CN105915122B - Five-phase inverter dual motors system fault tolerant control method based on Direct Torque Control - Google Patents
Five-phase inverter dual motors system fault tolerant control method based on Direct Torque Control Download PDFInfo
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- CN105915122B CN105915122B CN201610412823.4A CN201610412823A CN105915122B CN 105915122 B CN105915122 B CN 105915122B CN 201610412823 A CN201610412823 A CN 201610412823A CN 105915122 B CN105915122 B CN 105915122B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
Abstract
The invention discloses a kind of Five-phase inverter dual motors system fault tolerant control method based on Direct Torque Control, includes the following steps：Two motors respectively required phase on off state is acquired using Direct Torque Control；By 4 independent phase on off states directly as 4 independent bridge arm on off states；Define weighting function, public bridge arm on off state is selected according to the size of weighting function value from two phase on off states, in conjunction with the on off state of the 4 independent bridge arms directly obtained, the on off state of 5 bridge arms of Five-phase inverter can be obtained, and then controls Five-phase inverter and drives two 3 phase motors.Fault tolerant control method of the present invention has many advantages, such as that at low cost, reliability is high, simple and practicable.
Description
Technical field
The present invention is a kind of Five-phase inverter dual motors system fault tolerant control method based on Direct Torque Control, belongs to electricity
Machine drives and control technology field.
Background technology
Due to having many advantages, such as high efficiency, high torque density, high power density, permanent magnet synchronous motor (PMSM) was standby in recent years
It is concerned.In PMSM Drive System, inverter is particularly critical, and a general three phase electric machine is by a three-phase inversion
Device drives.It is reported that in the institute of motor driven systems is faulty, power electronic devices failure proportion is more than 50%.One
Denier power electronic devices failure, permanent magnet motor traction system will be badly damaged.
So far, a variety of inverter fault-tolerant networks have been proposed in academia, and still, most of fault-tolerant networks are all needles
To single motor system, and many occasions need multi-motors drive system, such as rail traffic and electric vehicle.In recent years, state
There is scholar to propose a kind of Five-phase inverter dual motors system outside, specifically, being exactly to control two with a Five-phase inverter
Three phase electric machine, fewer than a normal two three-phase inverters phase bridge arm.Five-phase inverter dual motors system is multi-motor driving system
System provides a kind of fault-tolerant networks：In multi-motors drive system, when the single-phase bridge arm of a three-phase inverter breaks down,
Failure can be mutually incorporated to a bridge arm of another normal three-phase inverter, to form Five-phase inverter dual motors system.
The present invention proposes a kind of fault tolerant control method based on Direct Torque Control for Five-phase inverter dual motors system.Currently,
It can substantially be divided into following three classes for the fault tolerant control method of Five-phase inverter dual motors system：
1. the Five-phase inverter dual motors system fault tolerant control method based on Model Predictive Control.
This kind of method predicts the function and effect of multiple voltage vectors using model prediction, defines the loss function,
Using the voltage vector of loss function value minimum as optimal voltage vector, motor is applied in next cycle.Such methods have
Have the advantages that theoretical property is strong, still, disadvantage is right it is also obvious that model prediction method will predict multiple voltage vectors
There are 32 kinds of combinations in 5 bridge arm system most originals, there are 8 kinds at least at present after simplifying, a large amount of calculate causes switching frequency relatively low,
Controller calculating speed is required high.
2. the Five-phase inverter dual motors system fault tolerant control method based on current hysteresis-band control.
This kind of method acquires two motors respectively required phase on off state first with Hysteresis Current method, only by 4
Vertical phase on off state is missed directly as 4 independent bridge arm on off states, public bridge arm on off state by the electric current of two motors
Poor size selects.Such methods have algorithm simple, require hardware circuit low advantage.The disadvantage is that public bridge arm switch
State selection only considered current error, without considering torque error.
3. the Five-phase inverter dual motors system fault tolerant control method based on space vector pulse width modulation.
This kind of method chooses public bridge arm first, in accordance with certain rule, is asked respectively by space vector width pulse modulation method
3 phase duty ratios needed for two motors are obtained, 4 are calculated on the basis of the duty ratio of public bridge arm further according to the constant principle of line voltage
The equivalent duty ratio of a independent bridge arm.Such methods have many advantages, such as that logic is rigorous, and control effect is good.But pulsewidth must be used
Modulation technique requires controller high.
