CN111211711B - Fault-tolerant control method of double-motor synchronous control system - Google Patents
Fault-tolerant control method of double-motor synchronous control system Download PDFInfo
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- 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
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- 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
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Abstract
The invention discloses a fault-tolerant control method of a double-motor synchronous control system, which comprises the steps of inputting feedback rotating speed and rotor position into a synchronous control unit, respectively converting three-phase currents of double motors by Park and Clark to obtain respective feedback alternating-direct axis currents, inputting corresponding torques into the synchronous control unit for comparison, and determining corresponding angle and speed compensation strategies; comparing the quadrature axis reference current and the direct axis reference current with the feedback quadrature axis and direct axis currents of the double motors, and calculating respective quadrature axis and direct axis reference voltages; carrying out Park inverse transformation on the quadrature-direct axis reference voltages of the double motors to obtain two voltage components under a static coordinate system, and obtaining three duty ratio signals respectively; the fault bridge arm of the inverter is judged by detecting the three-phase current of the double motors, and the fault signal is sent to the fault-tolerant inverter and the PWM signal logic synthesis unit to complete the reconstruction of fault-tolerant topology and the realization of a fault-tolerant algorithm, so that the fault-tolerant control of the double permanent magnet synchronous motors is finally realized. The system reliability is high.
Description
Technical Field
The invention belongs to the technical field of motor systems and control, and particularly relates to a fault-tolerant control method of a double-motor synchronous control system.
Background
The permanent magnet synchronous motor has the advantages of less loss, high efficiency and obvious electricity-saving effect, and is widely applied in recent years. For synchronous control of the double-permanent magnet synchronous motor, domestic and foreign scholars have successively made many researches. A six-leg inverter is adopted in the traditional control of the double-permanent-magnet synchronous motor, due to the complexity and the fragility of a power electronic switch structure, the legs of the inverter often break down, industrial loss is caused after the failure, major accidents are caused seriously, and the synchronism of a synchronous system is also influenced.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a fault-tolerant control method for a dual-motor synchronous control system, which aims at the above-mentioned deficiencies in the prior art.
The invention adopts the following technical scheme:
a fault-tolerant control method of a double-motor synchronous control system is characterized by comprising the following steps:
s1, three-phase Hall signals of the motor 1 and the motor 2 are obtained, and the feedback rotating speed omega of the motor 1 and the motor 2 is calculated through a position and speed analysis unit1、ω2And rotor position θ1、θ2Input to the synchronous control unit to respectively collect three-phase currents i of the motor 1 and the motor 2u1、iv1、iw1And iu2、iv2、iw2；
S2, connecting three-phase currents i of the motor 1 and the motor 2u1、iv1、iw1And iu2、iv2、iw2、iw2Respective feedback quadrature-direct axis current i is obtained through Park conversion and Clark conversionq1、id1And iq2、id2Calculating a corresponding torque T1、T2The angle and speed compensation strategy is input into a synchronous control unit for comparison and is determined correspondingly;
s3, obtaining corresponding quadrature axis reference current through angle and speed compensation strategy
And
and a direct axis reference current
And then respectively feeding back the AC-DC shaft current i with the motor 1 and the motor 2q1、id1And iq2、id2Comparing, calculating respective AC-DC axis reference voltage by PI controller
And
the AC-DC axis reference voltage of the motor 1 and the motor 2 is compared
And
obtaining two voltage components under a static coordinate system through Park inverse transformation
And
obtaining three duty ratio signals UH respectively by SVPWM technology1、VH1、WH1And UH2、VH2、WH2；
And S4, fault detection is carried out, a fault bridge arm of the inverter is judged by detecting three-phase currents of the motor 1 and the motor 2, a fault signal is sent to a fault-tolerant inverter and a PWM signal logic synthesis unit to complete reconstruction of fault-tolerant topology and realization of a fault-tolerant algorithm, and finally fault-tolerant control of the double-permanent magnet synchronous motor is realized.
