CN111030533B - Fault-tolerant servo system intelligent control method for multi-electric airplane and new energy vehicle - Google Patents

Fault-tolerant servo system intelligent control method for multi-electric airplane and new energy vehicle Download PDF

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CN111030533B
CN111030533B CN201911405727.7A CN201911405727A CN111030533B CN 111030533 B CN111030533 B CN 111030533B CN 201911405727 A CN201911405727 A CN 201911405727A CN 111030533 B CN111030533 B CN 111030533B
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winding
motor
fault
flux linkage
tolerant
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CN111030533A (en
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蒋雪峰
李洁
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Suzhou Rongsheng Electrical Technology Co ltd
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Jiangsu Hangxunfei Information Technology Co ltd
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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 fault-tolerant servo system for a multi-electric airplane and a new energy vehicle, which specifically comprises the following steps: step 1, collecting current and voltage of three sets of windings, and obtaining a current vector and a voltage vector of a motor according to a switch state; 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 diagnosis and fault-tolerant processor. The intelligent control method of the fault-tolerant servo system for the multi-electric airplane and the new energy vehicle 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

Fault-tolerant servo system intelligent control method for multi-electric airplane and new energy vehicle
Technical Field
The invention relates to the field of servo motor control, in particular to an intelligent control method of a fault-tolerant servo 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 nine-phase fault-tolerant servo motor not only has the advantages of high power density, small torque pulsation and the like, 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 Jenrenfu proposed a current control scheme for the remaining non-failed phases in response to an 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 fault-tolerant servo system for a multi-electric airplane and a new energy vehicle, which is simple and easy to implement, has high reliability and self-correction and quick response performance, thereby improving the dynamic response function of a 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 fault-tolerant servo system for a multi-electric airplane and a new energy vehicle comprises the following steps:
step 1: collecting three sets of three-phase winding current i of fault-tolerant servo motorA1、iB1、iC1，iA2、iB2、iC2， iA3、iB3、iC3Respectively carrying out coordinate transformation processing on the obtained product to obtain A1B1C1Current vector i of windings1， A2B2C2Winding current vector is2，A3B3C3Winding current vector is3Collecting bus voltage UdcCombined with switch state SA1B1C1，SA2B2C2And SA3B3C3Obtaining a corresponding voltage vector U after coordinate transformation processings1、Us2And Us3；
Step 2: will current vector is1、is2、is3Sum voltage vector Us1、Us2、Us3The measured angle is sent to a stator flux linkage observer with a self-correcting function to be processed to obtain a corrected motor rotor observation angle
Figure BDA0002348575740000021
And
Figure BDA0002348575740000022
and stator flux linkage psis1、ψs2And psis3Wherein
Figure BDA0002348575740000023
And psis1、ψs2、ψs3Respectively expressed as:
Figure BDA0002348575740000024
Figure BDA0002348575740000025
Figure BDA0002348575740000026
ψs1＝∫(Us1-Rs1is1)dt+ψs01
ψs2＝∫(Us2-Rs2is2)dt+ψs02
ψs3＝∫(Us3-Rs3is3)dt+ψs03
wherein,
Figure BDA0002348575740000027
and
Figure BDA0002348575740000028
are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3The rotor observation angle corresponding to the winding is set,
Figure BDA0002348575740000029
and
Figure BDA00023485757400000210
are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3Initial angle of rotor, k, corresponding to windingp1、ki1Is a motor A1B1C1Regulating factor of winding, kp2、ki2Is a motor A2B2C2Regulating factor of winding, kp3、ki3Is a motor A3B3C3The regulating coefficient of the winding, s is integral operation,
