CN104682820A - Fault-tolerant control method for five-phase fault-tolerant permanent magnet linear motor - Google Patents

Abstract

The invention discloses a fault-tolerant control method for a five-phase fault-tolerant permanent magnet linear motor. Fault-tolerant current is calculated according to the rule that the magnetomotive force amplitude values and phase angles of rotation before and after the motor is faulted are constant and the current amplitude values of the normal phases are equal; two pieces of orthogonal basis of a fundamental wave space are obtained, and a park transformation matrix is deduced and popularized, so that coordinate transformation of voltage and current is realized; instruction voltage and inverted potentials of all the phases are summarized to obtain expected phase voltages of all the phases under a natural coordinate system of the motor; the expected phase voltages are modulated by a voltage source inverter CPWM to realize interference-free fault-tolerant operation after the five-phase fault-tolerant permanent magnet linear motor is faulted. On the premise of ensuring that the output thrusts or torques of the motor are consistent before and after a certain phase of the motor is in open-circuit fault, the motor thrust or torque pulse can be effectively suppressed; further, more importantly, the dynamic performance of the faulted motor is consistent with that of the normal motor, so that high-dynamic-performance fault-tolerant operation of the motor is realized, and the algorithm has certain universality.

Description

A kind of fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors

Technical field

The present invention relates to a kind of motor open fault fault tolerant control method, the particularly control method of five mutually fault-tolerant permanent-magnetism linear motors.Be applicable to the occasion that the reliability to motor such as Aero-Space, electric automobile has higher requirements.

Background technology

After motor driven systems breaks down, motor asymmetric operating, there is obviously pulsation in Driving Torque, noise obviously increases, and entire system performance worsens, and even cannot work, serious harm production safety, the fault-tolerant ability therefore during motor system fault is extremely important.

Fault-tolerant motor refers to by changing winding method and stator tooth structure, spatially realizes the independence of circuit between phase and phase and magnetic circuit, thus improves a class New-type electric machine of motor belt motor failure operation ability.The target of faults-tolerant control is optimized design for different application scenarios to fault-tolerant electric current, and the Driving Torque under motor is nonserviceabled is as far as possible level and smooth.Application number is carry out by the current amplitude of adjustment residue normal phase and phase place the rotating magnetic field component that compensate for failed produces mutually in the patent " consider reluctance torque impact five phase flux switch permanent magnet motor fault tolerant control methods " of 201210501105.6, then adopts Hysteresis Current to realize faults-tolerant control.There is the problems such as switching frequency is mixed and disorderly, noise is large in the method, is not suitable for large-power occasions; " the five-phase PMSM faults-tolerant control strategy " volume the 6th phase delivered in " Electric Machines and Control " the 18th adopts transformation matrix of coordinates and vector control method to realize fault-tolerant motor fault-tolerant operation, but the postrun electric current of motor fault-tolerant can not follow fault-tolerant instruction current, affect motor and go out torque capacity and dynamic property, waste inverter capacity, effectively cannot realize unperturbed and run.

Summary of the invention

For the characteristic of five mutually fault-tolerant magnetoes and feature, the problems of the prior art of such electric system open fault, the object of the invention is to overcome conventional current stagnant ring inverter switching frequency is mixed and disorderly, noise is serious shortcoming and existing voltage vector and control to exist that electric current cannot accurately be followed, the defect of computing complexity, propose a kind of high-performance fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors.

