CN103199790B - Three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method - Google Patents
Three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method Download PDFInfo
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Abstract
Three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method.Traditional three-phase three brachium pontis main circuit topological structure is when phase shortage or single-phase open circuit fault, it may be difficult to maintain security of system reliability service, limit its aviation, navigation, explosion-proof etc. to controlling system redundancy, reliability have the occasion of strict demand.The composition of the present invention includes: main circuit, 220V single phase ac input (1) of described main circuit is connected with single phase rectifier circuit (2), described single phase rectifier circuit is connected with four-leg inverter (3), described four-leg inverter pass through brachium pontis A(4), brachium pontis B(5), brachium pontis C(6), brachium pontis D(7) be connected with permasyn morot (8), described brachium pontis A, brachium pontis B, brachium pontis C are connected with current sampling circuit (10), described permasyn morot and photoelectric code disk (11).The present invention controls for three-phase four-arm permasyn morot.
Description
Technical field:
The present invention relates to a kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method.
Background technology:
Traditional three-phase three brachium pontis main circuit topological structure adopts SVPWM (SVPWM) technology can also reduce the harmonic content of winding current, improve the utilization rate of DC bus-bar voltage, so that motor torque ripple reduces, widens the speed adjustable range of motor.But, this traditional topological structure is when phase shortage or single-phase open circuit fault, it may be difficult to maintain security of system reliability service, therefore, limit its Aeronautics and Astronautics, navigation, explosion-proof etc. to controlling system redundancy, reliability have the occasion of strict demand, significantly limit its application.
Summary of the invention:
It is an object of the invention to provide a kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method.
Above-mentioned purpose is realized by following technical scheme:
A kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor, its composition includes: main circuit, the 220V single phase ac input of described main circuit is connected with single phase rectifier circuit, described single phase rectifier circuit is connected with four-leg inverter, described four-leg inverter is connected with permasyn morot by brachium pontis A, brachium pontis B, brachium pontis C, brachium pontis D, described brachium pontis A, brachium pontis B, brachium pontis C are connected with current sampling circuit, described permasyn morot and photoelectric code disk.
Described three-phase four-arm Control System of Permanent Magnet Synchronous Motor, described photoelectric code disk is connected with the QEP unit of control circuit, described QEP unit is connected with PI controller D, described current sampling circuit is connected with A/D module, described A/D module, described QEP unit by coordinate transform respectively with PI controller A, PI controller B, PI controller C connects, described PI controller D is connected with speed control, described speed control is connected with described PI controller A, described PI controller A, PI controller B, PI controller C is connected with current controller jointly, described current controller controls to be connected with 3D-SVPWM, described 3D-SVPWM controls to be connected with photoelectric isolating driving circuit, described photoelectric isolating driving circuit is connected with described four-leg inverter.
Described three-phase four-arm Control System of Permanent Magnet Synchronous Motor, digital display tube is connected with SPI unit, and host computer is connected with SCI unit, and keyboard is connected with I/O unit B, and fault detection unit is connected with I/O unit A.
A kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor control method:
(1) method of work of permagnetic synchronous motor:
In formulaFor threephase stator winding galvanization resultant vector,For permanent magnet flux linkage,ForWithThe angle of axle,ForAxle withThe angle of phase axle.
ABC coordinate is tied toThe conversion (Clarke conversion) of coordinate system is
(1)
Corresponding inverse transformation (Clarke-1Conversion) be
(2)
Coordinate is tied toThe conversion (Park conversion) of coordinate system is
(3)
Corresponding inverse transformation (Park-1Conversion) be
(4)
In formula, qrFor electrical angle.
