CN109245660A - The fault-tolerant drive system of four phase electric excitation biconvex electrode electric machines of one kind and its Dynamic Model method - Google Patents
The fault-tolerant drive system of four phase electric excitation biconvex electrode electric machines of one kind and its Dynamic Model method Download PDFInfo
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- CN109245660A CN109245660A CN201810914728.3A CN201810914728A CN109245660A CN 109245660 A CN109245660 A CN 109245660A CN 201810914728 A CN201810914728 A CN 201810914728A CN 109245660 A CN109245660 A CN 109245660A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0243—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a broken phase
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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
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of fault-tolerant drive system of four phase electric excitation biconvex electrode electric machines and its Dynamic Model methods, the system is made of two main bodys of four phase electric excitation biconvex electrode electric machines and fault-tolerant converter, fault-tolerant converter is that there are two four phase full-bridge converters of bidirectional thyristor for band, and converter has split capacitor；This method includes listing the voltage equation of four phase DSEM, mono- phase winding；The voltage equation of channel U and channel V when listing system operation；Parameter in voltage equation is replaced using equivalent parameters, and simplifies voltage equation；According to motor torque equation and the equation of motion, one and current related equation are obtained；By voltage equation in conjunction with current related equation, system model is obtained.
Description
Technical field
The present invention relates to motor driven systems fault-tolerant control system and methods, more particularly to a kind of four phase electric excitation biconvex electrodes
Motor fault-tolerant drive system and its Dynamic Model method.
Background technique
In the occasion high to reliability requirement such as aerospace, it is desirable that electric system can continue steady after certain failure occurs
Fixed operation, the research of Fault Tolerance Control Technology are of great significance.Electric excitation biconvex electrode electric machine structure is simple, control is flexible, reliable
Property it is high, it is easy to accomplish Regulation Control when weak magnetic control when electric operation and generator operation, in aviation starting/generating system
It has broad application prospects.DSEM rotor is salient-pole structure, does not have winding or permanent magnet, coiling in stator poles on rotor
Concentratred winding, mutually indepedent on circuit and magnetic circuit between each phase, when a phase fault, remaining mutually can continue to work, have
Preferable error resilience performance.
Compared with conventional three-phase motor, polyphase machine have output torque pulse small, the good feature of error resilience performance, therefore
It constructs and has more advantage in error-tolerance type drive system, the application in starting-generating system of multiphase double salient-pole electric machine has obtained extensively
Concern, in terms of body construction, authorized Chinese invention patent 201410007947.5: a kind of five phase double salient-pole electric machines,
It discloses that a kind of each emf phase amplitude is equal, is able to achieve the five phase double-salient-pole generator of error-tolerance type for flowing output；It has disclosed
Patent of invention 201710165533.9: a kind of four phase doubly salient permanent magnet motors, disclosing a kind of has higher efficiency and reliable
Property the magnetic double salient-pole electric machine of small four phases of microseismic noise；In terms of faults-tolerant control, authorized Chinese invention patent
201510012802.9: the fault-tolerant electricity generation system of electric excitation biconvex electrode electric machine excitation fault and its control method, it is double using electrical excitation
The three-phase four-arm converter of salient-pole machine can make motor continue to generate electricity in the case where excitation fault, authorized China
Patent of invention 201510127335.4: a kind of four single-phase open circuit compensating control methods of phase electric excitation double-salient pole fault-tolerance motor provide
A kind of simple and easy fault-tolerant control algorithm, in solution procedure without to motor inherent parameters carry out offline search or
Line identification, is conducive to the realization of digitial controller.
In the existing invention about the starting-generating system for using double salient-pole electric machine building high reliability, in motor body
Topological structure and control circuit topology have certain achievement, but also less for the model foundation of tolerant system, the present invention
A kind of four phase electric excitation biconvex electrode electric machine error-tolerance type drive systems are based primarily upon, normal operation is calculated and single-phase open-circuit fault is held
Voltage and the equation of motion when Wrong Shipment row, give the dynamic structure model of system on this basis.
Summary of the invention
Goal of the invention: to solve the deficiencies in the prior art, a kind of fault-tolerant driving system of four phase electric excitation biconvex electrode electric machines is proposed
System and its Dynamic Model method.
Technical solution: for achieving the above object, the invention adopts the following technical scheme:
A kind of fault-tolerant drive system Dynamic Model method of four phase electric excitation biconvex electrode electric machines, this method includes following step
It is rapid:
(1) voltage equation of four phase DSEM, mono- phase winding is listed；
(2) voltage equation of channel U and channel V when listing system operation；
(3) parameter in voltage equation is replaced using equivalent parameters, and simplifies voltage equation；
(4) according to motor torque equation and the equation of motion, one and current related equation are obtained；
(5) voltage equation is obtained into system model in conjunction with current related equation.
