CN104617846B - A kind of composite excitation axial magnetic field flux switch motor fault tolerant control method - Google Patents
A kind of composite excitation axial magnetic field flux switch motor fault tolerant control method Download PDFInfo
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Abstract
The invention discloses a kind of composite excitation axial magnetic field flux switch motor fault-tolerant control system, make electric machine control system inverter occur single-phase fault in the case of being capable of fault-tolerant operation.Breakdown judge is carried out according to electric current, when normal operation, composite excitation axial magnetic field flux switch motor fault-tolerant control system uses id=0 control strategy, distribution d axles, q shaft currents.When there is single-phase open circuit fault, faults-tolerant control is carried out using exciting current, continuing to keep id=0, coordinated allocation q shaft currents and exciting current make motor operation in fault-tolerant state.A kind of composite excitation axial magnetic field flux switch motor fault-tolerant control system can make motor operation in fault-tolerant state under inverter one-phase open circuit conditions, improve the reliability of electric automobile motor drive system.
Description
Technical field
The invention belongs to electric drive technology field, it is related to a kind of faults-tolerant control, it is more particularly to a kind of used for electric vehicle
Composite excitation axial magnetic field flux switch motor fault tolerant control method.
Background technology
With energy crisis and the increasingly exacerbation of environmental pollution, electric automobile turns into the certainty of future automobile sustainable development
Trend.At present, the motor that electric automobile is used mainly has threephase asynchronous machine, switched reluctance machines and permagnetic synchronous motor, its
The advantages of middle permagnetic synchronous motor is due to small volume, power density high, efficiency high, power factor high makes it have application higher
Advantage, but the shortcoming that magneto air-gap field is difficult to adjust also brings limitation to application.Based on above reason, mixing is encouraged
Magneto arises at the historic moment, and it combines the advantage of permagnetic synchronous motor and electric excitation synchronous motor and overcomes their own
Shortcoming, power factor is high, speed-regulating range width.This motor has two kinds of excitation sources, i.e. permanent magnet excitation and electrical excitation, and the two is in electricity
Interact synthetically produced air-gap field in machine air gap.When electrical excitation coil is passed through positive exciting current, can produce and permanent magnetism
Flow direction identical magnetic flux, increases air-gap field, realizes increasing magnetic operation, and big turning is provided for electric automobile is started or climbed
Square；Conversely, when electrical excitation coil is passed through reverse exciting current, producing and permanent magnet flux magnetic flux in opposite direction, gas is weakened
Gap magnetic field, has widened motor output-constant operation scope significantly, meets the requirement of electric automobile high-performance cruise.Composite excitation axial magnetic
Field magnetic flux switching (Hybrid excited axial field flux-switching magnet, HEAFFSM) is a kind of new
The stator permanent magnetic type mixed excited magnetic pass switch motor of type, mixed excited magnetic pass is switched into theory for it and motor in axial magnetic field is effective
Ground combines, as shown in Figure 1.HEAFFSM combines the advantage of flux switch motor and mixed excitation electric machine, on the one hand has
The advantages of simple structure, small volume, flexible control；On the one hand there is high efficiency, high power density.Further, since should
Motor permanent magnet is located at stator and has unique poly- magnetic effect, therefore can obtain higher with relatively small number of permanent-magnet material
Air gap flux density, rotor is both without winding or without permanent magnet, and simple structure, axial length is short, so being highly suitable as electric automobile
Wheel hub motor.
Electric automobile operation bad border is severe, and power inverter is easiest to during axial magnetic field flux switch permanent magnet motor drives
The weak link for breaking down.Controller inverter bridge is easiest to single-phase open circuit fault, at present, is cut for axial magnetic field magnetic flux
Change the research of driving system of permanent magnet motor faults-tolerant control less, have no phase pertinent literature and report, it is special due to its application scenario
Property, safety and reliability problem is particularly important, and faults-tolerant control turns into research emphasis, and the realization of faults-tolerant control includes failure inspection
Survey, recognize and isolate three steps.Fault detect turns into fault diagnosis with identifying system, is the basic and key of faults-tolerant control.