Specifically, in step S2, the compensation strategy specifically includes:
when | T1-T2When | < delta, adopting the traditional cross coupling control strategy; when T is1-T2When the motor is larger than or equal to deltaThe load of the motor 1 is larger than that of the motor 2, and the position and the rotating speed of the motor 2 respectively follow the position and the rotating speed of the motor 1 through an angle controller and a speed compensator; when T is2-T1When the load is larger than or equal to delta, the load of the motor 2 is larger than that of the motor 1, and the position and the rotating speed of the motor 1 respectively follow the position and the rotating speed of the motor 2 through the angle controller and the speed compensator.
Further, the angle controller comprises a trigonometric function and a PI controller, and sin (theta) is calculated through the trigonometric function1) And cos (θ)1) Sinusoidal alternating current values expressed as a phase difference of 90 ° from each other; using coordinate transformation theory, converting the fixed reference frame into a rotating reference frame such that θ1And theta2Normalizing the trigonometric function value to a direct current value; output quantity thetaqThe reference quadrature axis current of the motor 2 is output after passing through a PI controller
The rotor positions of the two motors are consistent.
Further, according to θ1And theta2Calculated thetaqUsed as input to PI controller, trigonometric function is used to normalize θ1And theta2The normalized error process is expressed as:
θq＝-cos(θ1)sin(θ2)+sin(θ1)cos(θ2)
when theta is1And theta2Same, thetaqIs calculated as zero.
Further, the speed compensator is used for realizing the feedback rotating speed omega of the motor 1 and the motor 21、ω2The same, the rotating speed error of the motor 1 and the motor 2 obtains the direct axis reference current compensation value of the motor 2 through the PI controller
Setting a direct-axis reference current initial value of the motor 2
The two being added to obtain the final motor 2Direct axis reference current
Specifically, in step S4, arm L is controlled3And bridge arm L6Duty ratio signal WH1、WH2Logic synthesis is carried out through an OR gate to form a control common bridge arm L6Duty cycle signal delta of6And duty ratio signals delta of the other four bridge armsiUnchanged, i is 1,2, 4, 5; the obtained duty ratio signal is arranged through a NOT gate and a dead zone to obtain a control signal of a corresponding under-bridge-arm switch
The double-permanent magnet synchronous motor driven by the five-bridge-arm inverter is realized.
Further, the relationship between the duty ratio signals before and after fault tolerance is as follows:
wherein, deltaiFor controlling bridge arm LiI is 1,2, 3, 4, 5, 6.
Specifically, in step S4, the fault tolerance strategy when a single bridge arm fails is as follows:
wherein, F1、F2、F3、F4、F5、F6、F7、F8、F9Is a bidirectional controllable switch; l is1、L2、L3Is a leg of the inverter 1, L4、L5、L6Is the leg of the inverter 2, deltaiFor controlling bridge arm LiI is 1,2, 3, 4, 5, 6.
Specifically, the topology of the fault tolerant inverter includes direct currentSource udcA three-phase six-switch inverter 1 and a three-phase six-switch inverter 2, wherein the three-phase six-switch inverter 1 comprises a bridge arm L1、L2、L3Arm L of the bridge1Comprising a power switch T1And T4Arm L of the bridge2Comprising a power switch T3And T6Arm L of the bridge3Comprising a power switch T2And T5(ii) a The three-phase six-switch inverter 2 comprises a bridge arm L4、L5、L6Arm L of the bridge4Comprising a power switch T7And T10Arm L of the bridge5Comprising a power switch T9And T12Arm L of the bridge6Comprising a power switch T8And T11(ii) a The fault-tolerant inverter is provided with F1、F2、F3、F4、F5、F6、F7、F8、F9Nine bidirectional controllable switches and1、s2、s3、s4、s5、s6six fuses; u of motor 11、V1、W1Phase passes through switch F1、F2、F3Is connected to the bridge arm L1、L2、L3Midpoint a, b, c; u of the motor 22、V2、W2Phase passes through switch F4、F5、F6Is connected to the bridge arm L4、L5、L6Midpoint x, y, z; u of motor 11、V1、W1U of phase motor 22、V2、W2Phase passes through switch F7、F8、F9Connected together, fuses s1、s2、s3、s4、s5、s6Are respectively connected with six bridge arms L1、L2、L3、L4、L5、L6。
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a fault-tolerant control method of a double-motor synchronous control system, which designs a PWM signal logic synthesis method aiming at a fault of a certain bridge arm of an inverter, realizes the synchronous operation of the five-bridge arm inverter driving double motors after the fault-tolerant inverter is reconstructed, realizes the fault-tolerant processing of the system and improves the reliability.
