CN103199790A - Control system and control method for three-phase four-bridge-arm permanent magnet synchronous motor - Google Patents

Control system and control method for three-phase four-bridge-arm permanent magnet synchronous motor Download PDF

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Publication number
CN103199790A
CN103199790A CN2013101601970A CN201310160197A CN103199790A CN 103199790 A CN103199790 A CN 103199790A CN 2013101601970 A CN2013101601970 A CN 2013101601970A CN 201310160197 A CN201310160197 A CN 201310160197A CN 103199790 A CN103199790 A CN 103199790A
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phase
current
permanent magnet
synchronous motor
controller
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CN103199790B (en
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高晗璎
刘端增
李伟力
王贵成
宋宏明
徐冰
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Abstract

The invention relates to a control system and a control method for a three-phase four-bridge-arm permanent magnet synchronous motor. When a conventional three-phase three-bridge-arm main circuit topological structure is short of phase or has a single-phase broken fault, the safe and reliable running of a system is difficult to maintain, and the occasions with strict requirements on redundancy and reliability of a control system in aviation, navigation, explosion protection and the like are limited. The control system structurally comprises a main circuit, wherein the 220V single-phase alternating-current input (1) of the main circuit is connected with a single-phase rectification circuit (2); the single-phase rectification circuit is connected with a four-bridge-arm inverter (3); the four-bridge-arm inverter is connected with the permanent magnet synchronous motor (8) through a bridge arm A (4), a bridge arm B (5), a bridge arm C (6) and a bridge arm D (7); the bridge arm A, the bridge arm B and the bridge arm C are connected with a current sampling circuit (10); and the permanent magnet synchronous motor is connected with a photoelectric coded disc (11). The control system and the control method are used for controlling the three-phase four-bridge-arm permanent magnet synchronous motor.

Description

Three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method
Technical field:
The present invention relates to a kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method.
Background technology:
Traditional three-phase three brachium pontis main circuit topological structures adopt based on SVPWM (SVPWM) technology can also reduce the harmonic content of winding current, the utilance of raising DC bus-bar voltage, thereby make motor torque ripple reduce, widen the speed adjustable range of motor.Yet, this traditional topological structure, when phase shortage or single-phase open circuit fault, will be difficult to maintain the system safety reliability service, therefore, limit it in Aeronautics and Astronautics, navigation, the occasion that control system redundancy, reliability is had to strict demand such as explosion-proof, greatly limit its application.
Summary of the invention:
The purpose of this invention is to provide a kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor and control method.
Above-mentioned purpose realizes by following technical scheme:
A kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor, its composition comprises: main circuit, the 220V single phase alternating current (A.C.) input of described main circuit is connected with single phase rectifier circuit, described single phase rectifier circuit is connected with four-leg inverter, described four-leg inverter is connected with permanent magnet synchronous motor by brachium pontis A, brachium pontis B, brachium pontis C, brachium pontis D, described brachium pontis A, brachium pontis B, brachium pontis C are connected with current sampling circuit, described permanent magnet synchronous motor and photoelectric code disk.
Described three-phase four-arm Control System of Permanent Magnet Synchronous Motor, described photoelectric code disk is connected with the QEP unit of control circuit, described QEP unit is connected with PI controller D, described current sampling circuit is connected with the A/D module, described A/D module, described QEP unit by coordinate transform respectively with PI controller A, PI controller B, PI controller C connects, described PI controller D is connected with speed control, described speed control is connected with described PI controller A, described PI controller A, PI controller B, PI controller C is connected with current controller jointly, described current controller and 3D-SVPWM control connection, described 3D-SVPWM controls and is connected with photoelectric isolating driving circuit, described photoelectric isolating driving circuit is connected with described four-leg inverter.
Described three-phase four-arm Control System of Permanent Magnet Synchronous Motor, digital display tube is connected with the SPI unit, and host computer is connected with the SCI unit, and keyboard is connected with the I/O unit B, and fault detection unit is connected with I/O unit A.
A kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor control method:
(1) method of work of permagnetic synchronous motor:
In formula
Figure 197759DEST_PATH_IMAGE001
for threephase stator winding galvanization resultant vector,
Figure 387432DEST_PATH_IMAGE002
for permanent magnet flux linkage,
Figure 287255DEST_PATH_IMAGE003
for
Figure 853365DEST_PATH_IMAGE001
with the angle of axle,
Figure 843504DEST_PATH_IMAGE005
for axle with
Figure 69266DEST_PATH_IMAGE006
the angle of phase axle.
aBCcoordinate is tied to
Figure 54802DEST_PATH_IMAGE007
the conversion of coordinate system (Clarke conversion) is
Figure 851857DEST_PATH_IMAGE009
(1)
Corresponding inverse transformation (Clarke -1conversion) be
Figure 929534DEST_PATH_IMAGE011
(2)
Figure 103026DEST_PATH_IMAGE007
coordinate is tied to
Figure 113708DEST_PATH_IMAGE012
the conversion of coordinate system (Park conversion) is
Figure 940718DEST_PATH_IMAGE013
(3)
Corresponding inverse transformation (Park -1conversion) be
Figure 36850DEST_PATH_IMAGE014
(4)
In formula, q rfor electrical degree.
