CN105429560A

CN105429560A - A Fault Tolerant Control Method for Axial Flux Switching Permanent Magnet Motor

Info

Publication number: CN105429560A
Application number: CN201510908983.3A
Authority: CN
Inventors: 张蔚; 梁惺彦; 杨奕; 茅靖峰; 包辉慧
Original assignee: Nantong University
Current assignee: Nantong University Technology Transfer Center Co ltd
Priority date: 2015-12-10
Filing date: 2015-12-10
Publication date: 2016-03-23
Anticipated expiration: 2035-12-10
Also published as: CN105429560B

Abstract

The invention discloses a fault-tolerant fault-tolerant control method of an axial flux switching permanent magnet motor, which detects the actual current of each phase winding of the axial flux switching permanent magnet motor, judges whether each phase winding is faulty, and uses i _d = The AFFSPM motor vector control system of 0 makes the stator current and the rotor magnetic field independent of each other; when an open circuit fault occurs, the other normal winding currents in the corresponding fault state are adjusted according to the fault switch state; when a short circuit fault occurs, the current exceeds the limit current and the short circuit is disconnected For the fault phase, the fault-tolerant control strategy under the open circuit fault state is adopted. The invention aims at the structural characteristics of the motor itself, so that the torque output performance of the motor remains unchanged before and after different open circuit faults, provides guarantee for fault-tolerant operation, and makes the axial magnetic flux switching motor have high reliability and high power density.

Description

A Fault Tolerant Control Method for Axial Flux Switching Permanent Magnet Motor

技术领域technical field

本发明涉及一种故障容错控制方法，特别是一种轴向磁通切换永磁电机故障容错控制方法。The invention relates to a fault-tolerant control method, in particular to a fault-tolerant control method for an axial flux switching permanent magnet motor.

背景技术Background technique

随着电机在航空、交通军事等领域的应用范围不断扩大，电机驱动系统的可靠性问题得到了相关领域学者越来越广泛的关注。磁通切换永磁电机(FSPMM)是一种定子永磁无刷电机，由于转子结构简单坚固，具有高功率密度、高转矩密度和高效率等特点，近年来得到了学者的广泛研究。With the continuous expansion of the application range of motors in aviation, transportation and military fields, the reliability of motor drive systems has received more and more attention from scholars in related fields. Flux-switching permanent magnet motor (FSPMM) is a stator permanent magnet brushless motor, which has been extensively studied by scholars in recent years due to its simple and robust rotor structure, high power density, high torque density and high efficiency.

东南大学林明耀教授在此基础上提出了一种轴向磁场磁通切换永磁电机(AFFSPMM)，这种电机转子结构简单，轴向尺寸短，转矩密度高，特别适合直驱电动汽车的驱动电机要求。但是，为了保证故障情况下电动汽车的安全运行，AFFSPM电机的容错性不可忽视。近几年，通过模块化结构设计，优化极对数，添加冗余绕组等方式对磁通切换永磁容错电机的容错性能进行了改进。但关于AFFSPM电机故障状态下的容错控制策略还未被提出。Professor Lin Mingyao of Southeast University proposed an axial field flux switching permanent magnet motor (AFFSPMM) on this basis. This motor has a simple rotor structure, short axial dimension and high torque density, and is especially suitable for direct drive electric vehicles. drive motor requirements. However, in order to ensure the safe operation of electric vehicles under fault conditions, the fault tolerance of AFFSPM motors cannot be ignored. In recent years, the fault-tolerant performance of flux-switched permanent magnet fault-tolerant motors has been improved by means of modular structure design, optimization of pole pairs, and addition of redundant windings. However, the fault-tolerant control strategy for AFFSPM motors under fault conditions has not been proposed yet.

发明内容Contents of the invention

本发明所要解决的技术问题是提供一种轴向磁通切换永磁电机故障容错控制方法。The technical problem to be solved by the present invention is to provide a fault-tolerant control method for an axial flux switching permanent magnet motor.

为解决上述技术问题，本发明所采用的技术方案是：In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

一种轴向磁通切换永磁电机故障容错控制方法，其特征在于：检测轴向磁通切换永磁电机各相绕组实际电流，判断每相绕组是否故障，当正常运行时，采用i_d＝0的AFFSPM电机矢量控制系统，使定子电流与转子磁场相互独立；当断路故障时，根据故障开关状态调节相应故障状态下的其他正常绕组电流；当短路故障时，电流超出极限电流，断开短路故障相，采取断路故障状态下的容错控制策略。A fault-tolerant fault-tolerant control method for an axial flux switching permanent magnet motor, characterized in that: detecting the actual current of each phase winding of the axial flux switching permanent magnet motor, judging whether each phase winding is faulty, and using i _d = The AFFSPM motor vector control system of 0 makes the stator current and the rotor magnetic field independent of each other; when an open circuit fault occurs, the other normal winding currents in the corresponding fault state are adjusted according to the fault switch state; when a short circuit fault occurs, the current exceeds the limit current and the short circuit is disconnected For the fault phase, the fault-tolerant control strategy under the open circuit fault state is adopted.

进一步地，所述断路故障状态下调节两套正常绕组电流的方法,使得故障状态下电机的输出转矩性能基本维持正常运行时转矩性能。Further, the method for adjusting two sets of normal winding currents in the open-circuit fault state enables the output torque performance of the motor in the fault state to basically maintain the torque performance during normal operation.

