CN106712641A - Motor drive fault-tolerant control device and electric device - Google Patents
Motor drive fault-tolerant control device and electric device Download PDFInfo
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- CN106712641A CN106712641A CN201710126943.2A CN201710126943A CN106712641A CN 106712641 A CN106712641 A CN 106712641A CN 201710126943 A CN201710126943 A CN 201710126943A CN 106712641 A CN106712641 A CN 106712641A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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Abstract
The present invention provides a motor drive fault-tolerant control device and an electric device. The device comprises a polyphase machine, a direct current source, an instruction sending part, a current sensor, an output sensor, a controller, a driver and a power converter. The polyphase machine winding has (k-1)(i+j) mutually independent polyphase winding units with the same parameters, the power converter has power conversion units correspondingly connected with the polyphase winding units, each polyphase winding unit has k power conversion circuits configured to provide k-way line current to the corresponding polyphase winding units, the driver has (k-1)(i+j) driving units which are respectively connected with power conversion units, the current sensor has current detection units correspondingly connected with the power conversion units, the number of the current detection units configured to detect each phase outputted line current is equal to (i+j), k is a positive integer of larger than 2, j is a positive integer of larger than 1, and i is a redundant number and a natural number.
Description
Technical field
The invention belongs to machine field, more particularly to a kind of motorized motions fault tolerant control with fault tolerance and
Electrical equipment.
Background technology
In society now, the requirement more and more higher to environmental protection, the environmental protection standard of various equipment is also improved therewith.For
Preferably environmental protection, country has issued various policies and has widelyd popularize new energy and regenerative resource.
At present, using electric energy as the power of various equipment be present day devices development main flow.Using electricity as the energy electricity
Dynamic equipment such as electric automobile, electri forklift are also increasingly favored by manufacturer and consumer.Electrical equipment not only pollute it is small,
Electric energy can be provided by regenerative resource, and, compared with fuel oil equipment, it also has, and energy utilization rate is high, simple structure,
Noise is small, dynamic property is good and the advantages of portability high.Under petroleum resources increasingly intense situation, electric drive is greatly developed
Device, the particularly high-power for example electronic battlebus of electric driver, electronic warship, Electric aircraft and electric drive aircraft carrier etc.
Deng having far-reaching significance for national defense safety.
In high-performance polyphase machine control system, in order to improve the control accuracy and dynamic response characteristic of motor, typically
All implement closed-loop current control, when the connected mode of armature winding be star connection or polygonal annular be coupled when, it is necessary to
The line current of detection k phases motor at least (k-1) phase is, it is necessary to be equipped with (k-1) individual current detecting unit.
In existing Vidacare corp, the requirement to power switch pipe is extremely harsh, and in normal work, power is opened
Closing pipe must work below maximum operation temperature, maximum operating currenbt and maximum working voltage, once exceed any one
Part, power switch pipe will be damaged；Additionally, when the change of the component parameter in electronic circuit exceeds normal range of operation,
Overvoltage or overcurrent may be produced in power switch pipe, is caused power switch pipe to damage and then is caused electrical equipment failure；
In addition, with the increase of working time, there is aging, maximum operation temperature, maximum operating currenbt and maximum work in power switch pipe
Make voltage all to decrease, power switch pipe easily occurs and damages the situation of failure, and then cause to connect the power switch pipe
The open circuit of armature winding or short circuit.
In Vidacare corp, after the open circuit of armature winding or short circuit, the line current in machine winding is inevitable not
Balance, causes electromagnetic torque produced by it uneven, cause torque to vibrate, noise or cannot output torque, have influence on equipment
Normal work, or even jeopardize property and life security.
As shown in Fig. 2 the circuit structure of high current polyphase machine common in the prior art and power inverter is illustrated
In figure, what power inverter or polyphase machine had directly influenced Vidacare corp and electrical equipment after breaking down can
By property and security, under high speed operation state, endanger more serious.
High-power electric drive device and electrical equipment, particularly low-voltage, high-current Vidacare corp and electrical equipment,
The controller or power inverter for needing continuous operating current very big, and the technology of correlation and product are controlled by individual countries and company
System and monopolize, cause price very high, and the high-performance electric machine controller that can purchase of in the market or power inverter output
Line current value also be only below a kiloampere.After all, exactly generate manufacture level and limit single power switch
The current value of pipe, the Current Sharing Technology of multiple power switch pipes cannot meet linear rule or control circuit and algorithm excessively
The reasons such as complexity, seriously restrict and have impact on the development of low-voltage, high-current Vidacare corp and electrical equipment.