The high-performance fault tolerant control method that the present invention is used for five mutually fault-tolerant permanent-magnetism linear motors adopts following technical scheme:

For a fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors, comprise the following steps:

Step 1, sets up the fault-tolerant permanent-magnetism linear motor model of five phase cylinder types;

Step 2, when there is open fault in motor A phase, according to the rotating mmf amplitude before and after electrical fault and phase angle is constant and residue healthy phase current amplitude is equal principle, then according to phase current and null constraints, obtain the phase current of fault rear motor fault-tolerant operation;

Step 3, according to space principle of electromechanical energy conversion, is calculated two orthogonal basiss of first-harmonic subspace by the postrun phase current of motor fault-tolerant, thus obtains the popularization Parker matrix T that remaining four normal phase coordinates convert to two-phase static coordinate _4s/2s;

Step 4, will promote Parker matrix T _4s/2swith Clarke transform Matrix C _2s/2rbe multiplied, realize the current transformation of electric current under rotating coordinate system under natural system of coordinates, then obtain the reverse transform matrix T promoting Parker matrix _2s/4swith Clarke reverse transform matrix C _2r/2sproduct, realize the conversion of the command voltage of voltage under natural coordinates under rotational coordinates;

Step 5, is added command voltage and each opposite potential the motor obtained under natural system of coordinates and respectively expects phase voltage mutually;

Step 6, described expectation phase voltage realizes unperturbed fault-tolerant operation after five mutually fault-tolerant magneto faults through voltage source inverter CPWM modulation.

Further, in described step 2, the phase current of fault-tolerant operation is:

$\left\{\begin{array}{c}{i}_A^{\′}=0\\ i_B^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-\mathrm{\π}/5))\\ i_C^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-4\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-4\mathrm{\π}/5))\\ i_D^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-6\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-6\mathrm{\π}/5))\\ i_E^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-9\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-9\mathrm{\π}/5))\end{array}\right.$

In formula, the current-order of d axle under rotating coordinate system, q axle respectively.

Further, in described step 3, described orthogonal basis is:

$T_1=\left[\begin{array}{cccc}\cos \frac{1}{5}\mathrm{\π}& \cos \frac{4}{5}\mathrm{\π}& \cos \frac{6}{5}\mathrm{\π}& \cos \frac{9}{5}\mathrm{\π}\end{array}\right]/3.618$

$T_2=\left[\begin{array}{cccc}\sin \frac{1}{5}\mathrm{\π}& \sin \frac{4}{5}\mathrm{\π}& \sin \frac{6}{5}\mathrm{\π}& \sin \frac{9}{5}\mathrm{\π}\end{array}\right]/1.91$

Wherein, T ₁, T ₂be two orthogonal basiss.

Further, in described step 3, described popularization Parker matrix is:

$T_{4s/2s}=\left[\begin{array}{cccc}\cos \frac{1}{5}\mathrm{\π}/3.618& \cos \frac{4}{5}\mathrm{\π}/3.618& \cos \frac{6}{5}\mathrm{\π}/3.618& \cos \frac{9}{5}\mathrm{\π}/3.618\\ \sin \frac{1}{5}\mathrm{\π}/1.91& \sin \frac{4}{5}\mathrm{\π}/1.91& \sin \frac{6}{5}\mathrm{\π}/1.91& \sin \frac{9}{5}\mathrm{\π}/1.91\end{array}\right].$

Further, also comprise: when other is a certain break down mutually time, only natural system of coordinates need be rotated counterclockwise electrical degree, makes a axle of fault front motor A phase place natural system of coordinates with the dead in line at electrical fault rear motor fault phase place and direction is consistent, is then become by Clarke transform matrix:

$C_{2s/2r}=\left[\begin{array}{cc}\cos (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})& \sin (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})\\ -\sin (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})& \cos (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})\end{array}\right].$

Further, described control method is also applicable to five mutually fault-tolerant permanent magnet rotating machine control system.

The present invention has following beneficial effect: the present invention is under the prerequisite ensureing motor thrust output or torque equivalence before and after a certain phase open fault of motor, not only can effectively suppress motor thrust or torque pulsation, and the dynamic property under motor fault-tolerant ruuning situation more crucially can be made consistent with the performance under normal condition, and without the need to the calculating of complexity, voltage source inverter switching frequency is constant, CPU time expense is little; During any one-phase open circuit fault, natural system of coordinates only need be rotated counterclockwise certain angle, and motor fault-tolerant just can be made to run, and algorithm has certain versatility.

