CN111564996B - Fault-tolerant operation control method of six-phase permanent magnet synchronous motor without position sensor - Google Patents

Fault-tolerant operation control method of six-phase permanent magnet synchronous motor without position sensor Download PDF

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CN111564996B
CN111564996B CN202010497403.7A CN202010497403A CN111564996B CN 111564996 B CN111564996 B CN 111564996B CN 202010497403 A CN202010497403 A CN 202010497403A CN 111564996 B CN111564996 B CN 111564996B
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electromotive force
fault
phase
permanent magnet
sliding mode
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CN111564996A (en
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高晗璎
徐睿臻
王昱
陈卓
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

A fault-tolerant operation control method for a six-phase permanent magnet synchronous motor without a position sensor belongs to the technical field of motor control. The invention aims at the problem of the reliability of the six-phase permanent magnet synchronous motor caused by the faults of the traditional position sensor and the phase failure of the motor. The invention comprises the following steps: constructing a six-phase permanent magnet synchronous motor model, and converting the model into a transformation matrix under an alpha-beta coordinate; transforming the matrix to obtain an expression of the residual phase current; establishing an equivalent parallel second-order current sliding mode observer of an alpha-beta coordinate system, wherein a sliding mode switching function of the sliding mode observer is a hyperbolic tangent function, and the sliding mode observer outputs a rotor position angle; and the rotor position angle and the rotating speed information are substituted into a closed-loop control system based on a fault-tolerant control mode with the minimum copper consumption, so that the motor can stably operate in low, medium and high speed domains under the fault working condition operation.

Description

Fault-tolerant operation control method for six-phase permanent magnet synchronous motor without position sensor
Technical Field
The invention relates to the field of motor control, in particular to a position-sensor-free fault-tolerant operation control method for a six-phase permanent magnet synchronous motor.
Background
With the continuous expansion of the application of the motor driving system in the fields of military, industry and the like, the motor driving system is particularly important for occasions with higher reliability requirements, such as electric vehicles, ship propulsion, aerospace and the like. The motor control system aims to meet the requirement of ensuring high power/torque density output under normal and fault working condition operation of the motor control system, and simultaneously avoids the problem of reliability reduction caused by the fault of the traditional position sensor and the influence of environmental factors. Therefore, the control method of the multiphase permanent magnet synchronous motor fault-tolerant operation position-free sensor is widely concerned. At present, fault-tolerant control strategies of multi-phase motors mainly focus on phase-lacking operation research, most of the non-position sensor technologies are applied to normal working conditions of the motors, and the fault-tolerant operation conditions of the motors are rarely considered.
Disclosure of Invention
In order to solve the problems, the invention provides a position-sensor-free fault-tolerant operation control method for a six-phase permanent magnet synchronous motor, so that the motor can accurately estimate the rotating speed and the rotor position information of the six-phase permanent magnet synchronous motor under the fault working condition, and the stable operation of the motor is realized.
The invention provides a position-sensor-free six-phase permanent magnet synchronous motor fault-tolerant operation control method, which comprises the following steps of:
s1, constructing a six-phase permanent magnet synchronous motor model and converting the six-phase permanent magnet synchronous motor model into a transformation matrix under an alpha-beta coordinate;
s2, obtaining an expression of the residual phase current according to the transformation matrix in the step S1;
s3, establishing an equivalent parallel second-order current sliding mode observer of an alpha-beta coordinate system, wherein a sliding mode switching function of the sliding mode observer is a hyperbolic tangent function, back electromotive force is obtained through the sliding mode switching function, the back electromotive force is subjected to low-pass filtering and feedback gain to obtain equivalent feedback back electromotive force, the equivalent feedback back electromotive force is fed back to the parallel second-order current sliding mode observer, and a rotor position angle and an angular speed are obtained according to the equivalent feedback back electromotive force;
and S4, substituting the rotor position angle and speed information obtained in the step S3 into a closed-loop control system based on a fault-tolerant control mode with minimum copper consumption, so that the motor can stably run in a low, medium and high speed range under the fault working condition.
Further, the equivalent feedback back electromotive force is subjected to second-order integration to obtain a rotor position angle and an angular velocity.
