CN104601079A - Fault-tolerant control system and method for single-phase winding disconnection of electric vehicle driving system - Google Patents
Fault-tolerant control system and method for single-phase winding disconnection of electric vehicle driving system Download PDFInfo
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Abstract
The invention discloses fault-tolerant control system and method for single-phase winding disconnection of an electric vehicle driving system. The system comprises a PWM generation module, an inverter, a three-phase permanent magnet hub motor, a switch module, a switching control module, a current sampling circuit and a rotating coder; when in normal running, a three-phase winding of the motor is connected by a star type; three-phase current at the inverter side is three-phase symmetric current; when detecting the fault in open circuit of the single-phase winding, the connection mode of the three-phase winding is replaced by a triangular connection mode through the switch module; the reference value of the three-phase current at the inverter side can be adjusted to change the control method; the torque output value is the torque value under normal operation, and therefore, the fault-tolerant operation of the three-phase permanent magnet hub motor under single-phase winding disconnection can be achieved. With the adoption of the fault-tolerant control system and method, extra switching tubes and medium point voltage are saved, so that a device investment can be decreased, the three-phase current at the inverter side is the symmetric sine-wave current after fault-tolerant, and the amplitude is increased to be square root of a three times that of the current under normal operation, and the torque output is stable.
Description
Technical field
The invention belongs to Control of Electric Vehicles technical field, be specifically related to drive system of electric automobile single-phase winding open circuit fault-tolerant control system and method.
Background technology
Along with the exhaustion of the fossil fuels such as oil and problem of environmental pollution are on the rise, the automobile of research and development energy-saving and environmental protection and safety, to replace the automobile providing power with internal combustion engine, is the only way realizing sustainable development.Wherein, electric automobile is praised highly with the remarkable advantage of its high efficiency low emission, obtains accelerated development.Motor driven systems is one of electric automobile core technology, and wheel hub drives the main development direction of following electric automobile type of drive especially.After single-phase open circuit fault appears in drive system motor winding, torque output ripple is very big, causes electric automobile fluctuation of service, thus directly to threatening personal safety.
Some drive systems single-phase winding open circuit fault tolerant control method mainly contains traditionally:
1. two-phase four switch-control strategy: two-phase four switching strategy is mainly when after single-phase winding open circuit, and winding mid point is drawn out to power supply midpoint, forms center line, for zero-sequence current provides loop, realizes fault-tolerant operation.
2. two-phase three brachium pontis control strategy: when after the single-phase winding open circuit of appearance, winding mid point is drawn out on brachium pontis for subsequent use, by fault-tolerant operation under three brachium pontis drive motors faults.
3. two-phase full-bridge control strategy: when after the single-phase winding open circuit of appearance, the switching tube of fault phase brachium pontis is all opened, and normal phase realizes two-phase full-bridge and controls, and realizes fault-tolerant operation.
But above several traditional control method is due to the three-phase current after topological structure own and fault-tolerant operation, affects its fault-tolerant control system overall performance.Such as, need a power supply mid point in method 1, due to the impact of zero-sequence current after faults-tolerant control, can unbalance of neutral-point voltage be caused, and then affect Electric Machine Control and motor operation, in addition method 1 and method 2 all need winding to draw center line, and therefore the application of these two kinds of methods is limited to; Method 2 and method 3 all need volume to be switching device, increase volume and the cost of system; Three kinds of methods equally all have the neutral line, and neutral current is not three-phase symmetrical sinusoidal current with residue phase current, and the electric current that after fault-tolerant operation, inverter exports is different along with the difference of disconnection winding phase.
Summary of the invention
The object of the invention is for conventional electric automobile driving system single-phase winding open circuit fault-tolerant control system Problems existing, a kind of new drive system of electric automobile single-phase winding open circuit fault-tolerant control system and method are proposed, reduce equipment investment, simplify fault-tolerant control algorithm.
