CN106936351B

CN106936351B - Circular flux linkage track control device and method based on regular hexagon

Info

Publication number: CN106936351B
Application number: CN201511005108.0A
Authority: CN
Inventors: 张陈斌; 肖欣; 孙江明; 徐冲; 林利; 金黎杰; 谭亚; 周一雄
Original assignee: Shanghai Zhongke Shenjiang Electric Vehicle Co Ltd
Current assignee: Shanghai Zhongke Shenjiang Electric Vehicle Co Ltd
Priority date: 2015-12-28
Filing date: 2015-12-28
Publication date: 2020-08-11
Anticipated expiration: 2035-12-28
Also published as: CN106936351A

Abstract

The invention provides a circular flux linkage track control device and method based on a regular hexagon. In the control process, the flux linkage track of the three-phase permanent magnet synchronous motor is directly controlled by controlling each switching tube included by the power tube unit, complicated links such as vector transformation are not needed, the control process is simple, and the response speed of the three-phase permanent magnet synchronous motor is improved.

Description

Circular flux linkage track control device and method based on regular hexagon

Technical Field

The invention relates to an electric transmission technology, in particular to a circular flux linkage track control device and method based on a regular hexagon.

Background

With the further awareness of environmental protection, electric vehicles with the characteristics of zero emission, no pollution, high energy utilization rate and the like are more and more favored by consumers. The three-phase permanent magnet synchronous motor is one of important accessories of an electric automobile as a power source of the electric automobile.

At present, three-phase windings of a three-phase permanent magnet synchronous motor are respectively connected with a power supply through two switching tubes. In the flux linkage track control process, a voltage space vector control method is adopted, and flux linkage tracks are controlled through links such as vector coordinate transformation, current loop control, output coordinate change and the like.

In the flux linkage track control process, vector control links are more, and a vector algorithm is complex, so that the response speed of the three-phase permanent magnet motor is low.

Disclosure of Invention

The invention provides a circular flux linkage track control device and method based on a regular hexagon, and aims to improve the response speed of a three-phase permanent magnet motor.

In a first aspect, an embodiment of the present invention provides a method for flux linkage control, where the method is applied to a circular flux linkage trajectory control device based on a regular hexagon, where the circular flux linkage trajectory control device includes: the three-phase permanent magnet synchronous motor comprises a main controller, a first switching tube VT1, a second switching tube VT2, a third switching tube VT3, a fourth switching tube VT4, a fifth switching tube VT5, a sixth switching tube VT6 and a three-phase permanent magnet synchronous motor,

the main controller is respectively connected with the control ends of VT1, VT2, VT3, VT4, VT5 and VT 6;

the A-phase winding of the three-phase permanent magnet synchronous motor is connected with the output end of the VT1 and the input end of the VT3, the B-phase winding of the three-phase permanent magnet synchronous motor is connected with the output end of the VT2 and the input end of the VT4, and the C-phase winding of the three-phase permanent magnet synchronous motor is connected with the output end of the VT5 and the input end of the VT 6;

the method comprises the following steps:

the main controller controls the direction and the duration of VT1, VT2, VT3, VT4, VT5 or VT6 to control a flux linkage track of the three-phase permanent magnet synchronous motor to be a circular flux linkage track, wherein the direction is the on or off of the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6, and the duration is the duration of at least two of the A-phase winding, the B-phase winding and the C-phase winding which are corresponding to the on or off of the VT1, the VT2, the VT3, the VT4, the VT5 or the VT 6;

wherein the main controller controls the direction and duration of the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6 to control the flux linkage track of the three-phase permanent magnet synchronous motor to be a circular flux linkage track, comprising:

determining a regular hexagonal flux linkage track, wherein each edge corresponds to a basic flux linkage in 6 edges of the regular hexagonal flux linkage track, an interval formed by two end points and a center of each edge is a magnetic field vector interval, six magnetic field vector intervals are formed by the edges, for each magnetic field vector interval, a straight line where a midpoint and a center of the edge corresponding to the magnetic field vector interval are located is taken as a symmetric center, the magnetic field vector intervals are both two subintervals and form 12 subintervals by the same, and the center is the center of the regular hexagonal flux linkage track;

dividing a regular hexagon corresponding to the regular hexagon flux linkage track into six sectors, wherein each sector is composed of a first sub-sector and a second sub-sector, the first sub-sector and the second sub-sector are two adjacent sub-intervals in the 12 sub-intervals, and the first sub-sector and the second sub-sector respectively belong to different magnetic field vector intervals;

for each sector, a first sub-sector included in the sector comprises K/2 magnetic field vector sequences, wherein the K/2 magnetic field vector sequences are first magnetic field vectors and second magnetic field vectors which alternately appear, the direction of the first magnetic field vector is the same as that of a basic flux linkage corresponding to a magnetic field vector interval to which the first sub-sector belongs, and the magnitude of the first magnetic field vector is 1/K times that of the basic flux linkage corresponding to the magnetic field vector interval to which the first sub-sector belongs; the direction of the second magnetic field vector is the same as the direction of a basic flux linkage corresponding to the magnetic field vector interval to which the second sub-sector belongs, and the magnitude of the second magnetic field vector is 1/K times the magnitude of the basic flux linkage corresponding to the magnetic field vector interval to which the second sub-sector belongs, wherein K is an even number;

for each sector, a second sub-sector included in the sector comprises K/2 magnetic field vector sequences, wherein the K/2 magnetic field vector sequences are second magnetic field vectors and first magnetic field vectors which alternately appear, the direction of the second magnetic field vectors is the same as the direction of basic flux linkages corresponding to a magnetic field vector interval to which the second sub-sector belongs, the magnitude of the second magnetic field vectors is 1/K times the magnitude of the basic flux linkages corresponding to the magnetic field vector interval to which the second sub-sector belongs, the direction of the first magnetic field vectors is the same as the direction of the basic flux linkages corresponding to the magnetic field vector interval to which the first sub-sector belongs, and the magnitude of the first magnetic field vectors is 1/K times the magnitude of the basic flux linkages corresponding to the magnetic field vector interval to which the first sub-sector belongs; wherein K is an even number;

