CN108039837A - A kind of double permanent magnet synchronous motor Fault tolerant inverters and its control method - Google Patents
A kind of double permanent magnet synchronous motor Fault tolerant inverters and its control method Download PDFInfo
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- CN108039837A CN108039837A CN201711350510.1A CN201711350510A CN108039837A CN 108039837 A CN108039837 A CN 108039837A CN 201711350510 A CN201711350510 A CN 201711350510A CN 108039837 A CN108039837 A CN 108039837A
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The present invention relates to a kind of double permanent magnet synchronous motor Fault tolerant inverters and its control method, including three-phase permanent magnet synchronous motor M1 and M2, and it is connected in parallel on six inverter legs and a capacitance bridge arm on public DC power supply, the three-phase windings of M1 and M2 are divided into two-way, wherein corresponded and be connected with the midpoint of inverter leg by quick fuse fuse respectively all the way, another way connects bidirectional thyristor respectively, and bidirectional thyristor is connected with the midpoint of capacitance bridge arm at the same time；Voltage sensor is respectively provided with the three-phase windings port of M1 and M2, voltage sensor is connected with controller at the same time, and controller is connected with bidirectional thyristor and inverter leg at the same time.The present invention can be changed into bi-motor inverter when the working method that double three-phases ten switch either double eight switching inverters of three-phase ensures to have phase bridge arm failure in the single inverter leg of single inverter or twin inverter from two groups of six switching inverters of three-phase in parallel and can continue securely and reliably to work.
Description
Technical field
The invention belongs to power electronics field, and in particular to a kind of double permanent magnet synchronous motor Fault tolerant inverters and its control
Method processed.
Background technology
Two motor coordination work are frequently necessary in train, electric automobile and other industrial circles.These motors are usual
Operate in different speed and drag different loads, so needing to realize the independent control of each motor.But in drive system
Power inverter be the weak link most easily to break down, in high safety system, such as steering engine, fuel pump, brake-by-wire system
System etc., makes power inverter have fault-tolerant ability, to ensure continuously running and improve the reliability of system for Multi-unit Drive Systems system
It is particularly important.
The control method of traditional double permanent magnet synchronous motors is using two groups of six switching inverters of three-phase topology knot in parallel
Structure, however, when the single inverter leg failure of one group of inverter or two groups occur in traditional double permanent magnet synchronous motor inverters
When single inverter leg failure all occurs in inverter, whole drive system will lose service ability immediately, this is continuously running
The high application scenario of Capability Requirement will cause catastrophic effect.Double permanent magnet synchronous motor Fault tolerant inverters can realize that system is going out
The reconstruct of drive system, so that failure system can quickly resume operation, improves system under existing both the above fault condition
Reliability.
The content of the invention
It is an object of the invention to overcome problems of the prior art, there is provided a kind of double permanent magnet synchronous motors are fault-tolerant inverse
Become device and its control method, the reliability and security of double three-phase permanent-magnetic synchronous motor system can be strengthened.
In order to achieve the above object, the present invention adopts the following technical scheme that：
Including controller, three-phase permanent magnet synchronous motor M1, three-phase permanent magnet synchronous motor M2, and it is connected in parallel on public straight
Six inverter legs and a capacitance bridge arm on galvanic electricity source,
Wherein, the three-phase windings of three-phase permanent magnet synchronous motor M1 and three-phase permanent magnet synchronous motor M2 are divided into two-way, wherein
Corresponded and be connected with the midpoint of inverter leg by quick fuse fuse respectively all the way, another way connects two-way crystalline substance respectively
Brake tube, bidirectional thyristor are connected with the midpoint of capacitance bridge arm at the same time；
Voltage sensor is respectively provided with the three-phase windings port of three-phase permanent magnet synchronous motor M1 and three-phase permanent magnet synchronous motor M2
Device, voltage sensor are connected with controller at the same time, and controller is connected with bidirectional thyristor and inverter leg at the same time.
Further, inverter leg is formed by the power switch pipe of two series connection.
