CN107565865A - A kind of fault-tolerant double vector prediction control method and device of six-phase permanent-magnet motor - Google Patents
A kind of fault-tolerant double vector prediction control method and device of six-phase permanent-magnet motor Download PDFInfo
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Abstract
The invention discloses a kind of fault-tolerant double vector prediction control method and device of six-phase permanent-magnet motor, including：Obtain rotor-position, rotating speed and the phase current of six-phase motor；Failure opposite potential is tried to achieve according to the permanent magnet flux linkage on rotor-position, rotating speed, rotor and failure phase axis position, and considers that failure opposite potential establishes motor inverter model；Depression of order motor mathematical model is established according to failure phase position；The switch list for the six-phase motor established after failure, obtain each switching vector selector corresponding to phase voltage, bring depression of order motor mathematical model into, determine that each switching vector selector acts on the phase current predicted value after a sampling period；The error between phase current predicted value and phase current command value corresponding to each switching vector selector is assessed, chooses the switching vector selector for producing minimal error as optimized switching vector；Optimized switching vector is modulated within the sampling period with zero vector, determines the dutycycle of optimized switching vector.The present invention can effectively suppress the current harmonics of faulty motor.
Description
Technical field
The invention belongs to field of electromechanical technology, more particularly, to a kind of fault-tolerant double vector predictions of six-phase permanent-magnet motor
Control method and device.
Background technology
At present, polyphase machine is widely used in high-power, high reliability occasion.The height of polyphase machine is freely
Degree is achieved the faults-tolerant control after phase shortage.Researcher proposes numerous fault tolerant control methods, such as resonance control, ratio product
Sub-control system, Direct Torque Control and Model Predictive Control etc., and Model Predictive Control has Gao Xiang compared to other control modes
Answer speed, the outstanding advantages without adjusting parameter.Model Predictive Control is realized by establishing the mathematical modeling of motor and inverter
Prediction under the effect of different voltage vectors to motor status, then all prediction results importing cost function is assessed, from
And select optimal vector.But traditional fault-tolerant PREDICTIVE CONTROL only chooses an effect vector within each sampling period, with
Vector controlled, which is compared, to be present with the problem of sample frequency lower switch frequency is relatively low and current harmonic content is larger；What this external enwergy was chosen
Vector Limited Number is acted on, the gap between target vector is constantly present；Current quality is improved only by lifting sampling
Frequency is realized, substantially increases amount of calculation.
The content of the invention
The defects of for prior art, it is an object of the invention to solve the fault-tolerant PREDICTIVE CONTROL of traditional six-phase permanent-magnet motor
Method only chooses an effect vector within each sampling period, there is that same sample frequency lower switch frequency is relatively low and current harmonics
The problem of content is larger；The effect vector Limited Number that this external enwergy is chosen, the gap between target vector are constantly present；Carry
High current quality is only realized by lifting sample frequency, substantially increases the technical problem of amount of calculation.
To achieve the above object, on the one hand, the invention provides a kind of fault-tolerant double vector prediction controls of six-phase permanent-magnet motor
Method processed, comprises the following steps：
Rotor-position, rotating speed and the phase current of six-phase motor are obtained in each sampling period, has one in the six-phase motor
Open fault occurs for phase loop；Event is tried to achieve according to the permanent magnet flux linkage on rotor-position, rotating speed, rotor and failure phase axis position
Hinder opposite potential, and it is phase voltage to be established on the basis of failure opposite potential is considered by the switch state of six-phase motor
Motor inverter model, it is neutral that the failure opposite potential is used to compensate winding caused by the asymmetry topology of motor after failure
Point voltage deviation；The depression of order inductance matrix according to corresponding to being established failure phase position, so as to according to the depression of order inductance square
Battle array structure is on phase voltage and the depression of order motor mathematical model of phase current rate of change；The switch for the six-phase motor established after failure
Table, each switching vector selector in the switch list of the six-phase motor after failure is brought into the motor inverter model, respectively opened
Close phase voltage corresponding to vector；The phase current that phase voltage corresponding to each switching vector selector is obtained with current sample period is together brought into
The depression of order motor mathematical model, determine that each switching vector selector acts on the phase current predicted value after a sampling period；Build cost
Function, the error between phase current predicted value and phase current command value corresponding to each switching vector selector is assessed, choose and produce minimum miss
The switching vector selector of difference is as optimized switching vector；Optimized switching vector is modulated within the sampling period with zero vector so that
According to the phase current that the vector prediction after modulation obtains closest to phase current command value, optimal open is determined according to the vector after modulation
The dutycycle of vector is closed, and is carried out according to the dutycycle to being output to after optimized switching Vector Modulation in six-phase motor frequency converter
Motor drives, and the zero vector is the switching vector selector that every phase on off state is all 0.
The present invention is by the way that zero vector and the optimal vector in the fault-tolerant PREDICTIVE CONTROL of tradition are modulated, with sample frequency
Improve switching frequency；In addition this double Vector Modulation algorithms add the scope of frequency converter output, can be more compared with single vector
Close to target vector；Current harmonic content is reduced in the case of amount of calculation almost no lifting.
Alternatively, failure opposite potential eiFor：ei=-ωeψfsin(θ+αi)；
Wherein, ωeFor rotor angular rate, ψfFor permanent magnet flux linkage, θ is rotor electrical angle position, αiFor failure phase axis
Position, set mark i and represent electrical fault phase.
Alternatively, if normal five phase is respectively a, b, c, d, e phases, motor inverter model is：
Wherein, [u5]=[ua,ub,uc,ud,ue]TFor the column vector of normal each phase voltage composition, VdcFor motor bus electricity
Pressure, [S5]=[Sa,Sb,Sc,Sd,Se]TFor the switching vector selector of each phase on off state composition, S=1 represents that upper tube opens down tube pass
Disconnected, S=0 represents that upper tube shut-off down tube is open-minded, and 2 are shared in the switch list of six-phase motor after one-phase open circuit failure5=32 kinds of switches
Vector,All it is 1/5 column matrix of 5 row 5 for every element, [I5] it is the 5 rank column vectors that items are all 1.
