CN106712601B - Axial magnetic field magnetic flux based on copper loss minimum switches fault-tolerant motor fault tolerant control method - Google Patents
Axial magnetic field magnetic flux based on copper loss minimum switches fault-tolerant motor fault tolerant control method Download PDFInfo
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- CN106712601B CN106712601B CN201710055536.7A CN201710055536A CN106712601B CN 106712601 B CN106712601 B CN 106712601B CN 201710055536 A CN201710055536 A CN 201710055536A CN 106712601 B CN106712601 B CN 106712601B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
Abstract
The invention discloses a kind of, and the axial magnetic field magnetic flux based on copper loss minimum switches fault-tolerant motor fault tolerant control method, enables axial magnetic field magnetic flux switching fault-tolerant motor to occur to operate in fault-tolerant state when single-phase open circuit fault, and make the copper loss-minimization of motor.Inverter uses three-phase four-arm Fault-Tolerant Topology, according to phase current failure judgement state.When normal operation, inverter is operated under three bridge arm pattern of three-phase, and axial magnetic field magnetic flux switches fault-tolerant electric motor control system and uses id=0 SVPWM control strategies, distribution d axis, q shaft currents；When single-phase fault occurs, faults-tolerant control is carried out, inverter is operated under three bridge arm pattern of two-phase, and increases magnetic to motor by controlling fault-tolerant winding current, makes the copper loss-minimization of motor entirety.The present invention, with the minimum optimization aim of copper loss, makes motor switch to faults-tolerant control state from malfunction under single-phase open circuit conditions, effectively increases the reliability of motor driven systems and the operational efficiency of motor under fault-tolerant state.
Description
Technical field
The invention belongs to electric drive technology fields, are related to a kind of fault tolerant control method, and copper is based on more particularly to one kind
The minimum axial magnetic field magnetic flux of consumption switches fault-tolerant motor fault tolerant control method.
Background technology
The Fault Tolerance Control Technology of motor has important application in fields such as space flight, traffic and military projects, nonserviceables
The sustainable operation of lower motor can effectively improve reliability and the safety of whole system, in recent years, many both domestic and external special
Family and scholar are devoted to the research of fault-tolerant motor.
Axial magnetic field magnetic flux switches fault-tolerant motor (Axial filed flux-switching fault tolerant
Machine, AFFSFTM) it is a kind of novel stator permanent magnetic type flux switch motor, magnetic flux is switched theory and axial magnetic field by it
Motor is effectively combined, and replaces original U-shaped conducting magnet core, structure as shown in Figure 1 using E shape conducting magnet cores.So
AFFSFT motors combine permanent magnet synchronous motor and flux switch motor feature, on the one hand have simple in structure, small, control
The advantages that flexible；On the one hand have many advantages, such as high efficiency, high power density.It is wound in the center tooth of motor E shape conducting magnet cores
Exciting Windings for Transverse Differential Protection enables motor to use weak-magnetic speed-regulating in normal operation；And when motor breaks down, and enables faults-tolerant control,
Exciting Windings for Transverse Differential Protection can be used as fault-tolerant winding to carry out additional fault tolerance to system again.In addition, mutual between AFFSFT motor three-phase windings
Sense effectively reduces Coupling Between Phases compared to self-induction very little, and therefore, when single-phase fault occurs for motor, failure is with respect to non-faulting
The influence of phase is smaller, and such structure makes AFFSFT motors have good fault freedom.
In the operational process of motor, single-phase fault is generally divided into 4 kinds：Single-phase power pipe open circuit, single-phase power tube short circuit,
Single-phase winding open circuit, single-phase winding short circuit.Wherein control system inverter bridge is easiest to happens is that single-phase power pipe open circuit fault,
And in electric phase winding failure, also with the harm of open circuit fault maximum.Since axial magnetic field magnetic flux switching fault-tolerant motor is a kind of new
The fault-tolerant motor of type has no phase pertinent literature and report, but due to the various advantages of the motor for its faults-tolerant control, can
A variety of occasions such as competent space flight, traffic, military project, safety and reliability problem is particularly important, therefore its fault tolerant control method
Research is highly desirable.
