CN104601079B - A kind of single-phase winding open circuit fault-tolerant control system of drive system of electric automobile and method - Google Patents
A kind of single-phase winding open circuit fault-tolerant control system of drive system of electric automobile and method Download PDFInfo
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- CN104601079B CN104601079B CN201510026835.9A CN201510026835A CN104601079B CN 104601079 B CN104601079 B CN 104601079B CN 201510026835 A CN201510026835 A CN 201510026835A CN 104601079 B CN104601079 B CN 104601079B
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Abstract
The invention discloses a kind of single-phase winding open circuit fault-tolerant control system of drive system of electric automobile and method, system includes PWM generation modules, inverter, three-phase permanent wheel hub motor, switch module, switching control module, current sample module and rotary encoder, during normal operation, the three-phase windings of motor adopt star-like connected mode, inverter side three-phase current is three-phase symmetrical electric current, after single-phase winding open fault is detected, three-phase windings connected mode is changed into triangle connection by switch module, control method is changed by the reference value of adjustment inverter side three-phase current, the size of torque output value is torque value during normal operation, so as to realize the lower fault-tolerant operation of the single-phase winding open circuit of three-phase permanent wheel hub motor.The fault-tolerant control system and method for the present invention does not need extra switching tube and mid-point voltage, reduces the investment of equipment, it is fault-tolerant after inverter side three-phase current be still symmetrical sine electric current, when amplitude rises to normal operation electric current times, torque output is stable.
Description
Technical field
The invention belongs to Control of Electric Vehicles technical field, and in particular to the single-phase winding open circuit of drive system of electric automobile is held
Wrong control system and method.
Background technology
As the exhausted and problem of environmental pollution of the Fossil fuels such as oil is on the rise, research and development energy-saving and environmental protection and
The automobile of safety provides the automobile of power to replace with internal combustion engine, is the only way for realizing sustainable development.Wherein, electronic vapour
Car is praised highly with the remarkable advantage of its high efficiency low emission, obtains accelerated development.Motor driven systems are electric automobile cores
One of technology, and wheel hub drives the main development direction for being even more following electric automobile type of drive.When drive system machine winding
After there is single-phase open circuit fault, torque output ripple greatly, causes electric automobile fluctuation of service, threatens people so as to directly arrive
Body safety.
Traditionally the single-phase winding open circuit fault tolerant control method of some drive systems mainly has：
1. biphase four switch-control strategy：Biphase four switching strategy mainly, after the open circuit of single-phase winding, draws around class mid point
Go out to power supply midpoint, form center line, loop is provided for zero-sequence current, realize fault-tolerant operation.
2. biphase three bridge arms control strategy：After there is single-phase winding open circuit, it is drawn out on standby bridge arm around class mid point, leads to
Cross fault-tolerant operation under three bridge arm motor failures.
3. biphase full-bridge control strategy：After there is single-phase winding open circuit, the switching tube of failure phase bridge arm is fully open, just
Biphase full-bridge control is often mutually realized, fault-tolerant operation is realized.
But several traditional control methods are due to topological structure itself and the three-phase current after fault-tolerant operation, shadow above
Ring its fault-tolerant control system overall performance.A power supply midpoint is needed in method 1 for example, due to zero-sequence current after faults-tolerant control
Impact, can cause unbalance of neutral-point voltage, and then affect motor control and motor operation, in addition method 1 and method 2 be required for around
Group draws center line, therefore the application of both approaches is limited to；Method 2 is required for volume for switching device, increase system with method 3
The volume and cost of system；Three kinds of methods equally all have a neutral conductor, neutral current and remaining phase current be not three-phase symmetrical just
String electric current, and after fault-tolerant operation inverter output electric current with disconnect winding phase it is different and different.
The content of the invention
The purpose of the present invention is present for the single-phase winding open circuit fault-tolerant control system of traditional drive system of electric automobile
Problem, proposes a kind of single-phase winding open circuit fault-tolerant control system of new drive system of electric automobile and method, reduces equipment investment,
Simplify fault-tolerant control algorithm.
