CN105119546B - Fault tolerant control method based on asymmetric double three-phase permanent-magnetic synchronous motor unified model - Google Patents
Fault tolerant control method based on asymmetric double three-phase permanent-magnetic synchronous motor unified model Download PDFInfo
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Abstract
The invention discloses a kind of fault tolerant control methods based on asymmetric double three-phase permanent-magnetic synchronous motor unified model.It is an object of the present invention to establish asymmetric double three-phase permanent-magnetic synchronous motor unified model, and based on the decoupling control of the asymmetric double three-phase permanent-magnetic synchronous motor of unified model realization, improve system redundancy.It can not achieve the situation of decoupling control when the present invention is for the asymmetry in the case of the various phase shortages of double three-phase permanent-magnetic synchronous motor and using traditional coordinate transform, establish the unified model in the case of the various phase shortages of double three-phase permanent-magnetic synchronous motor, analyze the coupled relation of voltage equation in the sub- planes of d q, it is proposed 2 rotation transformations, it realizes the decoupling of the sub- planes of d q, the fault tolerant control method with stator copper loss minimum or the minimum target of stator current is proposed based on above analysis.Electromagnetic torque pulsation during double three-phase permanent-magnetic synchronous motor phase-deficient operation, field orientation decoupling control when being truly realized phase-deficient operation can effectively be reduced using the present invention.
Description
Technical field
The invention belongs to Motor Control Field, it is related to a kind of based on asymmetric double three-phase permanent-magnetic synchronous motor unified model
Fault tolerant control method.
Background technology
With the development of Power Electronic Technique and control theory, the advantage of polyphase machine frequency conversion speed-adjusting system is fully sent out
It waves.Compared with conventional three-phase electric system, polyphase machine frequency conversion speed-adjusting system may be used low-voltage device and realize high-power driving,
There is preferable fault-tolerance while torque pulsation is reduced.Its outstanding feature can meet high-power electric transmission system very well,
Such as the particular/special requirement of electric vehicle, space flight and cooling system of nuclear power station etc..Double three-phase permanent-magnetic synchronous motor is polyphase machine
An important branch in system, the advantages of combining multiphase and magneto, be current polyphase machine field research hotspot.
For the polyphase machine governing system of inverter power supply, common failure be by power device or motor stator around
Group open circuit causes the asymmetric operation of multiphase system, is fluctuated so as to cause output torque.Domestic and foreign scholars carry out this
Numerous studies based on the control strategy that total magnetic potential is constant, are obtained by the amplitude for redistributing each phase current after phase shortage with phase
The identical rotating excitation field with before phase shortage maintains motor normal operation, but the current control of the strategy is in a manner that stagnant ring compares,
The inherent defect of current hysteresis-band control makes it difficult to be applied to large-power occasions；The scholars such as Yang Jinbo, Liu Jian use vector space
The modeling method of decoupling establishes asymmetric double three-phase permanent-magnetic according to lower four kinds different center line connection modes of malfunction and synchronizes
The mathematical model of motor, and control strategy in the case of four kinds is derived, but only analyze a phase and phase to phase fault situation with this,
Other situations are also needed to reanalyse, without versatility.Each phase current can in the case of independent control,
R.Alcharea etc. establishes the uniform mathematical model of asymmetric double three-phase induction motors based on space vector decoupling, and is carried with this
Corresponding vector control strategy is gone out, but above analysis does not synchronize electricity based on double three-phase induction motors to double three-phase permanent-magnetic
Machine carries out detailed analysis.Therefore, in the research of double three-phase permanent-magnetic motor fault-tolerant, it is quite necessary to establish d, q coordinate system lower pair three
Unified model in the case of the various phase shortages of phase permanent magnet synchronous motor is introduced into 2 rotation transformations and solves voltage equation in d-q planes
Not decoupling problem.And corresponding vector control method is derived with this, electromagnetic torque pulsation is reduced, realizes asymmetric double three-phases forever
The decoupling control of magnetic-synchro motor.
Invention content
It is an object of the invention to be directed to existing double three-phase permanent-magnetic synchronous motor (DTP-PMSM) fault tolerant control method not have
There is versatility, a kind of fault tolerant control method based on asymmetric double three-phase permanent-magnetic synchronous motor unified model is provided.