k/2 magnetic field vector sequences included in the first sub-sector of each of the 6 sectors and K/2 magnetic field vector sequences included in the second sub-sector form (K/2+ K/2) × 6 magnetic field vector sequences, and a track formed by the (K/2+ K/2) × 6 magnetic field vector sequences is the circular magnetic linkage track;

the six sides of the regular hexagonal flux linkage track are respectively a first side to a sixth side, correspondingly, the basic flux linkages are respectively a first basic flux linkage to a sixth basic flux linkage, an included angle between two adjacent basic flux linkages is 60 degrees, the VT1, the VT2, the VT3 and the VT4 are not damaged, at least one of the VT5 and the VT6 is damaged, the first basic flux linkage to the sixth basic flux linkage respectively correspond to a magnetic field vector I interval to a magnetic field vector vi interval, and the magnetic field vector I interval to the magnetic field vector vi interval are the 6 magnetic field vector intervals, wherein:

the magnetic field vector I interval is as follows: the A-phase winding is conducted with the C-phase winding, and the voltage of the three-phase permanent magnet synchronous motor is

Correspondingly, the VT1 is turned on, the VT2, the VT3 and the VT4 are turned off;

the magnetic field vector II interval is as follows: the B phase winding andthe C-phase winding is conducted, and the voltage of the three-phase permanent magnet synchronous motor is

Correspondingly, the VT2 is turned on, the VT1, the VT3 and the VT4 are turned off;

the interval of the magnetic field vector III is as follows: the phase B winding is conducted with the phase A winding, and the voltage of the three-phase permanent magnet synchronous motor is

Correspondingly, the VT2 and the VT3 are turned on, and the VT1 and the VT4 are turned off;

the magnetic field vector IV interval is as follows: the C-phase winding is conducted with the A-phase winding, and the voltage of the three-phase permanent magnet synchronous motor is

Correspondingly, the VT3 is turned on, the VT1, the VT2 and the VT4 are turned off;

the magnetic field vector V interval is as follows: the C-phase winding is conducted with the B-phase winding, and the voltage of the three-phase permanent magnet synchronous motor is

Correspondingly, the VT4 is turned on, the VT1, the VT2 and the VT3 are turned off;

the magnetic field vector VI interval is as follows: the A-phase winding is conducted with the B-phase winding, and the voltage of the three-phase permanent magnet synchronous motor is

Correspondingly, the VT1 is turned on, the VT4 is turned on, and the VT2 and the VT3 are turned off;

wherein a ratio of time during which the first basic flux linkage to the sixth basic flux linkage are turned on is: 2: 2: 1: 2: 2: 1.

in a possible embodiment, 6 sides of the regular hexagonal flux linkage track are respectively a first side to a sixth side, and correspondingly, the basic flux linkages are respectively a first basic flux linkage to a sixth basic flux linkage, an included angle between two adjacent basic flux linkages is 60 °, and the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6 are not damaged, then the first basic flux linkage to the sixth basic flux linkage respectively correspond to a magnetic field vector I interval to a magnetic field vector vi interval, and the magnetic field vector I interval to the magnetic field vector vi interval are the 6 magnetic field vector intervals, where:

Correspondingly, the VT1 and the VT6 are turned on, and the VT2, the VT3, the VT4 and the VT5 are turned off;

the magnetic field vector II interval is as follows: the B-phase winding is conducted with the C-phase winding, and the voltage of the three-phase permanent magnet synchronous motor is

Correspondingly, the VT2 is turned on, the VT6 is turned on, the VT1, the VT3, the VT4 and the VT5 are turned off;

Correspondingly, the VT2 is turned on, the VT3 is turned on, the VT1, the VT4, the VT5 and the VT6 are turned off;

Correspondingly, the VT3 is turned on, the VT5 is turned on, the VT1, the VT2, the VT4 and the VT6 are turned off;

Correspondingly, the VT4 is turned on, the VT5 is turned on, the VT1, the VT2, the VT3 and the VT6 are turned off;

Correspondingly, the VT1 is turned on, the VT4 is turned on, the VT2, the VT3, the VT5 and the VT6 are turned off;

wherein a ratio of time during which the first basic flux linkage to the sixth basic flux linkage are turned on is: 1: 1: 1: 1: 1: 1.

in a second aspect, an embodiment of the present invention provides a circular flux linkage locus control device based on a regular hexagon, where the method for applying flux linkage locus control in the first aspect includes:

a vehicle-mounted power battery, an auxiliary power supply, a main controller, a driving circuit, a three-phase permanent magnet synchronous motor, a power tube unit, a first relay, a second relay and a third relay, wherein,

the vehicle-mounted power battery comprises a first section and a second section, wherein the negative electrode of the first section is connected with the positive electrode of the second section, the first section is connected with the second section in series, and the voltage of the first section and the voltage of the second section are Ud;

the power tube unit comprises a first switching tube VT1, a second switching tube VT2, a third switching tube VT3, a fourth switching tube VT4, a fifth switching tube VT5 and a sixth switching tube VT 6;

the positive pole of the first segment is connected with the input end of the VT1, the VT2 is connected with the input end of the VT5, and the negative pole of the second segment is connected with the output ends of the VT3, the VT4 and the VT 6;

the normally closed contact of the first relay is connected with an A-phase winding of the three-phase permanent magnet synchronous motor, and the normally open contact of the first relay is connected with the VT1 output end and the VT3 input end;

the normally closed contact of the second relay is connected with a B-phase winding of the three-phase permanent magnet synchronous motor, and the normally open contact of the second relay is connected with the output end of the VT2 and the input end of the VT 4;

the normally closed contact of the third relay is connected with the C-phase winding of the three-phase permanent magnet synchronous motor, and the normally open contact of the third relay is connected with the VT5 output end and the VT6 input end;

the normally closed contact of the first relay, the normally closed contact of the second relay and the normally closed contact of the third relay are connected with the connection point of the first section and the second section;

the main controller is used for controlling the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6 so as to control the flux linkage track of the three-phase permanent magnet synchronous motor to be a circular flux linkage track;

the auxiliary power supply is electrically connected with the main controller;

the main controller is electrically connected with the driving circuit;

the driving circuit is used for generating 6 trigger pulses, and the 6 trigger pulses are respectively connected with the control ends of the VT1, the VT2, the VT3, the VT4, the VT5 and the VT 6.