Further, Dynamic Model method when motor operates normally are as follows:
(1) the p phase voltage equation of DSEM are as follows:
Wherein, Up, ip, Rp, LpThe phase voltage of p (p=a, b, c, d) phase is respectively indicated, phase current, phase resistance, phase winding is certainly
Sense；eprAnd epePhase magnetic resistance back-emf and excitation back-emf are respectively indicated, andWherein, Lpf, ifPoint
It Biao Shi not the phase winding of p phase and the mutual inductance of excitation winding and exciting current；
(2) in the dynamic process after being switched to state two by state one, the voltage equation in the channel U are as follows:
Wherein, Udc、Ua、Uc、ia、Ra、Laf、LcfRespectively indicate the DC bus-bar voltage of converter, the phase electricity of A phase winding
Pressure, C phase winding phase voltage, A phase winding electric current, A phase winding resistance, A phase winding and excitation winding mutual inductance, C phase winding and excitation
Winding mutual inductance, and enable Lac=La+Lc, La、LcRespectively indicate A phase winding self-induction, C phase winding self-induction, Section 3 in institute's above formula
iadLac/ dt=0, according to the changing rule of four phase electric excitation biconvex electrode electric machine inductance, LacFor constant；And four phase electrical excitations are double
Salient-pole machine phase winding self-induction is divided with the change rate k and phase winding and excitation winding mutual inductance of position angle with the change rate g of position angle
It is notLpmax、Lpmin、Lpfmax、LpfminRespectively indicate p (p=a, b, c, d) phase
Phase winding self-induction maximum value, phase winding self-induction minimum value, phase winding and excitation winding mutual inductance maximum value, phase winding and excitation winding
Mutual inductance minimum value；△ θ=θoff+-θon+=θoff--θon-, θoff+、θon+Electricity respectively at the beginning and end of inductance first transition
Machine rotor position angle, θoff-、θon-Motor rotor position angle respectively at the beginning and end of inductance last transition, in above formula
Four:
Wherein, ω indicates the mechanical angular speed of motor；
In dynamic process after being switched to state four by state three, the voltage equation in the channel U are as follows:
Wherein, icIndicate the electric current of C phase winding；
(3) i is useduInstead of the i in the channel U voltage equation in step (2)aAnd ic, obtainIn formula, ω=d θ/dt is the mechanical angular speed of motor, enables Rl=2Ra, Ll=Lac,Voltage equation is further simplified to obtain:
Dynamic electric voltage equation when channel V is operated normally is also identical as this formula；
(4) output torque of channel U are as follows:
Result is write into Tu=2Cmiu, wherein Cm=ifG is torque coefficient, and the output torque of channel V is Tv=2Cmiv, whole
The average output torque T=2C of bodym(iu+iv), it calculates for convenience, load torque is denoted as TL=4CmiL；Ignore friction, transports
Dynamic equationIt is equivalent are as follows:
(5) it combines in step (3)
In step (4)
The system dynamic structure model operated normally.
Further, the modeling process after single-phase open-circuit fault when fault-tolerant operation are as follows:
If C phase open-circuit fault, fault-tolerant operation are as follows:
(1) the p phase voltage equation of DSEM are as follows:
Wherein, Up, ip, Rp, LpThe phase voltage of p (p=a, b, c, d) phase is respectively indicated, phase current, phase resistance, phase winding is certainly
Sense；eprAnd epePhase magnetic resistance back-emf and excitation back-emf are respectively indicated, andWherein, Lpf, ifPoint
It Biao Shi not the phase winding of p phase and the mutual inductance of excitation winding and exciting current；
(2) when C phase open-circuit fault fault-tolerant operation, A phase winding is connected to the midpoint of split capacitor, is switched to shape by state one
In dynamic process after state two, the voltage equation of available channel U:
Wherein, Udc, Ua, ia, Ra, La, if, LafRespectively indicate the DC bus-bar voltage of converter, the phase voltage of A phase winding,
The phase current of A phase winding, A phase winding resistance, A phase winding self-induction, exciting current, A phase winding and excitation winding mutual inductance；
In dynamic process after being switched to state four by state three, the voltage equation of channel U is obtained are as follows:
It is now in state four, iaIt is negative value, dLaf/ dt=-g, Section 4 writing in above formula:
(3) unified i is useduIndicate the i of first formula in step (2)a, indicate-the i of second formulaa, i at this timeu
Value be positive always, channel U voltage equation obtains:
Wherein, Rl=2Ra, Ll=Lac,2ia(dLa/ dt) writing
The voltage equation of channel V with it is normal when it is identical, are as follows:
(4) ignore reluctance torque part, the output torque of channel U is Tu1=Cmiu1, the output torque of channel V is Tv1=
2Cmiv1, whole average output torque T1=Cm(iu1+2iv1), load torque TL=4CmiL；The equation of motion is equivalent are as follows:
Wherein, iu1, iv1, iLChannel U electric current, channel V electric current and every phase load electric current when respectively indicating fault-tolerant operation；J table
Show rotary inertia, CmIndicate that torque coefficient, ω indicate the mechanical angular speed of motor, epeIndicate excitation potential；
(5) it combines in step (3)
In step (4)
Obtain the system dynamic structure model of fault-tolerant operation after C phase open-circuit fault.
Further, the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine include four phase electric excitation biconvex electrode electric machines and appearance
Wrong converter, fault-tolerant converter be band there are two bidirectional thyristor four phase full-bridge converters, and converter have split capacitor C1,
C2, the midpoint of split capacitor are O；The bridge arm midpoint of four phase full-bridge converters is respectively a, b, c, d, A, B, C, D phase electricity of motor
Pivot winding inputs bridge arm midpoint a, b, c, the d for terminating to four phase full-bridge converters；A, C phase winding output end of motor, which are connected, to be become
Point M, A, C phase become channel U at this time；B, D phase winding output end, which is connected, obtains point N, and A, C phase become channel V at this time；M passes through double
Split capacitor midpoint O, N are connected to thyristor TR1, and split capacitor midpoint O is connected to by bidirectional thyristor TR2；When normal operation,
TR1 and TR2 are turned off；After X phase open-circuit fault occurs, by the bidirectional thyristor in channel where opening X phase, by the channel
Residue is mutually connected to split capacitor midpoint O, two power tubes of bridge arm, split capacitor C1, C2 and the phase where one phase of residue of the channel
Winding constitutes half-bridge converter, it is another do not have faulty channel with it is normal when it is identical.
