CN106100495B - The five fault-tolerant vector control methods of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor - Google Patents
The five fault-tolerant vector control methods of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor Download PDFInfo
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- CN106100495B CN106100495B CN201610594848.0A CN201610594848A CN106100495B CN 106100495 B CN106100495 B CN 106100495B CN 201610594848 A CN201610594848 A CN 201610594848A CN 106100495 B CN106100495 B CN 106100495B
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The invention discloses a kind of five fault-tolerant vector control methods of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor.According to magnetomotive force before and after this two-phase open fault is constant and non-faulting phase current and be zero principle, it is equal for constraints with adjacent biphase current amplitude, derive and promote Clarke transform matrix；Back-emf is estimated using the matrix transposition；One order inertia system is become using internal mode controller, one order inertia front feedback voltage compensation device, the non-linear strongly coupled system under back-emf observer nonserviceables such motor.Short-circuit offset voltage is found out according to the non-faulting principle that mutually the synthesis magnetomotive force of short circuit compensation electric current and short trouble phase current is zero；The voltage and vector controller output voltage are superimposed.The present invention not only inhibits motor force oscillation caused by the non-conterminous one phase short circuit one-phase open circuit failure of two-phase of motor, and more crucially consistent under its dynamic property, steady-state behaviour and normal condition.
Description
Technical field
The present invention relates to a phase short circuit in a kind of five non-conterminous two-phases of phase magneto and the controls of one-phase open circuit failure tolerant
A phase short circuit and one-phase open circuit failure tolerant vector controlled in the non-conterminous two-phase of the mutually fault-tolerant permanent-magnetism linear motor of method, especially five
Method.There is higher want to the reliability and dynamic property of motor suitable for aerospace, electric vehicle, deep-sea, medical instrument etc.
The occasion asked.
Background technology
With the development and the improvement of people's living standards of society, the comfort and security and stability driven to automobile are wanted
Ask higher and higher.As the important component of Hyundai Motor, suspension system performance is to vehicle running smoothness and stable operation
Property etc. has extremely important influence, therefore the research of active suspension system is paid much attention in the industry.It is outstanding as active electromagnetism
The core component of frame system, cylindrical linear motor research are taken seriously.Fault freedom of the motor under short trouble state, directly
Decide the reliability of electromagnetic suspension and the ability of continuous operation.
Fault-tolerant motor when short circuit or open fault occur for a certain phase or certain two-phase, motor still have certain thrust or
Person's torque output capability, but thrust or torque ripple are very big, noise increases, severe exacerbation system performance.Faults-tolerant control
Target is optimized to fault-tolerant electric current for different application occasion, the thrust output under making motor nonserviceable or torque
It is smooth as possible, and motor performance is made to reach or close to the performance before failure.Chinese invention patent application number is
201510059387.2 patent《A kind of short-circuit fault tolerant control method of five mutually fault-tolerant magnetoes》For five mutually fault-tolerant Surface Mounts
Formula permanent magnet rotating machine, the influence by short trouble to motor torque are decomposed into two parts：A part is open fault to torque
Influence；Another part, which is short circuit current, influences torque.For open fault, using magnetomotive force before and after failure and principle of invariance
And current amplitude equal principle after failure, optimize the phase current of remaining non-faulting phase；For torque wave caused by short circuit current
It is dynamic, it uses after failure magnetomotive force to find out non-faulting for zero-sum copper loss minimum principle and mutually compensates electric current；Last two parts electric current is added,
Acquire the current-order of remaining non-faulting phase.Hysteresis Current Control Strategy is used according to the remaining non-faulting phase current acquired, it is right
Five mutually fault-tolerant durface mounted permanent magnet electric rotating machines are controlled.The residue that this method is used to that short-circuit phase current to be inhibited to lead to torque ripple
The amplitude that non-faulting mutually compensates electric current is constant, unrelated with motor speed, and the sum of the electric current of remaining non-faulting phase is not zero.Together
When, this method is not suitable for the fault-tolerant operation in the case of phase to phase fault.Currently, common fault tolerant control method is：It calculates fault-tolerant
Then electric current is controlled using Hysteresis Current strategy.But that there are switching frequencies is mixed and disorderly, noise is big, motor dynamics for this method
The problems such as poor performance, is not suitable for larger and high to the motor dynamics performance requirement occasion of power.Chinese invention patent application number
For 201510661212.9 patent《A kind of fault-tolerant vector controlled side of fault-tolerant cylindrical linear motor short circuit of embedded mixing magnetic material
Method》The embedded one phase short trouble of fault-tolerant linear motor of magnetic material is mixed for five, is optimized using the above same procedure remaining
Then non-faulting electric current uses vector control strategy to realize the vector operation of the one phase short circuit fault condition of motor.Chinese invention
The patent that number of patent application is 201510075347.7《A kind of fault tolerant control method being used for five mutually fault-tolerant permanent-magnetism linear motors》
For five mutually fault-tolerant durface mounted permanent magnet linear motor one-phase open circuit failures, not according to rotating mmf amplitude and phase angle before and after failure
Become and principle that remaining healthy phase current amplitude is equal, is constraints with phase current and equal to zero, optimization residue non-faulting
The phase current of phase；To realize the vector controlled under five mutually fault-tolerant permanent-magnetism linear motor one-phase open circuit fault conditions.Although above-mentioned
It is good that method realizes high fault freedom of such electric system under short circuit or open fault state, high dynamic performance, electric current
Good followability, but this method can not realize that the fault-tolerant vector under a phase short circuit and one-phase open circuit fault condition is run simultaneously.
