CN103023412A - Permanent magnet fault-tolerant motor transient state control method based on dynamic terminal sliding mode variable structure - Google Patents

Abstract

The invention discloses a permanent magnet fault-tolerant motor transient state control method based on a dynamic terminal sliding variable structure. The method comprises the following steps: (1) inputting a given rotate speed*2d, an actual rotate speed*2, and a rotor position *1 to a sliding mode controller; (2) computing the input signal by using a designed control law algorithm to obtain a DTSMC (dynamic terminal sliding mode variable structure) control law u; (3) inputting a rotor position signal theta(*1) and a sliding mode control law u to a vector control module of a motor to obtain an expected permanent magnet fault-tolerant motor six-phase stator current; (4) using a difference value of the detected SPPMFTM six-phase stator actual current and the expected six-phase stator current as an input signal of a hysteresis controller to obtain a PWM (pulse-width modulation) signal for driving an inverter circuit; (5) driving the inverter circuit by the PWM signal, wherein a six-phase alternating current formed by the inverter circuit is acted on the SPPMFTM. The method provided by the invention is a SPPMFTM transient state control strategy based on the DTSMC, and can effectively control the transient state progress of the SPPMFTM and achieves the aim of smooth transition.

Description

A kind of fault tolerant permanent magnet machine transient state control method based on the dynamic terminal sliding moding structure

Technical field

What the present invention relates to is a kind of fault tolerant permanent magnet machine transient state control method based on the dynamic terminal sliding moding structure.

Background technology

Electric actuation system is that how electric aircraft, electric aircraft are one of key technologies of opportunity of combat of future generation, the manipulations, ring control, wheel braking, fuel oil etc. that it is widely used in aircraft affect the critical system of flight safety, so require it to have high reliability and high fault tolerance in addition, different systems also has other requirement to electric actuation system, also requires electric actuation system (mainly referring to motor) to have larger speed adjustable range, Fast starting braking and stronger antijamming capability etc. such as control system.The quality of its performance directly affects the safety of aircraft.At present, the fault-tolerant architecture of drive motors and Drive and Control Circuit thereof design has become and has realized having the how electric aircraft of high reliability, the key of electric aircraft electric actuation system.For fault-tolerant motor, Chinese scholars has been carried out comparatively deep research, and six-phase permanent magnet fault-tolerant motor (SPPMFTM) especially is because its number of phases is redundant and good trouble isolation serviceability becomes the first-selection of drive motors.But these researchs are carried out Fault Isolation and can be continued operation after mainly concentrating at present the steady operation of motor and fault thereof, and it is very few to the research of start motor transient process, although its time that continues is very short, but the operation to motor is vital, particularly in the exigent fighter plane electric actuation system of runnability, process bad meeting and cause larger rotation speed change, torque pulsation and mechanical oscillation, and the pulsation of actuating system on aircraft to control impact very large, be directly connected to the flight safety of aircraft.

Motor just is the transient process of motor from a kind of running status to another kind of running status process.The transient state transient process that any parameter that links with motor is undergone mutation and all can be caused motor.Although its time that continues is very short, but the operation to motor is vital, particularly in the exigent fighter plane electric actuation system of runnability, process bad meeting and cause larger rotation speed change, torque pulsation and mechanical oscillation, thereby affect the runnability of whole system, even also can cause the whole system fault, cause serious consequence.

Very few to the research of SPPMFTM transient process at present, rarely have document to relate to this transient process research of motor, carry out Fault Isolation and can continue operation after the research of SPPMFTM mainly concentrated on the steady operation of motor and fault thereof, can't guarantee the smooth transition of start motor transient process.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of fault tolerant permanent magnet machine transient state control method based on the dynamic terminal sliding moding structure for the deficiencies in the prior art.