System adopts salient mounting formula permanent magnet synchronous motor, can think that the ac-dc axis equivalent inductance equates, l q = l d .The voltage equation of PMSM is like this
Figure 686137DEST_PATH_IMAGE015
(5)
In formula, i x , u x , e x be respectively phase current, relatively the voltage, phase induced electromotive force of DC side mid point ( xcan be a, B, Cin one); u n for the voltage of motor neutral point to the 4th brachium pontis mid point; rfor stator resistance, lwith mfor stator winding self-induction and mutual inductance.Current in middle wire i n for
Figure 816904DEST_PATH_IMAGE016
(6)
Utilize coordinate transform, the voltage equation of PMSM (5) is transformed to dq in 0 coordinate system, have
Figure 549237DEST_PATH_IMAGE018
(7)
Figure 132665DEST_PATH_IMAGE020
(8)
Figure 116802DEST_PATH_IMAGE021
(9)
Electromagnetic torque is
Figure 102075DEST_PATH_IMAGE022
(10)
The equation of motion is
Figure 739730DEST_PATH_IMAGE023
(11)
Formula (7) arrives in (11), l dq for d, qthe equivalent inductance of axle; ω rfor electric angle speed; y pMfor the rotor permanent magnet magnetic linkage; l 0it is zero axle inductance; jfor moment of inertia; p nfor number of pole-pairs.
The method of work of (2) four brachium pontis inversion control:
Owing to having selected i d =0 vector control scheme, the specific implementation process is as follows: at first, detect motor rotor position and stator winding electric current; Utilize rotor-position calculating motor rotating speed, through the reference value of speed control output current torque component i q *, given current excitation component of while i d *=0; And the stator winding electric current is carried out to coordinate transform obtain feedback component i q with i d , through current controller output reference voltage space vector d, qthe axle component u d *with u q *; Finally by the SVPWM module, produce 6 road PWM output signals, through three-phase three-leg inverter power amplification rear drive permagnetic synchronous motor, finally realize rotating speed, current double closed-loop control.
Three-phase four-leg inverter is to have increased a brachium pontis be connected with the motor neutral point on the basis of three-phase three brachium pontis, thus the many currents in middle wire that can control , and can obtain zero-axis current by formula (1), (6)
Figure 598282DEST_PATH_IMAGE025
with
Figure 438062DEST_PATH_IMAGE024
between pass be
Figure 745153DEST_PATH_IMAGE026
(12)
So, as long as control zero-axis current
Figure 37594DEST_PATH_IMAGE025
just can the center line electric current indirectly control.
From formula (2), (4)
Figure 57820DEST_PATH_IMAGE028
(13)
Under normal operation, current in middle wire
Figure 709381DEST_PATH_IMAGE024
be zero, so only need to control zero-axis current
Figure 613752DEST_PATH_IMAGE025
be zero getting final product,
Figure 8961DEST_PATH_IMAGE029
(14)
Figure 761016DEST_PATH_IMAGE030
(15)
Figure 849058DEST_PATH_IMAGE031
(16)
When certain mutually open-phase fault occurs, suppose here aoccur mutually open circuit fault ( b, Cwhile mutually open circuit fault occurring, situation is identical with it), now have
Figure 709567DEST_PATH_IMAGE032
=0.Because the electromagnetic torque of permagnetic synchronous motor depends on i d , i q size, now, identical drive characteristic is arranged when guaranteeing with normal operation, must produce front consistent with fault i d , i q , need here
Figure 642888DEST_PATH_IMAGE025
compensate, therefore no longer equal 0.
Figure 46187DEST_PATH_IMAGE032
=0 substitution formula (13), can obtain
Figure 305130DEST_PATH_IMAGE033
(17)
(18)
Figure 124367DEST_PATH_IMAGE035
(19)
Through type (7) and (17) obtain
Figure 116594DEST_PATH_IMAGE036
(20)
According to formula (17) or (20), can adopt the purpose that configuration in two ways reaches compensated torque, adopt zero-axis current compensation close-loop control mode, meet the requirement of formula (17); Or employing formula (20), adopt zero shaft voltage open loop control mode, realize zero shaft voltage u 0output.So just can reach the purpose of failure tolerant, and without revising any hardware circuit.
This patent adopts zero-axis current compensation close-loop control mode, due to what adopt, is i d =0 controls, and can obtain by simplified style (17)
Figure 280859DEST_PATH_IMAGE037
(21)
So lower of malfunction need to be carried out the compensation of zero-axis current according to formula (21).
Above-mentioned three-phase four-arm Control System of Permanent Magnet Synchronous Motor method of work, given rotating speed and feedback rotating speed Negotiation speed controller obtain the set-point of current torque component i q *, the phase current of sampling i a , i b , i c through Clarke, Park conversion, obtain in the dq0 rotating coordinate system i d , i q , i 0, with given value of current i q *, i d *, i 0 *compare, wherein i d * , i 0 *set-point be all 0, and in the situation that single-phase fault i 0 *need to add offset
Figure 617425DEST_PATH_IMAGE038
i q sin q r.Then through the PI controller, obtain u d *, u q *, u 0 *, then pass through Park -1conversion, Clarke -1the modulation of conversion, 3D-SVPWM, power amplification drive 8 power switch pipes of four-leg inverter, finally form three-phase four-arm permanent magnet synchronous motor speed, current double closed-loop control system.