Optionally, the power tube unit further includes 6 protection circuits for protecting the VT1, the VT2, the VT3, the VT4, the VT5 and the VT6, respectively.

Optionally, the VT1, the VT2, the VT3, the VT4, the VT5 and the VT6 are fully-controlled devices.

The device comprises a vehicle-mounted power battery, an auxiliary power supply, a main controller, a driving circuit, a three-phase permanent magnet synchronous motor, a power tube unit, a first relay, a second relay and a third relay, wherein the main controller controls each switching tube included in the power tube unit to control the magnetic linkage track of the three-phase permanent magnet synchronous motor to be a circular magnetic linkage track. In the control process, the flux linkage track of the three-phase permanent magnet synchronous motor is directly controlled by controlling each switching tube included by the power tube unit, complicated links such as vector transformation are not needed, the control process is simple, and the response speed of the three-phase permanent magnet synchronous motor is improved.

Drawings

Fig. 1 is a schematic structural diagram of a circular flux linkage trajectory control device based on a regular hexagon according to an embodiment of the present invention;

fig. 2 is a schematic winding distribution diagram of a three-phase permanent magnet synchronous motor to which the circular flux linkage trajectory control device based on regular hexagon is applied;

fig. 3 is a schematic diagram of a regular hexagonal flux linkage track of a permanent magnet synchronous motor according to an embodiment of the present invention;

fig. 4 is a circuit topology structure of the circular flux linkage track control device based on regular hexagon according to an embodiment of the present invention during normal operation;

FIG. 5 is an analysis diagram of a circular flux linkage trajectory graphically analyzed in accordance with an embodiment of the present invention;

fig. 6 is a topology of a working circuit when a switching tube connected to a C-phase winding of a circular flux linkage trajectory control device based on a regular hexagon fails according to an embodiment of the present invention.

Detailed Description

Fig. 1 is a schematic structural diagram of a circular flux linkage trajectory control device based on a regular hexagon according to an embodiment of the present invention. As shown in fig. 1, a circular flux linkage trajectory control device based on a regular hexagon according to an embodiment of the present invention includes: the vehicle-mounted power battery comprises a vehicle-mounted power battery 1, an auxiliary power supply 2, a main controller 3, a driving circuit 4, a three-phase permanent magnet synchronous motor 5, a power tube unit 6, a first relay S1, a second relay S2 and a third relay S3, wherein the vehicle-mounted power battery 1 is divided into two parts which are connected in series, namely the vehicle-mounted power battery 1 comprises a first section and a second section, the negative electrode of the first section is connected with the positive electrode of the second section, the first section is connected with the second section in series, and the voltage of the first section and the second section is Ud; the power tube unit 6 comprises a first switching tube VT1, a second switching tube VT2, a third switching tube VT3, a fourth switching tube VT4, a fifth switching tube VT5, a sixth switching tube VT6 and a seventh switching tube VT 7; the positive pole of the first segment is connected with the input end of the VT1, the VT2 is connected with the input end of the VT5, and the negative pole of the second segment is connected with the output ends of the VT3, the VT4 and the VT 6; the normally closed contact of the first relay S1 is connected with the A-phase winding of the three-phase permanent magnet synchronous motor 5, and the normally open contact of the first relay S1 is connected with the VT1 output end and the VT3 input end; the normally closed contact of the second relay S2 is connected with the B-phase winding of the three-phase permanent magnet synchronous motor 5, and the normally open contact of the second relay S2 is connected with the VT2 output end and the VT4 input end; the normally closed contact of the third relay S3 is connected with the C-phase winding of the three-phase permanent magnet synchronous motor 5, and the normally open contact of the third relay S3 is connected with the VT5 output end and the VT6 input end; the normally closed contact of the first relay S1, the normally closed contact of the second relay S2 and the normally closed contact of the third relay S3 are connected with the connection point of the first section and the second section; the VT7 is connected with an A-phase winding, a B-phase winding and a C-phase winding of the three-phase permanent magnet synchronous motor 5; the main controller 3 is configured to control the VT1, the VT2, the VT3, the VT4, the VT5, the VT6, or the VT7, so as to control a flux linkage trajectory of the three-phase permanent magnet synchronous motor 5 to be a circular flux linkage trajectory; the auxiliary power supply 2 is electrically connected with the main controller 3; the main controller 3 is electrically connected with the driving circuit 4; the driving circuit 4 is used for generating 7 trigger pulses, and the 7 trigger pulses are respectively connected with the control ends of the VT1, the VT2, the VT3, the VT4, the VT5, the VT6 and the VT 7.

In the embodiment of the present invention, three windings of the three-phase permanent magnet synchronous motor 5, that is, the a-phase winding, the B-phase winding, and the C-phase winding, are symmetrically distributed, specifically, refer to fig. 2, and fig. 2 is a schematic winding distribution diagram of a three-phase permanent magnet synchronous motor suitable for the regular hexagon-based circular flux linkage trajectory control device of the present invention.

The circular flux linkage track control device based on the regular hexagon comprises a vehicle-mounted power battery, an auxiliary power supply, a main controller, a driving circuit, a three-phase permanent magnet synchronous motor, a power tube unit, a first relay, a second relay and a third relay, wherein the main controller controls each switching tube included in the power tube unit, so that the purpose of controlling the flux linkage track of the three-phase permanent magnet synchronous motor into circular flux linkage estimation is achieved. In the control process, the flux linkage track of the three-phase permanent magnet synchronous motor is directly controlled by controlling each switching tube included by the power tube unit, complicated links such as vector transformation are not needed, the control process is simple, and the response speed of the three-phase permanent magnet synchronous motor is improved.