Figure BDA0002348575740000031
is a motor A1B1C1Winding d-q axis stator flux linkage observed values,
Figure BDA0002348575740000032
is a motor A2B2C2Winding d-q axis stator flux linkage observed values,
Figure BDA0002348575740000033
is a motor A3B3C3Observed value psi of magnetic flux linkage of winding d-q axis statorsd01、ψsq01Is a motor A1B1C1Initial value of flux linkage psi of winding d-q axis statorsd02、ψsq02Is a motor A2B2C2Initial value of flux linkage psi of winding d-q axis statorsd03、ψsq03Is a motor A3B3C3Initial value of flux linkage of winding d-q axis stator, Rs1、Rs2And Rs3Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3Resistance of the winding, psis01、ψs02And psis03Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3An initial flux linkage of the winding;
and step 3: stator current is1、is2、is3And stator flux linkage psis1、ψs2、ψs3The actual torque T of the motor is obtained by processing the actual torque T by a torque observere1、Te2And Te3Angle observation of the rotor of the motor
Figure BDA0002348575740000034
And
Figure BDA0002348575740000035
carrying out speed calculation and polar coordinate transformation to obtain the observed rotating speed of the motor rotor
Figure BDA0002348575740000036
And stator flux linkage position thetas1、θs2、θs3；
And 4, step 4: setting the rotation speed of the motor rotor
Figure BDA0002348575740000037
He-He inMeasuring rotational speed
Figure BDA0002348575740000038
The given motor A is obtained through the processing of a rotating speed regulator1B1C1Winding, A2B2C2Winding and A3B3C3Torque of winding
Figure BDA0002348575740000039
Figure BDA00023485757400000310
And
Figure BDA00023485757400000311
and 5: setting the motor to a given torque
Figure BDA00023485757400000312
With actual torque Te1、Te2、Te3Processed by a torque regulator to obtain tau1、τ2And τ3，τ1、τ2、τ3Respectively expressed as:
Figure BDA00023485757400000313
Figure BDA00023485757400000314
Figure BDA00023485757400000315
wherein, tau1、τ2And τ3Are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3Torque regulator output of the winding, EmA decision threshold value greater than 0;
step 6: will give the stator flux linkage amplitude | ψs1|*、|ψs2|*、|ψs3|*And the actual stator flux linkage amplitude | ψs1|、|ψs2|、|ψs3I is processed by a flux linkage adjuster to obtain phi1、φ2And phi3，φ1、φ2、φ3Respectively expressed as:
Figure BDA0002348575740000041
Figure BDA0002348575740000042
Figure BDA0002348575740000043
wherein phi is1、φ2、φ3Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3A flux linkage regulator output of the winding;
and 7: will thetas1、τ1、φ1，θs2、τ2、φ2And thetas3、τ3、φ3Respectively performing table look-up processing on the optimal switch table to obtain a control variable D of the inverterA1、DB1、DC1，DA2、DB2、DC2And DA3、DB3、 DC3Then, the inverter 1, the inverter 2 and the inverter 3 are respectively controlled to realize the operation control of the fault-tolerant servo motor;
and 8: when the motor system has open circuit and short circuit faults of a motor winding or a power tube, the fault-tolerant servo motor driving system realizes fault-tolerant operation of the motor through a fault diagnosis and fault-tolerant processor.
The fault-tolerant servo motor, itIs characterized by comprising three sets of mutually independent three-phase windings, wherein A is respectively1B1C1Winding, A2B2C2Winding, A3B3C3Winding, A1B1C1The three-phase winding is driven by an inverter 1, A2B2C2The three-phase winding being driven by an inverter 2, A3B3C3The three-phase winding is driven by an inverter 3, and the inverter 1, the inverter 2 and the inverter 3 are driven by a bus voltage UdcAnd supplying power.
Compared with the prior art, the invention has the advantages that the control method is simple and easy to implement, the motor driving system has high reliability and has the functions of self-correction and quick response, thereby improving the dynamic response function of the motor driving system, enhancing the robustness of the motor driving system and further improving the fault-tolerant capability of the system.
Drawings
Fig. 1 is a flow chart of an intelligent control method of a fault-tolerant servo system for a multi-electric airplane and a new energy vehicle.
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.
