CN106100496A - The five phase embedded permanent magnet fault-tolerant linear motor fault-tolerant vector control methods of adjacent phase to phase fault - Google Patents

Abstract

The invention discloses a kind of five phase embedded permanent magnet fault-tolerant linear motor fault-tolerant vector control methods of adjacent phase to phase fault.According to row ripple magnetomotive force before and after this biphase open fault constant and healthy phases electric current and be zero principle, equal as constraints with non-conterminous biphase current amplitude, derivation promote Clarke transform matrix；The transposition using this matrix estimates back-emf；Internal mode controller, one order inertia front feedback voltage compensation device, non-linear strongly coupled system under such motor is nonserviceabled by back-emf observer is used to be transformed to one order inertia system.The principle that synthesis magnetomotive force is zero compensating electric current and short trouble phase current according to healthy phases short circuit obtains short circuit compensation voltage；By this voltage and vector controller output voltage superposition.The present invention not only inhibits the motor force oscillation that the adjacent phase to phase fault of motor causes, and crucially the most consistent under its dynamic property, steady-state behaviour and normal condition, and voltage source inverter switching frequency is constant.

Description

The five phase embedded permanent magnet fault-tolerant linear motor fault-tolerant vector controlled of adjacent phase to phase fault Method

Technical field

The present invention relates to a kind of five phase magneto adjacent biphase in one phase short circuit and one-phase open circuit failure tolerant controlling party The mutually fault-tolerant permanent-magnetism linear motor of method, particularly five adjacent biphase in one phase short circuit and one-phase open circuit failure tolerant vector controlled side Method.It is applicable to Aero-Space, electric automobile, deep-sea, medical apparatus and instruments etc. reliability and the dynamic property of motor are had higher requirements Occasion.

Background technology

Along with development and the raising of people's living standard of society, the comfortableness driving automobile and security and stability are wanted Ask more and more higher.As the important component part of Hyundai Motor, suspension system performance is to vehicle running smoothness and stable operation Property etc. has extremely important impact, and therefore the research of active suspension system is paid much attention in the industry.Hang as active electromagnetism The core component of frame system, cylindrical linear motor research comes into one's own.Motor fault freedom under short trouble state, directly The reliability that decide electromagnetic suspension and the ability run continuously.

Fault-tolerant motor a certain phase or certain biphase be short-circuited or during open fault, motor still have certain thrust or Person's torque output capability, but thrust or torque ripple are very big, and noise increases, severe exacerbation systematic function.Faults-tolerant control Target is to be optimized fault-tolerant electric current for different application occasion, the thrust output under making motor nonserviceable or torque The most smooth, and make motor performance reach or close to the performance before fault.Chinese invention patent application number is The patent " the short-circuit fault tolerant control methods of a kind of five mutually fault-tolerant magnetoes " of 201510059387.2 is for five mutually fault-tolerant Surface Mounts Formula permanent magnet rotating machine, is decomposed into two parts: a part is that open fault is to torque by short trouble on the impact of motor torque Impact；Another part is that torque is affected by short circuit current.For open fault, use magnetomotive force and principle of invariance before and after fault And fault after current amplitude equal principle, optimize the phase current of residue healthy phases；The torque ripple caused for short circuit current Dynamic, after using fault, magnetomotive force is that zero-sum copper loss minimum principle obtains healthy phases compensation electric current；Last two parts electric current is added, Try to achieve the current-order of residue healthy phases.Hysteresis Current Control Strategy is used according to the residue healthy phases electric current tried to achieve, right Five mutually fault-tolerant surface-mount type permanent magnet rotating machines are controlled.The method causes the residue of torque ripple for suppressing short circuit phase current It is constant that healthy phases compensates the amplitude of electric current, unrelated with motor speed, and the electric current sum of residue healthy phases is not zero.With Time, the method is not suitable for the fault-tolerant operation in the case of phase to phase fault.At present, conventional fault tolerant control method is: calculate fault-tolerant Electric current, then uses Hysteresis Current strategy to be controlled.But, the method exists that switching frequency is mixed and disorderly, noise big, motor dynamics The problems such as poor performance, are not suitable for power compared with big and high to motor dynamics performance requirement occasion.Chinese invention patent application number It it is patent " the fault-tolerant vector controlled side of a kind of embedded mixing magnetic material fault-tolerant cylindrical linear motor short circuit of 201510661212.9 Method " for five phase mixing magnetic material embedded fault-tolerant linear motor one phase short troubles, use above same procedure optimization to remain Non-faulting electric current, the vector then using vector control strategy to realize this motor one phase short circuit fault condition runs.Chinese invention Number of patent application is the patent " a kind of fault tolerant control method for five mutually fault-tolerant permanent-magnetism linear motors " of 201510075347.7 For five mutually fault-tolerant surface-mount type permanent-magnetism linear motor one-phase open circuit faults, according to rotating mmf amplitude and phase angle before and after fault not Become and the residue equal principle of healthy phase current amplitude, with phase current and equal to zero as constraints, optimize residue non-faulting The phase current of phase；Thus realize the vector controlled under five mutually fault-tolerant permanent-magnetism linear motor one-phase open circuit failure conditions.Although it is above-mentioned It is good that method achieves such electric system high fault freedom under short circuit or open fault state, high dynamic performance, electric current Good followability, but the fault-tolerant vector that the method cannot realize under a phase short circuit and one-phase open circuit failure condition simultaneously runs.

Summary of the invention

For not enough, according to five phase embedded permanent magnet fault-tolerant linear motors present in existing motor fault-tolerant control technology Characteristic adjacent with such motor biphase in one mutually short circuit and one-phase open circuit fault characteristic, the present invention seeks to overcome motor adjacent In biphase one phase short circuit and one-phase open circuit fault after existing fault-tolerant strategy use current hysteresis-band control cause inverter switching frequency In a jumble, motor response speed decline, bad dynamic performance, electric current cannot accurately be followed, noise is serious shortcoming, the control of conventional current PI Make owing to response rapidity and the contradiction of overshoot cause the problem of parameter regulation difficulty, and existing fault-tolerant vector control strategy without Method realizes phase short circuit and a fault-tolerant operation for one-phase open circuit failure condition, proposes a kind of five phase permanent magnets for the present invention embedded Formula fault-tolerant linear motor adjacent biphase in one phase short circuit and the fault-tolerant vector control method of one-phase open circuit, it is achieved that the essence of back-emf Really estimation, reduces controller parameter regulation difficulty, it is achieved such electric system adjacent biphase in phase short circuit and an one-phase open circuit The good followability of high fault freedom under malfunction, high dynamic performance, electric current, reduces CPU overhead, it is achieved inverter switching device frequency Rate is constant, reduce noise, and then improves the five phase embedded permanent magnet fault-tolerant linear motors of the present invention under this malfunction Dynamic property and reliability.