In addition, it is high-power, particularly in MW class motor, current value exceeds well over the most Dalian that power switch pipe can bear
Continuous operating current, so using the line current by increasing the number of phases of motor to reduce motor.But, the motor of the number of phases high sets
Meter, manufacture and control method are different from traditional design, manufacture and control method, this not only adds cost, the difficulty of production
Degree and complexity, and when correlation technique is not yet ripe, it is impossible to applied and popularized, constrain heavy-duty motor, electronic
Drive device and electrical equipment are particularly the development of electronic military equipment.
To sum up, these problems have had a strong impact on high-performance high-power electric equipment, including low-voltage, high-current is electronic
The development of electronic battlebus, electronic warship, Electric aircraft and electric drive aircraft carrier on car, electric ship, or even national defence.
The content of the invention
The present invention is carried out to solve the above problems, it is therefore intended that provide a kind of motorized motions fault tolerant control
And electrical equipment.
The invention provides a kind of motorized motions fault tolerant control, it is arranged in electrical equipment, for driving electronic setting
It is standby, including：Polyphase machine, the number of phases of its polyphase machine winding is k, with rated line voltage and specified line current；Dc source,
With the constant voltage corresponding with the rated line voltage of polyphase machine, for providing the line electricity corresponding with specified line current
Stream；Instruction sending part, sends the command signal corresponding with the rotating speed or the value of torque that polyphase machine is exported；Current sensor,
Detection constitutes the line current value of the polyphase windings unit of polyphase machine winding, and sends corresponding current feedback signal；Output is passed
Sensor, the rotating speed of detection polyphase machine output or torque, and send corresponding output feedback signal；Controller, believes according to instruction
Number, current feedback signal and output feedback signal calculate and output motor control signal, according to current feedback signal and by making a reservation for
Control rule output operation control signal；Driver, working condition or halted state are entered under operation control signal effect,
Drive signal is produced according to operation control signal under working condition；Power inverter, by direct current in the presence of drive signal
The line current of polyphase machine needs is converted to, is had the feature that：Wherein, polyphase machine winding has (k-1) (i+j) individual phase
Mutual independence and parameter identical polyphase windings unit, power inverter have and a pair of (k-1) (i+j) individual polyphase windings unit 1
(k-1) (i+j) that should be connected be individual separate and parameter identical power conversion unit, and each power conversion unit has k
Power conversion circuit provides k line currents to corresponding polyphase windings unit, and driver has (k-1) (i+j) individual separate
And parameter identical driver element, it is connected with (k-1) (i+j) individual power conversion unit respectively, current sensor has and (k-
1) (k-1) (i+j) that (i+j) individual power conversion unit connects one to one be individual separate and parameter identical current detecting list
Unit, detects that the quantity of the current detecting unit of the output line current of each phase is equal to (i+j), and k is the positive integer more than 2, and j is
Positive integer more than 1, i is redundant digit and is natural number.
In the motorized motions fault tolerant control that the present invention is provided, can also have the feature that：Wherein, power is worked as
The continuous operating current virtual value of maximum that the single power conversion circuit of converter unit is normally exported is I1, the maximum of polyphase machine
Line current virtual value is INWhen, the number j of polyphase windings unit meets following conditions：(k-1) j ＞ IN÷I1, k is more than 2 just
Integer, j is the positive integer more than 1.
In the motorized motions fault tolerant control that the present invention is provided, can also have the feature that：Wherein, multiphase electricity
Machine be asynchronous machine, synchronous motor, switched reluctance machines, brshless DC motor in any one, polyphase machine winding and
Can be divided exactly by the number (k-1) (i+j) of polyphase windings unit around radical, polyphase windings unit be on armature it is symmetrical,
The connected mode of polyphase windings unit can be star connection or polygonal annular connection, polyphase machine winding and polyphase windings list
The winding number of phases of unit, winding phase sequence, umber of turn, winding connection are identical with rated voltage.
