CN107623479A - A kind of motor fault-tolerant fault control method and device - Google Patents

Abstract

The invention discloses a kind of motor fault-tolerant fault control method and device, including：5 phase currents of non-faulting in six-phase motor under current sample period are gathered, and 5 phase currents are converted into 5 current components under decoupling coordinate system；The phase current values of each phase of motor under next sampling period, and the optimum voltage vector for the next sampling period electric machine controller output of command value prediction for passing through each phase current are predicted using the mathematical modeling of motor and 5 current components；It is 5 component of voltages under decoupling coordinate system by optimum voltage vector median filters, and to the voltage vector amplitude limit of cross, straight shaft voltage component synthesis；Cross, straight shaft voltage component after amplitude limit is transformed back in phase coordinate system, is to carry out motor driving per phase dutycycle, and according to drive signal of every phase duty cycle adjustment per phase voltage by final optimum voltage vector median filters.The present invention significantly reduces the phase current current harmonics under the fault-tolerant operating mode of phase winding open fault of six-phase motor one while motor dynamics performance is not influenceed.

Description

A kind of motor fault-tolerant fault control method and device

Technical field

The invention belongs to field of electromechanical technology, more particularly, to a kind of motor fault-tolerant fault control method and device.

Background technology

At present, polyphase machine is used widely in high power density, high reliability field, wind power plant, electric automobile, Had broad application prospects in the fields such as Ship Propeling, Aero-Space.Compared with three phase electric machine, polyphase machine has more Control freedom degree, this make it that the control of polyphase machine is more flexible, after a phase open circuit fault occurs for polyphase machine, passes through control Algorithm redistributes the amplitude of each phase current and phase still can make motor normal operation, and system nominal power reduce compared with It is small.

The six-phase motor of fault-tolerant operating mode, each phase winding spatial distribution is no longer symmetrical, and Traditional Space vector modulation method is no longer It is applicable, to solve this problem, researcher proposes Model Predictive Control Algorithm.The particular content of Model Predictive Control Algorithm It is：Motor inverter only has the on off state of limited quantity, each on off state to the function influence of motor working condition not One, controller obtains making motor by the way that influence of each state to motor performance is calculated and predicted in each sampling period The on off state of operating instruction, i.e. optimized switch state, and act on next sampling period are most tracked soon.It is pre- in traditional model Survey in control algolithm, the optimal switching vector selector effect full whole sampling period, i.e., each bridge arm power device dutycycle remains 1 Or 0.Conventional model Forecasting Methodology is not particularly suited in general modulator approach, such as Sine Wave Pulse Width Modulation, space vector arteries and veins Width modulation, the basis of modulation is calculating, regulation and distribution to power device dutycycle, when dutycycle is always 1 or 0, adjusts Method processed can not work.

To sum up, conventional model Forecasting Methodology has the advantages of dynamic property is high, but simultaneously because algorithm is themselves based on exhaustion The principle of frequency converter on off state, there is the shortcomings that computationally intensive, current harmonic content is high, steady-state behaviour is bad, copper loss is big, it is difficult To meet the needs of fault-tolerant operating mode operation for a long time.

The content of the invention

The defects of for prior art, it is an object of the invention to solve conventional model Forecasting Methodology due to algorithm base itself In the principle of exhaustive frequency converter on off state, have that computationally intensive, current harmonic content is high, steady-state behaviour is bad, copper loss is big Shortcoming, it is difficult to meet the technical problem of the needs of fault-tolerant operating mode operation for a long time.

To achieve the above object, on the one hand, the present invention provides a kind of motor fault-tolerant fault control method, including following step Suddenly：

(1) 5 phase currents of non-faulting in six-phase motor under current sample period are gathered, and 5 phase currents are converted into decoupling 5 current components under coordinate system, 5 current components include the cross, straight shaft current component relevant with motor electromagnetic torque generation, Unrelated x-axis, y-axis and 0 shaft current component with electromagnetic torque generation, there is a phase current failure in the six-phase motor；

(2) 5 current components under the decoupling coordinate system obtained using the mathematical modeling and step (1) of motor are predicted next The phase current values of each phase of motor under sampling period, it is electric under the next sampling period obtained by the command value and prediction of each phase current The phase current of each phase of machine, predict the optimum voltage vector of next sampling period electric machine controller output；

(3) it is to decouple 5 component of voltages under coordinate system, 5 component of voltages by the optimum voltage vector median filters Including the cross, straight shaft voltage component relevant with motor electromagnetic torque generation, when the voltage arrow of the cross, straight shaft voltage component synthesis When amount amplitude exceedes amplitude limit value, the voltage vector magnitude is limited in amplitude limit value, and keeps its direction vector constant, is solved Final cross, straight shaft voltage component under coupling coordinate system；

(4) cross, straight shaft voltage component final under decoupling coordinate system that step (3) obtains is transformed back to phase coordinate system In, it is determined that final optimum voltage vector median filters are every phase dutycycle by final optimum voltage vector, and according to every phase duty Drive signal than adjusting per phase voltage carries out motor driving.

The present invention uses the six-phase motor mathematical modeling in step (2), by the voltage equation of discretization in step (2), The required desired voltage vector by sample rate current to reference current is calculated, passes through the park transforms battle array and Clarke in step (3) The inverse matrix of transformation matrix, the voltage vector under rotating coordinate system is transformed under phase coordinate system, in step (4), by phase The dutycycle of each phase bridge arm is calculated under coordinate system, with reference to space vector modulating method, realizes the drive of polyphase machine under fault-tolerant operating mode Dynamic control.

The present invention by predicting subsequent time current value and partial differential asks for the command value method minimum with actual value difference, Overcome Model Predictive Control Algorithm need to enumerate under fault-tolerant operating mode frequency converter various states bring it is computationally intensive the problem of, together When combine amplitude limit value and optimum voltage vector duty cycle modulated process, significantly reduce current harmonic content, improve motor control The precision of system, current quality of the lifting motor under fault-tolerant operating mode.

Alternatively, the step (1) comprises the following steps：

(1.1) the electrical angle θ (k) of the measurement motor and phase current i of motor residue non-faulting phase_abcuv(k), if present sample Cycle is the k moment, phase current i_abcuv(k) component is I_a,I_b,I_c,I_u,I_v, wherein a, b, c, u, v represents each non-faulting phase respectively Winding；

(1.2) angular velocity omega is calculated according to electrical angle θ (k)_e(k), wherein e represents this rotating speed as angular rate；

(1.3) with the phase current i measured_abcuv(k) obtain decoupling under coordinate system by park transforms and Clarke transform Electric current i_dqxy0(k), the current component of decoupling is I_d,I_q,I_x,I_y,I₀, wherein I_d,I_qFor to producing related straight of electromagnetic torque Axle and quadrature axis current component, I_x,I_y,I₀For the current component unrelated with producing electromagnetic torque；

Clarke transform battle array is T_cIt is T with park transforms battle array_p, wherein subscript c represents Clarke transform battle array, and p represents Parker's change Change battle array, T_cAnd T_pRepresent respectively as follows：

Wherein, I₄Represent 4x4 unit diagonal matrix；The process that the electric current of decoupling is transformed to by phase current is as follows：

[I_d,I_q,I_x,I_y,I₀]^T=T_p·T_c·[I_a,I_b,I_c,I_u,I_v]^T, the wherein transposition of subscript T representing matrixs.

