CN110995089B - Intelligent control method of multiphase permanent magnet fault-tolerant motor driving system - Google Patents
Intelligent control method of multiphase permanent magnet fault-tolerant motor driving system Download PDFInfo
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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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
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Abstract
The invention discloses an intelligent control method of a multiphase permanent magnet fault-tolerant motor driving system, which comprises the following steps: step 1, collecting current and voltage of a six-phase winding to obtain a current vector and a voltage vector of a motor; step 2, performing self-correction processing on the stator flux linkage observer; step 3, processing a torque observer; step 4, processing by a rotating speed regulator; step 5, carrying out torque regulator processing; step 6, carrying out flux linkage adjuster processing; step 7, searching an optimal switching vector table to realize motor control; and 8, if the fault occurs, realizing the fault-tolerant operation of the motor through a fault-tolerant processor. The intelligent control method of the multiphase permanent magnet fault-tolerant motor driving system is simple and easy to implement, high in reliability and capable of achieving self-correction and quick response functions, the dynamic response performance of the motor driving system is improved, and the robustness of the motor driving system is enhanced.
Description
Technical Field
The invention relates to the field of permanent magnet motor control, in particular to an intelligent control method of a multiphase permanent magnet fault-tolerant motor driving system.
Background
With the development of multi-electric and all-electric airplanes and hybrid and pure electric vehicles, motor driving systems meet new development opportunities and challenges, and need to have high output performance and high reliability in addition to high power density and high efficiency, which has become the key of the motor driving systems. In the 90 s of the 20 th century, the permanent magnet fault-tolerant motor and the control system thereof improve the safety and reliability of the system and are applied to the field of aviation. However, under the influence of factors such as electromagnetic interference, insulation aging, poor contact and the like, the motor and the power tube in the driving system often have some electrical faults, which can be generally classified into four types: power tube open circuit faults, power tube short circuit faults, winding open circuit faults, and winding short circuit faults. When a motor driving system breaks down, the motor runs asymmetrically, output torque pulsation is increased, and great mechanical noise is generated, so that the overall performance of the system is reduced, particularly, the output power is greatly reduced, even the system cannot work normally, and the safety of the system is seriously damaged, so that how to ensure the fault-tolerant control capability of the system when the system breaks down or is in other complex conditions becomes a problem to be solved urgently. In order to satisfy the high mobility and high reliability of the motor driving system under the complex condition, it is very important to research an intelligent control method of the multi-phase motor driving system. In the existing motor driving system, the six-phase permanent magnet fault-tolerant motor not only has the advantages of the traditional permanent magnet synchronous motor, but also has the advantages of high reliability and strong fault tolerance, and is an electrical fault-tolerant driving system with great development prospect.
At present, with the rapid development of power electronic technology and the perfection of control strategies of the multi-phase motor, the complex control strategies of the multi-phase motor can be realized through a microprocessor. However, when a multi-phase motor is controlled using the conventional SVPWM technique, since it controls only the d-q axis component, a large amount of harmonic current exists in the stator current. Scholars at home and abroad ZhaoY.F and T.A.lipo propose a six-phase motor vector space decoupling control strategy and are verified. In addition, the scholars Jenren Fu propose a current control scheme of the remaining non-fault phases for the open-circuit fault of the multi-phase motor. The current prediction control method is applied to a double three-phase motor and a five-phase motor. In order to realize multi-phase motor control, the h.a.toliyat group proposes a direct torque control strategy, and in order to improve output torque capacity and core utilization, proposes a method of injecting third harmonic current into stator current. However, in practical application, the conventional permanent magnet motor control method still has the problems of not fast response, not high enough reliability, incapability of meeting specific requirements of the motor performance and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an intelligent control method of a multiphase permanent magnet fault-tolerant motor driving system, which is simple and easy to implement, has high reliability and has self-correction and quick response functions, thereby improving the dynamic response performance of the motor driving system and enhancing the robustness of the motor driving system.