The present invention uses following technology for the fault-tolerant vector control method of five phase embedded permanent magnet fault-tolerant linear motors Scheme:

A kind of five phase embedded permanent magnet fault-tolerant linear motor fault-tolerant vector control methods of adjacent phase to phase fault, including following Step:

Step 1, sets up five phase embedded permanent magnet fault-tolerant linear motor models；

Step 2, embedded permanent magnet fault-tolerant linear motor is divided into this five phase of A, B, C, D, E, when motor occur C phase short circuit and During D phase open fault, or when C phase is opened a way with D phase short trouble, it is assumed that motor C phase and D phase only occur open fault, according to Before and after electrical fault, row ripple magnetomotive force principle of invariance and residue healthy phases electric current sum are the constraints of zero, then by not phase Adjacent biphase B phase and E phase current magnitude are equal as constraints, obtain the non-of C phase and D phase open fault rear motor fault-tolerant operation Faulted phase current；

Step 3, according to healthy phases electric current, asks for three healthy phases natural coordinates and is tied to the conversion of biphase rest frame Popularization Clarke transform matrix T_post, inverse-transform matrixAnd transposed matrix

Step 4, the force oscillation using healthy phases electric current suppression fault phase short circuit current to cause, ask for for suppressing event Barrier phase short circuit current causes the short circuit of the healthy phases of force oscillation to compensate electric current, uses and promotes Clarke transform matrix T_postWill The short circuit that this current transformation is fastened to biphase static coordinate compensates electric current；

Step 5, uses and promotes Clarke transform matrix T_postThe non-event of residue three-phase being down sampled at natural system of coordinates Barrier phase current transforms to the electric current that biphase static coordinate is fastened, and the current subtraction obtained in this electric current and step 4 is obtained (i_α、i_β), use Park Transformation Matrix C_2s/2rBy (i_α、i_β) transform to the electric current on synchronous rotating frame；

Or step 5, the residue three-phase healthy phases electric current being upsampled at natural system of coordinates, compensate electric current phase with short circuit Subtract and obtain (i '_A、i′_B、i′_E), use and promote Clarke transform matrix T_postWith Park Transformation Matrix C_2s/2rBy (i '_A、i′_B、i′_E) Transform to the feedback current on synchronous rotating frame；

Step 6, sets up the five adjacent biphase one-phase open circuit of phase embedded permanent magnet fault-tolerant linear motor and phase short troubles Mathematical model on synchronous rotating frame under state；

Step 7, the current-order on synchronous rotating frame obtains feedforward compensation voltage through first order inertial loop, should simultaneously The difference of current-order and feedback current must control voltage through internal model current control device and obtain synchronize with the addition of feedforward compensation voltage The voltage instruction that rotational coordinates is fastened, uses Parker inverse-transform matrix C_2r/2sThis voltage instruction is transformed to biphase rest frame On voltage

Step 8, usesAnd C_2r/2sAnd mover permanent magnet flux linkage design back-emf observer observes that non-faulting is contrary Electromotive force, obtains fault phase back-emf according to healthy phases back-emf；

Step 9, for guaranteeing that motor output is for suppressing short circuit current to cause the short-circuit of healthy phases of force oscillation to compensate Electric current, compensates the mathematical expression mode of electric current, definition residue according to C phase short circuit current and the relation of C opposite potential and short circuit The short circuit of three-phase healthy phases compensates voltage, uses and promotes Clarke transform matrix T_postDescribed short circuit is compensated voltage transformation arrive The short circuit that biphase static coordinate is fastened compensates voltage；

Step 10, the voltage instruction biphase static coordinate fastened compensates voltage with short circuit and is added to obtain voltage instructionUse and promote Clarke inverse-transform matrixBy voltage instructionTransform to what natural coordinates was fastened Voltage instruction Each opposite potential with residue healthy phases is separately summed and obtains expecting phase voltage directive again

Or step 10, use and promote Clarke inverse-transform matrixBy the voltage instruction under biphase rest frameTransform to the voltage instruction that natural coordinates is fastenedThen with residue three-phase healthy phases short Road compensates voltage and is added, and each opposite potential with residue healthy phases is separately summed and obtains expecting phase voltage directive the most again

Step 11, by the expectation phase voltage directive obtained by step 10Through voltage source inverter, adopt The five adjacent biphase one-phase open circuit of phase embedded permanent magnet fault-tolerant linear motor and phase short troubles are realized by CPWM modulator approach After fault-tolerant vector unperturbed run.

The method have the advantages that

1, the present invention ensure motor arbitrary neighborhood biphase in one phase short circuit and one-phase open circuit fault before and after motor output push away On the premise of power is equal, not only can effectively suppress motor force oscillation, and motor fault-tolerant the most crucially can be made to run feelings Dynamic property, current following performance under condition are similar with the performance under normal condition, and without complicated calculating, voltage source is inverse Device switching frequency is constant, noise is low, CPU overhead is little in change, and algorithm has certain versatility.

2, use the present invention adjacent biphase in one phase short circuit and the fault-tolerant vector control strategy of one-phase open circuit after, such motor exists Under the short circuit of C phase and D phase open fault condition, or when C phase is opened a way with fault-tolerant operation under D phase short circuit fault condition, it is dynamic Performance, steady-state behaviour are similar with under motor normal condition, and thrust output is almost without fluctuation, in the maximum that electric system allows Below current limit value, electromagnetic push is consistent with holding before fault, it is achieved that unperturbed fault-tolerant operation.

3, popularization Clarke transform matrix and the Parker derived by the residue healthy phases current phasor in the present invention becomes Change matrix can adjacent biphase in one phase short circuit and one-phase open circuit malfunction under by residue healthy phases steady-state current deduct Short circuit compensate after electric current by etc. amplitude transform on synchronous rotating frame, this electric current pulse free.And use tradition Clarke to become Change matrix and Park Transformation matrix adjacent biphase in one phase short circuit and one-phase open circuit malfunction under can only will remain non-faulting The current transformation of phase is to the electric current of pulsation on synchronous rotating frame.

4, promote Clarke transform matrix combine with Park Transformation matrix achieve adjacent biphase in one mutually short circuit and one The natural coordinates remaining healthy phases composition under phase open fault state is tied to the conversion of synchronous rotating frame, for motor at this Fault-tolerant vector controlled under malfunction creates precondition.

5, promote the transposed matrix of Clarke transform matrix and Parker inverse-transform matrix and mover permanent magnet flux linkage combines and sets The back-emf observer of meter achieves the back-emf essence under the adjacent biphase one-phase open circuit of such motor and a phase short circuit fault condition Really estimation, it is achieved thereby that the fault-tolerant vector under the adjacent biphase one-phase open circuit of such motor and a phase short circuit fault condition runs.

6 compare with electric current PI controller, 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 combine such motor at adjacent biphase one-phase open circuit It is transformed to one order inertia system with the non-linear strongly coupled system under a phase short trouble state, reduces attitude conirol Difficulty, it is ensured that such electric system current following performance, steady under adjacent biphase one-phase open circuit and a phase short trouble state State property energy, dynamic property, make motor dynamics performance, steady-state behaviour consistent with the performance before electrical fault, and be capable of nothing Overshoot quickly responds.

7, promote Clarke transform matrix to tie mutually with the CPWM modulation of Park Transformation matrix and residual voltage harmonic injection Close, improve inverter busbar voltage utilization rate, reduce the complexity of fault-tolerant vector control algorithm simultaneously, reduce CPU and open Pin.

8, adjacent biphase one-phase open circuit and a phase fault-tolerant vector control strategy of short circuit, back-emf estimate mould in strategy, electric current Control strategy, one order inertia front feedback voltage compensation strategy, CPWM modulation technique and five phase embedded permanent magnet fault-tolerant linear motors Combine, substantially increase this motor fault freedom under adjacent biphase one-phase open circuit and a phase short trouble state, dynamically Performance and steady-state behaviour, save CPU overhead.Compare with current hysteresis-band control, reduce noise, reduce EMC Design Difficulty.And then make this motor control accuracy under adjacent biphase one-phase open circuit and a phase short trouble state high, current following Performance is good, and electric efficiency height, thrust output fast response time and thrust calculation are the same with before fault little, it is achieved that electric system High reliability under adjacent biphase one-phase open circuit and a phase short trouble state and high dynamic performance.