Invention content
Technical problem：The present invention provides one kind and being suitable for axial magnetic field magnetic flux switching fault-tolerant motor, with the copper of motor entirety
Consumption is minimised as the electric current of the fault-tolerant winding of target control, and motor operation non-faulting phase current in fault-tolerant state is made to be optimized,
And substantially increase the axial magnetic field magnetic flux switching fault-tolerant motor fault tolerant control method based on copper loss minimum of the utilization rate of electric energy.
Technical solution：The axial magnetic field magnetic flux based on copper loss minimum of the present invention switches fault-tolerant motor fault tolerant control method,
Include the following steps：
(1) from motor main circuit acquisition three-phase current ia、ib、ic, current in middle wire iNAnd fault-tolerant winding current if, inversion
Device busbar voltage Udc, initial position detection is carried out to motor, signal is acquired from motor encoder, is sent at controller
Reason, obtains rotating speed n and rotor position angle θ；
(2) by the collected voltage of the step (1), current signal, by following, filtering, bias and A/D conversions are sent into
Controller, then to the three-phase current ia、ib、icIt is coordinately transformed, obtains the stator d axis electricity under two-phase rotating coordinate system
Flow idWith stator q shaft currents iq；
(3) given rotating speed n is used*Subtract encoder actual measurement rotating speed n, obtained rotating speed deviation delta n input speed adjusters, warp
Proportional integration obtains current torque component reference value after calculatingWith describedSubtract the stator that coordinate transform obtains in step (2)
Q shaft currents iqObtain deviation Δ iq, with electric current excitation component reference valueSubtract the stator d that coordinate transform obtains in step (2)
Shaft current idObtain deviation Δ id, by the Δ idWith Δ iqCorresponding current regulator is inputted, output valve passes through Feedforward Decoupling
Link and Park inverse transformations obtain rotor α shaft voltages UαWith rotor β shaft voltages Uβ, and be sent into SVPWM generators and handled；
(4) according to three-phase current failure judgement state, when detecting that axial magnetic field magnetic flux switches fault-tolerant motor operating status
When normal, enter step 5), when detecting that single-phase fault occurs for axial magnetic field magnetic flux switching fault-tolerant motor, enter step 6)；
(5) i is usedd=0 control strategy, i.e., by the current excitation component reference value in step 3)It is set as zero, inverter
It is operated under three bridge arm pattern of three-phase, SVPWM generators determine phase voltage vector
It enters step 9)；
(6) motor fault-tolerant control still uses id=0 control strategy, inverter are operated under three bridge arm pattern of two-phase,
SVPWM generators make faulted phase voltage vector be replaced by center line N phase voltage vectors, invertor operation are made to exist by algorithm changeover
Under three bridge arm pattern of two-phase, center line N phase voltages vector U at this timeNNIt is constantly equal to 0, non-faulting phase voltage vector UxN,UyN∈{-Udc,0,
Udc}；
(7) fault-tolerant winding increases magnetic to motor, determines fault-tolerant winding current reference valueIts value meets：
Wherein, RfFor fault-tolerant winding resistance, IsFor armature winding current effective value,It is initial for phase permanent magnet flux linkage amplitude
Value, RsFor phase winding resistance, ψpm(if) be motor increase magnetic during phase permanent magnet flux linkage amplitude with electric current ifVariation functional relation；
(8) with fault-tolerant winding current reference valueSubtract collected actual current i in the step (1)f, obtain electric current
Deviation Δ if, by the Δ ifInput pulse width modulation module, operation export 4 road pulse width modulating signals, drive control
The H bridge inverters of fault-tolerant winding current simultaneously enter step (9)；
(9) SVPWM generators are according to judging input quantity UαAnd UβThe sector at place calculates the step (5) or step
(6) action time of gained phase voltage vector, operation export 8 road pulse width modulating signals in, drive three-phase four-arm inversion
Device works.