Alternatively, depression of order inductance matrix [L'5] be：
[Li]=[Lia Lib Lic Lid Lie],
Wherein, [L5] it is to be obtained after the phase inductance matrix of nominal situation six leaves out the i-th row mutually relevant with failure and the i-th row
5 dimension matrixes, LiLeave out the 5 dimension row vectors obtained after i-th element for six the i-th rows of phase inductance matrix, L in each inductance elementxx
For xth phase self-induction, LxyMutual inductance (x=a, b, c, i, d or e, y=a, b, c, i, d or e) between x phases and y phases.
Alternatively, depression of order motor mathematical model is：
[i5(k+1)]=[i5(k)]+Ts·[L'5]-1([u5(k)]-Rs·[i5(k)]-[e5(k)]),
Wherein, RsFor stator phase resistance, [i5(k)]=[ia(k),ib(k),ic(k),id(k),ie(k)]TFor k-th of sampling
The column vector of cycle each phase current composition, [e5(k)]=[ea(k),eb(k),ec(k),ed(k),ee(k)]TFor k-th of sampling week
Phase each opposite potential, TsFor sampling period, [i5(k+1)]=[ia(k+1),ib(k+1),ic(k+1),id(k+1),ie(k+1)]T
To predict the column vector of obtained+1 sampling period of kth each phase current composition.Wherein each opposite potential acquiring method and failure
The acquiring method of opposite potential is similar.
Alternatively, this method also includes：Because the switching vector selector chosen k-th of sampling period is k+1 sampling period
The voltage vector that just meeting practical function exports after frequency converter, k-th of sampling period sampling acts on electricity k+1 sampling period
Machine, finally predict the electric current i in k+2 obtained sampling period5(k+2) it is：
[i5(k+2)]=[i5(k+1)]+Ts·[L'5]-1([u5(k+1)]-Rs·[i5(k+1)]-[e5(k+1)]),
Wherein, u5(k+1) it is the column vector of+1 sampling period of kth normal each phase voltage composition, [e5(k+1)] it is kth+1
The back-emf of normal each phase of individual sampling period；
By i5(k+2) the phase current predicted value after a sampling period is acted on as each switching vector selector.
Alternatively, cost function is the quadratic sum of the difference of phase current predicted value and phase current command value：
Wherein, J is cost value,For jth phase current command value, ij(k+2) it is jth phase current predicted value, j expressions are normally
Phase, j=a, b, c, d or e.
Alternatively, if X0(k+2)=[i5_0(k+2) it is] each phase current predicted state of zero vector, Xopt(k+2)=
[i5_opt(k+2) it is] the phase current predicted state of optimized switching vector,For each phase current command value；
The phase current error of zero vectorAnd the phase current error of optimal vectorIt can be tried to achieve by following formula：
The dutycycle for defining optimized switching vector is τ, and the current-responsive after order modulation is Xc, then it is former based on voltage-second balance
Reason, current-responsive error after modulationFor：
The corresponding minimum corresponding error of electric current of optimal dutycycle, i.e. τ meet following formula：
Thus the action time dutycycle τ of optimal vector can be tried to achieve, sequence number (k+2) is eliminated in formula：
Wherein, α isWithBetween angle；
If optimized switching vector is [Sopt]=[Sa,Sb,Sc,Sd,Se]T, then it is output in six-phase motor frequency converter and carries out electricity
The switching vector selector of machine driving is τ [Sopt]=[τ Sa,τ·Sb,τ·Sc,τ·Sd,τ·Se]T。
On the other hand, the present invention provides a kind of fault-tolerant double vector prediction control devices of six-phase permanent-magnet motor, including：
Sampling unit, for each sampling period obtain six-phase motor rotor-position, rotating speed and phase current, described six
There is a phase loop that open fault occurs in phase motor；
Frequency converter model determining unit, for according to the permanent magnet flux linkage on rotor-position, rotating speed, rotor and failure phase axle
Line position tries to achieve failure opposite potential, and is established on the basis of failure opposite potential is considered and turn the on off state of six-phase motor
It is changed to the motor inverter model of phase voltage, the failure opposite potential is used to compensating asymmetric topological institute's band of motor after failure
The winding neutral point voltage offset come；
Motor model determining unit, for the depression of order inductance matrix according to corresponding to the foundation of failure phase position, so as to root
According to depression of order inductance matrix structure on phase voltage and the depression of order motor mathematical model of phase current rate of change；
Phase voltage determining unit, for establishing the switch list of the six-phase motor after failure, by the six-phase motor after failure
Each switching vector selector in switch list is brought into the motor inverter model, obtains phase voltage corresponding to each switching vector selector；
Phase current predicting unit, for the phase current for obtaining phase voltage corresponding to each switching vector selector and current sample period
Together bring the depression of order motor mathematical model into, determine that each switching vector selector acts on the phase current predicted value after a sampling period；
Optimized switching vector determination unit, for building cost function, assess phase current corresponding to each switching vector selector and predict
Error between value and phase current command value, the switching vector selector for producing minimal error is chosen as optimized switching vector；
Duty ratio modulation unit, for optimized switching vector to be modulated within the sampling period with zero vector so that root
According to the phase current that the vector prediction after modulation obtains closest to phase current command value, optimized switching is determined according to the vector after modulation
The dutycycle of vector, and electricity is carried out to being output to after optimized switching Vector Modulation in six-phase motor frequency converter according to the dutycycle
Machine drives, and the zero vector is the switching vector selector that every phase on off state is all 0.
Alternatively, failure opposite potential eiFor：ei=-ωeψfsin(θ+αi)；
Wherein, ωeFor rotor angular rate, ψfFor permanent magnet flux linkage, θ is rotor electrical angle position, αiFor failure phase axis
Position, set mark i and represent electrical fault phase.