The specific operation is shown in fig. 1, and the method for intelligently controlling the fault-tolerant servo system for the multi-electric aircraft and the new energy vehicle comprises the following steps:
step 1: collecting three sets of three-phase winding current i of fault-tolerant servo motorA1、iB1、iC1，iA2、iB2、iC2， iA3、iB3、iC3Respectively carrying out coordinate transformation processing on the obtained product to obtain A1B1C1Current vector i of windings1， A2B2C2Winding current vector is2，A3B3C3Winding current vector is3Collecting bus voltage UdcCombined with switch state SA1B1C1，SA2B2C2And SA3B3C3Obtaining a corresponding voltage vector U after coordinate transformation processings1、Us2And Us3；
Step 2: will current vector is1、is2、is3Sum voltage vector Us1、Us2、Us3The measured angle is sent to a stator flux linkage observer with a self-correcting function to be processed to obtain a corrected motor rotor observation angle
Figure BDA0002348575740000051
And
Figure BDA0002348575740000052
and stator flux linkage psis1、ψs2And psis3Wherein
Figure BDA0002348575740000053
And psis1、ψs2、ψs3Respectively expressed as:
Figure BDA0002348575740000054
Figure BDA0002348575740000055
Figure BDA0002348575740000056
ψs1＝∫(Us1-Rs1is1)dt+ψs01
ψs2＝∫(Us2-Rs2is2)dt+ψs02
ψs3＝∫(Us3-Rs3is3)dt+ψs03
wherein,
Figure BDA0002348575740000057
and
Figure BDA0002348575740000058
are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3The rotor observation angle corresponding to the winding is set,
Figure BDA0002348575740000059
and
Figure BDA00023485757400000510
are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3Initial angle of rotor, k, corresponding to windingp1、ki1Is a motor A1B1C1Regulating factor of winding, kp2、ki2Is a motor A2B2C2Regulating factor of winding, kp3、ki3Is a motor A3B3C3The regulating coefficient of the winding, s is integral operation,
Figure BDA00023485757400000511
is a motor A1B1C1Winding d-q axis stator flux linkage observed values,
Figure BDA00023485757400000512
is a motor A2B2C2Winding d-q axis stator flux linkage observed values,
Figure BDA00023485757400000513
is a motor A3B3C3Observed value psi of magnetic flux linkage of winding d-q axis statorsd01、ψsq01Is a motor A1B1C1Initial value of flux linkage psi of winding d-q axis statorsd02、ψsq02Is a motor A2B2C2Initial value of flux linkage psi of winding d-q axis statorsd03、ψsq03Is a motor A3B3C3Initial value of flux linkage of winding d-q axis stator, Rs1、Rs2And Rs3Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3Resistance of the winding, psis01、ψs02And psis03Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3An initial flux linkage of the winding;
and step 3: stator current is1、is2、is3And stator flux linkage psis1、ψs2、ψs3The actual torque T of the motor is obtained by processing the actual torque T by a torque observere1、Te2And Te3Angle observation of the rotor of the motor
Figure BDA0002348575740000061
And
Figure BDA0002348575740000062
carrying out speed calculation and polar coordinate transformation to obtain the observed rotating speed of the motor rotor
Figure BDA0002348575740000063
And stator flux linkage position thetas1、θs2、θs3；
And 4, step 4: setting the rotation speed of the motor rotor
Figure BDA0002348575740000064
And observing the rotational speed
Figure BDA0002348575740000065
The given motor A is obtained through the processing of a rotating speed regulator1B1C1Winding, A2B2C2Winding and A3B3C3Torque of winding
Figure BDA0002348575740000066
Figure BDA0002348575740000067
And
Figure BDA0002348575740000068
and 5: setting the motor to a given torque
Figure BDA0002348575740000069
With actual torque Te1、Te2、Te3Processed by a torque regulator to obtain tau1、τ2And τ3，τ1、τ2、τ3Respectively expressed as:
Figure BDA00023485757400000610
Figure BDA00023485757400000611
Figure BDA00023485757400000612
wherein, tau1、τ2And τ3Are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3Torque regulator output of the winding, EmA decision threshold value greater than 0;
step 6: will give the stator flux linkage amplitude | ψs1|*、|ψs2|*、|ψs3|*And the actual stator flux linkage amplitude | ψs1|、|ψs2|、|ψs3I carry out flux linkage adjusterTo obtain phi1、φ2And phi3，φ1、φ2、φ3Respectively expressed as:
Figure BDA00023485757400000613
Figure BDA0002348575740000071
Figure BDA0002348575740000072
wherein phi is1、φ2、φ3Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3A flux linkage regulator output of the winding;
and 7: will thetas1、τ1、φ1，θs2、τ2、φ2And thetas3、τ3、φ3Respectively performing table look-up processing on the optimal switch table to obtain a control variable D of the inverterA1、DB1、DC1，DA2、DB2、DC2And DA3、DB3、 DC3Then, the inverter 1, the inverter 2 and the inverter 3 are respectively controlled to realize the operation control of the fault-tolerant servo motor;
and 8: when the motor system has open circuit and short circuit faults of a motor winding or a power tube, the fault-tolerant servo motor driving system realizes fault-tolerant operation of the motor through a fault diagnosis and fault-tolerant processor.