The purpose of the present invention is achieved through the following technical solutions：One kind synchronizes electricity based on asymmetric double three-phase permanent-magnetic
The fault tolerant control method of machine unified model, it is described for the asymmetry in the case of the various phase shortages of double three-phase permanent-magnetic synchronous motor
Asymmetric double three-phase permanent-magnetic synchronous motor is made of two sets of conventional three-phase windings ABC and DEF, and it is the connection of Y types often to cover winding,
Spatially 120 ° of mutual deviation, the angle that two sets of three-phase windings are corresponded between phase are 30 ° to corresponding internal winding, two sets of Y shape windings
Neutral point be connected and be connected on the midpoint potential of busbar voltage, each phase current is mutual indepedent；This method includes the following steps：
(1) asymmetric double three-phase permanent-magnetic synchronous motor unified model, unified model such as following formula institute are established in the sub- plane of d, q
Show：
U in formulad、Uq、id、iqRespectively d shaft voltages, q shaft voltages, d current components, q current components；Rs, Lms be respectively fixed
Sub- resistance, mutual inductance；ψfFor motor permanent magnet magnetic linkage amplitude；θsFor motor rotor position signal；ω is motor speed；||α||、||β
| | it is respectively the norm of vector [α], [β]；P is differential operator d/dt；
Wherein vector [α], [β] are determined according to following principle：
Remove respective items and the selection in [α 1], [β 1] vector according to disconnected phase situationCause [α] [β]T=0, it obtains
[α]、[β]。
In formula(i=A ..., F) represent stator current phase angle；
(2) controlling party with stator copper loss minimum or the minimum target of stator current amplitude is proposed based on more than unified model
Method includes the following steps：
(2.1) when F phase phase shortages, current sensor acquisition stator side ABCDE phase winding electric currents i is utilizedsABCDE, utilize list
Phase voltage sensor acquisition DC bus-bar voltage signal Vdc；
(2.2) rotor rotational pulse signal is acquired using incremental photoelectric encoder, and passes through the QEP resume modules of DSP,
The rotor-position signal θ of motor is calculatedsWith motor speed ωr；
(2.3) stator current isABCDEIt is converted by static coordinate, obtains the sub- flat stator electric current i of alpha-betasαAnd isβ, z1-
The sub- flat stator electric current i of z2-z3sz1、isz2And isz3, as shown in formula (3)；
Static coordinate transformation matrix [T in formulac] as follows：
(2.4) pass through rotation transformation [T2s2r], by the sub- flat stator electric current i of alpha-betasαAnd isβIt transforms under synchronous coordinate system
D, q shaft currents isdAnd isq, shown in calculation formula such as formula (5)；
In formula, θsRotor-position signal for motor；
(2.5) motor speed set-point is setMotor speed set-pointThe motor speed obtained with step 2.2
ωrSubtraction obtains speed error signal delta ωr, i.e.,By speed error signal delta ωrIt is sent into and turns
Fast pi regulator is adjusted, and obtains reference current signal
(2.7) by current error signal Δ isdWith Δ isqIt is respectively fed to electric current PI controllers to be adjusted, obtain with reference to electricity
Press signal v* mAnd v* n；
(2.8) by reference voltage v* mAnd v* nIt is sent into secondary rotating transformation M (θs), obtain reference voltage signalWith
(2.9) according to the i of different control targes sub- plane to z1-z2-z3sz1、isz2、isz3It is adjusted, obtains z1-
The sub- plane voltage reference signals of z2-z3With
(2.10) d, q axis reference voltage under the synchronous coordinate system for obtaining step 2.8WithMake anti-synchronous coordinate to become
It changes, obtains the voltage reference signal under two-phase stationary coordinate systemWithI.e.：
(2.11) voltage reference signal for respectively obtaining step 2.10 and step 2.9
WithIt is sent to static coordinate inverse transformation [Tc]-1, you can generate required pulse signal SABCAnd SDEF, by pulse signal into
Row processing, for driving the device for power switching of double three-phase permanent-magnetic synchronous motor；Switching device can be IGBT, but be not limited to
This；
(12) for other phase shortage situations, asymmetric double three-phase permanent-magnetic synchronous motor can be realized according to step 2.1-2.11
Faults-tolerant control.