Invention content
For deficiency present in existing motor fault-tolerant control technology, according to five phase embedded permanent magnet fault-tolerant linear motors
Characteristic and the non-conterminous two-phase of such motor in a phase short circuit and one-phase open circuit fault characteristic, purpose of the present invention is to overcome motor not
Existing fault-tolerant strategy leads to inverter switching device using current hysteresis-band control after a phase short circuit and one-phase open circuit failure in adjacent two-phase
Frequency is mixed and disorderly, the decline of motor response speed, bad dynamic performance, the disadvantage that electric current can not be followed accurately, noise is serious, conventional current
PI controls cause the problem of parameter regulation difficulty and existing fault-tolerant vector controlled plan due to the contradiction of response quickly of system and overshoot
The fault-tolerant operation of a phase short circuit and one-phase open circuit fault condition is slightly cannot achieve, proposes a kind of five phase permanent magnets for the present invention
A phase short circuit and the fault-tolerant vector control method of one-phase open circuit, realize anti-electricity in the non-conterminous two-phase of embedded fault-tolerant linear motor
The accurate estimation of gesture, reduce controller parameter adjust difficulty, realize such electric system in non-conterminous two-phase a phase short circuit and
High fault freedom, high dynamic performance under one-phase open circuit malfunction, the good followability of electric current reduce CPU overhead, realize inversion
Device switching frequency is constant, reduces noise, and then improves the five phase embedded permanent magnet fault-tolerant linear motors non-conterminous two of the present invention
Dynamic property and reliability under the short circuit of Xiang Zhongyi phases and one-phase open circuit malfunction.
Fault-tolerant vector control method of the present invention for five phase embedded permanent magnet fault-tolerant linear motors uses following technology
Scheme：
A kind of five fault-tolerant vector control methods of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor, including with
Lower step：
Step 1, five phase embedded permanent magnet fault-tolerant linear motor models are established；
Step 2, embedded permanent magnet fault-tolerant linear motor is divided into A, B, C, D, E this five phase, when motor occur the short circuit of B phase with
When E phase open faults or when B phases are opened a way with E phase short troubles, it is assumed that open fault only occurs for motor B phases and E phases, according to
The constraints that the sum of traveling wave magnetomotive force principle of invariance and remaining non-faulting phase current are zero before and after electrical fault, then by adjacent
Two-phase C phases and D phase current magnitudes are equal as constraints, find out the non-event of motor fault-tolerant operation after B phases and E phase open faults
Hinder phase current；
Step 3, according to non-faulting phase current, three non-faulting phase naturals system of coordinates is sought and are converted to two-phase stationary coordinate system
Popularization Clarke transform matrix Tpost, inverse-transform matrixAnd transposed matrix
Step 4, inhibit force oscillation caused by failure phase short circuit current using non-faulting phase current, seek for inhibiting event
Barrier phase short circuit current leads to the short circuit compensation electric current of the non-faulting phase of force oscillation, using popularization Clarke transform matrix TpostIt will
Short circuit compensation electric current on the current transformation to two-phase stationary coordinate system；
Step 5, using popularization Clarke transform matrix TpostBy the non-event of the remaining three-phase being down sampled in natural system of coordinates
Barrier phase current transforms to the electric current in two-phase stationary coordinate system, and the current subtraction obtained in the electric current and step 4 is obtained
(iα、iβ), with Park Transformation Matrix C2s/2rBy (iα、iβ) transform to electric current on synchronous rotating frame；
Or step 5, the remaining three-phase non-faulting phase current that will be upsampled in natural system of coordinates compensate electric current phase with short circuit
Subtract to obtain (i 'A、i′C、i′D), using popularization Clarke transform matrix TpostWith Park Transformation Matrix C2s/2rBy (i 'A、i′C、i′D)
Transform to the feedback current on synchronous rotating frame；
Step 6, phase short circuit and one-phase open circuit in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor are established
Mathematical model under malfunction on synchronous rotating frame；
Step 7, one order inertia front feedback voltage compensation device is designed, the current-order on synchronous rotating frame is through one order inertia
Link obtains feedforward compensation voltage, while the difference of the current-order and feedback current must control voltage through internal model current control device
It is added to obtain the voltage instruction on synchronous rotating frame with feedforward compensation voltage, using Parker inverse-transform matrix C2r/2sBy the electricity
Press the voltage in instruction map to two-phase stationary coordinate system
Step 8, it usesAnd C2r/2sAnd mover permanent magnet flux linkage design back-emf observer observes that non-faulting is electric on the contrary
Gesture finds out failure opposite potential according to non-faulting opposite potential；
Step 9, it is compensated to ensure that motor exports the short-circuit of the non-faulting phase for inhibiting short circuit current to lead to force oscillation
Electric current, according to the relationship and short circuit of the relationship or E phases short circuit current and E opposite potentials of B phases short circuit current and B opposite potentials
The mathematical expression mode of electric current is compensated, the short-circuit offset voltage of remaining three-phase non-faulting phase is defined, using popularization Clarke transform
Matrix TpostThe offset voltage is transformed to the short-circuit offset voltage in two-phase stationary coordinate system；
Step 10, the voltage instruction in two-phase stationary coordinate system is added to obtain voltage instruction with short-circuit offset voltageUsing popularization Clarke inverse-transform matrixBy voltage instructionTransform to what natural coordinates was fastened
Voltage instruction It is separately summed to obtain desired phase voltage directive with each opposite potential of remaining non-faulting phase again
Or step 10, using popularization Clarke inverse-transform matrixBy the voltage instruction under two-phase stationary coordinate systemTransform to the voltage instruction that natural coordinates is fastenedThen short with remaining three-phase non-faulting phase
Road offset voltage is added, and finally is separately summed to obtain desired phase voltage directive with each opposite potential of remaining non-faulting phase again
Step 11, by the obtained expectation phase voltage directive of step 10Through voltage source inverter, adopt
Phase short circuit and one-phase open circuit in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor are realized with CPWM modulator approaches
Fault-tolerant vector unperturbed operation after failure.