Further, when the torque difference between the two motors is large, the control effect of the conventional cross-coupling control strategy is poor. In order to overcome the defects of the traditional cross coupling control strategy, the invention designs a compensation strategy, aiming at different torque conditions of two motors, and the compensation strategy of response angle and speed is applied to realize the synchronous operation of the two motors, so that the synchronous effect is better.
Furthermore, in order to realize the angle synchronization of the two motors, the invention utilizes an angle assimilation method to assimilate the error between the angles of the two motors, thereby meeting the requirement of the original speed loop and realizing the angle consistency of the two motors.
Furthermore, in order to realize the speed synchronization of the two motors, the invention uses a speed compensation method to realize that the speed of the motor with small moment follows the speed of the motor with large moment, so that the speed consistency of the two motors is easier to realize.
Furthermore, in order to improve the reliability of the synchronous control system of the double permanent magnet synchronous motors and aim at the single-bridge-arm fault of the inverter, the invention designs a control strategy of PWM signal logic synthesis, and combines the double-motor synchronous control strategy to realize the normal synchronous operation of the five-bridge-arm inverter driving double motors when the single bridge arm of the system inverter has the fault.
Furthermore, the PWM signal logic synthesis strategy algorithm is simple and easy to realize, and the complexity of the fault-tolerant algorithm is greatly reduced. Meanwhile, the strategy is mainly realized by a hardware circuit, so that the workload of software writing is reduced, and the hardware is simple and reliable to realize.
Furthermore, nine bidirectional switching tubes and six fuses are added for realizing the fault-tolerant function of the system inverter, and when a certain bridge arm fails, the isolation of the failed bridge arm and the reconstruction of the inverter topology are realized under the action of an algorithm.
In conclusion, the invention can realize effective synchronization of the angle and the speed of the double motors, and simultaneously can realize fault-tolerant control of a synchronous system aiming at the single bridge arm fault of the inverter, thereby improving the reliability of the system.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a diagram of a fault-tolerant inverter topology according to the present invention, wherein (a) is the inverter topology before fault tolerance and (b) is the bridge arm L3Fault tolerant pre-inverter topology;
FIG. 2 is a block diagram of a fault-tolerant control system for a dual-PMSM according to the present invention;
FIG. 3 is a view showing an internal structure of the angle controller according to the present invention;
FIG. 4 is a view showing an internal structure of a velocity compensator according to the present invention;
FIG. 5 is a cross-coupling control system structure diagram of the present invention
FIG. 6 is an internal block diagram of the PWM signal logic synthesis unit according to the present invention;
FIG. 7 is a flowchart of a fault-tolerant control process of the present invention;
FIG. 8 is a waveform of the speed and line voltage during the fault tolerance process for two motors;
FIG. 9 is a graph of the speed and line voltage waveforms during the two motor fault tolerance process.
Detailed Description
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present invention provides a fault-tolerant control method for a dual-motor synchronous control system, wherein a topology structure of a fault-tolerant inverter includes a dc power udcAnd two three-phase six-switch inverters.
The inverter 2 includes a bridge arm L4、L5、L6Arm L of the bridge4Comprising a power switch T7And T10Arm L of the bridge5Comprising a power switch T9And T12Arm L of the bridge6Comprising a power switch T8And T11。
The fault-tolerant inverter is provided with F1、F2、F3、F4、F5、F6、F7、F8、F9Nine bidirectional controllable switches and1、s2、s3、s4、s5、s6six fuses.