Accompanying drawing explanation

Fig. 1 is the fault-tolerant permanent-magnetism linear motor structure chart of five phase cylinder types;

Fig. 2 is the vector control strategy block diagrams of five mutually fault-tolerant magnetoes based on CPWM;

Fig. 3 is the high-performance faults-tolerant control strategy block diagram of fault-tolerant magneto;

When Fig. 4 is A phase open fault, motor is without phase current waveform during fault-tolerant operation;

When Fig. 5 is A phase open fault, motor is without electromagnetic push waveform during fault-tolerant operation;

When Fig. 6 is A phase open fault, motor is without phase current waveform during back-emf feedforward fault-tolerant operation;

When Fig. 7 is A phase open fault, motor is without electromagnetic push waveform during back-emf feedforward fault-tolerant operation;

Fig. 8 uses phase current waveform during fault-tolerant strategy fault-tolerant operation of the present invention when being A phase open fault;

Fig. 9 uses electromagnetic push waveform during fault-tolerant strategy fault-tolerant operation of the present invention when being A phase open fault;

When Figure 10 is thrust command step in five mutually fault-tolerant permanent-magnetism linear motor failure-free operation processes, it exports electromagnetic push response diagram;

When Figure 11 is thrust command step in five mutually fault-tolerant permanent-magnetism linear motor A phase open fault runnings, it exports electromagnetic push response diagram;

Figure 12 uses the phase current waveform figure of five mutually fault-tolerant magnetoes of faults-tolerant control strategy of the present invention when motor fault-tolerant operation in open fault process occurs A phase open fault recovery rear B phase.

In figure: 1-stator; 2-concentrates armature winding; 3-armature tooth; 4-fault-tolerant teeth; 5-mover; The accurate Halbach array permanent magnet of 6-.

Embodiment

The specific embodiment of the present invention is further illustrated below in conjunction with accompanying drawing.

Shown in Fig. 1 is the fault-tolerant permanent-magnetism linear motor of five phase cylinder types, its structure comprises stator 1 and mover 5, stator 1 is modular structure, by discoid concentrated armature winding 2, armature tooth 3 and fault-tolerant teeth 4 are formed, armature winding 2 sense of current on armature tooth 3 both sides in each module of stator 1 is contrary, armature winding series connection on two armature tooths 3 of four armature tooths 3 in interval or formation in parallel one phase, form five phase windings, accurate Halbach array permanent magnet 6 Surface Mount is on mover 5, the magnetic field that accurate Halbach array permanent magnet 6 produces forms loop through stator 1, armature tooth 3 and fault-tolerant teeth 4 are not wide.

The fault-tolerant magneto of Fig. 1 is powered by voltage source inverter, adopts the vector control strategy based on CPWM technology, and control block diagram as shown in Figure 2.During the steady operation of motor normal condition, each phase winding electric current can be expressed as:

$\left\{\begin{array}{c}{i}_A=-i_q^{*}\sin \left(\mathrm{\θ}\right)+i_d^{*}\cos \left(\mathrm{\θ}\right)\\ i_B=-i_q^{*}\sin (\mathrm{\θ}-\mathrm{\π}\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-2\mathrm{\π}/5)\\ i_C=-i_q^{*}\sin (\mathrm{\θ}-4\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-4\mathrm{\π}/5)\\ i_D=-i_q^{*}\sin (\mathrm{\θ}-6\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-6\mathrm{\π}/5)\\ i_E=-i_q^{*}\sin (\mathrm{\θ}-8\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-8\mathrm{\π}/5)\end{array}\right.---\left(1\right)$

In formula, the current-order of rotating coordinate system d axle, q axle respectively.

The rotating mmf (MMF) that motor produces can be expressed as

$\begin{array}{c}\mathrm{MMF}=\underset{i=A}{\overset{E}{\mathrm{\Σ}}}{\mathrm{MMF}}_i\\ ={\mathrm{Ni}}_A+\mathrm{\α}{\mathrm{Ni}}_B+{\mathrm{\α}}^2{\mathrm{Ni}}_C+{\mathrm{\α}}^3{\mathrm{Ni}}_D+{\mathrm{\α}}^4{\mathrm{Ni}}_E\end{array}---\left(2\right)$

In formula, α=e ^{j2 π/5}, N is the effective turn of each phase stator winding.