In a kind of preferred embodiment of the method for the present invention, in step (4), according to collected phase current virtual value failure judgement
State, i.e.,：Actual measurement phase current is ik, virtual value Ik, wherein k is the symbol for indicating a, b, c three-phase, when being examined in detection cycle
Measure Ik∈ (- ε, ε) then judges that axial magnetic field magnetic flux switching fault-tolerant motor has single-phase open circuit fault；When at continuous two
It is detected in the above detection cycleWherein k1Indicate failure phase, k2、k3Indicate non-faulting phase, and
Meet k1,k2,k3∈ [a, b, c], k1≠k2≠k3, then judge that axial magnetic field magnetic flux switching fault-tolerant motor has single-phase earthing fault hair
It is raw；When two kinds of front situation without when, judge that motor status is normal, wherein ε be one close to zero number.
Fault-tolerant winding current reference is determined in a kind of preferred embodiment of the method for the present invention, in step (7) as follows
Value
1) by experiment or motor finite element simulation data, phase permanent magnet flux linkage amplitude is with electricity during obtaining motor increasing magnetic
Flow ifVariation function ψpm(if)；
2) pass through motor fault-tolerant winding resistance Rf, armature winding current effective value Is, phase winding resistance RsAnd the step
The rapid variation function ψ 1) obtainedpm(if) calculate motor fault-tolerant operation when copper loss Pcopper(if)；
3) by the copper loss Pcopper(if) to fault-tolerant electric current ifDerivation makes the null fault-tolerant current value of derivative expressions,
As fault-tolerant winding current reference value
The present invention opens up on the basis of the axial magnetic field flux of analysis switches fault-tolerant motor in conjunction with the inverter of three-phase four-arm
Structure is flutterred, is assisted using fault-tolerant winding, and by algorithm, it is fault-tolerant as target control using the copper loss-minimization of motor entirety
The electric current of winding makes motor operation non-faulting phase current in fault-tolerant state be optimized, and substantially increases the utilization of electric energy
Rate.
Advantageous effect：Axial magnetic field magnetic flux switching fault-tolerant electric motor control system inverter bridge is easiest to happens is that single-phase power
Pipe open circuit fault, and in electric phase winding failure, also with the harm of open circuit fault maximum.For both single-phase open circuit faults, meeting
The balance of drive system operation is destroyed, motor band can be given by generating the torque that can not inhibit and speed ripple, long-time failure operation
Carry out irreversible damage.The present invention switches fault-tolerant electric motor control system, energy by the axial magnetic field magnetic flux of step 4) to step 7)
Enough accurate detection malfunctions, the motor made can operate in fault-tolerant state after breaking down, so the present invention is with following
Advantage：
(1) control system can be such that axial magnetic field magnetic flux switching fault-tolerant motor is operated in time after breaking down fault-tolerant
State；
(2) electricity of non-faulting phase when the control system can optimize axial magnetic field magnetic flux switching fault-tolerant motor fault-tolerant operation
Stream, the carrying load ability of motor when improving fault-tolerant operation；
(3) control system can switch the size of the fault-tolerant winding current of fault-tolerant motor by controlling axial magnetic field flux,
Copper loss-minimization when motor fault-tolerant being made to run substantially increases the efficiency of operation.
Description of the drawings
Fig. 1 is AFFSFT motor body topological structures.
Fig. 2 is AFFSFT motor inverter topological structures.
Fig. 3 is the system block diagram of the method for the present invention.
Fig. 4 is the logical flow chart of the method for the present invention.
Three-phase current when Fig. 5 is AFFSFT motor operations and N phase current waveforms.
Fig. 6 is the I that AFFSFT copper wastages minimizes-ifCurve.
Fig. 7 is each I of AFFSFT motorssUnder if-PcopperCurve.