Accompanying drawing explanation

Fig. 1 is the structural representation of the embodiment of the present invention five phase embedded permanent magnet fault-tolerant linear motor；

Fig. 2 is the embodiment of the present invention five phase embedded permanent magnet fault-tolerant linear motor vector control strategy schematic diagram；

Fig. 3 is the short-circuit fault-tolerant vector of opening a way with D phase of the embodiment of the present invention five phase embedded permanent magnet fault-tolerant linear motor C phase Control principle drawing；

Fig. 4 is that the embodiment of the present invention five phase embedded permanent magnet fault-tolerant linear motor C phase is opened a way fault-tolerant vector short-circuit with D phase Control principle drawing；

Phase when Fig. 5 is to run without fault-tolerant and fault-tolerant vector under the short circuit of embodiment of the present invention C phase and D phase open fault condition Current waveform；

Pushing away when Fig. 6 is to run without fault-tolerant and fault-tolerant vector under the short circuit of embodiment of the present invention C phase and D phase open fault condition Reeb shape；

Fig. 7 is the electricity on synchronous rotating frame during thrust command step during embodiment of the present invention failure-free operation Stream waveform；

Fig. 8 is motor thrust output waveform during thrust command step during embodiment of the present invention failure-free operation；

Fig. 9 be the short circuit of embodiment of the present invention C phase open a way with D phase thrust command step during fault-tolerant operation time synchronization revolve Turn the current waveform in coordinate system；

Figure 10 be the short circuit of embodiment of the present invention C phase open a way with D phase thrust command step during fault-tolerant operation time motor Thrust output waveform；

In figure: 1. primary；2. time level；3. stalloy；4. pole shoe；5. fault-tolerant teeth；6. armature tooth；7. end tooth；8. permanent magnetism Body；9. winding coil.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe wholely.

In order to the construction features of the simpler embedded permanent magnet fault-tolerant linear motor that the present invention is described legibly And beneficial effect, carry out detailed statement below in conjunction with five concrete phase embedded permanent magnet fault-tolerant linear motors.

Step 1, sets up five phase embedded permanent magnet fault-tolerant linear motor models.

As it is shown in figure 1, five phase embedded permanent magnet fault-tolerant linear motor structural representations of the embodiment of the present invention, including at the beginning of Level 1, secondary 2.Primary 1 includes pole shoe 4, armature tooth 6, fault-tolerant teeth 5 and concentratred winding coil 9, and armature tooth 6 and fault-tolerant teeth 5 It is all 10, on secondary 2, is embedded with rare-earth permanent magnet 8, there is air gap between primary 1 and secondary 2, except forever on primary 1 and secondary 2 Part outside magnet, winding and pole shoe is all to be formed by the axial lamination of stalloy 3, and pole shoe 4 is made up of electrical pure iron, primary 1 Two end tooth 7 be asymmetric, and than fault-tolerant teeth and the armature facewidth.

On the basis of tradition uses sine wave as carried based PWM (CPWM) method of modulating wave, adjust at five phase sines Ripple processed injects c₀=-(max (u_i)+min(u_i))/residual voltage harmonic wave (u of 2_iIt is the five each phase functions of phase sinusoidal modulation wave) CPWM method can the identical magnetic linkage control effect of acquisitions with five phase SVPWM methods.Therefore the present invention uses based on injecting zero sequence The CPWM method of voltage harmonic carries out pulsewidth modulation.

Fig. 2 five phase embedded permanent magnet fault-tolerant linear motor is powered by voltage source inverter, and this motor is divided into A, B, C, D, E This five phase, uses the vector control strategy of CPWM technology based on residual voltage harmonic injection, and it is zero that zero-sequence current controls, and controls Block diagram is as shown in Figure 2.During motor normal condition steady-state operation, each phase winding electric current is represented by

$\left\{\begin{array}{c}{i}_A^{*}=-i_q^{*}\sin \left(\mathrm{\θ}\right)+i_d^{*}\cos \left(\mathrm{\θ}\right)\\ i_B^{*}=-i_q^{*}\sin (\mathrm{\θ}-2\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-2\mathrm{\π}/5)\\ i_C^{*}=-i_q^{*}\sin (\mathrm{\θ}-4\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-4\mathrm{\π}/5)\\ i_D^{*}=-i_q^{*}\sin (\mathrm{\θ}-6\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-6\mathrm{\π}/5)\\ i_E^{*}=-i_q^{*}\sin (\mathrm{\θ}-8\mathrm{\π}/5)+i_d^{*}\cos (\mathrm{\θ}-8\mathrm{\π}/5)\end{array}\right.---\left(1\right)$

In formula,Being rotating coordinate system d axle, the current-order of q axle respectively, θ is electrical angleV straight line Electric mover motion electricity speed, τ is pole span.

Row ripple magnetomotive force (MMF) that motor produces is represented by

$\begin{array}{c}MMF=\underset{i=A}{\overset{E}{\Σ}}{\mathrm{MMF}}_i\\ ={\mathrm{Ni}}_A+{\mathrm{aNi}}_B+a^2{\mathrm{Ni}}_C+a^3{\mathrm{Ni}}_D+a^4{\mathrm{Ni}}_E\end{array}---\left(2\right)$

In formula, a=e^j2π/5, N is the effective turn of each phase stator winding.

Step 2, when there is the short circuit of C phase and D phase open fault in motor, it is assumed that motor C phase and D phase only occur open circuit event Barrier, is the constraints of zero according to row ripple magnetomotive force principle of invariance before and after electrical fault and residue healthy phases electric current sum, Equal as constraints by non-conterminous biphase B phase and E phase current magnitude again, obtain C phase and D phase open fault rear motor is fault-tolerant The healthy phases electric current run.

Part I, when motor adjacent biphase in a phase short circuit and during one-phase open circuit fault, it is assumed that C phase open a way with D phase therefore Barrier occurs.Motor remaining healthy phases current compensation short trouble is first used to cause this biphase normal thrust to lack mutually.Now, Assuming that C phase is opened a way with D phase, its phase current is zero, and the row ripple magnetomotive force of motor internal is produced by remaining three-phase healthy phases winding Raw, it is represented by

$\begin{array}{c}MMF=\underset{i=A,B,E}{\Σ}{\mathrm{MMF}}_i\\ ={\mathrm{Ni}}_A^{*}+{\mathrm{aNi}}_B^{*}+a^4{\mathrm{Ni}}_E^{*}\end{array}---\left(3\right)$

Run for unperturbed after realizing the adjacent biphase open fault of motor, row ripple magnetomotive force one before and after electrical fault need to be kept Cause, therefore need to adjust the magnetomotive amplitude of row ripple before and after residue healthy phases stator current makes electrical fault and keep not with speed Become.Then, make formula (2), formula (3) real part the most equal with imaginary part.