The weak link for breaking down is easiest to when power semiconductor and its control drive circuit in electric system.Wherein power becomes
Parallel operation failure accounts for the 82.5% of whole drive system failure.Power inverter is generally caused by power tube open circuit or short circuit, failure
Motor service behaviour declines afterwards, or even disablement.
The content of the invention
Technical problem：The present invention is analyzing composite excitation axial magnetic field flux switch motor for the deficiency of prior art
On the basis of, it is proposed that one kind can accurately detect power of motor converter malfunction, make motor operation in fault-tolerant state, greatly
The big composite excitation axial magnetic field magnetic flux switching Permanent Magnet and Electric for improving electric automobile security performance under Power Converter faults state
Machine fault tolerant control method.
Technical scheme：Composite excitation axial magnetic field flux switch motor fault tolerant control method of the invention, including following step
Suddenly：
(1) from motor main circuit collection phase current ia、ibWith exciting current if, initial position detection is carried out to motor, from electricity
Signal is gathered on machine encoder, feeding controller is processed, and draws rotating speed n and rotor position angle θ；
(2) the phase current i that will be gathereda、ibThrough follow, filter, bias and A/D change, then carry out park transforms, obtain
The d shaft currents i of stator under two-phase rotating coordinate systemdWith q shaft currents iq；
(3) by given rotating speed n*Subtract encoder actual measurement rotating speed n, the rotating speed deviation △ n input speed adjusters for obtaining, warp
Torque reference value is obtained after proportional integral computingBy torque reference valueBusbar voltage Udc, stator d shaft currents id, stator q
Shaft current iq, actual measurement rotating speed n and given rotating speed n*Input current distributor, according to electric current failure judgement state, when composite excitation axle
To magnetic field flux switch motor state it is normal when, into step (4), occur when composite excitation axial magnetic field flux switch motor therefore
During barrier, into step (5)；
(4) i is usedd=0 control strategy, distributing switch is according to following current sharing scheme output current：
Wherein, idrefIt is d shaft current reference values, iqrefIt is q shaft current reference values；ψmIt is permanent magnet flux linkage, p is motor pole
Logarithm, TerefIt is electromagnetic torque reference value；
(5) faults-tolerant control is carried out using exciting current, continues to keep id=0, distributing switch is distributed according to following electric current
Scheme output current：
Wherein, ImIt is phase current magnitude, ifrefIt is exciting current reference value, MfFor between armature winding and Exciting Windings for Transverse Differential Protection
Mutual inductance, N' is the Exciting Windings for Transverse Differential Protection number of turn, and N is the armature winding number of turn；
(6) by the d shaft current reference values i produced by distributing switchdrefSubtract the d shaft currents i in step (2)dObtain d
Shaft current deviation △ id, with q shaft current reference values iqrefSubtract the q shaft currents i in step (2)qObtain q shaft current deviation △ iq；
By d shaft current deviation △ idInput d shaft currents adjuster carries out proportional integral computing, obtains d shaft voltages ud, by q shaft current deviations
△iqInput q shaft currents adjuster carries out proportional integral computing, obtains q shaft voltages uq, then to the d shaft voltages udWith q axles electricity
Pressure uqAfter carrying out rotating orthogonal-static two phase inversion jointly, α shaft voltages u under static two phase coordinate system is obtainedαWith β shaft voltages uβ,
By the α shaft voltages uαWith β shaft voltages uβInput pulse width modulation module, computing exports 6 road pulse width modulating signals, drives
Move main power inverter；
Simultaneously by the exciting current i of collection in step (1)f, through follow, filter, bias with A/D change after and exciting current
Reference value ifrefDC excitation pulse width modulation module is sent into together, and computing exports 4 road pulse width modulating signals to drive excitation
Power inverter.
In a kind of preferred scheme of the inventive method, the Pulse width modulation module in step (6) is space vector pulse
Width modulation module.
