WO2022261995A1 - 一种转向悬架一体化五相永磁容错作动器及其两相开路容错直接转矩控制方法 - Google Patents
一种转向悬架一体化五相永磁容错作动器及其两相开路容错直接转矩控制方法 Download PDFInfo
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- WO2022261995A1 WO2022261995A1 PCT/CN2021/101535 CN2021101535W WO2022261995A1 WO 2022261995 A1 WO2022261995 A1 WO 2022261995A1 CN 2021101535 W CN2021101535 W CN 2021101535W WO 2022261995 A1 WO2022261995 A1 WO 2022261995A1
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- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
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- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
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- H—ELECTRICITY
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- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
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- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
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- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
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- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
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- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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- 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
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- 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
- H02P27/08—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 with pulse width modulation
- H02P27/12—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 with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P29/0243—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a broken phase
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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
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- 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
- H02P2207/055—Surface mounted magnet motors
Definitions
- the invention relates to a linear rotation two-degree-of-freedom five-phase permanent magnet fault-tolerant actuator and a two-phase open-circuit fault-tolerant direct torque control method, which are suitable for the application occasion of the steering suspension integrated system and belong to the technical field of special motors.
- two-degree-of-freedom drives have attracted attention in automotive steering and suspension integration systems.
- the two-degree-of-freedom motor avoids the intermediate transmission structure, which can effectively improve the control accuracy and reduce the system volume, so it can better meet the requirements of the steering suspension drive system.
- a linear rotary permanent magnet actuator is a two-degree-of-freedom motor with linear, rotary, and helical motion.
- the literature Analysis of a double stator linear rotary permanent magnet motor with orthogonally arrayed permanent magnets proposes a two-degree-of-freedom permanent magnet motor with radially inner and outer double stator linear rotation.
- the rotor core is thicker and heavier, and the torque and thrust pulsation is higher.
- the structure of the magnetically coupled linear rotary permanent magnet motor is relatively compact, as shown in the literature Analytical Magnetic Field Analysis and Prediction of Cogging Force and Torque of a Linear and Rotary Permanent Magnet Actuator (IEEE Transactions on Magnetics,47(10):3004-3007,2011)
- the structure proposed in but this structure has serious magnetic flux leakage, large torque and thrust pulsation, and no good fault tolerance performance. If a certain phase fails, it cannot operate normally, and cannot meet high reliability occasions.
- the motor has a two-phase open-circuit fault, although it can still output a certain amount of torque, the torque fluctuates greatly, and the motor running noise and loss after the fault become larger, resulting in a decrease in the performance and service life of the motor, and even Cause permanent damage to the motor drive system.
- the two-phase open-circuit fault occurs in the motor, the addition of the fault-tolerant algorithm can make the motor basically reach the steady state and dynamic performance before the fault, so that the motor after the fault can output smooth torque.
- the former has obvious disadvantages such as complicated switch table making, unstable switching frequency, and large motor running noise; the latter has poor torque dynamic response, low torque control accuracy, neglect of cross-coupling items of control targets, and the application of multiple transformation matrices leads to Disadvantages such as complex structure.
- the purpose of this patent is to design a new type of rotary linear permanent magnet actuator with fault-tolerant performance for steering suspension system and its two-phase open-circuit fault-tolerant DTC strategy.
- the purpose of the present invention is to provide a linear rotation two-degree-of-freedom permanent magnet fault-tolerant actuator and its fault-tolerant direct torque control strategy in the case of two-phase open-circuit faults for the steering suspension integrated system.
- the actuator can realize the decoupling of the rotating magnetic field and the traveling wave magnetic field in a single air gap, and then output torque and thrust, and overcome the shortcomings of the existing linear rotating two-degree-of-freedom permanent magnet motor with low fault tolerance and large torque ripple. , effectively reduce the amount of permanent magnets, reduce torque ripple, reduce magnetic flux leakage between poles, improve motor fault tolerance, and improve motor reliability.
- the actuator can still output stable torque and thrust, and the dynamic performance and Normal is similar.
- the actuator greatly reduces the volume of the traditional steering suspension integrated system, improves the control precision, and enhances the reliability of the steering suspension system.