Technical scheme of the present invention is as follows:

Fault tolerant permanent magnet machine transient state control method based on the dynamic terminal sliding moding structure may further comprise the steps:

(1) with given rotating speed x _2d, actual speed x ₂With rotor-position x ₁Be input to sliding mode controller;

(2) sliding mode controller adopts the control law algorithm that has designed that input signal is calculated DTSMC control law u:

Design DTSMC makes the state X=[x of system ₁x ₂] ^TWithin the limited time, realize expectation (given state) state X _d=[x _1dx _2d] ^TTracking;

The tracking error vector of definition control system is E=X-X _d=[e ₁e ₂] ^T, and

Then the terminal switching function is s (X, t)=cE-W (t); C=[c wherein ₁c ₂] be matrix, c ₁, c ₂Be normal number, and c ₂=1;

W (t)=cP (t), P (t) is for satisfying the matrix of a certain hypothesis;

Definition DTSMC sliding-mode surface:

$\mathrm{\σ}(X,t)=\stackrel{\·}{s}(X,t)+\mathrm{\λs}(X,t)$

Order:

$\left\{\begin{array}{c}A=c_2\stackrel{\·}{b}(X,t)+(c_1+\mathrm{\λ}{c}_2)b(X,t)\\ B=c_2[\stackrel{\·}{f}(X,t)-{\stackrel{\·\·}{x}}_{2d}-p_1^{\left(3\right)}]+(c_1+\mathrm{\λ}{c}_2)[f(X,t)-{\stackrel{\·}{x}}_{2d}-{\stackrel{\·\·}{p}}_1]\\ C=\mathrm{\λ}{c}_1({\stackrel{\·}{e}}_1-{\stackrel{\·}{p}}_1)\end{array}\right.$

Then: $\stackrel{\·}{\mathrm{\σ}}=\mathrm{Au}+(c_1+\mathrm{\λ}{c}_2)d(X,t)+c_{2}b(X,t)\stackrel{\·}{u}+B+C$

Then the DTSMC control law is:

$\stackrel{\·}{u}\left(t\right)=-\frac{1}{c_{2}b(X,t)}[\mathrm{Au}+B+C+(c_1+\mathrm{\λ}{c}_2)(F+D+\mathrm{\η})\mathrm{sgn}\left(\mathrm{\σ}\right)]$

Wherein λ, η are the normal number greater than zero, and σ (X, t) will level off to zero at finite time T;

By hypothesis know s (X, 0)=cE (0)-W (0)=0. be the initial condition of system on sliding-mode surface, eliminated the arrival stage of sliding formwork, guarantee global robustness and the stability of closed-loop system;

(3) with rotor-position signal θ (x ₁) be input to mutually stator current of fault tolerant permanent magnet machine six that the vector control module of motor can obtain expecting with sliding formwork control law u; The algorithm of six phase currents when normal during with a phase fault (take A mutually as example) algorithm of vector control be respectively:

(4) the SPPMFTM six phase stator actual currents that detect have just obtained for the pwm signal that drives inverter circuit with the input signal of the difference of six phase stator currents of expectation as the ring controller that stagnates;

(5) pwm signal drives inverter circuit, and inverter circuit forms six cross streams electro ultrafiltrations in SPPMFTM.

Also having in the existing technical scheme for SPPMFTM control adopts sliding mode variable structure control method to the control of fault tolerant permanent magnet machine.But this type of control method is all used the whole process with the motor operation, although can obtain comparatively accurate stable state accuracy, not good enough in rapidity and the stability of transient process control.And this method is the method for transient process design, has effectively solved than existing methods the problem of the stationarity of rapidity and transition in the process that transient state follows the tracks of, and therefore, has improved reliability and the fault-tolerance of fault tolerant permanent magnet machine.This patent is started with for the transient process of SPPMFTM, in transient process, adopt the dynamic terminal sliding formwork to become control (DTSMC), make the SPPMFTM transient process be able to smooth transition, be to utilize advanced control theory method to realize the control of motor in this process, improve the runnability of electric actuation system.Development to the how electric aircraft of Future in China and electric aircraft has the promotion meaning.

In sum, this patent is based on the SPPMFTM transient state control strategy of DTSMC, and it can effectively be controlled for the transient process of SPPMFTM, reaches the purpose of smooth transition.Therefore, this patent proposes the DTSMC strategy that fault tolerant permanent magnet machine is used for transient process.The method has: improve starting, the braking of this motor under normal condition, rotating speed changes suddenly, and load increases and decreases suddenly, the control of the transient processes such as turn-to-turn short circuit, open fault burst; The transient processes such as the starting under the malfunction and braking have stably transition; Suppress rotation speed change and the torque pulsation of transient process, reduce mechanical oscillation; Shorten the time that the motor transient process continues; Improve the runnability of electric actuation system, improve reliability and the fault-tolerance of electric actuation system.

