CN111628679B - Fault-tolerant system and control method for parallel motors - Google Patents

Fault-tolerant system and control method for parallel motors Download PDF

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CN111628679B
CN111628679B CN202010373541.4A CN202010373541A CN111628679B CN 111628679 B CN111628679 B CN 111628679B CN 202010373541 A CN202010373541 A CN 202010373541A CN 111628679 B CN111628679 B CN 111628679B
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current
motor
power switch
inverter
fault
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CN111628679A (en
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张守旭
崔荣鑫
严卫生
王银涛
李俊兵
房新鹏
左磊
林海
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Northwestern Polytechnical University
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H02P2006/045—Control of current
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference

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  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention discloses a fault-tolerant system and a control method for parallel motors, wherein the fault-tolerant system comprises a first direct current motor, a second direct current motor, a first inverter working bridge arm, a second inverter working bridge arm and a third inverter working bridge arm; the positive pole of the first direct current motor is connected with the first inverter bridge arm, and the negative pole of the first direct current motor is connected with the third inverter bridge arm; the positive pole of the second direct current motor is connected with the second inverter bridge arm, and the negative pole of the second direct current motor is connected with the third inverter bridge arm; according to the invention, a mode that two direct current motors share one inverter working bridge arm is adopted in the double-direct current motor control system, so that the number of the inverter working bridge arms is reduced, and the cost of system components is reduced; when a certain motor fails, the control strategy of the fault-tolerant control system can be adjusted by changing the topological structure of the fault-tolerant control system, so that the motor system can still continuously and reliably operate under a new topological structure, and the continuous reliability in industrial production is effectively ensured.

Description

Fault-tolerant system and control method for parallel motors
Technical Field
The invention relates to the technical field of motor systems and control, in particular to a fault-tolerant system and a control method for parallel motors.
Background
The direct current motor is widely applied to the fields of aerospace and enterprise production, and in order to prevent the condition that a system cannot work normally due to the fault of a hardware circuit, a fault-tolerant control system of a motor system becomes a key research direction of broad scholars at home and abroad. The principle of the fault-tolerant control system is as follows: when the equipment fails, corresponding fault-tolerant control measures are taken according to the detected fault information and aiming at different fault reasons, and the normal operation of the system is ensured. Fault-tolerant control systems are generally classified into two broad categories, passive fault-tolerant control and active fault-tolerant control.
In current industrial production, in order to realize fault tolerance, the following two methods are generally adopted:
(1) and (3) comprehensive redundancy method: comprehensively applying a plurality of redundant resources including hardware redundancy, software redundancy, time redundancy, information redundancy and the like to realize fault tolerance;
(2) and (3) fault compensation method: fault tolerance is achieved by adjusting certain parameter performance of the system or designing fault compensation.
The existing comprehensive redundancy method has the technical problems of high maintenance cost and resource waste; most of the existing fault compensation methods need to change system parameters to realize fault tolerance, and the operation difficulty is high.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to provide a fault-tolerant system of a parallel motor and a control method thereof, so as to ensure that the parallel system of double direct current motors has the capability of stable work when equipment fails, and solve the technical problems of high maintenance cost and resource waste in the conventional comprehensive redundancy method.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a fault-tolerant control method for parallel motors, which comprises the following steps:
s1, initializing a fault-tolerant control system, and respectively measuring the actual current value X of the DCM1 of the first direct current motor1And the actual rotational speed value omega1Actual current value X of second dc motor DCM22And the actual rotational speed value omega2And detecting whether a fault occurs in the motor system;
s2, when the motor system works normally and healthily, the fault state index F of the fault-tolerant control system is 0; the first bidirectional thyristor TR1, the second bidirectional thyristor TR2 and the third bidirectional thyristor TR3 are all conducted, the first inverter working bridge arm L1, the second inverter working bridge arm L2 and the third inverter working bridge arm L3 are all in working states, and the fault-tolerant control system is in a double-direct-current motor parallel current hysteresis control mode;
s3, when the first dc motor DCM1 fails, the fault state index F of the fault-tolerant control system is 1; the first bidirectional thyristor TR1 is turned off, the second bidirectional thyristor TR2 and the third bidirectional thyristor TR3 are turned on, the second inverter working bridge arm L2 and the third inverter working bridge arm L3 are in a working state, the first inverter working bridge arm L1 does not work, and the fault-tolerant control system is in a second direct-current motor hysteresis control mode;
and S4, when the second direct current motor DCM2 has a fault, the fault state index F of the fault-tolerant control system is 2, the second bidirectional thyristor TR2 is turned off, the first bidirectional thyristor TR1 and the third bidirectional thyristor TR3 are turned on, the first inverter working bridge arm L1 and the third inverter working bridge arm L3 are in a working state, the second inverter working bridge arm L2 does not work, and the fault-tolerant control system is in a first direct current motor hysteresis control mode.