Further, the step 2.9 includes following sub-step：
If the given value of current of z1-z2-z3 subspaces is set as zero, i.e., by (2.9.1) with the minimum control targe of stator copper loss
isz1 *=isz2 *=isz3 *=0；If with the minimum control targe of stator current amplitude, z1-z2-z3 subspaces must have electric current injection,
The expression formula of each phase current is calculated based on total magnetic potential invariance principle, then each phase current expression formula is multiplied by static coordinate transformation square
Battle array [Tc] obtain the reference current i of corresponding z1-z2-z3 subspacessz1 *、isz2 *And isz3 *；
The current error signal Δ i that (2.9.3) is obtained step 2.9.2sz1、Δisz2With Δ isz3It is respectively fed to PI tune
Section device is adjusted, and obtains the sub- plane voltage reference signals of z1-z2-z3With
Compared with prior art, the present invention advantage is：The present invention proposes double three-phase permanent-magnetic in d-q planes
Unified model in the case of the various phase shortages of synchronous motor introduces 2 rotation transformations on this basis, realizes d-q plane voltages
Non trivial solution coupling.Fault tolerant control method with stator copper loss minimum or the minimum target of stator current is proposed based on unified model,
It can realize the decoupling control of asymmetric motor, efficiently reduce the pulsation of electromagnetic torque under failure, stablize motor speed, so as to real
The faults-tolerant control of existing double three-phase permanent-magnetic synchronous motor greatly improves the reliability of double three-phase permanent-magnetic synchronous motor system.
Description of the drawings
Fig. 1 is double three-phase permanent-magnetic synchronous motor structure figure；
Fig. 2 is double three-phase permanent-magnetic Synchromous machine drive system hardware chart；
Fig. 3 is double three-phase permanent-magnetic synchronous motor vector controlled block diagram；
Fig. 4 for double three-phase permanent-magnetic synchronous motor F phases break mutually normal vector controlled when five phase current waveform figures；
Fig. 5 for double three-phase permanent-magnetic synchronous motor F phases break mutually normal vector controlled when electromagnetic torque figure；
Fig. 6 for double three-phase permanent-magnetic synchronous motor F phases break mutually normal vector controlled when speed diagram；
Five phase currents when Fig. 7 is double three-phase permanent-magnetic synchronous motor F phases disconnected phase control targe minimum with stator current amplitude
Oscillogram；
Electromagnetic torque when Fig. 8 is double three-phase permanent-magnetic synchronous motor F phases disconnected phase control targe minimum with stator current amplitude
Figure；
Speed diagram when Fig. 9 is double three-phase permanent-magnetic synchronous motor F phases disconnected phase control targe minimum with stator current amplitude.
Specific embodiment
Below according to attached drawing, the present invention will be described in detail, and the objects and effects of the present invention will be more apparent.
Fig. 1 is the structure chart of double three-phase permanent-magnetic synchronous motor.Stator winding is can be seen that by two from the distribution of stator winding
Conventional three-phase windings ABC and the DEF composition of set, it is all the connection of Y types often to cover winding, corresponding internal winding spatially mutual deviation
120 °, and the angle that two sets of three-phase windings are corresponded between phase is 30 °.Therefore from the design of hardware circuit, double three-phase permanent-magnetic
Synchronous motor is a six-phase system, in order to which stator magnetic linkage and permanent magnet flux linkage is made to interact and generate constant electromagnetic torque, often
It covers the phase winding current phase in Y shape winding and differs 120 °, corresponding phase current phase differs 30 ° between Y shape winding.Do not lose one
As property, the present invention using F phases phase shortage as research object, illustrate based on the fault-tolerant of asymmetric double three-phase permanent-magnetic synchronous motor unified model
Control method, for being provided in a tabular form behind other phase shortage situations.As shown in Fig. 2, in the present invention in two sets of Y shape windings
Property point N and N’It links together and is connected on busbar voltage midpoint potential, each phase current is mutual indepedent.Double three-phase machine system
It is powered using voltage source inverter, driving main circuit is formed in parallel by two groups of three-phase system driving circuit common DC bus, wherein 5
5 mutually independent electric currents are flowed through in phase stator winding.
