WO2019071955A1 - 一种五相永磁同步电机开路故障下的容错控制***及方法 - Google Patents
一种五相永磁同步电机开路故障下的容错控制***及方法 Download PDFInfo
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- WO2019071955A1 WO2019071955A1 PCT/CN2018/088052 CN2018088052W WO2019071955A1 WO 2019071955 A1 WO2019071955 A1 WO 2019071955A1 CN 2018088052 W CN2018088052 W CN 2018088052W WO 2019071955 A1 WO2019071955 A1 WO 2019071955A1
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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
- 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
- H02P25/03—Synchronous motors with brushless excitation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
Definitions
- the invention relates to a fault-tolerant control system and method for a single-phase open-circuit fault of a five-phase permanent magnet synchronous motor, belonging to the field of motor drive and control.
- the multi-phase AC speed control system has the following advantages: 1) Increase the frequency of electromagnetic torque ripple, reduce the amplitude of torque ripple; 2) Increase the number of phases of the stator winding, reduce The capacity of the power device avoids the problems of voltage equalization and current sharing caused by the string and parallel connection of the power device; 3) the fault-tolerant operation capability of the system is improved, and the fault-free fault-tolerant operation under the fault state can be realized.
- permanent magnet synchronous motors have higher efficiency and greater power density than asynchronous motors. Therefore, the multi-phase permanent magnet synchronous motor speed control system has broad application prospects in high power output and high reliability applications.
- the finite control set model predictive control can solve the optimization problem online according to the constraints and discrete characteristics of the controlled object. Its structure is simple, the algorithm is easy to implement, and it has good dynamic performance. In recent years, it has been in the field of power electronics and motor drive. Extensive research and application.
- the invention provides a five-phase permanent magnet synchronous motor drive system for single-phase open-circuit faults, and provides a model predictive fault-tolerant control system and method based on simplified voltage set and duty cycle optimization, which can ensure five-phase permanent magnet synchronous motor drive
- the system still has better running performance after an open circuit failure, which improves the system's ability to operate with faults.
- a fault-tolerant control system for an open-circuit fault of a five-phase permanent magnet synchronous motor comprising a speed PI controller, a current reconstruction module, a value function optimization module, a duty cycle control module, an inverter, Current sensor, five-phase permanent magnet synchronous motor with single-phase open circuit fault, encoder, basic voltage vector action time calculation module and current prediction module;
- the speed reference value is compared with the actual speed obtained by the encoder feedback, and the speed difference is input to the speed PI controller; the speed PI controller outputs the fundamental wave space axis current reference value, and is input to the current reconstruction module, and reconstructed.
- the post-phase current is extended by Clark transform to obtain the two-phase quiescent current reference value of the fundamental wave space; the output of the current reconstruction module and the output of the current prediction module (the input is the output of the basic voltage vector action time calculation module and the current sensor)
- it is sent to the value function optimization module;
- the value function optimization module outputs the optimal basic voltage vector and its action time to the duty cycle control module;
- the duty cycle control module outputs the duty cycle signal to the inverter; the inverter output is optimal.
- Five-phase permanent magnet synchronous motor with voltage to single-phase open circuit fault; four-phase current collected by current sensor is supplied to basic voltage vector action time calculation module; output of both basic voltage vector action time calculation module and current sensor is sent to current Forecast module.