For achieving the above object, the technical solution used in the present invention is:
A kind of drive system of electric automobile single-phase winding open circuit fault-tolerant control system, comprising: PWM generation module, inverter, three-phase permanent wheel hub motor, switch module, switching controls module, current sample module and rotary encoder;
Described rotary encoder is connected with described motor, and for measuring the actual speed of motor, and output speed signal is to described PWM generation module;
Described current sample module is connected with described motor, and for measuring the three-phase current of motor, and output current signal is to described PWM generation module and switching controls module;
Described switch module, is connected with the three-phase windings of described motor, at least comprises two groups of switches, and first group of switch makes three-phase windings become star-like connected mode, and second group of switch makes three-phase windings triangularity connected mode;
Described PWM generation module, comprising:
Rotating speed pi regulator, for obtaining reference current amplitude according to the difference of reference rotation velocity and actual speed;
Current calculation module, for calculating by the first current shape function corresponding with star-like connected mode or the second current shape function corresponding with triangle connected mode the reference value that inverter exports three-phase current according to reference current amplitude;
And hysteresis comparator, in conjunction with the reference value of three-phase current and actual value, exports the PWM sequence of the switch being used for control inverter;
Described switching controls module, judges whether to occur single-phase winding open circuit for the current signal exported according to described current sample module, if there is open circuit, output switching signal is to described switch module and described PWM generation module.
Further, during normal operation, described first group of switch is often opened, described second group of switch is normally closed, the connected mode of three-phase windings is star-like connection, and after described switch module receives switching signal, described second group of switch is often opened, described first group of switch is normally closed, and the connected mode of three-phase windings is that triangle connects.
Further,
Described first current shape function is:
Wherein, i
mhreference current amplitude during for normally running,
for inverter exports the reference value of three-phase current, ω
efor angular rate, be actual speed ω
0p doubly, p is the number of pole-pairs of motor;
Described second current shape function is:
Wherein, i
mffor reference current amplitude during fault-tolerant operation.
Further, described switching controls module comprises the first comparator, the second comparator, the 3rd comparator or door, integrator and the 4th comparator; An input of the first comparator, the second comparator and the 3rd comparator inputs a phase current values respectively, other end input reference current 0 is worth, output connects or an input of door respectively, or the output of door connects the input of integrator, the output of integrator connects the input of the 4th comparator; When there is current value in three-phase current and being 0, or door exports triggering signal, and triggering integrator is started working, and when integrator output valve is greater than setting threshold values, the 4th comparator exports fault-signal.
A kind of drive system of electric automobile single-phase winding open circuit fault tolerant control method, comprises the steps:
(1), when normally running, the connected mode of the three-phase windings of setting three-phase permanent wheel hub motor is star-like connection;
(2) actual speed and the three-phase current that obtain motor is measured, the reference current amplitude when rotating speed pi regulator is normally run by actual speed and reference rotation velocity, the first current shape function corresponding with star-like connected mode with reference to current amplitude is multiplied, obtain the reference value that inverter exports three-phase current, export the PWM sequence of the switch of control inverter through hysteresis comparator;
(3) detect the three-phase current of motor, judge whether to occur single-phase winding open circuit, if there is open circuit, enter step (4), otherwise enter step (2);
(4) triangle is switched to connect the connected mode of the three-phase windings of motor;
(5) actual speed and the three-phase current that obtain motor is measured, actual speed and reference rotation velocity are obtained the reference current amplitude of fault-tolerant operation through rotating speed pi regulator, the second current shape function corresponding with triangle connected mode with reference to current amplitude is multiplied, obtain the reference value that inverter exports three-phase current, export the PWM sequence of the switch of control inverter through hysteresis comparator.
Further, judge whether to occur that the concrete grammar of single-phase winding open circuit is described in: be greater than 1/6 current cycle when the time that the value that there is arbitrary phase current in three-phase current is 0, then judge to occur single-phase winding open fault.
Beneficial effect: when after the single-phase winding open circuit of drive system of electric automobile, according to system proposed by the invention or method, drive system can be made to export and torque onesize when normally running, make electric automobile continue to run, improve the fault-tolerant operation ability of drive system of electric automobile.Compared with prior art, triangle in electric motor starting method/star-like startup is applied in drive system of electric automobile single-phase winding open circuit fault-tolerant control system by the present invention, during normal operation, the connected mode of winding is star-like connection, triangle is switched to connect the connected mode of winding by switch module during fault-tolerant operation, there is the advantage not increasing switching tube or power supply mid point, reduce equipment investment; After open circuit appears in arbitrary phase winding, the three-phase current that inverter exports is that amplitude is the same, the three-phase symmetrical sinusoidal current of phase place mutual deviation 120 degree, electric current when amplitude rises to normal operation
doubly, torque stable output; Only need detect and break down and do not need to judge concrete fault phase, simplify fault detection program.