The invention adopts the following technical scheme for solving the technical problems:
an intelligent control method for a multiphase permanent magnet fault-tolerant motor driving system comprises the following specific steps:
step 1: collecting each phase current i of six-phase permanent magnet fault-tolerant motorA、iB、iC、iD、iE、iFAnd obtaining a current vector i after coordinate transformation processing of the current vector isCollecting bus voltage UdcCombined with switch state SABCDEFObtaining a voltage vector U after coordinate transformation processings；
Step 2: will current vector isSum voltage vector UsSending the measured data to a stator flux linkage observer with a self-correction function for processing to obtain a corrected motor rotor observation angle
And stator flux linkage psisWherein
And psisRespectively expressed as:
ψs＝∫(Us-Rsis)dt+ψs0
wherein,
for the observation angle of the rotor of the motor,
is the initial angle, k, of the rotor of the motorp、kiFor adjusting the coefficient, s is an integral operation,
for d-q axis stator flux linkage observation, psi, of the machinesd0、ψsq0Is an initial value of the magnetic linkage of the stator of the d-q axis of the motor, RsIs the motor resistance psis0The initial flux linkage of the motor is obtained;
and step 3: stator current isAnd stator flux linkage psisThe actual torque T of the motor is obtained by processing the actual torque T by a torque observereAngle observation of the rotor of the motor
Carrying out speed calculation and polar coordinate transformation to obtain the motor rotorObserving the rotational speed
And stator flux linkage position θs；
And 4, step 4: given rotation of the rotor of the machine
And observing the transition
The given torque is obtained through the processing of a rotating speed regulator
And 5: setting the motor to a given torque
With actual torque TeAnd processing the torque by a torque regulator to obtain tau, wherein tau is expressed as:
where τ is the torque regulator output, EmIf the threshold value is larger than 0, judging the threshold value;
step 6: will give the stator flux linkage amplitude | ψs|*And the actual stator flux linkage amplitude | ψsI is processed by a flux linkage adjuster to obtain phi which is expressed as:
wherein phi is the flux linkage adjuster output;
and 7: will thetasTau and phi are sent into an optimal switching vector table to be subjected to table look-up processing to obtain a control variable D of the inverterA、DB、DC、DD、DE、DFThen realizing six-phase permanent magnetic capacitance by controlling the inverterControlling the operation of the motor in a wrong mode;
and 8: when the motor system has open circuit and short circuit faults of the motor windings or the power tubes, the six-phase permanent magnet fault-tolerant motor driving system realizes fault-tolerant operation of one-phase, two-phase, three-phase and four-phase windings or power tubes through the fault-tolerant processor.
The six-phase permanent magnet fault-tolerant motor comprises 12 stator slots and a 5 antipodal surface-mounted permanent magnet rotor, wherein the rotor adopts a rotor magnetic steel centrifugal structure, six-phase stator windings are A, B, C, D, E, F windings respectively, and the six-phase windings of the motor are driven by an inverter.
The invention has the beneficial effects that: compared with the prior art, the intelligent control method of the multiphase permanent magnet fault-tolerant motor driving system is simple and easy to implement, high in reliability, and capable of achieving self-correction and quick response functions, improving the dynamic response performance of the motor driving system, and enhancing the robustness of the motor driving system.
Drawings
Fig. 1 is a flow chart of an intelligent control method of a multiphase permanent magnet fault-tolerant motor driving system according to the present invention.
Fig. 2 is a structural diagram of a six-phase permanent magnet fault-tolerant motor body in the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the specification, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
As shown in fig. 1, an intelligent control method for a multiphase permanent magnet fault-tolerant motor driving system includes the following steps:
step 1: collecting each phase current i of six-phase permanent magnet fault-tolerant motorA、iB、iC、iD、iE、iFAnd obtaining a current vector i after coordinate transformation processing of the current vector isCollecting bus voltage UdcCombined with switch state SABCDEFObtaining a voltage vector U after coordinate transformation processings；
Step 2: will current vector isSum voltage vector UsSending the measured data to a stator flux linkage observer with a self-correction function for processing to obtain a corrected motor rotor observation angle
And stator flux linkage psisWherein
And psisRespectively expressed as:
ψs＝∫(Us-Rsis)dt+ψs0
wherein,
for the observation angle of the rotor of the motor,
is the initial angle, k, of the rotor of the motorp、kiFor adjusting the coefficient, s is an integral operation,
for d-q axis stator flux linkage observation, psi, of the machinesd0、ψsq0Is an initial value of the magnetic linkage of the stator of the d-q axis of the motor, RsIs the motor resistance psis0The initial flux linkage of the motor is obtained;
and step 3: stator current isAnd stator flux linkage psisThe actual torque T of the motor is obtained by processing the actual torque T by a torque observereAngle observation of the rotor of the motor
Carrying out speed calculation and polar coordinate transformation to obtain the observed rotating speed of the motor rotor
And stator flux linkage position thetas；
And 4, step 4: setting the rotation speed of the motor rotor
And observing the rotational speed
The given torque is obtained through the processing of a rotating speed regulator
And 5: setting the motor to a given torque
With actual torque TeAnd processing the torque by a torque regulator to obtain tau, wherein tau is expressed as:
where τ is the torque regulator output, EmIf the threshold value is larger than 0, judging the threshold value;
and 6: will give the stator flux linkage amplitude | ψs|*And the actual stator flux linkage amplitude | ψsI is processed by a flux linkage adjuster to obtain phi which is expressed as:
wherein phi is the flux linkage adjuster output;
and 7: will thetasTau and phi are sent into an optimal switching vector table to be subjected to table look-up processing to obtain a control variable D of the inverterA、DB、DC、DD、DE、DFThen, the inverter is controlled to realize the operation control of the six-phase permanent magnet fault-tolerant motor;
and 8: when the motor system has open circuit and short circuit faults of the motor windings or the power tubes, the six-phase permanent magnet fault-tolerant motor driving system realizes fault-tolerant operation of one-phase, two-phase, three-phase and four-phase windings or power tubes through the fault-tolerant processor.