Further, fault-tolerant operation includes: after single-phase open-circuit fault
If after open-circuit fault occurs for one of A or C phase, triggering TR1 normal open, split capacitor midpoint is normally mutually connected to by remaining
O；Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR2 keeps closing
Disconnected, channel V is identical as when operating normally；
If after open-circuit fault occurs for one of B or D phase, triggering TR2 normal open, split capacitor midpoint is normally mutually connected to by remaining
O；Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR1 keeps closing
Disconnected, channel U is identical as when operating normally.
Further, the control strategy of system are as follows:
Using four phases, four state control policy, that is, when operating normally:
State one: power tube T5, T2, T7, T4 conducting, power tube T1, T6, T3, T8 shutdown, positive and negative electric current is A-, B-, C
+, D+；
State two: power tube T1, T6, T7, T4 conducting, power tube T5, T2, T3, T8 shutdown, electric current it is positive and negative be A+, B-,
C-, D+；
State three: power tube T1, T6, T3, T8 conducting, power tube T5, T2, T7, T4 shutdown, electric current it is positive and negative be A+, B+,
C-, D-；
State four: power tube T5, T2, T3, T8 conducting, power tube T1, T6, T7, T4 shutdown, positive and negative electric current is A-, B+, C
+, D-；
If C phase open-circuit fault, when fault-tolerant operation:
State one: power tube T2, T7, T4 conducting, power tube T1, T3, T8 shutdown, positive and negative electric current is A-, B-, D+；
State two: power tube T1, T7, T4 conducting, power tube T2, T3, T8 shutdown, positive and negative electric current is A+, B-, D+；
State three: power tube T1, T3, T8 conducting, power tube T2, T7, T4 shutdown, positive and negative electric current is A+, B+, D-；
State four: power tube T2, T3, T8 conducting, power tube T1, T7, T4 shutdown, positive and negative electric current is A-, B+, D-.
In another embodiment of the present invention, a kind of four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine, including four phase electricity are encouraged
Magnetic double salient-pole electric machine and fault-tolerant converter, fault-tolerant converter are that there are two four phase full-bridge converters of bidirectional thyristor for band, and become
Parallel operation has split capacitor C1, C2, and the midpoint of split capacitor is O；The bridge arm midpoint of four phase full-bridge converters is respectively a, b, c, d,
A, B, C, D phase armature winding input of motor terminate to bridge arm midpoint a, b, c, d of four phase full-bridge converters；A, C phase of motor
Winding output end, which is connected, becomes point M, and A, C phase become channel U at this time；B, D phase winding output end, which is connected, obtains point N, at this time A, C phase
As channel V；M is connected to split capacitor midpoint O, N by bidirectional thyristor TR1 and is connected to split capacitor by bidirectional thyristor TR2
Midpoint O；When normal operation, TR1 and TR2 are turned off；After X phase open-circuit fault occurs, pass through the two-way of channel where opening X phase
The residue in the channel is mutually connected to split capacitor midpoint O by thyristor, and the channel one phase of residue place two power tubes of bridge arm divide
Split capacitor C1, C2 and the phase winding constitute half-bridge converter, it is another do not have faulty channel with it is normal when it is identical.
Preferably, fault-tolerant operation includes: after single-phase open-circuit fault
If after open-circuit fault occurs for one of A or C phase, triggering TR1 normal open, split capacitor midpoint is normally mutually connected to by remaining
O；Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR2 keeps closing
Disconnected, channel V is identical as when operating normally；
If after open-circuit fault occurs for one of B or D phase, triggering TR2 normal open, split capacitor midpoint is normally mutually connected to by remaining
O；Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR1 keeps closing
Disconnected, channel U is identical as when operating normally.
Preferably, the control strategy of system are as follows:
Using four phases, four state control policy, that is, when operating normally:
State one: power tube T5, T2, T7, T4 conducting, power tube T1, T6, T3, T8 shutdown, positive and negative electric current is A-, B-, C
+, D+；
State two: power tube T1, T6, T7, T4 conducting, power tube T5, T2, T3, T8 shutdown, electric current it is positive and negative be A+, B-,
C-, D+；
State three: power tube T1, T6, T3, T8 conducting, power tube T5, T2, T7, T4 shutdown, electric current it is positive and negative be A+, B+,
C-, D-；
State four: power tube T5, T2, T3, T8 conducting, power tube T1, T6, T7, T4 shutdown, positive and negative electric current is A-, B+, C
+, D-；
If C phase open-circuit fault, when fault-tolerant operation:
State one: power tube T2, T7, T4 conducting, power tube T1, T3, T8 shutdown, positive and negative electric current is A-, B-, D+；
State two: power tube T1, T7, T4 conducting, power tube T2, T3, T8 shutdown, positive and negative electric current is A+, B-, D+；
State three: power tube T1, T3, T8 conducting, power tube T2, T7, T4 shutdown, positive and negative electric current is A+, B+, D-；
State four: power tube T2, T3, T8 conducting, power tube T1, T7, T4 shutdown, positive and negative electric current is A-, B+, D-.