Alternatively, the step (2) comprises the following steps：

(2.1) the current value i at k moment is passed through_dqxy0(k)、ω_e(k) voltage equation and in the mathematical modeling of motor, in advance Survey the current value i at k+1 moment_dqxy0(k+1), if next sampling period is the k+1 moment；

It is for the voltage equation of predicted current in the mathematical modeling of motor：

Wherein, v_d,v_q,v_x,v_y,v₀Respectively decouple each component of voltage under coordinate system, I_d,I_q,I_x,I_y,I₀Respectively solve Each current component under coupling coordinate system, R_sFor phase resistance value,Represent to the derivation of time t, L_d,L_q,L_x,L_y,L₀Respectively decouple The inductance value of each phase, ψ under coordinate system_mFor motor permanent magnet flux linkage；

By above voltage equation discretization, discretization method is selected preceding to Euler methodWherein x is Any variable for treating discretization, T_sFor the sampling period, k represents the value of the variable at kth moment, and k+1 represents the variable at k+1 moment Value, it is discrete after equation be expressed as：

i_dqxy0(k+1)=Ai_dqxy0(k)+BU(k)+C

Wherein, i_dqxy0(k+1)=[I_d(k+1),I_q(k+1),I_x(k+1),I_y(k+1),I₀(k+1)]^T, i_dqxy0(k)=[I_d (k),I_q(k),I_x(k),I_y(k),I₀(k)]^T, U (k)=[v_d,v_q,v_x,v_y,v₀]^T；A, B, C are the coefficient of equation, are specially：

The i being calculated more than_dqxy0(k+1) current value at the k+1 moment as predicted.

(2.2) motor speed pi controller (Proportional Integral controller, PI) is passed through Ring, the command value of phase current is generated by rotational speed command value and rotating speed measured value

Wherein No. * represents that the value is command value,For representing the set of currents of decoupling Into matrix；

(2.3) by the electric current i of subsequent time_dqxy0And command value (k+1)Between letter of the difference as a scalar Number g (k+1), partial differential, the minimum of calculating scalar function, obtained solution v are asked to each current variable of this function_o(k+1) As optimum voltage vector；

Wherein, g represents scalar function, and g (k+1) represents the value of this scalar function at k+1 moment；

Ask scalar function g the k+1 moment respectively to decouple the process of the partial derivative of component of voltage under coordinate system to be：

This non trivial solution is expressed as：

v_o(k+1)=[v_od(k+1),v_oq(k+1),v_ox(k+1),v_oy(k+1),v_o0(k+1)]^T,

Wherein, subscript o represents that this voltage vector for being calculated is optimum voltage vector, v_od(k+1),v_oq(k+1),v_ox (k+1),v_oy(k+1),v_o0(k+1) be respectively the k+1 moment decoupling coordinate system under each optimum voltage component.

Alternatively, the step (3) comprises the following steps：

(3.1) by v_o(k+1) each phase phase voltage is decoupled under coordinate system by park transforms and Clarke coordinate transform Component v caused by isolated participation electromagnetic torque_odq(k+1)：

v_odq(k+1)=[v_od(k+1),v_oq(k+1)]^T；

(3.2) frequency converter fan-out capability amplitude limit value v is set_max, to v_odq(k+1) amplitude is limited.

Frequency converter fan-out capability is expressed as v_max, this v_maxThe maximum that can be exported when being traditionally arranged to be six-phase motor normal operation The amplitude of voltage vector,Wherein v_dcRepresent that frequency converter connects the voltage swing of dc bus；

The component of voltage amplitude limit procedure related to electromagnetic torque generation is as follows：

Alternatively, the step (4) comprises the following steps：

(4.1) the optimum voltage vector after processing is returned in phase coordinate system, it is determined that final optimum voltage arrow Measure, and the dutycycle D (k+1) of each phase bridge arm power device is determined by below equation；

Wherein D (k+1) represents k+1 moment each phase bridge arm power device The dutycycle of part, specially D (k+1)=[D_a(k+1),D_b(k+1),D_c(k+1),D_u(k+1),D_v(k+1)]^T；

(4.2) drive signal of motor is obtained by modulation, be input in six phase inverter devices, motor operation.

On the other hand, the present invention provides a kind of motor fault-tolerant fault control device, including：

Phase current collecting unit, for gathering 5 phase currents of non-faulting in six-phase motor under current sample period, and by 5 Phase current is converted to 5 current components under decoupling coordinate system, and 5 current components include relevant with motor electromagnetic torque generation Cross, straight shaft current component, and the x-axis unrelated with electromagnetic torque generation, y-axis and 0 shaft current component, have one in the six-phase motor Phase current failure；

Optimum voltage vector determination unit, the solution collected for the mathematical modeling according to motor and phase current collecting unit 5 current components under coupling coordinate system predict the phase current values of each phase of motor under next sampling period, pass through the finger of each phase current Make value and predict the phase current of each phase of motor under obtained next sampling period, predict that next sampling period electric machine controller is defeated The optimum voltage vector gone out；

Voltage vector clipping unit, for being 5 voltages point under decoupling coordinate system by the optimum voltage vector median filters Amount, 5 component of voltages include the cross, straight shaft voltage component relevant with motor electromagnetic torque generation, when the cross, straight axle electricity When the voltage vector magnitude of pressure component synthesis exceedes amplitude limit value, the voltage vector magnitude is limited in amplitude limit value, and keep it Direction vector is constant, obtains decoupling cross, straight shaft voltage component final under coordinate system；

Duty ratio modulation module, phase coordinates are transformed back to for cross, straight shaft voltage component final under coordinate system will to be decoupled In system, it is determined that final optimum voltage vector median filters are every phase dutycycle, and accounted for according to every phase by final optimum voltage vector The empty drive signal than adjusting per phase voltage carries out motor driving.

Alternatively, the phase current collecting unit, specifically for performing following steps：

(1.1) the electrical angle θ (k) of the measurement motor and phase current i of motor residue non-faulting phase_abcuv(k), if present sample Cycle is the k moment, phase current i_abcuv(k) component is I_a,I_b,I_c,I_u,I_v, wherein a, b, c, u, v represents each non-faulting phase respectively Winding；

(1.2) angular velocity omega is calculated according to electrical angle θ (k)_e(k), wherein e represents this rotating speed as angular rate；

(1.3) with the phase current i measured_abcuv(k) obtain decoupling under coordinate system by park transforms and Clarke transform Electric current i_dqxy0(k), the current component of decoupling is I_d,I_q,I_x,I_y,I₀, wherein I_d,I_qFor to producing related straight of electromagnetic torque Axle and quadrature axis current component, I_x,I_y,I₀For the current component unrelated with producing electromagnetic torque；

Clarke transform battle array is T_cIt is T with park transforms battle array_p, wherein subscript c represents Clarke transform battle array, and p represents Parker's change Change battle array, T_cAnd T_pRepresent respectively as follows：

Wherein, I₄Represent 4x4 unit diagonal matrix；The process that the electric current of decoupling is transformed to by phase current is as follows：

[I_d,I_q,I_x,I_y,I₀]^T=T_p·T_c·[I_a,I_b,I_c,I_u,I_v]^T, the wherein transposition of subscript T representing matrixs.