As shown in fig. 2, the six-phase permanent-magnet fault-tolerant motor comprises 12 stator slots and a 5 antipodal surface-mounted permanent-magnet rotor, wherein the rotor adopts a rotor magnetic steel centrifugal structure, six-phase stator windings are A, B, C, D, E, F windings respectively, and the six-phase windings of the motor are driven by an inverter.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (2)
1. An intelligent control method of a multiphase permanent magnet fault-tolerant motor driving system is characterized by comprising the following specific steps:
step 1: collecting each phase current i of six-phase permanent magnet fault-tolerant motorA、iB、iC、iD、iE、iFAnd obtaining a current vector i after coordinate transformation processing of the current vector isCollecting bus voltage UdcCombined with switch state SABCDEFObtaining a voltage vector U after coordinate transformation processings；
Step 2: will current vector isSum voltage vector UsSending the measured data to a stator flux linkage observer with a self-correction function for processing to obtain a corrected motor rotor observation angle
And stator flux linkage psisWherein
And psisRespectively expressed as:
ψs＝∫(Us-Rsis)dt+ψs0
wherein,
for the observation angle of the rotor of the motor,
is the initial angle, k, of the rotor of the motorp、kiFor adjusting the coefficient, s is an integral operation,
for d-q axis stator flux linkage observation, psi, of the machinesd0、ψsq0Is an initial value of the magnetic linkage of the stator of the d-q axis of the motor, RsIs the motor resistance psis0The initial flux linkage of the motor is obtained;
and step 3: will current vector isAnd stator flux linkage psisThe actual torque T of the motor is obtained by processing the actual torque T by a torque observereAngle observation of the rotor of the motor
Carrying out speed calculation and polar coordinate transformation to obtain the observed rotating speed of the motor rotor
And stator flux linkage position thetas；
And 4, step 4: setting the rotation speed of the motor rotor
And observing the rotational speed
The given torque is obtained through the processing of a rotating speed regulator
And 5: setting the motor to a given torque
With actual torque TeAnd processing the torque by a torque regulator to obtain tau, wherein tau is expressed as:
where τ is the torque regulator output, EmA decision threshold value greater than 0;
step 6: will give the stator flux linkage amplitude | ψs|*And the actual stator flux linkage amplitude | ψsI is processed by a flux linkage adjuster to obtain phi which is expressed as:
wherein phi is the flux linkage adjuster output;
and 7: will thetasTau and phi are sent into an optimal switching vector table to be subjected to table look-up processing to obtain a control variable D of the inverterA、DB、DC、DD、DE、DFThen, the inverter is controlled to realize the operation control of the six-phase permanent magnet fault-tolerant motor;
and 8: when the motor system has open circuit and short circuit faults of the motor windings or the power tubes, the six-phase permanent magnet fault-tolerant motor driving system realizes fault-tolerant operation of one-phase, two-phase, three-phase and four-phase windings or power tubes through the fault-tolerant processor.
2. The intelligent control method of the multiphase permanent magnet fault-tolerant motor driving system according to claim 1, wherein the intelligent control method comprises 12 stator slots and a 5-antipodal surface-mounted permanent magnet rotor, the rotor adopts a rotor magnetic steel centrifugal structure, six-phase stator windings are A, B, C, D, E, F windings respectively, and the six-phase windings of the motor are driven by an inverter.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270063A (en) * | 2014-09-30 | 2015-01-07 | 福州大学 | Fault-tolerant direct torque control method for six-phase permanent magnet synchronous motor lacking any two phases of windings |
| CN107222146A (en) * | 2017-07-31 | 2017-09-29 | 福州大学 | The Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability |
| CN108390605A (en) * | 2018-03-27 | 2018-08-10 | 江苏大学 | Permanent magnet synchronous motor method for estimating state based on fuzzy variable structure model reference adaptive observer |
| CN108667379A (en) * | 2018-05-08 | 2018-10-16 | 长安大学 | Direct torque control method for fault-tolerant system of two-phase permanent magnet synchronous motor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270063A (en) * | 2014-09-30 | 2015-01-07 | 福州大学 | Fault-tolerant direct torque control method for six-phase permanent magnet synchronous motor lacking any two phases of windings |
| CN107222146A (en) * | 2017-07-31 | 2017-09-29 | 福州大学 | The Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability |
| CN108390605A (en) * | 2018-03-27 | 2018-08-10 | 江苏大学 | Permanent magnet synchronous motor method for estimating state based on fuzzy variable structure model reference adaptive observer |
| CN108667379A (en) * | 2018-05-08 | 2018-10-16 | 长安大学 | Direct torque control method for fault-tolerant system of two-phase permanent magnet synchronous motor |
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