Motor winding uses Y-connection, and the central point of its central point and DC bus-bar voltage is not attached to, therefore, and winding Phase current sum is zero.Healthy phases electric current is optimized for principle so that non-conterminous biphase current amplitude is equal, it is assumed that

$\left\{\begin{array}{c}{I}_B=I_E\\ i_A^{*}+i_B^{*}+i_E^{*}=0\end{array}\right.---\left(4\right)$

In formula, I_BAnd I_EIt is B phase and E phase current magnitude respectively.

Being optimized healthy phases electric current by above-mentioned constraints, the phase current instruction obtaining motor fault-tolerant operation is

$\left\{\begin{array}{c}{i}_A=3.618(-i_q^{*}\sin (\mathrm{\θ})+i_d^{*}\cos (\mathrm{\θ}\left)\right)\\ i_B=2.236(-i_q^{*}\sin (\mathrm{\θ}-\frac{4}{5}\mathrm{\π})+i_d^{*}\cos (\mathrm{\θ}-\frac{4}{5}\mathrm{\π}\left)\right)\\ i_C=0\\ i_D=0\\ i_E=2.236(-i_q^{*}\sin (\mathrm{\θ}+\frac{4}{5}\mathrm{\π})+i_d^{*}\cos (\mathrm{\θ}+\frac{4}{5}\mathrm{\π}\left)\right)\end{array}\right.---\left(5\right)$

Formula (5) uses matrix form to be represented by

$\left[\begin{array}{c}{i}_A^{*}\\ i_C^{*}\\ i_D^{*}\end{array}\right]=2.236\left[\begin{array}{cc}1.618\cos 0& 0\\ \cos \frac{4\mathrm{\π}}{5}& \sin \frac{4\mathrm{\π}}{5}\\ \cos \left(-\frac{4\mathrm{\π}}{5}\right)& \sin \left(-\frac{4\mathrm{\π}}{5}\right)\end{array}\right]\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_d^{*}\\ i_q^{*}\end{array}\right]---\left(6\right)$

Obtained by formula (6)

$\left[\begin{array}{c}{i}_{\mathrm{\α}}^{*}\\ i_{\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}cos\mathrm{\θ}& -sin\mathrm{\θ}\\ sin\mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_d^{*}\\ i_q^{*}\end{array}\right]=C_{r/s}\left[\begin{array}{c}{i}_d^{*}\\ i_q^{*}\end{array}\right]---\left(7\right)$

$\left[\begin{array}{c}{i}_A^{*}\\ i_C^{*}\\ i_D^{*}\end{array}\right]=2.236\left[\begin{array}{cc}1.618\cos 0& 0\\ \cos \frac{4\mathrm{\π}}{5}& \sin \frac{4\mathrm{\π}}{5}\\ \cos \left(-\frac{4\mathrm{\π}}{5}\right)& \sin \left(-\frac{4\mathrm{\π}}{5}\right)\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}^{*}\\ i_{\mathrm{\β}}^{*}\end{array}\right]---\left(8\right)$

Step 3, according to healthy phases electric current, asks for three healthy phases natural coordinates and is tied to the conversion of biphase rest frame Two row three row popularization Clarke transform matrix T_post, three row two row inverse-transform matrixAnd transposed matrix

According to formula (8) define biphase static coordinate be tied to remain healthy phases natural system of coordinates transformation matrix be

$T_{post}^{-1}=2.236\left[\begin{array}{ccc}1.618cos0& 0& k\\ cos\frac{4\mathrm{\π}}{5}& sin\frac{4\mathrm{\π}}{5}& k\\ \cos (-\frac{4\mathrm{\π}}{5})& sin(-\frac{4\mathrm{\π}}{5})& k\end{array}\right]---\left(9\right)$

Owing to residue healthy phases electric current sum is zero, formula (9) inverse-transform matrix is

$T_{post}=\left[\begin{array}{ccc}\frac{1.618cos0}{8.781}& \frac{cos\frac{4\mathrm{\π}}{5}}{8.781}& \frac{cos(-\frac{4\mathrm{\π}}{5})}{8.781}\\ 0& \frac{\sin \frac{4\mathrm{\π}}{5}}{1.545}& \frac{\sin (-\frac{4\mathrm{\π}}{5})}{1.545}\\ k& k& k\end{array}\right]---\left(10\right)$

In formula, k=0.386.

Due to winding Y-connection, its phase current sum is zero, therefore removes formula (9) the third line and formula (10) the 3rd row, ?

$T_{post}^{-1}=2.236\left[\begin{array}{cc}1.618\cos 0& 0\\ \cos \frac{4\mathrm{\π}}{5}& \sin \frac{4\mathrm{\π}}{5}\\ \cos \left(-\frac{4\mathrm{\π}}{5}\right)& \sin \left(-\frac{4\mathrm{\π}}{5}\right)\end{array}\right]---\left(11\right)$

$T_{post}=\left[\begin{array}{ccc}\frac{1.618\cos 0}{8.781}& \frac{\cos \frac{4\mathrm{\π}}{5}}{8.781}& \frac{\cos \left(-\frac{4\mathrm{\π}}{5}\right)}{8.781}\\ 0& \frac{\sin \frac{4\mathrm{\π}}{5}}{1.545}& \frac{\sin \left(-\frac{4\mathrm{\π}}{5}\right)}{1.545}\end{array}\right]---\left(12\right)$

The transposed matrix of formula (12) is

$T_{psot}^T=\left[\begin{array}{cc}\frac{1.618\cos 0}{8.781}& 0\\ \frac{\cos \frac{4\mathrm{\π}}{5}}{8.781}& \frac{\sin \frac{4\mathrm{\π}}{5}}{1.545}\\ \frac{\cos \left(-\frac{4\mathrm{\π}}{5}\right)}{8.781}& \frac{\sin \left(-\frac{4\mathrm{\π}}{5}\right)}{1.545}\end{array}\right]---\left(13\right)$

Step 4, the force oscillation using residue three-phase healthy phases electric current suppression fault phase short circuit current to cause, ask for using In suppression fault phase short circuit current cause force oscillation healthy phases short circuit compensate electric current (i "_A、i″_B、i″_E), use and promote Clarke transform matrix T_postBy electric current (i "_A、i″_B、i″_E) transform to the short circuit that biphase static coordinate fastens compensate electric current (i "_α、 i″_β)。

Owing to the electric current of zero sequence subspace is zero, it is not necessary to transformed to synchronous rotating frame；First-harmonic subspace needs Energy conversion to be carried out, is therefore transformed into synchronous rotating frame by the energy of first-harmonic subspace.Therefore biphase static seat is defined Mark is tied to the transformation matrix C of synchronous rotating frame_2s/2rAnd inverse-transform matrix C_2r/2sIt is respectively

$C_{2s/2r}=\left[\begin{array}{cc}cos\mathrm{\θ}& sin\mathrm{\θ}\\ -sin\mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]---\left(14\right)$

$C_{2r/2s}=\left[\begin{array}{cc}cos\mathrm{\θ}& -sin\mathrm{\θ}\\ sin\mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]---\left(15\right)$

Part II, on the basis of Part I, when motor occurs the short circuit of C phase and D phase open fault, uses non-event The force oscillation that barrier phase current suppression short circuit phase current causes.

The short circuit current assuming C phase is i_{sc_C}=I_fcos(ωt-θ_fC), wherein, I_fIt is the amplitude of short circuit current, θ_fCIt is C Opposite potential and the angle of this phase short circuit current；ω=π v/ τ, v linear motor rotor motion electricity speed, τ is pole span.