In the motorized motions fault tolerant control that the present invention is provided, can also have the feature that：Wherein, direct current
Source is battery or rectifier power source.
In the motorized motions fault tolerant control that the present invention is provided, can also have the feature that：Wherein, power becomes
Change unit be made up of SPM or comprising multiple types and parameter identical power switch pipe, power switch pipe
It is electric power field-effect transistor (PowerMOSFET), gate level turn-off thyristor (GTO), integrated gate commutated thyristor
(IGCT), in insulated gate bipolar transistor (IGBT), electric power bipolar transistor (GTR) and door pole stream-exchanging thyristor (SGCT)
Any one.
Further, present invention also offers a kind of electrical equipment containing above-mentioned motorized motions fault tolerant control.
The effect of invention and effect
According to motorized motions fault tolerant control involved in the present invention and electrical equipment, (k-1) (i+j) individual driving list
Unit is all separate and parameter identical, and (k-1) (i+j) individual power conversion unit is all separate and parameter identical,
(k-1) (i+j) individual polyphase windings unit is also separate and parameter identical, and (k-1) (i+j) individual current detecting unit is also
Separate and parameter identical, the current detecting unit number of the output line current of same phase is equal in power conversion unit and waits
In (i+j), a power conversion unit, a polyphase windings unit and an electric current that each driver element and correspondence are connected
Detection unit constitutes a main circuit unit, under normal condition, it is only necessary to which (k-1) j main circuit unit ensures that electronic
Fault tolerant control and electrical equipment normal work are driven, other (k-1) i main circuit units are redundancies, help to carry
The reliability and security of system high.So, when any one driver element, power conversion unit, polyphase windings unit or electricity
When stream detection unit produces failure, motorized motions fault tolerant control of the invention and electrical equipment calculate all by detecting
The line current value of the same phase of polyphase windings unit judges the main circuit unit for breaking down, controller output operation control signal
Make corresponding driver element be stopped, so as to the main circuit unit of failure is carried out into shielding isolation, and start the main electricity of redundancy
Road unit, it is ensured that the normal operation of electrical equipment, it is to avoid in the process of running because catastrophic failure causes performance indications to be mutated
The loss of generation, has also been dramatically reduced the probability that the security incident of the electrical equipment of high-speed cruising occurs.
In addition, in start-up course, during urgent reversing braking, carry out an urgent task when, be required for bigger motor
Electric current, at this moment, can partly or entirely come into operation (k-1) i main circuit unit of redundancy, improve the electricity of polyphase machine
Stream, and then output speed or torque are improved, or reduce the electric current of power conversion unit and polyphase windings unit so as to reduce work(
The caloric value and temperature rise of rate switching tube and motor, improve rapidity, the safety of motorized motions fault tolerant control and electrical equipment
Property and flexibility.
According to current sensor involved in the present invention, current sensor has (k-1) (i+j) individual current detecting unit,
Detect that the current detecting unit number of the output line current of each phase is equal to (i+j), with phase in different capacity converter unit
Output line current value is equal, so, controller only needs to every from the power conversion unit output line current of normal work
Mutually extracting a signal can just meet the demand of closed-loop current control.In addition, using minimum number current detecting unit not only
Fault-tolerant and control demand can be met, and also avoid outfit (k-1) individual current detecting in each power conversion unit
Unit, that is, reduce (k-2) (k-1) (i+j) individual current detecting unit, reduces cost, improves reliability and security.
To sum up, motorized motions fault tolerant control of the invention has structure design simple, reasonable, low cost, workability
Can stabilization, response quickly, safe and reliable, the advantages of long service life.
Brief description of the drawings
Fig. 1 is the electrical block diagram of motorized motions fault tolerant control in embodiments of the invention；And
Fig. 2 is the electrical block diagram of high current polyphase machine common in the art and power inverter.
Specific embodiment
Specific embodiment of the invention is illustrated below in conjunction with accompanying drawing.
Motorized motions fault tolerant control 10 is arranged on electrical equipment such as electric tool, four-axle aircraft, electric automobile, electricity
In dynamic ship, electri forklift, electronic military equipment, for driving electrical equipment.
Fig. 1 is the electrical block diagram of the motorized motions fault tolerant control in the present embodiment.