Further, step S3 specifically includes:
s31, establishing a current state equation with current components as state variables according to the transformation matrix under the alpha-beta coordinate:
Figure BDA0002517948360000021
in the formula, eα、eβIs the component of the back emf on the α - β axis;
s32, defining slip form surface
Figure BDA0002517948360000022
The sliding mode switching function is a hyperbolic tangent function KsAnd (tanh) (x), the equivalent parallel second-order current sliding mode observer of the six-phase permanent magnet synchronous motor under the alpha-beta coordinate system is as follows:
Figure BDA0002517948360000023
wherein the content of the first and second substances,
Figure BDA0002517948360000024
respectively estimating values of components of the back electromotive force of the sliding mode observer on an alpha-beta axis;
s32, obtaining a component e of an alpha-beta axis of back electromotive force by the difference between the current component estimated value of the equivalent parallel second-order current sliding-mode observer in the alpha-beta coordinate system and the current component of the equivalent parallel second-order current sliding-mode observer in the alpha-beta coordinate system through a sliding-mode gain and a sliding-mode switching functionα、eβThe method specifically comprises the following steps:
Figure BDA0002517948360000025
wherein, KsIn order to obtain the gain of the sliding mode,
Figure BDA0002517948360000026
s33, obtaining the back electromotive force estimated value of the equivalent feedback through low-pass filtering the back electromotive force
Figure BDA0002517948360000027
And
Figure BDA0002517948360000028
the method specifically comprises the following steps:
Figure BDA0002517948360000029
wherein T is the time constant of the low-pass filter;
s34, and back electromotive force estimation value of equivalent feedback
Figure BDA00025179483600000210
And
Figure BDA00025179483600000211
multiplying with feedback gain to obtain estimated value of back electromotive force
Figure BDA00025179483600000212
Comprises the following steps:
Figure BDA00025179483600000213
in the formula, m1Is the feedback gain;
and S35, and feeding back the estimated values of the counter electromotive force and the counter electromotive force to the parallel second-order current sliding mode observer.
Further, the back electromotive force obtains a rotor position angle
Figure BDA00025179483600000214
Comprises the following steps:
Figure BDA0002517948360000031
the back electromotive force is used for obtaining the angular velocity
Figure BDA0002517948360000032
Comprises the following steps:
Figure BDA0002517948360000033
further, the sliding mode switching function is:
Figure BDA0002517948360000034
wherein a is an adjustable normal number.
Further, the fault-tolerant working condition is a phase-loss fault of one phase of the six-phase permanent magnet synchronous motor.
As described above, the method for controlling the fault-tolerant operation of the six-phase permanent magnet synchronous motor without the position sensor provided by the invention has the following effects:
1. the sliding mode observation control is applied to the fault-tolerant operation mode of the six-phase permanent magnet synchronous motor, and when the six-phase permanent magnet synchronous motor fails, the fault-tolerant operation mode is switched to the fault-tolerant control mode with the minimum copper consumption, so that a good observation effect can be realized, and the motor can stably operate under the fault working condition. (ii) a
2. According to the sliding mode observer control method, system buffeting is reduced by adopting a method of replacing a symbolic function with a hyperbolic tangent function, a feedback mode is adopted to dynamically adjust the sliding mode observer, and a suitable feedback gain parameter is selected to equivalently amplify the condition that the back electromotive force output by the motor is small, so that the precision of the sliding mode noninductive control method in a low-speed area is improved, high-precision and stable operation of a multiphase motor in low, medium and high-speed areas is realized, and the application range of the sliding mode observer is expanded.
3. The invention is suitable for occasions with higher requirements on the reliability of the motor, such as aerospace, electric automobiles and the like.