In another embodiment of the present invention, a kind of four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine, the system experimentation is put down
Platform includes DSP+CPLD main control unit, isolated drive circuit, four phase error-tolerance type converters, field power supply, electric excitation biconvex electrode electricity
Machine unit and three-phase uncontrollable rectifier device and load resistance as system load, when loading end switch SW and disconnecting, four phases electricity
Excitation biconvex electrode electric machine only with electric excitation synchronous motor operation is driven, loads very little；When loading end switch SW closure, four phases
DSEM drives electric excitation synchronous motor rotation power generation, powers after uncontrollable rectifier device for load resistance；Use Hall sensor
The rotor-position of four phase DSEM is obtained, and thus calculates motor speed, as speed feedback；Speed regulator output valve is as two
The input of a current channel, the current value that current sensor is tested is as value of feedback；Use | ia | and | ic | alternative one
As the value of feedback of channel U, the difference of given value of current value and value of feedback obtains the duty of each switching tube after current regulator
Than, then in the ePWM module of DSP fiducial value is set, the logical of driving signal control switch pipe is obtained after CPLD logic synthesis
Disconnected and duty ratio.
The utility model has the advantages that the system modeling method after normal operation of the invention and single-phase open-circuit fault, can send out for system
The design that system enters the system control parameters of fault-tolerant operation after raw single-phase open-circuit fault provides support, helps to promote fault-tolerant fortune
Capable system moves steady-state performance.
Detailed description of the invention
Fig. 1 is the fault-tolerant drive system modeling method flow chart of four phase electric excitation biconvex electrode electric machines proposed by the invention；
Fig. 2 is the sectional view of four phases electric excitation biconvex electrode electric machine of the present invention；
Fig. 3 is four phase current waveforms of inductance curve figure and ideal for the four phase electric excitation biconvex electrode electric machines that the present invention uses
Figure；
Fig. 4 is the circuit topological structure of the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention；
Circuit signal when Fig. 5 is the normal operation of the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention
Figure；
Fig. 6 be the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention C phase open-circuit fault after fault-tolerant operation
When circuit diagram；
Dynamic when Fig. 7 is the normal operation of the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of invention
Structural model figure；
Fig. 8 be the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention C phase open-circuit fault after fault-tolerant operation
When dynamic structure model figure；
Fig. 9 is the fault-tolerant drive system experiment porch structural schematic diagram of four phase electric excitation biconvex electrode electric machines of the invention；
Figure 10 (a) is the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention to be switched to C phase and is opened by operating normally
A, B, C phase current waveform and speed waveform when road failure tolerant is run, when fault-tolerant operation, use adjustment parameter when operating normally；
Figure 10 (b) is the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention to be switched to C phase and is opened by operating normally
A, B, C phase current waveform and speed waveform when road failure tolerant is run, when fault-tolerant operation, obtain using according to the model of fault-tolerant operation
The adjustment parameter come.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
Fig. 1 is the fault-tolerant drive system modeling method flow chart of four phase electric excitation biconvex electrode electric machines proposed by the invention, should
Method the following steps are included:
(1) list four phase electric excitation biconvex electrode electric machines (Doubly Salient Electro-magnetic Motor,
DSEM) the voltage equation of a phase winding；
(2) voltage equation of channel U and channel V when listing system operation；
(3) parameter in voltage equation is replaced using equivalent parameters, and simplifies voltage equation；
(4) according to motor torque equation and the equation of motion, one and current related equation are obtained；
(5) voltage equation is obtained into system model in conjunction with current related equation.
Fig. 2 is the sectional view of four phases electric excitation biconvex electrode electric machine of the present invention, four phase electric excitation biconvex electrode electric machines
For 24/18 pole structure, motor stator and rotor are salient pole tooth slot structure, are repeatedly pressed by silicon steel sheet；On stator tooth coiling concentrate around
Group, each excitation winding linkage threephase armature winding, without winding or permanent magnet on rotor, structure is simple；It is counterclockwise to define rotor
Rotation is positive direction, and four excitation windings are connected in series to obtain excitation winding end of incoming cables leading-out terminal, the bridging of each excitation winding
Three stator tooth coilings.
Fig. 3 is four phase current waveforms of inductance curve figure and ideal for the four phase electric excitation biconvex electrode electric machines that the present invention uses,
When electric excitation biconvex electrode electric machine electric operation, it then follows " inductance first transition corresponds to phase winding and is passed through forward current, inductance descending area
Between correspond to phase winding and be passed through negative current " principle, motor can be made to obtain the torque of constant direction in this way, to continuously transport
Row.
Fig. 4 is the circuit topological structure of the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention, four phase electricity
Excitation biconvex electrode electric machine error-tolerance type drive system is made of two main bodys of four phase electric excitation biconvex electrode electric machines and fault-tolerant converter,
Fault-tolerant converter is that there are two four phase full-bridge converters of bidirectional thyristor for band, and converter has split capacitor C1, C2, division electricity
The midpoint of appearance is O；The bridge arm midpoint of four phase full-bridge converters is respectively a, b, c, d, A, B, C, D phase armature winding input of motor
Terminate to bridge arm midpoint a, b, c, d of four phase full-bridge converters；A, C phase winding output end of motor, which is connected, becomes point M, at this time A,
C phase becomes channel U；B, D phase winding output end, which is connected, obtains point N, and A, C phase become channel V at this time；M passes through bidirectional thyristor TR1
It is connected to split capacitor midpoint O, N and split capacitor midpoint O is connected to by bidirectional thyristor TR2；When normal operation, TR1 and TR2 are closed
It is disconnected；After X phase open-circuit fault occurs, by the bidirectional thyristor in channel where opening X phase, the residue in the channel is mutually connected to point
Split capacitor midpoint O, two power tubes of bridge arm, split capacitor C1, C2 where the input terminal of the channel one phase of residue and this mutually around
Group constitutes half-bridge converter, it is another do not have faulty channel with it is normal when it is identical.
Circuit when Fig. 5 is the normal operation of the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention, at this time
TR1 and TR2 are held off, and A, C become channel U to series connection on the contrary, and B, D become channel V to series connection on the contrary.