In general, by the contemplated above technical scheme of the present invention compared with prior art, have below beneficial to effect
Fruit：
Effect of the invention by adding zero vector within each sampling period, reduce the action time of single vector, together
When the principle based on voltage-second balance, improve the accurate of frequency converter output voltage by the way that zero vector is modulated with optimal vector
Property, the error between the next sampling instant phase current of motor and command value is reduced, in the case where hardly lifting amount of calculation
The characteristics of reducing current ripples content, and not influenceing the original high response speed of PREDICTIVE CONTROL.Simultaneously can in cost function
To realize any phase current command value, while maintaining output torque constant, by changing phase current instructional waveform, Ke Yishi
The different control targes such as existing minimum stator copper loss or torque capacity output.
Brief description of the drawings
Fig. 1 is fault-tolerant double vector prediction control method schematic flow sheets of six-phase permanent-magnet motor provided by the invention；
Fig. 2 is the principle schematic of more vector prediction controls in the present invention, wherein, Xn(k+1) n-th of switching vector selector is represented
Current-responsive, X*(k+1) subsequent time current instruction value, X are representedoutFor current-responsive corresponding to the τ of optimization；
Fig. 3 is electric machine control system structural representation provided by the invention, wherein,Represent electric machine phase current command value, S5
Represent the phase signals of switching tube five, i5Five phase current values are represented, θ represents rotor electrical angle；
Fig. 4 is fault-tolerant predictive controller internal structure schematic diagram provided by the invention, wherein, S(32)Represent all alternatively to open
Off status, V5(k+1) next cycle phase voltage vector, i are represented5(k) phase current sampling value is represented, ω represents rotor angular rate,
i5(k+1) prediction phase current is represented,Represent the phase current of motor five instruction instantaneous value, J(32)Represent corresponding all on off states
Cost function value, τ represent the dutycycle of optimized switching vector；
Fig. 5 is the phase current waveform experimental result of Classical forecast control method light duty in a phase winding open fault
Schematic diagram；
Fig. 6 be current waveform shown in Fig. 5 spectrogram, wherein Fund represent fundamental voltage amplitude, total harmonic distortion (THD,
Total Harmonic Distortion) represent total harmonic distortion factor；
Fig. 7 is the phase current waveform experiment of forecast Control Algorithm light duty in a phase winding open fault of the present invention
Result schematic diagram；
Fig. 8 is the spectrogram of current waveform shown in Fig. 7；
Fig. 9 is the phase current waveform experimental result of Classical forecast control method severe duty in a phase winding open fault
Schematic diagram；
Figure 10 is the spectrogram of current waveform shown in Fig. 9；
Figure 11 is that the phase current waveform of forecast Control Algorithm severe duty in a phase winding open fault of the present invention is real
Test result schematic diagram；
Figure 12 is the spectrogram of current waveform shown in Figure 11；
Figure 13 is fault-tolerant double vector prediction controling device structure diagrams of six-phase permanent-magnet motor provided by the invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
The shortcomings that in order to overcome conventional multiphase magneto fault-tolerant PREDICTIVE CONTROL, the invention provides a kind of new fault-tolerant
Double vector prediction control methods, the motor mathematics that this method is established under phase winding coordinate system under motor part winding open fault
Model into, voltage vector corresponding to different on off states is brought in motor mathematical model to the responsive state for predicting next cycle,
Arbitrary control model is set to assess responsive state in cost function, so as to select the optimal vector of next step；Herein
On the basis of, zero vector is arranged to second effect vector, asks for the ratio of zero vector and optimal vector action time, further
Reduce the current error in next cycle, the steady-state behaviour of lifting system.It the method overcome single in the fault-tolerant PREDICTIVE CONTROL of single vector
The problem of vector action time is long, and current error is larger, current harmonics and torque pulsation are effectively reduced, and this method is being lifted
While systematic steady state performance, the original high response speed feature of PREDICTIVE CONTROL is maintained.
Fig. 1 be six-phase permanent-magnet motor provided by the invention fault-tolerant double vector prediction control method schematic flow sheets, such as Fig. 1
It is shown, including step S101 to step S107.
S101, in rotor-position, rotating speed and the phase current of acquisition of each sampling period six-phase motor, the six-phase motor
There is a phase loop that open fault occurs.
S102, it is opposite that failure is tried to achieve according to the permanent magnet flux linkage on rotor-position, rotating speed, rotor and failure phase axis position
Potential, and established on the basis of failure opposite potential is considered and become the switch state of six-phase motor for the motor of phase voltage
Frequency device model, the failure opposite potential are used to compensate winding neutral point voltage caused by the asymmetry topology of motor after failure
Offset.
S103, the depression of order inductance matrix according to corresponding to being established failure phase position, so as to according to the depression of order inductance square
Battle array structure is on phase voltage and the depression of order motor mathematical model of phase current rate of change.
S104, the switch list for the six-phase motor established after failure, by respectively opening in the switch list of the six-phase motor after failure
Close vector to bring into the motor inverter model, obtain phase voltage corresponding to each switching vector selector.
S105, together bring the phase current that phase voltage corresponding to each switching vector selector and current sample period obtain into the drop
Rank motor mathematical model, determine that each switching vector selector acts on the phase current predicted value after a sampling period.
S106, cost function is built, is assessed corresponding to each switching vector selector between phase current predicted value and phase current command value
Error, choose produce minimal error switching vector selector as optimized switching vector.
S107, optimized switching vector is modulated within the sampling period with zero vector so that according to the vector after modulation
Obtained phase current is predicted closest to phase current command value, the dutycycle of optimized switching vector is determined according to the vector after modulation,
And motor driving is carried out to being output to after optimized switching Vector Modulation in six-phase motor frequency converter according to the dutycycle, described zero
Vector is the switching vector selector that every phase on off state is all 0.