Accompanying drawing explanation
Fig. 1 is system global structure schematic diagram of the present invention;
Fig. 2 is PWM generation module structural representation of the present invention;
Fig. 3 is motor of the present invention single-phase open fault detection model figure;
Fig. 4 is drive system inverter of the present invention, motor equivalent circuit diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
As shown in Figure 1, disclosed in the embodiment of the present invention, a kind of drive system of electric automobile single-phase winding open circuit tolerant system, comprises PWM generation module 1, inverter (three-phase half-bridge voltage type) 2, three-phase permanent wheel hub motor 3, switch module 4, switching controls module 5 and rotary encoder 6.PWM generation module 1 comprises rotating speed pi regulator, current calculation module and hysteresis comparator.Rotary encoder 6 is connected with motor 3, gathers the rotational speed omega of rotor
0, output speed signal is to PWM generation module 1; Current sample module 6 is connected with motor 3, and sampling obtains the three-phase current of motor, and output current signal is to the hysteresis comparator of PWM generation module 1 and switching controls module 5.Switch module (by the realization such as solid-state relay or thyristor) 4 is connected with the three-phase windings of motor 3, has two groups of switch S at least
1and S
2, S
1closed, S
2when opening, the connected mode of three-phase windings is star-like connection, S
1open, S
2time closed, the connected mode of three-phase windings is that triangle connects, and sees Fig. 4.Switching controls module 5 is connected with the current calculation module of current sample module 6, switch module 4 and PWM generation module 1 respectively, and switching controls module 5 to be sampled the three-phase current obtained according to current sample module 6, determines whether fault occurs.As shown in Figure 3, switching controls module 5 comprises three equivalent comparators (comparator 1,2,3) or door, integrator and the 4th comparator (comparator F); An input of three equivalent comparators inputs a phase current values respectively, other end input reference current 0 is worth, output connects or an input of door respectively, or the output of door connects the input of integrator, and the output of integrator connects the input of the 4th comparator; When there is current value in three-phase current and being 0, triggering integrator is started working, and when three-phase current is not 0, integrator resets; To set the 4th comparator threshold values be T/6, T is current cycle, has taken into account the reaction time and has judged precision, and when integrator output valve is greater than threshold values, the 4th comparator exports fault-signal.Switching controls module 5 sends switching signal to switch module 4 and PWM generation module 1 after judging to occur single-phase winding open fault.
The connected mode that can set three-phase windings during normal operation is star-like connection, when after the single-phase winding open circuit fault of appearance, and switch module 4 control S
1open, S
2closed, the connected mode of three-phase windings is converted to triangle and connects, meanwhile, the current calculation module switch current shape function of PWM generation module 1 changes the computational methods of inverter three-phase output current reference value to adapt to new connected mode.
During normal operation, current shape function is:
During fault-tolerant operation, current shape function is:
Wherein, i
mh, i
mfbe respectively normal, fault-tolerant operation time reference current amplitude,
for inverter exports the reference value of three-phase current, ω
efor angular rate, be actual speed ω
0p doubly, p is the number of pole-pairs of motor.
As shown in Figure 2, the actual speed ω of rotor is gathered based on rotary encoder
0(rad/s), with reference to rotational speed omega
rwith actual speed ω
0do difference to compare, difference is input to the input of rotating speed pi regulator, obtains reference current amplitude i
mh(normally), i
mf(fault-tolerant).
When normally running, switching controls module is output switching signal not, and by switch module, the winding connection of motor is star-like connection (S
1closed, S
2open), according to reference current amplitude i obtained above
mhbe multiplied with current shape function (1), obtain inverter three-phase output current reference value, by hysteresis comparator, the switching signal-PWM sequence of output inverter, the torque of drive system stable output, electric automobile stable operation.
When after the single-phase winding open circuit fault of appearance, switching signal module output switching signal, by switch module, motor winding connection is that triangle connects (S
1open, S
2closed), according to reference current amplitude i obtained above
mfbe multiplied with current shape function (2), obtain inverter three-phase output current reference value, by hysteresis comparator, the switching signal-PWM sequence of output inverter, make drive system maintain torque to export, under electric automobile malfunction, realize fault-tolerant operation.