Specific implementation mode
With reference to example and Figure of description, the present invention is further illustrated.
The present invention is a kind of axial magnetic field flux switch motor fault tolerant control method based on copper loss minimum, and the motor is by two
A identical external stator of structure and an internal rotor composition, the two are salient-pole structure, and permanent magnet and armature winding, which are all placed in, to be determined
On son, Fig. 1 is its topology diagram.Each stator includes 6 E shapes conducting magnet cores, 6 pieces of permanent magnets, 6 armature coils and 6
Fault-tolerant (excitation) coil.Each armature coil is wound on the side tooth of two adjacent E shapes conducting magnet cores, each fault-tolerant (excitation) line
Circle is wound in the center tooth of E shape conducting magnet cores, and adjacent side between cog is embedded in permanent magnet, and permanent magnet tangentially alternately magnetizes, both sides
The permanent magnet magnetizing direction of face is opposite on stator.Stator winding uses concentratred winding, and the A phase coils on stator 1 are by loop A 11
It is composed in series with A12, the A phase coils on stator 2 are composed in series by loop A 21 and loop A 22, and both sides stator winding can the company of series connection
Connect, B phases with C phases similarly.Rotor shares 14 teeth, is evenly distributed on the excircle of non-magnetic annulus.
The present invention in order to realize axial magnetic field magnetic flux switch fault-tolerant motor fault-tolerant operation, as shown in Fig. 2, armature around
Group inverter bridge uses the topological structure of three-phase four-arm, i.e. A, B, C threephase armature winding is in star-like connection, and by center line N phases
It draws, inverter bridge is accessed as the 4th phase, and fault-tolerant (excitation) winding inverter uses H bridge structures.
The axial magnetic field magnetic flux switching fault-tolerant motor fault tolerant control method based on copper loss minimum is Fig. 3 to realize the present invention
Unite block diagram, the control system by DC power supply, bus capacitor, dsp controller, power inverter, voltage-current sensor,
The compositions such as AFFSFT motors, photoelectric encoder.
DC bus is powered to whole system, power inverter is given after capacitor filtering, Hall voltage sensor is adopted
Collect busbar voltage, controller is sent into after conditioning.The output of power inverter terminates AFFSFT motors, Hall current sensor
Phase current and fault-tolerant winding current are acquired, controller is sent into after conditioning, encoder circuit acquires rotating speed and rotor-position signal, place
It is sent into controller after reason and calculates rotor-position and rotating speed.Controller exports 12 road pwm signals and respectively drives in power inverter
12 power tubes.
The axial magnetic field magnetic flux based on minimum copper loss of the present invention switches fault-tolerant motor fault tolerant control method, shown in Fig. 4, tool
Body includes the following steps：
(1) five Hall current sensor is respectively from motor main circuit acquisition stator three-phase current ia、ib、ic, current in middle wire
iNAnd fault-tolerant winding current if, Hall voltage sensor acquisition inverter busbar voltage Udc, motor is examined into line home position
It surveys, signal is acquired from motor encoder, be sent into controller and handled, obtain rotating speed n and rotor position angle θ；
(2) by collected voltage, current signal, by following, filtering, bias and controller is sent into A/D conversions, then
To three-phase current ia、ib、icIt is coordinately transformed, obtains the stator d shaft currents i under two-phase rotating coordinate systemdWith stator q axis electricity
Flow iq；
(3) given rotating speed n is used*Subtract encoder actual measurement rotating speed n, obtained rotating speed deviation delta n input speed adjusters, warp
Proportional integration obtains current torque component reference value after calculatingWithCollected stator q shaft currents i in subtracting 2)qIt obtains partially
Difference DELTA iq, with electric current excitation component reference valueCollected stator d shaft currents i in subtracting 2)dObtain deviation Δ id, by Δ
idWith Δ iqCorresponding current regulator is inputted, output valve obtains rotor α shaft voltages by Feedforward Decoupling link and Park inverse transformations
UαWith rotor β shaft voltages Uβ, and be sent into SVPWM generators and handled；
(4) according to collected phase current virtual value failure judgement state, that is, it is i to survey phase currentk(k=a, b, c),
Virtual value is Ik(k=a, b, c), when detecting I in detection cyclek∈ (- ε, ε), wherein ε be one close to zero number, or
Person detects that the current effective value of a wherein phase is significantly greater than other two-phase in continuous more than two detection cycles, then can determine whether
Axial magnetic field magnetic flux switching fault-tolerant motor has single-phase road failure, enters step 6), otherwise judges that motor status is normal, enters
Step 5)；
(5) inverter is operated under three bridge arm pattern of three-phase, SVPWM generators according to conventional algorithm normal operation, according to
Principle of vector control obtains the mathematical model of axial magnetic field system switching fault-tolerant motor in d-q coordinate systems.