Preferably, remaining five phase is named as a, b, c after the i-th phase fault, d, e phases, six phase inverter device remainders
Frequency converter model is：
Wherein [u5]=[ua,ub,uc,ud,ue]TFor the column vector of remaining each phase voltage composition；VdcFor busbar voltage；[S5]
=[Sa,Sb,Sc,Sd,Se]TFor the column vector of each phase on off state composition, S=1 represents that upper tube opens down tube shut-off, and S=0 is represented
Upper tube shut-off down tube is open-minded, and 2 are shared after one-phase open circuit failure5=32 kinds of switching vector selectors, switch list are as shown in table 1；
(continuous upper table)
Table 1
All it is 1/5 column matrix of 5 row 5 for every element, [I5] it is the 5 rank column vectors that items are all 1, eiFor failure
Opposite potential：
ei=-ωeψfsin(θ+αi)
Wherein ωeFor rotor angular rate, ψfFor permanent magnet flux linkage, θ is rotor electrical angle position, αiFor failure phase axis
Position.
Preferably, the inductance matrix of depression of order is the inductance matrix after failure, and the inductance matrix after failure is：
[Li]=[Lia Lib Lic Lid Lie]
Wherein, [L5] leave out 5 dimensions after the i-th row mutually relevant with failure and the i-th row for the phase inductance matrix of nominal situation six
Matrix, LiLeave out 5 dimension row vectors after i-th of element for six the i-th rows of phase inductance matrix, L in each inductance elementxxFor xth phase
Self-induction, LxyMutual inductance (x=a, b, c, i, d or e, y=a, b, c, i, d or e) between x phases and y phases.
Preferably, (depression of order) motor mathematical model is after failure：
Wherein, RsFor stator phase resistance, [i5]=[ia,ib,ic,id,ie]TThe column vector formed for remaining each phase current,
[e5]=[ea,eb,ec,ed,ee]TIt is similar with failure opposite potential for remaining each opposite potential, acquiring method.
Preferably, the discretization method to current differential item is Euler's method：
Wherein, i (k) is the current sampling data of current sample period, and i (k+1) is current forecasting value, TsFor the sampling period.
Motor mathematical model after discrete is：
What conversion above formula can obtain predicted current asks for mode：
[i5(k+1)]=[i5(k)]+Ts·[L'5]-1([u5(k)]-Rs·[i5(k)]-[e5(k)])
Because the switching vector selector chosen at (k-1) moment just understands practical function in frequency converter at the k moment, therefore can be by above formula
For compensation of delay, controller performance is improved.Implementation method is that the on off state chosen in a upper controlling cycle is passed through into frequency conversion
Device model conversion is phase voltage, replaces [the u in above formula5(k) phase current [i at (k+1) moment], is predicted5(k+1)]；It is similar
, position compensation is carried out according to motor speed, tries to achieve the back-emf [e at (k+1) moment5(k+1)]；32 in table 1 are opened again
Pass vector median filters are phase voltage, as [u5(k+1)], bring into following formula and try to achieve respective predicted current vector [i respectively5(k+
2)]。
[i5(k+2)]=[i5(k+1)]+Ts·[L'5]-1([u5(k+1)]-Rs·[i5(k+1)]-[e5(k+1)])
It is understood that the k moment is the starting point in corresponding k-th of sampling period, the sampled value in k-th of sampling period is in k
Moment gathers.
Preferably, cost function is remaining each phase and the quadratic sum of the difference of command value：
Predicted current vector corresponding to 32 switching vector selectors is brought into above formula respectively to choose in the hope of respective cost value
The minimum switching vector selector of cost value is as optimal vector.
Preferably, X is definedz(k+2) it is that the current forecasting state that numbering is the k+2 moment corresponding to z switching vector selector (refers to
X shown in Fig. 20(k+2)、…、X27(k+2) ... etc.), such as
X0(k+2)=[i5_0(k+2) it is] each phase current predicted state of zero vector, Xopt(k+2)=[i5_opt(k+2)] it is
The phase current predicted state of optimal vector,For each phase current command value.Generally obtained by speed closed loop or torque instruction
Current amplitude is instructed, and phase current instruction is tried to achieve further according to the control model such as maximum output torque pattern or minimum stator copper loss pattern
Instantaneous value.
Fig. 2 is the principle schematic of more vector prediction controls in the present invention, as shown in Figure 2, by zero vector X0(k+2) and most
Excellent vector Xopt(k+2) it is modulated within the single sampling period, by voltage-second balance principle, final response range is connection X0With
XoptDotted line, compared to 32 independent switching vector selectors, the output area of frequency converter has been significantly greatly increased.Under this modulation system, most
Excellent responsive state is near X on dotted line*Point, i.e. X in Fig. 2out, it is clear that compare XoptCloser to command value.XoutPass through calculating
Dutycycle of the optimal vector within the sampling period obtains, and method is as follows：
The phase current error of zero vectorAnd the phase current error of optimal vectorIt can be tried to achieve by following formula：
The dutycycle for defining optimal vector is τ, and the current-responsive after order modulation is Xc, wherein, as shown in Fig. 2 after modulation
Current-responsive XcScope be X0And X (k+2)opt(k+2) vector between, that is, include near X*Point Xout.After then modulating
Current-responsive errorFor：
The corresponding minimum corresponding error of electric current of optimal dutycycle, i.e. τ meet following formula：
Thus the action time dutycycle τ of optimal vector can be tried to achieve, sequence number (k+2) is eliminated in formula：
Wherein α isWithBetween angle.Controller final output is the optimized switching vector that dutycycle is τ
[Sopt], i.e., each phase duty cycle of switching is τ [Sopt]=[τ Sa,τ·Sb,τ·Sc,τ·Sd,τ·Se]T, wherein each mutually switch
Value can be obtained by table 1.