With reference to Fig. 3, based on the fault tolerant control method of asymmetric double three-phase permanent-magnetic synchronous motor unified model, the asymmetry
Double three-phase permanent-magnetic synchronous motor is made of two sets of conventional three-phase windings ABC and DEF, and it is the connection of Y types often to cover winding, accordingly
Spatially 120 ° of mutual deviation, the angle that two sets of three-phase windings are corresponded between phase are 30 ° to internal winding, the neutrality of two sets of Y shape windings
Point is connected and is connected on busbar voltage midpoint potential, and each phase current is mutual indepedent；This method includes the following steps：
(1) asymmetric double three-phase permanent-magnetic synchronous motor unified model, unified model such as following formula institute are established in the sub- plane of d, q
Show：
U in formulad、Uq、id、iqRespectively d, q shaft voltage, current component；Rs, Lms be respectively stator resistance, mutual inductance；ψfFor
Motor permanent magnet magnetic linkage amplitude；θsFor motor rotor position signal；ω is motor speed；| | α | |, | | β | | it is respectively vector
The norm of [α], [β]；P is differential operator d/dt；
Wherein vector [α], [β] are determined according to following principle：
Remove respective items and the selection in [α 1], [β 1] vector according to disconnected phase situationCause [α] [β]T=0, it obtains
[α]、[β]。
In formula(i=A ..., F) represent stator current phase angle；
(2) it is proposed based on the unified model that step 1 is established with stator copper loss minimum or the minimum target of stator current amplitude
Control method, include the following steps：
(2.1) when F phase phase shortages, current sensor acquisition stator side ABCDE phase winding electric currents i is utilizedsABCDE, utilize list
Phase voltage sensor acquisition DC bus-bar voltage signal Vdc；
(2.2) rotor rotational pulse signal is acquired using incremental photoelectric encoder, and passes through the QEP resume modules of DSP,
The rotor-position signal θ of motor is calculatedsWith motor speed ωr；
(2.3) stator current isABCDEIt is converted by static coordinate, obtains the sub- flat stator electric current i of alpha-betasαAnd isβ, z1-
The sub- flat stator electric current i of z2-z3sz1、isz2And isz3, as shown in formula (3)；
Static coordinate transformation matrix [T in formulac] as follows：
1/3 is mainly corresponding with amplitude constraint independent of time transformation matrix during motor normal operation in formula, by the electricity before and after phase shortage
Magnetic torque expression formula is united；
Static coordinate transformation matrix [Tc] derivation is as follows：
The respective items removed in lower column vector according to disconnected phase situation obtain [α], [β]：
In formulaRepresent stator current phase angle, i=A ..., F；
In order to meet [α] [β]T=0, it is necessary to meet following formula：
Wherein j represents remaining phase；By taking F phases break phase as an example, j=A ... E are acquired
In order to which up conversion matrix is expressed as orthogonal matrix, artificially increase by three zero-sequence components for not being related to energy conversion,
Since the neutral point of double winding is not isolated and is connected on the neutral point of busbar voltage, between each phase current independently of each other, institute
It can be acquired by the following method with their corresponding orthogonal transformation vector z1, z2, z3：
It is apparent from [z1]-[z2]-[z3] and also represents [Tc] kernel basic course laboratory, therefore pass through Matlab's " null " letters
Number is readily available.Have for the double three-phase permanent-magnetic synchronous motor of the disconnected phase of F phases：
1/3 is mainly corresponding with amplitude constraint independent of time transformation matrix during motor normal operation in formula, by the electricity before and after phase shortage
Magnetic torque expression formula is united.
For other disconnected phase situations, can according to the method described above, remove the respective items in [α 1], [β 1] vector obtain [α],
[β] acquires corresponding z vectors, forms corresponding static coordinate transformation [Tc].It should be noted that electricity after static coordinate transformation
Variable number and remaining phase number of phases N in pressure, current phasor is identical (2≤N≤5), and motor is only left two-phase under extreme case, at this time
Voltage, electric current will be not present the component of the sub- planes of z, only i after static coordinate convertssα、isβ。
(2.4) pass through rotation transformation [T2s2r], by the sub- flat stator electric current i of alpha-betasαAnd isβIt transforms under synchronous coordinate system
D, q shaft currents isdAnd isq, shown in calculation formula such as formula (10)；
In formula, θsRotor-position signal for motor；
(2.5) motor speed set-point is setMotor speed set-pointThe motor speed obtained with step 2.2
ωrSubtraction obtains speed error signal delta ωr, i.e.,By speed error signal delta ωrIt is sent into and turns
Fast pi regulator is adjusted, and obtains reference current signal
(2.7) by current error signal Δ isdWith Δ isqIt is respectively fed to electric current PI controllers to be adjusted, obtain with reference to electricity
Press signal v* mAnd v* n；Wherein, the design of electric current PI controllers is identical with rotating speed PI controllers；
(2.8) by reference voltage v* mAnd v* nIt is sent into secondary rotating transformation M (θs), obtain reference voltage signalWith
In formula | | α | |, | | β | | represent vector α, the norm of β, for the disconnected phase of F phases | | α | |2=3, | | β | |2=2.