Disclosed in the embodiment of the present invention, a kind of drive system of electric automobile single-phase winding open circuit fault-tolerance approach, comprises the steps:
(1), when normally running, the connected mode of the three-phase windings of setting three-phase permanent wheel hub motor is star-like connection;
(2) actual speed and the three-phase current that obtain motor is measured, the reference current amplitude when speed pi regulator is normally run by actual speed and reference rotation velocity, be multiplied with current shape function (1) with reference to current amplitude, obtain the reference value that inverter exports three-phase current, export the PWM sequence of the switch of control inverter through hysteresis comparator;
(3) detect the three-phase current of motor, judge whether to occur single-phase winding open circuit, if there is open circuit, enter step (4), otherwise enter step (2); According to the model of Fig. 3, process the electric current after sampling, when triggering signal is rising edge, integrator is started working, and during trailing edge, integrator resets.When integrator output valve is greater than threshold values, exports fault-signal, then can judge to occur single-phase winding open fault;
(4) triangle is switched to connect the connected mode of the three-phase windings of motor;
(5) actual speed and the three-phase current that obtain motor is measured, actual speed and reference rotation velocity are obtained the reference current amplitude of fault-tolerant operation through speed pi regulator, be multiplied with current shape function (2) with reference to current amplitude, obtain the reference value that inverter exports three-phase current, export the PWM sequence of the switch of control inverter through hysteresis comparator.
Triangle in electric motor starting method/star-like startup is applied in fault-tolerant control system by the embodiment of the present invention, during normal operation, the connected mode of winding is star-like connection, change the connected mode of winding into triangle by switch module during fault-tolerant operation to connect, there is the advantage not increasing switching tube or power supply mid point, reduce equipment investment; When fault-tolerant operation, the three-phase current that inverter exports is that amplitude is the same, the three-phase symmetrical sinusoidal current of phase place mutual deviation 120 degree.Current shape function (2) goes for the situation of any phase winding open circuit, compared with current shape function (1), and delayed 30 ° of initial phase.When carrying out fault detect, the position that a needs determines whether single-phase winding open fault occurs and do not need to determine occurred open fault.
It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.The all available prior art of each part not clear and definite in the present embodiment is realized.
Claims (7)
1. a drive system of electric automobile single-phase winding open circuit fault-tolerant control system, it is characterized in that, comprising: PWM generation module (1), inverter (2), three-phase permanent wheel hub motor (3), switch module (4), switching controls module (5), current sample module (6) and rotary encoder (7);
Described rotary encoder (7) is connected with described motor (3), and for measuring the actual speed of motor (3), and output speed signal is to described PWM generation module (1);
Described current sample module (6) is connected with described motor (3), for measuring the three-phase current of motor (3), and output current signal is to described PWM generation module (1) and switching controls module (5);
Described switch module (4), is connected with the three-phase windings of described motor (3), at least comprises two groups of switches, and first group of switch makes three-phase windings become star-like connected mode, and second group of switch makes three-phase windings triangularity connected mode;
Described PWM generation module (1), comprising:
Rotating speed pi regulator, for obtaining reference current amplitude according to the difference of reference rotation velocity and actual speed;
Current calculation module, for calculating by the first current shape function corresponding with star-like connected mode or the second current shape function corresponding with triangle connected mode the reference value that inverter (4) exports three-phase current according to reference current amplitude;
And hysteresis comparator, in conjunction with the reference value of three-phase current and actual value, exports the PWM sequence of the switch being used for control inverter (4);
Described switching controls module (5), current signal for exporting according to described current sample module (6) judges whether to occur single-phase winding open circuit, if there is open circuit, output switching signal is to described switch module (4) and described PWM generation module (1).
2. drive system of electric automobile according to claim 1 single-phase winding open circuit fault-tolerant control system, it is characterized in that, during normal operation, described first group of switch is often opened, and described second group of switch is normally closed, and the connected mode of three-phase windings is star-like connection, after described switch module (4) receives switching signal, described second group of switch is often opened, and described first group of switch is normally closed, and the connected mode of three-phase windings is that triangle connects.
