CN103166562B - Fault tolerant permanent magnet machine phase correction system and method - Google Patents
Fault tolerant permanent magnet machine phase correction system and method Download PDFInfo
- Publication number
- CN103166562B CN103166562B CN201310066556.6A CN201310066556A CN103166562B CN 103166562 B CN103166562 B CN 103166562B CN 201310066556 A CN201310066556 A CN 201310066556A CN 103166562 B CN103166562 B CN 103166562B
- Authority
- CN
- China
- Prior art keywords
- phase
- permanent magnet
- fault tolerant
- magnet machine
- tolerant permanent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a fault tolerant permanent magnet machine phase correction system and a method in the electrical drive field. The system comprises H-bridge power converters which are independent from one another, the upper bridge arm of each H-bridge power converter is connected with the positive end of a direct-current power supply, the lower bridge arm of each H-bridge power converter is connected with the negative end of the direct-current power supply, and a leading-out wire of the joint of each upper bridge arm and each lower bridge arm is connected with a fault tolerant permanent magnet machine armature coil through a choke inductor. A microprocessor detects power supply bus voltage through a voltage transducer, detects power bus current through a current transducer, detects a rotor position through a rotor position sensor, and calculates rotor rotating speed. Phase difference phi of various phases of sine wave pulse width modulation voltage fundamental waves and armature current is calculated according to formulas, driving signals are distributed to various power switch pipes according to the phase difference phi and the rotor position to enable the various phases of the sine wave pulse width modulation voltage fundamental waves to exceed a phi electric angle of the rotor position, and therefore the fact that the armature current and induced electromotive force are in the same phase is guaranteed. Accurate detection is not needed to be conducted to various current phases, measurement is simple, and accuracy is high.
Description
Technical field
The invention belongs to the fault tolerant permanent magnet machine in Electric Drive field, particularly relate to phase correction system and the method thereof of fault tolerant permanent magnet machine, be specially adapted to naval vessel driving, Aero-Space, the contour firm power transmission field of military equipment.
Background technology
Fault tolerant permanent magnet machine not only has the advantage that general magneto efficiency is high, power density is large, and its body has the ability of physical isolation, heat isolation, Magnetic isolation, electrical isolation and suppression short circuit current, if coordinate corresponding faults-tolerant control strategy again, it just both can realize high-performance and export, and can realize fault-tolerant operation again.Therefore, fault tolerant permanent magnet machine, since the nineties in last century occurs, has just obtained using more and more widely at highly reliable transmission fields such as naval vessel driving, Aero-Space, military equipments.
Fault tolerant permanent magnet machine drived control adopts Hysteresis Current technology to realize the method for tracking armature current instruction current usually.The method fast response time, control algolithm are simple, but higher to hardware requirement, and current harmonics is large, and torque pulsation is large, and steady-state behaviour is poor.Adopt SPWM(Sine Wave Pulse Width Modulation) although voltage-controlled method drives fault tolerant permanent magnet machine response speed to be slightly poorer than the former, lower to hardware requirement, current harmonics is little, and torque pulsation is little, and steady-state behaviour is good, has larger engineer applied potentiality.There is armature resistance and synchronous reactance in fault tolerant permanent magnet machine, and synchronous reactance changes with the rotation speed change of motor, when motor load runs, each phase is all equivalent to inductive load, inevitably there is phase difference between armature supply and induced electromotive force, and this phase difference can change with the change of load and rotating speed, therefore, need do accurately to detect to each phase current phase place, guarantee armature supply and induced electromotive force same-phase by the phase place changing armature voltage.But make accurate detection difficult to each phase current phase place, main cause is as follows: 1. current sensor price is higher, as done accurately to detect to each phase current phase place, just needs to be equipped with a current sensor mutually for every, substantially increase hardware cost; 2. need detect armature current value in real time according to rotor seat and coordinate certain algorithm could extract the phase place of electric current, poor anti jamming capability, requirement of real-time is high, and algorithm is more complicated; 3., when motor High Rotation Speed, armature supply frequency is also very high, anti-interference and requirement of real-time higher, this just proposes requirements at the higher level to hardware and software.Therefore, need a kind of new technical scheme to solve the problem.