Fig. 3 is electric machine control system structured flowchart, including：Fault-tolerant predictive controller, six phase inverter devices and six-phase permanent-magnet
Synchronous motor.Wherein, fault-tolerant predictive controller be used for according to the numerical value of current sample period phase current, rotor electrical angle and under
Command value of one sampling period phase current etc. predicts optimized switching vector, and optimized switching vector is accounted for by zero vector
Switching vector selector after modulation is acted on six phase inverter devices driving six phase permanent-magnet synchronous motor by sky than modulation.
Fig. 4 is the structured flowchart inside fault-tolerant predictive controller, including following module：Voltage transformation, forecast model, cost
Equation and optimization dutycycle τ modules, wherein, voltage transformation module is used to bring each switching vector selector in table 1 into motor change
Phase voltage corresponding to each switching vector selector is tried to achieve in frequency device model.Forecast model be used for according to corresponding to each switching vector selector voltage, when
The phase electricity in next sampling period is predicted in phase current, rotor angular rate and rotor electrical angle position that the preceding sampling period obtains etc.
Stream.Cost equation module is used to obtain the cost value between the phase current of each switching vector selector prediction and phase current command value, chooses
The minimum switching vector selector of cost value is as optimized switching vector.τ modules are optimized to be used to zero vector being arranged to second effect
Vector, the ratio of zero vector and optimized switching vector action time are asked for, and then determine optimal dutycycle τ, finally by optimal
Duty ratio modulation optimized switching vector is simultaneously exported to the frequency converter of six-phase motor.
Whole system as shown in Figure 3 and Figure 4, by taking a six phase Surface Mount PMSM Drive Systems as an example, work
Flow is as follows：
A, the rotor position information electrical angle θ and phase current [i of motor are detected5], and angular rate is tried to achieve by rotor-position
ω。
B, by all possible on off state [S of frequency converter5] bring into frequency converter model, be converted to by following mathematical modeling
Machine phase voltages input quantity：
Wherein [u5]=[ua,ub,uc,ud,ue]TFor remaining each mutually electricity
Press the column vector of composition；VdcFor busbar voltage；[S5]=[Sa,Sb,Sc,Sd,Se]TFor the column vector of each phase on off state composition, S
=1 expression upper tube opens down tube shut-off, and S=0 represents that upper tube shut-off down tube is open-minded, 2 are shared after one-phase open circuit failure5=32 kinds are opened
Vector is closed, switch list is as shown in table 1；All it is 1/5 column matrix of 5 row 5 for every element, I5All it is 15 ranks row for items
Vector, eiFor failure opposite potential ei=-ω ψfsin(θ+αi), wherein ω is rotor angular rate, ψfFor permanent magnet flux linkage, θ is
Rotor electrical angle position, αiFor failure phase axis position.
C, compensation of delay：By frequency converter model conversion it is phase voltage by the on off state chosen in a upper controlling cycle,
Bring into] i5(k+1)]=[i5(k)]+Ts·[L'5]-1([u5(k)]-Rs·[i5(k)]-[e5(k) when in]), predicting (k+1)
Phase current [the i at quarter5(k+1)]；Similar, position compensation is carried out according to motor speed, tries to achieve the back-emf [e at (k+1) moment5(k
+1)].Wherein RsFor stator phase resistance, [i5(k) it is] current sampling data of current sample period, TsFor the sampling period.Particularly,
[L'5] be failure after inductance matrix,Wherein [L5] leave out for the phase inductance matrix of nominal situation six
5 dimension matrixes after i-th row and the i-th row, [Li] leave out 5 dimension row vectors after the i-th row for six the i-th rows of phase inductance matrix.
D, using in previous step the phase current at (k+1) moment and back-emf as motor initial state, then by 32 in table 1
Individual switching vector selector is converted to phase voltage, as [u5(k+1) [i], is brought into5(k+2)]=[i5(k+1)]+Ts·[L'5]-1([u5(k+
1)]-Rs·[i5(k+1)]-[e5(k+1) respective predicted current vector [i is tried to achieve in]) respectively5(k+2)]。
The phase current of 32 groups of predictions is brought into cost function to the error tried to achieve between command value E,：Wherein subscript j is the numbering of each phase current, chooses the minimum switching vector selector of cost value as optimal arrow
Amount.
F, overlapped with finally responding with current instruction value as target, optimal vector and zero vector are subjected to linear combination, meter
Calculate the dutycycle τ of optimal vector：
WhereinDefine X0(k
+ 2)=[i5_0(k+2) it is] each phase current predicted state of zero vector, Xopt(k+2)=[i5_opt(k+2) it is] phase of optimal vector
Current forecasting state,For each phase current command value, α isWithBetween angle.Result of calculation is sentenced
It is disconnected, τ is limited in the range of [0,1].
G, optimal vector and modulation ratio are converted into each phase switch actuating signals, are output to frequency converter.
The present invention is tested with an axial magnetic flux six phase permanent-magnet synchronous motor, and Fig. 5 and Fig. 6 are Classical forecast respectively
Control method the phase current waveform experimental result of light duty and spectrogram of current waveform in a phase winding open fault,
Load as 12% nominal torque.Wherein Fund represents fundamental voltage amplitude, and THD is total harmonic distortion factor.Fig. 7 and Fig. 8 is this hair respectively
Bright the phase current waveform experimental result of light duty and the spectrogram of current waveform in a phase winding open fault, load and are
12% nominal torque.Fig. 9 and Figure 10 is the phase of Classical forecast control method light duty in a phase winding open fault respectively
The spectrogram of current waveform experimental result and current waveform, load as 50% nominal torque.Wherein Fund represents fundamental voltage amplitude,
THD is total harmonic distortion factor.Figure 11 and Figure 12 is the phase current of present invention light duty in a phase winding open fault respectively
The spectrogram of waveform experimental result and current waveform, load as 50% nominal torque.