Alternatively, the optimum voltage vector determination unit, specifically for performing following steps：

(2.1) the current value i at k moment is passed through_dqxy0(k)、ω_e(k) voltage equation and in the mathematical modeling of motor, in advance Survey the current value i at k+1 moment_dqxy0(k+1), if next sampling period is the k+1 moment；

It is for the voltage equation of predicted current in the mathematical modeling of motor：

Wherein, v_d,v_q,v_x,v_y,v₀Respectively decouple each component of voltage under coordinate system, I_d,I_q,I_x,I_y,I₀Respectively solve Each current component under coupling coordinate system, R_sFor phase resistance value,Represent to the derivation of time t, L_d,L_q,L_x,L_y,L₀Respectively decouple The inductance value of each phase, ψ under coordinate system_mFor motor permanent magnet flux linkage；

By above voltage equation discretization, discretization method is selected preceding to Euler methodWherein x is Any variable for treating discretization, T_sFor the sampling period, k represents the value of the variable at kth moment, and k+1 represents the variable at k+1 moment Value, it is discrete after equation be expressed as：

i_dqxy0(k+1)=Ai_dqxy0(k)+BU(k)+C

Wherein, i_dqxy0(k+1)=[I_d(k+1),I_q(k+1),I_x(k+1),I_y(k+1),I₀(k+1)]^T, i_dqxy0(k)=[I_d (k),I_q(k),I_x(k),I_y(k),I₀(k)]^T, U (k)=[v_d,v_q,v_x,v_y,v₀]^T；A, B, C are the coefficient of equation, are specially：

The i being calculated more than_dqxy0(k+1) current value at the k+1 moment as predicted.

(2.2) by motor speed pi controller ring, phase current is generated by rotational speed command value and rotating speed measured value Command value

Wherein No. * represents that the value is command value,For representing the set of currents of decoupling Into matrix；

(2.3) by the electric current i of subsequent time_dqxy0And command value (k+1)Between letter of the difference as a scalar Number g (k+1), partial differential, the minimum of calculating scalar function, obtained solution v are asked to each current variable of this function_o(k+1) As optimum voltage vector；

Wherein, g represents scalar function, and g (k+1) represents the value of this scalar function at k+1 moment；

Ask scalar function g the k+1 moment respectively to decouple the process of the partial derivative of component of voltage under coordinate system to be：

This non trivial solution is expressed as：

v_o(k+1)=[v_od(k+1),v_oq(k+1),v_ox(k+1),v_oy(k+1),v_o0(k+1)]^T,

Wherein, subscript o represents that this voltage vector for being calculated is optimum voltage vector, v_od(k+1),v_oq(k+1),v_ox (k+1),v_oy(k+1),v_o0(k+1) be respectively the k+1 moment decoupling coordinate system under each optimum voltage component.

Alternatively, the voltage vector clipping unit, specifically for performing following steps：

(3.1) by v_o(k+1) each phase phase voltage is decoupled under coordinate system by park transforms and Clarke coordinate transform Component v caused by isolated participation electromagnetic torque_odq(k+1)：

v_odq(k+1)=[v_od(k+1),v_oq(k+1)]^T；

(3.2) frequency converter fan-out capability amplitude limit value v is set_max, to v_odq(k+1) amplitude is limited.

Frequency converter fan-out capability is expressed as v_max, this v_maxThe maximum that can be exported when being traditionally arranged to be six-phase motor normal operation The amplitude of voltage vector,Wherein v_dcRepresent that frequency converter connects the voltage swing of dc bus；

The component of voltage amplitude limit procedure related to electromagnetic torque generation is as follows：

Alternatively, the duty ratio modulation module, specifically for performing following steps：

(4.1) the optimum voltage vector after processing is returned in phase coordinate system, it is determined that final optimum voltage arrow Measure, and the dutycycle D (k+1) of each phase bridge arm power device is determined by below equation；

Wherein D (k+1) represents k+1 moment each phase bridge arm power device The dutycycle of part, specially D (k+1)=[D_a(k+1),D_b(k+1),D_c(k+1),D_u(k+1),D_v(k+1)]^T；

(4.2) drive signal of motor is obtained by modulation, be input in six phase inverter devices, motor operation.

In general, by the contemplated above technical scheme of the present invention compared with prior art, have below beneficial to effect Fruit：

1st, the present invention replaces not by taking the method that frequency converter on off state is enumerated in conventional model Forecasting Methodology Take the prediction subsequent time current value in step (2.1), partial differential asks for command value and actual value difference in step (2.3) Minimum method, overcomes the characteristics of Model Predictive Control Algorithm is computationally intensive under fault-tolerant operating mode, in combination with step (4.2) In modulated process realize the problem of current harmonic content is big, improve the performance of steady-state operation under motor fault-tolerant fault condition. And this method has compatibility, suitable for the lifting of any symmetrical, asymmetric six-phase motor control performance.

2nd, the present invention is realized by piece of conventional model Forecasting Methodology simultaneously in the dynamic property for ensureing electric machine control system 1 computing for repeatedly calculating and being reduced in the present invention is lifted, significantly reduces the amount of calculation of processor by taking conventional model pre- There is no the modulation duty cycle process used in survey method, significantly reduce current harmonic content, improve the precision of motor control, carry Current quality of the lifting motor under fault-tolerant operating mode.

Brief description of the drawings

Fig. 1 is motor fault-tolerant fault control method schematic flow sheet provided by the invention；

Fig. 2 is motor control main circuit topology figure provided by the invention, wherein：V_dcRepresent direct voltage source, i_dcRepresent female Line current, S_1~12Power device and its anti-parallel diodes are represented, M represents six-phase motor, i_abcuvRepresent the electricity of each phases of abcuv Stream；

Fig. 3 is Principle of Electric Engine control block diagram provided by the invention, wherein：Represent motor speed command value, ω_eRepresent to survey Measure rotating speed,Reference current command value is represented, t represents motor rotor position signal, D_i(k+1) the k+1 moment that expression calculates is each Phase bridge arm dutycycle, S_i(k+1) switching signal of k+1 moment each phase bridge arm calculated, I are represented_d,I_q,I_x,I_y,I₀Table respectively Show each current signal after coordinate transform, i_abcuvRepresent phase current,Represent differentiator；

Fig. 4 is phase current waveform provided by the invention, and wherein Fig. 4 (a) is the six-phase motor under conventional model Forecasting Methodology The phase current waveform of fault-tolerant operating mode, Fig. 4 (b) are the phase current waveform for the fault-tolerant operating mode of six-phase motor for taking the inventive method；

Fig. 5 is phase current Research of Analysis System for Harmonic Distortion provided by the invention, and wherein Fig. 5 (a) is under conventional model Forecasting Methodology One phase phase current Research of Analysis System for Harmonic Distortion of the fault-tolerant operating mode of six-phase motor, Fig. 5 (b) are to take the six-phase motor of the inventive method fault-tolerant The phase phase current phase current Research of Analysis System for Harmonic Distortion of operating mode；

Fig. 6 is each current waveform under decoupling coordinate system provided by the invention, and wherein Fig. 6 (a) is system model prediction method Under the fault-tolerant operating mode of six-phase motor decoupling coordinate system under each current waveform, Fig. 6 (b) be take the inventive method six phases electricity Each current waveform under the decoupling coordinate system of the fault-tolerant operating mode of machine；

Fig. 7 is motor fault-tolerant fault control device structural representation provided by the invention.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below Conflict can is not formed each other to be mutually combined.