When motor breaks down, suppose that open fault occurs A phase.Now, the rotating mmf of motor internal is produced by remaining four mutually normal windings, can be expressed as

$\begin{array}{c}\mathrm{MMF}=\underset{i=B}{\overset{E}{\mathrm{\Σ}}}{\mathrm{MMF}}_i\\ =\mathrm{\αN}{i}_B^{\′}+{\mathrm{\α}}^{2}N{i}_C^{\′}{+\mathrm{\α}}^{3}N{i}_D^{\′}+{\mathrm{\α}}^{4}N{i}_E^{\′}\end{array}---\left(3\right)$

Because fault-tolerant magneto mutual inductance is very little, and self-induction is much larger than mutual inductance, therefore mutual inductance is negligible, run for realizing unperturbed after motor open fault, rotating mmf before and after electrical fault need be kept consistent, therefore need adjustment stator current that the amplitude of rotating mmf before and after electrical fault and angular speed are remained unchanged.Therefore, make the real part of formula (2), formula (3) all equal with imaginary part.

Motor winding adopts Y-connection, and its central point is not connected with the central point of DC bus-bar voltage, and therefore, winding current sum is zero.Suppose

$\left\{\begin{array}{c}{i}_B^{\′}=-i_D^{\′}\\ i_C^{\′}=-i_E^{\′}\end{array}\right.---\left(4\right)$

By above-mentioned constraints, under obtaining fault-tolerant state, electric machine phase current is

$\left\{\begin{array}{c}{i}_A^{\′}=0\\ i_B^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-\mathrm{\π}/5))\\ i_C^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-4\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-4\mathrm{\π}/5))\\ i_D^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-6\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-6\mathrm{\π}/5))\\ i_E^{\′}=1.382(-i_q^{*}\sin (\mathrm{\θ}-9\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-9\mathrm{\π}/5))\end{array}\right.---\left(5\right)$

Formula (5) adopts matrix form to be expressed as

$\left[\begin{array}{c}{i}_B^{\′}\\ i_C^{\′}\\ i_D^{\′}\\ i_E^{\′}\end{array}\right]=\left[\begin{array}{cc}\cos \frac{1}{5}\mathrm{\π}& \sin \frac{1}{5}\mathrm{\π}\\ \cos \frac{4}{5}\mathrm{\π}& \sin \frac{4}{5}\mathrm{\π}\\ \cos \frac{6}{5}\mathrm{\π}& \sin \frac{6}{5}\mathrm{\π}\\ \cos \frac{9}{5}\mathrm{\π}& \sin \frac{9}{5}\mathrm{\π}\end{array}\right]\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_d^{*}\\ i_q^{*}\end{array}\right]---\left(6\right)$

In order to realize the vector faults-tolerant control after fault, the transformation matrix of coordinates after A phase open fault need be obtained, therefore needing to select orthogonal T ₁and T ₂as the base of first-harmonic subspace, this space represents the subspace of energy converting between mechanical.Restriction of current condition has been implied, the amplitude transformation such as consideration owing to optimizing after phase shortage in electric current solution procedure,

$T_1=\left[\begin{array}{cccc}\cos \frac{1}{5}\mathrm{\π}& \cos \frac{4}{5}\mathrm{\π}& \cos \frac{6}{5}\mathrm{\π}& \cos \frac{9}{5}\mathrm{\π}\end{array}\right]/3.618---\left(7\right)$

$T_2=\left[\begin{array}{cccc}\sin \frac{1}{5}\mathrm{\π}& \sin \frac{4}{5}\mathrm{\π}& \sin \frac{6}{5}\mathrm{\π}& \sin \frac{9}{5}\mathrm{\π}\end{array}\right]/1.91---\left(8\right)$