The invention has the advantages that：
1, the present invention in ensureing the arbitrarily non-conterminous two-phase of motor a phase short circuit and one-phase open circuit failure before and after motor output
Under the premise of thrust is equal, it not only can effectively inhibit motor force oscillation, and more can crucially motor fault-tolerant be made to run
In the case of dynamic property, current following performance it is similar with the performance under normal condition, and without complicated calculating, voltage source
Inverter switching frequency is constant, noise is low, CPU overhead is small, and algorithm has certain versatility.
2, after using phase short circuit in the non-conterminous two-phase of the present invention and the fault-tolerant vector control strategy of one-phase open circuit, such motor
Under the short circuit of B phases and E phase open fault conditions, or when B phases are opened a way with fault-tolerant operation under E phase short circuit fault conditions, move
It is similar under state property energy, steady-state behaviour and motor normal condition, and thrust output allows most almost without fluctuation in electric system
High current limiting value realizes unperturbed fault-tolerant operation hereinafter, be consistent before electromagnetic push and failure.
3, the popularization Clarke transform matrix and Parker gone out by the remaining non-faulting phase current vector derivation in the present invention becomes
The steady-state current of remaining non-faulting phase can be subtracted under a phase short circuit and one-phase open circuit malfunction in non-conterminous two-phase by changing matrix
Go short circuit compensation electric current after by etc. amplitudes transform on synchronous rotating frame, the electric current pulse free.And use traditional Clarke
Transformation matrix and Park Transformation matrix can only will be remaining non-under a phase short circuit and one-phase open circuit malfunction in non-conterminous two-phase
The electric current pulsed on the current transformation to synchronous rotating frame of failure phase.
4, promote Clarke transform matrix be combined with Park Transformation matrix realize in non-conterminous two-phase one mutually short circuit and
The natural system of coordinates that remaining non-faulting is mutually constituted under one-phase open circuit malfunction exists to the transformation of synchronous rotating frame for motor
Fault-tolerant vector controlled under the malfunction creates precondition.
5, the transposed matrix of popularization Clarke transform matrix and Parker inverse-transform matrix and mover permanent magnet flux linkage are combined and set
The back-emf observer of meter realizes the anti-electricity under a phase short circuit and one-phase open circuit fault condition in the non-conterminous two-phase of such motor
Gesture is accurately estimated, to realize the fault-tolerant arrow in the non-conterminous two-phase of such motor under a phase short circuit and one-phase open circuit fault condition
Amount operation.
6 compare with electric current PI controllers, internal model current control device and popularization Clarke inverse-transform matrix, Parker inverse transformation
Matrix, back-emf observer and one order inertia front feedback voltage compensation device are combined such motor a phase in non-conterminous two-phase
Non-linear strongly coupled system under short circuit and one-phase open circuit malfunction becomes one order inertia system, and it is whole to reduce controller parameter
Determine difficulty, ensure that such electric system current following under a phase short circuit and one-phase open circuit malfunction in non-conterminous two-phase
Energy, steady-state behaviour, dynamic property keep motor dynamics performance, steady-state behaviour consistent with the performance before electrical fault, and can be real
Existing non-overshoot quick response.
7, Clarke transform matrix is promoted mutually to tie with the CPWM of Park Transformation matrix and residual voltage harmonic injection modulation
It closes, improves inverter busbar voltage utilization rate, while reducing the complexity of fault-tolerant vector control algorithm, reduce CPU and open
Pin.
8, in non-conterminous two-phase a phase short circuit and one-phase open circuit failure tolerant vector control strategy, back-emf estimation strategy,
Internal model current control strategy, one order inertia front feedback voltage compensation strategy, CPWM modulation techniques and five phase embedded permanent magnets are fault-tolerant
Linear motor is combined, and substantially increases appearance of the motor in non-conterminous two-phase under a phase short circuit and one-phase open circuit malfunction
Wrong performance, dynamic property and steady-state behaviour, save CPU overhead.It is compared with current hysteresis-band control, reduces noise, reduced
EMC Design difficulty.So that the motor controls in non-conterminous two-phase under a phase short circuit and one-phase open circuit malfunction
Precision is high, and current following performance is good, and electric efficiency height, thrust output fast response time and thrust calculation are small as before failure,
Realize a phase short circuit in non-conterminous two-phase and the high reliability under one-phase open circuit malfunction and high dynamic of electric system
State property energy.