Beneficial effect:
1. the three-phase four-arm Control System of Permanent Magnet Synchronous Motor that the present invention proposes, increased a brachium pontis be connected with the motor neutral point on the basis of traditional three-phase three brachium pontis, adopt three-dimensional based on SVPWM (3D-SVPWM) technology, make it drive permanent magnet synchronous motor that good operation characteristic is arranged.Simultaneously, this topological structure is connected the 4th brachium pontis with the motor neutral point, for current in middle wire provides path, balance output and inhibition are disturbed better, and in the situation that phase shortage or single-phase fault, by the suitable adjustment to control strategy to maintain the operation characteristic of motor when normal.
The present invention has overvoltage, under-voltage, overheat protector function, has guaranteed system safety, reliability service.
The present invention's application id=0 control model, i.e. torque, maximum control (MTPA) of current ratio, the method is obtained required motor output torque with minimum stator current, thereby has improved system effectiveness.
The accompanying drawing explanation:
Accompanying drawing 1 is entire system block diagram of the present invention.In figure, 1 is the input of 220V single phase alternating current (A.C.), 2 is single phase rectifier circuit, 3 is four-leg inverter, 4 is brachium pontis A, 5 is brachium pontis B, 6 is brachium pontis C, 7 is brachium pontis D, 8 is permanent magnet synchronous motor, 10 is current sampling circuit, 11 is photoelectric code disk, 12 is the QEP unit, 20 is PI controller D, 14 is the A/D module, 15 is coordinate transform, 17 is PI controller A, 18 is PI controller B, 19 is PI controller C, 21 is speed control, 16 is current controller, 13 is 3D-SVPWM control, 9 is photoelectric isolating driving circuit, 22 is digital display tube, 23 is the SPI unit, 24 is host computer, 25 is the SCI unit, 26 is keyboard, 27 is the I/O unit B, 28 is fault detection unit, 29 is I/O unit A.
Fig. 2 is system control structure figure of the present invention.
Fig. 3 is position signalling differential received circuit theory diagrams of the present invention.
Fig. 4 is current sampling circuit schematic diagram of the present invention.
Fig. 5 is main circuit schematic diagram of the present invention.
Fig. 6 is isolated drive circuit schematic diagram of the present invention.
Fig. 7 is reference frame reference diagram of the present invention.
Fig. 8 is permanent magnet synchronous motor of the present invention i d =0 principle of vector control figure.
Fig. 9 is three-phase four-leg inverter structure diagram of the present invention.
Figure 10 is the polar plot of 3D-SVPWM under ABC coordinate system of the present invention.
Figure 11 is pointer variable N of the present invention and tetrahedron corresponding relation figure.
Switch sequence schematic diagram when Figure 12 is N=1 of the present invention.
Figure 13 is system main program flow chart of the present invention.
Figure 14 is rotor initial alignment program flow diagram of the present invention.
Figure 15 is rotor-position trace routine flow chart of the present invention.
Figure 16 is timer interruption subroutine flow chart of the present invention.
Figure 17 is 3D-SVPWM program flow diagram of the present invention.
The response curve of rotating speed and torque when Figure 18 is given rotating speed of the present invention, load variations.
Three-phase winding current response curve when Figure 19 is given rotating speed of the present invention, load variations.
Figure 20 is rotating speed of the present invention, torque response curve (single-phase fault occurs 0.05s).
Figure 21 is threephase stator electric current of the present invention and current in middle wire response curve (single-phase fault occurs during 0.05s).
Figure 22 is dq0 shaft current response curve of the present invention (single-phase fault occurs during 0.05s).
Embodiment:
Embodiment 1:
A kind of three-phase four-arm Control System of Permanent Magnet Synchronous Motor with fault tolerance, its composition comprises: main circuit, the 220V single phase alternating current (A.C.) input 1 of described main circuit is connected with single phase rectifier circuit 2, described single phase rectifier circuit is connected with four-leg inverter 3, described four-leg inverter is connected with permanent magnet synchronous motor 8 by brachium pontis A4, brachium pontis B5, brachium pontis C6, brachium pontis D7, described brachium pontis A, brachium pontis B, brachium pontis C are connected with current sampling circuit 10, described permanent magnet synchronous motor and photoelectric code disk 11.
Embodiment 2:
The described three-phase four-arm Control System of Permanent Magnet Synchronous Motor with fault tolerance of embodiment 1, described photoelectric code disk is connected with the QEP unit 12 of control circuit, described QEP unit is connected with PI controller D20, described current sampling circuit is connected with A/D module 14, described A/D module, described QEP unit by coordinate transform 15 respectively with PI controller A17, PI controller B18, PI controller C19 connects, described PI controller D is connected with speed control 21, described speed control is connected with described PI controller A, described PI controller A, PI controller B, PI controller C is connected with current controller 16 jointly, described current controller is controlled 13 with 3D-SVPWM and is connected, described 3D-SVPWM controls and is connected with photoelectric isolating driving circuit 9, described photoelectric isolating driving circuit is connected with described four-leg inverter.
Embodiment 3:
The described three-phase four-arm Control System of Permanent Magnet Synchronous Motor with fault tolerance of embodiment 1 or 2, digital display tube 22 is connected with SPI unit 23, host computer 24 is connected with SCI unit 25, and keyboard 26 is connected with I/O unit B 27, and fault detection unit 28 is connected with I/O unit A29.