Carry out secondary rotating transformation M (θs) foundation it is as follows：
Stator voltage and flux linkage equations can be written as form whether no matter double three-phase permanent-magnetic synchronous motor breaks mutually：
[u in formulas]、[is] and [ψs] it is phase voltage, phase current and phase flux linkage vector；[Rs]、[Lss] and [F (θr)] it is electric
Resistance, inductance and linkage coefficient matrix；ψfFor permanent magnet flux linkage amplitude；P is differential operator d/dt；
By transformation matrix [Tc]、[Tc]-1Apply to formula (12) motor stator voltage and flux linkage equations：
Obtain the double three-phase permanent-magnetic Synchronous Machine Models under the sub- plane of alpha-beta：
U in formulasα、usβ、isα、isβ、ψα、ψβ、Lsα、LsβRespectively α, β axis stator voltage, electric current, magnetic linkage and inductive component；
Lls、LmsFor stator leakage inductance and mutual inductance；
The sub- planes of z1-z2-z3：
U in formulasz1、usz2、usz3Respectively z1, z2, z3 axis stator voltage；isz1、isz2、isz3Respectively z1, z2, z3 axis is determined
Electron current；
Lls ignores the influence of Lls to simplify problem, tradition is rotated much smaller than Lms and resistance Rs under the sub- plane of alpha-beta
Convert [T2s2r] and its inverse transformation [T2r2s] apply to α and can obtain motor equation under the sub- plane of d, q for equation under sub- plane：
As can be seen from the above equation：D, there is stronger couplings between q paraxial equations, are unfavorable for controller design, in equation
Both sides are the same as the inverse matrix M for being multiplied by M (θ)‐1(θ) introduces new control variable Um, Un, reduces the influence of coupling；It can obtain
From formula (16), (17) it is found that no matter which kind of disconnected phase situation can be corresponding by asking for | | α | |, | | β | |2It is worth
To corresponding motor model；It, just can be with by rotation transformation twice simultaneously it is also seen that after there is a phase or multiphase failure
Obtain full decoupled voltage equation.
So reference voltage signal v that step 2.7 obtains* mAnd v* nIt also needs to convert thereof into reference voltage signalWith
It can just apply on motor, i.e.,：
(2.9) according to the i of different control targes sub- plane to z1-z2-z3sz1、isz2、isz3It is adjusted, obtains z1-
The sub- plane voltage Setting signals of z2-z3, are as follows：
The current error signal Δ i that (2.9.3) is obtained step 2.9.2sz1、Δisz2With Δ isz3It is respectively fed to PI tune
Section device is adjusted, and obtains the sub- plane voltage reference signals of z1-z2-z3With
(2.10) d, q axis reference voltage under the synchronous coordinate system for obtaining step 2.8WithMake anti-synchronous coordinate to become
It changes, obtains the voltage reference signal under two-phase stationary coordinate systemWithI.e.：
(2.11) voltage reference signal for respectively obtaining step 2.10 and step 2.9.3
WithIt is sent to static coordinate inverse transformation [Tc]-1, you can generate required pulse signal SABCAnd SDEF, by pulse signal into
Row processing, for driving the device for power switching of double three-phase permanent-magnetic synchronous motor.Switching device can be IGBT, but be not limited to
This.
(2.12) it can be seen that the parameter L under the sub- plane of alpha-beta from formula (14), (15)sα、LsβWith static transformation matrix [Tc] breath
Manner of breathing closes, and the parameter R under the sub- planes of z1-z2-z3s、LlsWith static transformation matrix [Tc] unrelated.So for other phase shortage feelings
Condition is referred to formula (5)-(9) method and obtains corresponding Lsα、Lsβ, and realize asymmetric double three-phases forever according to step 2.1-2.11
The faults-tolerant control of magnetic-synchro motor.Table 1 lists the parameter of electric machine in the case of other phase shortages.