Description of the drawings
Fig. 1 is the structural schematic diagram of five phase embedded permanent magnet fault-tolerant linear motor of the embodiment of the present invention；
Fig. 2 is five phase embedded permanent magnet fault-tolerant linear motor vector control strategy schematic diagram of the embodiment of the present invention；
Fig. 3 is the short-circuit fault-tolerant vector of opening a way with E phases of five phase embedded permanent magnet fault-tolerant linear motor B phase of the embodiment of the present invention
Control principle drawing；
Fig. 4 is that five phase embedded permanent magnet fault-tolerant linear motor B phases of the embodiment of the present invention are opened a way and the fault-tolerant vector of E phase short circuits
Control principle drawing；
Fig. 5 is phase when being run without fault-tolerant and fault-tolerant vector under the short circuit of B of embodiment of the present invention phases and E phase open fault conditions
Current waveform；
Fig. 6 is pushing away when being run without fault-tolerant and fault-tolerant vector under the short circuit of B of embodiment of the present invention phases and E phase open fault conditions
Reeb shape；
Fig. 7 is the electricity on the synchronous rotating frame during failure-free operation of the embodiment of the present invention when thrust command step
Flow waveform；
Fig. 8 is the motor thrust output waveform during failure-free operation of the embodiment of the present invention when thrust command step；
Fig. 9 is the short circuit of B of the embodiment of the present invention phase open a way with E phases thrust command step during fault-tolerant operation when synchronous revolve
Turn the current waveform on coordinate system；
Motor when Figure 10 is thrust command step during the short-circuit fault-tolerant operation of opening a way with E phases of B of the embodiment of the present invention phase
Thrust output waveform；
In figure：1. primary；2. time grade；3. silicon steel sheet；4. pole shoe；5. fault-tolerant teeth；6. armature tooth；7. end tooth；8. permanent magnetism
Body；9. winding coil.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
In order to the design feature of the simpler embedded permanent magnet fault-tolerant linear motor for legibly illustrating the present invention
And advantageous effect, carry out detailed statement with reference to a specific five phases embedded permanent magnet fault-tolerant linear motor.
Step 1, five phase embedded permanent magnet fault-tolerant linear motor models are established；
As shown in Figure 1, five phase embedded permanent magnet fault-tolerant linear motor structural schematic diagrams of the embodiment of the present invention, including it is first
Grade 1, secondary 2.Primary 1 includes pole shoe 4, armature tooth 6, fault-tolerant teeth 5 and concentrates winding coil 9, and armature tooth 6 and fault-tolerant teeth 5
All it is 10, rare-earth permanent magnet 8 is embedded in secondary 2, there are air gap between primary 1 and secondary 2, except forever in primary 1 and secondary 2
Part except magnet, winding and pole shoe is formed by the axial lamination of silicon steel sheet 3, and pole shoe 4 is made of electrical pure iron, primary 1
Two end tooths 7 be asymmetric, and than fault-tolerant teeth and the armature facewidth.
On the basis of tradition uses carried based PWM (CPWM) method of sine wave as modulating wave, in five phase sine tune
C is injected in wave processed0=-(max (ui)+min(ui))/2 residual voltage harmonic wave (uiIt is the five each phase functions of phase sinusoidal modulation wave)
CPWM methods can obtain identical magnetic linkage control effect with five phase SVPWM methods.Therefore the present invention is using based on injection zero sequence
The CPWM methods of voltage harmonic carry out pulsewidth modulation.
Five phase embedded permanent magnet fault-tolerant linear motors of Fig. 2 are powered by voltage source inverter, which is divided into A, B, C, D, E
This five phase, using the vector control strategy of the CPWM technologies based on residual voltage harmonic injection, zero-sequence current control is zero, control
Block diagram is as shown in Figure 2.When motor normal condition steady-state operation, each phase winding electric current is represented by
In formula,It is the current-order of rotating coordinate system d axis, q axis respectively, θ is electrical angleV straight lines
The electric speed of electric mover movement, τ is pole span.
The traveling wave magnetomotive force (MMF) that motor generates is represented by
In formula, a=ej2π/5, N is the effective turn of each phase stator winding.
Step 2, when the short circuit of B phases and E phase open faults occur for motor, it is assumed that open circuit event only occurs for motor B phases and E phases
Barrier, the constraints for being zero according to the sum of traveling wave magnetomotive force principle of invariance before and after electrical fault and remaining non-faulting phase current,
It is used as constraints by adjacent two-phase C phases and D phase current magnitudes are equal again, motor fault-tolerant is transported after finding out B phases and E phase open faults
Capable non-faulting phase current.
First part, when a phase short circuit one-phase open circuit failure in the non-conterminous two-phase of motor, it is assumed that B phase short circuits are opened with E phases
Road failure occurs.First this two-phase normal thrust is mutually caused to lack using the remaining non-faulting phase current compensation short trouble of motor.
