CN101667805A - Six-phase permanent magnet fault-tolerant motor control system - Google Patents
Six-phase permanent magnet fault-tolerant motor control system Download PDFInfo
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- CN101667805A CN101667805A CN200910035436A CN200910035436A CN101667805A CN 101667805 A CN101667805 A CN 101667805A CN 200910035436 A CN200910035436 A CN 200910035436A CN 200910035436 A CN200910035436 A CN 200910035436A CN 101667805 A CN101667805 A CN 101667805A
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Abstract
The invention relates to a novel six-phase permanent magnet fault-tolerant motor control system in a half-bridge circuit structure, which has the characteristic of failure isolation. The system comprises a six-phase permanent magnet fault-tolerant motor and two paths of three-phase half-bridge inverting circuits. Aiming at the six-phase permanent magnet fault-tolerant motor, one end of an A-phasewinding, one end of a C-phase winding and one end of an E-phase winding are connected with a midpoint of a corresponding bridge arm, and the lower end of the bridge arm is connected with the negativeend of a direct current bus after being connected in series with a normally-closed contact point and a PTC resistor; the other ends of all windings are connected to form a Y-shaped connecting method after being connected in series with the other normally-closed contact point; and the two normally-closed contact points in the same phase belong to the same double-connecting relay. The midpoint of the Y-shaped connecting method is connected with a midpoint of an equivalent bus series capacitor after being connected in series with the normally-opened contact point K1 to form a set of three-phase Y-shaped drive subsystems. Similarly, other three phases form a set of three-phase drive subsystems by the circuit structure. When any phase in any set generates failure, a failure subsystem is automatically reconstructed into a two-phase system, and the motor system enters a fault-tolerant running state by a failure state two-phase control algorithm of a common three-phase motor.
Description
Technical field
Patent of the present invention relates to a kind of method for designing of six-phase permanent magnet fault-tolerant motor control system.
Background technology
In the occasion of some high reliability request, require the necessary particular design of motor driven systems, as the aricraft electrical power actuating system, be one of key technology of how electric aircraft system.Because the electrical actuation system is widely used in the crucial power transmission systems such as aircraft brake, rudder face control and oil pump, so the electrical actuation system must possess very strong security reliability and fault-tolerance.And power inverter and drive motors are the cores of electrical actuation device, therefore design a cover and have the motor body of fault tolerance and the key technology that control system has become the electrical actuation device thereof.Recognized this problem just, the reliability engineering of research electrical actuation system has obtained very fast development, it roughly divides two stages, one be with redundant technique (with representational be two redundancy technologies) be the primary stage of sign, one is to be the advanced stage that indicates with the fault-toleranr technique.Common redundant technique measure provides redundant motor windings or controller, and the utilance of such system is not high, and cost and volume all can be very big, and is inapplicable to the occasion that volume requirement is higher; And fault-tolerant, as its name suggests, be exactly that the permission system makes mistakes, when any fault took place in the finger system on the engineering, system was reconstructed, and made system can not reduce the performance operation substantially.
Since the seventies in 20th century, because the fast development of power electronic device, reluctance motor combines with power electronic device, has formed a kind of New-type electric machine of electromechanical integration---switched reluctance motor.It is mainly used in timing gearing system, and advantage is: when a phase winding broke down, motor still can operate as normal, promptly has certain fault-tolerance.But compare with permagnetic synchronous motor, its inevitable torque ripple, and efficient is lower, thus make its fault freedom unsatisfactory.Therefore external motor expert has proposed the notion of fault tolerant permanent magnet machine, mainly be to set up, and at first be applied to aviation electrical actuation system by Atkinson.D.J, the B.C.Mecrow professor of Newscastle university and Z.Q.Zhu professor, professor D.Howe of Shefield university.The B.C.Mecrow professor of Britain Newscastle university in 1993 has delivered one piece about H bridge inverter failure diagnosis article at IEEE, for he has established foundation stone in the scheme of the fault-tolerant motor of nineteen ninety-five proposition.Nineteen ninety-five Mecrow professor has delivered one piece of fault freedom article relatively about fault tolerant permanent magnet machine and switched reluctance machines at IEEE, has hereafter drawn back the prelude of fault tolerant permanent magnet machine research.1996, the Z.Q.Zhu of Shefield university teaches, professor D.Howe begins one's study the dynamo-electric actuating system (EMA of fault-tolerant motor at aircraft, Electro-Mechanical Actuator) control in and application, thus shown that fault tolerant permanent magnet machine has powerful vitality in air line.
