CN108667382B - Fault-tolerant system of two-phase permanent magnet synchronous motor and control method thereof - Google Patents

Fault-tolerant system of two-phase permanent magnet synchronous motor and control method thereof Download PDF

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CN108667382B
CN108667382B CN201810430610.3A CN201810430610A CN108667382B CN 108667382 B CN108667382 B CN 108667382B CN 201810430610 A CN201810430610 A CN 201810430610A CN 108667382 B CN108667382 B CN 108667382B
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inverter
phase
fault
bridge arm
current
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CN108667382A (en
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林海
党婷
段晨东
周熙炜
司利云
陈金平
陈俊硕
巩建英
龚贤武
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Weihai Creditfan Ventilator Co Ltd
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Changan University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses a two-phase permanent magnet synchronous motor fault-tolerant system and a control method thereof, wherein the two-phase permanent magnet synchronous motor fault-tolerant system comprises a four-phase fault-tolerant inverter, a fast fuse and a bidirectional thyristor; four inverter bridge arms of the four-phase fault-tolerant inverter are connected in parallel and then are connected with a public direct-current power supply; one port of an armature winding A and one port of an armature winding B in the two-phase permanent magnet synchronous motor are connected with a bidirectional thyristor, the other port of the armature winding A and the other port of the armature winding B are connected with a second bidirectional thyristor, the two ports of the armature winding A are respectively connected with the middle points of two inverter bridge arms through fast fusing fuses, and the two ports of the armature winding B are respectively connected with the middle points of the other two inverter bridge arms through fast fusing fuses. The fault-tolerant system and the control technology thereof have strong universality, and can also be suitable for various different types of two-phase motors, such as two-phase permanent magnet synchronous motors, two-phase brushless direct current motors, two-phase switched reluctance motors, two-phase stepping motors and the like.

Description

Fault-tolerant system of two-phase permanent magnet synchronous motor and control method thereof
Technical Field
The invention belongs to the technical field of power electronics, and particularly relates to a two-phase permanent magnet synchronous motor fault-tolerant system and a control method thereof.
Background
The stator of a two-phase permanent magnet synchronous motor generally adopts two windings, and the two windings are usually separately arranged according to 90 electrical angles. The two-phase permanent magnet synchronous drive is usually driven by two-phase sine wave voltages with the phases different from each other by 90 degrees, and the driving method is simpler and effectively reduces the cost of driving hardware. For the low-cost application field, because no special two-phase power supply is available, single-phase power is generally used, a phase difference is formed by serially connecting capacitors in one phase to generate starting torque, and the motor is widely used in refrigerators, air conditioners and washing machines at present.
At present, four-switch inverter driving technology, six-switch inverter driving technology, eight-switch inverter driving technology and the like are mostly adopted for two-phase motors. The eight-switch inverter topology has the maximum output power in the two-phase alternating current driving technology and excellent control performance, as shown in fig. 1. However, in the two-phase permanent magnet synchronous driving of the eight-switch inverter, the power switch failure rate of the inverter is high. In the occasion of frequent use, the system can often have power switch short circuit or open circuit fault, and the application and popularization of the two-phase motor are restricted.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a two-phase permanent magnet synchronous motor fault-tolerant system and a control method thereof, which can effectively enhance the reliability and safety of a two-phase permanent magnet synchronous motor control system, in view of the above-mentioned deficiencies in the prior art.
The invention adopts the following technical scheme:
a two-phase permanent magnet synchronous motor fault-tolerant system comprises a four-phase fault-tolerant inverter, a fast fuse and a bidirectional thyristor; four inverter bridge arms of the four-phase fault-tolerant inverter are connected in parallel and then are connected with a public direct-current power supply; one port of an armature winding A and one port of an armature winding B in the two-phase permanent magnet synchronous motor are respectively connected with two ends of a bidirectional thyristor, the other port of the armature winding A and the other port of the armature winding B are respectively connected with two ends of another bidirectional thyristor, the two ports of the armature winding A are respectively connected with the middle points of two inverter bridge arms through fast fusing fuses, and the two ports of the armature winding B are respectively connected with the middle points of the other two inverter bridge arms through fast fusing fuses.