Optionally, in the above embodiment, the power transistor unit further includes 7 protection circuits, which are respectively used to protect the VT1, the VT2, the VT3, the VT4, the VT5, the VT6, and the VT 7.

Specifically, referring to fig. 1 again, each of the switching tubes, i.e., VT1 to VT7, included in the power tube unit 6 may be a fully controlled device, such as an Insulated Gate Bipolar Transistor (IGBT), a Gate Turn-Off Thyristor (GTO), and the like. For each switching tube, a protection circuit is provided, which comprises four diodes. For example, for VT1, the protection circuit is composed of diodes (VD1, VD2, VD3, and VD 4). In addition, in the power tube unit 6, VT7 and a rectifier bridge may form a freewheeling loop, wherein the rectifier bridge is formed by a diode.

In an embodiment of the present invention, the master controller is, for example, a Digital Signal Processing (DSP) TMS320F2809, and controls a direction and a time duration of VT1, VT2, VT3, VT4, VT5, VT6, or VT7 to control a flux linkage trajectory of the three-phase permanent magnet synchronous motor to be a regular dodecagon, where the direction is an on or off state of the VT1, VT2, VT3, VT4, VT5, VT6, or VT7, and the time duration is an on or off state of the VT1, VT2, VT3, VT4, VT5, VT6, or VT7, and at least two of the a-phase winding, the B-phase winding, and the C-phase winding are turned on.

Next, the present invention will be described in detail by taking an example of controlling the flux linkage locus to be a circular flux linkage locus by performing the flux linkage control using the circular flux linkage locus control device based on the regular hexagon as described above.

The specific idea is as follows: firstly, when each switch tube is normal, on the basis of the achievable regular hexagon flux linkage track, a method for analyzing the circular flux linkage track by a drawing method is adopted, and then how to control each normal switch tube is described, so that the flux linkage track is controlled to be the circular flux linkage track; secondly, when at least one switching tube connected with the C-phase winding is damaged, a method for analyzing a circular flux linkage track by using a mapping method is adopted on the basis of the achievable regular hexagon flux linkage track, and how to control other normal switching tubes to control the flux linkage track to be the circular flux linkage track when the at least one switching tube connected with the C-phase winding is damaged is described.

The first and the second switch tubes are normal.

First, a regular hexagonal flux linkage locus as a background will be described.

Specifically, in a regular hexagonal flux linkage track, six sides of the regular hexagonal flux linkage track form six magnetic field vector sections. Specifically, the six magnetic field vector intervals can be seen in fig. 3, and fig. 3 is a schematic diagram of a regular hexagonal flux linkage track of the permanent magnet synchronous motor according to an embodiment of the present invention.

Specifically, the main controller controls the directions and durations of VT1, VT2, VT3, VT4, VT5, VT6 and VT7 to control the flux linkage track of the three-phase permanent magnet synchronous motor to be a regular hexagon, so that the flux linkage track is close to a circle, specifically:

magnetic field vector I interval: the master controller is at t₁Sending a trigger on signal to the VT1 and the VT6 at the moment to enable the A-phase winding and the C-phase winding to be conducted, wherein the conduction time is t 1', and the time reaches the moment of t2, the main controller sends the trigger on signal to the VT2 and sends the trigger off signal to the VT1 at the moment of t 2; wherein, the is t₁The moment is the power-on moment of the circular flux linkage track control device based on the regular hexagon; from the t₁Time to the t₂At the moment, the electricity of the three-phase permanent magnet synchronous motorIs pressed into

The flux linkage size of the magnetic field vector I interval is 2Ud × t₁′；

Specifically, the circular flux linkage trajectory control device based on the regular hexagon is at t₁After the power is powered on at any moment, the main controller sends triggering turn-on signals to VT1 and VT6, so that the A-phase winding is connected with the positive electrode of the first section of the vehicle-mounted power battery, the C-phase winding is connected with the negative electrode of the second section of the vehicle-mounted power battery, the potential on the A-phase winding is Ud, the potential on the C-phase winding is-Ud, the AC phase voltage is 2Ud, and the AC winding is conducted to t₁After' duration, time reaches t₂At time t, the master controller₂The time is to send trigger on signal to VT2 and trigger off signal to VT 1. In the process, i.e. from t₁Time t₂At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The flux linkage size of the magnetic field vector I interval is 2Ud × t₁′。

Magnetic field vector II interval: the master controller is at t₃Sending a trigger on signal to the VT3 and a trigger off signal to the VT6 at the same time, wherein t is₃Time of day and said t₂The time duration between moments is t₂'; from the t₂Time to the t₃At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The flux linkage size of the magnetic field vector II interval is 2Ud × t₂′。

In particular, from t₂And starting from the moment, connecting the B-phase winding with the positive electrode of the first section of the vehicle-mounted power battery, setting the potential on the B-phase winding to Ud, setting the potential on the C-phase winding to-Ud, setting the voltage of the BC phase to 2Ud, and then conducting the BC winding. Passing through t₂After' duration, time reaches t₃At time t, the master controller₃The time is simultaneously sending a trigger-off signal to VT6,a trigger on signal is sent to VT 3. In the process, i.e. from t₂Time t₃At the moment, the voltage of the three-phase permanent magnet synchronous motor is

Interval of magnetic field vector iii: the master controller is at t₄Sending a trigger off signal to the VT and a trigger on signal to the VT5 at the same time, wherein t is₄Time of day and said t₃The time duration between moments is t₃'; from the t₃Time to the t₄At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The flux linkage size of the magnetic field vector III interval is 2Ud × t₃′。

In particular, from t₃And starting from the moment, connecting the B-phase winding with the positive electrode of the first section of the vehicle-mounted power battery, wherein the potential on the B-phase winding is Ud, connecting the A-phase winding with the negative electrode of the second section of the vehicle-mounted power battery, and connecting the potential on the A-phase winding with-Ud, so that the BA phase voltage is 2Ud, and at the moment, conducting the BA winding. Passing through t₃After' duration, time reaches t₄At time t, the master controller₄At the same time, a trigger on signal is sent to VT5 and a trigger off signal is sent to VT 2. In the process, i.e. from t₃Time t₄At the moment, the voltage of the three-phase permanent magnet synchronous motor is

