CN101256414A - Angle compensation process for dual-motor redundancy control system - Google Patents

Abstract

The invention relates to an angle compensation method for a double motor redundancy control system, which is a control scheme in redundancy transmission filed. Directed at the alnico asymmetry phenomena possibly existing in a coaxial redundancy motor system, the invention effectively improves the running efficiency of the redundancy motor system with an angle compensation strategy. A front rotating angle gamma0 and a back rotating angle gamma1 of the redundancy motor system are measured, and the equation gamma = gamma1 - gamma0 is satisfied, then gamma is recorded as the initial position angle of the redundancy motor system, ensuring the current decoupling relationship in the torch control of the double redundancy motor system is established, thus the running efficiency of the redundancy motor system is effectively improved. The method has simple digital realization, good universality is good, and practical value to the redundancy transmission system.

Description

The angle compensation process of double generator redundancy control system

One, technical field

The present invention relates to the control method of AC frequency conversion and remaining transmission field

Two, background technology

Full electricity/how electric aircraft is the development trend of military secret of future generation and civil aircraft, and its key character is that the electrical actuation system replaces traditional hydraulic actuation system, and what bring is increasing substantially of full machine performance and aircraft survival rate thereupon.Because the handling of electrical actuation system and aircraft is closely related, this requires it that fault-tolerant operation ability should be arranged simultaneously.Redundancy technology is one of effective ways that obtain high reliability, and its application advantage in important events such as electric vehicle, the full electric propulsion in naval vessel and Aero-Space is just progressively manifested.

The motor redundant Study on Technology mainly concentrates on many windings remaining electric system aspect at present.Yet in many windings remaining electric system, owing to can't realize fully between single remaining that magnetic field isolates and heat is isolated, make the difficult point that is designed to of remaining motor, its control technology is also comparatively complicated simultaneously.In recent years, a kind of remaining electric system of multimachine coaxial construction has caused researchist's attention gradually.The type remaining system on power density a little less than many windings remaining system, but its heat between bonding remaining motor is isolated fully, magnetic field isolates and electrical isolation, its reliability is higher and control is comparatively simple.Comprehensive existing document, coaxial remaining systematic research still is in the starting stage to multimachine both at home and abroad, its achievement in research also is mainly reflected in the analysis of remaining system mathematic model and the research aspect of steady-state characteristic, how when guaranteeing the stable operation of coaxial remaining electric system, conscientiously improve its operational efficiency, be a focus of studying at present, existing solution focuses mostly on aspect design of electrical motor, and less from the solution of control technology angle.

Three, summary of the invention

Purpose of the present invention has been intended to propose a kind of angle compensation process of double generator redundancy control system, in order to improve the operational efficiency of remaining system.This implementation is characterised in that and utilizes certain initial alignment method, measures the angle γ that rotates before and after the remaining electric system ₀With γ ₁, and γ=γ is arranged ₁-γ ₀, again γ is charged to the initial position angle of remaining system, guarantee that electric current decoupling zero relation is set up in two remaining electric system torques controls, thereby improve remaining electric system operational efficiency effectively.The concrete steps of this angle compensation process are:

1. in the motor I of two remaining electric systems, feed DC current i _A1=-2i _B1=-2i _C1, it is static to make rotor rotate to the A phase axis position of motor I, records corner γ ₀

2. in the motor II of two remaining electric systems, feed DC current i _A2=-2i _B2=-2i _C2, it is static to make rotor rotate to the A phase axis position of motor II once more, obtains corner γ ₁

3. obtain the corner difference of two remaining electric systems twice rotation in front and back: γ=γ ₁-γ ₀, for obtaining γ value accurately, repeating step 1. with 2., the corner γ that rotates before and after the two remaining electric systems of repeated measurement ₀With γ ₁, get the mean value of its γ;

4. step mean value γ is 3. charged to the initial position angle of two remaining electric systems, make θ ₂=θ ₁-γ guarantees that electric current decoupling zero relation is set up in the remaining electric system torque control, and at this moment, all to operate in direct-axis current be 0 (i for motor I and motor II in the two remaining system _A1=i _D2=0) under the field orientation control mode, guarantees coaxial remaining electric system output torque maximum, and T is arranged _E1=T _E2Relation is set up, θ in the above-mentioned formula ₁D-axis (d for motor I ₁The axle) and its A phase winding axis between angle, θ ₂D-axis (d for motor II ₂The axle) and its A phase winding axis between angle, T _E1Be the output torque of motor I, T _E2Output torque for motor II.

Four, description of drawings

The axial unsymmetrical plan synoptic diagram of Fig. 1 rotor magnetic steel.

The schematic three dimensional views of the mutual alternate angle degree of Fig. 2 rotor magnetic steel γ.

The friendship of remaining motor II, direct-axis current after Fig. 3 failover.