Therefore, trying to achieve the popularization Park Transformation matrix being tied to two-phase rest frame from natural coordinates is

$T_{4s/2s}=\left[\begin{array}{cccc}\cos \frac{1}{5}\mathrm{\π}/3.618& \cos \frac{4}{5}\mathrm{\π}/3.618& \cos \frac{6}{5}\mathrm{\π}/3.618& \cos \frac{9}{5}\mathrm{\π}/3.618\\ \sin \frac{1}{5}\mathrm{\π}/1.91& \sin \frac{4}{5}\mathrm{\π}/1.91& \sin \frac{6}{5}\mathrm{\π}/1.91& \sin \frac{9}{5}\mathrm{\π}/1.91\end{array}\right]---\left(9\right)$

Its contravariant is changed to

$T_{2s/4s}=\left[\begin{array}{cc}\cos \frac{1}{5}\mathrm{\π}& \sin \frac{1}{5}\mathrm{\π}\\ \cos \frac{4}{5}\mathrm{\π}& \sin \frac{4}{5}\mathrm{\π}\\ \cos \frac{6}{5}\mathrm{\π}& \sin \frac{6}{5}\mathrm{\π}\\ \cos \frac{9}{5}\mathrm{\π}& \sin \frac{9}{5}\mathrm{\π}\end{array}\right]---\left(10\right)$

By formula (9) and Clarke transform Matrix C _2s/2rbe multiplied, the current i under natural system of coordinates can be realized _b, i _c, i _d, i _ecurrent i under rotating coordinate system _d, i _qconversion; By formula (10) and Clarke reverse transform matrix C _2r/2sbe multiplied, the voltage under rotational coordinates can be realized command voltage under natural coordinates conversion.

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{c}{i}_B\\ i_C\\ i_D\\ i_E\end{array}\right]T_{4s/2s}{C}_{2s/2r}---\left(11\right)$

Wherein, $C_{2r/2s}=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]$

$\left[\begin{array}{c}{u}_B^{*}\\ u_C^{*}\\ u_D^{*}\\ u_E^{*}\end{array}\right]=\left[\begin{array}{c}{u}_d^{*}\\ u_q^{*}\end{array}\right]C_{2r/2s}{T}_{2s/4s}---\left(12\right)$

Wherein, $C_{2r/2s}=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]$

Command voltage under the natural system of coordinates obtained by formula (12) and each opposite potential are added the motor under natural system of coordinates respectively expects phase voltage mutually

$\left\{\begin{array}{c}{u}_B^{**}=u_B^{*}+e_B\\ u_C^{**}=u_C^{*}+e_C\\ u_D^{**}=u_D^{*}+e_D\\ u_E^{**}=u_E^{*}+e_E\end{array}\right.---\left(13\right)$

CPWM technology humanized voltage source inverter the expectation phase voltage obtained is adopted to power to five mutually fault-tolerant permanent-magnetism linear motors.Therefore the high-performance faults-tolerant control strategy of the present invention's proposition as shown in Figure 3.

In Simulink, set up the Control System Imitation model of the fault-tolerant permanent-magnetism linear motor of five phase cylinder type shown in Fig. 1 by Fig. 2 and Fig. 3, carry out system emulation, obtain five final mutually fault-tolerant magneto open fault faults-tolerant control simulation results.