Description of drawings

Fig. 1 is fault tolerant permanent magnet machine transient state control principle drawing;

Fig. 2 is the DTSMC simulation model of SPPMFTM;

Fig. 3 is A phase open fault DTSMC rotating speed (3-1) and amplified curve (3-2) thereof;

Fig. 4 is A phase open fault DTSMC torque (4-1) and amplified curve (4-2) thereof

Embodiment

Below in conjunction with specific embodiment, the present invention is described in detail.

The robustness of the rapidity of traditional control method, antijamming capability and system parameters perturbation is all not ideal enough.And Sliding mode variable structure control has good Nonlinear Tracing Property, makes system possess stronger robustness and more good dynamic and static performance.

Therefore, patent of the present invention proposes the SPPMFTM control method based on DTSMC.The terminal sliding mode control method has been introduced nonlinear function so that can converge to zero in tracking error on the sliding-mode surface in finite time in the design of sliding hyperplane, the rapidity of therefore following the tracks of is good; And insensitive to the ginseng variation, have stronger robustness.The Dynamic sliding mode control method can be eliminated the chattering phenomenon that the discontinuity by switching function in the controller causes, has more stably control characteristic.

The technical solution adopted for the present invention to solve the technical problems:

The state equation of 1SPPMFTM

In the two-phase rotating coordinate system, adopt i _dThe Linearized state equations that=0 vector control mode can obtain SPPMFTM is:

$\left\{\begin{array}{c}\frac{{\mathrm{di}}_q}{\mathrm{dt}}=-\frac{R}{L_q}{i}_q-\frac{L_d}{L_q}{\mathrm{\ω}}_s{i}_d-\frac{\sqrt{3}}{L_q}{\mathrm{\ψ}}_f{\mathrm{\ω}}_s+\frac{U_q}{L_q}\\ \frac{d{\mathrm{\ω}}_s}{\mathrm{dt}}=-\frac{K_f}{J}{\mathrm{\ω}}_s+\frac{\sqrt{3}{n}_p{\mathrm{\ψ}}_f}{J}{i}_q-\frac{T_L}{J}\end{array}\right.$

i _d, i _qL _d, L _qBe respectively d, q axle stator current component and inductive component, ω _sBe motor synchronous angular velocity, ψ _fBe rotor permanent magnet magnetic linkage, K _fBe damping coefficient, P is differential operator, n _pBe number of pole-pairs, T _eBe electromagnetic torque, T _LBe load torque.

Use x ₁Expression motor corner (representative rotor position), x ₂Expression motor speed (actual speed ω _s), then the state of system is X=[x ₁x ₂] ^TRepresent uncertain parameter item with Δ f (X, t); The unknown disturbances of d (t) expression motor; Control inputs u=i _qOrder: $f(X,t)=f({\mathrm{\ω}}_s,t)=-\frac{K_f}{J}{\mathrm{\ω}}_s;$ $b(X,t)=\frac{\sqrt{3}{n}_p{\mathrm{\ψ}}_f}{J}$ Then system can be expressed as:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=x_2\\ {\stackrel{\·}{x}}_2=f(X,t)+b(X,t)u+\mathrm{\Δf}(X,t)+d\left(t\right)\end{array}\right.$

Uncertain parameter and external disturbance satisfy | Δ f (X, t) |≤F (X, t) and | d (t) |≤D (t), wherein F (X, t) and D (t) they are two non-negative functions.

2.DTSMC design

Design DTSMC makes the state X=[x of system ₁x ₂] ^TWithin the limited time, realize expectation (given state) state X _d=[x _1dx _2d] ^TTracking.The tracking error vector of definition control system is E=X-X _d=[e ₁e ₂] ^T, and

Then the terminal switching function is s (X, t)=cE-W (t).C=[c wherein ₁c ₂] be matrix, c ₁, c ₂Be normal number, and c ₂=1.W (t)=cP (t), P (t) is for satisfying the matrix of a certain hypothesis.