Drawings
Fig. 1 is a topology structural diagram of a dual Y-shifted 30 ° six-phase permanent magnet synchronous motor system according to an embodiment of the present invention;
FIG. 2 is a star connection diagram of isolated neutral points of stator windings of a six-phase permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 3 is a block diagram of an improved current sliding mode observer according to an embodiment of the present invention;
FIG. 4 is a graph of a sign function and a hyperbolic tangent function of the present invention;
FIG. 5 is an overall control block diagram of a specific embodiment of the present invention;
FIG. 6 is a waveform diagram of estimated and actual rotational speed values for a six-phase PMSM at a given rotational speed of 100r/min for normal start-up operation, in accordance with an embodiment of the present invention. In the figure, the broken line represents an actual rotation speed curve, and the solid line represents an estimated rotation speed curve;
FIG. 7 is a waveform diagram of an estimated rotor position angle value versus an actual value for a six-phase PMSM at a given speed of 100r/min for normal start-up operation in accordance with an embodiment of the present invention. In the figure, the broken line represents the actual angle, and the solid line represents the estimated angle;
FIG. 8 is a waveform diagram of estimated and actual rotational speed values for a six-phase PMSM at a given rotational speed of 300r/min for normal start-up operation, in accordance with an embodiment of the present invention. In the figure, the broken line represents an actual rotation speed curve, and the solid line represents an estimated rotation speed curve;
FIG. 9 is a waveform of estimated rotor position angle versus actual rotor position angle for a six-phase PMSM at a given speed of 300r/min for normal start-up operation in accordance with an embodiment of the present invention. In the figure, the broken line represents the actual angle, and the solid line represents the estimated angle;
FIG. 10 is a waveform diagram of estimated and actual rotational speed values for a six-phase PMSM at a given rotational speed of 800r/min under normal start-up operation, in accordance with an embodiment of the present invention. In the figure, the broken line represents an actual rotation speed curve, and the solid line represents an estimated rotation speed curve;
FIG. 11 is a waveform diagram of an estimated rotor position angle value versus an actual rotor position angle value for a six-phase PMSM at a given speed of 800r/min for normal start-up operation in accordance with an embodiment of the present invention. In the figure, the broken line represents the actual angle, and the solid line represents the estimated angle;
FIG. 12 is a waveform diagram of estimated and actual speed values for a six-phase PMSM at a given speed of 1000r/min for normal start-up operation, in accordance with an embodiment of the present invention. In the figure, the broken line represents an actual rotation speed curve, and the solid line represents an estimated rotation speed curve;
FIG. 13 is a waveform diagram of an estimated rotor position angle value versus an actual value for a six-phase PMSM at a given speed of 1000r/min for normal start-up operation in accordance with an embodiment of the present invention. In the figure, the broken line represents the actual angle, and the solid line represents the estimated angle;
FIG. 14 is a waveform diagram of estimated and actual rotational speed values for a six-phase PMSM at a given rotational speed of 500r/min for normal start-up operation, in accordance with an embodiment of the present invention. In the figure, the broken line represents an actual rotation speed curve, and the solid line represents an estimated rotation speed curve;
FIG. 15 is a waveform diagram of an estimated rotor position angle value versus an actual value for a six-phase PMSM at a given speed of 500r/min for normal start-up operation in accordance with an embodiment of the present invention. In the figure, the broken line represents the actual angle, and the solid line represents the estimated angle;
FIG. 16 is a torque waveform diagram for normal start-up operation of a six-phase PMSM according to an embodiment of the present invention at a given speed of 500 r/min;
FIG. 17 is a six-phase current waveform diagram for a six-phase PMSM at a given speed of 500r/min for normal start-up operation in accordance with an embodiment of the present invention;
FIG. 18 is a waveform diagram of estimated and actual rotational speed values during startup operation of a six-phase PMSM fault tolerant control in accordance with an embodiment of the present invention;
FIG. 19 is a waveform diagram of rotor position angle estimates versus actual values for a six-phase PMSM fault tolerant control start-up operation in accordance with an embodiment of the present invention;
FIG. 20 is a torque waveform diagram for six-phase PMSM fault tolerant control startup operation in accordance with an exemplary embodiment of the present invention;
FIG. 21 is a six-phase current waveform diagram for six-phase PMSM fault tolerant control startup operation in accordance with an exemplary embodiment of the present invention;
FIG. 22 is a waveform diagram of estimated and actual rotational speed values for a six-phase PMSM under normal, fault, and fault tolerant operation on-line switching in accordance with an exemplary embodiment of the present invention;
FIG. 23 is a waveform of rotor position angle estimates versus actual values for a six-phase PMSM under on-line switching for normal, fault, and fault tolerant operation in accordance with an exemplary embodiment of the present invention;