Magnetic field vector IV interval: the master controller is at t₅Sending a trigger off signal to the VT3 and a trigger on signal to the VT4 at the same time, wherein t is₅Time of day and said t₄The time duration between moments is t₄'; from the t₄Time to the t₅Of said three-phase PMSMAt a voltage of

The flux linkage size of the magnetic field vector IV interval is 2Ud × t₄′。

In particular, from t₄And starting from the moment, connecting the C-phase winding with the positive electrode of the first section of the vehicle-mounted power battery, wherein the potential on the C-phase winding is Ud, connecting the A-phase winding with the negative electrode of the second section of the vehicle-mounted power battery, and connecting the potential on the A-phase winding with-Ud, so that the CA phase voltage is 2 Ud. At this time, the CA winding is on. Passing through t₄After' duration, time reaches t₅At time t, the master controller₅The trigger off signal is sent to VT3 and the trigger on signal is sent to VT4 at the same time. In the process, i.e. from t₄Time t₅At the moment, the voltage of the three-phase permanent magnet synchronous motor is

Magnetic field vector v interval: the master controller is at t₆Sending a trigger on signal to the VT1 and a trigger off signal to the VT5 at the same time, wherein t is₆Time of day and said t₅The time duration between moments is t₅'; from the t₅Time to the t₆At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The magnetic linkage size of the magnetic field vector V interval is 2Ud × t₅′。

In particular, from t₅And starting from the moment, connecting the C-phase winding with the positive electrode of the first section of the vehicle-mounted power battery, wherein the potential on the C-phase winding is Ud, the potential on the B-phase winding is-Ud, and the CB-phase voltage is 2 Ud. At this time, the CB winding is conducting. Passing through t₅After' duration, time reaches t₆At time t, the master controller₆At the same time, a trigger on signal is sent to VT1 and a trigger off signal is sent to VT 5. In the process, i.e. from t₅Time t₆At the moment, the voltage of the three-phase permanent magnet synchronous motor is

Magnetic field vector VI interval: the master controller is at t₇Sending a trigger off signal to the VT4 and a trigger on signal to the VT6 at the same time, wherein t is₇Time of day and said t₆The time duration between moments is t₆'; from the t₆Time to the t₇At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The size of a magnetic linkage between the magnetic field vector VI and the magnetic field vector VI is 2Ud × t₆'; from the t₇And returning to the magnetic field vector I interval from the beginning of the moment, and circulating.

In particular, from t₆And starting from the moment, the A-phase winding is connected with the positive electrode of the first section of the vehicle-mounted power battery, the potential on the A-phase winding is Ud, the B-phase winding is connected with the negative electrode of the second section of the vehicle-mounted power battery, the potential on the B-phase winding is-Ud, the CB-phase voltage is 2Ud, and the AB-phase voltage is 2 Ud. At this time, the CB winding and the AB winding are both conducted. Passing through t₆After' duration, time reaches t₇At time t, the master controller₇The trigger off signal is sent to VT4 and the trigger on signal is sent to VT6 at the same time. In the process, i.e. from t₆Time t₇At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The size of a magnetic linkage between magnetic field vectors VI is 2Ud × t₆From said t₇Starting at time, the magnetic field vector I interval is returned, and the process is circulated.

In the above process, referring to fig. 4, a circuit topology of the circular flux linkage track control device based on the regular hexagon during normal operation is shown, where fig. 4 is a circuit topology structure of the circular flux linkage track control device based on the regular hexagon during normal operation according to an embodiment of the present invention.

Secondly, a solution method is adopted to analyze the circular flux linkage track.

Specifically, referring to fig. 5, fig. 5 is an analysis diagram for analyzing a circular flux linkage trajectory by using a graphical method according to an embodiment of the present invention. Referring to fig. 5, in the regular hexagonal flux linkage track, each side corresponds to a basic flux linkage, an interval formed by two end points and a center of each side is a magnetic field vector interval, six magnetic field vector intervals are formed by the two end points and the center of each side, regarding each magnetic field vector interval, taking a straight line where the middle point and the center of the corresponding side of the magnetic field vector interval are located as a symmetric center, and regarding the magnetic field vector interval as two subintervals which are formed into 12 subintervals, the center is the center of the regular hexagonal flux linkage track, the regular hexagon corresponding to the regular hexagonal flux linkage track is divided into six sectors, each sector is composed of a first sub-sector and a second sub-sector, the first and second sub-sectors are two adjacent sub-intervals of the 12 sub-intervals, and the first sub-sector and the second sub-sector belong to different magnetic field vector intervals respectively. Referring to fig. 5, the first sector is taken as an example to explain the figure in detail.

Referring to fig. 5, the first sector includes a first sub-sector and a second sub-sector, wherein the first sub-sector has a magnetic field vector iv interval, and the second sub-sector has a magnetic field vector i interval.

The first sector is divided into K equal divisions, K being an even number. Next, K ═ 6 is explained. In the dividing process, the side corresponding to the magnetic field vector IV interval of the first sub-sector is half of the sixth side of a regular hexagon, the side is called as the side of the first sub-sector, and the side of the first sub-sector is equally divided into K/2 parts; similarly, the side corresponding to the magnetic field vector interval of the second sub-sector is half of the first side of the regular hexagon, which is called the side of the second sub-sector, and the side of the second sub-sector is equally divided into K/2 parts.

Then, parallel lines of two adjacent sides are made from each bisector. That is, on each bisector of the side of the first sub-sector, parallel lines of the first side are made, and K/2 parallel lines parallel to the first side are made; and similarly, making parallel lines of a sixth side at each equally divided point of the side of the second sub-sector, and making K/2 parallel lines parallel to the sixth side.