Embodiment 4:
A kind of three-phase four-arm permanent magnet synchronous motor control method:
(1) method of work of permagnetic synchronous motor:
In formula
Figure 158128DEST_PATH_IMAGE001
for threephase stator winding galvanization resultant vector, for permanent magnet flux linkage,
Figure 464661DEST_PATH_IMAGE003
for
Figure 131266DEST_PATH_IMAGE001
with
Figure 475660DEST_PATH_IMAGE004
the angle of axle,
Figure 567112DEST_PATH_IMAGE005
for
Figure 807601DEST_PATH_IMAGE004
axle with
Figure 23819DEST_PATH_IMAGE006
the angle of phase axle.
aBCcoordinate is tied to
Figure 234220DEST_PATH_IMAGE007
the conversion of coordinate system (Clarke conversion) is
Figure 55546DEST_PATH_IMAGE039
(1)
Corresponding inverse transformation (Clarke -1conversion) be
(2)
Figure 743020DEST_PATH_IMAGE007
coordinate is tied to
Figure 429216DEST_PATH_IMAGE012
the conversion of coordinate system (Park conversion) is
Figure 495261DEST_PATH_IMAGE013
(3)
Corresponding inverse transformation (Park -1conversion) be
Figure 608711DEST_PATH_IMAGE014
(4)
In formula, q rfor electrical degree.
System adopts salient mounting formula permanent magnet synchronous motor, can think that the ac-dc axis equivalent inductance equates, l q = l d .The voltage equation of PMSM is like this
Figure 737204DEST_PATH_IMAGE015
(5)
In formula, i x , u x , e x be respectively phase current, relatively the voltage, phase induced electromotive force of DC side mid point ( xcan be a, B, Cin one); u n for the voltage of motor neutral point to the 4th brachium pontis mid point; rfor stator resistance, lwith mfor stator winding self-induction and mutual inductance.Current in middle wire i n for
Figure 554987DEST_PATH_IMAGE016
(6)
Utilize coordinate transform, the voltage equation of PMSM (5) is transformed to dq in 0 coordinate system, have
Figure 616484DEST_PATH_IMAGE018
(7)
Figure 900835DEST_PATH_IMAGE020
(8)
Figure 47782DEST_PATH_IMAGE021
(9)
Electromagnetic torque is
Figure 403677DEST_PATH_IMAGE022
(10)
The equation of motion is
(11)
Formula (7) arrives in (11), l dq for d, qthe equivalent inductance of axle; ω rfor electric angle speed; y pMfor the rotor permanent magnet magnetic linkage; l 0it is zero axle inductance; jfor moment of inertia; p nfor number of pole-pairs.
The method of work of (2) four brachium pontis inversion control:
Owing to having selected i d =0 vector control scheme, the specific implementation process is as follows: at first, detect motor rotor position and stator winding electric current; Utilize rotor-position calculating motor rotating speed, through the reference value of speed control output current torque component i q *, given current excitation component of while i d *=0; And the stator winding electric current is carried out to coordinate transform obtain feedback component i q with i d , through current controller output reference voltage space vector d, qthe axle component u d *with u q *; Finally by the SVPWM module, produce 6 road PWM output signals, through three-phase three-leg inverter power amplification rear drive permagnetic synchronous motor, finally realize rotating speed, current double closed-loop control.
Three-phase four-leg inverter is to have increased a brachium pontis be connected with the motor neutral point on the basis of three-phase three brachium pontis, thus the many currents in middle wire that can control
Figure 509354DEST_PATH_IMAGE024
, and can obtain zero-axis current by formula (1), (6)
Figure 409176DEST_PATH_IMAGE025
with
Figure 70227DEST_PATH_IMAGE024
between pass be
Figure 575158DEST_PATH_IMAGE026
(12)
So, as long as control zero-axis current just can the center line electric current
Figure 322851DEST_PATH_IMAGE024
indirectly control.
From formula (2), (4)
Figure 551707DEST_PATH_IMAGE028
(13)
Under normal operation, current in middle wire
Figure 911144DEST_PATH_IMAGE024
be zero, so only need to control zero-axis current
Figure 708199DEST_PATH_IMAGE025
be zero getting final product,
Figure 910510DEST_PATH_IMAGE029
(14)
Figure 818423DEST_PATH_IMAGE030
(15)
Figure 563525DEST_PATH_IMAGE031
(16)
When certain mutually open-phase fault occurs, suppose here aoccur mutually open circuit fault ( b, Cwhile mutually open circuit fault occurring, situation is identical with it), now have
Figure 531481DEST_PATH_IMAGE032
=0.Because the electromagnetic torque of permagnetic synchronous motor depends on i d , i q size, now, identical drive characteristic is arranged when guaranteeing with normal operation, must produce front consistent with fault i d , i q , need here compensate, therefore no longer equal 0.