For achieving the above object, the technical solution used in the present invention is：
A kind of single-phase winding open circuit fault-tolerant control system of drive system of electric automobile, including：PWM generation modules, inverter,
Three-phase permanent wheel hub motor, switch module, switching control module, current sample module and rotary encoder；
The rotary encoder and the motor connection, for the actual speed of measurement motor, and output speed signal is extremely
The PWM generation modules；
The current sample module and the motor connection, for the three-phase current of measurement motor, and output current signal
To the PWM generation modules and switching control module；
The switch module, is connected with the three-phase windings of the motor, and at least including two groups of switches, first group of switch makes three
Phase winding makes three-phase windings triangularity connected mode into star-like connected mode, second group of switch；
The PWM generation modules, including：
Rotating speed pi regulator, for obtaining reference current amplitude according to the difference of reference rotation velocity and actual speed；
Current calculation module, for according to reference current amplitude by the first current shape corresponding with star-like connected mode
Function or the second current shape function corresponding with triangle connected mode are calculated the reference that inverter exports three-phase current
Value；
And, hysteresis comparator, for reference value and actual value with reference to three-phase current, is exported for controlling inverter
The PWM sequence of switch；
The switching control module, the current signal for being exported according to the current sample module judge whether list occur
Phase winding open circuit, if there is open circuit, output switching signal is to the switch module and the PWM generation modules.
Further, when normally running, first group of switch is normally opened, and second group of switch is normally closed, three-phase windings
Connected mode is star-like connection, and after the switch module receives switching signal, second group of switch is normally opened, described first group
Switch is normally closed, and the connected mode of three-phase windings connects for triangle.
Further,
The first current shape function is：
Wherein, imhReference current amplitude during normally to run,The ginseng of three-phase current is exported for inverter
Examine value, ωeFor angular rate, it is actual speed ω0P times, p for motor number of pole-pairs；
The second current shape function is：
Wherein, imfFor fault-tolerant operation when reference current amplitude.
Further, the switching control module includes first comparator, the second comparator, the 3rd comparator, OR gate, product
Divide device and the 4th comparator；It is mutually electric that one input of first comparator, the second comparator and the 3rd comparator is input into one respectively
Flow valuve, other end input reference current 0 are worth, and outfan connects an input of OR gate, the outfan connection product of OR gate respectively
The input of device, the outfan of integrator is divided to connect the input of the 4th comparator；It is 0 when there is current value in three-phase current
When, OR gate output trigger, triggering integrator are started working, and when integrator output valve is more than setting threshold values, the 4th compares
Device exports fault-signal.
A kind of single-phase winding open circuit fault tolerant control method of drive system of electric automobile, comprises the steps：
(1), when normally running, the connected mode of three-phase windings of three-phase permanent wheel hub motor is set as star-like connection；
(2) measurement obtains the actual speed and three-phase current of motor, and actual speed and reference rotation velocity are adjusted through rotating speed PI
Reference current amplitude when section device is normally run, by the first electric current shape reference current amplitude corresponding with star-like connected mode
Shape function is multiplied, and obtains the reference value that inverter exports three-phase current, through the switch of hysteresis comparator output control inverter
PWM sequence；
(3) three-phase current of motor is detected, is judged whether single-phase winding open circuit occur, step is entered if there is open circuit
(4), otherwise into step (2)；
(4) triangle is switched to connect the connected mode of the three-phase windings of motor；
(5) measurement obtains the actual speed and three-phase current of motor, and actual speed and reference rotation velocity are adjusted through rotating speed PI
Section device obtains reference current amplitude during fault-tolerant operation, by the second electric current reference current amplitude corresponding with triangle connected mode
Shape function is multiplied, and obtains the reference value that inverter exports three-phase current, through opening for hysteresis comparator output control inverter
The PWM sequence of pass.
Further, it is described to judge whether that the breaking concrete grammar of single-phase winding occur is：Appoint when existing in three-phase current
The value of one phase current is 0 time to be more than 1/6 current cycle, then judge single-phase winding open fault occur.
Beneficial effect：After drive system of electric automobile single-phase winding open circuit, according to system proposed by the invention or side
Method, enables to drive system output with an equal amount of torque during normal operation so that electric automobile is continued to run with, and is improve
The fault-tolerant operation ability of drive system of electric automobile.Compared with prior art, the present invention by the triangle in electric motor starting method/
Star-like startup is applied in the single-phase winding open circuit fault-tolerant control system of drive system of electric automobile, the connection of winding during normal operation
Mode is star-like connection, switches to triangle to connect the connected mode of winding by switch module, with not during fault-tolerant operation
Increase the advantage at switching tube or power supply midpoint, reduce equipment investment；After there is open circuit in arbitrary phase winding, inverter output
Three-phase current is that amplitude is the same, the three-phase symmetrical sinusoidal current of 120 degree of phase place mutual deviation, and amplitude rises to electric current when normally runningTimes, torque output is stable；Need to only detect and break down without judging concrete failure phase, simplify fault detection program.