进一步地，所述断路故障状态下调节电流的方法包括，获得三相AFFSPM电机的实际转速n和转子位置θ_e，将电机的实际转速n与给定转速n^*进行比较，以及对比较信号进行PI调节后获得给定转矩，根据给定转矩获得电枢电流dq轴分量给定值i_d ^*和i_q ^*，对获得的直轴电流给定值i_d ^*和交轴电流给定值i_q ^*通过坐标转换后得到各相绕组电流给定值；Further, the method for adjusting the current in the open circuit fault state includes obtaining the actual speed n and the rotor position θ _e of the three-phase AFFSPM motor, comparing the actual speed n of the motor with a given speed n ^* , and performing a comparison signal After PI adjustment, the given torque is obtained, and the armature current dq axis component given values i _d ^* and i _q ^* are obtained according to the given torque, and the obtained direct axis current given value i _d ^* and quadrature axis current given The value i _q ^* gets the given value of winding current of each phase after coordinate transformation;

正常状态下，AFFSPM电机的三相电流方程：Under normal conditions, the three-phase current equation of the AFFSPM motor:

$\{\begin{matrix} {I I}_{a a 11} = = {I I}_{m m} cos cos ((θ θ)) \\ {I I}_{b b 11} = = {I I}_{m m} cos cos ((θ θ - - 22 π π / / 33)) \\ {I I}_{c c 11} = = {I I}_{m m} cos cos ((θ θ + + 22 π π / / 33)) \\ {I I}_{a a 22} = = {I I}_{m m} cos cos ((θ θ)) \\ {I I}_{b b 22} = = {I I}_{m m} cos cos ((θ θ - - 22 π π / / 33)) \\ {I I}_{c c 22} = = {I I}_{m m} cos cos ((θ θ + + 22 π π / / 33)) \end{matrix} - - - - - - ((11))$

整个磁动势(TMMF)表达式为：The overall magnetomotive force (TMMF) expression is:

TMMF＝MMF_a+MMF^b+MMF_c TMMF＝MMF _a +MMF ^b +MMF _c

(2)(2)

＝NI_a1+αNI_b1+α²NI_c1+NI_a2+αNI_b2+α²NI_c2 =NI _a1 +αNI _b1 +α ² NI _c1 +NI _a2 +αNI _b2 +α ² NI _c2

其中：θ为电角度，I_j1，I_j2(j＝a,b,c)分别表示定子1和定子2中的相电流，I_m为三相电流的幅值，α等于1∠120°；Where: θ is the electrical angle, I _j1 and I _j2 (j=a, b, c) represent the phase currents in stator 1 and stator 2 respectively, _Im is the amplitude of the three-phase current, and α is equal to 1∠120°;

通过dq/abc转换，电流方程可以表示为：Through dq/abc conversion, the current equation can be expressed as:

$\{\begin{matrix} {I I}_{a a 11} = = {I I}_{d d}^{* *} cos cos ((θ θ)) - - {I I}_{q q}^{* *} sin sin ((θ θ)) \\ {I I}_{b b 11} = = {I I}_{d d}^{* *} cos cos ((θ θ - - 22 π π / / 33)) - - {I I}_{q q}^{* *} sin sin ((θ θ - - 22 π π / / 33)) \\ {I I}_{c c 11} = = {I I}_{d d}^{* *} cos cos ((θ θ + + 22 π π / / 33)) {I I}_{q q}^{* *} sin sin ((θ θ + + 22 π π / / 33)) \\ {I I}_{a a 22} = = {I I}_{d d}^{* *} cos cos ((θ θ)) - - {I I}_{q q}^{* *} sin sin ((θ θ)) \\ {I I}_{b b 22} = = {I I}_{d d}^{* *} cos cos ((θ θ - - 22 π π / / 33)) - - {I I}_{q q}^{* *} sin sin ((θ θ - - 22 π π / / 33)) \\ {I I}_{c c 22} = = {I I}_{d d}^{* *} cos cos ((θ θ + + 22 π π / / 33)) {I I}_{q q}^{* *} sin sin ((θ θ + + 22 π π / / 33)) \end{matrix} - - - - - - ((33))$

断路故障判断主要类型：The main types of open circuit fault judgment:

(1)当A1绕组断路时，假设此时正常运行相的电流幅值为I_m'，则相电流的表达式为：(1) When the A1 winding is disconnected, assuming that the current amplitude of the normal operating phase is I _m ', the expression of the phase current is:

$\{\begin{matrix} {I I}_{a a 11} = = 00 \\ {I I}_{b b 11} = = {I I}_{m m}^{' '} cos cos ((θ θ - - 22 π π / / 33 + + α α)) \\ {I I}_{c c 11} = = {I I}_{m m}^{' '} cos cos ((θ θ + + 22 π π / / 33 + + β β)) \\ {I I}_{a a 22} = = {I I}_{m m} cos cos ((θ θ)) \\ {I I}_{b b 22} = = {I I}_{m m} cos cos ((θ θ - - 22 π π / / 33)) \\ {I I}_{c c 22} = = {I I}_{m m} cos cos ((θ θ + + 22 π π / / 33)) \end{matrix} - - - - - - ((44))$

其中，α、β分别是B1、C1相的偏移电角度。将公式(4)带入(2)中，得到：Among them, α and β are the offset electrical angles of the B1 and C1 phases, respectively. Put formula (4) into (2), get:

$\begin{matrix} {TMMF TMMF}^{' '} = = {TMMF TMMF}_{11}^{' '} + + {TMMF TMMF}_{22}^{' '} \\ = = - - {NI NI}_{m m}^{' '} cos cos ((θ θ + + \frac{α α + + β β}{22})) [[- - \frac{11}{22} cos cos ((\frac{α α - - β β}{22})) + + \frac{\sqrt{33}}{22} sin sin ((\frac{α α - - β β}{22}))]] + + \frac{33}{22} {NI NI}_{m m} cos cos ((θ θ)) \\ - - j j \sqrt{33} {NI NI}_{m m}^{' '} sin sin ((θ θ + + \frac{α α + + β β}{22})) [[- - \frac{\sqrt{33}}{22} cos cos ((\frac{α α - - β β}{22})) - - \frac{11}{22} sin sin ((\frac{α α - - β β}{22}))]] + + j j \frac{33}{22} {NI NI}_{m m} sin sin ((θ θ)) \end{matrix} - - - - - - ((55))$

为了保持故障前后的TMMF恒定，必须满足下列条件：In order to keep the TMMF constant before and after the fault, the following conditions must be met:

$\{\begin{matrix} - - {NI NI}_{m m}^{' '} cos cos ((θ θ + + \frac{α α + + β β}{22})) [[- - \frac{11}{22} cos cos ((\frac{α α - - β β}{22})) + + \frac{\sqrt{33}}{22} sin sin ((\frac{α α - - β β}{22}))]] = = \frac{33}{22} {NI NI}_{m m} cos cos ((θ θ)) \\ - - j j \sqrt{33} {NI NI}_{m m}^{' '} sin sin ((θ θ + + \frac{α α + + β β}{22})) [[- - \frac{\sqrt{33}}{22} cos cos ((\frac{α α - - β β}{22})) - - \frac{11}{22} sin sin ((\frac{α α - - β β}{22}))]] = = j j \frac{33}{22} {NI NI}_{m m} sin sin ((θ θ)) \end{matrix} - - - - - - ((66))$

简化成：Simplifies to:

$\{\begin{matrix} α α - - β β = = - - \frac{π π}{33} \\ α α + + β β = = 00 \end{matrix} - - - - - - ((77))$

把公式(7)带入(6)中，可以得到：Put formula (7) into (6), we can get:

${{\begin{matrix} α α = = - - \frac{π π}{66} \\ β β = = \frac{π π}{66} \\ {I I}_{m m}^{' '} = = \sqrt{33} {I I}_{m m} \end{matrix} - - - - - - ((88))$

所以，当A1绕组发生断路故障时，公式(4)可以写成公式(9)，从公式(9)中可以看出，通过改变正常绕组的电流幅值和相位角可以确保磁动势不变；Therefore, when an open circuit fault occurs in the A1 winding, formula (4) can be written as formula (9). It can be seen from formula (9) that the magnetomotive force can be kept unchanged by changing the current amplitude and phase angle of the normal winding;

$\{\begin{matrix} {I I}_{a a 11} = = 00 \\ {I I}_{b b 11} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ - - 55 π π / / 66)) - - {I I}_{q q}^{* *} sin sin ((θ θ - - 55 π π / / 66))]] \\ {I I}_{c c 11} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ + + 55 π π / / 66)) - - {I I}_{q q}^{* *} sin sin ((θ θ + + 55 π π / / 66))]] \\ {I I}_{a a 22} = = {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ)) - - {I I}_{q q}^{* *} sin sin ((θ θ))]] \\ {I I}_{b b 22} = = {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ - - \frac{22 π π}{33})) - - {I I}_{q q}^{* *} sin sin ((θ θ - - \frac{22 π π}{33}))]] \\ {I I}_{c c 22} = = {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ + + \frac{22 π π}{33})) - - {I I}_{q q}^{* *} sin sin ((θ θ + + \frac{22 π π}{33}))]] \end{matrix} - - - - - - ((99))$

若A1绕组正常工作，A2、B1、B2、C1、C2任意一绕组发生断路故障时，容错电流调节公式的推导类似式(4)-(9)；If the A1 winding works normally, when any one of the windings A2, B1, B2, C1, and C2 has an open circuit fault, the derivation of the fault-tolerant current regulation formula is similar to formula (4)-(9);

(2)当A1和B2绕组断路时，为保持电磁转矩不变，此时电机的电流为：(2) When the A1 and B2 windings are disconnected, in order to keep the electromagnetic torque constant, the current of the motor at this time is:

${{\begin{matrix} {I I}_{a a 11} = = 00 \\ {I I}_{b b 11} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ - - 55 π π / / 66)) + + {I I}_{q q}^{* *} sin sin ((θ θ - - 55 π π / / 66))]] \\ {I I}_{c c 11} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ + + 55 π π / / 66)) - - {I I}_{q q}^{* *} sin sin ((θ θ + + 55 π π / / 66))]] \\ {I I}_{a a 22} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ + + \frac{π π}{66})) - - {I I}_{q q}^{* *} sin sin ((θ θ + + \frac{π π}{66}))]] \\ {I I}_{b b 22} = = 00 \\ {I I}_{c c 22} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ + + \frac{π π}{22})) - - {I I}_{q q}^{* *} sin sin ((θ θ + + \frac{π π}{22}))]] \end{matrix} - - - - - - ((1010))$

