CN106026853B - The fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure - Google Patents
The fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure Download PDFInfo
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- CN106026853B CN106026853B CN201610457939.XA CN201610457939A CN106026853B CN 106026853 B CN106026853 B CN 106026853B CN 201610457939 A CN201610457939 A CN 201610457939A CN 106026853 B CN106026853 B CN 106026853B
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- 238000004804 winding Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000013598 vector Substances 0.000 claims abstract description 48
- 238000011217 control strategy Methods 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims 2
- 239000000725 suspension Substances 0.000 abstract description 10
- 230000010349 pulsation Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention discloses the fault tolerant control methods of 12/8 pole BSRM stator winding open circuited failure, this method passes through reconstruct voltage vector table, when there is open-circuit fault in a certain stator tooth, it opens adjacent teeth pole to compensate, and carries out the compensation control of suspending power and torque with Direct Torque Control and direct suspending power control thought.The invention enables bearing-free switch reluctance motors to remain to normal operation and stable suspersion when open-circuit fault occurs, simultaneously compared with traditional bearing-free switch reluctance motor open-circuit fault faults-tolerant control strategy, the problem that suspension fluctuation and torque pulsation caused by current commutation are larger in conventional measures can be effectively improved.
Description
Technical field
The invention belongs to bearing-free switch reluctance motor (Bearinless Switched Reluctance Motor, letters
Claim BSRM) control technology field, the in particular to fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure.
Background technique
Switched reluctance machines have simple structure, reliable operation, low cost, high temperature resistant, high fault tolerance and high-speed adaptability
The features such as, it is had been widely used in the fields such as aerospace, military affairs, civilian.Integrate magnetic bearing and electric motors function
While realizing suspension operation, volume and weight greatly reduces bearing-free switch reluctance motor, improves power density.Due to
Integrate the dual function of rotation and suspension, the high-speed adaptability of BSRM is further enhanced, in aerospace and military affairs
Field has better application advantage.
For traditional 12/8 pole simplex winding BSRM open circuit fault tolerant control method, can be made in current commutation in practice
It is lacked at suspending power, while also can lead to the problem of suspension fluctuation and torque pulsation is larger.Bearing-free switch reluctance motor by
In no mechanical bearing, if faults-tolerant control strategy is unable to control torque and the pulsation of suspending power in actually occurring failure, sternly
It will cause motor that can not provide enough torques and suspension unstability when weight, this is suitable for the motor in high-speed cruising
Dangerous.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the present invention is intended to provide 12/8 pole BSRM stator winding is opened
The fault tolerant control method of road failure, it is based on Direct Torque Control (Direct Torque Control, abbreviation DTC) and directly outstanding
Buoyancy control (Direct Force Control, abbreviation DFC) realizes 12/8 pole BSRM when stator winding open circuited failure occurs
It is able to achieve fault-tolerant operation, and reduces traditional fault-tolerant strategy bring suspension fluctuation, the problems such as torque pulsation is big, is realized fault-tolerant
The control more stable to motor under state.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
The fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure is corresponding with 2 kinds according to the load environment of motor
Control strategy: the control strategy big suitable for radial load, the control strategy big suitable for torque load(ing)；If open-circuit fault occurs
Stator winding be known as failure phase, then the stator winding that open-circuit fault does not occur for remaining two-phase is known as normal phase, in two normal phases
Among select a Relative fault mutually to compensate, then this mutually be known as compensation phase；When using the control plan big suitable for radial load
When slightly, if open-circuit fault occurs for certain phase stator winding of motor, by rebuilding the voltage vector of each phase, in the mutually normal work of the failure
In the section for providing suspending power when making, the biggish phase of inductance in two normal phases is selected mutually to lack as compensation phase, compensation failure
Suspending power；When using the control strategy big suitable for torque load(ing), if open-circuit fault occurs for certain phase stator winding of motor,
By rebuilding the voltage vector of each phase, when the failure mutually works normally in the section of offer suspending power, select in two normal phases
An identical phase is used as compensation phase to torque direction with the torque direction of failure phase；When rebuilding each phase voltage vector, in order to guarantee
The voltage vector newly constructed meets control requirement of the former control strategy for magnetic linkage and torque, it is therefore desirable to it is former to meet 2 reconstructions
Then: the basic voltage vectors of compensation phase being avoided to be changed in compensation section, the basic voltage vectors of failure phase is avoided to compensate
It is changed in section.