Specifically, the four inverter bridge arms include an inverter bridge arm La, an inverter bridge arm Lb, an inverter bridge arm Lx and an inverter bridge arm Ly; the middle points a, B, x and y of the inverter arm La, the inverter arm Lb, the inverter arm Lx and the inverter arm Ly are respectively connected with the terminals of the armature winding A and the armature winding B through a fast fusing fuse Fa, a fast fusing fuse Fb, a fast fusing fuse Fx and a fast fusing fuse Fy.
Further, a bidirectional thyristor TR1 is connected between terminals of the armature winding a and the armature winding B connected to the fast fusing fuse Fa and the fast fusing fuse Fb, and a bidirectional thyristor TR2 is connected between terminals of the armature winding a and the armature winding B connected to the fast fusing fuse Fx and the fast fusing fuse Fy.
Furthermore, each inverter bridge arm is formed by connecting two power switch tubes in series, the connection point is the bridge arm midpoint, and the inverter bridge arm La is composed of a power switch tube S1 and a power switch tube S2; the inverter bridge arm Lb consists of a power switch tube S3 and a power switch tube S4; the inverter bridge arm Lx consists of a power switch tube S7 and a power switch tube S8; the fourth inverter bridge arm Ly consists of a power switch tube S5 and a power switch tube S6, and the connection points of the two sides of the power switch tube after being connected in series are respectively connected with the positive electrode and the negative electrode of the direct-current power supply.
Furthermore, the power switching tubes S1, S2, S3, S4, S5, S6, S7 and S8 all adopt IGBT or MOSFET power devices.
Further, current sensors are respectively arranged at the ports of the armature winding A and the armature winding B, and the current sensors are respectively connected with the controller; the controller is respectively connected with the control poles of the bidirectional thyristor TR1 and the bidirectional thyristor TR2 and the trigger poles of the power switching tubes of the inverter bridge arm La, the inverter bridge arm Lb, the inverter bridge arm Lx and the inverter bridge arm Ly.
A control method for a two-phase permanent magnet synchronous motor fault-tolerant system utilizes a reference rotation speed omega*Generating a reference alternating current signal i through a rotating speed regulator according to the actual rotating speed omegaq *Then the currents are respectively deviated by ed,eqObtaining a reference DC voltage V via a current regulatord *And DC AC-to-AC voltage Vq *Then obtaining the reference voltage V under the three-phase static coordinate system through coordinate transformationa *,Vb *,Vc *Using fault signals FLDetermining the fault reason, and calculating four-phase modulation signal M under different faults by using fault-tolerant PWM strategy unita,Mx,Mb,MyAnd acquiring a switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter by the modulation signal to realize fault-tolerant control of the two-phase permanent magnet synchronous motor.
Specifically, the method comprises the following steps:
s1, reference AC current signal
Figure BDA0001653319480000031
The following were used:
Figure BDA0001653319480000032
wherein, KpωIs a proportional constant coefficient, KiωIs an integral constant coefficient, eω＝ω*-ω；
S2, current deviation ed,eqReference DC voltage
Figure BDA0001653319480000033
And DC/AC shaft voltageThe following were used:
Figure BDA0001653319480000035
wherein, Kpd,KpqIs a proportional constant coefficient, Kid,KiqIs an integral constant coefficient;
s3, detecting the stator winding current i of the motor according to the current sensora,ibCalculating the current i under a two-phase rotating coordinate systemd,iqAccording to a reference voltageCalculating reference voltage under three-phase rotating coordinate system
Figure BDA0001653319480000038
Figure BDA0001653319480000039
Figure BDA00016533194800000310
Figure BDA00016533194800000311
Wherein theta is the electric angle of the position of the motor rotor;
s4 inverter fault signal FLThe following were used:
Figure BDA0001653319480000041
further, the specific steps of obtaining the modulated wave voltage according to the inverter working condition are as follows:
s5, when the inverter works normally, FLThe system works in a traditional eight-switch inverter power supply mode under the condition of 0, and reference voltage generated under a three-phase rotating coordinate system is utilizedCalculating to obtain four-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mx,Mb,MyThe following were used:
Figure BDA0001653319480000043
wherein, VdIs the DC bus voltage connected with the inverter;
s6, F when the A phase bridge arm of the inverter failsL1, the system works in a traditional six-switch inverter power supply mode and utilizes the generated reference voltage under a three-phase rotating coordinate system
Figure BDA0001653319480000044
Calculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to workx,Mb,MyThe following were used:
Figure BDA0001653319480000045
s7, F when the B-phase bridge arm of the inverter failsL2, the system works in a traditional six-switch inverter power supply mode, and reference voltage under a generated three-phase rotating coordinate system is utilizedCalculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mx,MyThe following were used:
Figure BDA0001653319480000047
s8, F when the X-phase bridge arm of the inverter failsL3, the system works in a traditional six-switch inverter power supply mode and utilizes the generated reference voltage under the three-phase rotating coordinate system
Figure BDA0001653319480000051
Calculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mb,MyThe following were used:
Figure BDA0001653319480000052
s9, F when the Y-phase bridge arm of the inverter failsLThe system operates on a conventional six-switch, 4Inverter power supply method using reference voltage generated in three-phase rotating coordinate system
Figure BDA0001653319480000053
Calculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mx,MbThe following were used:
Figure BDA0001653319480000054
in particular, the fault diagnosis unit uses the detected motor stator current ia,ibObtaining the fault reason of the system inverter by using the detected motor stator current ia,ibObtaining the current i under a two-phase rotating coordinate system through Park coordinate transformationd,iq。
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a two-phase permanent magnet synchronous motor fault-tolerant system.A four inverter bridge arms are connected in parallel and then are connected with a public direct current power supply; one bidirectional thyristor is connected with one port of an armature winding A and one port of an armature winding B of the two-phase permanent magnet synchronous motor, the other bidirectional thyristor is connected with the other port of the armature winding A and the other port of the armature winding B, the two ports of the armature winding A are respectively connected with the middle points of the bridge arms of the two inverters through fast fusing fuses, the two ports of the armature winding B are respectively connected with the middle points of the bridge arms of the other two inverters through the fast fusing fuses, the structure is simple, the use is convenient, and the topological structure is only added with 4 fusing fuses and two bidirectional thyristors on the basis of the traditional eight-switch inverter. The fault reason of the inverter can be determined by detecting the armature winding current, and the bidirectional thyristor is controlled to carry out topology reconstruction according to the fault-tolerant strategy, so that the sustainable operation of the system is effectively realized under the condition that the inverter has a switching fault.
Further, the fast fusing fuses are connected to a midpoint of a bridge arm of the inverter switch and one terminal of the armature winding, respectively. By the aid of the method, after any one bridge arm fails, the current of the phase winding is increased sharply due to the failure, and when the current exceeds the rated current value of the connected fuse, the fuse is fused. The fault bridge arm is automatically removed from the control system, so that the system is ensured to rapidly remove a fault source in the system, and a foundation is laid for effective execution of subsequent fault-tolerant control.
Further, after the triac is enabled by the trigger electrode, the current passing through the triac can have a bidirectional property, i.e., both positive current and negative current can smoothly pass through the triac. After the bidirectional thyristor is adopted, the trigger electrode is controlled to be enabled through a fault-tolerant strategy, so that the fault-tolerant inverter disclosed by the invention can realize rapid structure reconstruction and realize the basic function of fault-tolerant operation.
Furthermore, in any bridge arm of the fault-tolerant inverter, two sides of the two power switches connected in series are respectively connected with the positive electrode and the negative electrode of the direct-current power supply, so that a signal of direct-current voltage can output a square-wave voltage signal through the midpoint of the bridge arm through different conduction states of the two power switches, and the square-wave voltage signal can effectively control the winding voltage connected with the motor. The frequency and phase of the connected armature winding can be adjusted by the connection mode of the two power switches and the different conduction states of the two power switches.
Furthermore, the current sensor can feed back the winding current of the motor, and a closed-loop negative feedback control mode is realized through the controller, so that the motor can be effectively ensured to be in an effective control mode at all times and reach an expected control index.
The invention also discloses a control method of the two-phase permanent magnet synchronous motor fault-tolerant system, which utilizes a fault-tolerant PWM strategy unit to calculate four-phase modulation signals M under different faultsa,Mx,Mb,MyThe modulation signal can obtain the switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter so as to realize the fault-tolerant control of the two-phase permanent magnet synchronous motor, and the hardware reconstruction mode of switching the conventional eight-switch inverter into the six-switch inverter in the system can be quickly realizedThe continuous working capacity.