U of motor 11、V1、W1Phase passes through switch F1、F2、F3Is connected to the bridge arm L1、L2、L3Midpoint a, b, c;
u of the motor 22、V2、W2Phase passes through switch F4、F5、F6Is connected to the bridge arm L4、L5、L6X, y, z.
At the same time, U of the motor 11、V1、W1U of phase motor 22、V2、W2Phase passes through switch F7、F8、F9Connected together, fuses s1、s2、s3、s4、s5、s6Are respectively connected with six bridge arms L1、L2、L3、L4、L5、L6；
When the double motors normally run, the bidirectional controllable switch F1、F2、F3、F4、F5、F6Conduction, F7、F8、F9The two motors are turned off and work independently; suppose bridge arm L3When a fault occurs, the switch F9On, switch F3Close, fuse s3The inverter is disconnected and reconfigured as shown in FIG. 1(b), in which case the five-leg inverter drives two motors, W of motor 11W of phase motor 22Phase sharing bridge arm L6Arm L of the bridge3In an isolated state. The double-motor fault-tolerant inverter has no redundant bridge arm, is high in utilization rate, consists of controllable switches and is relatively simple in control algorithm.
Referring to fig. 2, the fault-tolerant control method of the dual-motor synchronous control system of the present invention includes the following steps:
s1, the Hall sensors 1 and 2 acquire three-phase Hall signals of the motor, and the feedback rotating speed omega of the motor 1 and the feedback rotating speed omega of the motor 2 are calculated through the position and speed analyzing unit1、ω2And rotor position θ1、θ2And input to the synchronous control unit, and simultaneously respectively collect three-phase currents i of the permanent magnet synchronous motor 1 and the permanent magnet synchronous motor 2 through the current sensoru1、iv1、iw1And iu2、iv2、iw2；
S2 three-phase current i of two motorsu1、iv1、iw1And iu2、iv2、iw2Respective feedback quadrature-direct axis current i is obtained through Park conversion and Clark conversionq1、id1And iq2、id2The quadrature axis current is based on:
Ti＝pni(ψfiiqi+(Ldi-Lqi)idiiqi) (2)
wherein i is 1, 2;
calculate respective torques T1、T2The torque T of the two motors is input to a synchronous control unit for comparison1And T2Comparing to determine corresponding angle and speed compensation strategies;
compensation strategy selectionAs shown in table 1, the entire synchronization control unit is divided into three states: when | T1-T2When the absolute value is less than delta, the load torques of the two motors have small difference, and the system adopts a traditional cross coupling control strategy; when T is1-T2When the load of the motor 1 is more than or equal to delta, the load of the motor 2 is much larger than that of the motor 1, and the position and the rotating speed of the motor 2 respectively follow the position and the rotating speed of the motor 1 through the angle controller and the speed compensator; when T is2-T1When the load is larger than or equal to delta, the load of the motor 2 is much larger than that of the motor 1, and the position and the rotating speed of the motor 1 respectively follow the position and the rotating speed of the motor 2 through the angle controller and the speed compensator.
TABLE 1 selection of compensation strategies for synchronous control units
Referring to FIG. 3, the angle θ of the two motors1And theta2Respectively inputting the values into a trigonometric function to calculate corresponding trigonometric function values, then normalizing the values to obtain error values, and finally inputting the error values into a PI controller to obtain corresponding quadrature axis reference current, wherein the state 1 and the state 3 are just opposite, and the state 1 is taken as an example here, in order to keep the rotor positions theta of the two motors1、θ2Keeping consistent, designing an angle controller, specifically:
the angle controller is internally composed of a trigonometric function and a PI controller, and the trigonometric function is used for normalizing theta1And theta2The error between. Where the normalized error process can be expressed as:
θq＝-cos(θ1)sin(θ2)+sin(θ1)cos(θ2) (3)
the whole process is as follows:
first, sin (θ) calculated by trigonometric function1) And cos (θ)1) Sinusoidal alternating current values that appear to have a phase difference of 90 ° from each other;
secondly, using the coordinate transformation theory, the fixed reference frame is converted into a rotating reference frame, so that theta1And theta2The trigonometric function value of (a) is normalized to a dc value.