Further, in step S1, if the actual current of the first dc motor DCM1 or the second dc motor DCM2 does not take the value within the normal operating current range of the dc motor, the dc motor system is in the fault state.
Further, in step S2, when the motor system is healthy: carrying out PI regulation on the actual rotating speed and the reference rotating speed of the first direct current motor and the second direct current motor to obtain reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on actual currents of the first direct current motor and the second direct current motor to obtain reconstructed currents; and the synthesized reference current and the reconstructed current are subjected to hysteresis comparison, and the PWM pulse module drives the three-phase inverter circuit, so that the current hysteresis control of the double-direct-current motor parallel system is realized.
Further, when the motor system is healthy, the reference current IirefThe synthesis of (c) was calculated as follows:
Figure GDA0003360348160000031
wherein, Im1、Im2A reference current generated for a PI regulator in the speed loop; i is1ref、I2ref、I3refRespectively obtaining the synthetic reference current values of the three inverter working bridge arms;
reconstruction of the current IiIs calculated as follows:
Figure GDA0003360348160000032
wherein, I1、I2、I3Respectively representing the actual detection current values on the three inverter working bridge arms to reconstruct the calculated current values;
the current hysteresis comparator is calculated as follows:
Figure GDA0003360348160000033
wherein, i is 1, a. Q represents that the output value of the current hysteresis comparator is equal to the output value of the current hysteresis comparator at the last moment; delta is the threshold of the current hysteresis comparator; e.g. of the typeIiIs the current error and is the input of the current hysteresis comparator; hiIs the output of the current hysteresis comparator;
the PWM pulse module drives the three-phase inverter circuit to calculate as follows:
Figure GDA0003360348160000034
wherein, PLThe PWM square wave signal of the power switch tube is used, arr is the automatic reloading register value of the singlechip timer, and psc is the counter clock of the singlechip timer.
Further, in step S3, when the first dc motor DCM1 fails: performing PI regulation on the actual rotating speed of the second direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the second direct current motor to obtain a reconstructed current; hysteresis comparison is carried out on the synthesized reference current and the reconstructed current, and a three-phase inverter circuit is driven through a PWM pulse module, so that current hysteresis control of a double-direct-current motor parallel system is realized;
the resultant calculation of the reference current is as follows:
Figure GDA0003360348160000041
the reconstructed current is calculated as follows:
Figure GDA0003360348160000042
further, in S4, when the second dc motor DCM2 fails: carrying out PI regulation on the actual rotating speed of the first direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the first direct current motor to obtain a reconstructed current; hysteresis comparison is carried out on the synthesized reference current and the reconstructed current, and a three-phase inverter circuit is driven through a PWM pulse module, so that current hysteresis control of a double-direct-current motor parallel system is realized;
the resultant calculation formula for the reference current is as follows:
Figure GDA0003360348160000043
the calculation formula of the reconstructed current is as follows:
Figure GDA0003360348160000044
the invention also provides a fault-tolerant system of the parallel motors, which comprises a first direct current motor DCM1, a second direct current motor DCM2, a first inverter working bridge arm L1, a second inverter working bridge arm L2, a third inverter working bridge arm L3, a first bidirectional thyristor TR1, a second bidirectional thyristor TR2 and a third bidirectional thyristor TR 3;
the first inverter working bridge arm L1 comprises a first power switch tube P1 and a second power switch tube P2, and the first power switch tube P1 is connected with the second power switch tube P2 in series and then is connected with a power supply; the second inverter working bridge arm L2 comprises a third power switch tube P3 and a fourth power switch tube P4, and the third power switch tube P3 and the fourth power switch tube P4 are connected in series and then are connected with a power supply; the third inverter working bridge arm L3 comprises a fifth power switch tube P5 and a sixth power switch tube P6, and the fifth power switch tube P5 and the sixth power switch tube P6 are connected in series and then are connected with a power supply;
the positive electrode of the first direct-current motor DCM1 is connected to the midpoint a of the first inverter operating arm L1 through a first triac TR1, and the negative electrode of the first direct-current motor DCM1 is connected to the midpoint c of the third inverter operating arm L3 through a third triac TR 3; the positive electrode of the second direct current motor DCM2 is connected to the midpoint b of the second inverter working arm L2 through the second triac TR2, and the negative electrode of the second direct current motor DCM2 is connected to the midpoint c of the third inverter working arm L3 through the third triac TR 3; the midpoint a of the first inverter operating arm L1 is disposed between the first power switch P1 and the second power switch P2, the midpoint b of the second inverter operating arm L2 is disposed between the third power switch P3 and the fourth power switch P4, and the midpoint c of the third inverter operating arm L3 is disposed between the fifth power switch P5 and the sixth power switch P6.