Fig. 6 be the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention C phase open-circuit fault after fault-tolerant operation
When circuit, TR1 keeps normal open at this time, and TR2 is held off, and power tube T1, T2, split capacitor C1, C2 constitute half bridging with A phase
Parallel operation；B, D on the contrary to series connection become channel V, with it is normal when it is identical.
Dynamic when Fig. 7 is the normal operation of the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of invention
Structural model, the method for building up of the model the following steps are included:
(1) the p phase voltage equation of DSEM is
Wherein, Up, ip, Rp, LpThe phase voltage of p (p=a, b, c, d) phase is respectively indicated, phase current, phase resistance, phase winding is certainly
Sense；eprAnd epePhase magnetic resistance back-emf and excitation back-emf are respectively indicated, andWherein, Lpf, ifPoint
It Biao Shi not the phase winding of p phase and the mutual inductance of excitation winding and exciting current；
(2) in the dynamic process after being switched to state two by state one, the voltage equation in channel is listed by taking the channel U as an example:
Wherein, Udc、Ua、Uc、ia、Ra、Laf、LcfRespectively indicate the DC bus-bar voltage of converter, the phase electricity of A phase winding
Pressure, C phase winding phase voltage, A phase winding electric current, A phase winding resistance, A phase winding and excitation winding mutual inductance, C phase winding and excitation
Winding mutual inductance, and enable Lac=La+Lc, La、LcRespectively indicate A phase winding self-induction, C phase winding self-induction, Section 3 in institute's above formula
iadLac/ dt=0, according to the changing rule of four phase electric excitation biconvex electrode electric machine inductance, LacFor constant；And four phase electrical excitations are double
Salient-pole machine phase winding self-induction is divided with the change rate k and phase winding and excitation winding mutual inductance of position angle with the change rate g of position angle
It is notLpmax、Lpmin、Lpfmax、LpfminRespectively indicate the phase of p (p=a, b, c, d)
Winding self-induction maximum value, phase winding self-induction minimum value, phase winding and excitation winding mutual inductance maximum value, phase winding and excitation winding are mutual
Feel minimum value；△ θ=θoff+-θon+=θoff--θon-, θoff+、θon+Motor respectively at the beginning and end of inductance first transition
Rotor position angle, θoff-、θon-Motor rotor position angle respectively at the beginning and end of inductance last transition, the 4th in above formula
:
Wherein, ω indicates the mechanical angular speed of motor；
In dynamic process after being switched to state four by state three, the voltage equation in channel is listed by taking the channel U as an example
Wherein, icIndicate the electric current of C phase winding；
(3) i is useduInstead of the i in the channel U voltage equation in step (2)aAnd ic, obtainIn formula, ω=d θ/dt is the mechanical angular speed of motor.Enable Rl=2Ra, Ll=Lac,Voltage equation is further simplified to obtain:
Similarly, dynamic electric voltage equation when channel V is operated normally is also identical as this formula.
(4) output torque of channel U are as follows:
Result is write into Tu=2Cmiu, wherein Cm=ifG is torque coefficient.The output torque of channel V is Tv=2Cmiv, whole
The average output torque T=2C of bodym(iu+iv), it calculates for convenience, load torque is denoted as TL=4CmiL.Ignore friction, transports
Dynamic equationIt is equivalent are as follows:
(5) it combines in step (3):
In step (4):
The system dynamic structure model for drawing normal operation is as shown in Figure 7.
Fig. 8 be the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention single-phase open-circuit fault after fault-tolerant operation
When dynamic structure model, the modeling process after single-phase open-circuit fault when fault-tolerant operation are as follows:
If C phase open-circuit fault, fault-tolerant operation are as follows:
(1) the p phase voltage equation of DSEM are as follows:
Wherein, Up, ip, Rp, LpThe phase voltage of p (p=a, b, c, d) phase is respectively indicated, phase current, phase resistance, phase winding is certainly
Sense；eprAnd epePhase magnetic resistance back-emf and excitation back-emf are respectively indicated, andWherein, Lpf, ifPoint
It Biao Shi not the phase winding of p phase and the mutual inductance of excitation winding and exciting current；
(2) when C phase open-circuit fault fault-tolerant operation, A phase winding is connected to the midpoint of split capacitor, is switched to shape by state one
In dynamic process after state two, the voltage equation of available channel U:
Wherein, Udc, Ua, ia, Ra, La, if, LafRespectively indicate the DC bus-bar voltage of converter, the phase voltage of A phase winding,
A phase winding electric current, A phase winding resistance, A phase winding self-induction, exciting current, A phase winding and excitation winding mutual inductance；
In dynamic process after being switched to state four by state three, the voltage equation of available channel U:
It is now in state four, iaIt is negative value, dLaf/ dt=-g, Section 4 writing in above formula:
(3) unified i is useduIndicate the i of first formula in step (2)a, indicate-the i of second formulaa, i at this timeu
Value be positive always, channel U voltage equation obtains:
In formula, Rl=2Ra, Ll=Lac,2iu(dLa/ dt) it can writeThe voltage equation of channel V with it is normal when it is identical, are as follows:
Wherein, Rl, Ll, KeMeaning is same as above；
(4) ignore reluctance torque part, the output torque of channel U is Tu1=Cmiu1, the output torque of channel V is Tv1=
2Cmiv1, whole average output torque T1=Cm(iu1+2iv1), load torque TL=4CmiL.The equation of motion is equivalent are as follows:
Wherein, iu1, iv1, iLChannel U electric current, channel V electric current and every phase load electric current when respectively indicating fault-tolerant operation；J table
Show rotary inertia, CmIndicate that torque coefficient, ω indicate the mechanical angular speed of motor, epeIndicate excitation potential；
(5) it combines in step (3):
In step (4):
Obtain the system dynamic structure model of fault-tolerant operation after C phase open-circuit fault shown in Fig. 8.