In a kind of preferred scheme of the inventive method, the specific method of failure judgement state is in step (3)：According to given
Phase current and the difference failure judgement state of the actual measurement phase current for collecting, i.e., be to phasing currentActual measurement phase current is ik,
Wherein k is the number of phases, k=a, b, c, then the two difference isWhen in continuous two detection cycles, △ εkJack per line, then sentence
The disconnected composite excitation faulty generation of axial magnetic field flux switch motor, otherwise judges composite excitation axial magnetic field flux switch motor
State is normal.
Beneficial effect：Composite excitation axial magnetic field flux switch motor control system power inverter used for electric vehicle and its
Drive circuit as system maincenter executing agency, be the weak link of failure for being easiest in system occur, power inverter
Failure will destroy the poised state of drive system operation, the torque breach that generation cannot suppress even braking moment, chromic trouble
Operation will bring infringement to electric automobile and personal safety, and the present invention is by step 4) and step 5) composite excitation axial magnetic
Field flux switch motor fault-tolerant control system, can accurately detect malfunction so that composite excitation axial magnetic field magnetic flux switches
Motor can operate in fault-tolerant state, so the present invention has advantages below：
(1) tolerant system can accurately detect composite excitation axial magnetic field flux switch motor Power Converter faults shape
State；
(2) control system can make composite excitation axial magnetic field flux switch motor operate in fault-tolerant state；
(3) control system can greatly improve security performance of the electric automobile under Power Converter faults state.
Brief description of the drawings
Fig. 1 is HEAFFSM topological structures；
Fig. 2 is the normal service charts of HEAFFSM；
Fig. 3 is HEAFFSM fault-tolerant operation figures；
Fig. 4 is the logical procedure diagram of the inventive method；
Fig. 5 is the system block diagram of the inventive method；
Fig. 6 is the structured flowchart for realizing the inventive method；
Fig. 7 is torque when HEAFFSM control systems break down；
Fig. 8 is torque after HEAFFSM control system faults-tolerant controls；
Specific embodiment
With reference to embodiment and Figure of description, the present invention is further illustrated.
The present invention be directed to a kind of composite excitation axial magnetic field flux switch motor fault tolerant control method, the motor includes the
One stator, rotor, the second stator, permanent magnet, armature winding and single-phase central excitation winding in three-phase set, as shown in Figure 1；
First stator, the second stator positioned at the both sides of rotor, have 6 E shapes iron cores, 6 armatures respectively on each stator
Coil, each two armature coil is in sequential series, constitutes threephase armature winding, and the threephase armature winding difference on two stators is sequentially
It is composed in series armature winding in the three-phase set of the A phase, B phase, C phase of whole motor；6 magnet exciting coils, 6 are had on each stator
Magnet exciting coil is concentratred winding, is wound on the tooth in the middle of stator E-coil, and the series connection of order head and the tail connects above-mentioned 6 coils successively
Connect, constitute single-phase central excitation winding；
A permanent magnet is provided between each two E shape iron cores, armature winding is wound in two E shape iron core teeths in three-phase set；
Symmetrical permanent magnet excitation is in opposite direction on first stator, the second stator；Permanent magnet on first stator, the second stator along
Circumferencial direction alternately magnetizes, and the direction of magnetization of adjacent permanent magnet is opposite.
10 teeth are had on rotor, referred to as 10 rotor poles, rotor pole is sector, its shape and stator E-coil
Odontoid is consistent, and rotor pole is uniformly arranged on the excircle of the non-magnetic annulus of rotor, and the axial width of rotor pole is led with non-
The axial width of magnetic annulus is equal, both without permanent magnet or without winding on rotor.
The present invention mutually goes here and there armature winding in three-phase set of the armature winding with the second stator in the three-phase set of the first stator
Connection constitutes three-phase (A, B, C) armature winding of motor, and the Exciting Windings for Transverse Differential Protection of the Exciting Windings for Transverse Differential Protection of the first stator and the second stator is mutual
Motor excitation winding in series.The motor is controlled using three phase inverter bridge and H types circuit.