FIG. 24 is a current waveform diagram for a six-phase PMSM operating under on-line switching for normal, fault and fault tolerant operation in accordance with an exemplary embodiment of the present invention;
FIG. 25 is a waveform of estimated and actual rotational speed values for on-line switching of normal, fault and fault tolerant operation at six-phase PMSM speed change in accordance with an exemplary embodiment of the present invention;
FIG. 26 is a waveform diagram of rotor position angle estimates versus actual values for on-line switching of normal, fault and fault tolerant operation for a six-phase PMSM shift in accordance with an exemplary embodiment of the present invention;
FIG. 27 is a current waveform diagram for on-line switching of normal, fault and fault tolerant operation for a six-phase PMSM shift event in accordance with an exemplary embodiment of the present invention;
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
In the method for controlling fault-tolerant operation of a six-phase permanent magnet synchronous motor without a position sensor according to the present embodiment, the fault-tolerant fault is a phase-loss fault of a certain phase of the motor, the fault-tolerant fault is an open circuit between an inverter and a motor winding, the motor winding is not damaged, and the control method of the fault-tolerant operation control system of the six-phase permanent magnet synchronous motor without the position sensor includes the following steps in a fault-tolerant mode as shown in fig. 5:
s1, constructing a six-phase permanent magnet synchronous motor model and converting the six-phase permanent magnet synchronous motor model into a transformation matrix under an alpha-beta coordinate;
taking a six-phase permanent magnet synchronous motor as a whole, dividing each variable in the six-phase permanent magnet synchronous motor into an alpha-beta plane participating in electromechanical energy conversion and other planes irrelevant to the electromechanical energy conversion, wherein the specific establishment process of a six-phase permanent magnet synchronous motor model is as follows:
the topology structure diagram of the six-phase permanent magnet synchronous motor system is shown in fig. 1, the stator windings of the six-phase permanent magnet synchronous motor are distributed as shown in fig. 2, and the six-phase permanent magnet synchronous motor system is composed of two sets of Y-connected three-phase windings with isolated neutral points, and the phase difference between the two sets of windings is 30 degrees.
S11, the following assumptions are now made for ease of analysis:
(1) the armature reaction magnetic field generated by the stator winding and the excitation magnetic field generated by the rotor permanent magnet are both distributed in a sine way in the air gap;
(2) magnetic saturation of a motor iron core is ignored, and eddy current, hysteresis loss and mutual leakage inductance among stator windings are not counted;
(3) the rotor has no damping winding;
(4) the electric conductivity of the permanent magnet material is zero, the magnetic conductivity inside the permanent magnet is the same as that of air, and the generated rotor flux linkage is constant;
(4) the directions of the variables such as voltage, current, flux linkage and the like are all selected according to the convention of the motor and accord with the right-hand spiral rule.
S12, the six-phase permanent magnet synchronous motor has six independent current variables, is a six-dimensional system, and has the defects of high order, nonlinearity and the like in a mathematical model in a natural coordinate system; the stator flux linkage in the natural coordinate system is a variable quantity which changes along with the rotor position angle theta, and the torque equation is related to the position angle theta of the rotor besides the given current, so that the realization of the control method is difficult, and a controller with good effect is not easy to establish.
The conversion process from the six-phase stationary coordinate system to the two-phase rotating coordinate system includes:
s121, from a six-phase static coordinate system to an alpha-beta two-phase static coordinate system;
the transformation matrix for transformation from the natural coordinate system to the α - β coordinate system is:
Figure BDA0002517948360000061
through the transformation matrix in the formula (1), each variable of the six-phase permanent magnet synchronous motor can be mapped into three two-dimensional orthogonal sub-planes, namely an alpha-beta sub-plane, a z1-z2 sub-plane and an o1-o2 sub-plane. The electromechanical energy conversion is only related to the alpha-beta plane, but not to z1-z2 and o1-o2, so that the two planes are called harmonic sub-planes, and the six-phase motor adopts a neutral point unconnected mode, so that the variable component in the o1-o2 plane is zero, and is also called a zero-sequence plane.
Because the electromechanical energy conversion is only related to the alpha-beta plane, the rotating coordinate transformation is carried out on the alpha-beta plane, and the multiplication of z1-z2 and o1-o2 by the unit matrix respectively is kept unchanged. A two-phase stationary coordinate system to two-phase rotating coordinate system transformation matrix is thus obtained as:
Figure BDA0002517948360000062
and S122, decoupling the mathematical model from the alpha-beta two-phase static coordinate system to the d-q two-phase rotating coordinate system. Under a d-q two-phase rotating coordinate system, a voltage equation, a flux linkage equation, an electromagnetic moment equation and a motion equation of the stator side of the six-phase permanent magnet synchronous motor are respectively as follows.
