block diagram of the double Switched Reluctance motors parallel drive system for the electrical traction in shearerThe deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors at the moment of ti is 5where, Iin1 is the practical average DC supplied current of the power converter in the Switched Reluctance motor 1 at the moment of ti, Iin2 is the practical average DC supplied current of the power converter in the Switched Reluctance motor 2 at the moment of ti. The variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors at the moment of ti is where, ei-1 is the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors at the moment of ti-1. The duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti is where, ΔD2(i) is the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti and D2(i-1) is the duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti-1. The fuzzy logic algorithm could be expressed as follows, where, E is the fuzzy set of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, EC is the fuzzy set of the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and U is the fuzzy set of the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2. The continuous deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors could be changed into the discrete amount at the interval [-5, +5], based on the equations as follows, The continuous variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors could also be changed into the discrete amount at the interval [-5, +5], based on the equations as follows, The discrete increment of the duty ratio of PWM signal of the Switched Reluctance motor 2 at the interval [-5, +5] could be changed into the continuous amount at the interval [-61.0%, +1.0%], based on the equations as follows, There is a decision forms of the fuzzy logic algorithm based on the above principles, which was stored in the programme storage cell of the controller. While the difference of the distribution of the loads between the two Switched Reluctance motors could be got, the duty ratio of PWM signal of the Switched Reluctance motor 2 will be regulated based on the decision forms of the fuzzy logic algorithm and the distribution of the loads between the two Switched Reluctance motors could be balanced. IV. TESTED RESULTSThe developed double Switched Reluctance motors parallel drive system prototype had been tested experimentally. Table I gives the tests results, where σ is the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1, σ is the relative deviation of the average DC2 supplied current of the power converter in the Switched Reluctance motor 2, and, TABLE I.TESTS RESULTS OF PROTOTYPEIt is shown that the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1 and in the Switched Reluctance motor 2 is within ±10% . 7中文譯文電牽引采煤機(jī)的開(kāi)關(guān)磁阻電動(dòng)機(jī)摘要：本章介紹了電牽引采煤機(jī)雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)的并聯(lián)驅(qū)動(dòng)系統(tǒng)。