Fig. 4 is that under A phase open fault condition, motor is without phase current waveform during fault-tolerant operation, and current fluctuation is obvious, uneven.Fig. 5 is that under A phase open fault condition, motor is without electromagnetic push waveform during fault-tolerant operation, and after system stability, motor force oscillation reaches 5N.Fig. 6 is that under A phase open fault condition, motor is without phase current waveform during back-emf feedforward fault-tolerant operation, and current waveform is uneven, and its amplitude and phase place all differ greatly with formula (5).When Fig. 7 is A phase open fault, motor is without electromagnetic push waveform during back-emf feedforward fault-tolerant operation.Compare with Fig. 5, adopt without after the fault-tolerant strategy of back-emf, the fluctuation of motor thrust output reduces, but still there is larger fluctuation.Phase current waveform Fig. 8 uses faults-tolerant control strategy motor fault-tolerant of the present invention to run when being A phase open fault time.This current waveform and formula (5) are coincide.Electromagnetic push waveform Fig. 9 uses faults-tolerant control strategy motor fault-tolerant of the present invention to run when being A phase open fault time.Only there is thrust pulse at instant of failure in motor, after stable state, about the same before motor thrust and fault, force oscillation is effectively suppressed.When Figure 10 is thrust command step in five mutually fault-tolerant permanent-magnetism linear motor failure-free operation processes, it exports electromagnetic push response, and the response time is 1ms.Figure 11 is that after five mutually fault-tolerant permanent-magnetism linear motor A phases are opened a way, in faulty motor fault-tolerant operation process, during thrust command step, it exports electromagnetic push response, and the response time is 1ms.Visible, after adopting high-performance faults-tolerant control strategy of the present invention shown in Fig. 3, motor is under A phase open fault condition, during fault-tolerant operation, its dynamic property is the same with under motor normal condition, and electromagnetic push fluctuation does not almost have, be consistent before electromagnetic push and fault, achieve unperturbed fault-tolerant operation.

If any phase generation open fault of motor, this phase and A be electrical degree 2k π/5 separately, k=0,1,2,3,4, only natural system of coordinates need be rotated counterclockwise 2k π/5 electrical degree, make the A phase axis before fault and fault phase dead in line.Then by C _2s/2rand C _2r/2sin θ with θ-2k π/5 replace, namely

$C_{2s/2r}=\left[\begin{array}{cc}\cos (\mathrm{\θ}-2\mathrm{k\π}/5)& \sin (\mathrm{\θ}-2\mathrm{k\π}/5)\\ -\sin (\mathrm{\θ}-2\mathrm{k\π}/5)& \cos (\mathrm{\θ}-2\mathrm{k\π}/5)\end{array}\right]---\left(14\right)$

$C_{2s/2r}=\left[\begin{array}{cc}\cos (\mathrm{\θ}-2\mathrm{k\π}/5)& -\sin (\mathrm{\θ}-2\mathrm{k\π}/5)\\ \sin (\mathrm{\θ}-2\mathrm{k\π}/5)& \cos (\mathrm{\θ}-2\mathrm{k\π}/5)\end{array}\right]---\left(15\right)$

For B phase fault open circuit, only natural system of coordinates need be rotated counterclockwise 2 π/5, make k=1 in formula (14) and formula (15).Figure 12 is the phase current waveform of five mutually fault-tolerant permanent-magnetism linear motors when motor fault-tolerant operation in open fault process occurs A phase open fault recovery rear B phase after using faults-tolerant control strategy of the present invention.Visible faults-tolerant control strategy of the present invention is applicable to the situation of any phase generation open fault in motor five phase, avoids complicated calculations, saves CPU overhead.

Therefore, under the present invention is used for the high-performance faults-tolerant control strategy prerequisite that motor thrust output/torque is consistent with under normal condition when ensureing one-phase open circuit fault of five mutually fault-tolerant magnetoes, not only obviously can suppress the thrust/torque ripple after motor phase open fault, and more crucially there is the dynamic property the same with before fault, and be applicable to the situation of any phase generation open fault, highly versatile, without the need to complicated calculations, CPU overhead is little.

Should understand above-mentioned example of executing only to be not used in for illustration of the present invention and to limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.