Wherein, according to theta1And theta2Calculated thetaqUsed as an input to the PI controller. As can be seen from the formula (3), when θ1And theta2Same, thetaqIs calculated as zero, so the normalized output quantity thetaqAt theta1And theta2Have the physical meaning of an error therebetween;
finally, the output quantity θqThe reference quadrature axis current of the motor 2 is output after passing through a PI controller
The rotor positions of the two motors are consistent.
Referring to FIG. 4, the feedback rotation speed ω1、ω2The error obtained by the comparison unit is input into a PI controller, the output value and 0 are compared by the comparison unit to obtain corresponding direct-axis reference current, and the feedback rotating speed omega of the two motors is realized1、ω2Similarly, a speed compensator is designed, and as can be seen from the figure, the rotating speed error of the two motors obtains the direct-axis reference current compensation value of the motor 2 through the PI controller
Setting a direct-axis reference current initial value of the motor 2
The two are added to obtain the final direct-axis reference current of the motor 2
Referring to FIG. 5, the feedback rotation speed ω of two motors1、ω2And obtaining the rotating speed error through a comparison unit. The rotation speed error is multiplied by compensation coefficients K1 and K2 respectively and is respectively compared with the reference rotation speed omega*And comparing, respectively inputting the reference torque to the controllers of the two motors, and outputting the reference torque. The reference torque and the feedback torque pass through a comparison unit respectively, so that double-ring crossing of double motors is realizedAnd coupling control, wherein a control strategy in the state 2 is a traditional cross-coupling control strategy, a speed compensator is added between two motors in the system, and after the speed compensator compares the rotating speeds of the two motors, the obtained speed errors are respectively compensated to the motors, so that the synchronous control of the two motors is realized.
S3, obtaining respective quadrature axis reference current through compensation strategy
And
and a direct axis reference current
And then respectively feeding back the AC-DC shaft current i with the two motorsq1、id1And iq2、id2Comparing, calculating respective AC-DC axis reference voltage by PI controller
And
quadrature-direct axis reference voltage for two motors
And
obtaining two voltage components under a static coordinate system through Park inverse transformation
And
obtaining three duty ratio signals UH respectively by SVPWM technology1、VH1、WH1And UH2、VH2、WH2；
And S4, performing fault detection, judging a fault bridge arm of the inverter by detecting three-phase current of the motor, and sending a signal to the fault-tolerant inverter and the PWM signal logic synthesis unit to complete reconstruction of fault-tolerant topology and realization of a fault-tolerant algorithm after the fault detection unit detects a fault, thereby finally realizing fault-tolerant control of the double-permanent magnet synchronous motor.
Referring to fig. 2, the fault tolerant part is the content within the dashed box in the figure. Suppose bridge arm L3When a fault occurs, the inverter topology is reconstructed and is referred to in figure 1(b) after the fault is detected, and at the moment, the bridge arm L6Is a common bridge arm, the middle point of which connects the W phases of the two motors.
Referring to FIG. 6, bridge arm L will be controlled3And bridge arm L6Duty ratio signal WH1、WH2Logic synthesis is carried out through an OR gate to form a control common bridge arm L6Duty cycle signal delta of6And duty ratio signals delta of the other four bridge armsi(i ═ 1,2, 4, 5) unchanged; the obtained duty ratio signal is arranged through a NOT gate and a dead zone to obtain a control signal of a corresponding under-bridge-arm switch
Therefore, the double-permanent magnet synchronous motor driven by the five-bridge-arm inverter is realized.
Referring to fig. 6, the relationship between the duty cycle signals before and after the fault tolerance is:
in the formula, deltai(i is 1,2, 3, 4, 5, 6) is the control arm Li(i is 1,2, 3, 4, 5, 6).
The two motors are in a synchronous state, so that the rotor positions and the rotating speeds of the motors are similar, the reference voltages of the two motors in the same phase are synchronous, the duty ratio signals of the two motor in-phase bridge arms in control connection are identical, the duty ratio signals are identical and do not change through one OR gate, and therefore the duty ratio signals of the common bridge arm can meet the requirements of the two motors at the same time.