System adopts salient mounting formula permasyn morot, it is believed that ac-dc axis equivalent inductance is equal, i.e. Lq=Ld.The voltage equation of such PMSM is
(5)
In formula, iX、uX、eXRespectively phase current, the voltage at relative DC side midpoint, phase induction electromotive force (X can be in A, B, C)；UNFor the motor neutral point voltage to four bridge legs midpoint；R is stator resistance, and L and M is stator winding self-induction and mutual inductance.Current in middle wire iNFor
(6)
Utilize coordinate transform, the voltage equation (5) of PMSM is transformed in dq0 coordinate system, has
(7)
(8)
(9)
Electromagnetic torque is
(10)
The equation of motion is
(11)
Formula (7) arrives in (11), LdqEquivalent inductance for d, q axle；ωrFor angular rate；YPMFor rotor permanent magnet magnetic linkage；L0It it is zero axle inductance；J is rotary inertia；PnFor number of pole-pairs.
(2) method of work of four bridge legs inversion control:
Owing to having selected idThe vector control scheme of=0, implements process as follows: first, detects motor rotor position and stator winding current；Utilize rotor-position to calculate motor speed, export the reference value i of current torque component through speed controlq *, given current excitation component i simultaneouslyd *=0；And stator winding current is carried out coordinate transform obtain feedback component iqAnd id, through current controller output reference voltage space vector d, q axle component ud *And uq *；Produce 6 tunnel PWM output signal finally by SVPWM module, through three-phase three-leg inverter power amplification rear drive permagnetic synchronous motor, finally realize rotating speed, current double closed-loop control.
Three-phase four-leg inverter is to add a brachium pontis being connected with motor neutral point on the basis of three-phase three brachium pontis, thus many currents in middle wire that can control, and zero-axis current can be obtained by formula (1), (6)WithBetween relation be
(12)
So, as long as controlling zero-axis currentJust can center line electric currentIndirectly control.
From formula (2), (4)
(13)
Under normal operating conditions, current in middle wireIt is zero, so has only to control zero-axis currentIt is zero, namely
(14)
(15)
(16)
When certain phase generation open-phase fault, it is assumed here that open circuit fault (when open circuit fault occurs B, C phase, situation is same) occurs A phase, now has=0.Owing to the electromagnetic torque of permagnetic synchronous motor depends on id、iqSize, now, for ensure with properly functioning time have identical drive characteristic, it is necessary to produce the i consistent with before faultd、iq, need exist forCompensate, be therefore no longer equal to 0.
?=0 substitutes into formula (13), it is possible to obtain
(17)
(18)
(19)
Through type (7) and (17) obtain
(20)
According to formula (17) or (20), it is possible to adopt two ways configuration to reach the purpose of compensated torque, namely adopt zero-axis current to compensate close-loop control mode, meet the requirement of formula (17)；Or the formula of employing (20), adopt zero shaft voltage open loop control mode, it is achieved zero shaft voltage u0Output.Thus can reach the purpose of failure tolerant, and without revising any hardware circuit.
This patent adopts zero-axis current to compensate close-loop control mode, is i due to what adoptd=0 controls, it is possible to simplified style (17) obtains
(21)
So, have only to carry out according to formula (21) compensation of zero-axis current under malfunction.
Above-mentioned three-phase four-arm Control System of Permanent Magnet Synchronous Motor method of work, given rotating speed obtains the set-point i of current torque component with feedback rotating speed Negotiation speed controllerq *, the phase current i of samplingA、iB、iCConvert through Clarke, Park, obtain i in dq0 rotating coordinate systemd、iq、i0, with given value of current iq *、id *、i0 *Compare, wherein id *、i0 *Set-point be all 0, and when single-phase fault i0 *Need to add offsetiqsinqr.It is then passed through PI controller and obtains ud *、uq *、u0 *, then through Park-1Conversion, Clarke-1Conversion, the modulation of 3D-SVPWM, power amplification drive four-leg inverter 8 power switch pipes, finally constitute three-phase four-arm permasyn morot speed, current double closed-loop control system.