Three-phase current is respectively：
Flux linkage equations：
Voltage equation：
Torque equation：
Wherein, ia、ib、icRespectively stator three-phase current, ImFor phase current magnitude, θ is phase angle；ψd、ψqRespectively d axis with
Q axis magnetic linkages, id、iqRespectively d axis and q shaft currents, Ld、LqRespectively d axis and q axle inductances, ψpmFor permanent magnet flux linkage；ud、uqPoint
Not Wei d axis and q shaft voltages, RsFor armature winding resistance, ωeFor angular rate；TeFor electromagnetic torque, p is motor number of pole-pairs.
Using id=0 SVPWM controls, i.e., the current excitation component reference value in step 3)It is set as zero, at this point, inversion
The phase voltage vector U of eight voltage vectors of device synthesisAN、UBNAnd UCNAnd three-phase voltage after Clark is converted in 0 coordinates of α β
Voltage U under systemαAnd UβValue it is as shown in table 1, enter step 9)；
Voltage vector table when 1 AFFSFT motor normal operations of table
(6) motor fault-tolerant control still uses id=0 control strategy, inverter are operated under three bridge arm pattern of two-phase,
Total magnetomotive force is before axial magnetic field magnetic flux switching fault-tolerant electric motor control system failure：
Wherein, TMMF is total magnetomotive force, Fa、Fb、FcRespectively A, B, C phase magnetomotive force, N are armature winding the number of turns, and α is sky
Between twiddle factor.
Assuming that open circuit fault occurs for axial magnetic field magnetic flux switching fault-tolerant motor A phases, total magnetomotive force is：
Wherein, TMMF' is the total magnetomotive force of faults-tolerant control, Fb'、Fc' be faults-tolerant control when B, C phase magnetomotive force；ib'、ic'
For faults-tolerant control when B, C phase current.
In order to ensure axial magnetic field flux switch permanent magnet motor can fault-tolerant operation, enable formula (6) and formula (5) real and imaginary parts
It is equal respectively, so as to：
It is distributed for electric current as realization, SVPWM generators make A phase voltages vector by center line N phase electricity by algorithm changeover
Vector is pressed to replace, at this point, the phase voltage vector U of eight voltage vectors of inverter synthesisNN、UBNAnd UCNAnd three-phase voltage passes through
Voltage U after Clark transformation under 0 coordinate systems of α βαAnd UβValue it is as shown in table 2, it is identical as table 1；
Voltage vector table when 2 AFFSFT motor fault-tolerants of table are run
(7) copper loss before and after motor fault-tolerant calculates：
Copper loss when motor normal operation is：
Motor directly with the electric current method of salary distribution fault-tolerant operation of step 6) when copper loss：
It on the basis of step 6), is assisted using fault-tolerant winding, copper loss when fault-tolerant operation：
Based on the fault tolerant control method of copper loss minimum, exactly make fault-tolerant winding reference currentFormula (10) derivative is got to be equal to
0 point, that is, meet：
Wherein, RfFor fault-tolerant winding resistance, IsFor armature winding current effective value,It is initial for phase permanent magnet flux linkage amplitude
Value, RsFor phase winding resistance, ψpm(if) be motor increase magnetic during phase permanent magnet flux linkage amplitude with electric current ifVariation function, no matter
It is that ψ can be measured by finite element simulation or experimentpm(if) it is a monotonically increasing function, and with ifIncrease,
Derivative goes to zero；
(8) with fault-tolerant winding current reference valueSubtract collected actual current i in step 1)f, obtain current deviation value
Δif, by Δ ifInput pulse width modulation module, operation export 4 road pulse width modulating signals, the fault-tolerant winding electricity of drive control
The H bridge inverters of stream；
(9) SVPWM generators are according to judging input quantity UαAnd UβThe sector at place calculates institute in step 5) or step 6)
The action time of phase voltage vector is obtained, operation exports 8 road pulse width modulating signals, driving three-phase four-leg inverter work.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, without departing from the principle of the present invention, several improvement and equivalent replacement can also be made, these are to the present invention
Claim be improved with the technical solution after equivalent replacement, each fall within protection scope of the present invention.