Then, making tangent circle of regular hexagon flux linkage track, and making two concentric circles (the radius of one concentric circle is larger than that of the tangent circle, and the radius of the other concentric circle is smaller than that of the tangent circle). The tangent circles and the two concentric circles are respectively intersected with the parallel lines to form a plurality of rhombic grids. Referring to fig. 5, according to the geometric drawing principle, from the midpoint of the sixth side to the midpoint of the first side, the magnetic field vector sequence of the end-to-end connection of a part of sides of the rhombic lattice in this interval is the nearly circular flux linkage track, as shown by the black highlighted arrow in the figure. When K is more than 12, the circular flux linkage track approaches an inscribed circle.

Referring to fig. 5, when K is 6, the magnetic field vector sequence of the first sector is: and a magnetic field vector VI-I-VI-I, wherein the direction of the magnetic field vector VI is the direction of the sixth side, and the magnitude of the magnetic field vector VI is 1/6 of the magnitude of the basic flux linkage corresponding to the sixth side, and the direction of the magnetic field vector I is the direction of the first side, and the magnitude of the magnetic field vector I is 1/6 of the magnitude of the basic flux linkage corresponding to the first side. Because each sector is symmetrical, the magnetic field vector sequence of each sector can be obtained by utilizing the geometric symmetry of each sector, and the magnetic field vector sequence of each sector, namely 6 x 6 magnetic field vector sequences can be obtained according to the vector sequences and the direction and the time length of the switching tube of the basic flux linkage corresponding to each magnetic field vector interval of the regular hexagonal flux linkage track, wherein the track formed by the 6 x 6 magnetic field vector sequences is the circular flux linkage track. In addition, although the above description is made in terms of the magnetic field vector sequence of the first sector: the magnetic field vectors VI-I-VI-I are used as an example, however, the invention is not limited thereto, and in other possible implementations, the magnetic field vector sequence of the first sector may be: magnetic field vectors I-VI-I-VI.

Based on the analysis of the regular hexagon flux linkage track when the switch tubes are normal, the following results can be obtained: in the first sector, when the on-time ratio corresponding to the magnetic field vector VI-I-VI-I is 1: 1: 1: 1: 1: 1, the corresponding rhombus grids of the magnetic field vectors VI-I-VI-I are the same, namely the corresponding rhombus grids of the magnetic field vectors VI-I-VI-I are 1-1-1-1-1 respectively. Therefore, on the basis of satisfying the regular hexagonal flux linkage trajectory, the on-time ratio corresponding to the magnetic field vector VI-I-VI-I is 1: 1: 1: 1: 1: 1.

finally, the method for controlling the flux linkage according to the present invention is explained in detail based on the description of the regular hexagonal flux linkage trajectory and the description of the graphical method.

Specifically, the main controller controls the direction and duration of the VT1, the VT2, the VT3, the VT4, the VT5, the VT6 or the VT7 to control the flux linkage track of the three-phase permanent magnet synchronous motor to be a circular flux linkage track, including:

the K/2 magnetic field vector sequences included in the first sub-sector of each of the 6 sectors and the K/2 magnetic field vector sequences included in the second sub-sector form (K/2+ K/2) × 6 magnetic field vector sequences, and a track formed by the (K/2+ K/2) × 6 magnetic field vector sequences is the circular magnetic linkage track.

In an embodiment of the present invention, 6 sides of the regular hexagonal flux linkage track are respectively a first side to a sixth side, and correspondingly, the basic flux linkages are respectively a first basic flux linkage to a sixth basic flux linkage, an included angle between two adjacent basic flux linkages is 60 °, and the VT1, the VT2, the VT3, the VT4, the VT5, the VT6, or the VT7 is not damaged, so that the first basic flux linkage to the sixth basic flux linkage respectively correspond to a magnetic field vector I interval to a magnetic field vector vi interval, where the magnetic field vector I interval to the magnetic field vector vi interval are the 6 magnetic field vector intervals, where:

the magnetic field vector IV interval is as follows: the A-phase winding is conducted with the B-phase winding, and the voltage of the three-phase permanent magnet synchronous motor is

Correspond toThe VT1 is turned on, the VT4 is turned on, the VT2, the VT3, the VT5 and the VT6 are turned off. Wherein a ratio of time during which the first basic flux linkage to the sixth basic flux linkage are turned on is: 1: 1: 1: 1: 1: 1.

and when at least one switching tube connected with the C-phase winding is damaged, the second switching tube is connected with the C-phase winding.

Specifically, please refer to fig. 3. When a partial switching tube in a circular flux linkage track control device based on a regular hexagon fails, taking the switching tube connected with a C-phase winding as an example, that is, the VT1, the VT2, the VT3, the VT4 and the VT7 are not damaged, at least one of the VT5 and the VT6 is damaged, the main controller controls the direction and the duration of the VT1, the VT2, the VT3, the VT4, the VT5, the VT6 or the VT7, so as to control the flux linkage track of the three-phase permanent magnet synchronous motor to be the regular hexagon, the method comprises the following steps:

magnetic field vector I interval: the master controller is at t₁Sending a trigger turn-on signal to the VT1 at any moment to enable the A-phase winding and the C-phase winding to be conducted, wherein the conduction time is t₁', time to t₂At the moment, the main controller is at t₂Sending a trigger on signal to the VT2 and a trigger off signal to the VT1 at the same time; wherein, the is t₁The moment is the power-on moment of the circular flux linkage track control device based on the regular hexagon; from the t₁Time to the t₂At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The flux linkage size of the magnetic field vector I interval is Ud × t₁′；

Specifically, the circular flux linkage trajectory control device based on the regular hexagon is at t₁After the power is powered on at any moment, the main controller sends a trigger opening signal to VT1 to enable the A-phase winding to be connected with the positive electrode of the first section of the vehicle-mounted power battery, the potential on the A-phase winding is Ud, and the electricity on the C-phase windingThe bit is 0, the AC phase voltage is Ud, the AC winding is conducted t₁After' duration, time reaches t₂At time t, the master controller₂At the same time, a trigger on signal is sent to VT2 and a trigger off signal is sent to VT 1. In the process, i.e. from t₁Time t₂At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The flux linkage size of the magnetic field vector I interval is Ud × t₁′。