Furthermore, the system respectively adopts corresponding PWM (pulse width modulation) technology according to different faults, so that the control performance and the response speed of the system can be effectively improved on the basis of completing fault-tolerant control.
Furthermore, the possible faults of the phase winding can be easily judged by detecting the current of the stator winding of the motor, for example, the current exceeds a threshold value set by a system, and the phase winding can be in short circuit fault; if the phase current is zero for a certain period of time, the phase winding may fail open circuit. The specific fault diagnosis method can be easily found in many documents, and the current under a two-phase rotating coordinate system can be obtained by using the stator current through Park coordinate transformation, so that the complicated alternating current motor control can be converted into a simple direct current motor control mode. In the control process, an alternating current signal is converted into a direct current signal, and the control of the alternating current motor can be completed by using a simple direct current motor control method.
In summary, the fault tolerant system and the control technique thereof of the present invention have strong versatility, and they can also be applied to various types of two-phase motors, such as two-phase permanent magnet synchronous motors, two-phase brushless dc motors, two-phase switched reluctance motors, two-phase stepping motors, and the like.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a block diagram of a four-phase fault-tolerant inverter for a two-phase PMSM according to the present invention;
FIG. 2 is a space voltage vector distribution diagram of the fault-tolerant system of the two-phase permanent magnet synchronous motor in the healthy mode according to the present invention;
FIG. 3 is a space voltage vector distribution diagram of the fault tolerant system of the two-phase PMSM in the failure mode according to the present invention;
FIG. 4 is a structural diagram of a fault-tolerant control system of a two-phase permanent magnet synchronous motor according to the present invention;
fig. 5 is a flow chart of the fault-tolerant control method of the two-phase permanent magnet synchronous motor according to the invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention provides a two-phase permanent magnet synchronous motor fault-tolerant system which comprises four inverter bridge arms, four fast fusing fuses and two bidirectional thyristors, wherein the four inverter bridge arms are connected with the four fast fusing fuses; four inverter bridge arms are connected in parallel and then connected with a common direct-current power supply; two ends of one bidirectional thyristor are respectively connected with one port of the armature winding A and one port of the armature winding B, two ends of the other bidirectional thyristor are respectively connected with the other port of the armature winding A and the other port of the armature winding B, the two ports of the armature winding A are respectively connected with the middle points of the bridge arms of the two inverters through fast fusing fuses, and the two ports of the armature winding B are respectively connected with the middle points of the bridge arms of the other two inverters through fast fusing fuses. When any one bridge arm of the system inverter has a fault, the hardware reconfiguration mode that the conventional eight-switch inverter in the system is switched into the six-switch inverter can be quickly realized by using the proposed fault-tolerant control method.
Referring to fig. 1, the fault-tolerant system of the two-phase permanent magnet synchronous motor includes an inverter bridge arm La, an inverter bridge arm Lb, an inverter bridge arm Lx and an inverter bridge arm Ly, which are connected to four winding terminals of an armature winding a and an armature winding B of the two-phase permanent magnet synchronous motor respectively through a fast fusing fuse Fa, a fast fusing fuse Fb, a fast fusing fuse Fx and a fast fusing fuse Fy;
the neutral points a, B, x and y of the inverter bridge arm La, the inverter bridge arm Lb, the inverter bridge arm Lx and the inverter bridge arm Ly are respectively connected to four terminals of an armature winding A and an armature winding B of the two-phase permanent magnet synchronous motor; each inverter bridge arm is formed by connecting two power switch tubes in series, the connecting point is the middle point of the bridge arm, and the two sides of the power switch after being connected in series are respectively connected with the positive electrode and the negative electrode of the direct-current power supply;
on four terminals of armature winding A and armature winding B, with fast fusing fuse Fa, two winding terminal intermediate connections that fast fusing fuse Fb connects have bidirectional thyristor TR1, with fast fusing fuse Fx, two winding terminal intermediate connections that fast fusing fuse Fy connects have bidirectional thyristor TR 2.