At this time, it is assumed that B phases are opened a way with E phases, phase current zero, the traveling wave magnetomotive force inside motor by remaining three-phase non-faulting mutually around
Group generates, and is represented by
To realize, unperturbed is run after the non-conterminous two-phase open fault of motor, need to keep traveling wave magnetomotive force one before and after electrical fault
It causes, therefore the magnetomotive amplitude of traveling wave before and after remaining non-faulting phase stator current makes electrical fault need to be adjusted and kept not with speed
Become.Then, formula (2), the real part of formula (3) and imaginary part is enabled to be equal.
Machine winding uses star-like connection, and the central point of its central point and DC bus-bar voltage is not attached to, therefore, winding
The sum of phase current is zero.Optimize non-faulting phase current so that adjacent biphase current amplitude is equal for principle, it is assumed that
In formula, ICAnd IDIt is C phases and D phase current magnitudes respectively.
Non-faulting phase current is optimized by above-mentioned constraints, the phase current instruction for obtaining motor fault-tolerant operation is
Formula (5) is represented by using matrix form
It is obtained by formula (6)
Step 3, according to non-faulting phase current, three non-faulting phase naturals system of coordinates is sought and are converted to two-phase stationary coordinate system
Two rows three row popularization Clarke transform matrix Tpost, three rows two row inverse-transform matrixAnd transposed matrix
The transformation matrix for defining two-phase stationary coordinate system to remaining non-faulting phase natural system of coordinates according to formula (8) is
Since the sum of remaining non-faulting phase current is zero, formula (9) inverse-transform matrix is
In formula, k=0.386.
Due to winding star-like connection, the sum of phase current is zero, therefore removes formula (9) the third line and formula (10) third row,
?
The transposed matrix of formula (12) is
Step 4, inhibit force oscillation caused by failure phase short circuit current using non-faulting phase current, seek for inhibiting event
Barrier phase short circuit current leads to the short circuit compensation electric current (i " of the non-faulting phase of force oscillationA、i″C、i″D), become using Clarke is promoted
Change matrix TpostBy short circuit compensation electric current (i "A、i″C、i″D) transform to short circuit compensation electric current (i " in two-phase stationary coordinate systemα、
i″β)。
Since the electric current of zero sequence subspace is zero, synchronous rotating frame need not be transformed to；Fundamental wave subspace needs
Energy conversion is carried out, therefore the energy of fundamental wave subspace is transformed into synchronous rotating frame.Therefore the static seat of two-phase is defined
Transformation matrix C of the mark system to synchronous rotating frame2s/2rAnd its inverse-transform matrix C2r/2sRespectively
Second part, when the short circuit of B phases and E phase open faults occur for motor, uses non-event on the basis of first part
Hinder phase current and inhibits force oscillation caused by short-circuit phase current.
Assuming that the short circuit current of B phases is isc_B=Ifcos(ωt-θfB), wherein IfIt is the amplitude of short circuit current, θfBIt is B
The angle of opposite potential and the phase short circuit current；The electric speed of ω=π v/ τ, v linear motor rotors movement, τ is pole span.
The short circuit of definition A phases, C phases and D phases compensates electric current：
Wherein, xA、yA、xC、yC、xD、yDRespectively non-faulting mutually compensates electric current cosine term and the amplitude of sine term.
According to non-faulting mutually be used for inhibit failure phase short circuit current cause the sum of the compensation electric current of force oscillation be zero and
The principle that the synthesis magnetomotive force of this portion of electrical current and short trouble phase current is zero, seeks for inhibiting failure phase short circuit current to lead
Cause the short circuit compensation electric current (i " of the non-faulting phase of force oscillationA、i″C、i″D)
Application and popularizations Clarke transform matrix TpostNon-faulting is mutually compensated to electric current (i "A、i″C、i″D) to transform to two-phase quiet
The only short circuit compensation electric current (i " on coordinate systemα、i″β)
Alternatively, when motor generation B phases are opened a way with E phase short troubles, can be acquired using above method
Part III, mathematical model when the non-conterminous one phase short circuit one-phase open circuit failure of two-phase of motor
Due to the opposite self-induction very little of the mutual inductance of the phase inductance of the fault-tolerant permanent-magnetism linear motor, can be neglected, it is assumed that mutually electricity
Sense is approximately constant, it is assumed that winding back emf is sine wave.Back-emf azimuth is determined in the position in space by every phase winding
, therefore back-emf is unable to image current and equally uses transformation matrix of coordinates proposed by the present invention.Therefore, in order to realize that such is fault-tolerant
Permanent-magnetism linear motor is opened a way and the vector controlled under E phase short trouble states in the short circuit of B phases and E phases open fault or B phases, should
Model under electric motor short circuit malfunction under natural system of coordinates is represented by
In formula, uA、uCAnd uDIt is the phase voltage of motor non-faulting phase；eA、eB、eCAnd eDIt is motor opposite potential；uAe、uCe、
And uDeIt is that the voltage after each opposite potential is individually subtracted in motor non-faulting phase phase voltage；R is phase resistance.