The parameter of electric machine under 1 failure of table
The control effect that the present invention is carried out with the research of the double three-phase permanent-magnetic synchronous motor of a 2kW is analyzed.Dc bus
Voltage 100V, electric motor load torque 10N.m, system given rotating speed 150r/min (corresponding motor electromagnetic component fundamental frequencies
For 7.5Hz), the number of pole-pairs of motor is 3.Advantages of the present invention will be shown by comparative analysis simulation result.
Fig. 4-6 is without any processing after opening a way for F phases, that is, still control method before under normal circumstances is used to obtain
Stator side electric current, electromagnetic torque and speed waveform is set forth in figure in the simulation result arrived, it can be seen from the figure that when F phases
After disconnected phase, there is Severe distortion in current waveform, and the pulsation of two frequencys multiplication occurs in output torque, and motor speed waveform also occurs
Pulsation, strong influence is produced to the runnability of motor.This illustrates that normal current sharing scheme is uncomfortable in phase shortage
With.
Fig. 7-9 is the control method obtained based on motor unified model, while with stator current amplitude minimum mesh in order to control
Obtained simulation result is marked, it can be seen from the figure that current waveform keeps sinusoidal, torque pulsation substantially reduces, motor speed base
Originally it remains unchanged, compared with not using the result of fault-tolerant control algorithm before, is effectively improved the control performance of motor.
The present invention proposes the unified model in the case of the various phase shortages of double three-phase permanent-magnetic synchronous motor, introduces on this basis
The decoupling of d-q plane voltage equations is realized in 2 rotation transformations.And the control method proposed with this can realize asymmetric motor
Decoupling control, efficiently reduce the pulsation of electromagnetic torque under failure, stablize motor speed, synchronized so as to fulfill double three-phase permanent-magnetic
The faults-tolerant control of motor greatly improves the reliability of double three-phase permanent-magnetic synchronous motor system.
Claims (2)
1. a kind of fault tolerant control method based on asymmetric double three-phase permanent-magnetic synchronous motor unified model, this method is directed to double three-phases
Asymmetry in the case of the various phase shortages of permanent magnet synchronous motor, it is described asymmetry double three-phase permanent-magnetic synchronous motor by two sets routine
Three-phase windings ABC and DEF are formed, and it is the connection of Y types often to cover winding, corresponding internal winding spatially 120 ° of mutual deviation, two sets
The angle that three-phase windings correspond between phase is 30 °, the neutral point of two sets of Y shape windings be connected and be connected to busbar voltage midpoint electricity
On position, each phase current is mutual indepedent；It is characterized in that, this method includes the following steps：
(1) asymmetric double three-phase permanent-magnetic synchronous motor unified model is established in the sub- plane of d, q, unified model is shown below：
U in formulad、Uq、id、iqRespectively d shaft voltages, q shaft voltages, d current components, q current components；Rs, Lms be respectively stator electricity
Resistance, mutual inductance；ψfFor motor permanent magnet magnetic linkage amplitude；θsFor motor rotor position signal；ω is motor speed；| | α | |, | | β | | point
Not Wei vector [α], [β] norm；P is differential operator d/dt；
Wherein vector [α], [β] are determined according to following principle：
Remove respective items and the selection in [α 1], [β 1] vector according to disconnected phase situationCause [α] [β]T=0, obtain [α], [β]；
In formulaRepresent stator current phase angle；
(2) unified model established based on step (1), with the control of stator copper loss minimum or the minimum target of stator current amplitude
Method includes the following steps：
(2.1) when F phase phase shortages, current sensor acquisition stator side ABCDE phase winding electric currents i is utilizedsABCDE, utilize single-phase electricity
Pressure sensor acquisition DC bus-bar voltage signal Vdc；
(2.2) rotor rotational pulse signal is acquired using incremental photoelectric encoder, and by the QEP resume modules of DSP, calculated
Obtain the rotor-position signal θ of motorsWith motor speed ωr；
(2.3) stator current isABCDEIt is converted by static coordinate, obtains the sub- flat stator electric current i of alpha-betasαAnd isβ, z1-z2-z3
Flat stator electric current isz1、isz2And isz3, as shown in formula (3)；