- an integrated five-phase permanent magnet fault-tolerant actuator for steering suspension which is used for linear, rotary and helical motion; includes a stator and a mover;
- the stator is mainly composed of auxiliary teeth (35), armature teeth (32), fault-tolerant teeth (34), windings (21) of the linear motion part and windings (22) of the rotary motion part;
- the stator is axially It consists of a pair of auxiliary teeth (35) including several alternating armature teeth (33) and fault-tolerant teeth (34); in the circumferential direction, several armature teeth (31) and fault-tolerant teeth (32) are alternately arranged
- the end of the armature tooth (31) in the circumferential direction is a split tooth structure;
- the armature tooth is provided with windings, and the windings are divided into the winding (21) of the linear motion part and the winding (21) of the rotary motion part ( 22);
- the mover is made of permanent magnets (5),
- the winding (21) of the linear motion part is wound into a circular shape and embedded in the bottom of the stator slot between the armature teeth (33) and the fault-tolerant teeth (34) in the axial direction, and the coils in two adjacent slots of the armature teeth are connected in series Winding in one phase, and filling the non-magnetically conductive ring (41) in the axial stator slot; the winding (22) of the rotary motion part is respectively wound on the armature teeth in the circumferential direction from one end to the other end.
- the five-phase winding (21) of the rectilinear motion part and the five-phase winding (22) of the rotary motion part both adopt centralized winding.
- the armature tooth (31) pole shoe part is a split tooth structure in the circumferential direction, and the split tooth structure can also use multiple teeth to reduce the magnetic flux leakage between the poles of the armature, but it is not a split tooth structure in the axial direction.
- ; the number of pole pairs P 1 of the permanent magnet along the axial direction, the number of pole pairs of the armature winding P w1 of the linear motion part, and the number of modulation teeth N r1 along the axial direction, the three satisfy the relationship: P w1
- the fault-tolerant direct torque control method under the condition of two-phase open-circuit fault includes the following steps:
- Step 1 establish the model of the steering suspension integrated five-phase permanent magnet fault-tolerant actuator
- Step 2 Two-phase open-circuit faults occur in the rotating part of the steering-suspension integrated five-phase permanent magnet fault-tolerant actuator. Assuming that non-adjacent two-phase open-circuit faults occur on phases B and E, according to the principle of equal magnetomotive force before and after the fault, Based on the principle that the sum of the non-fault phase currents is zero, the fault-tolerant currents i A BE , i B BE , i C BE , i D BE , and i E BE under the condition of B and E phase open-circuit faults are calculated, and the fault-tolerant currents are deduced respectively according to the fault-tolerant currents Fault-tolerant transformation matrix T BE under the condition of B and E phase open-circuit faults;
- a two-phase open-circuit fault occurs in the rotating part of the steering-suspension integrated five-phase permanent magnet fault-tolerant actuator, assuming that the adjacent two-phase open-circuit fault occurs on C and D phases, according to the principle of equal magnetomotive force before and after the fault, Based on the principle that the sum of the non-fault phase currents is zero, the fault-tolerant currents i A CD , i B CD , i C CD , i D CD , and i E CD under the condition of C and D phase open-circuit faults are obtained; according to the fault-tolerant currents, C and the fault-tolerant transformation matrix T CD under the condition of D-phase open-circuit fault;
- Step 3 using the traditional Clark transformation matrix to transform the stator flux linkage, voltage and current into the ⁇ coordinate system under the condition of two-phase open-circuit fault, then the stator flux linkage ⁇ ⁇ and ⁇ ⁇ on the ⁇ coordinate system can be expressed as
- Step 4 Calculate the non-faulted phase voltages of phase B and E in the case of two-phase open-circuit faults according to the state of the inverter switch tube, and combine them with the faulted phase voltages to transform them into the ⁇ coordinate system by using the Clark transformation matrix
- step 4 calculate the non-fault phase voltages under the condition of C and D phase open-circuit faults according to the state of the inverter switch tube, and combine them with the fault phase voltages, and use the Clark transformation matrix to transform them into the ⁇ coordinate system
- Step 5 using the improved integrator to design the stator flux observer under the condition of two-phase open circuit fault. Furthermore, the torque under the condition of two-phase open-circuit fault is obtained.
- Step 6 Based on the principle of stator magnetic field orientation, the voltage, current, and stator flux linkage on the ⁇ coordinate system are transformed to the MT coordinate system by using the T ⁇ -MT transformation matrix. Since the MT coordinate system is based on the orientation of the stator magnetic field, the stator flux observer on the ⁇ coordinate system is transformed into the MT coordinate system to construct a torque observer.