TABLE 2 Fault-tolerant control strategy in case of single-bridge arm failure
The fault tolerant inverter shown in fig. 1(a) has six legs, each of which may fail. According to fig. 1 and equation (4), the fault-tolerant strategy when all single bridge arms are in fault can be summarized, as shown in table 2, the fault-tolerant control flow is shown in fig. 7, and when the bridge arm L is in fault1When a fault occurs, the inverter is reconstructed, and the bridge arm L is isolated1U-phase common bridge arm L of two motors4Control bridge arm L1And bridge arm L4PWM signal UH1、UH2Performing logic synthesis to generate a control common bridge arm L4Of the PWM signal delta4Other signals are unchanged;
similarly, when bridge arm L2When a fault occurs, the inverter is reconstructed, and the bridge arm L is isolated2V-phase common bridge arm L of two motors5Control bridge arm L2And bridge arm L5PWM signal VH1、VH2Performing logic synthesis to generate a control common bridge arm L5Of the PWM signal delta5Other signals are unchanged;
when bridge arm L3When a fault occurs, the inverter is reconstructed, and the bridge arm L is isolated3W-phase common bridge arm L of two motors6Control bridge arm L3And bridge arm L6PWM signal WH1、WH2Performing logic synthesis to generate a control common bridge arm L6Of the PWM signal delta6Other signals are unchanged;
when bridge arm L4When a fault occurs, the control unit controls the operation of the control unit,inverter reconstruction, isolation leg L4U-phase common bridge arm L of two motors1Control bridge arm L1And bridge arm L4PWM signal UH1、UH2Performing logic synthesis to generate a control common bridge arm L1Of the PWM signal delta1Other signals are unchanged;
similarly, when bridge arm L5When a fault occurs, the inverter is reconstructed, and the bridge arm L is isolated5V-phase common bridge arm L of two motors2Control bridge arm L2And bridge arm L5PWM signal VH1、VH2Performing logic synthesis to generate a control common bridge arm L2Of the PWM signal delta2Other signals are unchanged;
when bridge arm L6When a fault occurs, the inverter is reconstructed, and the bridge arm L is isolated6W-phase common bridge arm L of two motors3Control bridge arm L3And bridge arm L6PWM signal WH1、WH2Performing logic synthesis to generate a control common bridge arm L3Of the PWM signal delta3The other signals are unchanged.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a fault-tolerant control method of a double-motor synchronous control system, which is used for carrying out experimental verification on the system in order to verify the feasibility of an algorithm. Suppose bridge arm L3When a fault occurs, the motorW-phase of 1 and W-phase shared arm L of motor 26And carrying out a fault tolerance process. The experiment in two aspects, namely the experiment in the state 1 and the experiment in the state 2, are mainly performed, and whether the fault-tolerant strategy is feasible in the whole system is respectively tested, and the experimental results are shown in fig. 8 and fig. 9.
(1) Fault tolerance experiment in state 1: fig. 8 is a fault-tolerant experimental result in state 1, and waveforms are waveforms of the rotating speed and the line voltage in the fault-tolerant process of the two motors, and it can be seen from the waveforms that the rotating speeds of the two motors do not fluctuate greatly in the fault-tolerant process, and it can be seen from the line voltage that the two motors still maintain synchronism. Therefore, although the fault-tolerant process is not stable, the system can better keep stability and synchronism after fault tolerance.
(2) Experiment 2: fig. 9 is a fault-tolerant experiment in state 2, and waveforms are waveforms of a rotating speed and a line voltage in a dual-motor fault-tolerant process, and similarly, it can be seen from the diagrams that although the fault-tolerant process is not stable, and a system can better maintain stability and synchronization after the fault-tolerant process.