- a fault-tolerant control method for an open-circuit fault of a five-phase permanent magnet synchronous motor includes the following steps:
- Step 1 After the open-circuit fault of the single-phase winding occurs, the speed controller obtains the reference value of the cross-axis current in the fundamental space, and the current reconstruction module converts the reconstructed phase current by expanding the Clark transform to obtain the two-phase stationary of the fundamental space. Current reference value;
- K P and K I are the proportional gain and integral gain of the speed PI controller, respectively;
- i d1 * can be obtained by the maximum torque current method ratio
- P r is the pole logarithm
- Step 2 establish a value function by using the current reference value and the current predicted value
- T s represents the sampling time
- R s is the resistance of each phase of the stator winding
- L s is the synchronous inductance of the stator winding
- e ⁇ (k-1)/e ⁇ (k-1) is the fundamental space of time (k-1)
- the ⁇ component of the hollow-backed counter electromotive force, e y (k-1) is the y-axis component of the hollow- loaded back electromotive force in the third harmonic space at time (k-1)
- u i ⁇ (k)/u i ⁇ (k) is The ⁇ component of the non-zero basic voltage vector u i in the fundamental space at time k
- the simplified voltage set is generated by the following 10 sets of switch states: 0000, 0001, 0011, 0110, 0111, 1000, 1001, 1100, 1110, and 1111.
- switch states 0000, 0001, 0011, 0110, 0111, 1000, 1001, 1100, 1110, and 1111.
- “1" indicates that the upper arm is opened and the lower arm is turned off
- "0” indicates that the lower arm is opened, and the upper arm is turned off
- 0000 and 1111 generate zero voltage vectors
- the other eight groups generate non-zero voltage vectors
- the basic voltage vector and harmonic voltage vector generated by the switching state in the fundamental space and the third harmonic space are shown in Table 1 and Table 2, respectively, where U dc is the bus voltage;
- Step 3 Obtain the optimal basic voltage vector and its action time by optimizing the value function, and output the optimal voltage to the single-phase open-circuit fault five-phase permanent magnet synchronous motor through the duty cycle control and the inverter function.
- Optimal selection voltage vector and its time of action sequentially substituting the basic voltage vector value function g i u i and its role in time t i and harmonic voltage vectors v i, when obtaining the minimum value function g i, which corresponds to group
- the basic voltage vector in the wave space is determined as the optimal voltage vector u opt
- the action time of the voltage vector is the optimal time t opt .
- the remaining time T s -t opt
- Duty cycle control When the optimal basic voltage vector and its time are determined, the duty cycle control module designs a symmetric duty cycle signal and delivers it to the inverter. The inverter outputs the optimal voltage to the single-phase open circuit fault. Five-phase permanent magnet synchronous motor.
- the speed reference value is compared with the actual speed obtained by the encoder, and the speed difference is input to the speed PI controller; the speed PI controller outputs the fundamental wave space axis current reference value and is input to the current reconstruction module.
- the reconstructed phase current is extended by Clark transform to obtain the two-phase quiescent current reference value of the fundamental wave space; the output of the current reconstruction module and the output of the current prediction module (the input is the basic voltage vector action time calculation module and the current sensor) Output) is sent to the value function optimization module; the value function optimization module outputs the optimal basic voltage vector and its action time to the duty cycle control module; the duty cycle control module outputs the duty cycle signal to the inverter; the inverter output is the most The excellent voltage is given to the five-phase permanent magnet synchronous motor under the single-phase open circuit fault; the four-phase current collected by the current sensor is supplied to the basic voltage vector action time calculation module; the output of the basic voltage vector action time calculation module and the current sensor is sent to Current prediction module.
- the invention selects part of the basic voltage vector in the fundamental space as the alternative voltage vector, which simplifies the voltage set of the system and reduces the number of times.
- the invention can ensure that the five-phase permanent magnet synchronous motor drive system still has better running performance after an open circuit failure, and improves the system with fault operation capability.
- FIG. 1 is a schematic diagram of a fault-tolerant control system for an open-circuit fault of a five-phase permanent magnet synchronous motor provided by the present invention
- FIG. 2 is a flow chart of a fault-tolerant control method for an open-circuit fault of a five-phase permanent magnet synchronous motor provided by the present invention
- 3a and 3b are diagrams showing the distribution of the simplified voltage set in the fundamental space and the harmonic space used in the open-circuit fault-tolerant control method of the five-phase permanent magnet synchronous motor provided by the present invention.