Beneficial effect:
1. the three-phase four-arm Control System of Permanent Magnet Synchronous Motor that the present invention proposes, the basis of conventional three-phase three brachium pontis adds a brachium pontis being connected with motor neutral point, adopt three-dimensional SVPWM (3D-SVPWM) technology so that it is drive permasyn morot to have good operation characteristic.Simultaneously, four bridge legs is connected by this topological structure with motor neutral point, provides path for current in middle wire, it is possible to Differential Output and suppression interference better, and when phase shortage or single-phase fault, by control strategy suitably adjust with maintain motor normal time operation characteristic.
The present invention has overvoltage, under-voltage, overheat protector function, it is ensured that security of system, reliability service.
Present invention application id=0 control model, i.e. torque, the maximum control of current ratio (MTPA), the method obtains required motor output torque with minimum stator current, thus improve system effectiveness.
Accompanying drawing illustrates:
Accompanying drawing 1 is the system entire block diagram of the present invention.In figure, 1 inputs for 220V single phase ac, 2 is single phase rectifier circuit, 3 is four-leg inverter, 4 is brachium pontis A, 5 is brachium pontis B, 6 is brachium pontis C, 7 is brachium pontis D, 8 is permasyn morot, 10 is current sampling circuit, 11 is photoelectric code disk, 12 is QEP unit, 20 is PI controller D, 14 is A/D module, 15 is coordinate transform, 17 is PI controller A, 18 is PI controller B, 19 is PI controller C, 21 is speed control, 16 is current controller, 13 control for 3D-SVPWM, 9 is photoelectric isolating driving circuit, 22 is digital display tube, 23 is SPI unit, 24 is host computer, 25 is SCI unit, 26 is keyboard, 27 is I/O unit B, 28 is fault detection unit, 29 is I/O unit A.
Fig. 2 is the System control structures figure of the present invention.
Fig. 3 is the position signalling differential received circuit theory diagrams of the present invention.
Fig. 4 is the current sampling circuit schematic diagram of the present invention.
Fig. 5 is the main circuit schematic diagram of the present invention.
Fig. 6 is the isolated drive circuit schematic diagram of the present invention.
Fig. 7 is that the reference frame of the present invention is with reference to figure.
Fig. 8 is the permasyn morot i of the present inventiond=0 principle of vector control figure.
Fig. 9 is the three-phase four-leg inverter structure diagram of the present invention.
Figure 10 be the present invention ABC coordinate system under the vectogram of 3D-SVPWM.
Figure 11 is the pointer variable N and tetrahedron corresponding relation figure of the present invention.
Figure 12 is the switch sequence schematic diagram during N=1 of the present invention.
Figure 13 is the system main program flow chart of the present invention.
Figure 14 is the rotor initial alignment program flow diagram of the present invention.
Figure 15 is the rotor-position detection program flow diagram of the present invention.
Figure 16 is the timer interrupt sub routine flow chart of the present invention.
Figure 17 is the 3D-SVPWM program flow diagram of the present invention.
The response curve of rotating speed and torque when Figure 18 is the given rotating speed of the present invention, load change.
Three-phase windings current-responsive curve when Figure 19 is the given rotating speed of the present invention, load change.
Figure 20 is the rotating speed of the present invention, torque response curve (single-phase fault occurs 0.05s).
Figure 21 is threephase stator electric current and the current in middle wire response curve (single-phase fault occurs during 0.05s) of the present invention.
Figure 22 is the dq0 shaft current response curve (single-phase fault occurs during 0.05s) of the present invention.
Detailed description of the invention:
Embodiment 1:
A kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor with fault tolerance, its composition includes: main circuit, the 220V single phase ac input 1 of described main circuit is connected with single phase rectifier circuit 2, described single phase rectifier circuit is connected with four-leg inverter 3, described four-leg inverter is connected with permasyn morot 8 by brachium pontis A4, brachium pontis B5, brachium pontis C6, brachium pontis D7, described brachium pontis A, brachium pontis B, brachium pontis C are connected with current sampling circuit 10, described permasyn morot and photoelectric code disk 11.