Further, the first inverter operating arm L1 further includes a first fuse F1 and a second fuse F2, the first power switch P1 is connected in series with the first fuse F1, and the second power switch P2 is connected in series with the second fuse F2; the second inverter working bridge arm L2 includes a third blown fuse F3 and a fourth blown fuse F4, a third power switch tube P3 is connected in series with the third blown fuse F3, and a fourth power switch tube P4 is connected in series with the fourth blown fuse F4; the third inverter operating arm L3 includes a fifth blown fuse F5 and a sixth blown fuse F6, a fifth power switch P5 is connected in series with the fifth blown fuse F5, and a sixth power switch P6 is connected in series with the sixth blown fuse F6.
Furthermore, the first power switch tube P1, the second power switch tube P2, the third power switch tube P3, the fourth power switch tube P4, the fifth power switch tube P5 and the sixth power switch tube P6 all adopt MOSFET type power switches or IGBT type power switches.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a fault-tolerant control method for parallel motors, which adopts a mode that two direct current motors share one inverter working bridge arm in a double direct current motor control system, and when the direct current motors of the system have faults, the faults are compensated by reducing the number of the inverter working bridge arms of the faulty motor and utilizing a hysteresis control strategy of a healthy direct current motor, so that the healthy motor can normally run, the working efficiency of the system is improved, the maintenance cost is low, and the resource waste is reduced.
Furthermore, the actual rotating speed of the direct current motor is measured in real time, and PI regulation is carried out on the actual rotating speed and the reference rotating speed, so that the stability of the operation of the direct current motor is ensured, and the error rotating speed of the system is reduced.
Furthermore, when the system is in a healthy state, the current hysteresis comparator is adopted to control the actual current of the direct current motor, so that the current of the motor is smooth and stable, the current can be always maintained within the range specified by the system, and the error current of the system is reduced.
Further, when the dc motor DCM1 fails, only the dc motor DCM2 of the system can normally operate, and at this time, the PWM output pulse signals of the two other working bridge arms except the working bridge arm of the L2 inverter are set to zero, so that the dc motor DCM2 can be controlled, the useless output of the system is reduced, and the system operating efficiency is improved.
Further, when the dc motor DCM2 fails, only the dc motor DCM1 of the system can normally operate, and at this time, the PWM output pulse signals of the two other working bridge arms except the working bridge arm of the L1 inverter are set to zero, so that the dc motor DCM1 can be controlled, the useless output of the system is reduced, and the system operating efficiency is improved.
The invention provides a fault-tolerant system of parallel motors, which adopts a mode that two direct current motors share one inverter working bridge arm in a double direct current motor control system, thereby reducing the number of the inverter working bridge arms and reducing the cost of system components; when a certain motor breaks down, the control strategy of the system can be adjusted by changing the topological structure of the system, so that the system can still continuously and reliably run under a new topological structure, and the continuous reliability in industrial production is effectively ensured.
Furthermore, the fusing fuses are connected with the power switch tubes in a one-to-one mode, so that the inverter working bridge arms can be completely cut off when a fault occurs, and the fault-tolerant control strategy used by the system can be normally executed.
In conclusion, the invention adopts the PI controller and the current hysteresis comparison mode, reduces the error rotating speed and the error current of the system and enhances the stability of the system. When the direct current motor breaks down, the healthy motor can still be ensured to normally run by reducing useless inverter working bridge arms and switching the system control strategy, the working efficiency of the system is improved, and the fault-tolerant control effect is better.
Drawings
FIG. 1 is a topology structure diagram of a dual DC motor six-switch inverter driving system;
FIG. 2 is a topology diagram of a single DC motor four-switch inverter drive system;
FIG. 3 is a topology block diagram of the control system of the present invention;
FIG. 4 is a control strategy diagram of the control system of the present invention;
fig. 5 is a system topology structure diagram in case of a failure of first dc motor DCM 1;
fig. 6 is a system topology structure diagram in the case of a failure of second dc motor DCM 2.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1-6, the present invention provides a fault-tolerant control system for a parallel system of dual dc motors, which includes a first dc motor DCM1, a second dc motor DCM2, a first inverter operating arm L1, a second inverter operating arm L2, a third inverter operating arm L3, a first triac TR1, a second triac TR2, and a third triac TR 3.
The first inverter working bridge arm L1 comprises a first power switch tube P1, a second power switch tube P2, a first fuse F1 and a second fuse F2, the first power switch tube P1 is connected with a power supply after being connected with the second power switch tube P2 in series, the first power switch tube P1 is connected with the first fuse F1 in series, the second power switch tube P2 is connected with the second fuse F2 in series, the first fuse F1 is arranged between the first power switch tube P1 and the power supply, and the second fuse F2 is arranged between the second power switch tube P2 and the power supply.