As shown in figure 1, motorized motions fault tolerant control 10 includes polyphase machine 11, dc source 12, instruction sending part
13rd, current sensor 14, output transducer 15, controller 16, driver 19 and power inverter 20.
The number of phases of polyphase machine 11 is k, with rated line voltage and specified line current.Polyphase machine 11 is asynchronous electricity
Any one in machine, synchronous motor, switched reluctance machines, brshless DC motor.In the present embodiment, polyphase machine 11 is different
Step motor.
In the present embodiment, k is three, i.e., polyphase machine 11 is three phase electric machine, and accordingly, polyphase windings unit 111 is three
Phase winding unit, each three-phase windings unit has three independent winding A, B, C.
Polyphase machine 11 has an armature and the symmetrical polyphase machine winding on armature, its connection
Mode can be that star connection or polygonal annular are coupled.In the present embodiment, the group number of polyphase machine winding is individual with armature
Number is identical, when armature number is two and the above, using two groups and the polyphase machine winding of the above.Every group of polyphase machine winding
Including 2 (i+j), the number of individual separate and parameter identical polyphase windings unit 111,2 (i+j) can be by polyphase machine
11 windings and averagely split around radical, the number of j is more than or equal to 2.Before and after splitting, polyphase machine winding and 2 (i+j) are individual
The winding number of phases of polyphase windings unit, winding phase sequence, umber of turn, winding connection and rated voltage keep constant.At this
In embodiment, the number of armature is one.
Dc source 12 has the constant voltage corresponding with the rated line voltage of polyphase machine 11, for offer and motor
The corresponding direct current of specified line current.In the present embodiment, dc source is battery or rectifier power source.
Instruction sending part 13 sends the command signal corresponding with the rotating speed of the output of polyphase machine 11 or the value of torque.
The line current of the detection power conversion unit output of current sensor 14 simultaneously exports corresponding current feedback signal.Electricity
Stream feedback signal is received by controller 16.Current sensor 14 has and is connected one to one with 2 (i+j) individual power conversion units
2 (i+j) are individual separate and parameter identical current detecting unit 141.
(i+j) individual current detecting unit 141 detects the B phase line currents of power conversion unit output and exports corresponding electricity
Stream feedback signal, the C phase line currents of (i+j) the individual detection of current detecting unit 141 power conversion unit output in addition are simultaneously exported
Corresponding current feedback signal.I.e.：Detect that the quantity of the current detecting unit 141 of the output line current of each phase is equal to (i
+j).Current feedback signal is received by controller 16.
The rotating speed or torque of the detection polyphase machine output of output transducer 15 simultaneously export corresponding output feedback signal.It is defeated
Go out feedback signal to be received by controller 16.
Controller 16 is according to command signal, the current feedback signal of current sensor 14 and the output biography for instructing sending part 13
The output feedback signal of sensor 15 calculates the operation control signal 18 of output motor control signal 17 and driver element.
The letter of the electric current according to needed for motor control signal 17 controls power conversion unit output polyphase machine 11 of driver 19
Number.Driver 19 in working order under the drive signal that driving power translation circuit works is produced according to operation control signal 18.
Driver 19 has 2 (i+j) individual separate and parameter identical driver element 191, and all driver elements 191 are same
Step receives the motor control signal 17 that sends of controller 16 and operation control signal 18,2 (i+j) individual driver element 191 respectively with 2
(i+j) individual power conversion unit 201 is connected.Driver element 191 enters working condition or stopping according to operation control signal 18
State.Each driver element 191 can send A phases drive signal, B phases drive signal and C phase drive signals, and the three-phase drives
Dynamic signal drives A phase power conversion circuit 201a, B phase power conversion circuit 201b and C phase power conversion circuits 201c respectively
In power switch pipe, turn it on or close.
Power inverter 20 direct current is converted to polyphase machine 11 in the presence of drive signal required for voltage and
Electric current.Power inverter 20 includes the individual power conversion lists of 2 (i+j) corresponding with the individual polyphase windings units 111 of 2 (i+j) respectively
Unit 201.
There are each power conversion unit 201 three to be connected in parallel to each other, structure and parameter is the same from A phase power conversions
Circuit 201a, B phase power conversion circuit 201b and C phase power conversion circuit 201c.A phase power conversion circuits 201a is connected to
The tie point of A phase windings and C phase windings in winding element 111, B phase power conversion circuits 201b is connected to B in winding element 111
The tie point of phase winding and A phase windings, power conversion circuit 201c is connected to C phase windings and B phase windings in winding element 111
Tie point, provides line current to corresponding polyphase windings unit respectively.