- a five-phase permanent magnet synchronous motor fault-tolerant control system under open circuit fault including speed PI controller 1, current reconstruction module 2, value function optimization module 3, duty cycle control module 4, inverter 5, current sensor 6, single-phase open-circuit fault five-phase permanent magnet synchronous motor 7, encoder 8, basic voltage vector action time calculation module 9 and current prediction module 10;
- the speed reference value is compared with the actual speed obtained by the encoder 8 feedback, and the speed difference is input to the speed PI controller 1; the speed PI controller 1 outputs the fundamental wave space axis current reference value, and is input to the current reconstruction module.
- the reconstructed phase current is amplified by Clark transform to obtain a two-phase static current reference value of the fundamental wave space; the output of the current reconstruction module 2 and the output of the current prediction module 10 are input to the value function optimization module 3; the value function optimization module 3 output the optimal basic voltage vector and its action time to the duty cycle control module 4; the duty cycle control module 4 outputs the duty cycle signal to the inverter 5; the inverter 5 outputs the optimal voltage to the single phase open circuit fault
- the five-phase permanent magnet synchronous motor 7; the four-phase current collected by the current sensor 6 is supplied to the basic voltage vector action time calculation module 9; the output of the basic voltage vector action time calculation module 9 and the current sensor 6 is obtained by the current prediction module 10 ( k+1) Current predicted value at the moment.
- a fault-tolerant control method for an open-circuit fault of a five-phase permanent magnet synchronous motor includes the following steps:
- K P and K I are the proportional gain and integral gain of the speed PI controller, respectively;
- i d1 * can be obtained by the maximum torque current method ratio
- P r is the pole logarithm
- T s represents the sampling time
- R s is the resistance of each phase of the stator winding
- L s is the synchronous inductance of the stator winding
- e ⁇ (k-1)/e ⁇ (k-1) is the fundamental space of time (k-1)
- the ⁇ component of the hollow-backed counter electromotive force, e y (k-1) is the y-axis component of the hollow- loaded back electromotive force in the third harmonic space at time (k-1)
- u i ⁇ (k)/u i ⁇ (k) is The ⁇ component of the non-zero basic voltage vector u i in the fundamental space at time k