Embodiment 2:
The three-phase four-arm Control System of Permanent Magnet Synchronous Motor with fault tolerance described in embodiment 1, described photoelectric code disk is connected with the QEP unit 12 of control circuit, described QEP unit is connected with PI controller D20, described current sampling circuit is connected with A/D module 14, described A/D module, described QEP unit by coordinate transform 15 respectively with PI controller A17, PI controller B18, PI controller C19 connects, described PI controller D is connected with speed control 21, described speed control is connected with described PI controller A, described PI controller A, PI controller B, PI controller C is connected with current controller 16 jointly, described current controller controls 13 with 3D-SVPWM and is connected, described 3D-SVPWM controls to be connected with photoelectric isolating driving circuit 9, described photoelectric isolating driving circuit is connected with described four-leg inverter.
Embodiment 3:
The three-phase four-arm Control System of Permanent Magnet Synchronous Motor with fault tolerance described in embodiment 1 or 2, digital display tube 22 is connected with SPI unit 23, host computer 24 is connected with SCI unit 25, and keyboard 26 is connected with I/O unit B 27, and fault detection unit 28 is connected with I/O unit A29.
Embodiment 4:
A kind of three-phase four-arm permasyn morot control method:
(1) method of work of permagnetic synchronous motor:
In formulaFor threephase stator winding galvanization resultant vector,For permanent magnet flux linkage,ForWithThe angle of axle,ForAxle withThe angle of phase axle.
ABC coordinate is tied toThe conversion (Clarke conversion) of coordinate system is
(1)
Corresponding inverse transformation (Clarke-1Conversion) be
(2)
Coordinate is tied toThe conversion (Park conversion) of coordinate system is
(3)
Corresponding inverse transformation (Park-1Conversion) be
(4)
In formula, qrFor electrical angle.
System adopts salient mounting formula permasyn morot, it is believed that ac-dc axis equivalent inductance is equal, i.e. Lq=Ld.The voltage equation of such PMSM is
(5)
In formula, iX、uX、eXRespectively phase current, the voltage at relative DC side midpoint, phase induction electromotive force (X can be in A, B, C)；UNFor the motor neutral point voltage to four bridge legs midpoint；R is stator resistance, and L and M is stator winding self-induction and mutual inductance.Current in middle wire iNFor
(6)
Utilize coordinate transform, the voltage equation (5) of PMSM is transformed in dq0 coordinate system, has
(7)
(8)
(9)
Electromagnetic torque is
(10)
The equation of motion is
(11)
Formula (7) arrives in (11), LdqEquivalent inductance for d, q axle；ωrFor angular rate；YPMFor rotor permanent magnet magnetic linkage；L0It it is zero axle inductance；J is rotary inertia；PnFor number of pole-pairs.
(2) method of work of four bridge legs inversion control:
Owing to having selected idThe vector control scheme of=0, implements process as follows: first, detects motor rotor position and stator winding current；Utilize rotor-position to calculate motor speed, export the reference value i of current torque component through speed controlq *, given current excitation component i simultaneouslyd *=0；And stator winding current is carried out coordinate transform obtain feedback component iqAnd id, through current controller output reference voltage space vector d, q axle component ud *And uq *；Produce 6 tunnel PWM output signal finally by SVPWM module, through three-phase three-leg inverter power amplification rear drive permagnetic synchronous motor, finally realize rotating speed, current double closed-loop control.
Three-phase four-leg inverter is to add a brachium pontis being connected with motor neutral point on the basis of three-phase three brachium pontis, thus many currents in middle wire that can control, and zero-axis current can be obtained by formula (1), (6)WithBetween relation be
(12)
So, as long as controlling zero-axis currentJust can center line electric currentIndirectly control.