The flux linkage equation is:
Figure BDA0002517948360000071
the voltage equation is:
Figure BDA0002517948360000072
the torque equation is:
Figure BDA0002517948360000073
the equation of motion is:
Figure BDA0002517948360000074
in the formula: l isdA direct axis inductor; l isqIs a quadrature axis inductor; n is a radical of an alkyl radicalpRepresenting the number of pole pairs; psifA rotor permanent magnet flux linkage; theta is the electrical angle of the motor; t iseIs the load torque; t is a unit ofLIs the load torque; b is a damping coefficient; omegamIs the mechanical angular velocity; j is the motor moment of inertia; i all right angledIs a direct axis current; i all right angleqIs quadrature axis current; psid、ψqIs the d and q axis stator flux linkage components; u. ud、uqIs the d and q axis stator voltage components; and R is the stator resistance.
S2, obtaining an expression of the residual phase current according to the transformation matrix of the step S1;
in the embodiment, the open circuit of the Z phase is assumed, and from the perspective of the decoupling transformation matrix, if the decoupling transformation matrix is kept unchanged, the voltage equation, the flux linkage equation and the torque equation are not affected, and only the current is affected. Because one-phase open circuit operation reduces one degree of freedom of control, currents in a static coordinate system are not independent any more, and the transformation array (1) can know that iα、iz1、io1Independent of the Z-phase current, then iβ、iz2、io2The requirements are satisfied:
iz＝-iβ-iz2+io2＝0 (7)
as can be seen from equation (7), when the one-phase open circuit operates, if the transform matrix remains unchanged, the currents of the fundamental sub-plane and the harmonic sub-plane are no longer decoupled, and therefore, if the current of the harmonic sub-plane is continuously set to zero, torque ripple inevitably occurs. Since the output torque of the machine is determined by the α - β sub-plane, it is necessary to preferentially ensure the control freedom of the α - β plane, the control freedom of the remaining sub-planes being related to the specific neutral point connection, the harmonic current settings can be written in the following general form:
Figure BDA0002517948360000075
in the formula: k is a radical ofi( i 1, 2.. 11) are coefficients determined by a specific model and a fault-tolerant control method.
In this embodiment, the minimum stator copper loss is used as an optimization target of a fault-tolerant control strategy, and the total stator copper loss of the six-phase permanent magnet synchronous motor is as follows:
Figure BDA0002517948360000081
in the formula: i.e. i6sIs a phase current matrix, i6s＝[iA iX iB iY iC iZ]T；RsIs a stator resistance matrix, wherein R is the stator phase resistance.
Figure BDA0002517948360000082
The stator copper loss of the alpha-beta sub-plane is fixed, so the optimization condition of the stator copper loss minimum mode can be simplified as follows:
Figure BDA0002517948360000083
since the neutral points of the two sets of windings are isolated, io1＝i o20. And i isz1Is not limited by Z phase current, so that i is in the mode of minimum stator copper lossz1Should be kept at zero i z10, i.e. k1＝k 20. This can be obtained from formula (8):
Figure BDA0002517948360000084
the expression of the remaining phase current at this time can be determined by equation (1):
Figure BDA0002517948360000085
in the formula: i ismThe current amplitude value of the motor under normal operation is obtained; theta is the electrical angle of rotation of the rotor of the motor, iA、iB、iC、iX、iY、iZRespectively, the currents of two sets of windings of the six-phase permanent magnet synchronous motor.