Invention content
Technical problem：The purpose of the present invention is exactly to propose a kind of Five-phase inverter bi-motor system based on Direct Torque Control
System fault tolerant control method, this method are suitable for permanent magnet synchronous motor, two motors are acquired respectively first with Direct Torque Control
Required phase on off state, by 4 independent phase on off states directly as 4 independent bridge arm on off states, public bridge arm switch
State is selected by weighting function, simple and practicable, low to requirements for hardware, improves the reliability of control system.
Technical solution：In order to solve the above technical problems, the present invention proposes a kind of five phase inversions based on Direct Torque Control
Device dual motors system fault tolerant control method, comprises the steps of successively：
The first step：The three-phase current i of permanent magnet synchronous motor is obtained with current sensor measurementa、ib、ic；
Second step：According to permanent magnet synchronous motor three-phase current ia、ib、icAnd rotor position, d is calculated by formula (1)
Shaft current idWith q shaft currents iq, the d axis and q axis be dq coordinate systems horizontally and vertically；
Third walks：According to dq shaft currents, permanent magnet flux linkage ψfWith dq axle inductances Ld、Lq, d axis magnetic linkages are calculated by formula (2)
ψdWith q axis magnetic linkages ψq：
4th step：According to dq axis magnetic linkages, α axis magnetic linkages ψ is calculated by formula (3)αWith β axis magnetic linkages ψβ, the α axis and β axis
Horizontally and vertically for α β coordinate systems, and the origin of the dq coordinate systems and α β coordinate systems overlaps, and phase angle is θ between horizontal axis；
5th step：According to α β axis magnetic linkages, stator magnetic linkage amplitude ψ and stator magnet chain angle θ are calculated by formula (4)ψ：
6th step：According to dq shaft currents, dq axle inductances, permanent magnet flux linkage ψfWith motor number of pole-pairs Pn, calculated by formula (5)
To electromagnetic torque Te：
7th step：Magnetic linkage reference value ψ*It is set as permanent magnet flux linkage ψf, i.e. ψ*=ψf；According to rotating speed of target ω*, actual speed
ω, Proportional coefficient KpWith integral coefficient Ki, electromagnetic torque reference value T is calculated by formula (6)e *：
Te *=Kp(ω*-ω)+Ki∫(ω*- ω) dt formulas (6)
8th step：According to electromagnetic torque reference value Te *, electromagnetic torque TeWith stagnant loop bandwidth HTe, it is calculated by formula (7)
σTe：
9th step：According to magnetic linkage reference value ψ*, stator magnetic linkage ψ and stagnant loop bandwidth Hψ, σ is calculated by formula (8)ψ：
Tenth step：According to stator magnet chain angle θψIt tables look-up and 1 obtains sector where stator magnet chain angle, in conjunction with σTeAnd σψValue it is logical
It crosses and 2 obtains required voltage vector by tabling look-up；
1 sector of table divides
2 voltage vector table of table
11st step：In each controlling cycle Ts, 2 institute of motor 1 and motor is acquired by the first step to the tenth step respectively
Voltage vector (the s neededA1, sB1, sC1) and (sA2, sB2, sC2)；
12nd step：sA1, sB1, sA2And sB2Directly as the on off state s of 4 independent bridge arms1, s2, s5And s4, such as formula
(9) shown in：
13rd step：According to the electromagnetic torque T of motor 1e1, 1 electromagnetic torque reference value T of motore1 *Turn with the electromagnetism of motor 2
Square Te2, 2 electromagnetic torque reference value T of motore2 *, torque error Δ T is calculated by formula (10)e1With Δ Te2：
14th step：According to the stator magnetic linkage ψ of motor 11, 1 stator magnetic linkage reference value ψ of motor1 *With the stator magnetic linkage of motor 2
ψ2, 2 stator magnetic linkage reference value ψ of motor2 *, magnetic linkage error delta ψ is calculated by formula (11)1With Δ ψ2：
15th step：According to the torque error of two motors and magnetic linkage error and torque error COEFFICIENT KTeIt is missed with magnetic linkage
Poor COEFFICIENT Kψ, weighting function value G is calculated by formula (12)1And G2：
16th step：According to weighting function value G1And G2, public bridge arm on off state s is obtained by formula (13)3, in conjunction with
The 4 independent bridge arm on off states obtained in 12 steps, can obtain the on off state (s of 5 bridge arms of Five-phase inverter1, s2,
s3, s4, s5), and then control Five-phase inverter and drive two 3 phase motors.