Figure 135955DEST_PATH_IMAGE032
=0 substitution formula (13), can obtain
Figure 266722DEST_PATH_IMAGE033
(17)
(18)
Figure 815439DEST_PATH_IMAGE035
(19)
Through type (7) and (17) obtain
(20)
According to formula (17) or (20), can adopt the purpose that configuration in two ways reaches compensated torque, adopt zero-axis current compensation close-loop control mode, meet the requirement of formula (17); Or employing formula (20), adopt zero shaft voltage open loop control mode, realize zero shaft voltage u 0output.So just can reach the purpose of failure tolerant, and without revising any hardware circuit.
This patent adopts zero-axis current compensation close-loop control mode, due to what adopt, is i d =0 controls, and can obtain by simplified style (17)
Figure 784849DEST_PATH_IMAGE037
(21)
So lower of malfunction need to be carried out the compensation of zero-axis current according to formula (21).
Embodiment 5:
Above-mentioned three-phase four-arm permanent magnet synchronous motor control method, given rotating speed and feedback rotating speed Negotiation speed controller obtain the set-point of current torque component i q *, the phase current of sampling i a , i b , i c through Clarke, Park conversion, obtain in the dq0 rotating coordinate system i d , i q , i 0, with given value of current i q *, i d *, i 0 *compare, wherein i d * , i 0 *set-point be all 0, and in the situation that single-phase fault i 0 *need to add offset i q sin q r.Then through the PI controller, obtain u d *, u q *, u 0 *, then pass through Park -1conversion, Clarke -1the modulation of conversion, 3D-SVPWM, power amplification drive 8 power switch pipes of four-leg inverter, finally form three-phase four-arm permanent magnet synchronous motor speed, current double closed-loop control system.
Embodiment 6:
Embodiment 1 or 2 or 3 described three-phase four-arm Control System of Permanent Magnet Synchronous Motors, the rotor detecting sensor of Fig. 3 permagnetic synchronous motor is not only wanted the detection rotor position, also will measure motor speed.Native system adopts hybrid encoder, in order to eliminate common mode disturbances, improve antijamming capability, the motor position detection signal adopts the difference pattern to be transmitted, then adopt difference chip DS3486 to receive differential signal, and input to the DSP respective pins after Shape correction.
Fig. 4 permanent magnet synchronous motor phase current frequency, from zero to up to a hundred hertz, adopts current Hall module CHB-25NP to realize that the stator phase current detects at this, take the A phase current sampling as example, and the Hall element secondary current is sampled and obtained by resistance R 12 u r12 , the A/D conversion mouthful that is input to DSP after biasing, low-pass filtering and clamped processing is processed.
Fig. 5 is the ac-dc-ac transform circuit, and input single-phase 220V obtains 310V left and right direct current after rectification, voltage stabilizing.Rectifier bridge is selected KBPC3510, and its peak-inverse voltage is 1000V, and running current can reach 35A; C2 is for the high order harmonic component of filtering direct voltage; C3 plays voltage stabilizing and provides the effect of continuous current circuit for the motor winding.
Fig. 6 drive circuit selects IR2110 as driving chip.The upper brachium pontis driving power of IR2110 drives design for bootstrapping suspends, and has reduced drive circuit number of power sources used.The input side of IR2110 utilizes optocoupler 6N137 to realize the electrical isolation of control signal and main circuit.Pwm control signal through light-coupled isolation, inverter 74LS06 oppositely and on move 20V to, make it the input voltage coupling with IR2110.The reliability of turn-offing for increasing power device, provide for the driving signal shutoff voltage of bearing 5V by voltage-stabiliser tube ZD2, ZD3 and capacitor C 11, C12.
Key control unit adopts the DSP of TI company process chip TMS320F2812, and highest frequency can reach 150MHz, and this chip peripheral hardware comprises 12,16 tunnel Precision A/D C, 2 road SCI and two event manager modules (EVA and EVB) etc.Each event manager module comprises 6 road PWM/CMP, 2 road QEP and 3 road CAP.
Embodiment 7:
Embodiment 1 or 2 or 3 or 4 or 5 described three-phase four-arm Control System of Permanent Magnet Synchronous Motors, Fig. 9 is the three-phase four-leg inverter structure diagram, the phase mid-point voltage of inverter is u aN , u bN , u cN .For the expression that makes the switching voltage vector clear simple and clear, first right here u aN , U bN , U cN value carry out standardization (order u dc=1), with perunit value, mean space vector of voltage.
Suppose s a , S b , S c , S n mean respectively four brachium pontis a, B, C, Non off state, managing conducting (lower pipe turn-off) on each brachium pontis is 1, it is 0 that upper pipe turn-offs (conducting of lower pipe), such one has 16 on off states; The synthetic switching vector selector that each on off state is corresponding, order here u 0arrive u 15for these 16 switching vector selectors, wherein u 0with u 15for zero vector, its corresponding relation is as shown in table 1.
Table 1 three-phase four-leg inverter on off state table
Figure 758807DEST_PATH_IMAGE042
By these 16 synthetic switching voltage vectors rest frame ( aBCcoordinate system) be drawn as three dimensional vector diagram under and just obtained a space dodecahedron, as shown in figure 10.The state 13 of take has as example, now s a , S b , S c , S n be respectively 1,0,1,1; u aN , U bN , U cN be respectively 0 ,-1,0; This expression be a, C, Nmanage conducting on brachium pontis, lower pipe turn-offs; bon brachium pontis, pipe turn-offs, lower pipe conducting.The switching voltage vector is u 13, be arranged in rest frame (0 ,-1,0) coordinate place.