断开A相、B相、C相任意2相中的任一个定子绕组时，容错电流调节公式的推导类似式(10)；When any one of the stator windings in any two phases of phase A, phase B and phase C is disconnected, the derivation of the fault-tolerant current regulation formula is similar to formula (10);

(3)当A1和A2绕组断路时，为保持电磁转矩不变，此时电机的电流为：(3) When the A1 and A2 windings are disconnected, in order to keep the electromagnetic torque constant, the current of the motor at this time is:

$\{\begin{matrix} {I I}_{a a 11} = = 00 \\ {I I}_{b b 11} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ - - 55 π π / / 66)) + + {I I}_{q q}^{* *} sin sin ((θ θ - - 55 π π / / 66))]] \\ {I I}_{c c 11} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ + + 55 π π / / 66)) - - {I I}_{q q}^{* *} sin sin ((θ θ + + 55 π π / / 66))]] \\ {I I}_{a a 22} = = 00 \\ {I I}_{b b 22} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ - - 55 π π / / 66)) + + {I I}_{q q}^{* *} sin sin ((θ θ - - 55 π π / / 66))]] \\ {I I}_{c c 22} = = \sqrt{33} {I I}_{m m} [[{I I}_{d d}^{* *} cos cos ((θ θ + + 55 π π / / 66)) - - {I I}_{q q}^{* *} sin sin ((θ θ + + 55 π π / / 66))]] \end{matrix} - - - - - - ((1111))$

B相、C相两个定子绕组均发生断路故障时，容错电流调节公式的推导类似式(11)。When both B-phase and C-phase stator windings have open circuit faults, the derivation of the fault-tolerant current regulation formula is similar to formula (11).

进一步地，所述轴向磁通切换永磁电机具有2组电枢绕组，不但提高了电机的输出转矩，而且当一相电枢绕组出现故障时，可以通过协调控制本组正常电枢绕组和另一组电枢绕组电流，实现电机故障下的正常运行。Further, the axial flux switching permanent magnet motor has two sets of armature windings, which not only improves the output torque of the motor, but also can coordinate and control the normal armature windings of this set when a phase of the armature winding fails. and another set of armature winding currents to achieve normal operation under motor faults.

本发明与现有技术相比，具有以下优点和效果：本发明的一种轴向磁通切换永磁电机故障容错控制方法针对这种电机自身结构特点，使得电机不同断路故障前后转矩输出性能基本不变，为容错运行提供保证，使轴向磁场磁通切换电机具有高可靠性、高功率密度。Compared with the prior art, the present invention has the following advantages and effects: A fault-tolerant control method for an axial flux switching permanent magnet motor according to the present invention aims at the structural characteristics of the motor itself, so that the torque output performance of the motor is different before and after the open circuit fault Basically unchanged, it provides guarantee for fault-tolerant operation, so that the axial magnetic flux switching motor has high reliability and high power density.

附图说明Description of drawings

图1是本发明的一种轴向磁通切换永磁电机故障容错控制方法的系统控制框图。Fig. 1 is a system control block diagram of a fault-tolerant control method for an axial flux switching permanent magnet motor according to the present invention.

图2是轴向磁场磁通切换永磁电机的示意图。Fig. 2 is a schematic diagram of an axial field flux switching permanent magnet motor.

图中1-定子1、2-转子、3-转子极、4-定子2、5-电枢绕组、6-中间齿、7-永磁体、8-“E”型铁心、9-定子齿。In the figure 1-stator 1, 2-rotor, 3-rotor pole, 4-stator 2, 5-armature winding, 6-intermediate tooth, 7-permanent magnet, 8-"E" core, 9-stator tooth.

图3是轴向磁场磁通切换永磁电机的绕组示意图。Fig. 3 is a schematic diagram of windings of an axial field flux switching permanent magnet motor.

图4是轴向磁场磁通切换永磁电机正常运行状态下的电流和转矩波形图。Fig. 4 is a current and torque waveform diagram of the axial magnetic flux switching permanent magnet motor in a normal operating state.

图5是轴向磁场磁通切换永磁电机不同断路故障下的转矩波形图。Fig. 5 is a torque waveform diagram of an axial magnetic flux switching permanent magnet motor under different open circuit faults.

图6是轴向磁场磁通切换永磁电机当发生A1绕组断路故障时进行容错控制之后的电流和转矩波形图。Fig. 6 is the current and torque waveform diagram of the axial magnetic flux switching permanent magnet motor after the fault-tolerant control is performed when the A1 winding open circuit fault occurs.

图7是轴向磁场磁通切换永磁电机当发生A1和B2绕组断路故障时进行容错控制之后的电流和转矩波形图。Fig. 7 is the current and torque waveforms of the axial field flux switching permanent magnet motor after fault-tolerant control when A1 and B2 winding open-circuit faults occur.

图8是轴向磁场磁通切换永磁电机当发生A1和A2绕组开路故障时进行容错控制之后的电流和转矩波形图。Fig. 8 is the current and torque waveforms of the axial field flux switching permanent magnet motor after the fault-tolerant control is performed when the A1 and A2 winding open-circuit faults occur.

具体实施方式detailed description

下面通过实施例对本发明作进一步的详细说明，以下实施例是对本发明的解释而本发明并不局限于以下实施例。The present invention will be described in further detail below through examples, and the following examples are explanations of the present invention and the present invention is not limited to the following examples.