Fig. 6 is realization composite excitation axial magnetic field flux switch motor fault-tolerant control system structured flowchart of the present invention, the control
System processed by AC power, rectifier, bus capacitor, dsp controller, main power inverter, auxiliary power inverter, sensor,
Hybrid exciting synchronous motor, photoelectric encoder etc. are constituted.
AC power is powered to whole system, by after rectifier rectification, main and auxiliary power conversion is given in filtering, voltage stabilizing
Device, Hall voltage sensor collection busbar voltage, sends into controller after conditioning.The output termination mixing of main and auxiliary power inverter
Excitation magnetic synchronization motor, Hall current transformer collection phase current and exciting current, sends into controller after conditioning, code device signal is adopted
Collection rotating speed and rotor-position signal, send into controller and calculate rotor position angle and rotating speed after treatment.Controller exports 10 road PWM letters
Main, exciting power converter is driven number respectively.
Composite excitation axial magnetic field flux switch motor fault-tolerant control system of the invention, shown in Fig. 6, specifically includes following
Step：
(1) from motor main circuit collection phase current ia、ibWith exciting current if, accurate initial position detection is carried out to motor,
Signal is gathered from motor encoder, feeding controller is processed, and draws rotating speed n and rotor position angle θ；
(2) the phase current i that will be gathereda、ibChanged through signal condition and A/D, then carry out park transforms, obtain two-phase rotation
Turn the d shaft currents i of stator under coordinate systemdWith q shaft currents iq；
(3) by given rotating speed n*Subtract encoder actual measurement rotating speed n, the rotating speed deviation △ n input speed adjusters for obtaining, warp
Torque reference value is obtained after proportional integral computingBy torque reference valueBusbar voltage Udc, stator d shaft currents id, stator q
Shaft current iq, actual measurement rotating speed n and given rotating speed n*Input current distributor, according to phasing current and the phase current for collecting
Difference failure judgement state, i.e., be to phasing currentActual measurement phase current is ik, wherein k is the number of phases, k=a, b, c, then the two is poor
It is worth and isWhen in continuous two detection cycles, △ εkJack per line, then illustrate faulty generation, when composite excitation axial magnetic
When field flux switch motor state is normal, into step (4), when composite excitation axial magnetic field flux switch motor breaks down
When, into step (5)；
(4) surface analysis composite excitation axial magnetic field flux switch motor control system fault-tolerant operation principle under, according to vector
Control principle, in d-q coordinate systems, draws the Mathematical Modeling of composite excitation axial magnetic field flux switch motor.
Three-phase current：
Flux linkage equations：
Voltage equation：
Torque equation：
Wherein, ia、ib、icIt is three phase network electric current, id、iqRespectively stator d axles and q shaft currents, ImIt is phase current magnitude,
ifIt is Exciting Windings for Transverse Differential Protection electric current；Ld、LqRespectively d axles and q axle inductances, MfIt is the mutual inductance between armature and Exciting Windings for Transverse Differential Protection；ω is angular frequency
Rate, ωeIt is angular rate；ψmIt is permanent magnet flux linkage, p is motor number of pole-pairs, ud、uqThe respectively voltage of d axles and q axles, ufTo encourage
Magnetic winding voltage；RsIt is armature winding resistance, RfIt is Exciting Windings for Transverse Differential Protection resistance；ψd、ψq、ψfDifference d axles, q axles and Exciting Windings for Transverse Differential Protection magnetic linkage,It is initial angle.
Using idDuring=0 control strategy, d shaft currents are equal to 0, and following current sharing scheme can be obtained according to formula (4)：
Wherein, idIt is d shaft current reference values, iqIt is q shaft current reference values；ψmIt is permanent magnet flux linkage, p is motor number of pole-pairs,
TeIt is electromagnetic torque reference value；
(5) total magnetomotive force is before composite excitation axial magnetic field flux switch motor control system failure：
Wherein, TMMF is total magnetomotive force, Fa、Fb、FcIt is a, b, c phase magnetomotive force, N is the armature winding number of turn, and α revolves for space
Transposon.