The short circuit of definition A phase, B phase and E phase compensates electric current:

$\left\{\begin{array}{c}{i}_A^{\′\′}=x_{A}cos\mathrm{\θ}+y_{A}sin\mathrm{\θ}\\ i_B^{\′\′}=x_{B}cos\mathrm{\θ}+y_{B}sin\mathrm{\θ}\\ i_E^{\′\′}=x_{E}cos\mathrm{\θ}+y_{E}sin\mathrm{\θ}\end{array}\right.---\left(16\right)$

Wherein, x_A、y_A、x_B、y_B、x_E、y_EIt is respectively healthy phases and compensates electric current cosine term and the amplitude of sine term.

According to healthy phases for suppress fault phase short circuit current cause the compensation electric current sum of force oscillation be zero and The principle that synthesis magnetomotive force is zero of this portion of electrical current and short trouble phase current, asks for for suppressing fault phase short circuit current to lead Cause force oscillation healthy phases short circuit compensate electric current (i "_A、i″_B、i″_E)

$\left\{\begin{array}{c}{i}_A^{\′\′}=1.171i_{sc\_C}\\ i_B^{\′\′}=-0.895i_{sc\_C}\\ i_E^{\′\′}=-0.276i_{sc\_C}\end{array}\right.---\left(17\right)$

Use and promote Clarke transform matrix T_postBy healthy phases short circuit compensate electric current (i "_A、i″_B、i″_E) transform to two Phase static coordinate fasten short circuit compensate electric current (i "_α、i″_β)

$\left\{\begin{array}{c}{i}_{\mathrm{\α}}^{\′\′}=0.324i_{sc\_C}\\ i_{\mathrm{\β}}^{\′\′}=-0.236i_{sc\_C}\end{array}\right.---\left(18\right)$

Or, when motor occurs C phase to open a way with D phase short trouble, use above method can try to achieve short circuit and compensate electricity Stream

$\left\{\begin{array}{c}{i}_A^{\′\′}=1.171i_{sc\_D}\\ i_B^{\′\′}=-0.276i_{sc\_D}\\ i_E^{\′\′}=-0.895i_{sc\_D}\end{array}\right.---\left(19\right)$

$\left\{\begin{array}{c}{i}_{\mathrm{\α}}^{\′\′}=0.324i_{sc\_D}\\ i_{\mathrm{\β}}^{\′\′}=0.236i_{sc\_D}\end{array}\right.---\left(20\right)$

Part III, mathematical model when the adjacent biphase phase short circuit of motor and one-phase open circuit fault

Owing to the mutual inductance of the phase inductance of this fault-tolerant permanent-magnetism linear motor is the least relative to self-induction, negligible, it is assumed that electricity mutually Sense is approximately constant, it is assumed that winding back emf is sinusoidal wave.Back-emf azimuth is to be determined in the position in space by every phase winding , therefore back-emf can not equally use the transformation matrix of coordinates that the present invention proposes by image current.Therefore, fault-tolerant in order to realize such Permanent-magnetism linear motor is opened a way and the vector controlled under D phase short trouble state at the short circuit of C phase and D phase open fault or C phase, should Under electrical fault state, the model under natural system of coordinates is represented by

$\left\{\begin{array}{c}{u}_{Ae}=u_A-e_A={\mathrm{Ri}}_A+L_s\frac{{\mathrm{di}}_A}{dt}\\ u_{Be}=u_B-e_B={\mathrm{Ri}}_B+L_s\frac{{\mathrm{di}}_B}{dt}\\ -e_C={\mathrm{Ri}}_C+L_s\frac{{\mathrm{di}}_C}{dt}\\ u_{Ee}=u_E-e_E={\mathrm{Ri}}_E+L_s\frac{{\mathrm{di}}_E}{dt}\end{array}\right.---\left(21\right)$

In formula, u_A、u_BAnd u_EIt it is the phase voltage of motor healthy phases；e_A、e_B、e_CAnd e_EIt it is motor opposite potential；u_Ae、u_Be、 And u_EeIt is the voltage after motor healthy phases phase voltage is individually subtracted each opposite potential；R is phase resistance.

Step 5, uses and promotes Clarke transform matrix T_postThe non-event of residue three-phase being down sampled at natural system of coordinates Barrier phase current (i_A、i_B、i_E) transform to the electric current (i ' that biphase static coordinate is fastened_α、i′_β), and this electric current and short circuit are compensated electricity Stream (i "_α、i″_β) subtract each other and obtain (i_α、i_β), use Park Transformation Matrix C_2s/2rBy (i_α、i_β) transform on synchronous rotating frame Electric current (i_d、i_q).Or, the residue three-phase healthy phases electric current (i being upsampled at natural system of coordinates_A、i_B、i_E), with short Road compensation electric current (i "_A、i″_B、i″_E) subtract each other and obtain (i '_A、i′_B、i′_E), use and promote Clarke transform matrix T_postBecome with Parker Change Matrix C_2s/2rBy (i '_A、i′_B、i′_E) transform to the feedback current (i on synchronous rotating frame_d、i_q)。

Step 6, set up five phase embedded permanent magnet fault-tolerant linear motor adjacent biphase in one phase short circuit and one-phase open circuit therefore Mathematical model on synchronous rotating frame under barrier state.

On natural system of coordinates, the adjacent biphase middle one-phase open circuit of motor and phase short trouble model (21) transform to synchronization Rotating coordinate system is

$\left\{\begin{array}{c}{u}_{de}=i_{d}R+L_s\frac{{\mathrm{di}}_d}{dt}-{\mathrm{\ωL}}_s{i}_q\\ u_{qe}=i_{q}R+L_s\frac{{\mathrm{di}}_q}{dt}+{\mathrm{\ωL}}_s{i}_d\end{array}\right.---\left(22\right)$

Use magnetic coenergy method, formula (5)-(20) derive this motor at adjacent biphase one-phase open circuit and a phase short trouble Thrust equation under fault-tolerant state

$F=\frac{\mathrm{\π}}{\mathrm{\τ}}(\frac{1}{2}{I}_s^T\frac{\∂L_s}{\∂\mathrm{\θ}}{I}_s+I_s^T\frac{\∂{\mathrm{\Λ}}_m}{\∂\mathrm{\θ}})=2.5\frac{\mathrm{\π}}{\mathrm{\τ}}{i}_q{\mathrm{\λ}}_m---\left(23\right)$

In formula, λ_mFor permanent magnet flux linkage.

Therefore, as long as controlling i under synchronous rotating frame_d、i_qFive phase embedded permanent magnets in the present invention just can be made to hold Wrong linear electric motors export desired thrust under adjacent biphase middle one-phase open circuit and a phase short trouble state.