Summary of the invention
For the deficiency that prior art exists, the present invention proposes a kind of fault tolerant permanent magnet machine phase correction and method thereof, and adopt number of sensors few, accuracy of detection is high, and working stability is reliable.
For achieving the above object, the technical scheme that a kind of fault tolerant permanent magnet machine phase correction of the present invention adopts is: comprise each phase of A, B, C, D independently H bridge power inverter, every phase H bridge power inverter is all by four power switch metal-oxide-semiconductor group T
1, T
2,t
3,t
4with four diode D
1, D
2,d
3,d
4form upper and lower two brachium pontis, upper brachium pontis connects DC power supply anode, and lower brachium pontis connects DC power supply negative terminal, and each upper and lower bridge arm junction is drawn outlet and is connected with fault tolerant permanent magnet machine armature winding through a choke induction; Voltage transmitter input is in parallel with DC power supply bus, and output connects microprocessor; Current transducer input serial connection DC power supply bus, output is connected to microprocessor; Microprocessor connects the integrated rotor-position sensor of fault tolerant permanent magnet machine.
The method for correcting phase of fault tolerant permanent magnet machine phase correction of the present invention adopts following steps:
(1) microprocessor detects power rail voltage by voltage transmitter, detect power source bus electric current by current transducer, calculates rotor speed by rotor-position sensor detection rotor position;
(2) microprocessor is according to formula
calculate the phase difference of each phase Sine Wave Pulse Width Modulation voltage fundamental and armature supply
,
for rotor angular rate,
for choke induction,
for fault tolerant permanent magnet machine armature synchronous inductance,
for power rail voltage,
for power source bus electric current, N is the number of phases of fault tolerant permanent magnet machine work,
for the fundamental voltage amplitude of each phase Sine Wave Pulse Width Modulation wave voltage;
(3) microprocessor is according to this phase difference
distribute drive singal to each power switch pipe of each phase H bridge power inverter with rotor-position, make each phase Sine Wave Pulse Width Modulation voltage fundamental Advancing Rotor Position
electrical degree.
Compared with prior art, the invention has the beneficial effects as follows:
When 1, adopting SPWM voltage-controlled method driving fault tolerant permanent magnet machine, can make each mutually all to run under armature supply and the synchronous situation of induced electromotive force, armature supply can be made under identical exerting oneself to reduce, thus reduce the capacity of equipment, improve the operational efficiency of equipment.
2, only need to detect DC bus-bar voltage, electric current coordinate position and the rotating speed of rotor, distribute drive singal just can to each power switch pipe of H bridge power inverter, and not need to do accurately to detect to each phase current phase place, measure simply, and precision be high, cost is low.
Accompanying drawing explanation
Fig. 1 is the block diagram of a kind of fault tolerant permanent magnet machine phase correction of the present invention.
In Fig. 1,
u: DC power supply;
c: storage capacitor;
t 1 , T 2, t 3, t 4 : power switch metal-oxide-semiconductor;
d 1 , D 2, d 3,
d 4 : fly-wheel diode;
l a , L b , L c , L d : inductance;
pMFTM: fault tolerant permanent magnet machine;
pS: rotor-position sensor.
Fig. 2 is the equivalent circuit diagram of fault tolerant permanent magnet machine described in Fig. 1.
In Fig. 2,
: phase voltage;
for the unloaded phase induced electromotive force of fault tolerant permanent magnet machine;
: armature supply;
: the all-in resistance in loop;
: series reactance;
: armature synchronous reactance.
Fig. 3 carries out the vectogram before phasing for fault tolerant permanent magnet machine described in Fig. 1.
In Fig. 3,
:
?
the component in direction;
:
?
the component of vertical direction;
: series inductance;
: armature synchronous inductance;
:
with
between phase difference;
:
with
between phase difference.
Fig. 4 carries out the equivalent circuit diagram before phasing for fault tolerant permanent magnet machine described in Fig. 1.
In Fig. 4,
: equivalent resistance;
: equivalent inductance.
Fig. 5 carries out the vectogram after phasing for fault tolerant permanent magnet machine described in Fig. 1.