- Step 7 the stator flux amplitude and torque are estimated by the stator flux observer and torque observer built in step 6, and they are compared with the given stator flux amplitude ⁇ * and given torque T* respectively
- the given voltage command on the MT coordinate system is obtained through the PI controller with Inversely transform the voltage command to the voltage command on the ⁇ coordinate system through the T MT- ⁇ inverse transformation matrix in step 6 with Then, use the transformation matrix T BE or T CD in step 2 to transform it into the natural coordinate system, and get the phase voltage command If an open-circuit fault occurs on phases B and E, the phase voltage command is
- phase voltage command is sent to the voltage source inverter, combined with the carrier pulse width modulation technology based on zero-sequence voltage injection to realize the integration of steering and suspension. Fault-tolerant bumpless direct torque control operation in case of C and D phase open circuit faults.
- the two-phase open-circuit fault when an open-circuit fault occurs in the integrated five-phase permanent magnet fault-tolerant actuator of the steering suspension, it is assumed that a two-phase open-circuit fault occurs in the rotating winding of the actuator, and the two-phase open-circuit fault can be divided into adjacent phases and non-adjacent phases.
- phase faults There are two types of phase faults. Assuming that non-adjacent two-phase faults occur on phase B and phase E, first derive the fault-tolerant current of the non-faulty phase after the non-adjacent phase B and E are open. According to the fault-tolerant current, the fault-tolerant transformation matrix for transforming the variables on the two-phase stationary coordinate system ( ⁇ coordinate system) to the natural coordinate system is obtained.
- the stator flux linkage on the natural coordinate system is transformed to the ⁇ coordinate system by using the Clark transformation matrix.
- stator flux observer and the torque observer are designed using the improved integrator on the ⁇ coordinate system.
- stator flux linkage and torque observers in the ⁇ coordinate system are transformed to the MT coordinate system.
- the stator flux amplitude and torque are estimated by the stator flux observer and torque observer on the MT coordinate system, and after making differences with the given stator flux and given torque, the PI controller is obtained
- the given voltage command on the MT coordinate system is inversely transformed into a voltage command on the ⁇ coordinate system.
- use the fault-tolerant transformation matrix to transform it to the natural coordinate system, and obtain the voltage command of the non-fault phase.
- CPWM carrier pulse width modulation technology
- the permanent magnet fault-tolerant actuator of the present invention realizes high integration of vehicle steering and suspension systems, greatly reduces the complexity of the original integrated system, and improves the accuracy, steady state and dynamic performance of system control.
- the permanent magnet fault-tolerant actuator of the present invention uses two sets of windings on a stator to realize the linear and rotating armature magnetic fields, and the magnetic flux paths of the linear winding and the rotating winding are perpendicular to each other, which can achieve better linear motion and rotary motion Decoupled drive control.
- the linear and rotating windings of the permanent magnet fault-tolerant actuator of the present invention are all wound in the adjacent slots of the armature teeth, and no coils are wound on the fault-tolerant teeth, thus physically isolating the phases of the actuator , thermal isolation and magnetic circuit decoupling, so as to achieve better fault tolerance performance and improve the reliability of the actuator.
- Actuator windings adopt centralized winding, which is convenient for winding and the end winding is short, which can effectively reduce winding resistance and copper loss.
- the circumferential direction of the permanent magnet fault-tolerant actuator of the present invention adopts a unique split armature tooth structure, which reduces the magnetic flux leakage between the poles of the armature, reduces the torque ripple, and improves the ability to output torque.
- the circumferential and axial permanent magnets of the mover of the permanent magnet fault-tolerant actuator of the present invention are arranged in alternating poles, which reduces the amount of permanent magnets used, thereby reducing the cost of the actuator.
- An air gap is added between the axial permanent magnet and the mover teeth to reduce the magnetic flux leakage between the poles of the permanent magnet.
- the fault-tolerant DTC method of the present invention is different from the traditional fault-tolerant DTC method, and what the traditional fault-tolerant DTC adopted is to select the target voltage vector in the switch table by a hysteresis comparator.
- There is a voltage discrimination error in the hysteresis comparator which leads to a large torque or thrust pulsation; at the same time, because the switch table query and sector discrimination involve the division of sectors, the calculation of trigonometric functions and irrational functions, the complexity of the program is greatly increased; and
- the fault-tolerant DTC method of the present invention adopts the CPWM method based on the principle of stator magnetic field orientation and zero-sequence voltage signal injection, and can obtain the same effect as space vector pulse width modulation without distinguishing sectors and calculations, saving controller CPU memory resources, and effectively The calculation time of the CPU is reduced, and the torque ripple is greatly suppressed at the same time, and the torque control precision is improved.