Advantageous effect
The Five-phase inverter dual motors system fault tolerant control method acquires two motors respectively institute using Direct Torque Control
The phase on off state needed, by 4 independent phase on off states directly as 4 independent bridge arm on off states of inverter, public bridge
Arm switch state is selected by weighting function, simple and practicable.Specific to technical scheme of the present invention, have the following advantages that：
1. compared with the existing Five-phase inverter dual motors system fault tolerant control method based on Model Predictive Control, this hair
Bright method calculation amount is small, and the requirement to controller is low, and switching frequency is high；
2. compared with the existing Five-phase inverter dual motors system fault tolerant control method based on current hysteresis-band control, this hair
Bright method considers torque error and magnetic linkage error, and dynamic response is fast；
3. compared with the existing Five-phase inverter dual motors system fault tolerant control method based on space vector pulse width modulation,
The method of the present invention is simple and practicable, requires hardware circuit low.
Description of the drawings
Fig. 1 is Five-phase inverter dual-motor drive system structure chart；
Fig. 2 is the structure chart of the Five-phase inverter dual motors system faults-tolerant control based on Direct Torque Control；
Fig. 3 is dq coordinate systems and α β coordinate systems；
Fig. 4 is sector division and basic voltage vectors；
Fig. 5 (a) is rotating speed experimental result；
The three-phase current experimental result of Fig. 5 (b) motors 1；
The electromagnetic torque experimental result of Fig. 5 (c) motors 1；
The stator magnetic linkage experimental result of Fig. 5 (d) motors 1；
The three-phase current experimental result of Fig. 5 (e) motors 2；
The electromagnetic torque experimental result of Fig. 5 (f) motors 2；
The stator magnetic linkage experimental result of Fig. 5 (g) motors 2.
Specific implementation mode
The embodiment of the present invention is illustrated below with reference to accompanying drawings.
The driving system structure of the embodiment of the present invention is as shown in Figure 1, include：Direct voltage source, inverter circuit, permanent magnetism are same
Walk motor, driving circuit, voltage sampling circuit, current sampling circuit, central processing unit.Direct voltage source is provided to inverter circuit
DC bus-bar voltage, voltage sampling circuit measure DC bus-bar voltage, current sampling circuit measurement motor three-phase current.
The parameter of permanent magnet synchronous motor is in the present embodiment：Specified phase voltage UN=220V, number of pole-pairs pn=4, stator is mutually electric
Hinder Rs=0.625 Ω, d-axis inductance Ld=8.5mH, quadrature axis inductance Lq=8.5mH, permanent magnet flux linkage ψf=0.442Wb, rated speed
nN=1500r/min.Specific experiment condition is：Busbar voltage 300V, switching frequency 20kHz, two motor shafts connect.