The fault-tolerant servo motor is characterized by comprising three sets of mutually independent three-phase windings A1B1C1Winding, A2B2C2Winding, A3B3C3Winding, A1B1C1Three-phase winding inverterDrive of the inverter 1, A2B2C2The three-phase winding being driven by an inverter 2, A3B3C3The three-phase winding is driven by an inverter 3, and the inverter 1, the inverter 2 and the inverter 3 are driven by a bus voltage UdcAnd supplying power.
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 for a fault-tolerant servo system for a multi-electric airplane and a new energy vehicle is characterized by comprising the following steps:
step 1: collecting three sets of three-phase winding current i of fault-tolerant servo motorA1、iB1、iC1，iA2、iB2、iC2，iA3、iB3、iC3Respectively carrying out coordinate transformation processing on the obtained product to obtain A1B1C1Current vector i of windings1，A2B2C2Winding current vector is2，A3B3C3Winding current vector is3Collecting bus voltage UdcCombined with switch state SA1B1C1，SA2B2C2And SA3B3C3Obtaining a corresponding voltage vector U after coordinate transformation processings1、Us2And Us3；
Step 2: will current vector is1、is2、is3Sum voltage vector Us1、Us2、Us3The measured angle is sent to a stator flux linkage observer with a self-correcting function to be processed to obtain a corrected motor rotor observation angle
Figure FDA0003507283410000011
And
Figure FDA0003507283410000012
and stator flux linkage psis1、ψs2And psis3Wherein
Figure FDA0003507283410000013
And psis1、ψs2、ψs3Respectively expressed as:
Figure FDA0003507283410000014
Figure FDA0003507283410000015
Figure FDA0003507283410000016
ψs1＝∫(Us1-Rs1is1)dt+ψs01
ψs2＝∫(Us2-Rs2is2)dt+ψs02
ψs3＝∫(Us3-Rs3is3)dt+ψs03
wherein,
Figure FDA0003507283410000017
and
Figure FDA0003507283410000018
are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3The rotor observation angle corresponding to the winding is set,
Figure FDA0003507283410000019
and
Figure FDA00035072834100000110
are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3Initial angle of rotor, k, corresponding to windingp1、ki1Is a motor A1B1C1Regulating factor of winding, kp2、ki2Is a motor A2B2C2Regulating factor of winding, kp3、ki3Is a motor A3B3C3The regulating coefficient of the winding, s is integral operation,
Figure FDA00035072834100000111
is a motor A1B1C1Winding d-q axis stator flux linkage observed values,
Figure FDA00035072834100000112
is a motor A2B2C2Winding d-q axis stator flux linkage observed values,
Figure FDA00035072834100000113
is a motor A3B3C3Observed value psi of magnetic flux linkage of winding d-q axis statorsd01、ψsq01Is a motor A1B1C1Initial value of flux linkage psi of winding d-q axis statorsd02、ψsq02Is a motor A2B2C2Initial value of flux linkage psi of winding d-q axis statorsd03、ψsq03Is a motor A3B3C3Initial value of flux linkage of winding d-q axis stator, Rs1、Rs2And Rs3Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3Resistance of the winding, psis01、ψs02And psis03Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3An initial flux linkage of the winding;
and step 3: will current vector is1、is2、is3And stator flux linkage psis1、ψs2、ψs3The actual torque T of the motor is obtained by processing the actual torque T by a torque observere1、Te2And Te3Angle observation of the rotor of the motor
Figure FDA0003507283410000021
And