Each power conversion circuit contains two power switch pipes.Two power switch pipes have the maximum continuous work of identical
Make electric current.When only operating current is below maximum continuous operating current, power switch pipe is possible to operation steady in a long-term, such as
Fruit operating current exceedes this current value, and power switch pipe will the breakdown damage due to excessively stream.
In the present embodiment, in order to meet the demand of controller closed-loop current control, it is necessary to from power inverter at least
2 out of phase line currents are detected, due to each driver element and its power conversion unit being connected, polyphase windings unit
Failure is all likely to occur with current detecting unit causes to be isolated shielding, routine techniques be in each power conversion unit at least
2 current detecting units are equipped with, are equipped with more than 4 (i+j) individual current detecting units altogether, and the present invention divides current detecting unit
Into 2 groups, every group of detection is equipped with 2 (i+j) individual current detecting units altogether with the output line current of phase.Not only reduce first device
The quantity and cost of part, also improve the reliability and security of system.In the present embodiment, power conversion unit 201 can be with
It is made up of SPM, it would however also be possible to employ multiple types and parameter identical power switch pipe are combined.
Power switch pipe is electric power field-effect transistor (Power MOSFET), gate level turn-off thyristor (GTO), integrated
(GTR) and gate pole are changed in door pole stream-exchanging thyristor (IGCT), insulated gate bipolar transistor (IGBT), electric power bipolar transistor
Any one in stream IGCT (SGCT).
In the present embodiment, the individual separate driver elements 191 of 2 (i+j) are individual separate with 2 (i+j) respectively and join
Number identical power conversion units 201 are connected and to 2 (i+j) are individual separate and parameter identical polyphase windings unit 111
Power supply.Each driver element 191 and 201, polyphase windings unit 111 and of a power conversion unit of correspondence connection
Individual current detecting unit 141 constitutes a main circuit unit.When any one driver element, power conversion unit, polyphase windings
When unit or current detecting unit produce failure, motorized motions fault tolerant control calculates all polyphase windings units by detecting
The line current value of same phase judges the main circuit unit for breaking down, and controller output operation control signal makes corresponding driving
Unit is stopped, and so as to the main circuit unit of failure is carried out into shielding isolation, and starts the main circuit unit of redundancy.
The j of the polyphase windings unit in the present embodiment is integer and meets following condition：(k-1) j ＞ IN÷I1, in the formula
I1The continuous operating current virtual value of maximum for being the normal output of single power conversion circuit of power conversion unit is, INIt is multiphase
The max line current effective value of motor.
For power inverter 20, the output current of any one power conversion unit 201 is only coupled
Polyphase windings unit have relation, with other polyphase windings units and its corresponding power conversion unit do not have it is any electricity coupling
Close contact.That is, in the absence of power switch pipe phenomenon in parallel, therefore, eliminate work(in large-current electric machine actuating device
The problem that rate paralleled power switches flow.
In motorized motions fault tolerant control 10, each driver element is connected to a power conversion unit and one
Polyphase windings unit.Driver element descends output drive signal in working order, the not output drive signal under halted state.
In the present embodiment, predetermined control rule is：In the individual current sensors 14 of 2 (i+j), if believed with the current feedback of phase
Have in number one it is continuous be zero and other current feedback signals when being all non-zero, controller is judged as that corresponding main circuit unit is broken
Road failure；If average with there is a current feedback signal to be continuously more than other current feedback signals in the current feedback signal of phase
Value 1.5 times when, controller judges corresponding main circuit unit short trouble；Controller output operation control signal causes correspondence
Failure driver element enter halted state, so as to the main circuit unit of damage is carried out into shielding isolation.