The bridge arm La of the inverter consists of a power switch tube S1 and a power switch tube S2; the inverter bridge arm Lb consists of a power switch tube S3 and a power switch tube S4; the inverter bridge arm Lx consists of a power switch tube S7 and a power switch tube S8; the fourth inverter arm Ly consists of a power switch tube S5 and a power switch tube S6, and the power switch tubes S1, S2, S3, S4, S5, S6, S7 and S8 all adopt IGBT or MOSFET power devices.
Four current sensors are arranged at two ports of the armature winding A and the armature winding B and are respectively connected with the controller; meanwhile, the controller is respectively connected with the control poles of the bidirectional thyristor TR1 and the bidirectional thyristor TR2 and the trigger poles of the eight power switches of the inverter bridge arm La, the inverter bridge arm Lb, the inverter bridge arm Lx and the inverter bridge arm Ly.
As shown in fig. 1 and table 1, the on states of 8 power switching tubes S1, S2, S3, S4, S5, S6, S7, and S8 of the fault-tolerant system under healthy operating conditions can be combined through different switching states to obtain 16 groups of space voltage vectors ViFour groups of which are zero voltage vectors V00The remaining 12 sets are non-zero voltage vectors. The distribution of the vectors in the voltage space is shown in fig. 2.
TABLE 1 space Voltage vector of Normal inverter output
In Table 1, ViRepresenting the space voltage vector, i being the space phase of the vector. The space voltage vector binary expression is (S)aSxSbSy) Wherein the switch state signal Sa、Sx、SbAnd SyRespectively represent trigger signals of the first, seventh, third and fifth power switch tubes S1, S7, S3 and S5. The signals are symmetrical with the starting signals of the second, the eighth, the fourth and the sixth power switch tubes S2, S8, S4 and S6 on the same bridge arm. VaAnd VbRespectively representing the phase voltages of the first and second armature windings a, B. Vs represents the magnitude of the output voltage vector.
As shown in fig. 1 and table 2, in any phase-leg fault state of the fault-tolerant system, the inverter of the fault-tolerant system is reconstructed into a six-switch inverter topology. Through different switch state combinations, the inverter outputs a space voltage vector ViThere are 7 groups, 1 of which is a zero voltage vector V00The remaining 6 sets are non-zero voltage vectors. The spatial voltage vector distribution in the bridge arm failure mode is shown in fig. 3.
TABLE 2 reconstruction of space Voltage vectors output by inverter after bridge arm failure
Figure BDA0001653319480000101
In table 2, F in the switch state signals represents an arbitrary switch state signal, and F is 0 or 1.
According to the above content, the working principle of the system of the invention is as follows:
when the fault-tolerant system is in a normal working state, the fault-tolerant system operates according to a common eight-switch two-phase full-bridge inverter working mode; the controller is connected with the two current sensors which respectively detect the currents of the four ports of the two armature windings, and the controller is also connected with the two bidirectional thyristor trigger poles and the control poles of the eight power switch tubes of the inverter; when a certain bridge arm has a fault, such as a short-circuit fault, the fuse connected with the bridge arm is blown out due to excessive current.
And meanwhile, the current sensor detects abnormal current at the port of the armature winding connected with the failed bridge arm and transmits the abnormal current to the controller, and the controller stops control pole signals of two power switching tubes of the failed bridge arm after fault reason fault judgment is carried out according to the signals and simultaneously sends out a conduction signal to a control pole of a bidirectional thyristor connected with the failed bridge arm.
Therefore, the fault bridge arm stops working and is disconnected with the armature winding port connected with the fault bridge arm, the armature winding port is connected to the middle point of the adjacent bridge arm through the bidirectional thyristor, the proposed fault-tolerant system topological structure generates topological reconstruction, and the system can continue working according to the new inverter topological structure.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 4, the method for controlling a fault-tolerant system of a two-phase permanent magnet synchronous motor according to the present invention mainly includes a rotation speed regulator, two current regulators, a Park coordinate transformation, an IPark coordinate transformation, a fault-tolerant PWM strategy unit, a fault diagnosis unit, a four-phase voltage source type fault-tolerant inverter, and a two-phase permanent magnet synchronous motor.