The second inverter working bridge arm L2 comprises a third power switch tube P3, a fourth power switch tube P4, a third fused fuse F3 and a fourth fused fuse F4, and the third power switch tube P3 and the fourth power switch tube P4 are connected in series and then connected with a power supply; the third power switch tube P3 is connected in series with the third fuse F3, and the fourth power switch tube P4 is connected in series with the fourth fuse F4; a third fuse F3 is disposed between the third power switch P3 and the power source, and a fourth fuse F4 is disposed between the fourth power switch P4 and the power source.
The third inverter working bridge arm L3 includes a fifth power switch tube P5, a sixth power switch tube P6, a fifth fused fuse F5 and a sixth fused fuse F6, and the fifth power switch tube P5 and the sixth power switch tube P6 are connected in series and then connected to the power supply; the fifth power switch tube P5 is connected in series with the fifth fuse F5, and the sixth power switch tube P6 is connected in series with the sixth fuse F6; a fifth fuse F5 is disposed between the fifth power switch P5 and the power source, and a sixth fuse F6 is disposed between the sixth power switch P6 and the power source.
The positive electrode of the first direct-current motor DCM1 is connected to the midpoint a of the first inverter operating arm L1 through a first triac TR1, and the negative electrode of the first direct-current motor DCM1 is connected to the midpoint c of the third inverter operating arm L3 through a third triac TR 3; the positive electrode of the second direct current motor DCM2 is connected to the midpoint b of the second inverter working arm L2 through the second triac TR2, and the negative electrode of the second direct current motor DCM2 is connected to the midpoint c of the third inverter working arm L3 through the third triac TR 3; the midpoint a of the first inverter operating arm L1 is disposed between the first power switch P1 and the second power switch P2, the midpoint b of the second inverter operating arm L2 is disposed between the third power switch P3 and the fourth power switch P4, and the midpoint c of the third inverter operating arm L3 is disposed between the fifth power switch P5 and the sixth power switch P6.
The first power switch tube P1, the second power switch tube P2, the third power switch tube P3, the fourth power switch tube P4, the fifth power switch tube P5 and the sixth power switch tube P6 all adopt MOSFET type power switches or IGBT type power switches.
According to the fault-tolerant system for the parallel motors, a mode that two direct current motors share one inverter working bridge arm is adopted in a double-direct current motor control system, so that the number of the inverter working bridge arms is reduced, and the cost of system components is reduced; when a certain motor breaks down, the control strategy of the fault-tolerant control system can be adjusted by changing the topological structure of the system, so that the motor system can still continuously and reliably operate under a new topological structure, and the continuous reliability in industrial production is effectively ensured.
According to the invention, the fusing fuses are connected with the power switch tubes in a one-to-one manner, so that the inverter working bridge arm can be completely cut off when a fault occurs, and the fault-tolerant control strategy used by a motor system can be normally executed.
The invention also provides a fault-tolerant control method of the parallel motor, which comprises the following steps:
s1, initializing a fault-tolerant control system, and respectively measuring the actual current value X of the DCM1 of the first direct current motor1And the actual rotational speed value omega1Actual current value X of second dc motor DCM22And actually turn toSpeed value omega2And detecting whether a fault occurs in the motor system; when detecting the actual currents of the first dc motor DCM1 and the second dc motor DCM2, if the actual current of the first dc motor DCM1 or the second dc motor DCM2 does not take the value within the normal operating current range of the dc motor (I)min，Imax) And if the motor system is in a fault state, changing the control strategy of the system aiming at the fault.
Wherein, according to the detection result, the fault state flag F of the fault-tolerant control system is judged:
Figure GDA0003360348160000091
s2, when the motor system works normally and healthily, the fault state index F of the fault-tolerant control system is 0; the first bidirectional thyristor TR1, the second bidirectional thyristor TR2 and the third bidirectional thyristor TR3 are all conducted, the first inverter working bridge arm L1, the second inverter working bridge arm L2 and the third inverter working bridge arm L3 are all in working states, and the fault-tolerant control system is in a double-direct-current-motor parallel current hysteresis control mode.
When the motor system is healthy, carrying out PI regulation on the actual rotating speed and the reference rotating speed of the first direct current motor and the second direct current motor to obtain reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on actual currents of the first direct current motor and the second direct current motor to obtain reconstructed currents; and the synthesized reference current and the reconstructed current are subjected to hysteresis comparison, and the PWM pulse module drives the three-phase inverter circuit, so that the current hysteresis control of the double-direct-current motor parallel system is realized.