As shown in Fig. 2, embodiment includes to be as follows：
The first step：The three-phase current i of motor is obtained with current sensor measurementa、ib、ic；
Second step：According to permanent magnet synchronous motor three-phase current ia、ib、icAnd rotor position, d is calculated by formula (1)
Shaft current idWith q shaft currents iq：
Third walks：According to dq shaft currents, permanent magnet flux linkage ψfWith dq axle inductances Ld、Lq, d axis magnetic linkages are calculated by formula (2)
ψdWith q axis magnetic linkages ψq：
4th step：According to dq axis magnetic linkages, α axis magnetic linkages ψ is calculated by formula (3)αWith β axis magnetic linkages ψβ：
5th step：According to α β axis magnetic linkages, stator magnetic linkage amplitude ψ and stator magnet chain angle θ are calculated by formula (4)ψ：
6th step：According to dq shaft currents, dq axle inductances, permanent magnet flux linkage ψfWith motor number of pole-pairs Pn, calculated by formula (5)
To electromagnetic torque Te：
7th step：Magnetic linkage reference value ψ*It is set as permanent magnet flux linkage ψf, i.e. ψ*=ψf；According to rotating speed of target ω*, actual speed
ω, Proportional coefficient KpWith integral coefficient Ki, electromagnetic torque reference value T is calculated by formula (6)e *：
Te *=Kp(ω*-ω)+Ki∫(ω*- ω) dt formulas (6)
8th step：According to electromagnetic torque reference value Te *, electromagnetic torque TeWith stagnant loop bandwidth HTe, it is calculated by formula (7)
σTe：
9th step：According to magnetic linkage reference value ψ*, stator magnetic linkage ψ and stagnant loop bandwidth Hψ, σ is calculated by formula (8)ψ：
Tenth step：According to stator magnet chain angle θψIt tables look-up and 1 obtains sector where stator magnet chain angle, in conjunction with σTeAnd σψValue it is logical
It crosses and 2 obtains required voltage vector by tabling look-up；Sector divides, basic voltage vectors are as shown in Figure 4；
1 sector of table divides
2 voltage vector table of table
11st step：In each controlling cycle Ts, 2 institute of motor 1 and motor is acquired by the first step to the tenth step respectively
Voltage vector (the s neededA1, sB1, sC1) and (sA2, sB2, sC2)；
12nd step：sA1, sB1, sA2And sB2Directly as the on off state s of 4 independent bridge arms1, s2, s5And s4, such as formula
(9) shown in：
13rd step：According to the electromagnetic torque T of motor 1e1, 1 electromagnetic torque reference value T of motore1 *Turn with the electromagnetism of motor 2
Square Te2, 2 electromagnetic torque reference value T of motore2 *, torque error Δ T is calculated by formula (10)e1With Δ Te2：
14th step：According to the stator magnetic linkage ψ of motor 11, 1 stator magnetic linkage reference value ψ of motor1 *With the stator magnetic linkage of motor 2
ψ2, 2 stator magnetic linkage reference value ψ of motor2 *, magnetic linkage error delta ψ is calculated by formula (11)1With Δ ψ2：
15th step：According to the torque error of two motors and magnetic linkage error and torque error COEFFICIENT KTeIt is missed with magnetic linkage
Poor COEFFICIENT Kψ, weighting function value G is calculated by formula (12)1And G2：Wherein, torque error COEFFICIENT KTeValue is 0.4, magnetic linkage
Error coefficient KψValue is 100.
16th step：According to weighting function value G1And G2, public bridge arm on off state s is obtained by formula (13)3, in conjunction with
The 4 independent bridge arm on off states obtained in 12 steps, can obtain the on off state (s of 5 bridge arms of Five-phase inverter1, s2,
s3, s4, s5), and then control Five-phase inverter and drive two 3 phase motors.
In order to ensure that step 1~17 are smoothly implemented, need to particularly point out following several points：
1.dq coordinate systems and α β coordinate systems as shown in figure 3, dq axis be dq coordinate systems horizontally and vertically, α β axis is α β coordinates
System is horizontally and vertically；
2. the sector in the tenth step divides, basic voltage vectors are as shown in Figure 4；
3. in the 15th step, torque error COEFFICIENT KTeValue is 0.4, magnetic linkage error coefficient KψValue is 100.
Experimental result is as shown in figure 5, phase current, electromagnetic torque and stator magnetic linkage including rotating speed, two motors, control effect
Fruit is preferable, realizes the Five-phase inverter dual motors system faults-tolerant control based on Direct Torque Control.
The basic principles, main features and advantages of the invention have been shown and described above.Those skilled in the art should
Understand, the present invention do not limited by above-mentioned specific embodiment, the description in above-mentioned specific embodiment and specification be intended merely into
One step illustrates the principle of the present invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
It improves, these changes and improvements all fall within the protetion scope of the claimed invention.The scope of protection of present invention is wanted by right
Ask book and its equivalent thereof.