Fig. 9 is the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention, and the system experimental platform is by DSP+CPLD
Main control unit, isolated drive circuit, four phase error-tolerance type converters, field power supply and are used as electric excitation biconvex electrode electric machine unit
The three-phase uncontrollable rectifier device and load resistance of system load are constituted.When switch SW is disconnected, four phase electric excitation biconvex electrode electric machines are only
With electric excitation synchronous motor operation is driven, very little is loaded；When switch sw is closed, four phase DSEM drive electric excitation synchronous motor to turn
Dynamic power generation, powers for load resistance after uncontrollable rectifier device, reaches load-carrying purpose.Four phases are obtained using Hall sensor
The rotor-position of DSEM, and motor speed is thus calculated, as speed feedback.Speed regulator output valve is logical as two electric currents
The input in road, the current value that current sensor is tested is as value of feedback.Use | ia| and | ic| alternative one is as channel U
Value of feedback, this is because can not continue for 0 electric current as electricity after open-circuit fault occurs for any phase among A or C phase
Flow value of feedback.The difference of given value of current value and value of feedback obtains the duty ratio of each switching tube after current regulator, then in DSP
EPWM module in fiducial value is set, after CPLD logic synthesis obtain driving signal control switch pipe on-off and duty
Than.
Figure 10 (a) is the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention to be switched to C phase and is opened by operating normally
A, B, C phase current waveform and speed waveform when road failure tolerant is run, using adjustment parameter when operating normally when fault-tolerant operation,
The current waveform of channel U is deteriorated at this time, this is because model changes when fault-tolerant operation, the time constant variation of channel U, but
At this time still using adjustment parameter when operating normally, current-responsive is deteriorated.
Figure 10 (b) is the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine of the invention to be switched to C phase and is opened by operating normally
A, B, C phase current waveform and speed waveform when road failure tolerant is run, when fault-tolerant operation, obtain using according to the model of fault-tolerant operation
The adjustment parameter come, experimental waveform before comparison is adjusted and after adjusting is it can be found that when fault-tolerant operation, current wave after adjustment parameter
Shape is more preferable, demonstrates the derivation about the variation of fault-tolerant front and back model.
Claims (10)
1. a kind of fault-tolerant drive system Dynamic Model method of four phase electric excitation biconvex electrode electric machines, it is characterised in that: this method
The following steps are included:
(1) voltage equation of four phase DSEM, mono- phase winding is listed；
(2) voltage equation of channel U and channel V when listing system operation；
(3) parameter in voltage equation is replaced using equivalent parameters, and simplifies voltage equation；
(4) according to motor torque equation and the equation of motion, one and current related equation are obtained；
(5) voltage equation is obtained into system model in conjunction with current related equation.
2. a kind of fault-tolerant drive system Dynamic Model side of four phases electric excitation biconvex electrode electric machine according to claim 1
Method, it is characterised in that: Dynamic Model method when motor operates normally are as follows:
(1) the p phase voltage equation of DSEM are as follows:
Wherein, Up, ip, Rp, LpRespectively indicate the phase voltage of p (p=a, b, c, d) phase, phase current, phase resistance, phase winding self-induction；
eprAnd epePhase magnetic resistance back-emf and excitation back-emf are respectively indicated, andWherein, Lpf, ifRespectively
Indicate the phase winding of p phase and mutual inductance and the exciting current of excitation winding；
(2) in the dynamic process after being switched to state two by state one, the voltage equation in the channel U are as follows:
Wherein, Udc、Ua、Uc、ia、Ra、Laf、LcfRespectively indicate the DC bus-bar voltage of converter, the phase voltage of A phase winding, C phase
Winding phase voltage, A phase winding electric current, A phase winding resistance, A phase winding and excitation winding mutual inductance, C phase winding and excitation winding are mutual
Sense, and enable Lac=La+Lc, La、LcRespectively indicate A phase winding self-induction, C phase winding self-induction, Section 3 i in institute's above formulaadLac/dt
=0, according to the changing rule of four phase electric excitation biconvex electrode electric machine inductance, LacFor constant；And four phase electric excitation biconvex electrode electric machines
Phase winding self-induction is respectively with the change rate g of position angle with excitation winding mutual inductance with the change rate k and phase winding of position angleLpmax、Lpmin、Lpfmax、LpfminRespectively indicate the phase of p (p=a, b, c, d) phase around
Group self-induction maximum value, phase winding self-induction minimum value, phase winding and excitation winding mutual inductance maximum value, phase winding and excitation winding mutual inductance
Minimum value；△ θ=θoff+-θon+=θoff--θon-, θoff+、θon+Motor respectively at the beginning and end of inductance first transition turns
Sub- position angle, θoff-、θon-Motor rotor position angle respectively at the beginning and end of inductance last transition, Section 4 in above formula:
Wherein, ω indicates the mechanical angular speed of motor；
In dynamic process after being switched to state four by state three, the voltage equation in the channel U are as follows:
Wherein, icIndicate the electric current of C phase winding；
(3) i is useduInstead of the i in the channel U voltage equation in step (2)aAnd ic, obtainIn formula, ω=d θ/dt is the mechanical angular speed of motor, enables Rl=2Ra, Ll=Lac,Voltage equation is further simplified to obtain:
Dynamic electric voltage equation when channel V is operated normally is also identical as this formula；
(4) output torque of channel U are as follows:
Result is write into Tu=2Cmiu, wherein Cm=ifG is torque coefficient, and the output torque of channel V is Tv=2Cmiv, whole
Average output torque T=2Cm(iu+iv), it calculates for convenience, load torque is denoted as TL=4CmiL；Ignore friction, movement side
JourneyIt is equivalent are as follows:
(5) it combines in step (3)
In step (4)
The system dynamic structure model operated normally.