Assuming that there is open circuit in composite excitation axial magnetic field flux switch motor A phases, using exciting current ifCarry out fault-tolerant control
Make, total magnetomotive force is：
Wherein, TMMF' is the total magnetomotive force of faults-tolerant control, F 'b、F′cB, c phase magnetomotive force during for faults-tolerant control, FfIt is excitation
Magnetomotive force；i'b、ic'、ifB, c phase current during for faults-tolerant control, N' is the Exciting Windings for Transverse Differential Protection number of turn.
In order to ensure composite excitation axial magnetic field flux switch motor can fault-tolerant operation, make formula (7) and formula (6) real part and
Imaginary part difference is equal, so as to can obtain：
Can obtain：
Using id=0 control strategy, convolution (4) can obtain following current sharing scheme：
(6) by the d shaft current reference values i produced by distributing switchdrefSubtract the d shaft currents i in step (2)dObtain d
Shaft current deviation △ id, with q shaft current reference values iqrefSubtract the q shaft currents i in step (2)qObtain q shaft current deviation △ iq；
By d shaft current deviation △ idInput d shaft currents adjuster carries out proportional integral computing, obtains d shaft voltages ud, by q shaft current deviations
△iqInput q shaft currents adjuster carries out proportional integral computing, obtains q shaft voltages uq, then to the d shaft voltages udWith q axles electricity
Pressure uqAfter carrying out rotating orthogonal-static two phase inversion jointly, α shaft voltages u under static two phase coordinate system is obtainedαWith β shaft voltages uβ,
By the α shaft voltages uαWith β shaft voltages uβInput pulse width modulation module, computing exports 6 road pulse width modulating signals, drives
Move main power inverter；
Simultaneously by the exciting current i of collection in step (1)f, after being changed through signal condition and A/D and exciting current reference value
ifrefDC excitation pulse width modulation module is sent into together, and computing exports 4 road pulse width modulating signals to drive exciting power to become
Parallel operation.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, some improvement and equivalent can also be made, these are to the present invention
Claim be improved with the technical scheme after equivalent, each fall within protection scope of the present invention.
Claims (3)
1. a kind of composite excitation axial magnetic field flux switch motor fault tolerant control method, it is characterised in that the method includes following
Step：
(1) from motor main circuit collection phase current ia、ibWith exciting current if, initial position detection is carried out to motor, compiled from motor
Signal is gathered on code device, feeding controller is processed, and draws rotating speed n and rotor position angle θ；
(2) the phase current i that will be gathereda、ibThrough follow, filter, bias and A/D change, then carry out park transforms, obtain two-phase
The d shaft currents i of stator under rotating coordinate systemdWith q shaft currents iq；
(3) by given rotating speed n*Subtract encoder actual measurement rotating speed n, the rotating speed deviation △ n input speed adjusters for obtaining, through ratio
Torque reference value is obtained after integral operationBy torque reference valueBusbar voltage Udc, stator d shaft currents id, stator q axles electricity
Stream iq, actual measurement rotating speed n and given rotating speed n*Input current distributor, according to electric current failure judgement state, when composite excitation axial magnetic
When field flux switch motor state is normal, into step (4), when composite excitation axial magnetic field flux switch motor breaks down
When, into step (5)；
(4) i is usedd=0 control strategy, distributing switch is according to following current sharing scheme output current：
Wherein, idrefIt is d shaft current reference values, iqrefIt is q shaft current reference values；ψmIt is permanent magnet flux linkage, p is motor number of pole-pairs,
TerefIt is electromagnetic torque reference value；
(5) faults-tolerant control is carried out using exciting current, continues to keep id=0, distributing switch is defeated according to following current sharing scheme
Go out electric current：
Wherein, ImIt is phase current magnitude, ifrefIt is exciting current reference value, MfIt is the mutual inductance between armature winding and Exciting Windings for Transverse Differential Protection,
N' is the Exciting Windings for Transverse Differential Protection number of turn, and N is the armature winding number of turn；
(6) by the d shaft current reference values i produced by distributing switchdrefSubtract the d shaft currents i in step (2)dObtain d axles electricity
Stream deviation △ id, with q shaft current reference values iqrefSubtract the q shaft currents i in step (2)qObtain q shaft current deviation △ iq；By d
Shaft current deviation △ idInput d shaft currents adjuster carries out proportional integral computing, obtains d shaft voltages ud, by q shaft current deviations △
iqInput q shaft currents adjuster carries out proportional integral computing, obtains q shaft voltages uq, then to the d shaft voltages udWith q shaft voltages
uqAfter carrying out rotating orthogonal-static two phase inversion jointly, α shaft voltages u under static two phase coordinate system is obtainedαWith β shaft voltages uβ, will
The α shaft voltages uαWith β shaft voltages uβInput pulse width modulation module, computing exports 6 road pulse width modulating signals, drives
Main power inverter；
Simultaneously by the exciting current i of collection in step (1)f, referred to exciting current after following, filtering, bias and changed with A/D
Value ifrefDC excitation pulse width modulation module is sent into together, and computing exports 4 road pulse width modulating signals to drive exciting power
Converter.