Claims (6)

1., for a fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors, it is characterized in that, comprise the following steps:

Step 1, sets up the fault-tolerant permanent-magnetism linear motor model of five phase cylinder types;

Step 2, when there is open fault in motor A phase, according to the rotating mmf amplitude before and after electrical fault and phase angle is constant and residue healthy phase current amplitude is equal principle, then according to phase current and null constraints, obtain the phase current of fault rear motor fault-tolerant operation;

Step 3, according to space principle of electromechanical energy conversion, is calculated two orthogonal basiss of first-harmonic subspace by the postrun phase current of motor fault-tolerant, thus obtains the popularization Parker matrix T that remaining four normal phase coordinates convert to two-phase static coordinate _4s/2s;

Step 4, will promote Parker matrix T _4s/2swith Clarke transform Matrix C _2s/2rbe multiplied, realize the current transformation of electric current under rotating coordinate system under natural system of coordinates, then obtain the reverse transform matrix T promoting Parker matrix _2s/4swith Clarke reverse transform matrix C _2r/2sproduct, realize the conversion of the command voltage of voltage under natural coordinates under rotational coordinates;

Step 5, is added command voltage and each opposite potential the motor obtained under natural system of coordinates and respectively expects phase voltage mutually;

Step 6, described expectation phase voltage realizes unperturbed fault-tolerant operation after five mutually fault-tolerant magneto faults through voltage source inverter CPWM modulation.

2. the fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors according to claim 1, is characterized in that, in described step 2, the phase current of described fault-tolerant operation is:

$\left\{\begin{array}{c}{i_A}^{\′}=0\\ {i_B}^{\′}=1.382({-i}_q^{*}\sin (\mathrm{\θ}-\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-\mathrm{\π}/5))\\ {i_C}^{\′}=1.382({-i}_q^{*}\sin (\mathrm{\θ}-4\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-4\mathrm{\π}/5))\\ {i_D}^{\′}=1.382({-i}_q^{*}\sin (\mathrm{\θ}-6\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-6\mathrm{\π}/5))\\ {i_E}^{\′}=1.382({-i}_q^{*}\sin (\mathrm{\θ}-9\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-9\mathrm{\π}/5))\end{array}\right.$

In formula, the current-order of d axle under rotating coordinate system, q axle respectively.

3. the fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors according to claim 1, is characterized in that, in described step 3, described orthogonal basis is:

$T_1=\left[\begin{array}{cccc}\cos \frac{1}{5}\mathrm{\π}& \cos \frac{4}{5}\mathrm{\π}& \cos \frac{6}{5}\mathrm{\π}& \cos \frac{9}{5}\mathrm{\π}\end{array}\right]/3.618$

$T_2=\left[\begin{array}{cccc}\sin \frac{1}{5}\mathrm{\π}& \sin \frac{4}{5}\mathrm{\π}& \sin \frac{6}{5}\mathrm{\π}& \sin \frac{9}{5}\mathrm{\π}\end{array}\right]/1.91$

Wherein, T ₁, T ₂be two orthogonal basiss.

4. the fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors according to claim 1, is characterized in that, in described step 3, described popularization Parker matrix is:

$T_{4s/2s}=\left[\begin{array}{cccc}\cos \frac{1}{5}\mathrm{\π}/3.618& \cos \frac{4}{5}\mathrm{\π}/3.618& \cos \frac{6}{5}\mathrm{\π}/3.618& \cos \frac{9}{5}\mathrm{\π}/3.618\\ \sin \frac{1}{5}\mathrm{\π}/1.91& \sin \frac{4}{5}\mathrm{\π}/1.91& \sin \frac{6}{5}\mathrm{\π}/1.91& \sin \frac{9}{5}\mathrm{\π}/1.91\end{array}\right].$

5. the fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors according to claim 1, is characterized in that, also comprise: when other is a certain break down mutually time, only natural system of coordinates need be rotated counterclockwise (k=0,1,2,3,4) electrical degree, makes a axle of fault front motor A phase place natural system of coordinates with the dead in line at electrical fault rear motor fault phase place and direction is consistent, is then changed into by Clarke transform matrix:

$C_{2s/2r}=\left[\begin{array}{cc}\cos (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})& \sin (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})\\ -\sin (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})& \cos (\mathrm{\ωt}-\frac{2\mathrm{k\π}}{5})\end{array}\right].$

6. the fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors according to claim 1, is characterized in that, described control method is also applicable to five mutually fault-tolerant permanent magnet rotating machine control system.