Fig. 6 carries out the equivalent circuit diagram after phasing for fault tolerant permanent magnet machine described in Fig. 1.
Embodiment
The present invention is illustrated further below in conjunction with the drawings and specific embodiments, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.
As shown in Figure 1, a kind of fault tolerant permanent magnet machine phase correction disclosed by the invention comprises: DC power supply U, storage capacitor C, A, B, C, D each independently H bridge power inverter, voltage transmitter, current transducer, microprocessor and be integrated with the fault tolerant permanent magnet machine (PMFTM) of rotor-position sensor mutually.Wherein, storage capacitor C is in parallel with DC power supply bus.Every phase H bridge power inverter is all by four power switch metal-oxide-semiconductor group T
1, T
2,t
3,t
4with four diode D
1, D
2,d
3,d
4form upper and lower two brachium pontis, upper brachium pontis connects DC power supply anode, lower brachium pontis connects DC power supply negative terminal, draws outlet be connected with fault tolerant permanent magnet machine armature winding through choke induction, by each phase H bridge power inverter and connected choke induction L from each upper and lower bridge arm junction
a, L
b, L
c, L
dform the drive circuit of corresponding phase, i.e. A, B, C, D phase drive circuit.Voltage transmitter input is in parallel with DC power supply bus, and output is connected to microprocessor.Current transducer input string is in DC power supply bus, and output is connected to microprocessor.Rotor-position sensor (PS) output of fault tolerant permanent magnet machine is connected to microprocessor.The SPWM(Sine Wave Pulse Width Modulation that microprocessor produces) drive singal is through each power switch metal-oxide-semiconductor group T
1, T
2,t
3,t
4drive circuit drive each power switch metal-oxide-semiconductor.
Microprocessor detects power rail voltage by voltage transmitter, detects power source bus electric current by current transducer, calculates rotor speed by the rotor-position sensor detection rotor position of fault tolerant permanent magnet machine.Microprocessor, according to the rotor-position detected, rotor speed, busbar voltage and bus current, calculates the phase difference of each phase SPWM voltage fundamental and armature supply in conjunction with phasing control strategy
, and according to this phase difference
distribute drive singal to each power switch pipe of each phase H bridge power inverter with rotor-position, make each phase SPWM voltage fundamental Advancing Rotor Position
electrical degree, namely leading phase angle is
, thus guarantee armature supply and induced electromotive force same-phase.Phase angle
computing formula is as follows,
In formula,
for the phase difference of each phase SPWM voltage fundamental and armature supply,
for rotor angular rate,
for the choke induction of series connection, i.e. choke induction L
a, L
b, L
cor L
d;
for armature synchronous inductance,
for power rail voltage,
for power source bus electric current, N is the number of phases of fault tolerant permanent magnet machine work,
for the fundamental voltage amplitude of each phase SPWM wave voltage.
The principle of fault tolerant permanent magnet machine method for correcting phase disclosed by the invention is described with 4 phase permanent magnet fault tolerant motor below:
When the symmetrical operation of A, B, C, D tetra-, each phase ruuning situation is identical, and any Xiang Douke represents the ruuning situation of motor, is object factory fault tolerant permanent magnet machine method for correcting phase below with A phase.
According to the knowledge of Electrical Motor, row write voltage balance equation
（1）
In formula,
for phase voltage,
for the unloaded phase induced electromotive force of fault tolerant permanent magnet machine,
for empty unit,
for armature supply,
for the all-in resistance (comprising the on state resistance of metal-oxide-semiconductor, series inductance resistance, armature resistance) in loop,
for series reactance,
for armature synchronous reactance, its equivalent circuit diagram is see Fig. 2, and phasor diagram is see Fig. 3.
See Fig. 3, will
press
direction and delayed
90 ° of electrical degrees resolve into
with
.See Fig. 4, according to the circuit principle of substitution,
effect useable resistance
and inductance
parallel equivalent,
consume active power
,
consume reactive power
.Active power
produce the torque that direction is constant, output mechanical energy from axle; Reactive power
produce the torque of direction with rotor-position alternation, its average torque is zero.In order to the power consumption increasing PMFTM Driving Torque, improve PMFTM operational efficiency, reduce drive circuit, fault tolerant permanent magnet machine should be allowed to operate in
with
synchronous state, namely ensures
or
, phasor diagram see Fig. 5, equivalent circuit diagram see Fig. 6, now
effect only by resistance
equivalence, inductance
branch road is equivalent to open circuit.