In conclusion, the fault-tolerant processing method is mainly used for fault-tolerant processing of single bridge arm faults of the inverter of the double-permanent magnet synchronous motor synchronous control system, the system can still normally and synchronously run when one bridge arm of the inverter fails, the reliability of the system is improved, the risk rate can be reduced in industrial production, economic loss caused by the bridge arm faults is greatly reduced, and the fault-tolerant processing method has a very high application prospect.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (5)
1. A fault-tolerant control method of a double-motor synchronous control system is characterized by comprising the following steps:
s1, three-phase Hall signals of the motor 1 and the motor 2 are obtained, and the feedback rotating speed omega of the motor 1 and the motor 2 is calculated through a position and speed analysis unit1、ω2And rotor position θ1、θ2Input to the synchronous control unit to respectively collect three-phase currents i of the motor 1 and the motor 2u1、iv1、iw1And iu2、iv2、iw2；
S2, connecting three-phase currents i of the motor 1 and the motor 2u1、iv1、iw1And iu2、iv2、iw2Respective feedback quadrature-direct axis current i is obtained through Park conversion and Clark conversionq1、id1And iq2、id2Calculating a corresponding torque T1、T2And the angle and speed compensation strategies are input into a synchronous control unit for comparison, and the corresponding angle and speed compensation strategies are determined, wherein the compensation strategies specifically comprise:
when | T1-T2When | < delta, adopting the traditional cross coupling control strategy;
when T is1-T2When the load of the motor 1 is larger than that of the motor 2, the position and the rotating speed of the motor 2 respectively follow the position and the rotating speed of the motor 1 through an angle controller and a speed compensator;
when T is2-T1When the load of the motor 2 is larger than that of the motor 1, the position and the rotating speed of the motor 1 respectively follow the position and the rotating speed of the motor 2 through an angle controller and a speed compensator, the angle controller comprises a trigonometric function and a PI controller, and sin (theta) is calculated through the trigonometric function1) And cos (θ)1) Sinusoidal alternating current values expressed as a phase difference of 90 ° from each other; using coordinate transformation theory, converting the fixed reference frame into a rotating reference frame such that θ1And theta2Normalizing the trigonometric function value to a direct current value; output quantity thetaqThe reference quadrature axis current of the motor 2 is output after passing through a PI controller
The position of the rotors of the two motors is consistent;
s3, obtaining corresponding quadrature axis reference current through angle and speed compensation strategy
And
and a direct axis reference current
And then respectively feeding back the AC-DC shaft current i with the motor 1 and the motor 2q1、id1And iq2、id2Comparing, calculating respective AC-DC axis reference voltage by PI controller
And
the AC-DC axis reference voltage of the motor 1 and the motor 2 is compared
And
obtaining two voltage components under a static coordinate system through Park inverse transformation
And
obtaining three duty ratio signals UH respectively by SVPWM technology1、VH1、WH1And UH2、VH2、WH2；
S4, fault detection is carried out, a fault bridge arm of the inverter is judged by detecting three-phase currents of the motor 1 and the motor 2, a fault signal is sent to a fault-tolerant inverter and a PWM signal logic synthesis unit to complete reconstruction of fault-tolerant topology and realization of a fault-tolerant algorithm, and finally fault-tolerant control of the double-permanent magnet synchronous motor is realized;
will control the bridge arm L3And bridge arm L6Duty ratio signal WH1、WH2Logic synthesis is carried out through an OR gate to form a control common bridge arm L6Duty cycle signal delta of6And duty ratio signals delta of the other four bridge armsiUnchanged, i is 1,2, 4, 5; the obtained duty ratio signal is arranged through a NOT gate and a dead zone to obtain a control signal of a corresponding under-bridge-arm switch
The five-bridge-arm inverter is used for driving the double-permanent magnet synchronous motor, and the fault-tolerant strategy when a single bridge arm fails is as follows:
the fault bridge arm is L1Fault tolerant topology of L4Common, conducting switch is F2,F3,F4,F5,F6,F7The off-switch is F1,F8,F9The fault tolerance method is delta4＝UH1Or UH2；
The fault bridge arm is L2Fault tolerant topology of L5Common, conducting switch is F1,F3,F4,F5,F6,F8The off-switch is F2,F7,F9The fault tolerance method is delta5＝VH1Or VH2；
The fault bridge arm is L3Fault tolerant topology of L6Common, conducting switch is F1,F2,F4,F5,F6,F9The off-switch is F3,F7,F8The fault tolerance method is delta6＝WH1Or WH2；
The fault bridge arm is L4Fault tolerant topology of L1Common, conducting switch is F1,F2,F3,F5,F6,F7The off-switch is F4,F8,F9The fault tolerance method is delta1＝UH1Or UH2；
The fault bridge arm is L5Fault tolerant topology of L2A common, conducting switch isF1,F2,F3,F4,F6,F8The off-switch is F5,F7,F9The fault tolerance method is delta2＝VH1Or VH2；
The fault bridge arm is L6Fault tolerant topology of L3Common, conducting switch is F1,F2,F3,F4,F5,F9The off-switch is F6,F7,F8The fault tolerance method is delta3＝WH1Or WH2；
Wherein, F1、F2、F3、F4、F5、F6、F7、F8、F9Is a bidirectional controllable switch; l is1、L2、L3Is a leg of the inverter 1, L4、L5、L6Is the leg of the inverter 2, deltaiFor controlling bridge arm LiI is 1,2, 3, 4, 5, 6.