Wherein the reference current IirefThe synthetic calculation formula of (c) is as follows:
Figure GDA0003360348160000092
wherein, Im1、Im2A reference current generated for a PI regulator in the speed loop; i is1ref、I2ref、I3refRespectively obtaining the synthetic reference current values of the three inverter working bridge arms;
reconstruction of the current IiThe calculation formula of (a) is as follows:
Figure GDA0003360348160000101
wherein, I1、I2、I3Respectively representing the actual detection current values on the three inverter working bridge arms to reconstruct the calculated current values;
the calculation formula of the current hysteresis comparator is as follows:
Figure GDA0003360348160000102
wherein, i is 1, a. Q represents that the output value of the current hysteresis comparator is equal to the output value of the current hysteresis comparator at the last moment; delta is the threshold of the current hysteresis comparator; e.g. of the typeIiIs the current error and is the input of the current hysteresis comparator; hiIs the output of the current hysteresis comparator;
the PWM pulse module drives the three-phase inverter circuit to calculate as follows:
Figure GDA0003360348160000103
wherein, PLThe PWM square wave signal of the power switch tube is used, arr is the automatic reloading register value of the singlechip timer, and psc is the counter clock of the singlechip timer.
S3, when the first dc motor DCM1 fails, the fault state index F of the fault-tolerant control system is 1; the first bidirectional thyristor TR1 is turned off, the second bidirectional thyristor TR2 and the third bidirectional thyristor TR3 are turned on, the second inverter working bridge arm L2 and the third inverter working bridge arm L3 are in a working state, the first inverter working bridge arm L1 does not work, and a reference current synthesis control strategy and an actual current reconstruction control strategy of the fault-tolerant control system are changed;
when first dc motor DCM1 fails: performing PI regulation on the actual rotating speed of the second direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the second direct current motor to obtain a reconstructed current; and the synthesized reference current and the reconstructed current are subjected to hysteresis comparison, and the PWM pulse module drives the three-phase inverter circuit, so that the current hysteresis control of the double-direct-current motor parallel system is realized.
Wherein, when the first dc motor DCM1 fails:
the resultant calculation formula for the reference current is as follows:
Figure GDA0003360348160000111
the calculation formula of the reconstructed current is as follows:
Figure GDA0003360348160000112
s4, when the second direct current motor DCM2 breaks down, the motor system fault state index F is 2, the second bidirectional thyristor TR2 is turned off, the first bidirectional thyristor TR1 and the third bidirectional thyristor TR3 are turned on, the first inverter working bridge arm L1 and the third inverter working bridge arm L3 are in working states, the second inverter working bridge arm L2 does not work, and a reference current synthesis control strategy and an actual current reconstruction control strategy of the fault-tolerant control system are changed;
when second direct current motor DCM2 fails: carrying out PI regulation on the actual rotating speed of the first direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the first direct current motor to obtain a reconstructed current; and the synthesized reference current and the reconstructed current are subjected to hysteresis comparison, and the PWM pulse module drives the three-phase inverter circuit, so that the current hysteresis control of the double-direct-current motor parallel system is realized.
When the second direct current motor DCM2 fails:
the resultant calculation formula for the reference current is as follows:
Figure GDA0003360348160000113
the calculation formula of the reconstructed current is as follows:
Figure GDA0003360348160000114
the working principle is as follows:
as shown in fig. 1, when the fault observer detects that a fault exists in the system, the working states of the first triac TR1, the second triac TR2 and the third triac TR3 are changed, the currently used topological structure of the system is changed, and the STM32 single chip microcomputer switches a reference current synthesis algorithm and an actual current reconstruction algorithm according to the specific fault, so that the system can continuously and reliably continue to operate; when the double-motor six-switch inverter system detects that a motor fails, the fault-tolerant control system changes the topological structure of the motor system according to specific failure reasons to form a single-motor four-switch inverter system, and a reference voltage synthesis control strategy and an actual current reconstruction control strategy are changed along with the change of the topological structure.
As shown in fig. 2, when the fault-tolerant control system of the dual-motor parallel system of the present invention is in a healthy state, the fault-tolerant control system operates in a working mode of a dual-dc-motor six-switch inverter system; once the fault-tolerant control system detects the occurrence of a fault, the fault-tolerant control system switches the control strategy corresponding to the motor system according to the detected fault reason, so as to realize the driving of the single-direct-current motor four-switch inverter system.
The dual-motor six-switch inverter system can output eight groups of space voltage vectors, and is specifically defined as follows:
TABLE 1 space voltage vector output by dual-motor six-switch inverter system
Serial number Vector U1 U2
0 000 0 0
1 001 -Udc -Udc
2 010 0 Udc
3 011 -Udc 0
4 100 Udc 0
5 101 0 -Udc
6 110 Udc Udc
7 111 0 0
In table 1 above, the space voltage vector represents the operating states of the first inverter operating arm L1, the second inverter operating arm L2, and the third inverter operating arm L3, the operating state of the inverter operating arm is 1 when the power switch tube on the inverter operating arm is in the on state, and conversely, the operating state of the inverter operating arm is 0 when the power switch tube under the inverter operating arm is in the on state; the three inverter working bridge arms form a system space voltage vector parameter by the sequence of a first inverter working bridge arm L1, a second inverter working bridge arm L2 and a third inverter working bridge arm L3.
Voltage U1 represents the current load voltage of first dc motor DCM1 and voltage U2 represents the current load voltage of dc motor DCM 2.