In the system control, a reference quadrature-axis current signal i is generated by a speed regulator using a reference speed and a calculated speedq *The AC-axis current signal and a reference DC current
Figure BDA0001653319480000121
Calculating the direct current idAnd quadrature axis current iqCalculating to obtain a current deviation ed,eqA reference DC voltage can be obtained through the two current regulators
Figure BDA0001653319480000122
And DC/AC shaft voltage
Figure BDA0001653319480000123
The voltage under a two-phase static coordinate system can be obtained by carrying out IPark coordinate transformation on the three-phase static coordinate system
Figure BDA0001653319480000124
Voltage of
Figure BDA0001653319480000125
And obtaining reference voltage under a three-phase static coordinate system through Iclark coordinate transformation
Figure BDA0001653319480000126
Using fault signals FLDetermining the fault reason, and calculating four-phase modulation signals M under different faults according to a fault-tolerant PWM strategy unita,Mx,Mb,My. The modulation signal can obtain the switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter, so that the fault-tolerant control of the two-phase permanent magnet synchronous motor is realized. Wherein the detected motor stator current i is utilizeda,ibThe fault reason of the system inverter can be calculated and judged through the fault diagnosis unit. At the same time, utilize ia,ibTwo-phase rotation can be obtained through Park coordinate transformationCurrent i in the coordinate systemd,iq。
Referring to fig. 5, the method for controlling fault tolerance of a two-phase permanent magnet synchronous motor includes the following steps:
the method comprises the following steps: the speed error e is obtained by subtracting the actual rotation speed omega from the given rotation speed omega of the motorωVelocity error eωOutputting given current after passing through a rotating speed PI regulator
Figure BDA0001653319480000127
*
eω＝ω-ω
Figure BDA0001653319480000128
Wherein, KpωIs a proportional constant coefficient, KiωIs an integral constant coefficient.
Step two, setting the given current
Figure BDA0001653319480000129
Input and detection current id,iqSeparately calculating the current error ed,eqOutputting reference voltage after passing through two current PI regulators
Figure BDA00016533194800001210
Figure BDA00016533194800001211
Figure BDA00016533194800001212
Wherein, Kpd,KpqIs a proportional constant coefficient, Kid,KiqIs an integral constant coefficient.
Step three, detecting the stator winding current i of the motor for the current sensora,ibCalculating the current i under a two-phase rotating coordinate systemd,iqFor the calculated reference voltage
Figure BDA0001653319480000131
Calculating reference voltage under three-phase rotating coordinate system
Figure BDA0001653319480000132
Figure BDA0001653319480000133
Figure BDA0001653319480000134
Figure BDA0001653319480000135
And theta is the electric angle of the position of the motor rotor.
Step four, detecting the currents of four terminals of the A-phase stator winding and the B-phase stator winding of the motor by using four current sensors, and obtaining an inverter fault signal F through simple calculation and judgmentL。
Figure BDA0001653319480000136
Step five, when the inverter works normally, FLAt 0, the system operates in the conventional eight-switch inverter supply mode. At this time, the generated reference voltage in the three-phase rotating coordinate system is used
Figure BDA0001653319480000137
The four-phase modulation wave voltage M required by generating PWM waveforms for triggering the switches of the inverter to work can be calculateda,Mx,Mb,My；
Figure BDA0001653319480000138
Wherein, VdIs connected toAnd the direct current bus voltage of the inverter is connected.
Step six, when the A-phase bridge arm of the inverter fails, FL1, the system operates in a conventional six-switch inverter supply mode. At this time, the generated reference voltage in the three-phase rotating coordinate system is used
Figure BDA0001653319480000141
The three-phase modulation wave voltage M required by generating PWM wave for triggering each switch of the inverter to work can be calculatedx,Mb,My；
Figure BDA0001653319480000142
Step seven, when the B-phase bridge arm of the inverter fails, FLThe system operates in a conventional six-switch inverter supply mode 2. At this time, the generated reference voltage in the three-phase rotating coordinate system is used
Figure BDA0001653319480000143
The three-phase modulation wave voltage M required by generating PWM wave for triggering each switch of the inverter to work can be calculateda,Mx,My；
Figure BDA0001653319480000144
Step eight, when the X-phase bridge arm of the inverter fails, FLThe system operates in a conventional six-switch inverter supply mode, 3. At this time, the generated reference voltage in the three-phase rotating coordinate system is used
Figure BDA0001653319480000145
The three-phase modulation wave voltage M required by generating PWM wave for triggering each switch of the inverter to work can be calculateda,Mb,My；
Figure BDA0001653319480000146
Step nine, when the Y-phase bridge arm of the inverter fails, FLThe system operates in the conventional six-switch inverter supply mode, 4. At this time, the generated reference voltage in the three-phase rotating coordinate system is used
Figure BDA0001653319480000147
The three-phase modulation wave voltage M required by generating PWM wave for triggering each switch of the inverter to work can be calculateda,Mx,Mb；
Figure BDA0001653319480000148
The PWM wave can be generated according to the modulation wave voltage obtained in the steps, and the PWM wave can effectively drive the motor to ensure the sustainable working capability of the system of the inverter under different fault conditions.