Step 5, using popularization Clarke transform matrix TpostBy the non-event of the remaining three-phase being down sampled in natural system of coordinates
Hinder phase current (iA、iC、iD) transform to electric current (i ' in two-phase stationary coordinate systemα、i′β), and the electric current and short circuit compensation is electric
Flow (i "α、i″β) subtract each other to obtain (iα、iβ), with Park Transformation Matrix C2s/2rBy (iα、iβ) transform on synchronous rotating frame
Electric current (id、iq).Alternatively, the remaining three-phase non-faulting phase current (i that will be upsampled in natural system of coordinatesA、iC、iD), and it is non-
The short circuit compensation electric current (i " of failure phaseA、i″C、i″D) subtract each other to obtain (i 'A、i′C、i′D), using popularization Clarke transform matrix
TpostWith Park Transformation Matrix C2s/2rBy (i 'A、i′C、i′D) transform to feedback current (i on synchronous rotating framed、iq)。
Step 6, phase short circuit and one-phase open circuit in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor are established
Mathematical model under malfunction on synchronous rotating frame.
The non-conterminous two-phase short-circuit fault model (21) of motor transforms to synchronous rotating frame and is on natural system of coordinates
Using magnetic coenergy method, the motor phase short circuit and one-phase open circuit in non-conterminous two-phase are derived by formula (5)-(20)
Failure tolerant state lower thrust equation
In formula, λmFor permanent magnet flux linkage.
Therefore, as long as controlling i under synchronous rotating framed、iqFive phase embedded permanent magnets in the present invention can be made to hold
Wrong linear motor exports desired thrust in non-conterminous two-phase under a phase short circuit and one-phase open circuit malfunction.
Part IV, a phase short circuit and one-phase open circuit failure tolerant vector control strategy in the non-conterminous two-phase of motor
Step 7, one order inertia front feedback voltage compensation device, the current-order on synchronous rotating frame are designedThrough
First order inertial loopObtain feedforward compensation voltage
Current-orderWith feedback current (id、iq) difference through internal model current control deviceIt must control
Voltage (u processedd0、uq0), which is added with feedforward compensation voltage to obtain voltage instruction on synchronous rotating frame
Using Parker inverse-transform matrix C2r/2sBy the voltage instructionTransform to the electricity in two-phase stationary coordinate system
Pressure
Step 8, it usesAnd C2r/2sAnd mover permanent magnet flux linkage design back-emf observer observes that non-faulting is opposite
Potential (eA、eC、eD)
According to non-faulting opposite potential (eA、eC、eD) find out failure opposite potential (eB、eE)
Step 9, when B phase short circuit E phase open faults, according to B phase short circuit currents iB=isc_BWith B opposite potentials eBPass
The mathematical expression mode of system and short circuit compensation electric current, the short-circuit offset voltage for defining remaining non-faulting phase are (u "A、u″C、u″D)
For
Using popularization Clarke transform matrix Tpost(28) are transformed to the short-circuit offset voltage in two-phase stationary coordinate system
Alternatively, when B phases open a way E phase short troubles, acquired using identical method
Step 10, the voltage instruction in two-phase stationary coordinate systemWith short-circuit offset voltage (u "α、u″β) be added
?
Alternatively,
Using popularization Clarke inverse-transform matrixBy voltage instructionTransform to the electricity that natural coordinates is fastened
Pressure instructionAgain with each opposite potential (e of remaining non-faulting phaseA、eC、eD) be separately summed to obtain expectation mutually electricity
Pressure instruction
Alternatively, using Clarke inverse-transform matrix is promotedBy the voltage instruction under two-phase stationary coordinate system
Transform to the voltage instruction that natural coordinates is fastenedThen electric with the short circuit compensation of remaining three-phase non-faulting phase
Press (u "A、u″C、u″D) be added, finally again with each opposite potential (e of remaining non-faulting phaseA、eC、eD) be separately summed and it is expected
Phase voltage directive
Step 11, by the obtained expectation phase voltage directive of step 10Through voltage source inverter, adopt
Phase short circuit and one-phase open circuit in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor are realized with CPWM modulator approaches
Fault-tolerant vector unperturbed operation after failure.
Formula (34) or formula (35) it is expected that phase voltage uses the CPWM based on residual voltage harmonic injection through voltage source inverter
Modulation realizes that five phase embedded permanent magnet fault-tolerant linear motor B phase short circuits and E phases open fault or B phases are opened a way E phase short troubles
In the case of unperturbed fault-tolerant operation.A phase short circuit and one-phase open circuit failure tolerant in the non-conterminous two-phase of high-performance proposed by the present invention
Vector control strategy is as shown in Figure 3 and Figure 4.
When short trouble occurs for other non-conterminous two-phases, natural system of coordinates need to only be rotated counterclockwise(k=0,1,
2,3,4；When B phases and E phase faults, k=0；When C phases and A phase faults, k=1；When D phases and B phase faults, k=2；E phases and the event of C phases
When barrier, k=3；When A phases and D phase faults, k=4)) electrical angle, Park Transformation matrix and its inverse-transform matrix are respectively at this time
The five fault-tolerant straight line of phase embedded permanent magnet shown in Fig. 1 is established in Matlab/Simulink by Fig. 2 and Fig. 3 or Fig. 4
The Control System Imitation model of motor carries out system emulation, obtains the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor
In a phase short circuit and one-phase open circuit failure tolerant Simulation of Vector Control result.