When the motor system is healthy, carrying out PI regulation on the actual rotating speed and the reference rotating speed of the first direct current motor and the second direct current motor to obtain reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on actual currents of the first direct current motor and the second direct current motor to obtain reconstructed currents; and the synthesized reference current and the reconstructed current are subjected to hysteresis comparison, and the PWM pulse module drives the three-phase inverter circuit, so that the current hysteresis control of the double-direct-current motor parallel system is realized.
Wherein the reference current IirefThe synthetic calculation formula of (c) is as follows:
Figure GDA0003360348160000131
wherein, Im1、Im2A reference current generated for a PI regulator in the speed loop; i is1ref、I2ref、I3refRespectively obtaining the synthetic reference current values of the three inverter working bridge arms;
reconstruction of the current IiThe calculation formula of (a) is as follows:
Figure GDA0003360348160000132
wherein, I1、I2、I3Respectively representing the actual detection current values on the three inverter working bridge arms to reconstruct the calculated current values;
the calculation formula of the current hysteresis comparator is as follows:
Figure GDA0003360348160000133
wherein, i is 1, a. Q represents that the output value of the current hysteresis comparator is equal to the output value of the current hysteresis comparator at the last moment; delta is the threshold of the current hysteresis comparator; e.g. of the typeIiIs the current error and is the input of the current hysteresis comparator; hiIs the output of the current hysteresis comparator;
the PWM pulse module drives the three-phase inverter circuit to calculate as follows:
Figure GDA0003360348160000141
wherein, PLThe PWM square wave signal of the power switch tube is used, arr is the automatic reloading register value of the singlechip timer, and psc is the counter clock of the singlechip timer.
As shown in fig. 3, in the single-motor four-switch control system, the positive pole of second dc motor DCM2 is connected to midpoint b of second inverter operating arm L2 through triac TR2, and the negative pole of second dc motor DCM2 is connected to midpoint c of inverter operating arm L3 through third triac TR 3. The operating voltage of second dc motor DCM2 is controlled by the operating states of second inverter operating leg L2 and third inverter operating leg L3.
When the third power switch P3 of the second inverter working arm L2 is turned on and the sixth power switch P6 of the third inverter working arm L3 is turned on, the operating voltage of the dc motor is UdcThe direct current motor DCM2 rotates forwards; when the fourth power switch P4 of the second inverter working arm L2 is turned on and the fifth power switch P5 of the third inverter working arm L3 is turned on, the operating voltage of the dc motor is-UdcDc motor DCM2 reverses.
As shown in fig. 4, the present invention includes a first dc motor DCM1, a second dc motor DCM2, a first inverter operating arm L1, a second inverter operating arm L2, a third inverter operating arm L3, a first triac TR1, a second triac TR2, and a third triac TR 3; the three inverter working bridge arms are connected in parallel and connected with a common direct-current power supply, and the common direct-current power supply supplies power to the three inverter working bridge arms simultaneously.
The first inverter working bridge arm L1 is composed of a first power switch tube P1, a second power switch tube P2, a first fuse F1 and a second fuse F2, the fuse fuses and the power switch tubes are in one-to-one correspondence and are connected in series, and a midpoint a of the first inverter working bridge arm L1 is a connection position of the first power switch tube and the second power switch tube.
The second inverter operating arm L2 is composed of a third power switch tube P3, a fourth power switch tube P4, a third blown fuse F3 and a fourth blown fuse F4, the blown fuses and the power switch tubes are in one-to-one correspondence and are connected in series, and a midpoint b of the second inverter operating arm L2 is a connection point of the third power switch tube P3 and the fourth power switch tube P4.
The third inverter operating arm L3 is composed of a fifth power switch tube P5, a sixth power switch tube P6, a fifth blown fuse F5 and a sixth blown fuse F6, the blown fuses and the power switch tubes are in one-to-one correspondence and are connected in series, and a midpoint c of the third inverter operating arm L3 is a connection point of the fifth power switch tube P5 and the sixth power switch tube P6.
As shown in fig. 5, when the first dc motor DCM1 fails, the first bidirectional thyristor TR1 is turned off, the first inverter operating arm L1 cannot form a complete current loop with the control system, so that the topology structure is changed, the system becomes a single-motor four-switch control system, and the second dc motor DCM2 is connected between the midpoint b of the second inverter operating arm L2 and the midpoint c of the third inverter operating arm L3.
When first dc motor DCM1 fails: performing PI regulation on the actual rotating speed of the second direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the second direct current motor to obtain a reconstructed current; and the synthesized reference current and the reconstructed current are subjected to hysteresis comparison, and the PWM pulse module drives the three-phase inverter circuit, so that the current hysteresis control of the double-direct-current motor parallel system is realized.