Part IV, the adjacent biphase middle one-phase open circuit of motor and a phase fault-tolerant vector control strategy of short circuit

Step 7, designs one order inertia front feedback voltage compensation device, the current-order on synchronous rotating frameWarp First order inertial loopObtain feedforward compensation voltage

$\left\{\begin{array}{c}{u}_d^{comp}=\frac{\mathrm{\ω}\mathrm{\α}}{s+\mathrm{\α}}{i}_q^{*}\\ u_q^{comp}=\frac{\mathrm{\ω}\mathrm{\α}}{s+\mathrm{\α}}{i}_d^{*}\end{array}\right.---\left(24\right)$

Current-orderWith feedback current (i_d、i_q) difference through internal model current control deviceMust control Voltage (u processed_d0、u_q0), this voltage is added with feedforward compensation voltage to obtain voltage instruction on synchronous rotating frame

$\left\{\begin{array}{c}{u}_d^{*}=\mathrm{\α}L(1+\frac{R}{sL})(i_d^{*}-i_d)-u_q^{comp}\\ u_q^{*}=\mathrm{\α}L(1+\frac{R}{sL})(i_q^{*}-i_q)+u_d^{comp}\end{array}\right.---\left(25\right)$

Use Parker inverse-transform matrix C_2r/2sBy this voltage instructionTransform to the electricity that biphase static coordinate is fastened Pressure

Step 8, usesAnd C_2r/2sAnd mover permanent magnet flux linkage design back-emf observer observes that non-faulting is contrary Electromotive force (e_A、e_B、e_E)

$\left[\begin{array}{c}{e}_A\\ e_B\\ e_E\end{array}\right]=\mathrm{\ω}(T_{post}^T{C}_{2r/2s}\left[\begin{array}{c}0\\ 2.5{\mathrm{\λ}}_m\end{array}\right]-0.539{\mathrm{\λ}}_{m}sin\mathrm{\θ}\left[\begin{array}{c}1\\ 1\\ 1\end{array}\right])---\left(26\right)$

According to healthy phases back-emf (e_A、e_B、e_E) obtain fault phase back-emf (e_C、e_D)

$\left\{\begin{array}{c}{e}_C=2cos\frac{2\mathrm{\π}}{5}{e}_B-e_A\\ e_D=2cos\frac{2\mathrm{\π}}{5}{e}_E-e_A\end{array}\right.---\left(27\right)$

Step 9, when C phase short circuit D phase open fault, according to C phase short circuit current i_C=i_{sc_C}With C opposite potential e_CPass System and short circuit compensate electric current mathematical expression mode, definition residue healthy phases short circuit compensate voltage be (u "_A、u″_B、u″_E) For

$\left\{\begin{array}{c}{u}_A^{\′\′}=-1.171e_C\\ u_B^{\′\′}=-0.895e_C\\ u_E^{\′\′}=-0.276e_C\end{array}\right.---\left(28\right)$

Use and promote Clarke transform matrix T_post(28) are transformed to the short circuit compensation voltage that biphase static coordinate is fastened

$\left\{\begin{array}{c}{u}_{\mathrm{\α}}^{\′\′}=-0.324e_C\\ u_{\mathrm{\β}}^{\′\′}=0.236e_C\end{array}\right.---\left(29\right)$

Or, when C phase opens a way D phase short trouble, use identical method to try to achieve

$\left\{\begin{array}{c}{u}_A^{\′\′}=-1.171e_D\\ u_B^{\′\′}=-0.276e_D\\ u_E^{\′\′}=-0.865e_D\end{array}\right.---\left(30\right)$

$\left\{\begin{array}{c}{u}_{\mathrm{\α}}^{\′\′}=-0.324e_D\\ u_{\mathrm{\β}}^{\′\′}=-0.236e_D\end{array}\right.---\left(31\right)$

Step 10, the voltage instruction that biphase static coordinate is fastenedWith short circuit compensate voltage (u "_α、u″_β) be added

$\left\{\begin{array}{c}{u}_{\mathrm{\α}}^{**}=u_{\mathrm{\α}}^{*}-0.324e_C\\ u_{\mathrm{\β}}^{**}=u_{\mathrm{\β}}^{*}+0.236e_C\end{array}\right.---\left(32\right)$

Or,

$\left\{\begin{array}{c}{u}_{\mathrm{\α}}^{**}=u_{\mathrm{\α}}^{*}-0.324e_D\\ u_{\mathrm{\β}}^{**}=u_{\mathrm{\β}}^{*}-0.236e_D\end{array}\right.---\left(33\right)$

Use and promote Clarke inverse-transform matrixBy voltage instructionTransform to the electricity that natural coordinates is fastened End finger makesAgain with each opposite potential (e remaining healthy phases_A、e_B、e_E) be separately summed and obtain expecting electricity mutually End finger makes

$\left[\begin{array}{c}{u}_A^{**}\\ u_B^{**}\\ u_E^{**}\end{array}\right]=T_{post}^{-1}\left[\begin{array}{c}{u}_{\mathrm{\α}}^{**}\\ u_{\mathrm{\β}}^{**}\end{array}\right]+\left[\begin{array}{c}{e}_A\\ e_B\\ e_E\end{array}\right]---\left(34\right)$

Or, use and promote Clarke inverse-transform matrixBy the voltage instruction under biphase rest frame Transform to the voltage instruction that natural coordinates is fastenedThen the short circuit with residue three-phase healthy phases compensates electricity Pressure (u "_A、u″_B、u″_E) be added, the most again with each opposite potential (e remaining healthy phases_A、e_B、e_E) be separately summed and expected Phase voltage directive

$\left[\begin{array}{c}{u}_A^{**}\\ u_B^{**}\\ u_E^{**}\end{array}\right]=T_{post}^{-1}\left[\begin{array}{c}{u}_{\mathrm{\α}}^{*}\\ u_{\mathrm{\β}}^{*}\end{array}\right]+\left[\begin{array}{c}{u}_A^{\′\′}\\ u_B^{\′\′}\\ u_E^{\′\′}\end{array}\right]+\left[\begin{array}{c}{e}_A\\ e_B\\ e_E\end{array}\right]---\left(35\right)$

Step 11, by the expectation phase voltage directive obtained by step 10Through voltage source inverter, adopt The five adjacent biphase middle one-phase open circuits of phase embedded permanent magnet fault-tolerant linear motor and phase short circuit event are realized by CPWM modulator approach Fault-tolerant vector unperturbed after barrier runs.

Formula (34) or formula (35) expectation phase voltage use CPWM based on residual voltage harmonic injection through voltage source inverter Modulation realizes five phase embedded permanent magnet fault-tolerant linear motor C phases short circuits and D phase open fault or C phase are opened a way D phase short trouble In the case of unperturbed fault-tolerant operation.The present invention propose high-performance adjacent biphase in one phase short circuit and one-phase open circuit failure tolerant vow Amount control strategy is as shown in Figure 3 and Figure 4.

When other adjacent biphase generation one-phase open circuit and a phase short trouble, only natural system of coordinates need to be rotated counterclockwise(k=0,1,2,3,4；When C phase and D phase fault, k=0；When D phase and E phase fault, k=1；When E phase and A phase fault, k= 2；When A phase and B phase fault, k=3；When B phase and C phase fault, k=4) electrical angle, now Park Transformation matrix and inverse transformation square thereof Battle array is respectively

$C_{2s/2r}=\left[\begin{array}{cc}cos(\mathrm{\θ}-2k\mathrm{\π}/5)& \sin (\mathrm{\θ}-2k\mathrm{\π}/5)\\ -\sin (\mathrm{\θ}-2k\mathrm{\π}/5)& cos(\mathrm{\θ}-2k\mathrm{\π}/5)\end{array}\right]---\left(36\right)$

$C_{2r/2s}=\left[\begin{array}{cc}\cos \left(\mathrm{\ω}t-\frac{2k\mathrm{\π}}{5}\right)& -\sin \left(\mathrm{\ω}t-\frac{2k\mathrm{\π}}{5}\right)\\ \sin \left(\mathrm{\ω}t-\frac{2k\mathrm{\π}}{5}\right)& \cos \left(\mathrm{\ω}t-\frac{2k\mathrm{\π}}{5}\right)\end{array}\right]---\left(37\right)$