- the stator flux observer based on the improved integrator is designed, and it is used for the observation of the stator flux under the condition of two-phase open circuit fault, which not only improves the stator flux during the low-speed operation of the permanent magnet fault-tolerant actuator. It not only improves the sine degree of the chain waveform, but also improves the robustness of the stator flux linkage to parameters during high-speed operation, thereby enhancing the parameter robustness and anti-disturbance performance of fault-tolerant DTC operation.
- the error-tolerant transformation matrix used to convert the variables in the natural coordinate system to the two-phase stationary coordinate system can be multiplied by the Clark transformation matrix to obtain the identity matrix, that is, whether it is under normal conditions or under fault-tolerant conditions, it is
- the Clark transformation matrix is used to transform the variables sampled in the natural coordinate system to the ⁇ coordinate system
- the fault-tolerant transformation matrix is used to transform the control command to the natural coordinate system only in the case of fault tolerance. Therefore, this strategy greatly reduces the complexity of the structural reconfiguration of the control system before and after the fault.
- the fault-tolerant DTC method proposed by the present invention does not need to consider whether the actuator body adopts a fault-tolerant design scheme, and does not need to consider whether there is mutual inductance and coupling between the phase windings of the actuator.
- the proposed fault-tolerant DTC method extends the application object from specially designed fault-tolerant permanent magnet motors to ordinary permanent magnet motors, which is more general and practical.
- the fault-tolerant DTC method proposed by the present invention is based on stator magnetic field orientation, and the torque and stator flux linkage are decoupled on the MT coordinate system. Combining it with fault-tolerant DTC improves the torque and stator flux linkage under fault conditions Excellent dynamic performance and control accuracy further reduce torque or thrust ripple and simplify the design difficulty of fault-tolerant controllers. Therefore, compared with the vector control based on the rotor field orientation, it has the advantages of fast torque dynamic response, high torque or thrust control accuracy, and is also conducive to the realization of field weakening control; compared with the traditional DTC strategy, it has small torque ripple , high precision torque or thrust control.
- the fault-tolerant DTC method of the present invention only needs to replace the transformation matrix from the two-phase static coordinate system to the natural coordinate system from the normal to the fault-tolerant control structure, and does not modify other places.
- the derived voltage of the fault phase is only related to the resistance, leakage inductance, and permanent magnet amplitude of the non-fault phase where the ⁇ axis coincides.
- the leakage inductance of the motor is very small, almost negligible, while the amplitude of the resistance and permanent magnet changes slightly, and the voltage change caused by it is compared with the phase voltage of the non-fault phase. is very small and can be ignored, so the changes of these three parameters will not affect the fault-tolerant DTC operation effect of the present invention.
- the steering suspension integrated five-phase permanent magnet fault-tolerant actuator of the present invention can not only effectively suppress the fault after adopting the fault-tolerant DTC proposed in the present invention
- the resulting torque and thrust pulsation can make the dynamic performance under fault conditions similar to that under normal conditions, and more importantly, the accuracy of torque and thrust control is improved. Therefore, combining the actuator with fault-tolerant DTC can effectively improve the steady-state and dynamic performance of the steering suspension system, and enhance the reliability of the steering suspension system.
- Fig. 1 is a cross-sectional view of a steering suspension integrated five-phase permanent magnet fault-tolerant actuator according to an embodiment of the present invention
- Fig. 2 is a front view of the steering suspension integrated five-phase permanent magnet fault-tolerant actuator according to the embodiment of the present invention
- Fig. 3 is a side view cutaway view of the integrated five-phase permanent magnet fault-tolerant actuator of the steering suspension according to the embodiment of the present invention
- Fig. 4 is the structure of split armature teeth, fault-tolerant teeth and axial stator slot non-magnetic material fillers according to the embodiment of the present invention
- FIG. 5 is a schematic diagram of the fault-tolerant DTC strategy under the open-circuit fault of the rotating part B and E phases of the five-phase permanent magnet fault-tolerant actuator integrated with the steering suspension according to the embodiment of the present invention
- Fig. 6 is the torque waveform of the rotating part B and E phases of the permanent magnet fault-tolerant actuator according to the embodiment of the present invention from normal to open-circuit fault conditions when there is no fault-tolerant DTC operation;
- Fig. 7 is the torque waveform of the permanent magnet fault-tolerant actuator rotating part B and E phases when the fault-tolerant DTC runs from normal to open-circuit fault conditions;
- Fig. 8 is the output torque waveform of the permanent magnet fault-tolerant actuator when the torque command is step-up during the fault-tolerant DTC operation under the open-circuit fault of phase B and E of the rotating part of the permanent magnet fault-tolerant actuator according to the embodiment of the present invention.