2. The fault-tolerant control method of the two-motor synchronous control system according to claim 1, wherein in step S2, θ is used1And theta2Calculated thetaqUsed as input to PI controller, trigonometric function is used to normalize θ1And theta2The normalized error process is expressed as:
θq＝-cos(θ1)sin(θ2)+sin(θ1)cos(θ2)
when theta is1And theta2Same, thetaqIs calculated as zero.
3. The fault-tolerant control method of the dual-motor synchronous control system according to claim 2, wherein in step S2, the speed compensator is used for realizing the feedback rotation speed ω of the motor 1 and the motor 21、ω2The same, the rotating speed error of the motor 1 and the motor 2 obtains the direct axis reference current compensation value of the motor 2 through the PI controller
Setting a direct-axis reference current initial value of the motor 2
The two are added to obtain the final direct-axis reference current of the motor 2
4. The fault-tolerant control method of the two-motor synchronous control system according to claim 1, wherein in step S4, the relationship between the duty cycle signals before and after fault tolerance is:
wherein, deltaiFor controlling bridge arm LiI is 1,2, 3, 4, 5, 6.
5. The fault-tolerant control method of the dual-motor synchronous control system according to claim 1, wherein a topology of the fault-tolerant inverter includes a dc power source udcA three-phase six-switch inverter 1 and a three-phase six-switch inverter 2, wherein the three-phase six-switch inverter 1 comprises a bridge arm L1、L2、L3Arm L of the bridge1Comprising a power switch T1And T4Arm L of the bridge2Comprising a power switch T3And T6Arm L of the bridge3Comprising a power switch T2And T5(ii) a The three-phase six-switch inverter 2 comprises a bridge arm L4、L5、L6Arm L of the bridge4Comprising a power switch T7And T10Arm L of the bridge5Comprising a power switch T9And T12Arm L of the bridge6Comprising a power switch T8And T11(ii) a The fault-tolerant inverter is provided with F1、F2、F3、F4、F5、F6、F7、F8、F9Nine bidirectional controllable switches and1、s2、s3、s4、s5、s6six fuses; u of motor 11、V1、W1Phase passes through switch F1、F2、F3Is connected to the bridge arm L1、L2、L3Midpoint a, b, c; u of the motor 22、V2、W2Phase passes through switch F4、F5、F6Is connected to the bridge arm L4、L5、L6Midpoint x, y, z; u of motor 11、V1、W1U of phase motor 22、V2、W2Phase passes through switch F7、F8、F9Connected together, fuses s1、s2、s3、s4、s5、s6Are respectively connected with six bridge arms L1、L2、L3、L4、L5、L6。
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| CN113141139B (en) * | 2021-03-31 | 2022-09-30 | 山东大学 | Five-closed-loop control method and system for double three-phase permanent magnet motor |
| CN113014152B (en) * | 2021-04-08 | 2023-06-20 | 中国第一汽车股份有限公司 | Dual-motor control system and method |
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