Regulate
with
between angle
can change
component, for making
or
, known see phasor diagram 5
（2）
In formula,
for
with
between phase difference,
for
with
between phase difference;
During owing to being in symmetrical operation state when fault tolerant permanent magnet machine, fault tolerant permanent magnet machine completes reactive power exchange between each phase, and each phase reactive power sum is zero, and the power that power supply exports equals each phase active power sum, and power supply exports without reactive power, so have:
（3）
In formula, N is the number of phases of fault tolerant permanent magnet machine work, gets 2 or 4.Bring formula (3) into formula (2), can obtain
（4）
（5）
If
for the fundamental voltage amplitude of phase fault tolerant permanent magnet machine wave voltage, then
, it being brought into formula (5) can obtain
（6）
From formula (6), only need to detect DC bus-bar voltage, electric current coordinate position and the rotating speed of rotor, just can distribute drive singal according to voltage instruction to each power switch pipe of H bridge power inverter, and guarantee armature supply and induced electromotive force same-phase, thus realize phasing.
Claims (1)
1. a fault tolerant permanent magnet machine method for correcting phase, adopts fault tolerant permanent magnet machine phase correction, and this phase correction system comprises each phase of A, B, C, D independently H bridge power inverter, and every phase H bridge power inverter is all by four power switch metal-oxide-semiconductor group T
1, T
2,t
3,t
4with four diode D
1, D
2,d
3,d
4form upper and lower two brachium pontis, upper brachium pontis connects DC power supply anode, and lower brachium pontis connects DC power supply negative terminal, and each upper and lower bridge arm junction is drawn outlet and is connected with fault tolerant permanent magnet machine armature winding through a choke induction; Voltage transmitter input is in parallel with DC power supply bus, and output connects microprocessor; Current transducer input serial connection DC power supply bus, output is connected to microprocessor; Microprocessor connects the integrated rotor-position sensor of fault tolerant permanent magnet machine, it is characterized in that adopting following steps:
(1) microprocessor detects power rail voltage by voltage transmitter, detect power source bus electric current by current transducer, calculates rotor speed by rotor-position sensor detection rotor position;
(2) microprocessor is according to formula
calculate the phase difference of each phase Sine Wave Pulse Width Modulation voltage fundamental and armature supply
,
for rotor angular rate,
for choke induction,
for fault tolerant permanent magnet machine armature synchronous inductance,
for power rail voltage,
for power source bus electric current, N is the number of phases of fault tolerant permanent magnet machine work,
for the fundamental voltage amplitude of each phase Sine Wave Pulse Width Modulation wave voltage;
(3) microprocessor is according to this phase difference
distribute drive singal to each power switch pipe of each phase H bridge power inverter with rotor-position, make each phase Sine Wave Pulse Width Modulation voltage fundamental Advancing Rotor Position
electrical degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310066556.6A CN103166562B (en) | 2013-03-04 | 2013-03-04 | Fault tolerant permanent magnet machine phase correction system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310066556.6A CN103166562B (en) | 2013-03-04 | 2013-03-04 | Fault tolerant permanent magnet machine phase correction system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103166562A CN103166562A (en) | 2013-06-19 |
| CN103166562B true CN103166562B (en) | 2015-03-04 |
Family
ID=48589345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310066556.6A Active CN103166562B (en) | 2013-03-04 | 2013-03-04 | Fault tolerant permanent magnet machine phase correction system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103166562B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6410695B2 (en) * | 2015-09-11 | 2018-10-24 | 日立オートモティブシステムズ株式会社 | Inverter drive device, electric brake device, and electric power steering device |
| CN106712641A (en) * | 2017-03-06 | 2017-05-24 | 上海理工大学 | Motor drive fault-tolerant control device and electric device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101335499A (en) * | 2008-07-24 | 2008-12-31 | 江苏大学 | Controlling method of 4 phase permanent magnet fault tolerant motor |