2. a kind of composite excitation axial magnetic field flux switch motor fault tolerant control method according to claim 1, its feature
It is that the Pulse width modulation module in the step (6) is space vector pulse width modulation module.
3. a kind of composite excitation axial magnetic field flux switch motor fault tolerant control method according to claim 1 and 2, it is special
Levy and be, the specific method of failure judgement state is in the step (3)：According to mutually electric with the actual measurement for collecting to phasing current
The difference failure judgement state of stream, i.e., be to phasing currentActual measurement phase current is ik, wherein k is the number of phases, k=a, b, c, then two
Person's difference isWhen in continuous two detection cycles, △ εkJack per line, then judge that composite excitation axial magnetic field magnetic flux is cut
The faulty generation of motor is changed, otherwise judges that composite excitation axial magnetic field flux switch motor state is normal.
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| JP6483039B2 (en) * | 2016-01-26 | 2019-03-13 | 株式会社日立製作所 | Power converter |
| CN106026815B (en) * | 2016-07-29 | 2018-06-12 | 东南大学 | A kind of axial magnetic field Magneticflux-switching type hybrid permanent-magnet memory electrical machine field weakening control method |
| CN106787977A (en) * | 2016-12-22 | 2017-05-31 | 中国矿业大学 | A kind of synchronous electric motor rotor field circuit with fault-tolerant operation |
| CN106712601B (en) * | 2017-01-25 | 2018-10-02 | 东南大学 | Axial magnetic field magnetic flux based on copper loss minimum switches fault-tolerant motor fault tolerant control method |
| DE102018214864A1 (en) * | 2018-08-31 | 2020-03-05 | Robert Bosch Gmbh | Electrical machine |
| CN111342730B (en) * | 2020-03-09 | 2021-06-11 | 南京理工大学 | Fault-tolerant control method for double-stator staggered hybrid excitation type axial flux switching motor |
| CN113783502A (en) * | 2021-09-06 | 2021-12-10 | 南京理工大学 | Efficient fault-tolerant method for double-stator hybrid excitation type axial flux switching motor |
| CN113777530B (en) * | 2021-09-10 | 2023-07-11 | 华北电力大学（保定） | Open-circuit fault diagnosis method for rotating diode of inner rotor type three-phase brushless exciter |
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| CN102223131A (en) * | 2011-06-17 | 2011-10-19 | 江苏大学 | Drive control method of fault tolerant type magnetic flux switching permanent magnet motor |
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| WO2011139627A1 (en) * | 2010-04-26 | 2011-11-10 | Ramu, Inc. | High power density switched reluctance machines with hybrid excitation |
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| CN102223131A (en) * | 2011-06-17 | 2011-10-19 | 江苏大学 | Drive control method of fault tolerant type magnetic flux switching permanent magnet motor |
| CN102624300A (en) * | 2012-04-06 | 2012-08-01 | 江苏大学 | Harmonic fault-tolerant control method of two-path flux-switching permanent magnet motor |
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