Description of the drawings
Fig. 1 is the system global structure schematic diagram of the present invention；
Fig. 2 is the PWM generation module structural representations of the present invention；
Fig. 3 is the single-phase open fault detection model figure of motor of the present invention；
Fig. 4 is the drive system inverter of the present invention, motor equivalent circuit diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
As shown in figure 1, a kind of single-phase winding open circuit tolerant system of drive system of electric automobile disclosed in the embodiment of the present invention,
Including PWM generation modules 1, inverter (three-phase half-bridge voltage type) 2, three-phase permanent wheel hub motor 3, switch module 4, switching control
Module 5 and rotary encoder 6.PWM generation modules 1 include rotating speed pi regulator, current calculation module and hysteresis comparator.Rotation
Encoder 6 is connected with motor 3, gathers the rotational speed omega of rotor0, output speed signal is to PWM generation modules 1；Current sample
Module 6 is connected with motor 3, and sampling obtains the three-phase current of motor, the stagnant chain rate of output current signal to PWM generation modules 1 compared with
Device and switching control module 5.The three-phase of switch module (can be realized by solid-state relay or IGCT etc.) 4 and motor 3 around
Group connection, at least two groups switch S1And S2, S1Closure, S2During opening, the connected mode of three-phase windings is star-like connection, S1Beat
Open, S2During closure, the connected mode of three-phase windings connects for triangle, sees Fig. 4.Switching control module 5 respectively with current sample
The current calculation module connection of module 6, switch module 4 and PWM generation modules 1, switching control module 5 is according to current sample module
The three-phase current that 6 samplings are obtained, determines whether failure occurs.As shown in figure 3, switching control module 5 include three equivalence ratios compared with
Device (comparator 1,2,3), OR gate, integrator and the 4th comparator (comparator F)；One input point of three equivalent comparators
A phase current values are not input into, other end input reference current 0 is worth, and outfan connects an input of OR gate respectively, OR gate
Outfan connects the input of integrator, and the outfan of integrator connects the input of the 4th comparator；When depositing in three-phase current
When current value is 0, triggering integrator is started working, and when three-phase current is not 0, integrator resets；Set the 4th to compare
Device threshold values is T/6, and T is current cycle, has taken into account the response time and has judged precision, when integrator output valve is more than threshold values, the
Four comparators export fault-signal.After switching control module 5 judges single-phase winding open fault occur, to switch module 4 and PWM
Generation module 1 sends switching signal.
The connected mode of three-phase windings when normally running can be set as star-like connection, when the single-phase winding open circuit fault of appearance
Afterwards, the control of switch module 4 S1Opening, S2The connected mode of three-phase windings is converted to triangle connection by closure, meanwhile, PWM is produced
The current calculation module switching electric current shape function of raw module 1 change the computational methods of inverter three-phase output current reference value with
Adapt to new connected mode.
During normal operation, current shape function is：
During fault-tolerant operation, current shape function is：
Wherein, imh、imfRespectively normally, reference current amplitude during fault-tolerant operation,Export for inverter
The reference value of three-phase current, ωeFor angular rate, it is actual speed ω0P times, p for motor number of pole-pairs.
As shown in Fig. 2 actual speed ω of rotor is gathered based on rotary encoder0(rad/s), by reference rotation velocity ωr
With actual speed ω0Make the difference and compare, difference is input to into the input of rotating speed pi regulator, obtain reference current amplitude imh(just
Often), imf(fault-tolerant).
When normal operation, switching control module not output switching signal, by switch module, the winding connection side of motor
Formula is star-like connection (S1Closure, S2Open), according to reference current amplitude i obtained abovemhWith current shape function (1) phase
Take advantage of, obtain inverter three-phase output current reference value, by hysteresis comparator, the switching signal-PWM sequence of output inverter,
Drive system exports stabilizing torque, electric automobile stable operation.
After there is single-phase winding open circuit fault, switching signal module output switching signal, by switch module, motor around
Group connected mode is that triangle connects (S1Opening, S2Closure), according to reference current amplitude i obtained abovemfWith current shape
Function (2) is multiplied, and obtains inverter three-phase output current reference value, by hysteresis comparator, the switching signal of output inverter-
PWM sequence so that drive system maintains torque output, realizes fault-tolerant operation under electric automobile malfunction.