For switching vector selector Figure 10, we can use plane
Figure 15476DEST_PATH_IMAGE043
=0,
Figure 855256DEST_PATH_IMAGE044
=0,
Figure 929391DEST_PATH_IMAGE045
=0 He
Figure 487412DEST_PATH_IMAGE043
-
Figure 813351DEST_PATH_IMAGE044
=0,
Figure 101113DEST_PATH_IMAGE044
-
Figure 752674DEST_PATH_IMAGE045
=0,
Figure 1252DEST_PATH_IMAGE043
-
Figure 396462DEST_PATH_IMAGE045
=0 is divided into 24 little space tetrahedrons by control area, and each tetrahedron consists of two zero switching voltage vectors of three non-zero switching voltage vectors, as long as determined that like this space, reference voltage vector place tetrahedron just can utilize corresponding switching voltage vector to carry out matching.For example, the reference voltage vector in a certain moment exists aBCcoordinate in coordinate system be (
Figure 305774DEST_PATH_IMAGE043
,
Figure 128237DEST_PATH_IMAGE044
,
Figure 864111DEST_PATH_IMAGE045
), and have
Figure 63012DEST_PATH_IMAGE043
0,
Figure 590945DEST_PATH_IMAGE044
0,
Figure 584309DEST_PATH_IMAGE045
0,
Figure 541900DEST_PATH_IMAGE043
-
Figure 137967DEST_PATH_IMAGE044
0,
Figure 661352DEST_PATH_IMAGE044
- 0,
Figure 801663DEST_PATH_IMAGE043
-
Figure 670262DEST_PATH_IMAGE045
0, can judge its little space, place tetrahedron, thereby determine that three non-zero switching voltage vectors that synthesize it are ,
Figure 117741DEST_PATH_IMAGE047
,
Figure 581084DEST_PATH_IMAGE048
.
In order to simplify this judgement, we have defined k 1arrive k 6these six variablees, these six variablees are representing the division direction on six planes, as long as determined that they are 0 or 1 just can judge the reference voltage vector position.The expression formula of six variablees is as follows
Figure 17488DEST_PATH_IMAGE050
(22)
Figure 249886DEST_PATH_IMAGE052
(23)
Figure 490374DEST_PATH_IMAGE054
(24)
(25)
Figure 323518DEST_PATH_IMAGE058
(26)
Figure 535057DEST_PATH_IMAGE060
(27)
In formula,
Figure 477605DEST_PATH_IMAGE061
,
Figure 118802DEST_PATH_IMAGE062
, for the standardization reference voltage vector.
The definition pointer function:
Figure 398474DEST_PATH_IMAGE064
(28)
Will
Figure DEST_PATH_IMAGE065
arrive
Figure 667781DEST_PATH_IMAGE066
the symbol of these six variablees and unique pointer variable nconnect, by calculating n have 24 values, just in time corresponding one by one with 24 tetrahedrons.Figure 11 has provided pointer variable ncorresponding tetrahedral site and three non-zero switching voltage vectors.
Judge tetrahedral position, reference voltage vector place, after having determined three non-zero switching voltage vectors for the synthesis of it, just can equate that principle calculates each non-zero switching voltage vector and the corresponding duty ratio of zero vector by the weber area.Owing to will reference voltage vector being synthesized to equivalence with two zero vectors of three non-zero switching voltage vectors, the reference voltage vector size equals each switching voltage vector that current time is corresponding and the sum of products of its duty ratio so, shown in (29).In order to obtain the value of duty ratio, formula (29) is converted, obtain formula (30) and (31).
Figure 175303DEST_PATH_IMAGE070
(31)
In formula, u reffor reference voltage vector; d 1, d 2, d 3be respectively three corresponding duty ratios of non-zero switching voltage vector; u dx_A, u dx_B , u dx_Cfor the switching voltage vector exists aBCprojection value under coordinate system (x=1,2,3); d 0that (this zero vector can be for the duty ratio of zero vector u 0with u 15any one in two zero vectors can be also both combinations).With n=1 is example, and non-zero switching voltage vector is u 8, u 9, u 11, the duty ratio of calculating them according to formula (30) is
Figure 494551DEST_PATH_IMAGE072
(32)
Arrange
Figure DEST_PATH_IMAGE073
(33)
Use the same method, can obtain ncorresponding situation while equaling other 23 values, the pointer variable that provided as shown in table 2 nwith non-zero switching voltage vector with and the corresponding relation of duty ratio.
Table 2 pointer variable ncorresponding relation with set of vectors, duty ratio
After drawing the duty ratio of each switching voltage vector, be multiplied by the ON time that can obtain them cycle time, below only need to sequentially be arranged the conducting of each switching voltage vector, reasonably arrange switching sequence.In order to reduce harmonic wave of output voltage content, switch motion number of times and loss thereof, this paper adopts the Central Symmetry sortord that inserts two zero vectors.With pointer variable n=within 1 o'clock, be example, u 8, u 9, u 11for now corresponding non-zero switching voltage vector, sortord as shown in figure 12.
Finally according to this Central Symmetry sortord, provide its switching over point computing formula suc as formula shown in (34), t 1 , T 2, t 3 , T 4be followed successively by the duty ratio upper pipe conducting moment from big to small in four brachium pontis.