Static coordinate transformation matrix [T in formulac] as follows：
(2.4) pass through rotation transformation [T2s2r], by the sub- flat stator electric current i of alpha-betasαAnd isβTransform to d, q under synchronous coordinate system
Shaft current isdAnd isq, shown in calculation formula such as formula (5)；
In formula, θsRotor-position signal for motor；
(2.5) motor speed set-point is setMotor speed set-pointThe motor speed ω obtained with step (2.2)rMake
Subtraction obtains speed error signal delta ωr, i.e.,By speed error signal delta ωrIt is sent into rotating speed PI tune
Section device is adjusted, and obtains reference current signal
(2.6) by d shaft current set-points0 is set as, i.e.,It willThe d shaft currents i obtained with step (2.4)sdIt subtracts
Operation obtains d shaft current error signal Δs isd, i.e.,The q axis reference current signals that step (2.5) is obtainedThe q shaft currents i obtained with step (4)sqSubtraction obtains q shaft current error signal Δs isq, i.e.,
(2.7) by current error signal Δ isdWith Δ isqIt is respectively fed to electric current PI controllers to be adjusted, obtains reference voltage letter
Number v* mAnd v* n；
(2.8) by reference voltage v* mAnd v* nIt is sent into secondary rotating transformation M (θs), obtain reference voltage signalWith
(2.9) according to different control targes to z1-z2-z3 plane isz1、isz2、isz3It is adjusted, obtains z1-z2-z3
Plane voltage reference signalWith
(2.10) d, q axis reference voltage under the synchronous coordinate system for obtaining step (2.8)WithMake anti-Synchronous Reference Frame Transform,
Obtain the voltage reference signal under two-phase stationary coordinate systemWithI.e.：
(2.11) voltage reference signal for respectively obtaining step (2.10) and step (2.9) WithIt is sent to static coordinate inverse transformation [Tc]-1, you can generate required pulse signal SABCAnd SDEF, pulse signal is carried out
Processing, for driving the device for power switching of double three-phase permanent-magnetic synchronous motor；
For other phase shortage situations, the appearance of asymmetric double three-phase permanent-magnetic synchronous motor can be realized according to step (2.1)-(2.11)
Mistake control.
2. a kind of faults-tolerant control side based on asymmetric double three-phase permanent-magnetic synchronous motor unified model according to claim 1
Method, which is characterized in that the step (2.9) specifically includes following sub-step：
If the given value of current of z1-z2-z3 subspaces is set as zero, i.e. i by (2.9.1) with the minimum control targe of stator copper losssz1 *
=isz2 *=isz3 *=0；If with the minimum control targe of stator current amplitude, z1-z2-z3 subspaces must have electric current injection, be based on
Total magnetic potential invariance principle calculates the expression formula of each phase current, then each phase current expression formula is multiplied by static coordinate transformation matrix
[Tc] obtain the reference current i of corresponding z1-z2-z3 subspacessz1 *、isz2 *And isz3 *；
The i that (2.9.2) obtains step (2.9.1)sz1 *、isz2 *And isz3 *The i obtained with step (2.4)sz1、isz2And isz3Subtracted respectively
Method operation obtains z1-z2-z3 shaft current error signal Δs isz1、Δisz2With Δ isz3, i.e.,
With
The current error signal Δ i that (2.9.3) is obtained step (2.9.2)sz1、Δisz2With Δ isz3It is respectively fed to PI adjustings
Device is adjusted, and obtains the sub- plane voltage reference signals of z1-z2-z3With
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| CN106487308B (en) * | 2016-11-04 | 2019-02-22 | 福州大学 | Series electric motor drive system, which inputs, lacks a phase error-tolerance type Direct Torque Control |
| CN108279381B (en) * | 2018-04-08 | 2020-04-10 | 沈阳工业大学 | Fault diagnosis method for double three-phase permanent magnet synchronous motor driving system |
| CN108900138B (en) * | 2018-06-26 | 2021-07-09 | 湖南大学 | Method for constructing coordinate transformation matrix under phase-loss fault of multi-phase motor |
| CN108988713B (en) * | 2018-09-14 | 2019-07-05 | 上海寰晟电力能源科技有限公司 | Double three-phase PMSG multiphase open-circuit fault error-tolerant operation control methods and system |
| CN109921708B (en) * | 2019-02-01 | 2020-08-28 | 浙江大学 | Stator winding unbalanced power control method based on double three-phase permanent magnet motor distributed torque adjustment |
| CN110752796B (en) * | 2019-12-25 | 2020-04-14 | 浙江大学 | Control method of permanent magnet motor |
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| CN104184380A (en) * | 2014-09-18 | 2014-12-03 | 福州大学 | One-phase-failure fault-tolerant torque control method of 60-degree offset six-phase permanent magnet synchronous motor |
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