The single-phase winding open circuit fault-tolerance approach of a kind of drive system of electric automobile disclosed in the embodiment of the present invention, including following step
Suddenly：
(1), when normally running, the connected mode of three-phase windings of three-phase permanent wheel hub motor is set as star-like connection；
(2) measurement obtains the actual speed and three-phase current of motor, and actual speed and reference rotation velocity are adjusted through speed PI
Reference current amplitude when section device is normally run, reference current amplitude is multiplied with current shape function (1), inversion is obtained
Device exports the reference value of three-phase current, through the PWM sequence of the switch of hysteresis comparator output control inverter；
(3) three-phase current of motor is detected, is judged whether single-phase winding open circuit occur, step is entered if there is open circuit
(4), otherwise into step (2)；According to the model of Fig. 3, the electric current after sampling is processed, when trigger is rising edge
When, integrator is started working, and during trailing edge, integrator resets.When integrator output valve is more than threshold values, fault-signal is exported,
Then can determine whether single-phase winding open fault occur；
(4) triangle is switched to connect the connected mode of the three-phase windings of motor；
(5) measurement obtains the actual speed and three-phase current of motor, and actual speed and reference rotation velocity are adjusted through speed PI
Section device obtains reference current amplitude during fault-tolerant operation, and reference current amplitude is multiplied with current shape function (2), inversion is obtained
Device exports the reference value of three-phase current, through the PWM sequence of the switch of hysteresis comparator output control inverter.
The embodiment of the present invention is applied to the triangle in electric motor starting method/star-like startup in fault-tolerant control system, just
When often running, the connected mode of winding is star-like connection, is changed into the connected mode of winding by switch module during fault-tolerant operation
Triangle connects, and has the advantages that not increase switching tube or power supply midpoint, reduces equipment investment；When fault-tolerant operation, inversion
The three-phase current of device output is that amplitude is the same, the three-phase symmetrical sinusoidal current of 120 degree of phase place mutual deviation.Current shape function (2) can
With the situation suitable for the open circuit of any phase winding, compared with current shape function (1), initial phase is delayed 30 °.Carry out failure inspection
During survey, it is only necessary to determine whether position of the single-phase winding open fault without determining occurred open fault.
It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention,
Some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.In the present embodiment not
Clearly each ingredient can use prior art to be realized.
Claims (4)
1. a kind of drive system of electric automobile single-phase winding open circuit fault-tolerant control system, it is characterised in that include：PWM produces mould
Block (1), inverter (2), three-phase permanent wheel hub motor (3), switch module (4), switching control module (5), current sample module
And rotary encoder (7) (6)；
The rotary encoder (7) is connected with the motor (3), is believed for the actual speed of measurement motor (3), and output speed
Number to the PWM generation modules (1)；
The current sample module (6) is connected with the motor (3), for the three-phase current of measurement motor (3), and output current
Signal is to the PWM generation modules (1) and switching control module (5)；
The switch module (4), is connected with the three-phase windings of the motor (3), and at least including two groups of switches, first group of switch makes
Three-phase windings make three-phase windings triangularity connected mode into star-like connected mode, second group of switch；
The PWM generation modules (1), including：
Rotating speed pi regulator, for obtaining reference current amplitude according to the difference of reference rotation velocity and actual speed；
Current calculation module, for according to reference current amplitude by the first current shape function corresponding with star-like connected mode
Or the second current shape function corresponding with triangle connected mode is calculated the reference that inverter (2) exports three-phase current
Value；
And, hysteresis comparator, for reference value and actual value with reference to three-phase current, is exported for controlling inverter (2)
The PWM sequence of switch；
The switching control module (5), the current signal for being exported according to the current sample module (6) judge whether occur
Single-phase winding open circuit, if there is open circuit, output switching signal is to the switch module (4) and the PWM generation modules (1)；
During normal operation, first group of switch is normally opened, and second group of switch is normally closed, and the connected mode of three-phase windings is star-like
Connection, after the switch module (4) receives switching signal, second group of switch is normally opened, and first group of switch is normally closed, and three
The connected mode of phase winding connects for triangle；
The first current shape function is：
Wherein, imhReference current amplitude during normally to run,The reference value of three-phase current is exported for inverter,
ωeFor angular rate, it is actual speed ω0P times, p for motor number of pole-pairs；
The second current shape function is：
Wherein, imfFor fault-tolerant operation when reference current amplitude.