Fault tolerant permanent magnet machine and control circuit thereof are formed the fault tolerant permanent magnet machine system, have magnetic isolation, hot isolation, electrical isolation and have the ability that big reactance suppresses short circuit current.In recent years, the research of fault-tolerant motor had obtained the development of advancing by leaps and bounds, but the rare variation of inverter control circuit topology that matches with it.The fault tolerant permanent magnet machine system of mentioning in the existing document adopts fault tolerant permanent magnet machine and the combination of H bridge circuit topology.In this system, each H bridge module carries out independent control to a phase winding, realizes electrical isolation, and excises the fault phase when fault, makes motor continue fault-tolerant operation.Shortcoming is to need more power devices, increases volume weight, need be with 6 H bridges as the six-phase permanent magnet fault-tolerant motor, and totally 24 power switch pipes will influence system reliability.How further to improve system survivability and reliability and be always a difficult problem in this research field.
Summary of the invention
The present invention proposes a kind of novel fault tolerant permanent magnet machine system, this drive system adopts six phase fault-tolerant motors and follow-on six half-bridge structure inverters mutually.System has fault-tolerant ability preferably, the reliability height, and also cost is low, and simple in structure, volume is little.
The present invention be directed to the six-phase permanent magnet fault-tolerant motor and propose.This motor (volume is little, power density is high little of torque pulsation or the like) except characteristics with general permagnetic synchronous motor, as shown in Figure 1, the armature winding of this motor adopts the concentrated coiling mode of individual layer every tooth, thus each phase winding of motor body possessed heat insulation, every magnetic and physically-isolated function; This motor grooved adopts darker notch size, has increased the motor windings leakage reactance, thereby can reach the purpose of utilizing big resistance limits short circuit current; Dress pastes not uniform thickness centering type permanent magnet on the rotor simultaneously, makes the counter potential waveform of armature winding present sine wave, rather than traditional square wave or trapezoidal wave, is convenient to realize the sine wave drive algorithm of function admirable.Being essentially different of these particular design and general permanent magnetic brushless both had very strong fault-tolerant ability, has outstanding driveability again.
Figure 2 shows that the permanent magnet fault-tolerant motor control system of traditional employing H bridge circuit topology.Its control core is high performance DSP control board, the custom-designed real-time control software of dsp operation, and the system that finishes normally moves, fault case fault-tolerant operation and system state monitoring, functions such as protection.In this system, every phase winding is all used the power supply of separate single-phase H bridging parallel operation, and when therefore a phase winding or power tube damaged, the electric spacing contact disjunction (not marking among the figure) that is connected with bus can not have influence on the voltage output of other phases.Although every phase winding all uses the H bridge can realize electrical isolation, produced simultaneously problem is exactly that the power device number of packages of power inverter is more, causes the controller volume to increase, and says it is an adverse factors from the angle of reliability.
Patent of the present invention is at six-phase permanent magnet fault-tolerant motor control system, has proposed a kind of novel half-bridge circuit topology with Fault Isolation characteristic, as shown in Figure 3, realizes fault-tolerant and isolated fault function.At the six-phase permanent magnet fault-tolerant motor, six are followed successively by A, B, C, D, E, F mutually, wherein A, C, every phase winding one end of E three-phase link to each other with corresponding brachium pontis mid point, the normally-closed contact and a PTC resistance (resettable fuse) of lower end one relay of brachium pontis are in series, and can effectively limit the infringement of the various short troubles in loop, place to system in each phase brachium pontis of the access of PTC resistance.PTC resistance links to each other with the dc bus negative terminal again, and the other end of every phase winding is connected and connected into " Y " connection behind another normally-closed contact, and two normally-closed contacts of same phase belong to same duplex relay, and the contact of relay is K as A mutually
A1, K
A2" Y " connection mid point series connection normally opened contact K
1The back links to each other with the mid point of two equivalent series capacitances of one road dc bus, and this constitutes cover three-phase " Y " type driver sub-system.Equally B, D, F are constituted another set of three-phase " Y " type driver sub-system, do not connect between " Y " type mid point of these two covers.Because the magnetic isolation design characteristic between each phase of six phase fault-tolerant motors, motor can be regarded the combination of two three phase electric machines as.
So, native system constitutes a motor driven systems.Be six symmetrical operations when motor normally moves, every suit three-phase subsystem can be used the control algolithm of three phase electric machine.Arbitrary when breaking down mutually in any cover controls this phase normally-closed contact by fault diagnostic program and opens, and fault is isolated mutually, and electric system enters asymmetric operation, the control algolithm of the three-phase subsystem application fault case two-phase that breaks down.And the control of three-phase system and fault diagnosis algorithm remain the fault-tolerant control algolithm of two-phase under the fault, and the scheme of comparative maturity has all been arranged, and conveniently are converted to native system and use.