In normal operation, controller exports 2j operation control signal and makes 2j motorized motions fault tolerant control 10
Individual driver element and its corresponding 2j power conversion unit and 2j polyphase windings unit are in running order, and output 2i is transported
Row control signal makes 2i driver element and its corresponding 2i power conversion unit and 2i polyphase windings unit be in and stop
State.Wherein, 2j operation control signal can be 2j fixed driver element of control, or become in corresponding power
Change unit and polyphase windings unit does not all have in faulty driver element and extracts 2j in turn and be controlled.When driver element and
When the quantity that the power conversion unit and polyphase windings unit of its connection break down is more than i, controller output operation control letter
The remaining driver element of command is completely in working condition, and limiting motor maximum output rotating speed or torque, be operated in low speed
Or light condition.When motorized motions fault tolerant control 10 in start-up course, urgent reversing braking process, carry out an urgent task
Occasion, the no failure part of 2 (i+j) individual power conversion units and the individual polyphase windings units of 2 (i+j) can be all put into makes
With, the electric current of polyphase machine is improved, and then output speed or torque are improved, or reduce power conversion unit and polyphase windings list
The electric current of unit improves motorized motions fault tolerant control and electronic so as to reduce caloric value and the temperature rise of power switch pipe and motor
The rapidity of equipment, security and flexibility.
The effect of embodiment and effect
Motorized motions fault tolerant control and electrical equipment according to involved by the present embodiment, (k-1) (i+j) individual driving
Unit is all separate and parameter identical, and (k-1) (i+j) individual power conversion unit is all separate and parameter is identical
, (k-1) (i+j) individual polyphase windings unit is also separate and parameter identical, (k-1) (i+j) individual current detecting unit
It is also separate and parameter identical, the current detecting unit number of the output line current of same phase is equal in power conversion unit
And equal to (i+j), each driver element and the corresponding power conversion unit for connecting, a polyphase windings unit and one
Current detecting unit constitutes a main circuit unit, under normal condition, it is only necessary to which (k-1) j main circuit unit is ensured that
Motorized motions fault tolerant control and electrical equipment normal work, other (k-1) i main circuit units are redundancies, are helped
In the reliability and security of the system of raising.So, when any one driver element, power conversion unit, polyphase windings unit
Or during current detecting unit generation failure, the motorized motions fault tolerant control and electrical equipment of the present embodiment are counted by detecting
The line current value for calculating all same phases of polyphase windings unit judges the main circuit unit for breaking down, controller output operation control
Signal processed makes corresponding driver element be stopped, and so as to the main circuit unit of failure is carried out into shielding isolation, and starts redundancy
Main circuit unit, it is ensured that the normal operation of electrical equipment, it is to avoid in the process of running because catastrophic failure causes performance to refer to
The loss that mark mutation is produced, has also been dramatically reduced the probability that the security incident of the electrical equipment of high-speed cruising occurs.
In addition, in start-up course, during urgent reversing braking, carry out an urgent task when, be required for bigger motor
Electric current, at this moment, can partly or entirely come into operation (k-1) i main circuit unit of redundancy, improve the electricity of polyphase machine
Stream, and then output speed or torque are improved, or reduce the electric current of power conversion unit and polyphase windings unit so as to reduce work(
The caloric value and temperature rise of rate switching tube and motor, improve rapidity, the safety of motorized motions fault tolerant control and electrical equipment
Property and flexibility.
Current sensor according to involved by the present embodiment, current sensor has (k-1) (i+j) individual current detecting list
Unit, detects that the current detecting unit number of the output line current of each phase is equal to (i+j), the same phase in different capacity converter unit
Output line current value be equal, so, controller is only needed to from the power conversion unit of normal work output line current
Can just meet the demand of closed-loop current control per a signal is mutually extracted.In addition, using minimum number current detecting unit not
Fault-tolerant and control demand can only be met, and also avoid the individual electric current inspection of the outfit (k-1) in each power conversion unit
Unit is surveyed, that is, reduces (k-2) (k-1) (i+j) individual current detecting unit, reduce cost, improve reliability and security.
To sum up, the motorized motions fault tolerant control of the present embodiment has structure design simple, reasonable, low cost, work
It is stable performance, response quickly, safe and reliable, the advantages of long service life.
Above-mentioned implementation method is preferred case of the invention, is not intended to limit protection scope of the present invention.