3. drive system of electric automobile according to claim 1 single-phase winding open circuit tolerant system, is characterized in that,
Described first current shape function is:
Wherein, i
mhreference current amplitude during for normally running,
for inverter exports the reference value of three-phase current, ω
efor angular rate, be actual speed ω
0p doubly, p is the number of pole-pairs of motor;
Described second current shape function is:
Wherein, i
mffor reference current amplitude during fault-tolerant operation.
4. drive system of electric automobile according to claim 1 single-phase winding open circuit fault-tolerant control system, is characterized in that, described switching controls module comprises the first comparator, the second comparator, the 3rd comparator or door, integrator and the 4th comparator; An input of the first comparator, the second comparator and the 3rd comparator inputs a phase current values respectively, other end input reference current 0 is worth, output connects or an input of door respectively, or the output of door connects the input of integrator, the output of integrator connects the input of the 4th comparator; When there is current value in three-phase current and being 0, or door exports triggering signal, and triggering integrator is started working, and when three-phase current does not exist 0 value, integrator resets; When integrator output valve is greater than setting threshold values, the 4th comparator exports fault-signal.
5. a drive system of electric automobile single-phase winding open circuit fault tolerant control method, is characterized in that, comprise the steps:
(1), when normally running, the connected mode of the three-phase windings of setting three-phase permanent wheel hub motor is star-like connection;
(2) actual speed and the three-phase current that obtain motor is measured, the reference current amplitude when rotating speed pi regulator is normally run by actual speed and reference rotation velocity, the first current shape function corresponding with star-like connected mode with reference to current amplitude is multiplied, obtain the reference value that inverter exports three-phase current, export the PWM sequence of the switch of control inverter through hysteresis comparator;
(3) detect the three-phase current of motor, judge whether to occur single-phase winding open circuit, if there is open circuit, enter step (4), otherwise enter step (2);
(4) triangle is switched to connect the connected mode of the three-phase windings of motor;
(5) actual speed and the three-phase current that obtain motor is measured, actual speed and reference rotation velocity are obtained the reference current amplitude of fault-tolerant operation through rotating speed pi regulator, the second current shape function corresponding with triangle connected mode with reference to current amplitude is multiplied, obtain the reference value that inverter exports three-phase current, export the PWM sequence of the switch of control inverter through hysteresis comparator.
6. drive system of electric automobile according to claim 5 single-phase winding open circuit fault tolerant control method, it is characterized in that, described judging whether occurs that the concrete grammar of single-phase winding open circuit is: be greater than 1/6 current cycle when the time that the value that there is arbitrary phase current in three-phase current is 0, then judge to occur single-phase winding open fault.
7. drive system of electric automobile according to claim 5 single-phase winding open circuit fault tolerant control method, is characterized in that,
Described first current shape function is:
Wherein, i
mhreference current amplitude during for normally running,
for inverter exports the reference value of three-phase current, ω
efor angular rate, be actual speed ω
0p doubly, p is the number of pole-pairs of motor;
Described second current shape function is:
Wherein, i
mffor reference current amplitude during fault-tolerant operation.
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| CN104935223A (en) * | 2015-07-01 | 2015-09-23 | 上海电机学院 | Switching control system and method for permanent-magnet synchronous motor winding |
| CN108037403A (en) * | 2017-12-05 | 2018-05-15 | 中南大学 | The inverter open fault diagnostic method and device of a kind of current hysteresis-band control |
| CN108919025A (en) * | 2018-05-21 | 2018-11-30 | 广东伊莱斯电机有限公司 | A kind of power line wire break detection method in three-phase alternating current servo drive system |
| CN112994562A (en) * | 2021-03-12 | 2021-06-18 | 合肥恒大江海泵业股份有限公司 | Single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault tolerance method |
| CN113258854A (en) * | 2021-06-30 | 2021-08-13 | 上海拿森汽车电子有限公司 | DC motor control circuit, method and computer storage medium |
| CN114744922A (en) * | 2022-03-18 | 2022-07-12 | 西北工业大学太仓长三角研究院 | Fault-tolerant control device and method for double-winding permanent magnet synchronous motor current sensor |
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| CN108919025A (en) * | 2018-05-21 | 2018-11-30 | 广东伊莱斯电机有限公司 | A kind of power line wire break detection method in three-phase alternating current servo drive system |
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