Claims (3)
1. a kind of axial magnetic field magnetic flux based on copper loss minimum switches fault-tolerant motor fault tolerant control method, which is characterized in that the party
Method includes the following steps：
(1) from motor main circuit acquisition three-phase current ia、ib、ic, current in middle wire iNAnd fault-tolerant winding current if, inverter mother
Line voltage Udc, initial position detection is carried out to motor, signal is acquired from motor encoder, controller is sent into and is handled, obtained
Go out rotating speed n and rotor position angle θ；
(2) by the collected voltage of the step (1), current signal, by following, filtering, bias and control is sent into A/D conversions
Device, then to the three-phase current ia、ib、icIt is coordinately transformed, obtains the stator d shaft currents i under two-phase rotating coordinate systemd
With stator q shaft currents iq；
(3) given rotating speed n is used*Subtract encoder actual measurement rotating speed n, obtained rotating speed deviation △ n input speed adjusters, through ratio
Current torque component reference value is obtained after integral and calculatingWith describedSubtract the stator q axis that coordinate transform in step (2) obtains
Electric current iqObtain deviation △ iq, with electric current excitation component reference valueSubtract the stator d axis that coordinate transform in step (2) obtains
Electric current idObtain deviation △ id, by the △ idWith △ iqCorresponding current regulator is inputted, output valve passes through Feedforward Decoupling ring
Section and Park inverse transformations obtain rotor α shaft voltages UαWith rotor β shaft voltages Uβ, and be sent into SVPWM generators and handled；
(4) according to three-phase current failure judgement state, when detecting that axial magnetic field magnetic flux switching fault-tolerant motor operating status is normal
When, (5) are entered step, when detecting that single-phase fault occurs for axial magnetic field magnetic flux switching fault-tolerant motor, are entered step (6)；
(5) i is usedd=0 control strategy, i.e., by the current excitation component reference value in step (3)It is set as zero, inverter work
Make under three bridge arm pattern of three-phase, SVPWM generators determine phase voltage vector UAN,UBN,
It enters step (9)；
(6) motor fault-tolerant control still uses id=0 control strategy, inverter are operated under three bridge arm pattern of two-phase, SVPWM
Generator makes faulted phase voltage vector be replaced by center line N phase voltage vectors, makes invertor operation in two-phase three by algorithm changeover
Under bridge arm pattern, center line N phase voltages vector U at this timeNNIt is constantly equal to 0, non-faulting phase voltage vector UxN,UyN∈{-Udc,0,Udc}；
(7) fault-tolerant winding increases magnetic to motor, determines fault-tolerant winding current reference valueIts value meets：
Wherein, RfFor fault-tolerant winding resistance, IsFor armature winding current effective value,For phase permanent magnet flux linkage amplitude initial value, Rs
For phase winding resistance, ψpm(if) be motor increase magnetic during phase permanent magnet flux linkage amplitude with electric current ifVariation functional relation；
(8) with fault-tolerant winding current reference valueSubtract collected fault-tolerant winding current i in the step (1)f, obtain electric current
Deviation △ if, by the △ ifInput pulse width modulation module, operation export 4 road pulse width modulating signals, drive control
The H bridge inverters of fault-tolerant winding current simultaneously enter step (9)；
(9) SVPWM generators are according to judging input quantity UαAnd UβThe sector at place calculates in the step (5) or step (6)
The action time of gained phase voltage vector, operation export 8 road pulse width modulating signals, drive three-phase four-leg inverter work
Make.