本发明的一种轴向磁通切换永磁电机故障容错控制方法，根据检测电流判断故障的类型，从而对控制策略进行选择。正常运行时，采用i_d＝0的矢量控制策略；若绕组发生断路故障，则根据断路故障类型，采取相应容错控制，调节正常绕组的电流；若绕组发生短路故障，则断开该相应绕组，然后采用相应断路故障的容错控制策略。AFFSPM电机具有2组电枢绕组，不但提高了电机的输出转矩，而且当一相电枢绕组出现故障时，可以通过协调控制本组正常电枢绕组和另一组电枢绕组电流，实现电机故障下的正常运行，减少转矩脉动，提高电机运行性能。A fault-tolerant control method for an axial flux switching permanent magnet motor of the present invention judges the type of the fault according to the detected current, so as to select the control strategy. During normal operation, the vector control strategy with i _d = 0 is adopted; if a winding fault occurs, the corresponding fault-tolerant control is adopted according to the type of fault fault to adjust the current of the normal winding; if a short-circuit fault occurs in the winding, the corresponding winding is disconnected, Then adopt the fault-tolerant control strategy corresponding to the open circuit fault. The AFFSPM motor has two sets of armature windings, which not only improves the output torque of the motor, but also can control the current of the normal armature winding of this set and the current of the other set of armature windings by coordinating and controlling the current of the armature winding of one phase to realize the output torque of the motor. Normal operation under fault conditions, reducing torque ripple and improving motor performance.

图1所示的新型轴向磁场磁通切换永磁电机的容错控制系统。包括：获得三相AFFSPM电机的实际转速n和转子位置θ_e；将电机的实际转速n与给定转速n^*进行比较，以及对比较信号进行PI调节后获得给定转矩；根据给定转矩获得电枢电流dq轴分量给定值i_d ^*和i_q ^*；对获得的直轴电流给定值i_d ^*和交轴电流给定值i_q ^*通过坐标转换后得到各相绕组电流给定值；检测三相AFFSPM电机各相绕组实际电流；根据电机的各相绕组电流变化判断任一相绕组是否发生断路或短路故障，如无故障，则选择正常运行下的控制策略；若发生断路故障，则选择容错控制策略，利用不同断路故障状态下相应电流的调节公式得出各相绕组电流给定值；若检测发生短路故障(即电流超出极限值)，则断开该相绕组，采用相应断路故障状态下的电流调节公式得出各相绕组电流给定值。Figure 1 shows the fault-tolerant control system of the new axial field flux switching permanent magnet motor. Including: obtaining the actual speed n and rotor position θ _e of the three-phase AFFSPM motor; comparing the actual speed n of the motor with the given speed n ^* , and performing PI adjustment on the comparison signal to obtain the given torque; according to the given rotational speed Obtain the armature current dq-axis component given value i _d ^* and i _q ^* ; get the winding current of each phase after the obtained direct-axis current given value i _d ^* and quadrature-axis current given value i _q ^* through coordinate transformation Given value; detect the actual current of each phase winding of the three-phase AFFSPM motor; judge whether any phase winding has an open circuit or short circuit fault according to the current change of each phase winding of the motor, if there is no fault, select the control strategy under normal operation; if it occurs If there is an open-circuit fault, choose a fault-tolerant control strategy, and use the adjustment formula of the corresponding current under different open-circuit fault states to obtain the given value of the winding current of each phase; The current given value of each phase winding current is obtained by using the current regulation formula under the corresponding open circuit fault state.

TMMF＝MMF_a+MMF_b+MMF_c TMMF＝MMF _a +MMF _b +MMF _c

＝NI_a1+αNI_b1+α²NI_c1+NI_a2+αNI_b2+α²NI_c2(2)=NI _a1 +αNI _b1 +α ² NI _c1 +NI _a2 +αNI _b2 +α ² NI _c2 (2)

其中：θ为电角度，I_j1，I_j2(j＝a,b,c)分别表示定子1和定子2中的相电流，I_m为三相电流的幅值，α等于1∠120°。Where: θ is the electrical angle, I _j1 and I _j2 (j=a,b,c) represent the phase currents in stator 1 and stator 2 respectively, _Im is the amplitude of the three-phase current, and α is equal to 1∠120°.

断路故障判断主要类型：The main types of open circuit fault judgment:

简化成：Simplifies to:

把公式(7)带入(6)中，可以得到：Put formula (7) into (6), we can get:

$\{\begin{matrix} α α = = - - \frac{π π}{66} \\ β β = = \frac{π π}{66} \\ {I I}_{m m}^{' '} = = \sqrt{33} {I I}_{m m} \end{matrix} - - - - - - ((88))$

所以，当A1绕组发生断路故障时，公式(4)可以写成公式(9)，从公式(9)中可以看出，通过改变正常绕组的电流幅值和相位角可以确保磁动势不变。Therefore, when an open circuit fault occurs in the A1 winding, formula (4) can be written as formula (9). It can be seen from formula (9) that the magnetomotive force can be kept unchanged by changing the current amplitude and phase angle of the normal winding.

若A1绕组正常工作，A2、B1、B2、C1、C2任意一绕组发生断路故障时，容错电流调节公式的推导类似式(4)-(9)。If winding A1 works normally, when any winding fault occurs in A2, B1, B2, C1, C2, the derivation of the fault-tolerant current regulation formula is similar to formula (4)-(9).