Fig. 4 double generator redundancy system control principle block diagram.

System failure switching waveform under Fig. 5 tradition control algolithm.

System failure switching waveform under the novel angle compensation control algolithm of Fig. 6.

Five, embodiment

5.1 the analysis of double generator redundancy control system asymmetry

With a pair of utmost point situation of rotor is example, under the complete symmetric case of stator and rotor structure, and θ ₁=θ ₂(θ ₁And θ ₂Be respectively motor I and the d-axis (d axle) of II rotor coordinate system and the angle between its A phase winding axis in two remaining electric systems).Yet because the influence of factors such as shaft coupling alignment error, may there be certain differential seat angle γ (γ=θ in the rotor magnetic steel of coaxial remaining electric system axially might not be symmetrical fully ₁-θ ₂), (A among the figure as shown in Figure 1 and Figure 2 ₁-X ₁, B ₁-Y ₁, C ₁-Z ₁With A ₂-X ₂, B ₂-Y ₂, C ₂-Z ₂Be respectively three phase windings of two motors in two remaining electric systems; N ₁-S ₁, N ₂-S ₂Be respectively the rotor magnetic steel of two motors).

Two motor coaxle operations in the coaxial remaining electric system, therefore two remaining systems can determine its rotor-position (another sensor backs up as remaining) by a position transducer, carry out (with the rotor coordinate system d-axis d of remaining motor I so the vector controlled of whole remaining electric system also can concentrate under the frame of reference ₁, hand over an axle q ₁, initial point 0 and remaining motor II rotor coordinate system d-axis d ₂, hand over an axle q ₂, initial point 0 overlaps), native system adopts photoelectric code disk as sensing measurement mechanism.And the existence of differential seat angle γ also will affect to the normal operation of two remaining electric systems, is example with the unit operation pattern, and when motor I breaks down when out of service, motor II need replace motor I at short notice, and bears whole loads of system.This moment, the rotor position angle that measures so (motor II) still was defaulted as θ if do not consider differential seat angle γ is compensated ₁, and at direct-axis current i _dUnder=0 the field orientation control strategy, satisfy:

i _q2＝i _q2′cosγ-i _d2′sinγ＝i _q2′cosγ (1)

$i_{d2}={i_{d2}}^{\′}\cos \mathrm{\γ}+{i_{q2}}^{\′}\sin \mathrm{\γ}={i_{q2}}^{\′}\sin \mathrm{\γ}=i_{q2}\frac{\sin \mathrm{\γ}}{\cos \mathrm{\γ}}---\left(2\right)$

In the formula: i ' _D2, i ' _Q2Friendship, direct-axis current component when being assumed to be the work of remaining motor II; i _D2, i _Q2Be i ' _D2, i ' _Q2The projection of fastening in reference coordinate; γ is the differential seat angle between remaining motor I and II rotor magnetic steel, as shown in Figure 3.

Before and after the failover, it is constant to desire to keep output torque of remaining electric system and rotating speed, then the output torque T of motor I _E1Output torque T with motor II _E2Should satisfy:

T _e1＝T _e2 (3)

The torque current amplitude i of then corresponding remaining motor I _Q1Torque current amplitude i with the remaining motor II _Q2For:

i _q1＝i _q2 (4)

This moment, the electric current synthetic vector of motor II was:

$\sqrt{{i_{q2}}^2+{i_{d2}}^2}=\sqrt{{i_{q2}}^2+\frac{{\sin }^2\mathrm{\γ}}{{\cos }^2\mathrm{\γ}}{i_{q2}}^2}=\frac{i_{q2}}{\cos \mathrm{\γ}}>i_{q1}---\left(5\right)$

Comparison expression (4) and formula (5) are requiring to produce under the condition of identical output torque as can be known, and the required torque current of motor II (devoting oneself to work after the failover) is bigger.

Composition principle by synthetic vector has:

$\left\{\begin{array}{c}\sqrt{{\mathrm{<figure-callout\; id="1"\; label="i\; q"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">i</figure-callout>}}_q^1+i_{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">d</figure-callout>}1}^2}=\sqrt{\frac{2}{3}({\mathrm{<figure-callout\; id="1"\; label="i\; a"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">i</figure-callout>}}_a^1+{\mathrm{<figure-callout\; id="1"\; label="i\; b"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">i</figure-callout>}}_b^1+{\mathrm{<figure-callout\; id="1"\; label="i\; c"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">i</figure-callout>}}_c^1)}\\ \sqrt{i_{q2}^2+i_{d2}^2}=\sqrt{\frac{2}{3}(i_{a2}^2+i_{b2}^2+i_{c2}^2)}\end{array}\right.----\left(6\right)$

Bringing formula (5) into formula (6) can get:

$\sqrt{(i_{a2}^2+i_{b2}^2+i_{c2}^2)}>\sqrt{(i_{\mathrm{<figure-callout\; id="1"\; label="a"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">a</figure-callout>}1}^2+i_{\mathrm{<figure-callout\; id="1"\; label="b"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">b</figure-callout>}1}^2+i_{\mathrm{<figure-callout\; id="1"\; label="c"\; filenames="A20081002035300081.png"\; state="\{\{state\}\}">c</figure-callout>}1}^2)}---\left(7\right)$

i _a2＞i _a1 (8)

In the formula: i _A1, i _B1, i _C1Three-phase winding current when being respectively the operation of remaining motor I (amplitude equates); i _A2, i _B2, i _C2Three-phase winding current when being respectively the operation of remaining motor II (amplitude equates).

By formula (5)～formula (8) as can be known, when having differential seat angle γ between the rotor magnetic steel of remaining motor I and II, for guaranteeing that the remaining system failure is switched front and back output torque and rotating speed is constant, the winding current of remaining motor II (putting into operation after the failover) will increase to some extent with respect to remaining motor I (putting into operation before the failover), and its amplitude increases with the increase of differential seat angle γ.The increase of winding current will cause the motor copper loss to increase, and system is normally moved the generation adverse influence.

5.2 angle compensation control strategy

By above-mentioned analysis as can be known, the existence of differential seat angle γ will produce adverse influence to the normal operation of remaining electric system, need to adopt certain measure that it is compensated, and key step has:

1. in the motor I of two remaining electric systems, feed DC current i _A1=-2i _B1=-2i _C1, it is static to make rotor rotate to the A phase axis position of motor I, records corner γ ₀

2. in the motor II of two remaining electric systems, feed DC current i _A2=-2i _B2=-2i _C2, it is static to make rotor rotate to the A phase axis position of motor II once more, obtains corner γ ₁

3. obtain the corner difference of two remaining electric systems twice rotation in front and back: γ=γ ₁-γ ₀, for obtaining γ value accurately, repeating step 1. with 2., the corner γ that rotates before and after the two remaining electric systems of repeated measurement ₀With γ ₁, get the mean value of its γ;

4. step mean value γ is 3. charged to the initial position angle of two remaining electric systems, make θ ₂=θ ₁-γ guarantees that electric current decoupling zero relation is set up in the remaining electric system torque control, and at this moment, all to operate in direct-axis current be 0 (i for motor I and motor II in the two remaining system _D1=i _D2=0) under the field orientation control mode, guarantees coaxial remaining electric system output torque maximum, and T is arranged _E1=T _E2Relation is set up.

5.3 experimental verification

Be the validity of further access control strategy, having made up with TMS320LF2407ADSP and EMP3256ATCCPLD is the double generator redundancy control system experiment porch of core, and its control principle block diagram as shown in Figure 4.Wherein separate unit permagnetic synchronous motor parameter is: rated power is 7.5kW, and number of pole-pairs is 3, and stator resistance is 0.0132 Ω, and friendship, d-axis inductance are about 0.05mH, and moment of inertia is 35.32kgcm ², back emf coefficient is 16.2.

Algorithm of the present invention is compared with traditional algorithm does not increase the complicacy that software and hardware is realized, the experimental waveform of two kinds of algorithms is shown in Fig. 5～6.Both compare, and the operational efficiency of remaining electric system increases significantly than traditional algorithm under the novel angle compensation control algolithm.

Claims (1)

1, a kind of angle compensation process of double generator redundancy control system is characterized in that:

1. in the motor I of two remaining electric systems, feed DC current i _A1=-2i _B1=-2i _C1, it is static to make rotor rotate to the A phase axis position of motor I, records corner γ ₀

2. in the motor II of two remaining electric systems, feed DC current i _A2=-2i _B2=-2i _C2, it is static to make rotor rotate to the A phase axis position of motor II once more, obtains corner γ ₁

3. obtain the corner difference of two remaining electric systems twice rotation in front and back: γ=γ ₁-γ ₀, for obtaining γ value accurately, repeating step 1. with 2., the corner γ that rotates before and after the two remaining electric systems of repeated measurement ₀With γ ₁, get the mean value of its γ;

4. step mean value γ is 3. charged to the initial position angle of two remaining electric systems, make θ ₂=θ ₁-γ guarantees that electric current decoupling zero relation is set up in the remaining electric system torque control, and at this moment, all to operate in direct-axis current be under 0 the field orientation control mode, to guarantee coaxial remaining electric system output torque maximum, and T is arranged for motor I and motor II in the two remaining system _E1=T _E2Relation is set up, θ in the above-mentioned formula ₁Be the d-axis of motor I and the angle between its A phase winding axis, θ ₂Be the d-axis of motor II and the angle between its A phase winding axis, T _E1Be the output torque of motor I, T _E2Output torque for motor II.

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