Fig. 5 is phase current waveform under the short circuit of B phases and E phase open faults, and 0.1s failures occur, and current waveform is distorted,
0.2s applies the fault-tolerant vector control strategy of the present invention, and current sinusoidal degree improves.Fig. 6 is the short circuit of B phases and E phase open fault lower thrusts
Waveform, failure occurs when 0.1s, and the fluctuation of motor thrust output is apparent, and 0.2s applies the fault-tolerant vector control strategy of present invention short circuit,
The pulsation of motor thrust output is significantly suppressed, almost without pulsation.Fig. 7 and Fig. 8 is pushed away in motor normal course of operation respectively
Electric current on synchronous rotating frame when Spline smoothing occurs for power instruction and the response of motor thrust output, the thrust response time is
0.2ms.Fig. 9 is to apply the fault-tolerant vector control strategy pusher of the present invention under the short circuit of motor B phases and E phase open fault conditions with Figure 10
Power instructs electric current and the response of motor thrust output on synchronous rotating frame when Spline smoothing occurs, when motor thrust responds
Between be 0.3ms.Therefore, a phase short circuit one-phase open circuit in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor of the invention
Dynamic property and steady-state behaviour when failure tolerant vector strategy can make motor have normal operation.In addition, current following performance
It is good, realize unperturbed fault-tolerant operation.
From the above it is found that the present invention is for a phase in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor
Short circuit and one-phase open circuit failure tolerant vector control strategy allow maximum current in motor driven systems, not only can guarantee
In the failure, motor thrust output is consistent under normal condition, and can obviously inhibit thrust wave of the motor after the failure
It is dynamic, more crucially have and failure before similar dynamic property, steady-state behaviour and current following precision, and be suitble to it is any not
There is a situation where a phase short circuit one-phase open circuit failures for adjacent two-phase, versatile, are not necessarily to complicated calculations, and CPU overhead is small.Therefore,
The present invention requires operational reliability in electromagnetic active suspension system etc. to possess good application prospect in high system.
Although the present invention has been described by way of example and in terms of the preferred embodiments, embodiment is not for the purpose of limiting the invention.Not
It is detached from the spirit and scope of the present invention, any equivalent change or retouch done belongs to the application appended claims institute
The protection domain of restriction.
Claims (4)
1. the five fault-tolerant vector control methods of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor, which is characterized in that
Include the following steps：
Step 1, five phase embedded permanent magnet fault-tolerant linear motor models are established；
Step 2, embedded permanent magnet fault-tolerant linear motor is divided into A, B, C, D, E this five phase, when the short circuit of B phase and E phases occur for motor
When open fault, it is assumed that open fault only occurs for motor B phases and E phases, according to traveling wave magnetomotive force principle of invariance before and after electrical fault
And the constraints that the sum of remaining non-faulting phase current is zero, then it is equal as about by adjacent two-phase C phases and D phase current magnitudes
Beam condition finds out the non-faulting phase current of motor fault-tolerant operation after B phases and E phase open faults
In formula,It is the current-order of d axis under rotating coordinate system, q axis respectively, θ is electrical angleV is straight line
The electric speed of electric mover movement, τ is pole span；
Step 3, according to non-faulting phase current, three non-faulting phase naturals system of coordinates are converted to two-phase stationary coordinate system two are sought
The popularization Clarke transform matrix T that row three arrangespost, three rows two row inverse-transform matrixAnd transposed matrix
Step 4, inhibit force oscillation caused by failure phase short circuit current using non-faulting phase current, seek for inhibiting failure phase
Short circuit current leads to the short circuit compensation electric current i " of the non-faulting phase of force oscillationA、i″C、i″D, using popularization Clarke transform matrix
TpostBy short circuit compensation electric current i "A、i″C、i″DTransform to the short circuit compensation electric current i " in two-phase stationary coordinate systemα、i″β；
Step 5, using popularization Clarke transform matrix TpostThe remaining three-phase non-faulting being down sampled in natural system of coordinates is mutually electric
Flow iA、iC、iDTransform to the electric current i ' in two-phase stationary coordinate systemα、i′β, and the electric current i " that will be obtained in the electric current and step 4α、
i″βSubtract each other to obtain iα、iβ, with Park Transformation Matrix C2s/2rBy iα、iβTransform to the electric current i on synchronous rotating framed、iq；
Or step 5, the remaining three-phase non-faulting phase current i that will be upsampled in natural system of coordinatesA、iC、iD, with non-faulting phase
Short circuit compensation electric current i "A、i″C、i″DSubtract each other to obtain i 'A、i′C、i′D, using popularization Clarke transform matrix TpostAnd Park Transformation
Matrix C2s/2rBy i 'A、i′C、i′DTransform to the feedback current i on synchronous rotating framed、iq；
Step 6, a phase short circuit and one-phase open circuit failure in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor are established
Mathematical model under state on synchronous rotating frame；
Step 7, one order inertia front feedback voltage compensation device, the current-order on synchronous rotating frame are designedIt is used through single order
Property linkObtain feedforward compensation voltageCurrent-orderWith feedback current id、iqDifference through electric current