(2)当A1和B2绕组断路时，为保持电磁转矩不变，此时电机的电流为：(2) When the A1 and B2 windings are disconnected, in order to keep the electromagnetic torque unchanged, the current of the motor at this time is:

断开A相、B相、C相任意2相中的任一个定子绕组时，容错电流调节公式的推导类似式(10)。When any one of the stator windings in any two phases of phase A, phase B and phase C is disconnected, the derivation of the fault-tolerant current regulation formula is similar to formula (10).

如图2所示，以一台6/14定转子极轴向磁场磁通切换永磁电机为例，该电机是由两个定子和一个转子构成双气隙永磁电机。转子放在两个定子之间。两个定子的结构完全相同，并且关于转子对称。每一个定子由6个“E”型铁心、6个永磁体、6个电枢线圈构成，永磁体放置在两个“E”型铁心中间，沿着圆周方向交替充磁，两个定子相对称的永磁体励磁方向相反；在每个定子中绕置在永磁体和与永磁体相邻的定子齿上的6个绕组为电枢绕组，径向相对的绕组相串联组成一相，依次将6个电枢绕组分成三相。图3中A₁₁和A₁₂串联构成定子1中A相绕组A₁，A₂₁和A₂₂串联构成定子2中A相绕组A₂，A₁和A₂构成AFFSPM电机A相绕组。同理，构成B相、C相绕组。定子1和定子2上分别有1组电枢绕组，不但提高了电机的输出转矩，而且当一相电枢绕组出现故障时，可以通过协调控制本组正常电枢绕组和另一组电枢绕组电流，实现电机故障下的正常运行，减少转矩脉动，提高电机运行性能。As shown in Figure 2, take a 6/14 stator and rotor pole axial field flux switching permanent magnet motor as an example. The motor is a double air gap permanent magnet motor composed of two stators and one rotor. The rotor is placed between the two stators. Both stators are identical in structure and symmetrical about the rotor. Each stator is composed of 6 "E" cores, 6 permanent magnets, and 6 armature coils. The permanent magnets are placed between two "E" cores and magnetized alternately along the circumferential direction. The two stators are symmetrical. The excitation direction of the permanent magnet is opposite; in each stator, the 6 windings wound on the permanent magnet and the stator teeth adjacent to the permanent magnet are armature windings, and the radially opposite windings are connected in series to form a phase, and the 6 windings are sequentially connected to each other. The armature windings are divided into three phases. In Fig. 3, A ₁₁ and A ₁₂ are connected in series to form A-phase winding A ₁ in stator 1, A ₂₁ and A ₂₂ are connected in series to form A-phase winding A ₂ in stator 2, A ₁ and A ₂ form A-phase winding of AFFSPM motor. In the same way, B-phase and C-phase windings are formed. There is a set of armature windings on stator 1 and stator 2 respectively, which not only improves the output torque of the motor, but also can control the normal armature winding of this set and the other set of armature through coordination when a phase armature winding fails. The winding current realizes normal operation under motor failure, reduces torque ripple, and improves motor performance.

按照图1所示AFFSPM电机驱动控制系统，在MATLAB/SIMULINK环境下搭建仿真模型，仿真结果如图3-图7所示。转矩脉动系数的表达式为：According to the AFFSPM motor drive control system shown in Figure 1, the simulation model is built in the MATLAB/SIMULINK environment, and the simulation results are shown in Figure 3-Figure 7. The expression of the torque ripple coefficient is:

${K K}_{T T} = = \frac{{T T}_{m m a a x x} - - {T T}_{min min}}{{T T}_{a a v v}} \times \times 100100 % % - - - - - - ((1212))$

图4所示为AFFSPM电机正常运行状态下的电流和转矩波形图。从图中可以看出：在正常情况下，0.1s后AFFSPM电机稳定运行，相电流的峰值接近1A，且转矩脉动在10％左右。Figure 4 shows the current and torque waveforms of the AFFSPM motor under normal operating conditions. It can be seen from the figure: Under normal circumstances, the AFFSPM motor runs stably after 0.1s, the peak value of the phase current is close to 1A, and the torque ripple is about 10%.

图5为AFFSPM电机不同断路故障下的转矩波形图。从图5(a)中可以看出A₁绕组断路，转矩脉动比正常运行时的转矩脉动有所增大，电机在0.3s后达到稳定运行；图5(b)、(c)显示出：当A₁和B₂绕组同时断路时，转矩脉动系数达到66.7％；而A₁和A₂绕组断路时，转矩脉动系数甚至达到了100％。Fig. 5 is the torque waveform diagram of the AFFSPM motor under different open circuit faults. It can be seen from _Fig . 5(a) that the A1 winding is disconnected, the torque ripple is larger than the torque ripple during normal operation, and the motor reaches stable operation after 0.3s; Fig. 5(b) and (c) show It is shown that when the A1 and B2 _windings are disconnected at the same time, the torque ripple coefficient reaches 66.7% _; and when the A1 and A2 _windings are disconnected, the torque ripple coefficient even reaches ₁₀₀ %.