From formula (2), (4)
(13)
Under normal operating conditions, current in middle wireIt is zero, so has only to control zero-axis currentIt is zero, namely
(14)
(15)
(16)
When certain phase generation open-phase fault, it is assumed here that open circuit fault (when open circuit fault occurs B, C phase, situation is same) occurs A phase, now has=0.Owing to the electromagnetic torque of permagnetic synchronous motor depends on id、iqSize, now, for ensure with properly functioning time have identical drive characteristic, it is necessary to produce the i consistent with before faultd、iq, need exist forCompensate, be therefore no longer equal to 0.
?=0 substitutes into formula (13), it is possible to obtain
(17)
(18)
(19)
Through type (7) and (17) obtain
(20)
According to formula (17) or (20), it is possible to adopt two ways configuration to reach the purpose of compensated torque, namely adopt zero-axis current to compensate close-loop control mode, meet the requirement of formula (17)；Or the formula of employing (20), adopt zero shaft voltage open loop control mode, it is achieved zero shaft voltage u0Output.Thus can reach the purpose of failure tolerant, and without revising any hardware circuit.
This patent adopts zero-axis current to compensate close-loop control mode, is i due to what adoptd=0 controls, it is possible to simplified style (17) obtains
(21)
So, have only to carry out according to formula (21) compensation of zero-axis current under malfunction.
Embodiment 5:
Above-mentioned three-phase four-arm permasyn morot control method, given rotating speed obtains the set-point i of current torque component with feedback rotating speed Negotiation speed controllerq *, the phase current i of samplingA、iB、iCConvert through Clarke, Park, obtain i in dq0 rotating coordinate systemd、iq、i0, with given value of current iq *、id *、i0 *Compare, wherein id *、i0 *Set-point be all 0, and when single-phase fault i0 *Need to add offsetiqsinqr.It is then passed through PI controller and obtains ud *、uq *、u0 *, then through Park-1Conversion, Clarke-1Conversion, the modulation of 3D-SVPWM, power amplification drive four-leg inverter 8 power switch pipes, finally constitute three-phase four-arm permasyn morot speed, current double closed-loop control system.
Embodiment 6:
Three-phase four-arm Control System of Permanent Magnet Synchronous Motor described in embodiment 1 or 2 or 3, the rotor detection sensor of Fig. 3 permagnetic synchronous motor not only to detect rotor-position, also to measure motor speed.Native system adopts hybrid encoder, in order to eliminate common mode disturbances, improving capacity of resisting disturbance, motor position detection signal adopts difference pattern to be transmitted, then adopt difference chip DS3486 to receive differential signal, and input after shaped process to DSP respective pins.
Fig. 4 permasyn morot phase current frequency, from the zero to hertz up to a hundred, adopts current Hall module CHB-25NP to realize stator phase currents detection at this, and for A phase current sampling, Hall element secondary current is carried out sampling by resistance R12 and obtains UR12, the A/D conversion mouth being input to DSP after biasing, low-pass filtering and clamped process processes.
Fig. 5 is ac-dc-ac transform circuit, input single-phase 220V, obtains about 310V unidirectional current after rectified, voltage stabilizing.Rectifier bridge selects KBPC3510, and its peak-inverse voltage is 1000V, and running current is up to 35A；C2 is for filtering the higher hamonic wave in DC voltage；C3 plays voltage stabilizing and provides the effect of continuous current circuit for motor winding.
Fig. 6 drive circuit selects IR2110 as driving chip.The upper brachium pontis of IR2110 drives power supply to suspend for bootstrapping and drives design, decreases number of power sources used by drive circuit.The input side of IR2110 utilizes optocoupler 6N137 to realize the electrical isolation of control signal and main circuit.Pwm control signal reversely and is pulled upward to 20V through light-coupled isolation, phase inverter 74LS06, so as to mate with the input voltage of IR2110.For increasing the reliability that power device turns off, by the shutoff voltage that stabilivolt ZD2, ZD3 and electric capacity C11, C12 bear 5V for driving signal to provide.