Magnetic field vector II interval: the master controller is at t₃Sending a trigger-on signal to the VT3 at a time, t₃Time of day and said t₂The time duration between moments is t₂'; from the t₂Time to the t₃At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The flux linkage size of the magnetic field vector II interval is Ud × t₂′。

In particular, from t₂And starting from the moment, connecting the B-phase winding with the positive electrode of the first section of the vehicle-mounted power battery, wherein the potential on the B-phase winding is Ud, the potential on the C-phase winding is 0, the voltage of the BC phase is Ud, and at the moment, the BC winding is conducted. Passing through t₂After' duration, time reaches t₃At time t, the master controller₃The time instant sends a trigger on signal to VT 3. In the process, i.e. from t₂Time t₃At the moment, the voltage of the three-phase permanent magnet synchronous motor is

Interval of magnetic field vector iii: the master controller is at t₄Sending a trigger-off signal to the VT2 at time, t₄Time of day and said t₃The time duration between moments is t₃'; from the t₃Time to the t₄At the moment, the voltage of the three-phase permanent magnet synchronous motor is

In particular, from t₃At the beginning of time, the B-phase winding is connected with the positive electrode of the first section of the vehicle-mounted power battery, the potential on the B-phase winding is Ud, the potential on the C-phase winding is 0, the A-phase winding is connected with the negative electrode of the second section of the vehicle-mounted power battery, the potential on the A-phase winding is-Ud, the BC phase voltage is Ud, the BA phase voltage is 2Ud, the CA phase voltage is Ud, and at the moment, the BC winding, the BA winding and the CA winding are all conducted. Passing through t₃After' duration, time reaches t₄At time t, the master controller₄The time instant sends a trigger off signal to VT 2. In the process, i.e. from t₃Time t₄At the moment, the voltage of the three-phase permanent magnet synchronous motor is the synthesis of the phase voltages of the BC winding, the BA winding and the CA winding, the phase voltages of the BC winding and the CA winding are equal in size, and the synthesis direction is the BA winding. Therefore, the direction in which the BC winding, BA winding and CA winding phase voltages are combined is the BA winding. Therefore, the direction of the composition of the phase voltages of the BC, BA and CA windings is

Magnetic field vector IV interval: the master controller is at t₅Sending a trigger off signal to the VT3 and a trigger on signal to the VT4 at the same time, wherein t is₅Time of day and said t₄The time duration between moments is t₄'; from the t₄Time to the t₅At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The flux linkage size of the magnetic field vector IV interval is Ud × t₄′。

In particular, from t₄At the beginning of time, the potential on the C-phase winding is 0, the A-phase winding is connected with the negative electrode of the second section of the vehicle-mounted power battery, and AThe potential on the phase winding is-Ud, and the CA phase voltage is Ud. At this time, the CA winding is on. Passing through t₄After' duration, time reaches t₅At time t, the master controller₅The trigger off signal is sent to VT3 and the trigger on signal is sent to VT4 at the same time. In the process, i.e. from t₄Time t₅At the moment, the voltage of the three-phase permanent magnet synchronous motor is

Magnetic field vector v interval: the master controller is at t₆Sending trigger opening signals to the VT1 at the same time, wherein t₆Time of day and said t₅The time duration between moments is t₅'; from the t₅Time to the t₆At the moment, the voltage of the three-phase permanent magnet synchronous motor is

The magnetic linkage size between the magnetic field vector V intervals is Ud × t₅′。

In particular, from t₅And at the beginning of time, the potential on the C-phase winding is 0, the B-phase winding is connected with the negative electrode of the second section of the vehicle-mounted power battery, and the CB-phase voltage is Ud. At this time, the CB winding is conducting. Passing through t₅After' duration, time reaches t₆At time t, the master controller₆The time instant sends a trigger on signal to VT 1. In the process, i.e. from t₅Time t₆At the moment, the voltage of the three-phase permanent magnet synchronous motor is

Magnetic field vector VI interval: the master controller is at t₇Sending a trigger-off signal to the VT4 at time, t₇Time of day and said t₆The time duration between moments is t₆'; from the t₆Time to the t₇At the moment, the three-phase permanent magnet synchronous electricityThe voltage of the machine is

In particular, from t₆And starting from the moment, the A-phase winding is connected with the positive electrode of the first section of the vehicle-mounted power battery, the potential on the A-phase winding is Ud, the potential on the C-phase winding is 0, the B-phase winding is connected with the negative electrode of the second section of the vehicle-mounted power battery, the potential on the B-phase winding is-Ud, the AC phase voltage is Ud, the CB phase voltage is Ud, and the AB phase voltage is 2 Ud. At the moment, the AC winding, the CB winding and the AB winding are conducted. Passing through t₆After' duration, time reaches t₇At time t, the master controller₇The time instant sends a trigger off signal to VT 4. In the process, i.e. from t₆Time t₄At the moment, the voltage of the three-phase permanent magnet synchronous motor is the synthesis of the phase voltages of the AC winding, the CB winding and the AB winding, the phase voltages of the CB winding and the AC winding are equal in size, and the synthesis direction is the AB winding. Therefore, the voltage synthesis direction of the CB winding, the AB winding and the AC winding is

The size of a magnetic linkage between magnetic field vectors VI is 2Ud × t₆' wherein, the magnetic flux linkage between the magnetic field vector I interval and the magnetic field vector V interval is the same.

In the above process, the circuit topology when the circular flux linkage locus control device based on the regular hexagon normally works can be referred to fig. 6, and fig. 6 is a working circuit topology structure when a switching tube connected to a phase winding of the circular flux linkage locus control device based on the regular hexagon provided by an embodiment of the present invention has a fault.