Further, if open-circuit fault occurs for some tooth pole of certain phase stator winding of motor, in remaining two normal phase
Select the biggish phase of inductance as compensation phase, and by reconstructing each phase voltage vector, in the compensation phase, selection and failure phase
The extremely adjacent tooth pole of failure tooth, partnering with the tooth pole of the adjacent teeth pole diametrically compensates tooth pole group, mutually carries out to failure
Compensation.
Further, in order to avoid the basic voltage vectors of compensation phase are changed in compensation section, therefore the one of selection
It must be opposite to the voltage vector symbol of compensation tooth pole group.
Further, in order to avoid the basic voltage vectors of failure phase are changed in compensation section, therefore in failure phase
The voltage vector of the tooth pole of open-circuit fault does not occur and it is still the basic voltage vectors of the phase in former control strategy.
Further, if open-circuit fault occurs for some tooth pole of certain phase stator winding of motor, by reconstructing each phase voltage
Vector, shutdown and the tooth pole of failure phase fault tooth pole diametrically.
By adopting the above technical scheme bring the utility model has the advantages that
(1) the invention enables 12/8 pole BSRM in the case where a certain stator tooth is opened a way still can fault-tolerant operation, and have
Effect ground reduces torque pulsation and suspension fluctuation, keeps the fault-tolerant operation of motor more stable；
(2) present invention, which is realized, directly controls torque and suspending power when opening a way fault-tolerant operation, simplifies control and calculates
Method accelerates system response, improves the dynamic property of system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of 12/8 pole BSRM.
Fig. 2 is that simplex winding BSRM position angle defines schematic diagram in the present invention.
Fig. 3 is that the compensation in the present invention under suspending power compensation policy mutually selects schematic diagram.
Fig. 4 is that the compensation in the present invention under torque compensation policy mutually selects schematic diagram.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
For this sentences the stator A1 tooth open-circuit fault in 12/8 pole BSRM, Fig. 1 is the structural schematic diagram of 12/8 pole BSRM.
The definition mode according to used by domestic and foreign literature simultaneously, is defined on stator and rotor tooth polar axis line for the zero degree of rotor position angle
Overlapping position, winding inductance value is maximum at this time, as shown in Figure 2.
Table 1
Unbalance voltage symbol table after A phase winding compensation of the invention as shown in table 1, wherein θAA phase angle setting is represented,
FAα、FAβIndicate A phase suspending power caused by the direction α, β.In the table combination Traditional control strategy suspending power compensation way and
The DTC&DFC control thought of BSRM simultaneously reconstructs obtained by voltage vector table.Due to open circuit faults-tolerant control strategy proposed by the present invention
Two kinds of load environment are considered, will be illustrated respectively below.
1, the occasion big suitable for radial load
According to the suspension force compensating thinking of traditional BSRM open circuit faults-tolerant control strategy, to opening under DTC&DFC control strategy
Road failure compensates suspending power using adjacent phase.As shown in figure 3, when A phase works normally provide suspending power section be θ ∈ (-
7.5 °, 7.5 °), wherein the interior B phase inductance ratio C phase of section θ ∈ (- 7.5 °, 0) is big, therefore B phase can provide bigger suspending power, on the contrary
In section, θ ∈ (0,7.5 °) interior C phase can provide bigger suspending power.So, consider suspending power compensation ability, select B phase and C phase
The suspending power that compensation θ ∈ (- 7.5 °, 0) and θ ∈ (0,7.5 °) interior A phase lacks respectively.