- Duty cycle control When the optimal basic voltage vector and its time are determined, the duty cycle control module designs a symmetric duty cycle signal and delivers it to the inverter. The inverter outputs the optimal voltage to the single-phase open circuit. Faulty five-phase permanent magnet synchronous motor.
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- Control Of Ac Motors In General (AREA)
Abstract
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Claims (6)
- 一种五相永磁同步电机开路故障下的容错控制***,其特征在于:包括转速PI控制器、电流重构模块、价值函数优化模块、占空比控制模块、逆变器、电流传感器、单相开路故障的五相永磁同步电机、编码器、基本电压矢量作用时间计算模块和电流预测模块;转速参考值和经编码器反馈得到的实际转速相比较,其转速差值输入至转速PI控制器;转速PI控制器输出基波空间交轴电流参考值,并输入给电流重构模块,重构后的相电流经过拓展Clark变换得到基波空间两相静止电流参考值;电流重构模块的输出和电流预测模块的输出同时输送至价值函数优化模块;价值函数优化模块输出最优基本电压矢量及其作用时间至占空比控制模块;占空比控制模块输出占空比信号至逆变器;逆变器输出最优电压至单相开路故障下的五相永磁同步电机;电流传感器采集到的四相电流输送给基本电压矢量作用时间计算模块;基本电压矢量作用时间计算模块和电流传感器二者的输出送至电流预测模块。
- 根据权利要求1所述控制***的的五相永磁同步电机开路故障下的容错控制方法,其特征在于:包括以下步骤:步骤一:当单相绕组发生开路故障后,转速控制器获得基波空间中的交轴电流参考值,电流重构模块将重构后的相电流通过拓展Clark变换,得到基波空间两相静止电流参考值;步骤二:利用电流参考值和电流预测值建立价值函数;步骤三:通过优化价值函数获得最优基本电压矢量及其作用时间,并经占空比控制和逆变器作用,输出最优电压给单相开路故障的五相永磁同步电机。
- 根据权利要求2所述的五相永磁同步电机开路故障下的容错控制方法,其特征在于:所述步骤一中:计算基波空间交轴电流参考值i q1*:检测电机实际转速n,将转速参考值n*与实际转速n的差值e n输入转速PI控制器,根据公式(1)获得基波空间交轴电流参考值i q1*;其中,K P和K I分别为转速PI控制器的比例增益和积分增益;计算重构相电流i B’、i C’、i D’和i E’:采集实时转子位置θ r,为能够保证五相永磁同步电机发生单相开路故障后合成磁动势不变,将基波空间中的交、直轴电流参考i q1*和i d1*根据公式(2)进行电流重构;计算基波空间两相静止电流参考值i α*和i β*:将重构后的相电流通过拓展Clark变换公式(3),得到基波空间中的两相静止电流参考值i α*和i β*;其中,δ=2π/5。
- 根据权利要求3所述的五相永磁同步电机开路故障下的容错控制方法,其特征在于:所述步骤二中:计算k时刻基波空间和3次谐波空间的两相静止电流i α(k)/i β(k)和i x(k)/i y(k):根据公式(4),由四相非故障电流i B(k)、i C(k)、i D(k)和i E(k),得到k时刻基波空间中的两相静止电流i α(k)/i β(k)和3次谐波空间中的两相静止电流i x(k)/i y(k);计算基本电压矢量作用时间t i:根据公式(5),由简化电压集中的非零基本电压矢量u i、非零谐波电压矢量v i、k时刻基波空间和3次谐波空间中的两相静止电流i α(k)/i β(k)和i x(k)/i y(k),得到基本电压矢量的作用时间t i,而一个采样周期T s中的剩余时间(T s-t i)则由零矢量作用;其中,T s表示采样时间,R s为定子绕组每相电阻,L s为定子绕组同步电感,e α(k-1)/e β(k-1)为(k-1)时刻基波空间中空载反电动势的αβ分量,e y(k-1)为(k-1)时刻3次谐波空间中空载反电动势的y轴分量,u iα(k)/u iβ(k)为k时刻基波空间中非零基本电压矢量u i的αβ分量,v iy(k)为k时刻3次谐波空间中非零谐波电压矢量v i的y轴分量,i={1,…,8};计算(k+1)刻基波空间两相静止电流预测值i α(k+1)/i β(k+1)和3次谐波空间中电流矢量y轴分量预测值i y(k+1):将k时刻基波空间中的两相静止电流i α(k)/i β(k)和3次谐波空间的电流矢量y轴分量i y(k)、基本电压矢量u i及其作用时间t i、谐波电压矢量v i,输入电流预测模块,根据公式(6)和公式(7)分别计算(k+1)刻基波空间两相静止电流预测值和谐波空间中的电流矢量y轴分量预测值建立价值函数:根据公式(8)得到基波空间中电流矢量参考值β轴分量i β*与3次谐波空间中电流矢量参考值y轴分量i y*之间的关系;将(k+1)时刻基波空间和3次谐波空间中的电流参考值及其预测值输入价值函数优化模块,根据公式(9)计算价值函数g i;
- 根据权利要求4所述的五相永磁同步电机开路故障下的容错控制方法,其特征在于:所述步骤三中:最优电压矢量及其作用时间选择:在价值函数g i中依次代入基本电压矢量u i及其作用时间t i和谐波电压矢量v i,当价值函数g i取得最小值时,其对应基波空间中基本电压矢量确定为最优电压矢量u opt,该电压矢量的作用时间即为最优时间t opt。每个周期内,剩余的时间(T s-t opt)则由零矢量作用;占空比控制:当最优基本电压矢量及其时间确定后,占空比控制模块设计对称式占空比信号并输送至逆变器,逆变器输出最优电压给单相开路故障下的五相永磁同步电机。
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