Fig. 1 is motor fault-tolerant fault control method schematic flow sheet provided by the invention, as described in Figure 1, including following step Suddenly：

(1) 5 phase currents of non-faulting in six-phase motor under current sample period are gathered, and 5 phase currents are converted into decoupling 5 current components under coordinate system, 5 current components include the cross, straight shaft current component relevant with motor electromagnetic torque generation, Unrelated x-axis, y-axis and 0 shaft current component with electromagnetic torque generation, there is a phase current failure in the six-phase motor.

Specifically, the electrical angle of measurement motor, the phase current of the remaining normal phase of measurement motor.Electricity is calculated by electrical angle Machine rotating speed, the measurement rotating speed and rotational speed command value of motor, passing ratio integral controller, generate the command value of electric current.Sample Each phase phase current arrived obtains decoupling coordinate system (i.e. d-axis d, quadrature axis q, x-axis, y by park transforms and Clarke coordinate transform Axle, 0 axle) under current component (hereinafter the electric current still after conversion process is referred to as current measurement value).This current component include with Electromagnetic torque produces relevant cross, straight shaft current component, and the x-axis unrelated with electromagnetic torque generation, y-axis and 0 shaft current component. The current value that current instruction value and above-mentioned sampling and coordinate transform obtain, the pre- of subsequent time current value is participated in Fault-tolerant Model Survey.

(2) 5 current components under the decoupling coordinate system obtained using the mathematical modeling and step (1) of motor are predicted next The phase current values of each phase of motor under sampling period, it is electric under the next sampling period obtained by the command value and prediction of each phase current The phase current of each phase of machine, predict the optimum voltage vector of next sampling period electric machine controller output.

Specifically, partial differential is asked by the difference of the command value to control system electric current and the predicted value in next sampling period The method for obtaining minimum, the optimum voltage vector of the controller output in next sampling period is predicted, is obtained by this step The voltage vector command value that electric system will be made to approach with prestissimo setting.Specific method is：By current rotating speed and rotating speed Command value, by rotational speed governor PI rings, the command value of each phase current of next sampling period is generated, by motor model by current The current measurement value at moment predicts the electric current of subsequent time, using the difference between the electric current of subsequent time and command value as one The function of individual scalar, partial differential, the minimum of calculating scalar function are asked to each current variable of this function.So that this scalar letter Number obtains the optimum voltage vector of the solution of minimum value, as controller output.

(3) it is to decouple 5 component of voltages under coordinate system, 5 component of voltages by the optimum voltage vector median filters Including the cross, straight shaft voltage component relevant with motor electromagnetic torque generation, when the voltage arrow of the cross, straight shaft voltage component synthesis When amount amplitude exceedes amplitude limit value, the voltage vector magnitude is limited in amplitude limit value, and keeps its direction vector constant, is solved Final cross, straight shaft voltage component under coupling coordinate system.

Specifically, it is larger in motor current measurement and command value difference by the voltage vector for asking partial differential to obtain In the case of, it is possible to beyond the limit of power of frequency converter output, therefore need to limit the amplitude of this voltage vector.Specific side Method is as follows：The solution for the voltage vector being calculated in step (2) is the voltage vector under decoupling coordinate system, is divided into and electromagnetic torque Related cross, straight shaft voltage component voltage, and x-axis incoherent with electromagnetic torque, y-axis and 0 shaft voltage component.When cross, straight axle When the voltage vector magnitude of voltage synthesis exceedes amplitude limit value, this vector magnitude is limited in amplitude limit value, while direction vector Keep constant；Otherwise not to the processing of this voltage vector.X-axis, y-axis and 0 shaft voltage component because be not involved in energy converting between mechanical, therefore Without processing.

(4) cross, straight shaft voltage component final under decoupling coordinate system that step (3) obtains is transformed back to phase coordinate system In, it is determined that final optimum voltage vector median filters are every phase dutycycle by final optimum voltage vector, and according to every phase duty Drive signal than adjusting per phase voltage carries out motor driving.

Specifically, the voltage vector after processing is returned in phase coordinate system by anti-park transforms and anti-Clarke transform, Voltage vector is converted to by every phase dutycycle by transformation for mula, and this dutycycle is passed through into space vector pulse width modulation module (or module based on other any modulation principles) is modulated, and drive signal is exported to frequency converter and carries out motor driving.

The present invention uses six-phase motor mathematical modeling, calculates the required desired voltage arrow by sample rate current to reference current Voltage vector under rotating coordinate system, is transformed under phase coordinate system, calculates each phase bridge by amount by the transformation matrix of coordinates of depression of order The dutycycle of arm, in conjunction with space vector modulating method, realize the drive control of polyphase machine under fault-tolerant operating mode.

Alternatively, the step (1) comprises the following steps：

(1.1) the electrical angle θ (k) of the measurement motor and phase current i of motor residue non-faulting phase_abcuv(k), if present sample Cycle is the k moment, phase current i_abcuv(k) component is I_a,I_b,I_c,I_u,I_v, wherein a, b, c, u, v represents each non-faulting phase respectively Winding；

(1.2) angular velocity omega is calculated according to electrical angle θ (k)_e(k), wherein e represents this rotating speed as angular rate；

(1.3) with the phase current i measured_abcuv(k) obtain decoupling under coordinate system by park transforms and Clarke transform Electric current i_dqxy0(k), the current component of decoupling is I_d,I_q,I_x,I_y,I₀, wherein I_d,I_qFor to producing related straight of electromagnetic torque Axle and quadrature axis current component, I_x,I_y,I₀For the current component unrelated with producing electromagnetic torque；

Clarke transform battle array is T_cIt is T with park transforms battle array_p, wherein subscript c represents Clarke transform

Battle array, p represent park transforms battle array, T_cAnd T_pRepresent respectively as follows：

Wherein, I₄Represent 4x4 unit diagonal matrix；The process that the electric current of decoupling is transformed to by phase current is as follows：

[I_d,I_q,I_x,I_y,I₀]^T=T_p·T_c·[I_a,I_b,I_c,I_u,I_v]^T, the wherein transposition of subscript T representing matrixs.

Alternatively, the step (2) comprises the following steps：

(2.1) the current value i at k moment is passed through_dqxy0(k)、ω_e(k) voltage equation and in the mathematical modeling of motor, in advance Survey the current value i at k+1 moment_dqxy0(k+1), if next sampling period is the k+1 moment；

It is for the voltage equation of predicted current in the mathematical modeling of motor：

Wherein, v_d,v_q,v_x,v_y,v₀Respectively decouple each component of voltage under coordinate system, I_d,I_q,I_x,I_y,I₀Respectively solve Each current component under coupling coordinate system, R_sFor phase resistance value,Represent to the derivation of time t, L_d,L_q,L_x,L_y,L₀Respectively decouple The inductance value of each phase, ψ under coordinate system_mFor motor permanent magnet flux linkage；

By above voltage equation discretization, discretization method is selected preceding to Euler methodWherein x is Any variable for treating discretization, T_sFor the sampling period, k represents the value of the variable at kth moment, and k+1 represents the variable at k+1 moment Value, it is discrete after equation be expressed as：

i_dqxy0(k+1)=Ai_dqxy0(k)+BU(k)+C

Wherein, i_dqxy0(k+1)=[I_a(k+1),I_b(k+1),I_c(k+1),I_u(k+1),I_v(k+1)]^T, i_dqxy0(k)=[I_a (k),I_b(k),I_c(k),I_u(k),I_v(k)]^T, U (k)=[v_d,v_q,v_x,v_y,v₀]^T；A, B, C are the coefficient of equation, are specially：

The i being calculated more than_dqxy0(k+1) current value at the k+1 moment as predicted.