图6、图7、图8分别为AFFSPM电机A1绕组断路、A1和B2绕组断路、A1和A2绕组断路时进行容错控制之后的电流和转矩波形图；从图6-图8可以看出，不同断路故障下，采用这种容错控制策略不但可以提高电机的自起动性能，而且输出转矩基本维持正常工作时的输出转矩，转矩脉动大大减少。Figure 6, Figure 7, and Figure 8 are the current and torque waveform diagrams after fault-tolerant control when the AFFSPM motor A1 winding is disconnected, the A1 and B2 windings are disconnected, and the A1 and A2 windings are disconnected; it can be seen from Figures 6-8 that, Under different open-circuit faults, the use of this fault-tolerant control strategy can not only improve the self-starting performance of the motor, but also maintain the output torque during normal operation, and the torque ripple is greatly reduced.

本说明书中所描述的以上内容仅仅是对本发明所作的举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种修改或补充或采用类似的方式替代，只要不偏离本发明说明书的内容或者超越本权利要求书所定义的范围，均应属于本发明的保护范围。The above content described in this specification is only an illustration of the present invention. Those skilled in the technical field to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, as long as they do not deviate from the content of the present invention specification or exceed the scope defined in the claims, all should Belong to the protection scope of the present invention.

Claims

1. an axial magnetic flux switch permanent magnet motor failure tolerant control method, is characterized in that: detection axis, to each phase winding actual current of flux switch permanent magnet motor, judges every phase winding whether fault, when normally running, adopts i _dthe AFFSPM motor vector control system of=0, make stator current and rotor field separate; When open circuit fault, according to other the normal winding currents under breakdown switch status adjustment corresponding failure state; When short trouble, electric current goes beyond the limit of electric current, disconnects short trouble phase, takes the faults-tolerant control strategy under open circuit fault state.

2. according to a kind of axial magnetic flux switch permanent magnet motor failure tolerant control method according to claim 1, it is characterized in that: the method regulating the normal winding current of two covers under described open circuit fault state, torque performance when making the output torque performance of motor under malfunction substantially maintain normal operation.

3. according to a kind of axial magnetic flux switch permanent magnet motor failure tolerant control method according to claim 2, it is characterized in that: the method that described open circuit fault state lowers current comprises, obtain actual speed n and the rotor position of three-phase AFFSPM motor _e, by the actual speed n of motor and given rotating speed n ^*compare, and carry out obtaining given torque after PI regulates to comparison signal, obtain armature supply dq axle component set-point i according to given torque _d ^*and i _q ^*, to the direct-axis current set-point i obtained _d ^*with quadrature axis current set-point i _q ^*by obtaining each phase winding given value of current value after Coordinate Conversion;

Under normal condition, the three-phase current equation of AFFSPM motor:

\{\begin{matrix} I_{a 1} = I_{m} \cos (θ) \\ I_{b 1} = I_{m} \cos (θ - 2 π / 3) \\ I_{c 1} = I_{m} \cos (θ + 2 π / 3) \\ I_{a 2} = I_{m} \cos (θ) \\ I_{b 2} = I_{m} \cos (θ - 2 π / 3) \\ I_{c 2} = I_{m} \cos (θ + 2 π / 3) \end{matrix} - - - (1)

Whole magnetomotive force (TMMF) expression formula is:

TMMF＝MMF _a+MMF _b+MMF _c

(2)

＝NI _a1+αNI _b1+α ²NI _c1+NI _a2+αNI _b2+α ²NI _c2

Wherein: θ is electrical degree, I _j1, I _j2(j=a, b, c) represents the phase current in stator 1 and stator 2 respectively, I _mfor the amplitude of three-phase current, α equals 1 ∠ 120 °;

Changed by dq/abc, current equation can be expressed as:

\{\begin{matrix} I_{a 1} = {I_{d}}^{*} \cos (θ) - {I_{q}}^{*} \sin (θ) \\ I_{b 1} = {I_{d}}^{*} \cos (θ - 2 π / 3) - {I_{q}}^{*} \sin (θ - 2 π / 3) \\ I_{c 1} = {I_{d}}^{*} \cos (θ + 2 π / 3) - {I_{q}}^{*} \sin (θ + 2 π / 3) \\ I_{a 2} = {I_{d}}^{*} \cos (θ) - {I_{q}}^{*} \sin (θ) \\ I_{b 2} = {I_{d}}^{*} \cos (θ - 2 π / 3) - {I_{q}}^{*} \sin (θ - 2 π / 3) \\ I_{c 2} = {I_{d}}^{*} \cos (θ + 2 π / 3) - {I_{q}}^{*} \sin (θ + 2 π / 3) \end{matrix} - - - (3)

Open circuit fault judges main Types:

(1) when the open circuit of A1 winding, the current amplitude supposing now normally to run phase is I _m', then the expression formula of phase current is:

\{\begin{matrix} I_{a 1} = 0 \\ I_{b 1} = {I_{m}}^{'} \cos (θ - 2 π / 3 + α) \\ I_{c 1} = {I_{m}}^{'} \cos (θ + 2 π / 3 + β) \\ I_{a 2} = I_{m} \cos (θ) \\ I_{b 2} = I_{m} \cos (θ - 2 π / 3) \\ I_{c 2} = I_{m} \cos (θ + 2 π / 3) \end{matrix} - - - (4)