S3, establishing an equivalent parallel second-order current sliding mode observer of the six-phase permanent magnet synchronous motor in an alpha-beta coordinate system, wherein a sliding mode switching function of the sliding mode observer is a hyperbolic tangent function Kstan h (x), the sliding-mode observer outputting a rotor position angle and an angular velocity;
the method specifically comprises the following steps:
s31, establishing a current state equation with current components as state variables according to the transformation matrix under the alpha-beta coordinate:
Figure BDA0002517948360000091
in the formula, eα、eβThe component of the back electromotive force on the α - β axis includes a rotor angular velocity ω and a rotor position angle θ:
Figure BDA0002517948360000092
Figure BDA0002517948360000093
s32, defining slip form surface
Figure BDA0002517948360000094
The sliding mode switching function is a hyperbolic tangent function Kstanh (x), in order to improve the accuracy of estimating the position and speed information under the condition that the control without the position sensor operates in a low-speed region of the motor, the equivalent parallel second-order current sliding mode observer of the six-phase permanent magnet synchronous motor in an alpha-beta coordinate system can be expressed as follows:
Figure BDA0002517948360000095
wherein the content of the first and second substances,
Figure BDA0002517948360000096
respectively are estimated values of components of the back electromotive force of the sliding-mode observer on an alpha-beta axis;
s33, and current component estimation value under alpha-beta coordinate system of equivalent parallel second-order current sliding-mode observer
Figure BDA0002517948360000097
With current component i in the alpha-beta coordinate systemα、iβThe difference of the first and second coefficients is subjected to sliding mode gain and a sliding mode switching function to obtain a component e of the alpha-beta axis of the back electromotive forceα、eβThe method specifically comprises the following steps:
Figure BDA0002517948360000098
in the formula, KsIn order to obtain the gain of the sliding mode,
Figure BDA0002517948360000099
s34, obtaining the counter electromotive force estimated value of the equivalent feedback through low-pass filtering the counter electromotive force
Figure BDA00025179483600000910
And
Figure BDA00025179483600000911
the method specifically comprises the following steps: :
Figure BDA0002517948360000101
wherein T is the time constant of the low-pass filter;
s35, and back electromotive force estimation value of equivalent feedback
Figure BDA0002517948360000102
And
Figure BDA0002517948360000103
multiplying with feedback gain to obtain the estimated value of back electromotive force
Figure BDA0002517948360000104
Comprises the following steps:
Figure BDA0002517948360000105
in the formula, m1Is the feedback gain;
s36, estimating the counter electromotive force
Figure BDA0002517948360000106
Back electromotive force e of the sliding mode observerα、eβAfter superposition, feeding back the equivalent parallel second-order current sliding mode observer;
s37, in order to eliminate the dc component contained in the observed sliding mode equivalent feedback signal, the back electromotive force of the equivalent feedback of this embodiment is processed by a second-order integral generator to obtain the rotor position angle
Figure BDA0002517948360000107
And angular velocity
Figure BDA0002517948360000108
Figure BDA0002517948360000109
In order to reduce buffeting caused by high-frequency harmonics due to discontinuous switching functions, the present embodiment replaces the switching functions with hyperbolic tangent functions, which can be expressed as:
Figure BDA00025179483600001010
wherein a is an adjustable normal number.
The observer is stabilized and the slip form buffeting is effectively inhibited by selecting proper slip form gain, and the condition that an observed value reaches a slip form switching surface is STS<0. The Lyapunov function, which is related to the stability of the sliding-mode observer, is defined as:
Figure BDA00025179483600001011
according to the Lyapunov stability criterion method, when V (x) is positive and the derivative thereof is negative, the system is gradually stabilized on the sliding mode switching surface. Its derivative V' (x) is:
Figure BDA0002517948360000111
in order to make V' (x) < 0 always hold, it is necessary to satisfy:
Figure BDA0002517948360000112
by the nature of the function, tan h (x), and | tan h (x) | ≦ 1:
Figure BDA0002517948360000113
and S4, substituting the rotor position angle and speed information in the step S3 into a closed-loop control system based on a fault-tolerant control mode with minimum copper loss, so that the motor can realize stable operation in low, medium and high speed regions under the operation of a fault working condition.