- an embodiment of the present invention is an integrated five-phase permanent magnet fault-tolerant actuator for steering suspension.
- Groove structure The stator of the actuator is composed of 10 pairs of split armature teeth and fault-tolerant teeth arranged alternately along the circumference; along the axial direction, it is composed of 10 pairs of armature teeth and 9 fault-tolerant teeth and a pair of auxiliary teeth located at their two ends
- the armature teeth are provided with windings, and the windings are divided into windings for rotating the mover (referred to as rotating windings) and windings for moving the mover linearly (referred to as linear windings).
- the linear winding is formed into a circular ring and embedded in the bottom of the stator slot between the axial armature teeth and the fault-tolerant teeth, and the coils in two adjacent slots of the armature teeth are connected in series to form a phase winding, and the linear winding is centralized winding;
- the coils wound on the ten axial armature teeth are A1 phase, C1 phase, E1 phase, B1 phase, D1 phase, A2 phase, C2 phase, E2 phase, B2 phase, D2 phase, and the winding of each coil
- the direction of the line is the same, and the A1 and A2 phases are connected in series in the forward direction to obtain the A phase, and the other four phases can be obtained in the same way.
- the axial stator slot is filled with a non-magnetic ring made of a non-magnetic material such as aluminum or epoxy resin.
- the rotating winding is wound on the armature teeth in the circumferential direction from one end to the other end.
- the rotating winding is wound in a centralized manner, and the coils wound on the ten armature teeth in the circumferential direction are A1 phases in turn.
- D1 phase, B1 phase, E1 phase, C1 phase, A2 phase, D2 phase, B2 phase, E2 phase, C2 phase, and the winding direction of each coil is the same, connect the A1 and A2 phases in forward series to get the A phase, other
- the four phases can be obtained in the same way.
- the mover is composed of permanent magnets, mover teeth, mover yokes and magnetically non-conductive rings, and the permanent magnets are embedded in mover slots.
- the two-phase open-circuit fault can be divided into adjacent phase faults and non-adjacent phase faults. types. Assuming that non-adjacent two-phase faults occur on phase B and phase E, first derive the fault-tolerant current of the non-faulty phase after the non-adjacent phase B and E are open.
- the rotating part of the permanent magnet fault-tolerant actuator adopts the direct torque control strategy shown in Fig. 5, and uses the Clark transformation matrix shown in formula (1) to transform the variable equal amplitude values on the five-phase natural coordinate system to the ⁇ - ⁇ coordinate system
- phase currents of the five phases A, B, C, D, and E can be expressed as
- i A , i B , i C , i D , and i E are the phase currents of A, B, C, D, and E phases respectively, and i ⁇ and i ⁇ are the components of the stator current on the ⁇ coordinate system, respectively.
- the synthetic magnetomotive force MMF of the rotating winding of the permanent magnet fault-tolerant actuator is expressed as
- N is the effective number of turns of the stator winding of each phase in the rotating part of the actuator.
- phase B and E When an open-circuit fault occurs in phase B and E, the phase current is zero, so the magnetomotive force of the non-fault phase is zero
- i A BE , i C BE , and i D BE are the phase fault currents of non-fault phases A, C, and D, respectively.
- phase currents i A BE , i B BE , i C BE , i D BE , and i E BE after the open-circuit fault tolerance of phase B and E are calculated as
- stator flux linkage ⁇ A BE , ⁇ B BE , ⁇ C BE , ⁇ D BE , ⁇ E BE of the rotating part of the actuator can be expressed as
- L A , L B , L C , L D , LE are the inductances of A, B, C, D and E phases; L ls is the leakage inductance;
- I 5 ⁇ 5 is the fifth order Identity matrix;
- stator flux linkage and phase voltage on the natural coordinate system are transformed into the stator flux linkage on the ⁇ coordinate system by using the Clark matrix shown in formula (1).
- Chain ⁇ ⁇ , ⁇ ⁇ and stator voltage u ⁇ , u ⁇ are
- phase B and E Due to the existence of mutual inductance of non-fault relative to fault and the existence of back electromotive force of fault phase itself, when phase B and E are open circuited, the voltage of phase B and E can be expressed as
- emf B emf E are the counter potentials of B and E phases.
- m 1 L m i ⁇ - L ⁇ i ⁇ cos2 ⁇ - L ⁇ i ⁇ sin2 ⁇
- m 2 L m i ⁇ + L ⁇ i ⁇ cos2 ⁇ - L ⁇ i ⁇ sin2 ⁇ .