(2.2) by motor speed pi controller ring, phase current is generated by rotational speed command value and rotating speed measured value Command value

Wherein No. * represents that the value is command value,For representing the set of currents of decoupling Into matrix；

(2.3) by the electric current i of subsequent time_dqxy0And command value (k+1)Between letter of the difference as a scalar Number g (k+1), partial differential, the minimum of calculating scalar function, obtained solution v are asked to each current variable of this function_o(k+1) As optimum voltage vector；

Wherein, g represents scalar function, and g (k+1) represents the value of this scalar function at k+1 moment；

Ask scalar function g the k+1 moment respectively to decouple the process of the partial derivative of component of voltage under coordinate system to be：

This non trivial solution is expressed as：

v_o(k+1)=[v_od(k+1),v_oq(k+1),v_ox(k+1),v_oy(k+1),v_o0(k+1)]^T,

Wherein, subscript o represents that this voltage vector for being calculated is optimum voltage vector, v_od(k+1),v_oq(k+1),v_ox (k+1),v_oy(k+1),v_o0(k+1) be respectively the k+1 moment decoupling coordinate system under each optimum voltage component.

Alternatively, the step (3) comprises the following steps：

(3.1) by v_o(k+1) each phase phase voltage is decoupled under coordinate system by park transforms and Clarke coordinate transform Component v caused by isolated participation electromagnetic torque_odq(k+1)：

v_odq(k+1)=[v_od(k+1),v_oq(k+1)]^T；

(3.2) frequency converter fan-out capability amplitude limit value v is set_max, to v_odq(k+1) amplitude is limited.

Frequency converter fan-out capability is expressed as v_max, this v_maxThe maximum that can be exported when being traditionally arranged to be six-phase motor normal operation The amplitude of voltage vector,Wherein v_dcRepresent that frequency converter connects the voltage swing of dc bus；

The component of voltage amplitude limit procedure related to electromagnetic torque generation is as follows：

Alternatively, the step (4) comprises the following steps：

(4.1) the optimum voltage vector after processing is returned in phase coordinate system, it is determined that final optimum voltage arrow Measure, and the dutycycle D (k+1) of each phase bridge arm power device is determined by below equation；

Wherein D (k+1) represents k+1 moment each phase bridge arm power device The dutycycle of part, specially D (k+1)=[D_a(k+1),D_b(k+1),D_c(k+1),D_u(k+1),D_v(k+1)]^T；

(4.2) drive signal of motor is obtained by modulation, be input in six phase inverter devices, motor operation.

Fig. 2 is motor control main circuit topology figure provided by the invention, V_dcFor busbar voltage, i_dcFor bus current, S_1~12 For the power device of each phase bridge arm, C is bus capacitor, i_a,i_b,i_c,i_u,i_v,i_wFor the phase current of each phase bridge arm, wherein i_wFor event Hinder the phase current of phase, its current value is 0, and the circle for indicating M represents motor.

Fig. 3 Principle of Electric Engine control block diagrams provided by the invention, rotational speed command valueWith rotary speed actual value ω_eDifference pass through The effect of pi controller, produce current instruction valueThis command value enters in fault-tolerant forecast model, passes through motor mathematics Model and current current sampling data i_abcuv(k), rotational speed omega_e(k), rotational angle theta (k), the optimum voltage arrow of subsequent time is predicted Amount, and by amplitude limit, coordinate transform and the links such as dutycycle are sought, obtain being applied to the dutycycle vector D of each phase_i(k+1), (i= A, b, c, u, v), by the modulating action of modulation module, ultimately generate the switching drive signal S of power device_i(k+1), (i= A, b, c, u, v), driving six-phase motor operation.When wherein current of electric samples, directly sampling obtains i_abcuv(k) phase current values, Then i is obtained by park transforms and Clarke transform_dqxy0(k) the current value under decoupling coordinate system, wherein, whole device Workflow is as follows：

1st, the electrical angle θ (k) of measurement motor, the remaining normal phase phase current i of motor_abcuv(k) angular velocity omega, is calculated_e(k)。 By rotational speed governor PI rings, by the reference value of rotational speed command value and rotating speed measured value generation phase current

2nd, with the phase current i measured_abcuv(k) obtain decoupling the electricity under coordinate system by park transforms and Clarke transform Flow i_dqxy0(k), then pass through motor mathematical modeling in voltage equation, predict the k+1 moment current value i_dqxy0(k+1).By under The electric current i at one moment_dqxy0And command value (k+1)Between function g (k+1) of the difference as a scalar, to this function Each current variable ask partial differential, calculate scalar function minimum, obtained solution v_o(k+1) it is optimum voltage vector.

3rd, by v_o(k+1) the isolated v that electromagnetic torque produces component is participated in_odq(k+1), set frequency converter defeated Output capacity amplitude limit value v_max, to v_odq(k+1) amplitude is limited.

4th, the optimum voltage vector after processing is obtained into the dutycycle D (k of each phase bridge arm power device by calculation formula +1).The drive signal of motor is obtained by space vector pulse width modulation (or modulation based on other any modulation principles) again, It is input in six phase inverter devices, motor operation.

Specific steps can refer to the embodiment of the method shown in Fig. 1, will not be described here.

In a specific example, the embodiment of the present invention is tested with a durface mounted permanent magnet synchronous motor, with Conventional model predictive control algorithm is compared, and in rated speed point (100rpm), current waveform has obvious improvement, phase current ripple Shape contrast is shown in shown in Fig. 4 (a) and Fig. 4 (b), it is observed that passing through motor fault-tolerant Fault Control side provided in an embodiment of the present invention The phase current waveform sine degree lifting that method or device obtain is obvious, and curve is more smooth.

Analyzed in Fig. 5 for phase current total harmonic distortion (THD, Total Harmonic Distortion), using the present invention The fault-tolerant fault control method provided compares conventional method, and current total harmonic distortion rate is reduced to by the present invention by 19.35% 5.96%.Therefore, illustrate that the present invention significantly reduces faulty motor current harmonic content, improve the precision of motor control, lifted Current quality of the motor under fault-tolerant operating mode.

Show the current waveform under decoupling coordinate system in figure 6, compared with conventional method, this method is to current waveform Lifting also very significantly, current waveform burr significantly reduces, and curve is more smooth.Therefore, new base proposed by the present invention Tradition side is compared in the fault-tolerant operating mode current harmonics lock suppressing method motor current waveform of the polyphase machine of Model Predictive Control Algorithm Method harmonic wave is significantly reduced, and control performance is obviously improved, and is a kind of control method of highly effective.