To further illustrate the effect of the present invention, the present embodiment performs system simulation of a six-phase PMSM starting process, specifically:
the rated rotating speed of the motor is 1000 r.min-1And the speed region is defined by 1/3 and 2/3 of the rated speed, and the speed is divided into a low speed region, a middle speed region and a high speed region. With loaded start of motor, load torque T N10 N.m, and the load is suddenly increased to 15 N.m at 0.2 s; the load was suddenly reduced to 10N · m at 0.4 s. As can be seen from fig. 6-15, the improved sliding-mode observer method of the present invention can realize high-precision stable operation at low speed, medium speed and high speed, and the tracking effect of the rotating speed is good and the rotor position signal can be accurately tracked in the full speed domain. It can be seen from fig. 16 that when the load torque is suddenly applied at 0.2s during normal start, the electromagnetic torque response of the motor is fast, and the overshoot is small. From fig. 18 and fig. 19, it can be seen that the improved sliding mode observer method used in fault-tolerant start-up of the present invention can make the observed rotating speed and the actual rotating speed waveform well coincide, and can accurately track the rotor position signal. Fig. 18 and fig. 20 show that the motor can reach a given rotation speed when the rotation speed is 0.07s, the sudden load rotation speed fluctuation is small when the rotation speed is 0.2s, the electromagnetic torque response is fast, the overshoot is small, and the rotation speed reaches a steady state within 0.02s, which indicates that the system has good dynamic and static performances. From FIG. 17, it can be seen that in normal operation iALead iB120°，iALead iXAnd 30 degrees, which accords with theoretical analysis. In fig. 21, the X-phase current amplitude is 0.866 times the a-phase current amplitude, and the phases thereof are the same; the phase of the phase B current is 1.803 times the phase of the phase A current, and the phase of the phase B current lags the phase of the phase A current by 106.1 degrees, which is consistent with theoretical derivation. Therefore, the fault-tolerant control optimization strategy based on the minimum stator copper loss of the embodiment is feasible.
Starting the motor with load, load torque T N10 N.m, a reference rotation speed Nr of 500 r.min-1. As can be seen from FIG. 22, the errors of the actual rotating speed and the estimated rotating speed at the initial stage of the starting of the motor are small, and the improved sliding mode observer of the invention is proved to have good tracking effect and then is 0.A steady state can be reached within 1s and the estimated speed can track the actual value. A phase open circuit fault occurs when the motor is in 0.2s, the rotating speed is influenced to generate larger fluctuation, a fault-tolerant control strategy is added in 0.4s, and the rotating speed is recovered to a stable rated rotating speed in 0.02 s. Fig. 23 shows that the rotor position angle can better track the actual value at the initial stage of starting, and the estimated position angle coincides with the actual angle after the motor stably operates. FIG. 24 shows that iALead iB120°，iAPhase lead iXThe phase is 30 degrees, the theoretical analysis accords with the previous, meanwhile, when the motor is subjected to phase failure in 0.2s, the current is seriously distorted, after 0.4s, the minimum copper loss fault-tolerant operation is realized, the current is in a sine wave, the current amplitude is inconsistent, the maximum current is 1.803 times of the rated current, the phase is correspondingly changed, iALead iB106°，iAAnd iXIn phase.
Motor start with load and load torque T N10 N.m, a start reference rotation speed Nr of 200 r.min-1At 0.2s, the rotation speed is from 200 r.min-1Increase to 800 r.min-1Then the rotating speed is reduced to 400 r.min for 0.28s-1. It can be seen from fig. 25 that the estimated rotation speed at the initial stage of the motor start tracks the actual rotation speed very quickly and operates stably. At 0.2s, the rotating speed is suddenly increased instantly, the observer responds quickly and quickly tracks the actual rotating speed. At 0.28s, a phase open circuit fault occurs in the motor, resulting in large fluctuations in the rotational speed. Adding a fault-tolerant control strategy at 0.38s, immediately responding to the rotating speed, and reducing the rotating speed to 400 r.min after 0.1s-1And (5) stable operation. Fig. 26 shows that the rotor position angle can better track the actual value in the initial stage of starting, and the estimated position angle coincides with the actual angle after the motor is stably operated. At 0.28s the motor fails, a small change in the rotor position angle occurs, with the frequency increasing with increasing rotational speed. FIG. 27 shows the current waveform, i is shownALead iB120°，iAPhase lead iXThe phase is 15 degrees, the theoretical analysis accords with the above, meanwhile, the motor is subjected to phase failure at 0.28s, the current is seriously distorted, the minimum copper loss fault-tolerant operation is carried out after 0.38s, and the current is in a sine waveThe current amplitudes are not consistent, the maximum current is 1.803 times of the rated current, the phase position is correspondingly changed, iALead iB106°，iAAnd iXIn phase.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (5)

1. The fault-tolerant operation control method of the six-phase permanent magnet synchronous motor without the position sensor is characterized by comprising the following steps of: when one phase of the six-phase permanent magnet synchronous motor is in phase failure, the method comprises the following steps:
s1, constructing a six-phase permanent magnet synchronous motor model and converting the six-phase permanent magnet synchronous motor model into a transformation matrix under an alpha-beta coordinate;
s2, obtaining an expression of the residual phase current according to the transformation matrix in the step S1;
s3, establishing an equivalent parallel second-order current sliding mode observer of an alpha-beta coordinate system, wherein a sliding mode switching function of the sliding mode observer is a hyperbolic tangent function, back electromotive force is obtained through the sliding mode switching function, the back electromotive force is subjected to low-pass filtering to obtain a back electromotive force estimation value of equivalent feedback, the back electromotive force estimation value of the equivalent feedback is multiplied by a feedback gain to obtain an estimation value of the back electromotive force, the estimated back electromotive force and the back electromotive force of the sliding mode observer are fed back to the equivalent parallel second-order current sliding mode observer after being superposed, and a rotor position angle and an angular velocity are obtained according to the back electromotive force of the equivalent feedback;
and S4, substituting the rotor position angle and speed information obtained in the step S3 into a closed-loop control system based on a fault-tolerant control mode with minimum copper consumption, so that the motor can stably run in a low, medium and high speed range under the fault working condition.