- phase voltage of the non-fault phase is represented by the state of the switch tube of the upper bridge arm of the voltage source inverter, and then combined with formula (12), the phase voltage in the fault state is transformed into the ⁇ coordinate system by using the Clark matrix above, can be expressed as
- S a , S c , S d are the signals of the switch tubes of the upper bridge arm of the voltage source inverter A, C, and D phases.
- the corresponding signal is equal to 1 when the switch tube is turned on, and the corresponding signal is 0 when it is turned off.
- U dc is the DC bus Voltage, are the phase voltages of B and E phase open-circuit fault states, respectively;
- the transformation matrix shown in equation (16) is used to transform the voltage, current, and stator flux linkage on the ⁇ coordinate system to the MT coordinate system. Transform the voltage model of formula (10) to the voltage u M , u T on the MT coordinate system, as shown in formula (18)
- ⁇ s is the stator flux angle
- ⁇ s is the stator flux angular velocity
- i M , i T , ⁇ M , ⁇ T are the current and stator flux components on the MT coordinate system, respectively.
- stator flux observer shown in formula (20) is constructed.
- the direct decoupling control of torque and flux linkage can be realized by using two PI controllers.
- the stator flux amplitude and torque are estimated by the stator flux observer shown in formula (20) and the torque observer shown in formula (21), and they are compared with the given torque T * , given Stator flux linkage
- the given voltage command on the MT coordinate system is obtained through the PI controller.
- the voltage command is reverse-transformed to the voltage command on the ⁇ coordinate system through the inverse transformation matrix T MT- ⁇ shown in formula (17).
- the fault-tolerant transformation matrix shown in formula (7) is used to transform it into the natural coordinate system, and the voltage command of the non-fault phase is obtained, and the voltage command of the fault phase is 0.
- the disturbance-free high-performance operation of the rotating part of the permanent magnet fault-tolerant actuator after B and E phase open-circuit faults is realized.
- This fault-tolerant strategy not only has the characteristics of fast torque dynamic response and simple structure of DTC, but also can effectively suppress the torque ripple caused by the open-circuit fault of phase B and E, and realize the stable operation of DTC. The more important thing is the steady-state performance and vector control quite.
- the fault-tolerant transformation matrix for transforming the variables on the ⁇ coordinate system to the natural coordinate system can be obtained as
- the non-faulted phase voltage and the faulted phase voltage based on the switch state signal of the upper bridge arm of the voltage source inverter can be expressed in the ⁇ coordinate system as
- S a , S b , S e are the signals of the switch tubes of the upper bridge arms of the voltage source inverters A, B, and E; are the phase voltages of C and D phases under open-circuit fault conditions, respectively.
- stator flux linkage and torque observers shown in equations (20) and (21) on the MT coordinate system can be derived according to the same method as above.
- the present invention takes the open-circuit faults of rotating parts B and E of the permanent magnet fault-tolerant actuator as an example to simulate and analyze the performance of the proposed fault-tolerant DTC strategy.
- the block diagram of the control strategy is shown in Figure 5 . Compared with normal operation, the control structure is almost unchanged, so the proposed fault tolerance strategy is concise and efficient.
- Figure 6 shows the torque waveforms when the rotating part of the actuator operates without fault tolerance when an open-circuit fault occurs in phase B and E at 0.2s and enters an open-circuit fault from normal. It can be seen that the torque fluctuation of the rotating part of the actuator is obvious.
- FIG. 7 is the torque waveform of the rotating part of the actuator in fault-tolerant operation when the B and E phases are from normal to open-circuit faults.
- the fault-tolerant DTC strategy of the present invention is started immediately. It can be seen that compared with the fault condition, the output torque ripple of the actuator is suppressed obviously, and there is almost no ripple.
- Fig. 8 is the output torque waveform of the actuator when the torque command steps down during the operation of the B and E phase open-circuit fault-tolerant DTC, and the response time is about 1ms. It can be seen that the fault-tolerant DTC strategy proposed by the present invention maintains the advantage of rapid torque response of DTC.
- the output torque has almost no fluctuation, the sine degree of the phase current is better, and the actuator has a dynamic performance similar to that under normal conditions after adopting the fault-tolerant DTC strategy of the present invention.
- the steering suspension integrated five-phase permanent magnet fault-tolerant actuator and its two-phase open-circuit fault-tolerant DTC method of the present invention not only realize the rotary motion, linear motion, spiral motion, rotary motion and
- the decoupling of linear motion can ensure that the output torque or thrust of the actuator is consistent with the normal situation in the case of two-phase open-circuit faults, and can obviously suppress the torque or thrust pulsation caused by two-phase open-circuit faults; more importantly, , the dynamic performance during fault-tolerant operation is similar to that of DTC under normal conditions, and the steady-state performance is similar to that of vector control, with strong versatility, no need for complex calculations, and low CPU overhead. Therefore, the present invention has good application prospects in automobiles, aerospace and other systems that require high operating performance.