Figure 290468DEST_PATH_IMAGE076
Figure 13～17 are software flow figure.
Embodiment 8:
Embodiment 1 or 2 or 3 or 4 or 5 described three-phase four-arm Control System of Permanent Magnet Synchronous Motors, be the responding ability of verification system to given rotating speed and load variations, and when 0.03s, motor speed is given is suddenlyd change to 1000r/min by 500r/min; When 0.06s, motor load increases to 8Nm by 5Nm.Rotating speed, torque and three-phase current response are as shown in Figure 18,19.As can be seen from the figure, when 0.03s, given rotating speed is suddenlyd change to 1000r/min by 500r/min, the fine set-point of having followed of rotor speed, and while winding current amplitude is constant, frequency is accelerated, accelerating time 4ms; When 0.06s, by 5 Nm sudden changes, to 8 Nm, motor output square strengthens motor load in the twinkling of an eye, reaches balance, and the winding current amplitude strengthens, frequency is constant, the 1ms that takes time, and the rotating speed degree of susceptibility is very little.
In order to verify fault-tolerant feasibility, simulation single-phase fault state, be provided with A phase brachium pontis when t=0.05s here and disconnect and while handle in the given module of zero-axis current i 0 *set-point switch to the Fault Compensation value, as shown in Figure 20～22, other is constant, load torque is still that 5Nm, given rotating speed are still for 500r/min.
Figure 20 is rotating speed, the torque response curve chart of situation for this reason.Can find out rotating speed and almost not variation of torque after 0.05s.
Figure 21 has shown the situation of change of threephase stator electric current and current in middle wire before and after fault, can find out after 0.05s i b , i c be about before fault
Figure DEST_PATH_IMAGE077
doubly, phase difference has become p/3 from 2p/3.The adjustment of amplitude makes torque constant, and the generation of torque pulsation has been avoided in the change of phase place.
What Figure 22 showed is dqthe situation of change of 0 shaft current, i d , i q size remain unchanged, thereby guaranteed the consistent of electromagnetic torques before and after fault; i 0offset current for 0 axle before and after fault.

Claims (5)

1. a three-phase four-arm Control System of Permanent Magnet Synchronous Motor, its composition comprises: main circuit, it is characterized in that: the 220V single phase alternating current (A.C.) input of described main circuit is connected with single phase rectifier circuit, described single phase rectifier circuit is connected with four-leg inverter, described four-leg inverter is connected with permanent magnet synchronous motor by brachium pontis A, brachium pontis B, brachium pontis C, brachium pontis D, described brachium pontis A, brachium pontis B, brachium pontis C are connected with current sampling circuit, described permanent magnet synchronous motor and photoelectric code disk.
2. three-phase four-arm Control System of Permanent Magnet Synchronous Motor according to claim 1, it is characterized in that: described photoelectric code disk is connected with the QEP unit of control circuit, described QEP unit is connected with PI controller D, described current sampling circuit is connected with the A/D module, described A/D module, described QEP unit by coordinate transform respectively with PI controller A, PI controller B, PI controller C connects, described PI controller D is connected with speed control, described speed control is connected with described PI controller A, described PI controller A, PI controller B, PI controller C is connected with current controller jointly, described current controller and 3D-SVPWM control connection, described 3D-SVPWM controls and is connected with photoelectric isolating driving circuit, described photoelectric isolating driving circuit is connected with described four-leg inverter.
3. three-phase four-arm Control System of Permanent Magnet Synchronous Motor according to claim 1 and 2, it is characterized in that: digital display tube is connected with the SPI unit, and host computer is connected with the SCI unit, and keyboard is connected with the I/O unit B, and fault detection unit is connected with I/O unit A.
4. a three-phase four-arm permanent magnet synchronous motor control method is characterized in that:
(1) method of work of permagnetic synchronous motor:
In formula
Figure 2013101601970100001DEST_PATH_IMAGE002
for threephase stator winding galvanization resultant vector,
Figure 2013101601970100001DEST_PATH_IMAGE004
for permanent magnet flux linkage,
Figure 2013101601970100001DEST_PATH_IMAGE006
for
Figure 57814DEST_PATH_IMAGE002
with
Figure 2013101601970100001DEST_PATH_IMAGE008
the angle of axle,
Figure 2013101601970100001DEST_PATH_IMAGE010
for axle with
Figure 2013101601970100001DEST_PATH_IMAGE012
the angle of phase axle;
aBCcoordinate is tied to
Figure 2013101601970100001DEST_PATH_IMAGE014
the conversion of coordinate system (Clarke conversion) is
Figure 2013101601970100001DEST_PATH_IMAGE016
(1)
Corresponding inverse transformation (Clarke -1conversion) be
Figure 2013101601970100001DEST_PATH_IMAGE018
(2)
coordinate is tied to
Figure 2013101601970100001DEST_PATH_IMAGE020
the conversion of coordinate system (Park conversion) is
Figure 2013101601970100001DEST_PATH_IMAGE022
(3)
Corresponding inverse transformation (Park -1conversion) be
Figure 2013101601970100001DEST_PATH_IMAGE024
(4)
In formula, q rfor electrical degree;