該系統(tǒng)由開(kāi)關(guān)磁阻電動(dòng)機(jī)，功率變換器電路和控制器組成。給出了由通過(guò)采用比例積分算法的調(diào)節(jié)轉(zhuǎn)子速度的閉環(huán)回路和模糊邏輯算法實(shí)現(xiàn)的負(fù)荷的均衡分布組成的控制策略。介紹了實(shí)驗(yàn)結(jié)果。開(kāi)關(guān)磁阻電動(dòng)機(jī) 1 和開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 的功率變換器的平均直流的相對(duì)誤差為 。10%?關(guān)鍵詞：開(kāi)關(guān)磁阻；電動(dòng)控制；采煤機(jī)；煤礦；電傳動(dòng)Ⅰ.介紹煤礦的地下環(huán)境是非常惡劣的。一方面由于它是潮濕的,高粉塵的,和易燃的環(huán)境。另一方面，為了節(jié)約開(kāi)采成本，巷道空間是有限，以至于設(shè)備很難維護(hù)。自動(dòng)化設(shè)備在現(xiàn)代化煤礦已經(jīng)得到廣泛應(yīng)用。自動(dòng)化設(shè)備的故障會(huì)直接影響到煤礦的產(chǎn)量和效益。采煤機(jī)是采煤的主要礦山設(shè)備。傳統(tǒng)的滾筒采煤機(jī)是通過(guò)液壓傳動(dòng)系統(tǒng)傳動(dòng)的。液壓傳動(dòng)系統(tǒng)的故障率很高，因?yàn)橐簤簜鲃?dòng)系統(tǒng)的液體很容易受環(huán)境污染。液壓傳動(dòng)系統(tǒng)的故障直接影響到煤礦的產(chǎn)量和效率。電傳動(dòng)系統(tǒng)比液壓傳動(dòng)系統(tǒng)的故障率低。但是，礦井中電機(jī)傳動(dòng)系統(tǒng)的散熱性差，是因?yàn)闉榱嗣旱V安全，電機(jī)傳動(dòng)系統(tǒng)被封裝在防爆的外殼內(nèi)。電機(jī)傳動(dòng)系統(tǒng)是自動(dòng)化設(shè)備的重要組成部分。電機(jī)傳動(dòng)系統(tǒng)的小說(shuō)類型的發(fā)展對(duì)煤礦很重要。開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)是煤礦調(diào)速傳動(dòng)系統(tǒng)的主要設(shè)備，由于它的高工作可靠性和高容錯(cuò)能力。由雙極點(diǎn)開(kāi)關(guān)磁阻電動(dòng)機(jī)，單級(jí)功率變換器和控制器組成的開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)是電動(dòng)機(jī)和功率變換器的核心。電動(dòng)機(jī)沒(méi)有毛刷，功率變換器沒(méi)有雙極功率變換器的故障。開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)可以在缺相的情況下運(yùn)行，它是依靠電動(dòng)機(jī)和功率變換器相位獨(dú)立性來(lái)實(shí)現(xiàn)的。轉(zhuǎn)子上沒(méi)有繞組，以至于轉(zhuǎn)子上沒(méi)有銅損和很小的鐵損。因?yàn)椴恍枰鋮s轉(zhuǎn)子，所以很容易冷卻電動(dòng)機(jī)。由開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)的采煤機(jī)正在不斷發(fā)展。本章介紹了發(fā)展的樣機(jī)。Ⅱ系統(tǒng)組成電牽引采煤機(jī)的開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)是一個(gè)雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)并聯(lián)傳動(dòng)系統(tǒng)。這個(gè)系統(tǒng)是由兩個(gè)開(kāi)關(guān)磁阻電動(dòng)機(jī)，一個(gè)控制箱，這個(gè)控制箱是安裝在功率變換器和控制器上。采用的開(kāi)關(guān)磁阻電動(dòng)機(jī)是三相 12/8 結(jié)構(gòu)的開(kāi)關(guān)磁阻電動(dòng)機(jī)，如圖一所示。雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)分別包裝在防爆外殼內(nèi)。電動(dòng)機(jī)的額定功率是 40KW，轉(zhuǎn)速是 1155r/min，調(diào)速范圍是 100r/min~1500r/min。8圖一：三相 12/8 結(jié)構(gòu)的開(kāi)關(guān)磁阻電動(dòng)機(jī)功率變換器是由兩個(gè)三相不對(duì)稱橋式變換器并列組成。IGBTs 是電路的主要開(kāi)關(guān)元件。經(jīng)整流后三相交流 380V 電源提供給功率變換器。功率變換器的主要電路如圖二所示。圖二：功率變換器的主要電路控制器由轉(zhuǎn)子位置檢測(cè)電路，整流電路，電流和電壓保護(hù)電路，主要開(kāi)關(guān)的門(mén)極驅(qū)動(dòng)電路和閉環(huán)調(diào)速數(shù)字控制器和負(fù)荷均衡分配組成。Ⅲ.控制方法采用同一個(gè)牽引方法，雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)通過(guò)傳送設(shè)備用來(lái)驅(qū)動(dòng)采煤機(jī)，來(lái)確保雙重開(kāi)關(guān)磁9阻電動(dòng)機(jī)的轉(zhuǎn)子速度同步運(yùn)行。并聯(lián)驅(qū)動(dòng)的雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)的閉環(huán)轉(zhuǎn)子調(diào)速回路可以通過(guò)比例積分算法來(lái)實(shí)現(xiàn)。在開(kāi)關(guān)磁阻電動(dòng)機(jī) 1 中，功率變換器主要開(kāi)關(guān)的觸發(fā)信號(hào)是通過(guò) PWM 信號(hào)調(diào)制的。比較給定的轉(zhuǎn)子速度和實(shí)際的轉(zhuǎn)子速度，PWM 的占空比調(diào)節(jié)如下：其中， 是給定的轉(zhuǎn)子速度， 是實(shí)際的轉(zhuǎn)子速度， 是轉(zhuǎn)子速度的差。 在 k 時(shí)刻內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī) 1PWM 信號(hào)占空比的增量。 