Figure FDA0003507283410000022
carrying out speed calculation and polar coordinate transformation to obtain the observed rotating speed of the motor rotor
Figure FDA0003507283410000023
And stator flux linkage position thetas1、θs2、θs3；
And 4, step 4: setting the rotation speed of the motor rotor
Figure FDA0003507283410000024
And observing the rotational speed
Figure FDA0003507283410000025
The given motor A is obtained through the processing of a rotating speed regulator1B1C1Winding, A2B2C2Winding and A3B3C3Torque of winding
Figure FDA0003507283410000026
Figure FDA0003507283410000027
And
Figure FDA0003507283410000028
and 5: setting the motor to a given torque
Figure FDA0003507283410000029
With actual torque Te1、Te2、Te3Processed by a torque regulator to obtain tau1、τ2And τ3，τ1、τ2、τ3Respectively expressed as:
Figure FDA00035072834100000210
Figure FDA00035072834100000211
Figure FDA00035072834100000212
wherein, tau1、τ2And τ3Are respectively a motor A1B1C1Winding, A2B2C2Winding and A3B3C3Torque regulator output of the winding, EmA decision threshold value greater than 0;
step 6: will give the stator flux linkage amplitude | ψs1|*、|ψs2|*、|ψs3|*And the actual stator flux linkage amplitude | ψs1|、|ψs2|、|ψs3I is processed by a flux linkage adjuster to obtain phi1、φ2And phi3，φ1、φ2、φ3Respectively expressed as:
Figure FDA00035072834100000213
Figure FDA00035072834100000214
Figure FDA0003507283410000031
wherein phi is1、φ2、φ3Are respectively A1B1C1Winding, A2B2C2Winding and A3B3C3A flux linkage regulator output of the winding;
and 7: will thetas1、τ1、φ1，θs2、τ2、φ2And thetas3、τ3、φ3Respectively performing table look-up processing on the optimal switch table to obtain a control variable D of the inverterA1、DB1、DC1，DA2、DB2、DC2And DA3、DB3、DC3Then, the inverter 1, the inverter 2 and the inverter 3 are respectively controlled to realize the operation control of the fault-tolerant servo motor;
and 8: when the motor system has open circuit and short circuit faults of a motor winding or a power tube, the fault-tolerant servo motor driving system realizes fault-tolerant operation of the motor through a fault diagnosis and fault-tolerant processor.
2. The intelligent control method of the fault-tolerant servo system for the multi-electric airplane and the new energy vehicle according to claim 1, wherein the fault-tolerant servo system comprises three sets of mutually independent three-phase windings, A1B1C1Winding, A2B2C2Winding, A3B3C3Winding, A1B1C1The three-phase winding is driven by an inverter 1, A2B2C2The three-phase winding being driven by an inverter 2, A3B3C3The three-phase winding is driven by an inverter 3, and the inverter 1, the inverter 2 and the inverter 3 are driven by a bus voltage UdcAnd supplying power.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108418502A (en) * 2018-01-19 2018-08-17 江苏大学 A kind of permanent magnet synchronous motor based on improvement type SVPWM opens the fault-tolerant Direct Torque Control of winding
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

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108418502A (en) * 2018-01-19 2018-08-17 江苏大学 A kind of permanent magnet synchronous motor based on improvement type SVPWM opens the fault-tolerant Direct Torque Control of winding
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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