Key control unit adopts TI company DSP to process chip TMS 320 F 2812, and highest frequency is up to 150MHz, and this chip peripheral hardware includes 12,16 tunnel Precision A/D C, 2 road SCI and two event manager modules (EVA and EVB) etc..Each event manager module includes 6 road PWM/CMP, 2 road QEP and 3 road CAP.
Embodiment 7:
Three-phase four-arm Control System of Permanent Magnet Synchronous Motor described in embodiment 1 or 2 or 3 or 4 or 5, Fig. 9 is three-phase four-leg inverter structure diagram, and the phase mid-point voltage of inverter is UAN、UBN、UCN.In order to the expression making switching voltage vector is clearly simple and clear, here first to UAN、UBN、UCNValue be standardized (making Udc=1), space vector of voltage is represented with perunit value.
Assuming that SA、SB、SC、SNRepresenting the on off state of four brachium pontis A, B, C, N respectively, on each brachium pontis, pipe conducting (lower pipe shutoff) is 1, and it is 0 that upper pipe turns off (lower pipe conducting), and such one has 16 on off states；The switching vector selector of the synthesis that each on off state is corresponding, makes U here0To U15For these 16 switching vector selectors, wherein U0And U15For zero vector, its corresponding relation is as shown in table 1.
Table 1 three-phase four-leg inverter on off state table
The switching voltage vector that these 16 synthesize is drawn as three dimensional vector diagram under rest frame (ABC coordinate system) and just obtains a space dodecahedron, as shown in Figure 10.Have for state 13, now SA、SB、SC、SNRespectively 1,0,1,1；UAN、UBN、UCNRespectively 0 ,-1,0；This expression is pipe conducting on A, C, N brachium pontis, and lower pipe turns off；On B brachium pontis, pipe turns off, and lower pipe turns on.Switching voltage vector is U13, it is arranged in rest frame (0 ,-1,0) coordinate place.
For switching vector selector Figure 10, our feasible planes=0、=0、=0 He-=0、-=0、-Control area is divided into 24 little space tetrahedrons by=0, and each tetrahedron is made up of two zero switching voltage vectors of three non-zero switching voltage vectors, the switching voltage vector of correspondence just can be utilized to be fitted as long as so determining space, reference voltage vector place tetrahedron.Such as, the reference voltage vector in a certain moment coordinate in ABC coordinate system be (,,), and have>0、>0、>0、->0、->0、-> 0, then can judge the little space tetrahedron at its place, so that it is determined that three the non-zero switching voltage vectors synthesizing it are、、。
In order to simplify this judgement, we define k1To k6These six variablees, these six variablees represent the division direction of six planes, as long as determining them is 0 or 1 just can judge reference voltage vector position.The expression formula of six variablees is as follows
(22)
(23)
(24)
(25)
(26)
(27)
In formula,、、For normative references voltage vector.
Definition pointer function:
(28)
WillArriveSymbol and unique pointer variable N of these six variablees connect, and have 24 values by calculating N, just with 24 tetrahedron one_to_one corresponding.Figure 11 gives the tetrahedral site corresponding to pointer variable N and three non-zero switching voltage vectors.
Judge tetrahedral position, reference voltage vector place, it is determined that after synthesizing its three non-zero switching voltage vectors, it is possible to calculated the dutycycle corresponding to each non-zero switching voltage vector and zero vector by volt-seconds area principle.Owing to reference voltage vector two zero vectors of three non-zero switching voltage vectors are synthesized equivalence, so reference voltage vector size is equal to the sum of products of each switching voltage vector corresponding to current time and its dutycycle, as shown in formula (29).In order to obtain the value of dutycycle, formula (29) is converted, obtain formula (30) and (31).