In Matlab/Simulink, the five fault-tolerant straight line of phase embedded permanent magnet shown in Fig. 1 is set up as Fig. 2 and Fig. 3 or Fig. 4 The Control System Imitation model of motor, carries out system emulation, obtain five phase embedded permanent magnet fault-tolerant linear motor adjacent biphase in One 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 C phase and D phase open fault, and 0.1s fault occurs, 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 thrust under the short circuit of C phase and D phase open fault Waveform, during 0.1s, fault occurs, and substantially, 0.2s applies the fault-tolerant vector control strategy of the present invention, motor to the fluctuation of motor thrust output Thrust output pulsation is significantly suppressed, almost without pulsation.Fig. 7 and Fig. 8 is that in motor normal course of operation, thrust refers to respectively The electric current on synchronous rotating frame during order generation Spline smoothing and the response of motor thrust output, thrust response time is 0.2ms.Fig. 9 with Figure 10 is to apply the present invention fault-tolerant vector control strategy pusher under the short circuit of motor C phase and D phase open fault condition The electric current on synchronous rotating frame during power instruction generation Spline smoothing and the response of motor thrust output, during the response of motor thrust Between be 0.3ms.Therefore, the present invention five phase embedded permanent magnet fault-tolerant linear motor adjacent biphase in one phase short circuit one-phase open circuit therefore Hinder dynamic property when fault-tolerant vector strategy can make motor have properly functioning and steady-state behaviour.It addition, current following performance is good, Achieve unperturbed fault-tolerant operation.

Knowable to the above, the present invention for five phase embedded permanent magnet fault-tolerant linear motor adjacent biphase in one mutually short Road and one-phase open circuit failure tolerant vector control strategy, in the case of motor driven systems allows maximum current, not only can guarantee that During this fault, motor thrust output is consistent with under normal condition, and can substantially suppress motor force oscillation after this fault, The most crucially have with fault before close dynamic property, steady-state behaviour and current following precision, and be suitable for any adjacent The situation of biphase generation one phase short circuit one-phase open circuit fault, highly versatile, it is not necessary to complicated calculations, CPU overhead is little.Therefore, this Bright require high system has good application prospect to operational reliability in electromagnetic active suspension system etc..

Although the present invention is open as above with preferred embodiment, but embodiment is not for limiting the present invention's.Not Depart from the spirit and scope of the present invention, any equivalence change done or retouching, belong to the application claims institute The protection domain limited.

Claims (4)

1. the five phase embedded permanent magnet fault-tolerant linear motor fault-tolerant vector control method of adjacent phase to phase fault, it is characterised in that bag Include following steps:

Step 1, sets up five phase embedded permanent magnet fault-tolerant linear motor models；

Step 2, embedded permanent magnet fault-tolerant linear motor is divided into this five phase of A, B, C, D, E, when motor occurs the short circuit of C phase and D phase During open fault, it is assumed that motor C phase and D phase only occur open fault, according to row ripple magnetomotive force principle of invariance before and after electrical fault And residue healthy phases electric current sum is the constraints of zero, then by non-conterminous biphase B phase and the equal conduct of E phase current magnitude Constraints, obtains C phase and the healthy phases electric current of D phase open fault rear motor fault-tolerant operation；

$\left\{\begin{array}{c}{i}_A=3.618(-i_q^{*}\sin (\mathrm{\θ})+i_d^{*}\cos \left(\mathrm{\θ}\right))\\ i_B=2.236(-i_q^{*}\sin (\mathrm{\θ}-\frac{4}{5}\mathrm{\π})+i_d^{*}\cos (\mathrm{\θ}-\frac{4}{5}\mathrm{\π}))\\ i_E=2.236(-i_q^{*}\sin (\mathrm{\θ}+\frac{4}{5}\mathrm{\π})+i_d^{*}\cos (\mathrm{\θ}+\frac{4}{5}\mathrm{\π}))\end{array}\right.$

In formula,Being d axle under rotating coordinate system, the current-order of q axle respectively, θ is electrical angleV straight-line electric Motor-driven sub-motion electricity speed, τ is pole span.

Step 3, according to healthy phases electric current, asks for three healthy phases natural coordinates and is tied to the two of the conversion of biphase rest frame The popularization Clarke transform matrix T of row three row_post, three row two row inverse-transform matrixAnd transposed matrix

$T_{post}=\left[\begin{array}{ccc}\frac{1.618\cos 0}{8.781}& \frac{\cos \frac{4\mathrm{\π}}{5}}{8.781}& \frac{\cos (-\frac{4\mathrm{\π}}{5})}{8.781}\\ 0& \frac{\sin \frac{4\mathrm{\π}}{5}}{1.545}& \frac{\sin (-\frac{4\mathrm{\π}}{5})}{1.545}\end{array}\right]$

$T_{post}^{-1}=2.236\left[\begin{array}{cc}1.618cos0& 0\\ cos\frac{4\mathrm{\π}}{5}& sin\frac{4\mathrm{\π}}{5}\\ \cos (-\frac{4\mathrm{\π}}{5})& sin(-\frac{4\mathrm{\π}}{5})\end{array}\right]$

$T_{post}^T=\left[\begin{array}{cc}\frac{1.618cos0}{8.781}& 0\\ \frac{\cos \frac{4\mathrm{\π}}{5}}{8.781}& \frac{sin\frac{4\mathrm{\π}}{5}}{1.545}\\ \frac{\cos (-\frac{4\mathrm{\π}}{5})}{8.781}& \frac{sin(-\frac{4\mathrm{\π}}{5})}{1.545}\end{array}\right];$

Step 4, the force oscillation using residue three-phase healthy phases electric current suppression fault phase short circuit current to cause, ask for for pressing down Fault phase short circuit current processed cause the healthy phases of force oscillation short circuit compensate electric current (i "_A、i″_B、i″_E), use and promote carat Gram transformation matrix T_postBy electric current (i "_A、i″_B、i″_E) transform to the short circuit that biphase static coordinate fastens compensate electric current (i "_α、i″_β)；

Step 5, uses and promotes Clarke transform matrix T_postThe residue three-phase healthy phases electricity being down sampled at natural system of coordinates Stream (i_A、i_B、i_E) transform to the electric current (i ' that biphase static coordinate is fastened_α、i′_β), and the electric current that will obtain in this electric current and step 4 (i″_α、i″_β) subtract each other and obtain (i_α、i_β), use Park Transformation Matrix C_2s/2rBy (i_α、i_β) transform on synchronous rotating frame Electric current (i_d、i_q)；

Or step 5, the residue three-phase healthy phases electric current (i being upsampled at natural system of coordinates_A、i_B、i_E), with healthy phases Short circuit compensate electric current (i "_A、i″_B、i″_E) subtract each other and obtain (i '_A、i′_B、i′_E), use and promote Clarke transform matrix T_postAnd group Gram transformation matrix C_2s/2rBy (i '_A、i′_B、i′_E) transform to the feedback current (i on synchronous rotating frame_d、i_q)；

Step 6, set up five phase embedded permanent magnet fault-tolerant linear motor adjacent biphase in one phase short circuit and one-phase open circuit fault shape Mathematical model on synchronous rotating frame under state；