Understood with reference to Fig. 5 to Figure 12 experimental result, compared with the fault-tolerant PREDICTIVE CONTROL of tradition, in (12% specified turn of underloading
Square) phase current total harmonic distortion rate declines and 31.7% (drops to Fig. 6's and Fig. 7 from the 35.42% of Fig. 4 and Fig. 5
23.59%), 14.5% is declined (from Fig. 8's and Fig. 9 in heavily loaded (50% nominal torque) phase current total harmonic distortion rate
11.07% drop to Figure 10 and Figure 11 9.47%).Illustrate that fault tolerant control method provided in an embodiment of the present invention can be in underloading
Or effectively suppress current harmonics when heavily loaded, positive effect is lifted, is a kind of modulator approach of highly effective.
It is understood that the mechanism of the double Vector Modulation dutycycles provided with reference to the present invention, the embodiment of the present invention provides
Method can expand to two-phase, three-phase open fault from one-phase open circuit fault condition.It is i.e. every under the fault-tolerant operating mode of polyphase machine
By the method for double vector prediction controlled motor electric currents, it should all belong to the protection domain of the embodiment of the present invention.
Figure 13 is the fault tolerant control structural representation of six-phase permanent-magnet motor provided by the invention.As shown in figure 13, wrap
Include following several parts：
Sampling unit, for each sampling period obtain six-phase motor rotor-position, rotating speed and phase current, described six
There is a phase loop that open fault occurs in phase motor.
Frequency converter model determining unit, for according to the permanent magnet flux linkage on rotor-position, rotating speed, rotor and failure phase axle
Line position tries to achieve failure opposite potential, and is established on the basis of failure opposite potential is considered and turn the on off state of six-phase motor
It is changed to the motor inverter model of phase voltage, the failure opposite potential is used to compensating asymmetric topological institute's band of motor after failure
The winding neutral point voltage offset come.
Motor model determining unit, for the depression of order inductance matrix according to corresponding to the foundation of failure phase position, so as to root
According to depression of order inductance matrix structure on phase voltage and the depression of order motor mathematical model of phase current rate of change.
Phase voltage determining unit, for establishing the switch list of the six-phase motor after failure, by the six-phase motor after failure
Each switching vector selector in switch list is brought into the motor inverter model, obtains phase voltage corresponding to each switching vector selector.
Phase current predicting unit, for the phase current for obtaining phase voltage corresponding to each switching vector selector and current sample period
Together bring the depression of order motor mathematical model into, determine that each switching vector selector acts on the phase current predicted value after a sampling period.
Optimized switching vector determination unit, for building cost function, assess phase current corresponding to each switching vector selector and predict
Error between value and phase current command value, the switching vector selector for producing minimal error is chosen as optimized switching vector.
Duty ratio modulation unit, for optimized switching vector to be modulated within the sampling period with zero vector so that root
According to the phase current that the vector prediction after modulation obtains closest to phase current command value, optimized switching is determined according to the vector after modulation
The dutycycle of vector, and electricity is carried out to being output to after optimized switching Vector Modulation in six-phase motor frequency converter according to the dutycycle
Machine drives, and the zero vector is the switching vector selector that every phase on off state is all 0.
It is understood that the device may also include more or less parts, the function of each part can refer to foregoing
Being discussed in detail in embodiment of the method, will not be described here.
The invention discloses a kind of new fault-tolerant double vector prediction current control methods, suitable for electric propulsion, ship
Six-phase permanent-magnet motor driven systems in propulsion.This method is established under phase winding coordinate system under motor part winding open fault
Separate manufacturing firms model, on the basis of the fault-tolerant PREDICTIVE CONTROL of tradition chooses optimal vector, zero vector is arranged to second
Individual effect vector, the ratio of zero vector and optimal vector action time are asked for, further reduces the current error in next cycle, carries
The steady-state behaviour of the system of liter.It is long to the method overcome single vector action time in the fault-tolerant PREDICTIVE CONTROL of single vector, current error
The problem of larger, current harmonics and the torque pulsation of current regulator are effectively reduced under conditions of minimum amount of calculation is increased.Should
Method can expand to two-phase, three-phase open fault from one-phase open circuit fault condition.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (10)
1. fault-tolerant double vector prediction control methods of a kind of six-phase permanent-magnet motor, it is characterised in that comprise the following steps：
Rotor-position, rotating speed and the phase current of six-phase motor are obtained in each sampling period, has a phase to return in the six-phase motor
Open fault occurs for road；
Failure opposite potential is tried to achieve according to the permanent magnet flux linkage on rotor-position, rotating speed, rotor and failure phase axis position, and
Consider to establish the motor inverter model that the switch state of six-phase motor is phase voltage on the basis of failure opposite potential,
The failure opposite potential is used to compensate winding neutral point voltage offset caused by the asymmetry topology of motor after failure；
According to failure phase position establish corresponding to depression of order inductance matrix, so as to according to the depression of order inductance matrix structure on
Phase voltage and the depression of order motor mathematical model of phase current rate of change；
The switch list for the six-phase motor established after failure, each switching vector selector in the switch list of the six-phase motor after failure is brought into
In the motor inverter model, phase voltage corresponding to each switching vector selector is obtained；
Together bring the phase current that phase voltage corresponding to each switching vector selector and current sample period obtain into the depression of order motor number
Model is learned, determines that each switching vector selector acts on the phase current predicted value after a sampling period；
Cost function is built, assesses the error between phase current predicted value and phase current command value corresponding to each switching vector selector, is selected
The switching vector selector for producing minimal error is taken as optimized switching vector；
Optimized switching vector is modulated within the sampling period with zero vector so that obtained according to the vector prediction after modulation
Phase current determines the dutycycle of optimized switching vector according to the vector after modulation closest to phase current command value, and according to described
Dutycycle is per phase to being output to progress motor driving in six-phase motor frequency converter, the zero vector after optimized switching Vector Modulation
On off state is all 0 switching vector selector.