(31)
In formula, UrefFor reference voltage vector；D1、d2、d3The respectively dutycycle corresponding to three non-zero switching voltage vectors；Udx_A、Udx_B、Udx_CFor switching voltage vector projection value (x=1,2,3) under ABC coordinate system；D0It is then that (this zero vector can be U for the dutycycle of zero vector0And U15Any one in two zero vectors, it is also possible to be both combinations).For N=1, non-zero switching voltage vector is U8、U9、U11, the dutycycle calculating them according to formula (30) is
(32)
Arrange
(33)
By same method, it is possible to situation corresponding when obtaining N equal to other 23 values, give the corresponding relation of pointer variable N and non-zero switching voltage vector and its dutycycle as shown in table 2.
The corresponding relation of table 2 pointer variable N and set of vectors, dutycycle
After drawing the dutycycle of each switching voltage vector, it is multiplied by and can obtain their ON time cycle time, have only to below the turn-on sequence of each switching voltage vector is arranged, reasonably arrange switching sequence.In order to reduce harmonic wave of output voltage content, switch motion number of times and loss thereof, adopt the centrosymmetry sortord inserting two zero vectors herein.During for pointer variable N=1, U8、U9、U11For now corresponding non-zero switching voltage vector, sortord is as shown in figure 12.
Provide shown in its switch switching point computing formula such as formula (34) finally according to this centrosymmetry sortord, T1、T2、T3、T4It is followed successively by four bridge legs dutycycle upper pipe turn-on instant from big to small.
Figure 13～17 are software flow figure.
Embodiment 8:
Three-phase four-arm Control System of Permanent Magnet Synchronous Motor described in embodiment 1 or 2 or 3 or 4 or 5, for the responding ability that given rotating speed and load are changed by checking system, when 0.03s, motor speed is given by 500r/min sudden change to 1000r/min；When 0.06s, motor load is increased to 8N m by 5N m.Rotating speed, torque and three-phase current response are such as Figure 18, shown in 19.It can be seen that given rotating speed is suddenlyd change to 1000r/min by 500r/min when 0.03s, rotor speed has followed set-point very well, and winding current amplitude is constant simultaneously, frequency is accelerated, acceleration time 4ms；When 0.06s, motor load is by 5N m sudden change to 8N m, and motor output square strengthens in the twinkling of an eye, reaches balance, and winding current amplitude strengthens, frequency is constant, taken time 1ms, and rotating speed degree of susceptibility is very little.
In order to verify fault-tolerant feasibility, simulate single-phase fault state, be provided with the A phase brachium pontis when t=0.05s here and disconnect and give in module i at zero-axis current simultaneously0 *Set-point switch to Fault Compensation value, as shown in Figure 20～22, other is constant, and load torque is still that 5N m, given rotating speed are still for 500r/min.
Figure 20 is for the rotating speed of this situation, torque response curve chart.Can be seen that rotating speed and torque have almost no change after 0.05s.
Figure 21 shows the situation of change of threephase stator electric current and current in middle wire before and after fault, it can be seen that the i after 0.05sB、iCBefore being about faultTimes, phase contrast becomes p/3 from 2p/3.The adjustment of amplitude makes torque constant, and the change of phase place avoids the generation of torque pulsation.
Figure 22 is shown that the situation of change of dq0 shaft current, id、iqSize remain unchanged, thus ensure that the consistent of electromagnetic torque before and after fault；I0For the compensation electric current of 0 axle before and after fault.