3. a kind of fault-tolerant drive system Dynamic Model side of four phases electric excitation biconvex electrode electric machine according to claim 1
Method, it is characterised in that: the modeling process after single-phase open-circuit fault when fault-tolerant operation are as follows:
If C phase open-circuit fault, fault-tolerant operation are as follows:
(1) the p phase voltage equation of DSEM are as follows:
Wherein, Up, ip, Rp, LpRespectively indicate the phase voltage of p (p=a, b, c, d) phase, phase current, phase resistance, phase winding self-induction；
eprAnd epePhase magnetic resistance back-emf and excitation back-emf are respectively indicated, andWherein, Lpf, ifRespectively
Indicate the phase winding of p phase and mutual inductance and the exciting current of excitation winding；
(2) when C phase open-circuit fault fault-tolerant operation, A phase winding is connected to the midpoint of split capacitor, is switched to state two by state one
In dynamic process afterwards, the voltage equation of available channel U:
Wherein, Udc, Ua, ia, Ra, La, if, LafRespectively indicate the DC bus-bar voltage of converter, the phase voltage of A phase winding, A phase
The phase current of winding, A phase winding resistance, A phase winding self-induction, exciting current, A phase winding and excitation winding mutual inductance；
In dynamic process after being switched to state four by state three, the voltage equation of channel U is obtained are as follows:
It is now in state four, iaIt is negative value, dLaf/ dt=-g, Section 4 writing in above formula:
(3) unified i is useduIndicate the i of first formula in step (2)a, indicate-the i of second formulaa, i at this timeuValue begin
It is positive eventually, channel U voltage equation obtains:
Wherein, Rl=2Ra, Ll=Lac,WritingIt is logical
The voltage equation of road V with it is normal when it is identical, are as follows:
(4) ignore reluctance torque part, the output torque of channel U is Tu1=Cmiu1, the output torque of channel V is Tv1=2Cmiv1,
Whole average output torque T1=Cm(iu1+2iv1), load torque TL=4CmiL；The equation of motion is equivalent are as follows:
Wherein, iu1, iv1, iLChannel U electric current, channel V electric current and every phase load electric current when respectively indicating fault-tolerant operation；J indicates to turn
Dynamic inertia, CmIndicate that torque coefficient, ω indicate the mechanical angular speed of motor, epeIndicate excitation potential；
(5) it combines in step (3)
In step (4)
Obtain the system dynamic structure model of fault-tolerant operation after C phase open-circuit fault.
4. the fault-tolerant drive system dynamic analog of a kind of four phases electric excitation biconvex electrode electric machine according to any one of claims 1 to 3
Type method for building up, it is characterised in that: the four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine include four phase electric excitation biconvex electrode electricity
Machine and fault-tolerant converter, fault-tolerant converter are that there are two four phase full-bridge converters of bidirectional thyristor for band, and converter has division
Capacitor C1, C2, the midpoint of split capacitor are O；The bridge arm midpoint of four phase full-bridge converters is respectively a, b, c, d, A, B of motor,
C, the input of D phase armature winding terminates to bridge arm midpoint a, b, c, d of four phase full-bridge converters；A, C phase winding output end of motor
Being connected becomes point M, and A, C phase become channel U at this time；B, D phase winding output end, which is connected, obtains point N, and A, C phase become channel V at this time；
M is connected to split capacitor midpoint O, N by bidirectional thyristor TR1 and is connected to split capacitor midpoint O by bidirectional thyristor TR2；Normally
When operation, TR1 and TR2 are turned off；It, will by the bidirectional thyristor in channel where opening X phase after X phase open-circuit fault occurs
The residue in the channel is mutually connected to split capacitor midpoint O, the channel one phase of residue place two power tubes of bridge arm, split capacitor C1,
C2 and the phase winding constitute half-bridge converter, it is another do not have faulty channel with it is normal when it is identical.
5. a kind of fault-tolerant drive system Dynamic Model side of four phases electric excitation biconvex electrode electric machine according to claim 4
Method, which is characterized in that fault-tolerant operation includes: after single-phase open-circuit fault
If after open-circuit fault occurs for one of A or C phase, triggering TR1 normal open, split capacitor midpoint O is normally mutually connected to by remaining；It is surplus
Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR2 is held off, and is led to
Road V is identical as when operating normally；
If after open-circuit fault occurs for one of B or D phase, triggering TR2 normal open, split capacitor midpoint O is normally mutually connected to by remaining；It is surplus
Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR1 is held off, and is led to
Road U is identical as when operating normally.