2. drive system of electric automobile according to claim 1 single-phase winding open circuit fault-tolerant control system, it is characterised in that
The switching control module includes first comparator, the second comparator, the 3rd comparator, OR gate, integrator and the 4th comparator；
One input of first comparator, the second comparator and the 3rd comparator is input into a phase current values, other end input ginseng respectively
Examine electric current 0 to be worth, outfan connects an input of OR gate respectively, the outfan of OR gate connects the input of integrator, integration
The outfan of device connects the input of the 4th comparator；When there is current value in three-phase current is 0, OR gate output triggering letter
Number, triggering integrator is started working, and when three-phase current does not have 0 value, integrator resets；Set when integrator output valve is more than
When determining threshold values, the 4th comparator output fault-signal.
3. a kind of drive system of electric automobile single-phase winding open circuit fault tolerant control method, it is characterised in that comprise the steps：
(1), when normally running, the connected mode of three-phase windings of three-phase permanent wheel hub motor is set as star-like connection；
(2) measurement obtains the actual speed and three-phase current of motor, by actual speed and reference rotation velocity through rotating speed pi regulator
Reference current amplitude when normally being run, by the first current shape letter reference current amplitude corresponding with star-like connected mode
Number is multiplied, and obtains the reference value that inverter exports three-phase current, through the PWM of the switch of hysteresis comparator output control inverter
Sequence；
(3) three-phase current of motor is detected, judges whether single-phase winding open circuit occur, step (4) is entered if there is open circuit, it is no
Step (2) is entered then；
(4) triangle is switched to connect the connected mode of the three-phase windings of motor；
(5) measurement obtains the actual speed and three-phase current of motor, by actual speed and reference rotation velocity through rotating speed pi regulator
Reference current amplitude during fault-tolerant operation is obtained, by the second current shape reference current amplitude corresponding with triangle connected mode
Function is multiplied, and obtains the reference value that inverter exports three-phase current, through the switch of hysteresis comparator output control inverter
PWM sequence；
The first current shape function is：
Wherein, imhReference current amplitude during normally to run,The reference value of three-phase current is exported for inverter,
ωeFor angular rate, it is actual speed ω0P times, p for motor number of pole-pairs；
The second current shape function is：
Wherein, imfFor fault-tolerant operation when reference current amplitude.
4. drive system of electric automobile according to claim 3 single-phase winding open circuit fault tolerant control method, it is characterised in that
It is described to judge whether that the breaking concrete grammar of single-phase winding occur is：When the value that there is arbitrary phase current in three-phase current is 0
Time is more than 1/6 current cycle, then judge single-phase winding open fault occur.
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| CN201510026835.9A CN104601079B (en) | 2015-01-19 | 2015-01-19 | A kind of single-phase winding open circuit fault-tolerant control system of drive system of electric automobile and method |
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| CN201510026835.9A CN104601079B (en) | 2015-01-19 | 2015-01-19 | A kind of single-phase winding open circuit fault-tolerant control system of drive system of electric automobile and method |
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| CN104935223A (en) * | 2015-07-01 | 2015-09-23 | 上海电机学院 | Switching control system and method for permanent-magnet synchronous motor winding |
| CN108037403B (en) * | 2017-12-05 | 2020-02-18 | 中南大学 | Current hysteresis controlled inverter open-circuit fault diagnosis method and device |
| CN108919025A (en) * | 2018-05-21 | 2018-11-30 | 广东伊莱斯电机有限公司 | A kind of power line wire break detection method in three-phase alternating current servo drive system |
| CN112994562B (en) * | 2021-03-12 | 2021-11-23 | 合肥恒大江海泵业股份有限公司 | Single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault tolerance method |
| CN113258854B (en) * | 2021-06-30 | 2021-12-07 | 拿森汽车科技(杭州)有限公司 | DC motor control circuit, method and computer storage medium |
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| JP3948009B2 (en) * | 2001-10-03 | 2007-07-25 | 株式会社安川電機 | Winding switching device for three-phase AC motor |
| JP4864620B2 (en) * | 2006-09-26 | 2012-02-01 | 三菱電機株式会社 | Three-phase load operation device |
| CN102624297B (en) * | 2012-03-20 | 2014-08-13 | 南京航空航天大学 | Fault tolerance permanent magnet power generation system and control method thereof |
| CN203326948U (en) * | 2013-04-16 | 2013-12-04 | 北京优尔特科技股份有限公司 | Switching circuit of star-shaped / triangular general savor for motor |
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