Claims (2)
1. a three-phase four-arm Control System of Permanent Magnet Synchronous Motor method of work, is characterized in that:
(1) method of work of permagnetic synchronous motor:
For threephase stator winding galvanization resultant vector,ForWithThe angle of axle,ForAxle withThe angle of phase axle,
ABC coordinate is tied toBeing transformed to of coordinate system
(1)
Corresponding is inversely transformed into
(2)
Coordinate is tied toBeing transformed to of coordinate system
(3)
Corresponding is inversely transformed into
(4)
In formula,For electrical angle,
System adopts salient mounting formula permasyn morot, it is believed that ac-dc axis equivalent inductance is equal, i.e. Lq=Ld, the voltage equation of such PMSM is
(5)
In formula, iX、uX、eXRespectively phase current, the voltage at relative DC side midpoint, phase induction electromotive force；UNFor the motor neutral point voltage to four bridge legs midpoint；R is stator resistance, and L and M is stator winding self-induction and mutual inductance, current in middle wire iNFor
(6)
Utilize coordinate transform, the voltage equation (5) of PMSM is transformed in dq0 coordinate system, has
(7)
(8)
(9)
Electromagnetic torque is
(10)
The equation of motion is
(11)
Formula (7) arrives in (11), LdqEquivalent inductance for d, q axle；ωrFor angular rate；For rotor permanent magnet magnetic linkage；L0It it is zero axle inductance；J is rotary inertia；PnFor number of pole-pairs,
(2) method of work of four bridge legs inversion control:
Owing to having selected idThe vector control scheme of=0, implements process as follows: first, detects motor rotor position and stator winding current；Utilize rotor-position to calculate motor speed, export the reference value i of current torque component through speed controlq *, given current excitation component i simultaneouslyd *=0；And stator winding current is carried out coordinate transform obtain feedback component iqAnd id, through current controller output reference voltage space vector d, q axle component ud *And uq *；Produce 6 tunnel PWM output signal finally by SVPWM module, through three-phase three-leg inverter power amplification rear drive permagnetic synchronous motor, finally realize rotating speed, current double closed-loop control,
Three-phase four-leg inverter is to add a brachium pontis being connected with motor neutral point on the basis of three-phase three brachium pontis, thus many currents in middle wire that can control, and zero-axis current can be obtained by formula (1), (6)WithBetween relation be
(12)
So, as long as controlling zero-axis currentJust can center line electric currentIndirectly control,
From formula (2), (4)
(13)
Under normal operating conditions, current in middle wireIt is zero, so has only to control zero-axis currentIt is zero, namely
(14)
(15)
(16)
When certain phase generation open-phase fault, it is assumed here that when A phase occurs open circuit fault, B, C phase that open circuit fault occurs, situation is same, now has=0, owing to the electromagnetic torque of permagnetic synchronous motor depends on id、iqSize, now, for ensure with properly functioning time have identical drive characteristic, it is necessary to produce the i consistent with before faultd、iq, need exist forCompensate, be therefore no longer equal to 0,
?=0 substitutes into formula (13), it is possible to obtain
(17)
(18)
(19)
Through type (7) and (17) obtain
(20)
According to formula (17) or (20), it is possible to adopt two ways configuration to reach the purpose of compensated torque, namely adopt zero-axis current to compensate close-loop control mode, meet the requirement of formula (17)；Or the formula of employing (20), adopt zero shaft voltage open loop control mode, it is achieved zero shaft voltage u0Output, thus can reach the purpose of failure tolerant, and without revising any hardware circuit,
This patent adopts zero-axis current to compensate close-loop control mode, is i due to what adoptd=0 controls, it is possible to simplified style (17) obtains
(21)
So, have only to carry out according to formula (21) compensation of zero-axis current under malfunction.
2. three-phase four-arm Control System of Permanent Magnet Synchronous Motor method of work according to claim 1, is characterized in that: given rotating speed obtains the set-point i of current torque component with feedback rotating speed Negotiation speed controllerq *, the phase current i of samplingA、iB、iCConvert through Clarke, Park, obtain i in dq0 rotating coordinate systemd、iq、i0, with given value of current iq *、id *、i0 *Compare, wherein id *、i0 *Set-point be all 0, and when single-phase fault i0 *Need to add offsetiqsin, it is then passed through PI controller and obtains ud *、uq *、u0 *, then through Park-1Conversion, Clarke-1Conversion, the modulation of 3D-SVPWM, power amplification drive four-leg inverter 8 power switch pipes, finally constitute three-phase four-arm permasyn morot speed, current double closed-loop control system.
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