Internal mode controllerWherein R indicates phase resistance, must control voltage ud0、uq0, by the voltage and feedforward compensation voltageAddition obtains the voltage instruction on synchronous rotating frameUsing Parker inverse-transform matrix C2r/2sIt should
Voltage instruction transforms to the voltage in two-phase stationary coordinate system
Step 8, it usesAnd C2r/2sAnd mover permanent magnet flux linkage design back-emf observer observes non-faulting opposite potential
eA、eC、eD
Wherein λmFor permanent magnet flux linkage
According to non-faulting opposite potential eA、eC、eDFind out failure opposite potential eB、eE
Step 9, to ensure that motor output short-circuit compensates electric current i "A、i″C、i″D, according to B phase short circuit currents iB=isc_BIt is opposite with B
Potential eBRelationship and short circuit compensation electric current mathematical expression mode, wherein isc_BFor the short circuit current of B phases, definition residue three
The short-circuit offset voltage of phase non-faulting phase is u "A、u″C、u″DForUsing popularization Clarke transform matrix
TpostThe offset voltage is transformed to the short-circuit offset voltage u " in two-phase stationary coordinate systemα、u″βFor
Step 10, by the voltage instruction in two-phase stationary coordinate systemWith short-circuit offset voltage u "α、u″βIt is addedUsing popularization Clarke inverse-transform matrixBy voltage instructionTransform to natural coordinates
The voltage instruction fastenedAgain with each opposite potential e of remaining non-faulting phaseA、eC、eDIt is separately summed and it is expected
Phase voltage directive
Or step 10, using popularization Clarke inverse-transform matrixBy the voltage instruction under two-phase stationary coordinate systemBecome
Change to the voltage instruction that natural coordinates is fastenedThen with the short-circuit offset voltage u " of remaining three-phase non-faulting phaseA、
u″C、u″DBe added, finally again with each opposite potential e of remaining non-faulting phaseA、eC、eDIt is separately summed to obtain desired phase voltage directive
Step 11, by the obtained expectation phase voltage directive of step 10Through voltage source inverter, using CPWM tune
Method processed is realized in the five non-conterminous two-phases of phase embedded permanent magnet fault-tolerant linear motor after a phase short circuit and one-phase open circuit failure
Fault-tolerant vector unperturbed operation.
2. the five fault-tolerant vector controlled of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor according to claim 1
Method, which is characterized in that the detailed process of the step 4 is：
Step 4.1, it is assumed that the short circuit current of B phases is isc_B=Ifcos(ωt-θfB), wherein IfIt is the amplitude of short circuit current, θfB
It is the angle of B opposite potentials and the phase short circuit current, ω=π v/ τ, v are that linear motor rotor moves electric speed, and τ is pole span；
Step 4.2, be mutually used to inhibit failure phase short circuit current according to non-faulting the sum of the compensation electric current of force oscillation is caused to be zero,
And the principle that the synthesis magnetomotive force of this portion of electrical current and short trouble phase current is zero, seek the short circuit compensation electricity of non-faulting phase
Flow i "A、i″C、i″D
Step 4.3, application and popularizations Clarke transform matrix TpostBy non-faulting, mutually short circuit compensates electric current i "A、i″C、i″DTransform to two
The short circuit compensation electric current i " that phase static coordinate is fastenedα、i″β
3. the five fault-tolerant vector controlled of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor according to claim 1
Method, which is characterized in that the detailed process of the step 6 is：
Step 6.1, phase inductance is approximately constant Ls, after machine phase voltages subtract back-emf, the short circuit of motor B phases and E phase open faults
The model fastened afterwards in natural coordinates is expressed as
In formula, uA、uCAnd uDIt is the phase voltage of motor non-faulting phase；eA、eB、eCAnd eDIt is motor opposite potential；uAe、uCeAnd uDeIt is
The voltage after each opposite potential is individually subtracted in motor non-faulting phase phase voltage；R is phase resistance；
Step 6.2, the non-faulting phase current of sampling is handled by step 5, then using popularization Clarke coordinate transform square
Battle array TpostWith Park Transformation C2s/2rThe non-conterminous two-phase short-circuit fault model of motor that natural coordinates is fastened is transformed into synchronous rotary
On coordinate system
Step 6.3, using magnetic coenergy method, by transformation matrix Tpost、C2s/2rAnd C2r/2sDerive the motor non-conterminous two
Thrust equation under the short circuit of Xiang Zhongyi phases and one-phase open circuit failure tolerant state
In formula, λmFor permanent magnet flux linkage.
4. the five fault-tolerant vector controlled of the non-conterminous phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor according to claim 1
Method, which is characterized in that the control method applies also for five mutually fault-tolerant permanent magnet rotating machine control systems.
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| CN102223131A (en) * | 2011-06-17 | 2011-10-19 | 江苏大学 | Drive control method of fault tolerant type magnetic flux switching permanent magnet motor |
| CN104682807A (en) * | 2015-02-04 | 2015-06-03 | 江苏大学 | Short circuit fault tolerant control method for five-phase fault tolerant permanent magnet motor |
| CN104682820A (en) * | 2015-02-12 | 2015-06-03 | 江苏大学 | Fault-tolerant control method for five-phase fault-tolerant permanent magnet linear motor |
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| CN102223131A (en) * | 2011-06-17 | 2011-10-19 | 江苏大学 | Drive control method of fault tolerant type magnetic flux switching permanent magnet motor |
| CN104682807A (en) * | 2015-02-04 | 2015-06-03 | 江苏大学 | Short circuit fault tolerant control method for five-phase fault tolerant permanent magnet motor |
| CN104682820A (en) * | 2015-02-12 | 2015-06-03 | 江苏大学 | Fault-tolerant control method for five-phase fault-tolerant permanent magnet linear motor |
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