- references to the terms “one embodiment,” “some embodiments,” “exemplary embodiments,” “example,” “specific examples,” or “some examples” are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present invention.
- schematic representations of the above terms do not necessarily refer to the same embodiment or example.
- the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
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Abstract
Description
Claims (9)
- 一种转向悬架一体化五相永磁容错作动器,其特征在于:该作动器用于直线、旋转和螺旋运动;包括定子、动子;所述定子主要由辅助齿(35)、电枢齿(32)、容错齿(34)、直线运动部分的绕组(21)和旋转运动部分的绕组(22)构成;所述定子在沿轴向上是由一对辅助齿(35)包含若干个交替的电枢齿(33)与容错齿(34)排列而成;在圆周向上是由若干个电枢齿(31)与容错齿(32)交替排列而成,在圆周方向上的电枢齿(31)端部为***齿结构;所述电枢齿上设置绕组,所述绕组分为直线运动部分的绕组(21)和旋转运动部分的绕组(22);所述动子由永磁体(5)、动子齿(6)、动子轭(7)以及不导磁圆环(42)构成;所述永磁体(5)在圆周方向是瓦片状的且径向充磁、内嵌在动子齿(6)之间,沿圆周向分布的角度圆心角为t c=(0.6~1)*360°/P,P为永磁体沿圆周向的极对数,在圆周向按交替极阵列排列;永磁体(5)沿轴向分布的长度为t l=(0.25~0.5)*τ,τ为轴向动子极距,在轴向相邻两永磁体的充磁方向相反,按错位交替阵列排列,错位角度为t z=180°/P;所述永磁体(5)与动子齿(6)在轴向上两两之间设置的气隙长度为t 0=0.5*τ-t l;所述气隙可采用不导磁圆环(42)填充;所述动子齿和永磁体在圆周面上是等高的;所述辅助齿(35)轴向宽度为t l=(0.25~0.5)*τ。
- 根据权利要求1所述的一种转向悬架一体化五相永磁容错作动器,其特征在于:所述直线运动部分的绕组(21)绕制成圆环状嵌入轴向上电枢齿(33)与容错齿(34)之间的定子槽底部,电枢齿相邻两槽线圈串联成一相绕组,并且在轴向的定子槽内填充不导磁圆环(41);所述旋转运动部分的绕组(22)分别从一边端部到另一边端部绕制在圆周向电枢齿(31)上;直线运动部分的五相绕组(21)与旋转运动部分的五相绕组(22)均采用集中式绕制。
- 根据权利要求1所述的一种转向悬架一体化五相永磁容错作动器,其特征在于:所述电枢齿(31)极靴部分在圆周方向是***齿结构,该***齿结构还可采用多齿来降低电枢极间漏磁,然而其在轴向方向不是***齿结构。
- 根据权利要求1所述的一种转向悬架一体化五相永磁容错作动器,其特征在于:永磁体(5)沿圆周向的极对数P,旋转运动部分的电枢绕组极对数P w,沿圆周向的调制齿极数N r,三者满足关系:P w=|N r-P|;永磁体沿轴向的极对数P 1,直线运动部分的电枢绕组极对数P w1,沿轴向的调制齿极数N r1,三者满足关系:P w1=|N r1-P 1|。
- 一种由权利要求1所述的转向悬架一体化五相永磁容错作动器的两相开路容错直接转矩控制方法,其特征在于,当作动器旋转部分和直线部分的相数分别为m=5时,可分别分为A、B、C、D、E 五相,两相开路故障情况下的容错直接转矩控制方法包括如下步骤:步骤1,建立转向悬架一体化五相永磁容错作动器的模型;步骤2,转向悬架一体化五相永磁容错作动器旋转部分绕组发生两相开路故障,假设不相邻两相开路故障发生在B和E相上,根据故障前后磁动势相等原理、非故障相电流和为零的原则,求出B和E相开路故障情况下的容错电流i A BE、i B BE、i C BE、i D BE、i E BE,根据该容错电流分别推导出B和E相开路故障情况下的容错变换矩阵T