2. the fault tolerant control method of six-phase permanent-magnet motor as claimed in claim 1, it is characterised in that failure opposite potential eiFor：
ei=-ωeψfsin(θ+αi)；
Wherein, ωeFor rotor angular rate, ψfFor permanent magnet flux linkage, θ is rotor electrical angle position, αiFor failure phase axis position
Put, set mark i and represent electrical fault phase.
3. the fault tolerant control method of six-phase permanent-magnet motor as claimed in claim 2, it is characterised in that setting normal five phase is respectively
A, b, c, d, e phase, motor inverter model are：
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>u</mi>
<mn>5</mn>
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<mo>=</mo>
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</mfrac>
<msub>
<mi>e</mi>
<mi>i</mi>
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<mo>&lsqb;</mo>
<msub>
<mi>I</mi>
<mn>5</mn>
</msub>
<mo>&rsqb;</mo>
<mo>,</mo>
</mrow>
Wherein, [u5]=[ua,ub,uc,ud,ue]TFor the column vector of normal each phase voltage composition, VdcFor motor busbar voltage, [S5]
=[Sa,Sb,Sc,Sd,Se]TFor the switching vector selector of each phase on off state composition, S=1 represents that upper tube opens down tube shut-off, S=0 tables
Show that upper tube shut-off down tube is open-minded, 2 are shared in the switch list of six-phase motor after one-phase open circuit failure5=32 kinds of switching vector selectors,
All it is 1/5 column matrix of 5 row 5 for every element, [I5] it is the 5 rank column vectors that items are all 1.
4. the fault tolerant control method of six-phase permanent-magnet motor as claimed in claim 1, it is characterised in that depression of order inductance matrix [L'5]
For：
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[Li]=[Lia Lib Lic Lid Lie],
Wherein, [L5] it is that the phase inductance matrix of nominal situation six leaves out the 5 dimension squares obtained after the i-th row mutually relevant with failure and the i-th row
Battle array, LiLeave out the 5 dimension row vectors obtained after i-th element for six the i-th rows of phase inductance matrix, L in each inductance elementxxFor xth
Phase self-induction, LxyMutual inductance (x=a, b, c, i, d or e, y=a, b, c, i, d or e) between x phases and y phases.
5. the fault tolerant control method of six-phase permanent-magnet motor as claimed in claim 4, it is characterised in that depression of order motor mathematical model
For：
[i5(k+1)]=[i5(k)]+Ts·[L'5]-1([u5(k)]-Rs·[i5(k)]-[e5(k)]),
Wherein, RsFor stator phase resistance, [i5(k)]=[ia(k),ib(k),ic(k),id(k),ie(k)]TFor k-th of sampling period
The column vector of each phase current composition, [e5(k)]=[ea(k),eb(k),ec(k),ed(k),ee(k)]TIt is each for k-th of sampling period
Opposite potential, TsFor sampling period, [i5(k+1)]=[ia(k+1),ib(k+1),ic(k+1),id(k+1),ie(k+1)]TTo be pre-
The column vector of+1 sampling period of the kth measured each phase current composition.
6. the fault tolerant control method of the six-phase permanent-magnet motor as described in any one of claim 1 to 5, it is characterised in that also include：
Because the switching vector selector chosen k-th of sampling period just understands practical function in frequency converter, kth k+1 sampling period
The voltage vector exported after individual sampling period sampling acts on motor k+1 sampling period, finally predicts that obtained k+2 are adopted
The electric current i in sample cycle5(k+2) it is：
[i5(k+2)]=[i5(k+1)]+Ts·[L'5]-1([u5(k+1)]-Rs·[i5(k+1)]-[e5(k+1)]),
Wherein, u5(k+1) it is the column vector of+1 sampling period of kth normal each phase voltage composition, [e5(k+1)] adopted for kth+1
The back-emf of sample cycle normal each phase；
By i5(k+2) the phase current predicted value after a sampling period is acted on as each switching vector selector.
7. the fault tolerant control method of six-phase permanent-magnet motor as claimed in claim 6, it is characterised in that cost function is phase current
The quadratic sum of the difference of predicted value and phase current command value：
<mrow>
<mi>J</mi>
<mo>=</mo>
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<mrow>
<mi>j</mi>
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</mrow>
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<mo>|</mo>
<msubsup>
<mi>i</mi>
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<mi>i</mi>
<mi>j</mi>
</msub>
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<mn>2</mn>
<mo>)</mo>
</mrow>
<msup>
<mo>|</mo>
<mn>2</mn>
</msup>
</mrow>
Wherein, J is cost value,For jth phase current command value, ij(k+2) it is jth phase current predicted value, j represents normal phase, j
=a, b, c, d or e.