The present invention provides a kind of fault-tolerant operating mode current harmonics suppressing method of six-phase motor based on Model Predictive Control Algorithm, Suitable for six-phase motor control system a phase winding open fault situation.This method is based on Model Predictive Control, passes through electricity Mathematical modeling under the fault-tolerant operating mode of machine, the optimal voltage vector taken under each sampling instant is predicted, then pass through pulsewidth modulation electricity The method of flow control, export the dutycycle on the six each bridge arms of phase inverter.The present invention is not influenceing the same of motor dynamics performance When, the phase current current harmonics under the fault-tolerant operating mode of phase winding open fault of six-phase motor one is significantly reduced, lifting motor is exported Current quality, reduce copper wastage and improve the control performance positive effect of electric system.

Fig. 7 is motor fault-tolerant fault control device structural representation provided by the invention, as shown in fig. 7, comprises：Phase current Collecting unit, optimum voltage vector determination unit, voltage vector clipping unit and duty ratio modulation module.

Phase current collecting unit, for gathering 5 phase currents of non-faulting in six-phase motor under current sample period, and by 5 Phase current is converted to 5 current components under decoupling coordinate system, and 5 current components include relevant with motor electromagnetic torque generation The cross, straight shaft current component and x-axis unrelated with electromagnetic torque generation, y-axis and 0 shaft current component, have in the six-phase motor One phase current failure.

Optimum voltage vector determination unit, the solution collected for the mathematical modeling according to motor and phase current collecting unit 5 current components under coupling coordinate system predict the phase current values of each phase of motor under next sampling period, pass through the finger of each phase current Make value and predict the phase current of each phase of motor under obtained next sampling period, predict that next sampling period electric machine controller is defeated The optimum voltage vector gone out.

Voltage vector clipping unit, for being 5 voltages point under decoupling coordinate system by the optimum voltage vector median filters Amount, 5 component of voltages include the cross, straight shaft voltage component relevant with motor electromagnetic torque generation, when the cross, straight axle electricity When the voltage vector magnitude of pressure component synthesis exceedes amplitude limit value, the voltage vector magnitude is limited in amplitude limit value, and keep it Direction vector is constant, obtains decoupling cross, straight shaft voltage component final under coordinate system.

Duty ratio modulation module, phase coordinates are transformed back to for cross, straight shaft voltage component final under coordinate system will to be decoupled In system, it is determined that final optimum voltage vector median filters are every phase dutycycle, and accounted for according to every phase by final optimum voltage vector The empty drive signal than adjusting per phase voltage carries out motor driving.

It is understood that the device may also include more or less parts, the function of each part can refer to foregoing Being discussed in detail in embodiment of the method shown in Fig. 1, will not be described here.

As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included Within protection scope of the present invention.

Claims (10)

1. a kind of motor fault-tolerant fault control method, it is characterised in that comprise the following steps：

(1) 5 phase currents of non-faulting in six-phase motor under current sample period are gathered, and 5 phase currents are converted into decoupling coordinate 5 lower current components of system, 5 current components including the cross, straight shaft current component relevant with motor electromagnetic torque generation and X-axis, y-axis and the 0 shaft current component unrelated with electromagnetic torque generation, there is a phase current failure in the six-phase motor；

(2) 5 current components under the decoupling coordinate system obtained using the mathematical modeling and step (1) of motor predict next sampling The phase current values of each phase of motor under cycle, motor is each under the next sampling period obtained by the command value and prediction of each phase current The phase current of phase, predict the optimum voltage vector of next sampling period electric machine controller output；

(3) it is 5 component of voltages under decoupling coordinate system by the optimum voltage vector median filters, 5 component of voltages include The cross, straight shaft voltage component relevant with motor electromagnetic torque generation, when the voltage vector width of the cross, straight shaft voltage component synthesis When value exceedes amplitude limit value, the voltage vector magnitude is limited in amplitude limit value, and keeps its direction vector constant, decoupling is obtained and sits Final cross, straight shaft voltage component under mark system；

(4) cross, straight shaft voltage component final under decoupling coordinate system that step (3) obtains is transformed back in phase coordinate system, really Fixed final optimum voltage vector, it is to be adjusted per phase dutycycle, and according to every phase dutycycle by final optimum voltage vector median filters Drive signal of the section per phase voltage carries out motor driving.

2. motor fault-tolerant fault control method as claimed in claim 1, it is characterised in that the step (1) includes following step Suddenly：

(1.1) the electrical angle θ (k) of the measurement motor and phase current i of motor residue non-faulting phase_abcuv(k), if current sample period For k moment, phase current i_abcuv(k) component is I_a,I_b,I_c,I_u,I_v, wherein a, b, c, u, v represent respectively each non-faulting phase around Group；

(1.2) angular velocity omega is calculated according to electrical angle θ (k)_e(k), wherein e represents this rotating speed as angular rate；

(1.3) with the phase current i measured_abcuv(k) obtain decoupling the electricity under coordinate system by park transforms and Clarke transform Flow i_dqxy0(k), the current component of decoupling is I_d,I_q,I_x,I_y,I₀, wherein I_d,I_qFor to produce the related d-axis of electromagnetic torque and Quadrature axis current component, I_x,I_y,I₀For the current component unrelated with producing electromagnetic torque；

Clarke transform battle array is T_cIt is T with park transforms battle array_p, wherein subscript c represents Clarke transform battle array, and p represents park transforms Battle array, T_cAnd T_pRepresent respectively as follows：

<mrow> <msub> <mi>T</mi> <mi>c</mi> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>3</mn> </mfrac> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mrow> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

Wherein, I₄Represent 4x4 unit diagonal matrix；The process that the electric current of decoupling is transformed to by phase current is as follows：

[I_d,I_q,I_x,I_y,I₀]^T=T_p·T_c·[I_a,I_b,I_c,I_u,I_v]^T, the wherein transposition of subscript T representing matrixs.

3. motor fault-tolerant fault control method as claimed in claim 1 or 2, it is characterised in that the step (2) includes following Step：

(2.1) the current value i at k moment is passed through_dqxy0(k)、ω_e(k) voltage equation and in the mathematical modeling of motor, k+ is predicted The current value i at 1 moment_dqxy0(k+1), if next sampling period is the k+1 moment；

It is for the voltage equation of predicted current in the mathematical modeling of motor：

<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>v</mi> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>I</mi> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfrac> <mi>d</mi> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>d</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>d</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>q</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>q</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>x</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>x</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>y</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>y</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mn>0</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>-</mo> <msub> <mi>L</mi> <mi>q</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>q</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>d</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>d</mi> </msub> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mi>m</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

Wherein, v_d,v_q,v_x,v_y,v₀Respectively decouple each component of voltage under coordinate system, I_d,I_q,I_x,I_y,I₀Respectively decoupling is sat Each current component under mark system, R_sFor phase resistance value,Represent to the derivation of time t, L_d,L_q,L_x,L_y,L₀Respectively decouple coordinate The inductance value of each phase, ψ under system_mFor motor permanent magnet flux linkage；

By above voltage equation discretization, discretization method is selected preceding to Euler methodWherein x is any Treat the variable of discretization, T_sFor the sampling period, k represents the value of the variable at kth moment, and k+1 represents the value of the variable at k+1 moment, Equation after discrete is expressed as：

i_dqxy0(k+1)=Ai_dqxy0(k)+BU(k)+C

Wherein, i_dqxy0(k+1)=[I_d(k+1),I_q(k+1),I_x(k+1),I_y(k+1),I₀(k+1)]^T, i_dqxy0(k)=[I_d(k), I_q(k),I_x(k),I_y(k),I₀(k)]^T, U (k)=[v_d,v_q,v_x,v_y,v₀]^T；A, B, C are the coefficient of equation, are specially：

<mrow> <mi>A</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <msub> <mi>L</mi> <mi>q</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mrow> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

<mrow> <mi>B</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>q</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>x</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>y</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mn>0</mn> </msub> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

<mrow> <mi>C</mi> <mo>=</mo> <msup> <mrow> <mo>&amp;lsqb;</mo> <mn>0</mn> <mo>,</mo> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>q</mi> </msub> </mfrac> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <mo>,</mo> <msub> <mi>&amp;psi;</mi> <mi>m</mi> </msub> <mo>,</mo> <mn>0</mn> <mo>,</mo> <mn>0</mn> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> <mo>,</mo> </mrow>

The i being calculated more than_dqxy0(k+1) current value at the k+1 moment as predicted.