6. a kind of fault-tolerant drive system Dynamic Model side of four phases electric excitation biconvex electrode electric machine according to claim 4
Method, which is characterized in that the control strategy of system are as follows:
Using four phases, four state control policy, that is, when operating normally:
State one: power tube T5, T2, T7, T4 conducting, power tube T1, T6, T3, T8 shutdown, positive and negative electric current is A-, B-, C+, D+；
State two: power tube T1, T6, T7, T4 conducting, power tube T5, T2, T3, T8 shutdown, positive and negative electric current is A+, B-, C-, D+；
State three: power tube T1, T6, T3, T8 conducting, power tube T5, T2, T7, T4 shutdown, positive and negative electric current is A+, B+, C-, D-；
State four: power tube T5, T2, T3, T8 conducting, power tube T1, T6, T7, T4 shutdown, positive and negative electric current is A-, B+, C+, D-；
If C phase open-circuit fault, when fault-tolerant operation:
State one: power tube T2, T7, T4 conducting, power tube T1, T3, T8 shutdown, positive and negative electric current is A-, B-, D+；
State two: power tube T1, T7, T4 conducting, power tube T2, T3, T8 shutdown, positive and negative electric current is A+, B-, D+；
State three: power tube T1, T3, T8 conducting, power tube T2, T7, T4 shutdown, positive and negative electric current is A+, B+, D-；
State four: power tube T2, T3, T8 conducting, power tube T1, T7, T4 shutdown, positive and negative electric current is A-, B+, D-.
7. a kind of four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine, it is characterised in that: including four phase electric excitation biconvex electrode electricity
Machine and fault-tolerant converter, fault-tolerant converter are that there are two four phase full-bridge converters of bidirectional thyristor for band, and converter has division
Capacitor C1, C2, the midpoint of split capacitor are O；The bridge arm midpoint of four phase full-bridge converters is respectively a, b, c, d, A, B of motor,
C, the input of D phase armature winding terminates to bridge arm midpoint a, b, c, d of four phase full-bridge converters；A, C phase winding output end of motor
Being connected becomes point M, and A, C phase become channel U at this time；B, D phase winding output end, which is connected, obtains point N, and A, C phase become channel V at this time；
M is connected to split capacitor midpoint O, N by bidirectional thyristor TR1 and is connected to split capacitor midpoint O by bidirectional thyristor TR2；Normally
When operation, TR1 and TR2 are turned off；It, will by the bidirectional thyristor in channel where opening X phase after X phase open-circuit fault occurs
The residue in the channel is mutually connected to split capacitor midpoint O, the channel one phase of residue place two power tubes of bridge arm, split capacitor C1,
C2 and the phase winding constitute half-bridge converter, it is another do not have faulty channel with it is normal when it is identical.
8. a kind of fault-tolerant drive system Dynamic Model side of four phases electric excitation biconvex electrode electric machine according to claim 7
Method, which is characterized in that fault-tolerant operation includes: after single-phase open-circuit fault
If after open-circuit fault occurs for one of A or C phase, triggering TR1 normal open, split capacitor midpoint O is normally mutually connected to by remaining；It is surplus
Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR2 is held off, and is led to
Road V is identical as when operating normally；
If after open-circuit fault occurs for one of B or D phase, triggering TR2 normal open, split capacitor midpoint O is normally mutually connected to by remaining；It is surplus
Two power tubes of bridge arm, split capacitor C1, C2, phase winding constitute half-bridge converter where remaining normal phase；TR1 is held off, and is led to
Road U is identical as when operating normally.
9. a kind of fault-tolerant drive system Dynamic Model side of four phases electric excitation biconvex electrode electric machine according to claim 7
Method, which is characterized in that the control strategy of system are as follows:
Using four phases, four state control policy, that is, when operating normally:
State one: power tube T5, T2, T7, T4 conducting, power tube T1, T6, T3, T8 shutdown, positive and negative electric current is A-, B-, C+, D+；
State two: power tube T1, T6, T7, T4 conducting, power tube T5, T2, T3, T8 shutdown, positive and negative electric current is A+, B-, C-, D+；
State three: power tube T1, T6, T3, T8 conducting, power tube T5, T2, T7, T4 shutdown, positive and negative electric current is A+, B+, C-, D-；
State four: power tube T5, T2, T3, T8 conducting, power tube T1, T6, T7, T4 shutdown, positive and negative electric current is A-, B+, C+, D-；
If C phase open-circuit fault, when fault-tolerant operation:
State one: power tube T2, T7, T4 conducting, power tube T1, T3, T8 shutdown, positive and negative electric current is A-, B-, D+；
State two: power tube T1, T7, T4 conducting, power tube T2, T3, T8 shutdown, positive and negative electric current is A+, B-, D+；
State three: power tube T1, T3, T8 conducting, power tube T2, T7, T4 shutdown, positive and negative electric current is A+, B+, D-；
State four: power tube T2, T3, T8 conducting, power tube T1, T7, T4 shutdown, positive and negative electric current is A-, B+, D-.
10. a kind of four fault-tolerant drive systems of phase electric excitation biconvex electrode electric machine, which is characterized in that the system experimental platform includes DSP+
CPLD main control unit, isolated drive circuit, four phase error-tolerance type converters, field power supply, electric excitation biconvex electrode electric machine unit and
Three-phase uncontrollable rectifier device and load resistance as system load, when loading end switch SW disconnection, four phase electric excitation biconvex electrodes
Motor only with electric excitation synchronous motor operation is driven, loads very little；When loading end switch SW closure, four phase DSEM drive electricity to encourage
The rotation power generation of magnetic-synchro motor, powers after uncontrollable rectifier device for load resistance；Four phase DSEM are obtained using Hall sensor
Rotor-position, and motor speed is thus calculated, as speed feedback；Speed regulator output valve is as two current channels
Input, the current value that current sensor is tested is as value of feedback；Use | ia | and | ic | alternative one is anti-as channel U's
The difference of feedback value, given value of current value and value of feedback obtains the duty ratio of each switching tube after current regulator, then DSP's
Fiducial value is set in ePWM module, the on-off and duty ratio of driving signal control switch pipe are obtained after CPLD logic synthesis.
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