是積分系數(shù)， 比例系數(shù)， 轉(zhuǎn)子速度在 K 時(shí)間內(nèi)的差。 轉(zhuǎn)子速度在 K-1 時(shí)間內(nèi)的差， 在 k 時(shí)刻內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī) 1PWM 信號(hào)占空比，在 k-1 時(shí)刻內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī) 1PWM 信號(hào)占空比。開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)系統(tǒng)的輸出功率和功率變換器的電流成正比，如下所示：其中， 是開(kāi)關(guān)磁阻電動(dòng)機(jī)傳動(dòng)系統(tǒng)的輸出功率， 功率變換器的平均直流電流。在開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 中，功率變換器主要開(kāi)關(guān)的觸發(fā)信號(hào)是通過(guò) PWM 信號(hào)調(diào)制的。雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的負(fù)荷均衡分布是通過(guò)模糊邏輯算法來(lái)實(shí)現(xiàn)的。在模糊邏輯調(diào)節(jié)器中有兩個(gè)輸入控制參數(shù)，一個(gè)是雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的功率變換器的平均電流的偏差，另一個(gè)是雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的功率變換器的平均直流電流的偏差的變化。輸出控制參數(shù)是開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 PWM 信號(hào)占空比的增量。電牽引采煤機(jī)雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)并列傳動(dòng)系統(tǒng)的方框圖見(jiàn)圖三示10圖三： 電牽引采煤機(jī)并列傳動(dòng)系統(tǒng)的方框圖功率變換器平均直流電流在雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)之間的偏差在 時(shí)刻為：其中， 在 時(shí)刻，功率變換器在開(kāi)關(guān)磁阻電動(dòng)機(jī) 1 中實(shí)際平均直流電流， 在 時(shí)刻，功率變換器在開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 中實(shí)際平均直流.雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)在 時(shí)刻的功率變換器平均直流電流的偏差的變量為：其中， 是雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)在 時(shí)刻的功率變換器平均電流的偏差。開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 在 時(shí)的 PWM 信號(hào)的占空比為：其中， 在 時(shí)刻的 PWM 信號(hào)占空比的增量， 是開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 在 時(shí)刻的 PWM 信號(hào)的占空比。模糊邏輯算法用以下來(lái)表示：其中， 為模糊集合開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差， 為模糊集合開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差的變量， 為模糊集合中開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 PWM 信號(hào)占空比的增量。開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差在［-５，+５］區(qū)間內(nèi)的連續(xù)偏差可以轉(zhuǎn)變?yōu)榉稚⑵?。公式如下：開(kāi)關(guān)磁阻電動(dòng)機(jī)間的功率變換器的平均直流電流的相對(duì)誤差在區(qū)間內(nèi)的連續(xù)變量可以轉(zhuǎn)變?yōu)榉稚⒆兞俊９饺缦拢涸趨^(qū)間［-５，+５］內(nèi)，開(kāi)關(guān)磁阻電動(dòng)機(jī)２的功率變換器ＰＷＭ信號(hào)的占空比的分散增量可以轉(zhuǎn)變?yōu)樵趨^(qū)間［-１.０％，+１.０％］內(nèi)的連續(xù)增量，公式如下：根據(jù)上面的原理，這里是模糊邏輯算法的一個(gè)判定形式。模糊邏輯算法是存儲(chǔ)在控制器的程序存儲(chǔ)單元內(nèi)。當(dāng)檢測(cè)到雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)負(fù)荷分配差異的時(shí)候，開(kāi)關(guān)磁阻電動(dòng)機(jī)２中的ＰＷＭ占空比將被調(diào)節(jié)，這是根據(jù)模糊邏輯算法的判定形式，從而，雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)負(fù)荷分配將會(huì)達(dá)到平衡狀態(tài)。11Ⅳ.實(shí)驗(yàn)結(jié)果發(fā)展的雙重開(kāi)關(guān)磁阻電動(dòng)機(jī)并聯(lián)傳動(dòng)系統(tǒng)樣機(jī)已經(jīng)通過(guò)實(shí)驗(yàn)測(cè)量得到了。表一給出了測(cè)試結(jié)果，其中 為開(kāi)關(guān)磁阻電動(dòng)機(jī)１的功率變換器的平均直流電流的相對(duì)誤差， 為開(kāi)關(guān)磁阻電動(dòng)機(jī)２的功率變換器的平均直流電流的相對(duì)誤差，即：表一：樣機(jī)的實(shí)驗(yàn)結(jié)果該表顯示了開(kāi)關(guān)磁阻電動(dòng)機(jī) 1 和開(kāi)關(guān)磁阻電動(dòng)機(jī) 2 的功率變換器的平均直流的相對(duì)誤差為 10%?