Wherein, when the first dc motor DCM1 fails:
the resultant calculation formula for the reference current is as follows:
Figure GDA0003360348160000151
the calculation formula of the reconstructed current is as follows:
Figure GDA0003360348160000152
as shown in fig. 6, when the second dc motor DCM2 fails, the second bidirectional thyristor TR2 is turned off, the second inverter operating arm L2 cannot form a complete current loop with the control system, so that the topology structure is changed, the system becomes a single-motor four-switch control system, and the first dc motor DCM1 is connected between the midpoint a of the inverter operating arm L1 and the midpoint c of the third inverter operating arm T3.
When second direct current motor DCM2 fails: carrying out PI regulation on the actual rotating speed of the first direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the first direct current motor to obtain a reconstructed current; and the synthesized reference current and the reconstructed current are subjected to hysteresis comparison, and the PWM pulse module drives the three-phase inverter circuit, so that the current hysteresis control of the double-direct-current motor parallel system is realized.
When the second direct current motor DCM2 fails:
the resultant calculation formula for the reference current is as follows:
Figure GDA0003360348160000161
the calculation formula of the reconstructed current is as follows:
Figure GDA0003360348160000162
in conclusion, the invention adopts the PI controller and the current hysteresis comparison mode, reduces the error rotating speed and the error current of the system and enhances the stability of the system. When the direct current motor breaks down, the healthy motor can still be ensured to normally run by reducing useless inverter working bridge arms and switching the system control strategy, the working efficiency of the system is improved, and the fault-tolerant control effect is better.
The above description is only illustrative of the preferred embodiments of the present invention, and any structural changes, improvements, modifications, etc. made without departing from the principle of the present invention are deemed to be within the scope of the present invention.

Claims (7)

1. A fault-tolerant control method for parallel motors is characterized by comprising the following steps:
s1, initializing a fault-tolerant control system, and respectively measuring the actual current value X of the DCM1 of the first direct current motor1And the actual rotational speed value omega1Actual current value X of second dc motor DCM22And the actual rotational speed value omega2And detecting whether a fault occurs in the motor system;
s2, when the motor system works normally and healthily, the fault state index F of the fault-tolerant control system is 0; the first bidirectional thyristor TR1, the second bidirectional thyristor TR2 and the third bidirectional thyristor TR3 are all conducted, the first inverter working bridge arm L1, the second inverter working bridge arm L2 and the third inverter working bridge arm L3 are all in working states, and the fault-tolerant control system is in a double-direct-current motor parallel current hysteresis control mode;
s3, when the first dc motor DCM1 fails, the fault state index F of the fault-tolerant control system is 1; the first bidirectional thyristor TR1 is turned off, the second bidirectional thyristor TR2 and the third bidirectional thyristor TR3 are turned on, the second inverter working bridge arm L2 and the third inverter working bridge arm L3 are in a working state, the first inverter working bridge arm L1 does not work, and the fault-tolerant control system is in a second direct-current motor hysteresis control mode;
s4, when the second direct current motor DCM2 breaks down, the fault state index F of the fault-tolerant control system is 2, the second bidirectional thyristor TR2 is turned off, the first bidirectional thyristor TR1 and the third bidirectional thyristor TR3 are turned on, the first inverter working bridge arm L1 and the third inverter working bridge arm L3 are in working states, the second inverter working bridge arm L2 does not work, and the fault-tolerant control system is in a first direct current motor hysteresis control mode;
in step S3, when the first dc motor DCM1 fails: performing PI regulation on the actual rotating speed of the second direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the second direct current motor to obtain a reconstructed current; hysteresis comparison is carried out on the synthesized reference current and the reconstructed current, and a three-phase inverter circuit is driven through a PWM pulse module, so that current hysteresis control of a double-direct-current motor parallel system is realized;
in step S4, when the second dc motor DCM2 fails: carrying out PI regulation on the actual rotating speed of the first direct current motor and the reference rotating speed to obtain a reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on the actual current of the first direct current motor to obtain a reconstructed current; hysteresis comparison is carried out on the synthesized reference current and the reconstructed current, and a three-phase inverter circuit is driven through a PWM pulse module, so that current hysteresis control of a double-direct-current motor parallel system is realized;
in step S2, when the motor system is healthy: carrying out PI regulation on the actual rotating speed and the reference rotating speed of the first direct current motor and the second direct current motor to obtain reference current; carrying out current synthesis on the reference current to obtain a synthesized reference current; performing reconstruction calculation on actual currents of the first direct current motor and the second direct current motor to obtain reconstructed currents; hysteresis comparison is carried out on the synthesized reference current and the reconstructed current, and a three-phase inverter circuit is driven through a PWM pulse module, so that current hysteresis control of a double-direct-current motor parallel system is realized;
when the motor system is healthy, the reference current IirefThe synthesis of (c) was calculated as follows:
Figure FDA0003360348150000021
wherein, Im1、Im2A reference current generated for a PI regulator in the speed loop; i is1ref、I2ref、I3refRespectively obtaining the synthetic reference current values of the three inverter working bridge arms;
reconstruction of the current IiIs calculated as follows:
Figure FDA0003360348150000022
wherein, I1、I2、I3Respectively on three inverter operating armsReconstructing the calculated current value by using the actual detection current value;
the current hysteresis comparator is calculated as follows:
Figure FDA0003360348150000023
wherein i is 1, … …, n + 1; q represents that the output value of the current hysteresis comparator is equal to the output value of the current hysteresis comparator at the last moment; delta is the threshold of the current hysteresis comparator; e.g. of the typeIiIs the current error and is the input of the current hysteresis comparator; hiIs the output of the current hysteresis comparator; n is the number of direct current motors;
the PWM pulse module drives the three-phase inverter circuit to calculate as follows:
Figure FDA0003360348150000031
wherein, PLThe PWM square wave signal of the power switch tube is used, arr is the automatic reloading register value of the singlechip timer, and psc is the counter clock of the singlechip timer.