Due to the needs of suspension force compensating, all occur when compensation is mutually and normal work is compared in the selection of the voltage vector of failure phase
Variation, open circuit faults-tolerant control strategy of the invention needs to reassign voltage vector, in order to keep the vector newly constructed
Table meets the control requirement in former strategy to magnetic linkage and torque, proposes following two reassignment principle:
(a) basic voltage vectors of compensation phase is avoided to be changed in compensation section；
Wherein, when the requirement of compensation phase basic voltage vectors is 0, compensation tooth pole group respectively " 0 " and "+" or " 0 " and "-",
The basic voltage vectors that will cause compensation phase become "+" or "-".Therefore compensation tooth pole group chooses one "-" of a "+", guarantee is not interfered
The symbol of former basic voltage vectors.
(b) basic voltage vectors of failure phase is avoided to be changed in compensation section.
Wherein, when the requirement of failure phase basic voltage vectors is 0, because A1 open circuit causes A phase only to remain 3 tooth poles, it will cause A phase
Basic voltage vectors symbol is identical as A3's, and is not 0.Therefore it may be selected to set A3 vector into 0, or the vector of change A2 or A4 makes
Remaining three tooth polar vectors and still be required basic voltage vectors.
The voltage vector for inheriting A1 by B3 in θ ∈ (- 7.5 °, 0) section, inherits A1 by C1 in θ ∈ (0,7.5 °) section
Voltage vector, realize suspension force compensating vector demand.Wherein, " -/0 " indicates that original vector symbol is "-", when compensation
Vector symbol is changed to " 0 " to meet the principle reassigned.
For the phenomenon for overcoming compensation effect undesirable and compensation electric current is excessive, consider in suspending power compensation policy by A3
Tooth pole disconnects, and forms symmetrical open-circuit fault.This is that persistently opening for A3 tooth will make compensation mutually have to apply in order to prevent
Bigger electric current, to generate enough suspending powers.Simultaneously because B3 winding is stronger compared with B4 winding compensation ability, C1 winding compared with C4 around
Group compensation ability is stronger, therefore is compensated herein with B3, B1 tooth pole group and C1, C3 tooth pole group to A phase suspending power.Meanwhile that is, in θ
The suspending power on the direction α is provided by two tooth pole winding currents of B3, B1 in ∈ (- 7.5 °, 0), θ ∈ (0,7.5 °) is interior by C1, C3
Two tooth pole winding currents provide the suspending power in the direction α.
2, the occasion big suitable for torque load(ing)
In the compensation policy for paying the utmost attention to radial load, B phase and C phase compensate respectively θ ∈ (- 7.5 °, 0) and θ ∈ (0,
7.5 °) suspending power that interior A phase lacks, compensation is mutually mutually in the region that torque sign is different, such as θ from failure in the two sections
∈ (- 7.5 °, 0) interior A phase provides positive torque, and B phase provides negative torque.Therefore it inevitably sacrifices and turns while compensation suspending power
Square adversely affects Direct Torque Control.
As shown in figure 4, section θ ∈ (- 7.5 °, 0) interior C phase torque sign is identical as A phase, section θ ∈ (0,7.5 °) interior B phase
Torque sign is identical as A phase, so selecting this compensation way that can guarantee what direct torque was subject to while compensating suspending power
Interference reduces.Due to only having exchanged the compensation section of B, C phase, the vector table in upper section is still applicable in.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (5)
- The fault tolerant control method of 1.12/8 pole BSRM stator winding open circuited failure, which is characterized in that according to the load environment of motor, It is corresponding with 2 kinds of control strategies: the control strategy big suitable for radial load, the control strategy big suitable for torque load(ing)；If hair The stator winding of raw open-circuit fault is known as failure phase, then the stator winding that open-circuit fault does not occur for remaining two-phase is known as normal phase, A Relative fault is selected mutually to compensate among two normal phases, then this is mutually known as compensation phase；When using suitable for radial load When big control strategy, if open-circuit fault occurs for certain phase stator winding of motor, by rebuilding the voltage vector of each phase, in the event In the section for providing suspending power when barrier mutually works normally, the biggish phase of inductance in two normal phases is selected to compensate as compensation phase The suspending power that failure mutually lacks；When using the control strategy big suitable for torque load(ing), if certain phase stator winding of motor is sent out Raw open-circuit fault, by rebuilding the voltage vector of each phase, when the failure mutually works normally in the section of offer suspending power, selection An identical phase is used as compensation phase to torque direction with the torque direction of failure phase in two normal phases；Rebuilding each phase voltage vector When, in order to guarantee that the voltage vector newly constructed meets control requirement of the former control strategy for magnetic linkage and torque, it is therefore desirable to full 2 reconstruction principles of foot: avoid the basic voltage vectors of compensation phase that the fundamental voltage of failure phase is changed, avoided in compensation section Vector is changed in compensation section.