(2.2) by motor speed pi controller ring, by rotational speed command value and the finger of rotating speed measured value generation phase current Make value

Wherein No. * represents that the value is command value,What the electric current for representing decoupling formed Matrix；

(2.3) by the electric current i of subsequent time_dqxy0And command value (k+1)Between function g (k of the difference as a scalar + 1), each current variable to this function seeks partial differential, calculates the minimum of scalar function, obtained solution v_o(k+1) it is most Good voltage vector；

<mrow> <mtable> <mtr> <mtd> <mrow> <mi>g</mi> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mo>|</mo> <mo>|</mo> <msup> <msub> <mi>i</mi> <mrow> <mi>d</mi> <mi>q</mi> <mi>x</mi> <mi>y</mi> <mn>0</mn> </mrow> </msub> <mo>*</mo> </msup> <mo>-</mo> <msub> <mi>i</mi> <mrow> <mi>d</mi> <mi>q</mi> <mi>x</mi> <mi>y</mi> <mn>0</mn> </mrow> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>|</mo> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>d</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>q</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>x</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>x</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>y</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>y</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mn>0</mn> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mtd> </mtr> </mtable> <mo>,</mo> </mrow>

Wherein, g represents scalar function, and g (k+1) represents the value of this scalar function at k+1 moment；

Ask scalar function g the k+1 moment respectively to decouple the process of the partial derivative of component of voltage under coordinate system to be：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>d</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>q</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>x</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>y</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> </mtable> </mfenced>

This non trivial solution is expressed as：

v_o(k+1)=[v_od(k+1),v_oq(k+1),v_ox(k+1),v_oy(k+1),v_o0(k+1)]^T,

Wherein, subscript o represents that this voltage vector for being calculated is optimum voltage vector, v_od(k+1),v_oq(k+1),v_ox(k+ 1),v_oy(k+1),v_o0(k+1) be respectively the k+1 moment decoupling coordinate system under each optimum voltage component.

4. motor fault-tolerant fault control method as claimed in claim 3, it is characterised in that the step (3) includes following step Suddenly：

(3.1) by v_o(k+1) each phase phase voltage is decoupled and separated under coordinate system by park transforms and Clarke coordinate transform Obtain participating in component v caused by electromagnetic torque_odq(k+1)：

v_odq(k+1)=[v_od(k+1),v_oq(k+1)]^T；

(3.2) frequency converter fan-out capability amplitude limit value v is set_max, to v_odq(k+1) amplitude is limited；

Frequency converter fan-out capability is expressed as v_max, this v_maxThe maximum voltage that can be exported when being traditionally arranged to be six-phase motor normal operation The amplitude of vector,Wherein v_dcRepresent that frequency converter connects the voltage swing of dc bus；

The component of voltage amplitude limit procedure related to electromagnetic torque generation is as follows：

5. motor fault-tolerant fault control method as claimed in claim 4, it is characterised in that the step (4) includes following step Suddenly：

(4.1) the optimum voltage vector after processing is returned in phase coordinate system, it is determined that final optimum voltage vector, and The dutycycle D (k+1) of each phase bridge arm power device is determined by below equation；

Wherein D (k+1) represents k+1 moment each phase bridge arm power device Dutycycle, specially D (k+1)=[D_a(k+1),D_b(k+1),D_c(k+1),D_u(k+1),D_v(k+1)]^T；

(4.2) drive signal of motor is obtained by modulation, be input in six phase inverter devices, motor operation.

A kind of 6. motor fault-tolerant fault control device, it is characterised in that including：

Phase current collecting unit, for gathering 5 phase currents of non-faulting in six-phase motor under current sample period, and 5 phases are electric Circulation is changed to 5 current components under decoupling coordinate system, 5 current components include the friendship relevant with motor electromagnetic torque generation, The direct-axis current component and x-axis unrelated with electromagnetic torque generation, y-axis and 0 shaft current component, there is a phase in the six-phase motor Current failure；

Optimum voltage vector determination unit, sat for the decoupling that the mathematical modeling according to motor and phase current collecting unit collect 5 current components under mark system predict the phase current values of each phase of motor under next sampling period, pass through the command value of each phase current The phase current of each phase of motor under the next sampling period obtained with prediction, predict next sampling period electric machine controller output Optimum voltage vector；

Voltage vector clipping unit, for the optimum voltage vector median filters to be decoupled into 5 component of voltages under coordinate system, institute Stating 5 component of voltages includes the cross, straight shaft voltage component relevant with motor electromagnetic torque generation, when the cross, straight shaft voltage point When the voltage vector magnitude of amount synthesis exceedes amplitude limit value, the voltage vector magnitude is limited in amplitude limit value, and keep its vector Direction is constant, obtains decoupling cross, straight shaft voltage component final under coordinate system；

Duty ratio modulation module, it is transformed back to for cross, straight shaft voltage component final under coordinate system will to be decoupled in phase coordinate system, It is determined that final optimum voltage vector median filters are every phase dutycycle by final optimum voltage vector, and according to every phase dutycycle Drive signal of the regulation per phase voltage carries out motor driving.

7. motor fault-tolerant fault control device as claimed in claim 5, it is characterised in that the phase current collecting unit, tool Body is used to perform following steps：

(1.1) the electrical angle θ (k) of the measurement motor and phase current i of motor residue non-faulting phase_abcuv(k), if current sample period For k moment, phase current i_abcuv(k) component is I_a,I_b,I_c,I_u,I_v, wherein a, b, c, u, v represent respectively each non-faulting phase around Group；

(1.2) angular velocity omega is calculated according to electrical angle θ (k)_e(k), wherein e represents this rotating speed as angular rate；

(1.3) with the phase current i measured_abcuv(k) obtain decoupling the electricity under coordinate system by park transforms and Clarke transform Flow i_dqxy0(k), the current component of decoupling is I_d,I_q,I_x,I_y,I₀, wherein I_d,I_qFor to produce the related d-axis of electromagnetic torque and Quadrature axis current component, I_x,I_y,I₀For the current component unrelated with producing electromagnetic torque；

Clarke transform battle array is T_cIt is T with park transforms battle array_p, wherein subscript c represents Clarke transform battle array, and p represents park transforms Battle array, T_cAnd T_pRepresent respectively as follows：

<mrow> <msub> <mi>T</mi> <mi>c</mi> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>3</mn> </mfrac> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mrow> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> <mo>+</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> <mtd> <mfrac> <mn>3</mn> <mn>2</mn> </mfrac> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

Wherein, I₄Represent 4x4 unit diagonal matrix；The process that the electric current of decoupling is transformed to by phase current is as follows：

[I_d,I_q,I_x,I_y,I₀]^T=T_p·T_c·[I_a,I_b,I_c,I_u,I_v]^T, the wherein transposition of subscript T representing matrixs.