It should be noted that, although the embodiment shown in fig. 6 is described in detail by taking a failure of a switching tube connected to a C-phase winding as an example, since the windings of the three-phase permanent magnet synchronous motor are symmetrically distributed, when a failure occurs in a switching tube connected to an a-phase winding or a failure occurs in a switching tube connected to a B-phase winding, the scheme shown in fig. 6 is also applicable, and only equivalent replacement needs to be performed on the failed switching tube and the switching tube when the failure occurs in the C-phase, that is, the failed switching tube is considered to be equivalent to the exemplified C-phase, and the true C-phase is considered to be equivalent to the failed corresponding phase, but the name of the corresponding switching tube is changed correspondingly.

Secondly, a realization method for analyzing the circular flux linkage track by using a graphical method is adopted.

Specifically, the analysis of the switching tubes in normal state can be referred to, and the detailed analysis process is not described herein again. However, the difference from the normal state of each switching tube is that, based on the analysis of the regular hexagonal flux linkage locus when at least one switching tube connected to the C-phase winding is broken: in the first sector, when the on-time ratio corresponding to the magnetic field vector VI-I-VI-I is 1: 3: 1: 3: 1: and 3, the number of the rhombic grids corresponding to the magnetic field vector VI-I-VI-I is the same, namely the number of the rhombic grids corresponding to the magnetic field vector VI-I-VI-I is 1-1-1-1-1 respectively. Therefore, on the basis of satisfying the regular hexagonal flux linkage trajectory, the on-time ratio corresponding to the magnetic field vector VI-I-VI-I is 1: 3: 1: 3: 1: 3.

it should be noted that, although the regular hexagonal flux linkage track is determined, the regular hexagon is substantially only a pad of the circular flux linkage track, and is introduced for clearly describing the circular flux linkage track, and does not represent that when the three-phase permanent magnet synchronous motor operates, the duration and the direction of the switching tube need to be controlled to obtain the regular hexagonal flux linkage track, then the circular flux linkage track is obtained, and the duration and the direction of the switching tube are controlled to directly obtain the circular flux linkage track.

Specifically, when at least one switching tube connected with the C-phase winding is damaged, the main controller controls the direction and the duration of the VT1, the VT2, the VT3, the VT4, the VT5, the VT6, or the VT7 to control the flux linkage track of the three-phase permanent magnet synchronous motor to be a circular flux linkage track, including:

In an embodiment of the present invention, 6 sides of the regular hexagonal flux linkage track are respectively a first side to a sixth side, correspondingly, the basic flux linkages are respectively a first basic flux linkage to a sixth basic flux linkage, an included angle between two adjacent basic flux linkages is 60 °, none of the VT1, the VT2, the VT3, the VT4 and the VT7 is damaged, and at least one of the VT5 and the VT6 is damaged, so that the first basic flux linkage to the sixth basic flux linkage respectively correspond to a magnetic field vector I interval to a magnetic field vector vi interval, where the magnetic field vector I interval to the magnetic field vector vi interval are the 6 magnetic field vector intervals, where:

the interval of the magnetic field vector III is as follows:the phase B winding is conducted with the phase A winding, and the voltage of the three-phase permanent magnet synchronous motor is

Accordingly, the VT1 is on, the VT4 is on, and the VT2 and the VT3 are off. Wherein a ratio of time during which the first basic flux linkage to the sixth basic flux linkage are turned on is: 2: 2: 1: 2: 2: 1.

compared with the conventional method for controlling the flux linkage track through links of vector coordinate transformation, current loop control, output coordinate change and the like, when the switching tube connected with a certain phase fails, the method for controlling the flux linkage track provided by the embodiment of the invention can not realize the pre-control of the three-phase permanent magnet synchronous motor according to the original voltage space vector control.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for flux linkage control is applied to a circular flux linkage track control device based on a regular hexagon, and the circular flux linkage track control device comprises the following steps: the three-phase permanent magnet synchronous motor comprises a main controller, a first switching tube VT1, a second switching tube VT2, a third switching tube VT3, a fourth switching tube VT4, a fifth switching tube VT5, a sixth switching tube VT6 and a three-phase permanent magnet synchronous motor,

the main controller is respectively connected with the control ends of the VT1, the VT2, the VT3, the VT4, the VT5 and the VT 6;

the method comprises the following steps:

the main controller controls the direction and the duration of the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6 to control a flux linkage track of the three-phase permanent magnet synchronous motor to be a circular flux linkage track, wherein the direction is the turn-on or turn-off of the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6, and the duration is the duration of the turn-on or turn-off of at least two of the corresponding a-phase winding, the B-phase winding and the C-phase winding when the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6 is turned on or off;

2. the method of claim 1, wherein 6 sides of the regular hexagonal flux linkage track are respectively a first side to a sixth side, and correspondingly, the basic flux linkages are respectively a first basic flux linkage to a sixth basic flux linkage, an included angle between two adjacent basic flux linkages is 60 °, and the VT1, the VT2, the VT3, the VT4, the VT5 or the VT6 are not damaged, so that the first basic flux linkage to the sixth basic flux linkage respectively correspond to a magnetic field vector I interval to a magnetic field vector vi interval, which are the 6 magnetic field vector intervals, wherein:

the magnetic field vector IV interval is as follows: the C-phase winding is conducted with the A-phase winding, andthe voltage of the three-phase permanent magnet synchronous motor is

3. a circular flux linkage locus control device based on a regular hexagon, which is applied to the flux linkage control method according to claim 1 or 2, and comprises:

the auxiliary power supply is electrically connected with the main controller;

the main controller is electrically connected with the driving circuit;

the driving circuit is respectively connected with the control ends of the VT1, the VT2, the VT3, the VT4, the VT5 and the VT6, and is used for generating 6 trigger pulses and sending the 6 trigger pulses to the control ends of the VT1, the VT2, the VT3, the VT4, the VT5 and the VT 6.

4. The apparatus of claim 3, wherein the power transistor unit further comprises 6 protection circuits for protecting the VT1, the VT2, the VT3, the VT4, the VT5 and the VT6, respectively.

5. The apparatus of claim 3 or 4, wherein the VT1, the VT2, the VT3, the VT4, the VT5, and the VT6 are fully-controlled devices.