Definition DTSMC sliding-mode surface:

$\mathrm{\σ}(X,t)=\stackrel{\·}{s}(X,t)+\mathrm{\λs}(X,t)$

Order:

$\left\{\begin{array}{c}A=c_2\stackrel{\·}{b}(X,t)+(c_1+\mathrm{\λ}{c}_2)b(X,t)\\ B=c_2[\stackrel{\·}{f}(X,t)-{\stackrel{\·\·}{x}}_{2d}-p_1^{\left(3\right)}]+(c_1+\mathrm{\λ}{c}_2)[f(X,t)-{\stackrel{\·}{x}}_{2d}-{\stackrel{\·\·}{p}}_1]\\ C=\mathrm{\λ}{c}_1({\stackrel{\·}{e}}_1-{\stackrel{\·}{p}}_1)\end{array}\right.$

Then: $\stackrel{\·}{\mathrm{\σ}}=\mathrm{Au}+(c_1+\mathrm{\λ}{c}_2)d(X,t)+c_{2}b(X,t)\stackrel{\·}{u}+B+C$

Then the DTSMC control law is:

$\stackrel{\·}{u}\left(t\right)=-\frac{1}{c_{2}b(X,t)}[\mathrm{Au}+B+C+(c_1+\mathrm{\λ}{c}_2)(F+D+\mathrm{\η})\mathrm{sgn}\left(\mathrm{\σ}\right)]$

Wherein λ, η are the normal number greater than zero, and σ (X, t) will level off to zero at finite time T.Know s (X, 0)=cE (0)-W (0)=0 by hypothesis, namely the initial condition of system on sliding-mode surface, has been eliminated the arrival stage of sliding formwork, guarantees global robustness and the stability of closed-loop system.Consider σ (X, t) → 0 o'clock, if λ obtains greatly, can guarantee s (X, t) → 0 in institute is free.If get δ (t)=E (t)-P (t), s (X, t)=c[E (t)-P (t) then]=c δ (t), select suitable P (t)=0,

Tracking error converges to zero in finite time T.

3.DTSMC controller transient state control

With reference to figure 1, based on the SPPMFTM control principle of DTSMC:

(1) with given rotating speed x _2d, actual speed x ₂With rotor-position x ₁Be input to sliding mode controller.

(2) sliding mode controller adopts the control law algorithm that has designed that input signal is calculated DTSMC control law u.

(3) with rotor-position signal θ (x ₁) be input to mutually stator current of fault tolerant permanent magnet machine six that the vector control module of motor can obtain expecting with sliding formwork control law u.Owing to adopt i _d=0 vector control mode, the algorithm of six phase currents when normal during with a phase fault (take A mutually as example) algorithm of vector control be respectively:

(4) the SPPMFTM six phase stator actual currents that detect have just obtained for the pwm signal that drives inverter circuit with the input signal of the difference of six phase stator currents of expectation as the ring controller that stagnates.Hysteresis Current controller basic structure by six independently hysteresis comparator consist of, the width of hysteresis comparator is 2 Δs, the deviation range that whether hysteresis comparator exceeds setting by the difference that detects input during actual motion is come the break-make of control inverter power switch, so that the effective tracing preset electric current of actual current.

(5) PWM drives inverter circuit, and inverter circuit forms six cross streams electro ultrafiltrations in SPPMFTM.

4.SPPMFTM the transient state control tactics

In can predicting the SPPMFTM transient process of time of origin, control cardinal principle based on the transient state of DTSMC and can be divided into two kinds of situations, be respectively motor normal condition and electrical fault state.

(1) normal condition.Normal condition is that SPPMFTM all moves in the normal situation at all parts, and the control of the transient state of SPPMFTM comprises in the case: the starting under the normal condition, braking, rotating speed sudden change and load torque sudden change.Transient state control can occur constantly motor to be controlled in transient state, is reaching constantly finishing control of stable state.

(2) malfunction.SPPMFTM itself has powerful fault freedom, and when one phase even two-phase turn-to-turn short circuit or short trouble occured motor, motor can continue operation under the control of fault-tolerant control strategy.Therefore, one mutually in addition the control of the transient process under two-phase turn-to-turn short circuit or the short trouble be on the basis in fault-tolerant control DTSMC to be adopted in starting and the braking of SPPMFTM.