2. The method for controlling the fault-tolerant operation of the six-phase permanent magnet synchronous motor without the position sensor according to claim 1, wherein: and the equivalent feedback back electromotive force is subjected to second-order integral generator to obtain the position angle and the angular speed of the rotor.
3. The method for controlling the fault-tolerant operation of the six-phase permanent magnet synchronous motor without the position sensor according to claim 1, wherein: step S3 specifically includes:
s31, establishing a current state equation with current components as state variables according to the transformation matrix under the alpha-beta coordinate:
Figure FDA0003634849280000011
in the formula, eα、eβIs the component of the back electromotive force on the alpha-beta axis, R is the stator resistance, iα、iβIs the current component under the alpha-beta coordinate system;
s32, defining a sliding mode surface
Figure FDA0003634849280000012
The sliding mode switching function is a hyperbolic tangent function Kstanh (x), the equivalent parallel second-order current sliding-mode observer of the six-phase permanent magnet synchronous motor in the alpha-beta coordinate system is as follows:
Figure FDA0003634849280000013
wherein the content of the first and second substances,
Figure FDA0003634849280000014
respectively an estimate of the component of the back emf of the sliding mode observer on the alpha-beta axis,
Figure FDA0003634849280000015
is the current component estimated value under the alpha-beta coordinate system;
s33, obtaining a component e of an alpha-beta axis of back electromotive force by the difference between the current component estimated value of the equivalent parallel second-order current sliding-mode observer in the alpha-beta coordinate system and the current component of the equivalent parallel second-order current sliding-mode observer in the alpha-beta coordinate system through a sliding-mode gain and a sliding-mode switching functionα、eβThe method specifically comprises the following steps:
Figure FDA0003634849280000021
wherein, KsIn order to obtain the gain of the sliding mode,
Figure FDA0003634849280000022
s34, obtaining the counter electromotive force estimated value of the equivalent feedback through low-pass filtering the counter electromotive force
Figure FDA0003634849280000023
And
Figure FDA0003634849280000024
the method specifically comprises the following steps:
Figure FDA0003634849280000025
wherein T is the time constant of the low-pass filter;
s35, and back electromotive force estimation value of equivalent feedback
Figure FDA0003634849280000026
And
Figure FDA0003634849280000027
multiplying with feedback gain to obtain the estimated value of back electromotive force
Figure FDA0003634849280000028
Comprises the following steps:
Figure FDA0003634849280000029
in the formula, m1Is the feedback gain;
and S36, and feeding back the estimated values of the counter electromotive force and the counter electromotive force to the parallel second-order current sliding mode observer.
4. The method for controlling the fault-tolerant operation of the six-phase permanent magnet synchronous motor without the position sensor according to claim 3, characterized in that: the back electromotive force obtains a rotor position angle
Figure FDA00036348492800000210
Comprises the following steps:
Figure FDA00036348492800000211
the back electromotive force is used to obtain the angular velocity
Figure FDA00036348492800000212
Comprises the following steps:
Figure FDA00036348492800000213
5. the method for controlling the fault-tolerant operation of the six-phase permanent magnet synchronous motor without the position sensor according to claim 1, wherein: the sliding mode switching function is as follows:
Figure FDA00036348492800000214
wherein a is an adjustable normal number.
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