8. motor fault-tolerant fault control device as claimed in claims 6 or 7, it is characterised in that the optimum voltage vector is true Order member, specifically for performing following steps：

(2.1) the current value i at k moment is passed through_dqxy0(k)、ω_e(k) voltage equation and in the mathematical modeling of motor, k+ is predicted The current value i at 1 moment_dqxy0(k+1), if next sampling period is the k+1 moment；

It is for the voltage equation of predicted current in the mathematical modeling of motor：

<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>v</mi> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>I</mi> <mi>d</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mi>q</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>I</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfrac> <mi>d</mi> <mrow> <mi>d</mi> <mi>t</mi> </mrow> </mfrac> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>d</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>d</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>q</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>q</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>x</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>x</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>y</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>y</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mn>0</mn> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>-</mo> <msub> <mi>L</mi> <mi>q</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>q</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>d</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>I</mi> <mi>d</mi> </msub> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mi>m</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

Wherein, v_d,v_q,v_x,v_y,v₀Respectively decouple each component of voltage under coordinate system, I_d,I_q,I_x,I_y,I₀Respectively decoupling is sat Each current component under mark system, R_sFor phase resistance value,Represent to the derivation of time t, L_d,L_q,L_x,L_y,L₀Respectively decouple coordinate The inductance value of each phase, ψ under system_mFor motor permanent magnet flux linkage；

By above voltage equation discretization, discretization method is selected preceding to Euler methodWherein x is any Treat the variable of discretization, T_sFor the sampling period, k represents the value of the variable at kth moment, and k+1 represents the value of the variable at k+1 moment, Equation after discrete is expressed as：

i_dqxy0(k+1)=Ai_dqxy0(k)+BU(k)+C

Wherein, i_dqxy0(k+1)=[I_d(k+1),I_q(k+1),I_x(k+1),I_y(k+1),I₀(k+1)]^T, i_dqxy0(k)=[I_d(k), I_q(k),I_x(k),I_y(k),I₀(k)]^T, U (k)=[v_d,v_q,v_x,v_y,v₀]^T；A, B, C are the coefficient of equation, are specially：

<mrow> <mi>A</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <msub> <mi>L</mi> <mi>q</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mrow> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mn>1</mn> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

<mrow> <mi>B</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>d</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>q</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>x</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>y</mi> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mn>0</mn> </msub> </mfrac> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>

<mrow> <mi>C</mi> <mo>=</mo> <msup> <mrow> <mo>&amp;lsqb;</mo> <mn>0</mn> <mo>,</mo> <mfrac> <msub> <mi>T</mi> <mi>s</mi> </msub> <msub> <mi>L</mi> <mi>q</mi> </msub> </mfrac> <msub> <mi>&amp;omega;</mi> <mi>e</mi> </msub> <mo>,</mo> <msub> <mi>&amp;psi;</mi> <mi>m</mi> </msub> <mo>,</mo> <mn>0</mn> <mo>,</mo> <mn>0</mn> <mo>&amp;rsqb;</mo> </mrow> <mi>T</mi> </msup> <mo>,</mo> </mrow>

The i being calculated more than_dqxy0(k+1) current value at the k+1 moment as predicted.

(2.2) by motor speed pi controller ring, by rotational speed command value and the finger of rotating speed measured value generation phase current Make value

Wherein No. * represents that the value is command value,What the electric current for representing decoupling formed Matrix；

(2.3) by the electric current i of subsequent time_dqxy0And command value (k+1)Between function g (k+ of the difference as a scalar 1), each current variable to this function seeks partial differential, calculates the minimum of scalar function, obtained solution v_o(k+1) it is most Good voltage vector；

<mrow> <mtable> <mtr> <mtd> <mrow> <mi>g</mi> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mo>|</mo> <mo>|</mo> <msup> <msub> <mi>i</mi> <mrow> <mi>d</mi> <mi>q</mi> <mi>x</mi> <mi>y</mi> <mn>0</mn> </mrow> </msub> <mo>*</mo> </msup> <mo>-</mo> <msub> <mi>i</mi> <mrow> <mi>d</mi> <mi>q</mi> <mi>x</mi> <mi>y</mi> <mn>0</mn> </mrow> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <mo>|</mo> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>d</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>d</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>q</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>q</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>x</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>x</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mi>y</mi> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mi>y</mi> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> <mo>+</mo> <mo>|</mo> <msubsup> <mi>i</mi> <mn>0</mn> <mo>*</mo> </msubsup> <mo>-</mo> <msub> <mi>i</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> <mo>)</mo> </mrow> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mtd> </mtr> </mtable> <mo>,</mo> </mrow>

Wherein, g represents scalar function, and g (k+1) represents the value of this scalar function at k+1 moment；

Ask scalar function g the k+1 moment respectively to decouple the process of the partial derivative of component of voltage under coordinate system to be：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>d</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>q</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>x</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mi>y</mi> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <mo>&amp;part;</mo> <mi>g</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <mo>&amp;part;</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> </mrow> </mfrac> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> </mtable> </mfenced>

This non trivial solution is expressed as：

v_o(k+1)=[v_od(k+1),v_oq(k+1),v_ox(k+1),v_oy(k+1),v_o0(k+1)]^T,

Wherein, subscript o represents that this voltage vector for being calculated is optimum voltage vector, v_od(k+1),v_oq(k+1),v_ox(k+ 1),v_oy(k+1),v_o0(k+1) be respectively the k+1 moment decoupling coordinate system under each optimum voltage component.

9. motor fault-tolerant fault control device as claimed in claim 8, it is characterised in that the voltage vector clipping unit, Specifically for performing following steps：

(3.1) by v_o(k+1) each phase phase voltage is decoupled and separated under coordinate system by park transforms and Clarke coordinate transform Obtain participating in component v caused by electromagnetic torque_odq(k+1)：

v_odq(k+1)=[v_od(k+1),v_oq(k+1)]^T；

(3.2) frequency converter fan-out capability amplitude limit value v is set_max, to v_odq(k+1) amplitude is limited；

Frequency converter fan-out capability is expressed as v_max, this v_maxThe maximum voltage that can be exported when being traditionally arranged to be six-phase motor normal operation The amplitude of vector,Wherein v_dcRepresent that frequency converter connects the voltage swing of dc bus；

The component of voltage amplitude limit procedure related to electromagnetic torque generation is as follows：

10. motor fault-tolerant fault control device as claimed in claim 9, it is characterised in that the duty ratio modulation module, tool Body is used to perform following steps：

(4.1) the optimum voltage vector after processing is returned in phase coordinate system, it is determined that final optimum voltage vector, and The dutycycle D (k+1) of each phase bridge arm power device is determined by below equation；

Wherein D (k+1) represents k+1 moment each phase bridge arm power device Dutycycle, specially D (k+1)=[D_a(k+1),D_b(k+1),D_c(k+1),D_u(k+1),D_v(k+1)]^T；

(4.2) drive signal of motor is obtained by modulation, be input in six phase inverter devices, motor operation.