The method has the advantages of simple structure, strong robustness and the like, and can effectively improve the control precision of the system, accelerate the response speed, reduce the complexity of fault-tolerant control of the traditional motor system, realize high-precision and fast-response control of the two-phase motor, and be suitable for various two-phase motor systems.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (2)

1. A control method of a two-phase permanent magnet synchronous motor fault-tolerant system is characterized in that the two-phase permanent magnet synchronous motor fault-tolerant system comprises a four-phase fault-tolerant inverter, a fast fuse and a bidirectional thyristor; four inverter bridge arms of the four-phase fault-tolerant inverter are connected in parallel and then are connected with a public direct-current power supply; in the two-phase permanent magnet synchronous motor, one port of an armature winding A and one port of an armature winding B are respectively connected with two ends of a bidirectional thyristor, the other port of the armature winding A and the other port of the armature winding B are respectively connected with two ends of another bidirectional thyristor, the two ports of the armature winding A are respectively connected with the middle points of two inverter bridge arms through fast fusing fuses, and the two ports of the armature winding B are respectively connected with the middle points of the other two inverter bridge arms through fast fusing fuses;
the four inverter bridge arms comprise an inverter bridge arm La, an inverter bridge arm Lb, an inverter bridge arm Lx and an inverter bridge arm Ly; the neutral points a, B, x and y of the inverter bridge arm La, the inverter bridge arm Lb, the inverter bridge arm Lx and the inverter bridge arm Ly are respectively connected with terminals of an armature winding A and an armature winding B through a fast fusing fuse Fa and a fast fusing fuse Fb, the fast fusing fuse Fx and the fast fusing fuse Fy, current sensors are respectively arranged at the ports of the armature winding A and the armature winding B, and the current sensors are respectively connected with a controller; the controller is respectively connected with the control electrodes of the bidirectional thyristor TR1 and the bidirectional thyristor TR2 and the trigger electrodes of the power switching tubes of the inverter bridge arm La, the inverter bridge arm Lb, the inverter bridge arm Lx and the inverter bridge arm Ly;
a bidirectional thyristor TR1 is connected between the terminals of the armature winding A and the armature winding B which are connected with the fast fusing fuse Fa and the fast fusing fuse Fb, and a bidirectional thyristor TR2 is connected between the terminals of the armature winding A and the armature winding B which are connected with the fast fusing fuse Fx and the fast fusing fuse Fy;
each inverter bridge arm is formed by connecting two power switch tubes in series, the connection point is the bridge arm midpoint, and the inverter bridge arm La is composed of a power switch tube S1 and a power switch tube S2; the inverter bridge arm Lb consists of a power switch tube S3 and a power switch tube S4; the inverter bridge arm Lx consists of a power switch tube S7 and a power switch tube S8; the fourth inverter bridge arm Ly consists of a power switch tube S5 and a power switch tube S6, the connection points of two sides of the power switch tube after being connected in series are respectively connected with the anode and the cathode of a direct current power supply, the power switch tubes S1, S2, S3, S4, S5, S6, S7 and S8 all adopt IGBT or MOSFET power devices, and a reference alternating current signal is generated by a rotating speed regulator by utilizing the reference rotating speed and the calculated rotating speed
Figure FDA0002326508510000011
Then the calculated current deviation ed,eqRespectively obtain reference DC voltage via current regulatorAnd DC/AC shaft voltage
Figure FDA0002326508510000013
And then obtaining reference voltage under a three-phase static coordinate system through IPark coordinate transformation and Iclark coordinate transformation
Figure FDA0002326508510000021
Using fault signals FLDetermining the fault reason, and calculating four-phase modulation signal M under different faults by using fault-tolerant PWM strategy unita,Mx,Mb,MyThe method comprises the following steps of obtaining a switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter by a modulation signal to realize fault-tolerant control of the two-phase permanent magnet synchronous motor, wherein the method comprises the following specific steps:
s1, subtracting the given rotation speed omega of the motor from the actual rotation speed omega to obtain the speed error eωVelocity error eωOutputting given current after passing through a rotating speed PI regulator
Figure FDA0002326508510000022
eω＝ω*-ω
Figure FDA0002326508510000023
Wherein, KpωIs a proportional constant coefficient, KiωIs an integral constant coefficient;
s2, reference direct current signal and reference alternating current signal
Figure FDA0002326508510000024
And a direct current, an alternating current id,iqCalculating the current deviation ed,eqOutputting reference DC voltage after passing through two current PI regulatorsAnd DC/AC shaft voltage
Figure FDA0002326508510000026
Figure FDA0002326508510000027
Figure FDA0002326508510000028
Wherein, Kpd,KpqIs a proportional constant coefficient, Kid,KiqIs an integral constant coefficient;
s3, detecting the stator winding current i of the motor according to the current sensora,ibCalculating the current i under a two-phase rotating coordinate systemd,iqFor the calculated reference voltage
Figure FDA0002326508510000029
Calculating reference voltage under three-phase rotating coordinate system
Figure FDA00023265085100000212
Figure FDA0002326508510000031
Wherein theta is the electric angle of the position of the motor rotor;
s4, detecting the current of four terminals of A-phase and B-phase stator windings of the motor by four current sensors to obtain an inverter fault signal FLThen, PWM wave is generated according to the modulation wave voltage obtained by the working condition of the inverter, the driving motor ensures the sustainable working capability of the system of the inverter under different fault conditions, and an inverter fault signal FLThe following were used:
Figure FDA0002326508510000032
the specific steps of obtaining the modulated wave voltage according to the working condition of the inverter are as follows:
s5, when the inverter works normally, FLThe system works in a traditional eight-switch inverter power supply mode under the condition of 0, and reference voltage generated under a three-phase rotating coordinate system is utilized
Figure FDA0002326508510000033
Calculating to obtain four-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mx,Mb,MyThe following were used:
Figure FDA0002326508510000034
wherein, VdIs the DC bus voltage connected with the inverter;
s6, F when the A phase bridge arm of the inverter failsL1, the system works in a traditional six-switch inverter power supply mode and utilizes the generated reference voltage under a three-phase rotating coordinate system
Figure FDA0002326508510000035
Calculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to workx,Mb,MyThe following were used:
Figure FDA0002326508510000041
s7, F when the B-phase bridge arm of the inverter failsL2, the system works in a traditional six-switch inverter power supply mode, and reference voltage under a generated three-phase rotating coordinate system is utilized
Figure FDA0002326508510000042
Calculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mx,MyThe following were used:
Figure FDA0002326508510000043
s8, F when the X-phase bridge arm of the inverter failsL3, the system works in a traditional six-switch inverter power supply mode and utilizes the generated reference voltage under the three-phase rotating coordinate system
Figure FDA0002326508510000044
Calculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mb,MyThe following were used:
Figure FDA0002326508510000045
s9, F when the Y-phase bridge arm of the inverter failsL4, the system works in a traditional six-switch inverter power supply mode and utilizes the generated reference voltage under a three-phase rotating coordinate system
Figure FDA0002326508510000046
Calculating to obtain three-phase modulation wave voltage M required for generating PWM waveform for triggering each switch of the inverter to worka,Mx,MbThe following were used:
2. the method as claimed in claim 1, wherein the detected motor stator current i is used to control the fault tolerant system of the two-phase PMSMa,ibCalculating and judging the fault cause of the system inverter by a fault diagnosis unit, and utilizing the detected motor stator current ia,ibObtaining the current i under a two-phase rotating coordinate system through Park coordinate transformationd,iq。
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