Wherein, α, β are the skew electrical degree of B1, C1 phase respectively.Formula (4) is brought in (2), obtains:

\begin{matrix} {TMMF}^{'} = {TMMF}_{1}^{'} + {TMMF}_{2}^{'} \\ = - {NI}_{m}^{'} \cos (θ + \frac{α + β}{2}) [- \frac{1}{2} \cos (\frac{α - β}{2}) + \frac{\sqrt{3}}{2} \sin (\frac{α - β}{2})] + \frac{3}{2} {NI}_{m} \cos (θ) \\ - j \sqrt{3} {NI}_{m}^{'} \sin (θ + \frac{α + β}{2}) [- \frac{\sqrt{3}}{2} \cos (\frac{α - β}{2}) - \frac{1}{2} \sin (\frac{α - β}{2})] + j \frac{3}{2} {NI}_{m} \sin (θ) \end{matrix} - - - (5)

In order to keep the TMMF before and after fault constant, following condition must be met:

\{\begin{matrix} - {NI}_{m}^{'} c o s (θ + \frac{α + β}{2}) [- \frac{1}{2} c o s (\frac{α - β}{2}) + \frac{\sqrt{3}}{2} s i n (\frac{α - β}{2})] = \frac{3}{2} {NI}_{m} c o s (θ) \\ - j \sqrt{3} {NI}_{m}^{'} s i n (θ + \frac{α + β}{2}) [- \frac{\sqrt{3}}{2} \cos (\frac{α - β}{2}) - \frac{1}{2} s i n (\frac{α - β}{2})] = j \frac{3}{2} {NI}_{m} s i n (θ) \end{matrix} - - - (6)

Be simplified to:

\{\begin{matrix} α - β = - \frac{π}{3} \\ α + β = 0 \end{matrix} - - - (7)

Formula (7) is brought in (6), can obtain:

\{\begin{matrix} α = - \frac{π}{6} \\ β = \frac{π}{6} \\ {I_{m}}^{'} = \sqrt{3} I_{m} \end{matrix} - - - (8)

So when A1 winding generation open circuit fault, formula (4) can formulate (9), as can be seen from formula (9), can guarantee that magnetomotive force is constant by the current amplitude and phase angle changing normal winding;

\{\begin{matrix} I_{a 1} = 0 \\ I_{b 1} = \sqrt{3} I_{m} [{I_{d}}^{*} c o s (θ - 5 π / 6) - {I_{q}}^{*} s i n (θ - 5 π / 6)] \\ I_{c 1} = \sqrt{3} I_{m} [{I_{d}}^{*} c o s (θ + 5 π / 6) - {I_{q}}^{*} s i n (θ + 5 π / 6)] \\ I_{a 2} = I_{m} [{I_{d}}^{*} c o s (θ) - {I_{q}}^{*} s i n (θ)] \\ I_{b 2} = I_{m} [{I_{d}}^{*} c o s (θ - \frac{2 π}{3}) - {I_{q}}^{*} \sin (θ - \frac{2 π}{3})] \\ I_{c 2} = I_{m} [{I_{d}}^{*} c o s (θ + \frac{2 π}{3}) - {I_{q}}^{*} \sin (θ + \frac{2 π}{3})] \end{matrix} - - - (9)

If A1 winding normally works, during any winding generation open circuit fault of A2, B1, B2, C1, C2, the similar formula of derivation (4)-(9) of fault-tolerant Current adjustment formula;

(2) when the open circuit of A1 and B2 winding, for keeping electromagnetic torque constant, now the electric current of motor is:

\{\begin{matrix} I_{a 1} = 0 \\ I_{b 1} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ - 5 π / 6) + {I_{q}}^{*} \sin (θ - 5 π / 6)] \\ I_{c 1} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ + 5 π / 6) - {I_{q}}^{*} \sin (θ + 5 π / 6)] \\ I_{a 2} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ + \frac{π}{6}) - {I_{q}}^{*} \sin (θ + \frac{π}{6})] \\ I_{b 2} = 0 \\ I_{c 2} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ + \frac{π}{2}) - {I_{q}}^{*} \sin (θ + \frac{π}{2})] \end{matrix} - - - (10)

When disconnecting any one stator winding in A phase, B phase, any 2 phases of C phase, the similar formula of derivation (10) of fault-tolerant Current adjustment formula;

(3) when the open circuit of A1 and A2 winding, for keeping electromagnetic torque constant, now the electric current of motor is:

\{\begin{matrix} I_{a 1} = 0 \\ I_{b 1} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ - 5 π / 6) + {I_{q}}^{*} \sin (θ - 5 π / 6)] \\ I_{c 1} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ + 5 π / 6) - {I_{q}}^{*} \sin (θ + 5 π / 6)] \\ I_{a 2} = 0 \\ I_{b 2} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ - 5 π / 6) + {I_{q}}^{*} \sin (θ - 5 π / 6)] \\ I_{c 2} = \sqrt{3} I_{m} [{I_{d}}^{*} \cos (θ + 5 π / 6) - {I_{q}}^{*} \sin (θ + 5 π / 6)] \end{matrix} - - - (11)

When all there is open circuit fault in B phase, C phase two stator winding, the similar formula of derivation (11) of fault-tolerant Current adjustment formula.

4. according to a kind of axial magnetic flux switch permanent magnet motor failure tolerant control method according to claim 1, it is characterized in that: described axial magnetic flux switch permanent magnet motor has 2 groups of armature winding, not only increase the Driving Torque of motor, and when a phase armature winding breaks down, can originally organize normal armature winding and another group armature winding electric current by cooperation control, realize the normal operation under electrical fault.