Compare with traditional H bridge control topology, the power switch number of this circuit topology will reduce half, can effectively reduce the volume weight of controller.Reduce the power device number, both improved reliability of system operation, saved the shared space of inverter again, reduced the cost of whole system.
Description of drawings
Fig. 1 is six-phase permanent magnet fault-tolerant motor model figure.
Fig. 2 is traditional six phase H bridge permanent magnet fault-tolerant motor control systems.
Label title among Fig. 2: 1. six-phase permanent magnet fault-tolerant motor; 2. six phase H bridge construction inverters; 3.DSP controller and detection and protective circuit; Q
11, Q
12, Q
13, Q
14Q
61, Q
62, Q
63, Q
64Be power switch pipe, D
11, D
12D
61, D
62, D
63, D
64Be diode.
Fig. 3 is the six-phase permanent magnet fault-tolerant motor control system of half-bridge structure
Label title among Fig. 3: 1, six-phase permanent magnet fault-tolerant motor; 2, current sensor; Q
1, Q
2Q
11, Q
12Be power switch pipe, D
1, D
2D
12Be diode; K
A1, K
B1K
F1Be the normally closed switch contact that links to each other with motor winding terminal; K
A2, K
B2K
F2Be the normally closed switch contact that links to each other with brachium pontis under the half-bridge; R
1, R
2R
6Be PTC resistance; C1, C2 and C3, C4 are respectively two-way series connection dividing potential drop electric capacity; K
1, K
2Be normally opened contact independently.
Fig. 4 PTC (resettable fuse) resistance characteristic curve.
Specific embodiments
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Patent of the present invention connects at circuit topology such as Fig. 3 that six-phase permanent magnet fault-tolerant motor control system proposes.Be the six symmetrical systems that two cover three-phase subsystems constitute during electric system failure-free operation, every suit three-phase system is used the control algolithm of ripe three phase electric machine, as vector control, and i
d=0 control algolithm or direct torque control algorithm.
Fault of converter mainly comprises device for power switching short trouble, device for power switching open fault, electric motor winding end short trouble and winding open circuit fault.Arbitrary phase fault in arbitrary cover three-phase subsystem is an example with A mutually:
1. device for power switching short trouble.In case fault takes place, the PTC resistance R
1On electric current can sharply increase, temperature sharply raises behind the PTC resistance heating, shows high-impedance state, characteristic as shown in Figure 4, resistance variations rises to tens of kilo-ohms from the tens of milliohms of normality, plays effective partition effect.In the process that its resistance rises, voltage drop is increasing.By its voltage signal and judge its size, just can in time judge the control circuit fault that whether is short-circuited.When fault took place, circulating power switching tube drive signal disconnected the normally closed switch K that links to each other with brachium pontis with the fault phase winding
A1And K
A2, the isolated fault phase is opened reconstruct normally opened contact K
1, system's automatic reconfiguration is a binary system, uses the fault case two-phase control algolithm of conventional three phase electric machine, realizes the System Fault Tolerance operation.
2. device for power switching open fault.The power switch tube open circuit comprises Q
1Open circuit, Q
2Open circuit, Q
1And Q
2Open circuit, and control or drive circuit damage and cause gate electrode drive signals often to be low level situation.The fault form of expression is identical, and waveform is the half-wave waveform during fault, and its multiple harmonic content has obvious difference with the multiple harmonic content of waveform just often, can this judge the generation of open fault.The measure of the Fault Isolation that fault is taked after taking place is identical with 1, disconnects the normally closed switch K that links to each other with brachium pontis with the fault phase winding
A1And K
A2, the isolated fault phase is opened reconstruct normally opened contact K
1, realize the phase shortage asymmetric operation.
3. motor windings is exported end short circuit (all short circuits) or winding interturn short-circuit (partial short circuit) fault.When fault took place, electric current was owing to himself big resistance limits effect in the motor short circuit this moment phase winding, and short circuit current is also little.At this moment, because winding generation short circuit fault, the average duty ratio that ring (electric current loop) produces the pwm pulse of required given electric current in the control compares with the normal two-phase of non-short circuit that great changes have taken place, can monitor short circuit in winding in view of the above.The measure of the Fault Isolation that fault is taked after taking place is identical with 1, disconnects the normally closed switch K that links to each other with brachium pontis with the fault phase winding
A1And K
A2, the isolated fault phase is opened reconstruct normally opened contact K
1, realize the phase shortage asymmetric operation.