Claims (6)
1. a kind of motorized motions fault tolerant control, is arranged in electrical equipment, for driving the electrical equipment, including：
Polyphase machine, the number of phases of its polyphase machine winding is k, with rated line voltage and specified line current；
Dc source, with the constant voltage corresponding with the rated line voltage of the polyphase machine, for offer and institute
State the corresponding line current of specified line current；
Instruction sending part, sends the command signal corresponding with the rotating speed or the value of torque that the polyphase machine is exported；
Current sensor, detection constitutes the line current value of the polyphase windings unit of the polyphase machine winding, and sends corresponding
Current feedback signal；
Output transducer, detects rotating speed or the torque of the polyphase machine output, and sends corresponding output feedback signal；
Controller, calculates and output motor according to the command signal, the current feedback signal and the output feedback signal
Control signal, according to the current feedback signal and by predetermined control rule output operation control signal；
Driver, it is described operation control signal effect under enter working condition or halted state, in working order under according to institute
State operation control signal and produce drive signal；
Power inverter, the line electricity that the polyphase machine needs is converted in the presence of the drive signal by the direct current
Stream,
It is characterized in that：
Wherein, the polyphase machine winding has (k-1) (i+j) individual separate and parameter identical polyphase windings unit,
The power inverter has (k-1) (i+j) connected one to one with (k-1) (i+j) individual polyphase windings unit
Individual separate and parameter identical power conversion unit,
There is each described power conversion unit k power conversion circuit to provide k routes to the corresponding polyphase windings unit
Electric current,
The driver has (k-1) (i+j) individual separate and parameter identical driver element, individual with (k-1) (i+j) respectively
Power conversion unit is connected,
The current sensor has (k-1) (i+j) connected one to one with (k-1) (i+j) individual power conversion unit
Individual separate and parameter identical current detecting unit, detects the current detecting unit of the output line current of each phase
Quantity is equal to (i+j),
The k is the positive integer more than 2, and the j is the positive integer more than 1, and the i is redundant digit and is natural number.
2. motorized motions fault tolerant control according to claim 1, it is characterised in that：
Wherein, when the continuous operating current virtual value of maximum that the single power conversion circuit of the power conversion unit is normally exported
It is I1, the max line current effective value of the polyphase machine is INWhen, the number j of the polyphase windings unit meets following conditions：
(k-1) j ＞ IN÷I1,
The k is the positive integer more than 2, and the j is the positive integer more than 1.
3. motorized motions fault tolerant control according to claim 1, it is characterised in that：
Wherein, the polyphase machine is any one in asynchronous machine, synchronous motor, switched reluctance machines, brshless DC motor
Kind,
The polyphase machine winding and can be divided exactly by the number (k-1) (i+j) of the polyphase windings unit around radical,
The polyphase windings unit be on armature it is symmetrical,
The connected mode of the polyphase windings unit can be that star connection or polygonal annular are coupled,
The winding number of phases of the polyphase machine winding and the polyphase windings unit, winding phase sequence, umber of turn, winding connection side
Formula is identical with rated voltage.
4. motorized motions fault tolerant control according to claim 1, it is characterised in that：
Wherein, the dc source is battery or rectifier power source.
5. motorized motions fault tolerant control according to claim 1, it is characterised in that：
Wherein, the power conversion unit be made up of SPM or comprising multiple types and parameter identical work(
Rate switching tube,
The power switch pipe is electric power field-effect transistor (Power MOSFET), gate level turn-off thyristor (GTO), integrated
Door pole stream-exchanging thyristor (IGCT), insulated gate bipolar transistor (IGBT), electric power bipolar transistor (GTR) and gate commutated
Any one in IGCT (SGCT).
6. a kind of electrical equipment, it is characterised in that including：
Motorized motions fault tolerant control any one of Claims 1 to 5.
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| CN201710126943.2A CN106712641A (en) | 2017-03-06 | 2017-03-06 | Motor drive fault-tolerant control device and electric device |
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| CN109391215A (en) * | 2017-08-08 | 2019-02-26 | 上海理工大学 | The multiple control method of Vidacare corp |
| CN109391216A (en) * | 2017-08-08 | 2019-02-26 | 上海理工大学 | The multiple control method of Vidacare corp |
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| CN110971171A (en) * | 2019-12-20 | 2020-04-07 | 华中科技大学 | Multi-winding parallel switch reluctance motor driving system |
| CN113300660A (en) * | 2021-06-16 | 2021-08-24 | 国华(青岛)智能装备有限公司 | Multifunctional motor control circuit and control method |
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