- 2. the fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure according to claim 1, it is characterised in that: if Open-circuit fault occurs for some tooth pole of certain phase stator winding of motor, and the biggish phase of inductance is selected to make in remaining two normal phase To compensate phase, and by reconstructing each phase voltage vector, in the compensation phase, selection and the extremely adjacent tooth pole of failure phase fault tooth, It partners with the tooth pole of the adjacent teeth pole diametrically and compensates tooth pole group, failure is mutually compensated.
- 3. the fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure according to claim 2, it is characterised in that: choosing The voltage vector symbol for a pair of of the compensation tooth pole group selected must be on the contrary, to avoid the basic voltage vectors of compensation phase in compensating basin It is interior to be changed.
- 4. the fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure according to claim 2, it is characterised in that: therefore Barrier phase in do not occur open-circuit fault tooth pole voltage vector and still for original control strategy in the phase basic voltage vectors, thus The basic voltage vectors of failure phase are avoided to be changed in compensation section.
- 5. the fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure according to claim 1, it is characterised in that: if Open-circuit fault occurs for some tooth pole of certain phase stator winding of motor, by reconstructing each phase voltage vector, shutdown and the failure phase The tooth pole of failure tooth pole diametrically.
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| CN201610457939.XA CN106026853B (en) | 2016-06-22 | 2016-06-22 | The fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure |
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| CN201610457939.XA CN106026853B (en) | 2016-06-22 | 2016-06-22 | The fault tolerant control method of 12/8 pole BSRM stator winding open circuited failure |
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| CN106026853B true CN106026853B (en) | 2018-12-18 |
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| CN107769665A (en) * | 2017-11-15 | 2018-03-06 | 南京航空航天大学 | Simplex winding BSRM windings are opened a way or the error-tolerant operation control method of short trouble |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101026348A (en) * | 2007-03-14 | 2007-08-29 | 南京航空航天大学 | Bearingless switched reluctance motor error-tolerant operation control method |
| CN103780184A (en) * | 2014-01-17 | 2014-05-07 | 南京航空航天大学 | Direct torque and direct suspension force control method for 12/8-stage single winding switch reluctance machine without bearing |
| CN103916056A (en) * | 2014-03-17 | 2014-07-09 | 南京航空航天大学 | Fault-tolerant operation control method of 12/8 single-winding bearing-free switch reluctance motor |
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2016
- 2016-06-22 CN CN201610457939.XA patent/CN106026853B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101026348A (en) * | 2007-03-14 | 2007-08-29 | 南京航空航天大学 | Bearingless switched reluctance motor error-tolerant operation control method |
| CN103780184A (en) * | 2014-01-17 | 2014-05-07 | 南京航空航天大学 | Direct torque and direct suspension force control method for 12/8-stage single winding switch reluctance machine without bearing |
| CN103916056A (en) * | 2014-03-17 | 2014-07-09 | 南京航空航天大学 | Fault-tolerant operation control method of 12/8 single-winding bearing-free switch reluctance motor |
Non-Patent Citations (1)
| Title |
|---|
| 12/8极单绕组无轴承开关磁阻电机绕组开路故障有限元分析;赵丽丹等;《电工技术学报》;20130731;第28卷(第7期);第131-137,144页 * |
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