BE或步骤2,转向悬架一体化五相永磁容错作动器旋转部分绕组发生两相开路故障,假设相邻两相开路故障发生在C和D相上,根据故障前后磁动势相等原理、非故障相电流和为零的原则,求出C和D相开路故障情况下的容错电流i A CD、i B CD、i C CD、i D CD、i E CD;根据该容错电流分别推导C和D相开路故障情况下的容错变换矩阵T CD步骤3,采用传统Clark变换矩阵将两相开路故障情况下定子磁链、电压和电流变换到αβ坐标系上,则αβ坐标系上的定子磁链ψ α、ψ β可表示为式中:i α、i β分别是定子电流在αβ坐标系上的分;θ为电角度;L m=0.2(L d+L q),L θ=0.2(L q-L d),L d、L q分别为旋转部分绕组的d轴和q轴电感;L ls为漏感;ψ pm为永磁磁链幅值;步骤4,根据逆变器开关管状态计算出B相和E两相开路故障情况下的非故障相电压,并结合故障相电压,采用Clark变换矩阵将它们变换到αβ坐标系上或步骤4,根据逆变器开关管状态计算出C和D相开路故障情况下的非故障相电压,并结合故障相电压,采用Clark变换矩阵将它们变换到αβ坐标系上步骤5,采用改进型积分器设计两相开路故障情况下的定子磁链观测器式中:s为微分算子,ω c为滤波截止频率,由此,两相开路故障情况下的转矩可表示为步骤6,基于定子磁场定向原则,采用T αβ-MT变换矩阵将αβ坐标系上的电压、电流、定子磁链变换到MT坐标系上由于MT坐标系是基于定子磁场定向的,将αβ坐标系上的定子磁链观测器变换到MT该坐标系上,其可表示为由此,构建的转矩观测器为T e=2.5pψ Mi T;式中:i T为MT坐标系上的电流分量。步骤7,通过步骤6构建的定子磁链观测器和转矩观测器估算出定子磁链幅值和转矩,并将其与给定定子磁链幅值ψ*和给定转矩T*分别作差后,经PI控制器得到MT坐标系上的给定电压指令 和 通过步骤6中T MT-αβ反变换矩阵将该电压指令反变换至αβ坐标系上的电压指令 和 然后,采用步骤2中的变换矩阵T BE或T CD将其变换到自然坐标系上,得到相电压指令 若B和E相发生开路故障,则相电压指令为若C和D相发生开路故障,则相电压指令为将该相电压指令送给电压源逆变器,再结合基于零序电压注入的载波脉宽调制技术实现转向悬架一体化五相永磁容错作动器旋转部分在B和E相开路故障或C和D相开路故障情况下的容错无扰直接转矩控制运行。
- 由权利要求5所述的转向悬架一体化五相永磁容错作动器两相开路容错直接转矩控制方法,其特征在于,所述步骤3的具体过程为:步骤3.1,将自然坐标系上的变量变换到αβ坐标系上的Clark变换矩阵为步骤3.2,当B和E相发生开路故障时,作动器旋转部分的定子磁链ψ A BE、ψ B BE、ψ C BE、ψ D BE、ψ E BE可表示为其中:L(θ)为旋转部分绕组的电感矩阵;ψ f为永磁体耦合到定子侧的永磁磁链,表示为ψ f=ψ pm[cosθ cos(θ-a) cos(θ-2a) cos(θ-3a) cos(θ-4a)] T;步骤3.3,采用Clark变换矩阵将两相开路故障情况下自然坐标系上的定子磁链变换到αβ坐标系上。
- 由权利要求5所述的转向悬架一体化五相永磁容错作动器两相开路容错直接转矩控制方法,其特征在于,所述步骤4的具体过程为:步骤4.1,当B和E相发生开路故障后,非故障相对故障相互感以及故障相的反电势仍然存在。因此,故障相的相电压为其中:emf B、emf E为B和E相的反电势,L AB、L BC、L BD、L AE、L CE、L DE分别为相互感;步骤4.2,在B和E相故障情况下,它们的相电压之间的关系为其中:m 1=L mi α-L θi αcos2θ-L θi βsin2θ,m 2=L mi β+L θi βcos2θ-L θi αsin2θ;或步骤4.1,当C和D相发生开路故障后,非故障相对故障相互感以及故障相的反电势仍然存在,因此,故障相的相电压为其中:emf C、emf D为C和D相的反电势,L AC、L BC、L CE、L AD、L BD、L DE分别为相互感;或步骤4.2,在C和D相故障情况下,它们的相电压之间的关系为步骤4.3,根据电压源逆变器开关状态计算出两相开路故障情况下的非故障相电压,并结合计算出的故障相电压,采用Clark变换矩阵将它们变换到αβ坐标系上。
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