2. The fault-tolerant control method for the parallel motors of claim 1, wherein in step S1, if the actual current of the first dc motor DCM1 or the second dc motor DCM2 does not take the value within the normal operating current range of the dc motors, the dc motor system is in a fault state.
3. The fault-tolerant control method for parallel motors of claim 1, wherein in step S3,
the resultant calculation of the reference current is as follows:
Figure FDA0003360348150000032
the reconstructed current is calculated as follows:
Figure FDA0003360348150000033
wherein, Im2A reference current generated by the PI regulator in the speed loop.
4. The fault-tolerant control method for parallel motors of claim 1, wherein in step S4,
the resultant calculation formula for the reference current is as follows:
Figure FDA0003360348150000034
the calculation formula of the reconstructed current is as follows:
Figure FDA0003360348150000035
wherein, Im1A reference current generated by the PI regulator in the speed loop.
5. A fault tolerant system of parallel motors, characterized in that it is used to implement a fault tolerant control method of parallel motors according to claims 1-4; the fault-tolerant system for the parallel motors comprises a first direct-current motor DCM1, a second direct-current motor DCM2, a first inverter working bridge arm L1, a second inverter working bridge arm L2, a third inverter working bridge arm L3, a first bidirectional thyristor TR1, a second bidirectional thyristor TR2 and a third bidirectional thyristor TR 3;
the first inverter working bridge arm L1 comprises a first power switch tube P1 and a second power switch tube P2, and the first power switch tube P1 is connected with the second power switch tube P2 in series and then is connected with a power supply; the second inverter working bridge arm L2 comprises a third power switch tube P3 and a fourth power switch tube P4, and the third power switch tube P3 and the fourth power switch tube P4 are connected in series and then are connected with a power supply; the third inverter working bridge arm L3 comprises a fifth power switch tube P5 and a sixth power switch tube P6, and the fifth power switch tube P5 and the sixth power switch tube P6 are connected in series and then are connected with a power supply;
the positive electrode of the first direct-current motor DCM1 is connected to the midpoint a of the first inverter operating arm L1 through a first triac TR1, and the negative electrode of the first direct-current motor DCM1 is connected to the midpoint c of the third inverter operating arm L3 through a third triac TR 3; the positive electrode of the second direct current motor DCM2 is connected to the midpoint b of the second inverter working arm L2 through the second triac TR2, and the negative electrode of the second direct current motor DCM2 is connected to the midpoint c of the third inverter working arm L3 through the third triac TR 3; the midpoint a of the first inverter operating arm L1 is disposed between the first power switch P1 and the second power switch P2, the midpoint b of the second inverter operating arm L2 is disposed between the third power switch P3 and the fourth power switch P4, and the midpoint c of the third inverter operating arm L3 is disposed between the fifth power switch P5 and the sixth power switch P6.
6. The fault tolerant system of parallel motors of claim 5 wherein the first inverter leg L1 further comprises a first fused fuse F1 and a second fused fuse F2, the first power switch P1 is connected in series with the first fused fuse F1, and the second power switch P2 is connected in series with the second fused fuse F2; the second inverter working bridge arm L2 includes a third blown fuse F3 and a fourth blown fuse F4, a third power switch tube P3 is connected in series with the third blown fuse F3, and a fourth power switch tube P4 is connected in series with the fourth blown fuse F4; the third inverter operating arm L3 includes a fifth blown fuse F5 and a sixth blown fuse F6, a fifth power switch P5 is connected in series with the fifth blown fuse F5, and a sixth power switch P6 is connected in series with the sixth blown fuse F6.
7. The fault tolerant system of parallel motors of claim 5 wherein the first power switch P1, the second power switch P2, the third power switch P3, the fourth power switch P4, the fifth power switch P5 and the sixth power switch P6 are all MOSFET type power switches or IGBT type power switches.
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