| CN102347725A (en) * | 2011-06-16 | 2012-02-08 | 南京航空航天大学 | Controllable single-phase bridge rectifying generating system with doubly salient electromagnetic motor |
| CN203151430U (en) * | 2013-03-04 | 2013-08-21 | 江苏大学 | Phase correction system of fault tolerant permanent magnet motor (FTPMM) |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4082444B1 (en) * | 2006-10-19 | 2008-04-30 | 三菱電機株式会社 | Vector controller for permanent magnet synchronous motor |
-
2013
- 2013-03-04 CN CN201310066556.6A patent/CN103166562B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101335499A (en) * | 2008-07-24 | 2008-12-31 | 江苏大学 | Controlling method of 4 phase permanent magnet fault tolerant motor |
| CN102347725A (en) * | 2011-06-16 | 2012-02-08 | 南京航空航天大学 | Controllable single-phase bridge rectifying generating system with doubly salient electromagnetic motor |
| CN203151430U (en) * | 2013-03-04 | 2013-08-21 | 江苏大学 | Phase correction system of fault tolerant permanent magnet motor (FTPMM) |
Non-Patent Citations (2)
| Title |
|---|
| Design and analysis of a new fractional-slot-windings axial-flux permanent-magnet machine;Jinghua Ji,et al.;《Electrical Machines and Systems(ICEMS),2011 international Conference on》;20110831;全文 * |
| 永磁容错电机最优电流直接控制策略;郝振洋等;《中国电机工程学报》;20110225;第31卷(第6期);第46页摘要，第48页左栏最后1段至第50页，图3，图4 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103166562A (en) | 2013-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102624297B (en) | Fault tolerance permanent magnet power generation system and control method thereof | |
| CN103731079B (en) | A kind of winding permanent magnet motor system of opening of common bus structure and the control method of suppression zero-sequence current thereof | |
| CN102710188B (en) | Direct torque control method and device of brushless continuous current dynamo | |
| JP6218961B2 (en) | Multi-winding motor drive controller | |
| CN101204003B (en) | Power conversion control device, power conversion control method | |
| CN103199790B (en) | Three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method | |
| GB2573913A (en) | One-phase open-circuit fault-tolerant direct thrust control method for five-phase permanent magnet linear motor | |
| CN103956955B (en) | A kind of monolateral controlled common bus opens the suppressing method of winding permanent magnet motor system and zero-sequence current thereof | |
| CN101771380B (en) | Space vector modulation method for inverter directly controlled by torque | |
| CN106787988A (en) | A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor | |
| CN103036496B (en) | Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof | |
| CN102868344B (en) | Method for controlling direct current brushless motor and device | |
| CN106452225A (en) | Real-time correction system and method for commutation phase of sensorless brushless DC motor | |
| JP5333256B2 (en) | AC rotating machine control device | |
| CN107947682B (en) | Common mode noise suppression method based on three-phase alternating current motor driving system | |
| Zhang et al. | High-precision sensorless optimal commutation deviation correction strategy of BLDC motor with asymmetric back EMF | |
| CN104320034A (en) | Permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method | |
| CN105896856A (en) | Indirect matrix transformation type multi-phase multi-level permanent magnet motor system and control method thereof | |
| CN103997262B (en) | Based on the electric bicycle sine wave control method without sensor wheel hub motor | |
| CN104283482A (en) | Low-speed and zero-speed rotor position observing system for permanent magnet brushless direct current motor | |
| CN103166562B (en) | Fault tolerant permanent magnet machine phase correction system and method | |
| CN206004563U (en) | A kind of brushless DC motor without position sensor commutation phase System with Real-Time | |
| Al Mashhadany | High-performance multilevel inverter drive of brushless DC motor | |
| CN203151430U (en) | Phase correction system of fault tolerant permanent magnet motor (FTPMM) | |
| CN104038114A (en) | Sine-wave voltage driving system of single-winding brushless direct current motor and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210115 Address after: No. 159, Chengjiang Middle Road, Jiangyin City, Wuxi City, Jiangsu Province Patentee after: Jiangyin Intellectual Property Operation Co., Ltd Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |
|
| TR01 | Transfer of patent right |