2. the axial magnetic field magnetic flux according to claim 1 based on copper loss minimum switches fault-tolerant motor fault tolerant control method,
It is characterized in that, in the step (4), according to collected phase current virtual value failure judgement state, i.e.,：Surveying phase current is
ik, virtual value Ik, wherein k is the symbol for indicating a, b, c three-phase, when detecting I in detection cyclek∈ (- ε, ε), then judge
Axial magnetic field magnetic flux switching fault-tolerant motor has single-phase open circuit fault；It is detected when in continuous more than two detection cyclesWherein k1Indicate failure phase, k2、k3It indicates non-faulting phase, and meets k1,k2,k3∈[a,b,
C], k1≠k2≠k3, then judge that axial magnetic field magnetic flux switching fault-tolerant motor has single-phase earthing fault；When two kinds of front situation
Without when, judge that motor status is normal, wherein ε be one close to zero number.
3. the axial magnetic field magnetic flux switching fault-tolerant motor faults-tolerant control side according to claim 1 or 2 based on copper loss minimum
Method, which is characterized in that determine fault-tolerant winding current reference value in the step (7) as follows
1) by experiment or motor finite element simulation data, phase permanent magnet flux linkage amplitude is with electric current i during obtaining motor increasing magneticf
Variation function ψpm(if)；
2) pass through motor fault-tolerant winding resistance Rf, armature winding current effective value Is, phase winding resistance RsAnd the step 1)
Obtained variation function ψpm(if) calculate motor fault-tolerant operation when copper loss Pcopper(if)；
3) by the copper loss Pcopper(if) to fault-tolerant winding current ifDerivation makes the null fault-tolerant current value of derivative expressions,
As fault-tolerant winding current reference value
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| CN111293943B (en) * | 2020-02-19 | 2023-11-24 | 湖南大学 | Control method for phase-missing operation of double three-phase motor |
| CN113872482B (en) * | 2021-10-31 | 2022-07-26 | 南通大学 | Axial magnetic field flux switching permanent magnet motor single-phase fault-tolerant control method |
| CN114448325A (en) * | 2022-02-18 | 2022-05-06 | 安徽大学 | Fault-tolerant control method for open-circuit fault of permanent magnet synchronous motor |
| CN115412005B (en) * | 2022-10-17 | 2023-03-28 | 四川大学 | Fault-tolerant control method without auxiliary circuit for open circuit fault of three-phase permanent magnet synchronous motor system |
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| CN103973191B (en) * | 2014-04-09 | 2016-08-17 | 东南大学 | A kind of phase-lacking fault-tolerant control method of nine phase flux switch permanent magnet motors |
| CN104378025A (en) * | 2014-09-24 | 2015-02-25 | 江苏大学 | Five-phase magnetic flow switching motor fault-tolerant control method based on minimum copper loss principle |
| CN104617846B (en) * | 2015-02-02 | 2017-06-06 | 东南大学 | A kind of composite excitation axial magnetic field flux switch motor fault tolerant control method |
| CN104617827B (en) * | 2015-02-02 | 2017-05-31 | 东南大学 | A kind of axial magnetic field flux switch permanent magnet motor fault tolerant control method used for electric vehicle |
| CN105429560B (en) * | 2015-12-10 | 2018-04-06 | 南通大学 | A kind of axial magnetic flux switch permanent magnet motor failure tolerant control method |
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