Step 7, designs one order inertia front feedback voltage compensation device, the current-order on synchronous rotating frameThrough single order Inertial elementObtain feedforward compensation voltageCurrent-orderWith feedback current (i_d、i_q) Difference is through internal model current control deviceVoltage (u must be controlled_d0、u_q0), by this voltage and feedforward compensation voltageIt is added the voltage instruction obtaining on synchronous rotating frameUse Parker inverse-transform matrix C_2r/2sThis voltage instruction is transformed to the voltage that biphase static coordinate is fastened

Step 8, usesAnd C_2r/2sAnd mover permanent magnet flux linkage design back-emf observer observes healthy phases back-emf (e_A、e_B、e_E)

$\left[\begin{array}{c}{e}_A\\ e_B\\ e_E\end{array}\right]=\mathrm{\ω}(T_{post}^T{C}_{2r/2s}\left[\begin{array}{c}0\\ 2.5{\mathrm{\λ}}_m\end{array}\right]-0.539{\mathrm{\λ}}_{m}sin\mathrm{\θ}\left[\begin{array}{c}1\\ 1\\ 1\end{array}\right]),$

According to healthy phases back-emf (e_A、e_B、e_E) obtain fault phase back-emf (e_C、e_D)

$\left\{\begin{array}{c}{e}_C=2cos\frac{2\mathrm{\π}}{5}{e}_B-e_A\\ e_D=2cos\frac{2\mathrm{\π}}{5}{e}_E-e_A\end{array}\right.;$

Step 9, for guarantee motor output short-circuit compensate electric current (i "_A、i″_B、i″_E), according to C phase short circuit current i_C=i_{sc_C}With C phase Back-emf e_CRelation and short circuit compensate electric current mathematical expression mode, definition residue three-phase healthy phases short circuit compensate electricity Pressure for (u "_A、u″_B、u″_E) it isUse and promote Clarke transform matrix T_postDescribed short circuit is compensated voltage Transform to the short circuit that biphase static coordinate fastens compensate voltage (u "_α、u″_β) it is $\left\{\begin{array}{c}{u}_{\mathrm{\α}}^{\′\′}=-0.234e_C\\ u_{\mathrm{\β}}^{\′\′}=0.236e_C\end{array}\right.;$

Step 10, the voltage instruction that biphase static coordinate is fastenedWith short circuit compensate voltage (u "_α、u″_β) be addedUse and promote Clarke inverse-transform matrixBy voltage instructionTransform to natural coordinates The voltage instruction fastenedEach opposite potential with residue healthy phases is separately summed and obtains expecting electricity mutually again End finger makes

Or step 10, use and promote Clarke inverse-transform matrixBy the voltage instruction under biphase rest frame Transform to the voltage instruction that natural coordinates is fastenedThen the short circuit with residue three-phase healthy phases compensates electricity Pressure (u "_A、u″_B、u″_E) be added, the most again with each opposite potential (e remaining healthy phases_A、e_B、e_E) be separately summed and expected Phase voltage directive

Step 11, by the expectation phase voltage directive obtained by step 10Through voltage source inverter, use CPWM After modulator approach realizes the five adjacent biphase middle one-phase open circuits of phase embedded permanent magnet fault-tolerant linear motor and a phase short trouble Fault-tolerant vector unperturbed runs.

The five fault-tolerant vector controlled side of the adjacent phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor the most according to claim 1 Method, it is characterised in that the detailed process of described step 4 is:

Step 4.1, it is assumed that the short circuit current of C phase is i_{sc_C}=I_fcos(ωt-θ_fC), wherein, I_fIt is the amplitude of short circuit current, θ_fC Being the angle of C opposite potential and this phase short circuit current, ω=π v/ τ, v linear motor rotor motion electricity speed, τ is pole span；

Step 4.2, according to healthy phases for suppressing fault phase short circuit current to cause the compensation electric current sum of force oscillation to be zero, And the principle that synthesis magnetomotive force is zero of this portion of electrical current and short trouble phase current, ask for for suppressing fault phase short circuit electricity Conductance cause force oscillation healthy phases short circuit compensate electric current (i "_A、i″_B、i″_E)

$\left\{\begin{array}{c}{i}_A^{\′\′}=1,171i_{sc\_C}\\ i_B^{\′\′}=-0.865i_{sc\_C}\\ i_E^{\′\′}=-0.276i_{sc\_C}\end{array}\right.;$

Step 4.3, uses and promotes Clarke transform matrix T_postFault phase short circuit current is suppressed to cause the non-of force oscillation by being used for Fault phase compensation electric current (i "_A、i″_B、i″_E) transform to the short circuit that biphase static coordinate fastens compensate electric current (i "_α、i″_β)

$\left\{\begin{array}{c}{i}_{\mathrm{\α}}^{\′\′}=0.234i_{sc\_C}\\ i_{\mathrm{\β}}^{\′\′}=-0.236i_{sc\_C}\end{array}\right..$

The five fault-tolerant vector controlled side of the adjacent phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor the most according to claim 1 Method, it is characterised in that the detailed process of described step 6 is:

Step 6.1, phase inductance of the present invention is approximately constant L_s, after machine phase voltages deducts back-emf, the short circuit of motor C phase is left with D phase The model representation fastened at natural coordinates after the fault of road is

$\left\{\begin{array}{c}{u}_{Ae}=u_A-e_A=R{i}_A+L_s\frac{{\mathrm{di}}_A}{dt}\\ u_{Be}=u_B-e_B=R{i}_B+L_s\frac{{\mathrm{di}}_B}{dt}\\ -e_C=R{i}_C+L_s\frac{{\mathrm{di}}_C}{dt}\\ u_{Ee}=u_E-e_E=R{i}_E+L_s\frac{{\mathrm{di}}_E}{dt}\end{array}\right.$

In formula, u_A、u_BAnd u_EIt it is the phase voltage of motor healthy phases；e_A、e_B、e_CAnd e_EIt it is motor opposite potential；u_Ae、u_BeAnd u_EeIt is Motor healthy phases phase voltage is individually subtracted the voltage after each opposite potential；R is phase resistance.

Step 6.2, is processed healthy phases electric current by step 5, then uses and promotes Clarke transformation matrix of coordinates T_postWith Park Transformation C_2s/2rMotor that natural coordinates is fastened adjacent biphase in a phase short circuit and one-phase open circuit fault model transform to Step rotational coordinates is fastened

$\left\{\begin{array}{c}{u}_{de}=i_{d}R+L_s\frac{{\mathrm{di}}_d}{dt}-\mathrm{\ω}{L}_s{i}_q\\ u_{qe}=i_{q}R+L_s\frac{{\mathrm{di}}_q}{dt}+{\mathrm{\ωL}}_s{i}_d\end{array}\right.;$

Step 6.3, uses magnetic coenergy method, by transformation matrix T_post、C_2s/2rAnd C_2r/2sDerive this motor adjacent biphase In one phase short circuit and one-phase open circuit failure tolerant state under thrust equation

$F=2.5\frac{\mathrm{\π}}{\mathrm{\τ}}{i}_q{\mathrm{\λ}}_m$

In formula, λ_mFor permanent magnet flux linkage.

The five fault-tolerant vector controlled side of the adjacent phase to phase fault of phase embedded permanent magnet fault-tolerant linear motor the most according to claim 1 Method, it is characterised in that described control method applies also for five mutually fault-tolerant permanent magnet rotating machine control systems.