System adopts salient mounting formula permanent magnet synchronous motor, can think that the ac-dc axis equivalent inductance equates, l q = l d , the voltage equation of PMSM is like this
Figure 2013101601970100001DEST_PATH_IMAGE026
(5)
In formula, i x , u x , e x be respectively phase current, relatively the voltage, phase induced electromotive force of DC side mid point ( xcan be a, B, Cin one); u n for the voltage of motor neutral point to the 4th brachium pontis mid point; rfor stator resistance, lwith mfor stator winding self-induction and mutual inductance, current in middle wire i n for
Figure 2013101601970100001DEST_PATH_IMAGE028
(6)
Utilize coordinate transform, the voltage equation of PMSM (5) is transformed to dqin 0 coordinate system, have
Figure 2013101601970100001DEST_PATH_IMAGE030
(7)
Figure 2013101601970100001DEST_PATH_IMAGE032
(8)
Figure 2013101601970100001DEST_PATH_IMAGE034
(9)
Electromagnetic torque is
Figure 2013101601970100001DEST_PATH_IMAGE036
(10)
The equation of motion is
(11)
Formula (7) arrives in (11), l dq for d, qthe equivalent inductance of axle; ω rfor electric angle speed; y pMfor the rotor permanent magnet magnetic linkage; l 0it is zero axle inductance; jfor moment of inertia; p nfor number of pole-pairs;
The method of work of (2) four brachium pontis inversion control:
Owing to having selected i d =0 vector control scheme, the specific implementation process is as follows: at first, detect motor rotor position and stator winding electric current; Utilize rotor-position calculating motor rotating speed, through the reference value of speed control output current torque component i q *, given current excitation component of while i d *=0; And the stator winding electric current is carried out to coordinate transform obtain feedback component i q with i d , through current controller output reference voltage space vector d, qthe axle component u d *with u q *; Finally by the SVPWM module, produce 6 road PWM output signals, through three-phase three-leg inverter power amplification rear drive permagnetic synchronous motor, finally realize rotating speed, current double closed-loop control;
Three-phase four-leg inverter is to have increased a brachium pontis be connected with the motor neutral point on the basis of three-phase three brachium pontis, thus the many currents in middle wire that can control , and can obtain zero-axis current by formula (1), (6)
Figure 2013101601970100001DEST_PATH_IMAGE042
with between pass be
Figure 2013101601970100001DEST_PATH_IMAGE044
(12)
So, as long as control zero-axis current
Figure 524511DEST_PATH_IMAGE042
just can the center line electric current indirectly control;
From formula (2), (4)
Figure 2013101601970100001DEST_PATH_IMAGE046
(13)
Under normal operation, current in middle wire be zero, so only need to control zero-axis current
Figure 277200DEST_PATH_IMAGE042
be zero getting final product,
Figure 2013101601970100001DEST_PATH_IMAGE048
(14)
Figure 2013101601970100001DEST_PATH_IMAGE050
(15)
Figure 2013101601970100001DEST_PATH_IMAGE052
(16)
When certain mutually open-phase fault occurs, suppose here aoccur mutually open circuit fault ( b, Cwhile mutually open circuit fault occurring, situation is identical with it), now have
Figure 2013101601970100001DEST_PATH_IMAGE054
=0, because the electromagnetic torque of permagnetic synchronous motor depends on i d , i q size, now, identical drive characteristic is arranged when guaranteeing with normal operation, must produce front consistent with fault i d , i q , need here compensate, therefore no longer equal 0;
Figure 39500DEST_PATH_IMAGE054
=0 substitution formula (13), can obtain
Figure 2013101601970100001DEST_PATH_IMAGE056
(17)
Figure 2013101601970100001DEST_PATH_IMAGE058
(18)
(19)
Through type (7) and (17) obtain
Figure 2013101601970100001DEST_PATH_IMAGE062
(20)
According to formula (17) or (20), can adopt the purpose that configuration in two ways reaches compensated torque, adopt zero-axis current compensation close-loop control mode, meet the requirement of formula (17); Or employing formula (20), adopt zero shaft voltage open loop control mode, realize zero shaft voltage u 0output, so just can reach the purpose of failure tolerant, and without revising any hardware circuit;
This patent adopts zero-axis current compensation close-loop control mode, due to what adopt, is i d =0 controls, and can obtain by simplified style (17)
Figure 2013101601970100001DEST_PATH_IMAGE064
(21)
So lower of malfunction need to be carried out the compensation of zero-axis current according to formula (21).
5. above-mentioned three-phase four-arm Control System of Permanent Magnet Synchronous Motor method of work is characterized in that: given rotating speed and feedback rotating speed Negotiation speed controller obtain the set-point of current torque component i q *, the phase current of sampling i a , i b , i c through Clarke, Park conversion, obtain in the dq0 rotating coordinate system i d , i q , i 0, with given value of current i q *, i d *, i 0 *compare, wherein i d * , i 0 *set-point be all 0, and in the situation that single-phase fault i 0 *need to add offset
Figure 2013101601970100001DEST_PATH_IMAGE066
i q sin q r, then through the PI controller, obtain u d *, u q *, u 0 *, then pass through Park -1conversion, Clarke -1the modulation of conversion, 3D-SVPWM, power amplification drive 8 power switch pipes of four-leg inverter, finally form three-phase four-arm permanent magnet synchronous motor speed, current double closed-loop control system.
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