8. the fault tolerant control method of the six-phase permanent-magnet motor as described in claim 1 or 7, it is characterised in that set X0(k+2)=
[i5_0(k+2) it is] each phase current predicted state of zero vector, Xopt(k+2)=[i5_opt(k+2) it is] phase of optimized switching vector
Current forecasting state,For each phase current command value；
The phase current error of zero vectorAnd the phase current error of optimal vectorIt can be tried to achieve by following formula：
The dutycycle for defining optimized switching vector is τ, and the current-responsive after order modulation is Xc, then current-responsive error after modulatingFor：
The corresponding minimum corresponding error of electric current of optimal dutycycle, i.e. τ meet following formula：
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</mrow>
</mfrac>
<mo>=</mo>
<mn>0</mn>
<mo>,</mo>
</mrow>
Thus the action time dutycycle τ of optimal vector can be tried to achieve, sequence number (k+2) is eliminated in formula：
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<mo>=</mo>
<mfrac>
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<mo>|</mo>
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<mi>X</mi>
<mn>0</mn>
<mrow>
<mi>e</mi>
<mi>r</mi>
<mi>r</mi>
</mrow>
</msubsup>
<mo>|</mo>
<mo>&CenterDot;</mo>
<mo>|</mo>
<msubsup>
<mi>X</mi>
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<mi>o</mi>
<mi>p</mi>
<mi>t</mi>
</mrow>
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<mi>r</mi>
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</mrow>
</msubsup>
<mo>|</mo>
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<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
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<mi>&alpha;</mi>
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</mrow>
</mrow>
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<mn>0</mn>
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<mi>e</mi>
<mi>r</mi>
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</mrow>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>X</mi>
<mrow>
<mi>o</mi>
<mi>p</mi>
<mi>t</mi>
</mrow>
<mrow>
<mi>e</mi>
<mi>r</mi>
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</mrow>
</msubsup>
<msup>
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<mn>2</mn>
</msup>
</mrow>
</mfrac>
</mrow>
Wherein, α isWithBetween angle；
If optimized switching vector is [Sopt]=[Sa,Sb,Sc,Sd,Se]T, then it is output to progress motor drive in six-phase motor frequency converter
Dynamic switching vector selector is τ [Sopt]=[τ Sa,τ·Sb,τ·Sc,τ·Sd,τ·Se]T。
A kind of 9. fault-tolerant double vector prediction control devices of six-phase permanent-magnet motor, it is characterised in that including：
Sampling unit, for obtaining rotor-position, rotating speed and the phase current of six-phase motor, the six phases electricity in each sampling period
There is a phase loop that open fault occurs in machine；
Frequency converter model determining unit, for according to the permanent magnet flux linkage on rotor-position, rotating speed, rotor and failure phase axis position
Put and try to achieve failure opposite potential, and established on the basis of failure opposite potential is considered by the switch state of six-phase motor and be
The motor inverter model of phase voltage, the failure opposite potential are used to compensate caused by the asymmetry topology of motor after failure
Winding neutral point voltage offset；
Motor model determining unit, for the depression of order inductance matrix according to corresponding to the foundation of failure phase position, so as to according to institute
Depression of order inductance matrix structure is stated on phase voltage and the depression of order motor mathematical model of phase current rate of change；
Phase voltage determining unit, for establishing the switch list of the six-phase motor after failure, by the switch of the six-phase motor after failure
Each switching vector selector in table is brought into the motor inverter model, obtains phase voltage corresponding to each switching vector selector；
Phase current predicting unit, for the phase current that obtains phase voltage corresponding to each switching vector selector and current sample period together
Bring the depression of order motor mathematical model into, determine that each switching vector selector acts on the phase current predicted value after a sampling period；
Optimized switching vector determination unit, for building cost function, assess phase current predicted value corresponding to each switching vector selector with
Error between phase current command value, the switching vector selector for producing minimal error is chosen as optimized switching vector；
Duty ratio modulation unit, for optimized switching vector to be modulated within the sampling period with zero vector so that according to tune
The phase current that vector prediction after system obtains determines optimized switching vector closest to phase current command value according to the vector after modulation
Dutycycle, and according to the dutycycle to being output in six-phase motor frequency converter progress motor drive after optimized switching Vector Modulation
Dynamic, the zero vector is the switching vector selector that every phase on off state is all 0.
10. the fault tolerant control of six-phase permanent-magnet motor as claimed in claim 9, it is characterised in that failure opposite potential ei
For：ei=-ωeψfsin(θ+αi)；
Wherein, ωeFor rotor angular rate, ψfFor permanent magnet flux linkage, θ is rotor electrical angle position, αiFor failure phase axis position
Put, if i represents electrical fault phase.
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| CN110336511A (en) * | 2019-07-11 | 2019-10-15 | 台州学院 | A kind of six-phase motor method for inhibiting harmonic current based on model prediction Direct Torque Control |
| CN110690839A (en) * | 2019-09-29 | 2020-01-14 | 大连海事大学 | Topological control method for six-phase permanent magnet fault-tolerant rim propulsion motor |
| CN111293943A (en) * | 2020-02-19 | 2020-06-16 | 湖南大学 | Control method for open-phase operation of double three-phase motor |
| CN111460657A (en) * | 2020-03-31 | 2020-07-28 | 北京润科通用技术有限公司 | Six-phase motor simulation method and device |
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| CN111564996A (en) * | 2020-06-01 | 2020-08-21 | 哈尔滨理工大学 | Fault-tolerant operation control method of six-phase permanent magnet synchronous motor without position sensor |
| CN112564467A (en) * | 2020-12-25 | 2021-03-26 | 南京理工大学 | Two-level PWM converter open-circuit fault self-healing fault-tolerant control method |
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| CN114325379B (en) * | 2021-07-12 | 2023-06-20 | 陕西航空电气有限责任公司 | Method and system for determining motor rotor position fault sign |
| CN113472260A (en) * | 2021-08-05 | 2021-10-01 | 大连海事大学 | Permanent magnet fault-tolerant motor model prediction current control method based on six-phase static coordinate system |
| CN113472260B (en) * | 2021-08-05 | 2022-12-27 | 大连海事大学 | Permanent magnet fault-tolerant motor model prediction current control method based on six-phase static coordinate system |
| CN113746108A (en) * | 2021-08-12 | 2021-12-03 | 电子科技大学 | T-type three-level SAPF open circuit fault sequence model prediction fault-tolerant control method |
| CN113746108B (en) * | 2021-08-12 | 2023-05-09 | 电子科技大学 | T-type three-level SAPF open circuit fault sequence model prediction fault tolerance control method |
| CN114123916A (en) * | 2021-11-17 | 2022-03-01 | 华中科技大学 | Fault-tolerant control method and system for open-phase fault of double three-phase permanent magnet synchronous motor |
| CN114123916B (en) * | 2021-11-17 | 2023-10-27 | 华中科技大学 | Double-three-phase permanent magnet synchronous motor open-phase fault tolerance control method and system |
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