Claims (1)
1. a kind of Five-phase inverter dual motors system fault tolerant control method based on Direct Torque Control, it is characterised in that：Successively
It comprises the steps of：
The first step：The three-phase current i of permanent magnet synchronous motor is obtained with current sensor measurementa、ib、ic；
Second step：According to permanent magnet synchronous motor three-phase current ia、ib、icAnd rotor position, d axis electricity is calculated by formula (1)
Flow idWith q shaft currents iq, the d axis and q axis be dq coordinate systems horizontally and vertically；
Third walks：According to dq shaft currents, permanent magnet flux linkage ψfWith dq axle inductances Ld、Lq, d axis magnetic linkages ψ is calculated by formula (2)dAnd q
Axis magnetic linkage ψq：
4th step：According to dq axis magnetic linkages, α axis magnetic linkages ψ is calculated by formula (3)αWith β axis magnetic linkages ψβ, the α axis and β axis are α β
Horizontally and vertically, and the origin of the dq coordinate systems and α β coordinate systems overlaps coordinate system, and phase angle is θ between horizontal axis；
5th step：According to α β axis magnetic linkages, stator magnetic linkage amplitude ψ and stator magnet chain angle θ are calculated by formula (4)ψ：
6th step：According to dq shaft currents, dq axle inductances, permanent magnet flux linkage ψfWith motor number of pole-pairs Pn, electricity is calculated by formula (5)
Magnetic torque Te：
7th step：Magnetic linkage reference value ψ*It is set as permanent magnet flux linkage ψf, i.e. ψ*=ψf；According to rotating speed of target ω*, actual speed ω, ratio
Example COEFFICIENT KpWith integral coefficient Ki, electromagnetic torque reference value T is calculated by formula (6)e *：
8th step：According to electromagnetic torque reference value Te *, electromagnetic torque TeWith stagnant loop bandwidth HTe, σ is calculated by formula (7)Te：
9th step：According to magnetic linkage reference value ψ*, stator magnetic linkage ψ and stagnant loop bandwidth Hψ, σ is calculated by formula (8)ψ：
Tenth step：According to stator magnet chain angle θψIt tables look-up and 1 obtains sector where stator magnet chain angle, in conjunction with σTeAnd σψValue by looking into
Table 2 obtains required voltage vector；
1 sector of table divides
2 voltage vector table of table
11st step：In each controlling cycle Ts, acquired respectively needed for motor 1 and motor 2 by the first step to the tenth step
Voltage vector (sA1, sB1, sC1) and (sA2, sB2, sC2)；
12nd step：sA1, sB1, sA2And sB2Directly as the on off state s of 4 independent bridge arms1, s2, s5And s4, such as formula (9) institute
Show：
13rd step：According to the electromagnetic torque T of motor 1e1, 1 electromagnetic torque reference value T of motore1 *With the electromagnetic torque T of motor 2e2、
2 electromagnetic torque reference value T of motore2 *, torque error Δ T is calculated by formula (10)e1With Δ Te2：
14th step：According to the stator magnetic linkage ψ of motor 11, 1 stator magnetic linkage reference value ψ of motor1 *With the stator magnetic linkage ψ of motor 22, electricity
2 stator magnetic linkage reference value ψ of machine2 *, magnetic linkage error delta ψ is calculated by formula (11)1With Δ ψ2：
15th step：According to the torque error of two motors and magnetic linkage error and torque error COEFFICIENT KTeWith magnetic linkage error system
Number Kψ, weighting function value G is calculated by formula (12)1And G2：
16th step：According to weighting function value G1And G2, public bridge arm on off state s is obtained by formula (13)3, in conjunction with the 12nd
The 4 independent bridge arm on off states obtained in step, can obtain the on off state s of 5 bridge arms of Five-phase inverter1, s2, s3, s4,
s5；And then it controls Five-phase inverter and drives two 3 phase motors：
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| CN108123650B (en) * | 2018-01-19 | 2020-12-29 | 长安大学 | Five-phase inverter double three-phase motor system driving circuit and direct torque control method |
| CN108233783B (en) * | 2018-01-19 | 2021-08-13 | 长安大学 | Double-motor three-bridge-arm inverter and control method thereof |
| CN108574442B (en) * | 2018-05-08 | 2021-03-30 | 长安大学 | Six-phase motor direct torque control system and control method thereof |
| CN112737444B (en) * | 2021-01-12 | 2022-06-24 | 东南大学 | Double three-phase permanent magnet synchronous motor control method for alternatively executing sampling and control programs |
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