4. motor windings open circuit fault.During motor phase winding open circuit, its phase current is always zero.At this moment, to phase current sampling, phase current i is always 0 in several cycles, then regards as the winding open circuit conditions by current sensor.The measure of the Fault Isolation that fault is taked after taking place is identical with 1, disconnects the normally closed switch K that links to each other with brachium pontis with the fault phase winding
A1And K
A2, the isolated fault phase is opened reconstruct normally opened contact K
1, realize the phase shortage asymmetric operation.
This topology can effectively be excised the fault phase, and inverter is operated under the fault-tolerant mode, thereby when guaranteeing that certain phase winding or power tube break down, fault can not infect normal phase.The control and the fault diagnosis algorithm of every cover three phase winding subsystems are by the existing ripe control algolithm conversion of three phase electric machine and two-phase induction motor.This topological fault-tolerant ability is any phase to phase fault.
Claims (4)
1, a kind of six-phase permanent magnet fault-tolerant motor control system with Fault Isolation characteristic, system is made up of six-phase permanent magnet fault-tolerant motor and two three-phase half-bridge inverter, fault tolerant permanent magnet machine has the magnetic isolation, heat is isolated and the characteristics of big reactance health short circuit current, it is characterized in that electric system all can be realized the fault-tolerant operation function when wherein arbitrary when breaking down mutually.
2, six-phase permanent magnet fault-tolerant motor control system with Fault Isolation characteristic according to claim 1, its six phase winding is followed successively by A, B, C, D, E, F, with A, C, the mid point output of two power switch pipes of the corresponding phase brachium pontis of one termination of the every phase winding of E three-phase, the lower end of brachium pontis seals in a normally-closed contact of a relay and connects with PTC resistance (resettable fuse), be connected to the dc bus negative terminal, the other end of every phase winding is connected and is connected into " Y " connection behind another normally-closed contact, two normally-closed contacts of same phase belong to same duplex relay, " Y " connection mid point is gone here and there and is linked to each other with the mid point of one tunnel series capacitance behind the normally opened contact, and this constitutes cover three-phase " Y " type driver sub-system; Same circuit structure constitutes another set of " Y " type driver sub-system with B, D, F three phase windings, does not connect between " Y " type mid point of these two covers.
3, the six-phase permanent magnet fault-tolerant motor control system with Fault Isolation characteristic according to claim 1 and 2; the following brachium pontis of every phase seals in PTC resistance (resettable fuse); utilize the overcurrent high-impedance behavior of PTC resistance, can play the effect of effective protection partition the various short troubles in its loop of living in.
4, according to claim 1 or 2 or 3 described six-phase permanent magnet fault-tolerant motor control systems with Fault Isolation characteristic, be six symmetrical operations when motor normally moves, every suit three-phase subsystem can be used the control algolithm of three phase electric machine; Arbitrary when breaking down mutually in any cover, two normally-closed contacts of this phase are opened, and fault are isolated mutually the normally opened contact K of mid point series connection
1Or K
2The three-phase subsystem that closure, fault are subordinate to is reconstructed into the fault-tolerant control of phase to phase fault attitude operation, and fault-tolerant control algolithm under the control of every cover three-phase subsystem and the fault all can be used the existing control algolithm of three phase electric machine, convenient realization fault-tolerant operation function.
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| CN109532512A (en) * | 2018-12-10 | 2019-03-29 | 重庆峰创科技有限公司 | A kind of new-energy automobile intelligent electric machine drive system |
| CN109525159A (en) * | 2018-12-10 | 2019-03-26 | 重庆峰创科技有限公司 | A kind of new-energy automobile polyphase machine drive system |
| CN109525165A (en) * | 2018-12-10 | 2019-03-26 | 重庆峰创科技有限公司 | A kind of new-energy automobile strong fault tolerance driving system of permanent magnet motor |
| WO2021034813A1 (en) * | 2019-08-22 | 2021-02-25 | Cummins Inc. | Flexible control for a six-phase machine |
| US11784596B2 (en) | 2019-08-22 | 2023-10-10 | Cummins Inc. | Flexible control for a six-phase machine |
| WO2024045271A1 (en) * | 2022-08-29 | 2024-03-07 | 中车株洲电力机车研究所有限公司 | Electric drive system, method, apparatus, storage medium, electronic device, and electric vehicle |
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