In the transient process of burst, if be detected in the time that has special detection method that transient process can extremely be lacked after transient state occurs, then also can use the transient state control method of dynamic terminal sliding formwork that transient process is controlled.

Adopt the Matlab simulation software that the validity of the DTSMC of SPPMFTM is carried out simulating, verifying.The motor model of model SPPMFTM and DTSMC model are as shown in Figure 2.Open mutually short trouble take stator winding one and DTSMC is carried out simulating, verifying as example.

Can obtain (Fig. 3 and Fig. 4) by emulation, SPPMFTM reaches specified stable state effect in 0.05 second.Open fault appears in the A phase winding in the time of 0.15 second, and rotating speed descends suddenly, and torque pulsation occurs and obviously increases, and can not have a strong impact on the motor runnability even have an accident if do not take measures.Therefore, adopted DTSMC at 0.17 second, rotating speed and torque all are transitioned into normal condition fast, stably under its control.

Verified thus the validity of DTSMC to the one-phase open circuit Fault Control.In like manner SPPMFTM starting under all right simulating, verifying normal condition, braking, rotating speed changes suddenly, and load increases and decreases suddenly; The situations such as turn-to-turn short circuit, open circuit and end short trouble occur in one phase turn-to-turn short circuit, end short trouble and two-phase simultaneously.DTSMC can make this transient process reach fast, stably stable state equally in these burst transient processes.

The SPPMFTM transient process has numerous uncertainties, such as parameter error, modeling is not dynamic.Measure noise and uncertain external interference etc.And Sliding mode variable structure control itself has quick response, parameter is changed and the advantage such as disturbance is insensitive, need not on-line identification, physics realization is simple.DTSMC has the error of making and converges at the appointed time zero, weakens to buffet to make system's operation more stablize advantage.Therefore, because the dynamic terminal sliding moding structure makes it be well suited for the transient state control of SPPMFTM.It can make SPPMFTM more steadily be transitioned into fast another steady-state process from a steady-state process.And reduce the pulsation of rotating speed, torque and vibration in this process, improved reliability and the fault-tolerance of SPPMFTM.

Should be understood that, for those of ordinary skills, can be improved according to the above description or conversion, and all these improvement and conversion all should belong to the protection range of claims of the present invention.

Claims (1)

1. the fault tolerant permanent magnet machine transient state control method based on the dynamic terminal sliding moding structure is characterized in that, may further comprise the steps:

(1) with given rotating speed x _2d, actual speed x ₂With rotor-position x ₁Be input to sliding mode controller;

(2) sliding mode controller calculates DTSMC control law u to input signal:

Design DTSMC makes the state X=[x of system ₁x ₂] ^TWithin the limited time, realize expectation (given state) state X _d=[x _1dx _2d] ^TTracking;

The tracking error vector of definition control system is E=X-X _d=[e ₁e ₂] ^T, and

Then the terminal switching function is s (X, t)=cE-W (t); C=[c wherein ₁c ₂] be matrix, c ₁, c ₂Be normal number, and c ₂=1;

W (t)=cP (t), P (t) is for satisfying the matrix of a certain hypothesis;

Definition DTSMC sliding-mode surface:

Order:

Then:

Then the DTSMC control law is:

Wherein λ, η are the normal number greater than zero, and σ (X, t) will level off to zero at finite time T;

Know s (X, 0)=cE (0)-W (0)=0 by hypothesis, namely the initial condition of system on sliding-mode surface, has been eliminated the arrival stage of sliding formwork, guarantees global robustness and the stability of closed-loop system;

(3) with rotor-position signal x ₁Be input to mutually stator current of fault tolerant permanent magnet machine six that the vector control module of motor can obtain expecting with the DTSMC control law; The algorithm of six phase currents when normal during with a phase fault (take A mutually as example) algorithm of vector control be respectively:

(4) the SPPMFTM six phase stator actual currents that detect have just obtained for the pwm signal that drives inverter circuit with the input signal of the difference of six phase stator currents of expectation as the ring controller that stagnates;

(5) pwm signal drives inverter circuit, and inverter circuit forms six cross streams electro ultrafiltrations in SPPMFTM.

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