Further, power switch pipe uses IGBT or MOSFET.
Further, capacitance bridge arm L7 is made of the capacitance of two series connection.
A kind of control method of permanent magnet synchronous motor Fault tolerant inverters double as described above, comprises the following steps：
Step 1：System is initialized, gathers three-phase permanent magnet synchronous motor M1 and three-phase permanent magnet synchronous motor respectively
The hall signal of M2 and two groups of three-phase current signal ia、ib、ic、iu、ivAnd iw；
Step 2：Hall signal is resolved to the position signal θ of rotor1And θ2And feedback speed w1And w2, by position
Confidence θ1And θ2It is sent to dq/abc converter units and abc/dq converter units；
Step 3：Set reference velocityWithReference velocityWithWith feedback speed w1And w2Adjusted by speed
Velocity error is obtained after module, velocity error obtains quadrature axis reference current by PI controllersWithThree-phase current signal ia、
ib、ic、iu、ivAnd iwAnd position signal θ1And θ2Quadrature axis feedback current i is obtained after abc/dq is convertedq1And iq2And d-axis
Feedback current id1And id2；Quadrature axis reference currentWithWith quadrature axis feedback current iq1And iq2Handed over by current regulating module
Shaft current error；Set d-axis reference currentWithAnd with d-axis feedback current id1And id2Obtained by current regulating module
Direct-axis current error；
Step 4：Quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWithWith
And d-axis reference voltageWithQuadrature axis reference voltage, d-axis reference voltage and position signal θ1And θ2Become by dq/abc
Two groups of three-phase reference voltages are obtained after changingWithSix road PWM generation units are sent to respectively, with reality
The control of double permanent magnet synchronous motor Fault tolerant inverters under existing normal mode；
Or quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWithAnd
D-axis reference voltageWithQuadrature axis reference voltage, d-axis reference voltage and position signal θ1And θ2Converted by dq/abc
After obtain two groups of three-phase reference voltages, wherein the three-phase reference voltage for the inverter of single inverter leg failure occur passes through line
Voltage computing module obtains the reference line voltage signal of two 60 ° of mutual deviations, is sent to four road PWM generation units, another normal work
The three-phase reference voltage of the inverter of work is sent to six road PWM generation units, realizes that single inverter leg occurs in one group of inverter
The control of double permanent magnet synchronous motor Fault tolerant inverters during failure；
Or quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWithAnd
D-axis reference voltageWithQuadrature axis reference voltage, d-axis reference voltage and position signal θ1And θ2Converted by dq/abc
After obtain two groups of three-phase reference voltages, two groups of three-phase reference voltages each pass through line voltage computing module, respectively obtain 60 ° of mutual deviation
Reference line voltage signal, be sent to respective four roads PWM generation units, realize two groups of inverters there is single inverter leg therefore
The control of double permanent magnet synchronous motor Fault tolerant inverters during barrier.
Further, in step 3, d-axis reference current is setWith
Further, it is inverse to remaining four when single inverter leg failure occur in two groups of inverters in step 4
Become device bridge arm and carry out time division modulation.
Further, time division modulation is specific as follows：
Assuming that three inverter legs and capacitance bridge arm that are connected with three-phase permanent magnet synchronous motor M1 are first group of inversion
Device, three inverter legs and capacitance bridge arm being connected with three-phase permanent magnet synchronous motor M2 are second group of inverter；Three-phase is forever
Magnetic-synchro motor M1 contains A phase windings, B phase windings and C phase windings, three-phase permanent magnet synchronous motor M2 contain U phase windings, V phases around
Group and W phase windings, define nought state for a certain group of inverter occur after single inverter leg failure the switch of upper half bridge arm or
The state that the switch of person's lower bridge arm all closes；
The definition of duty cycle d is：
Wherein, T is the sampling period, TonFor the pulse width time in PWM regular samplings；
Wherein, ur(t) it is modulation function, UtmFor triangular carrier function；Convolution (1) and formula (2), obtain：
Wherein, db1、dc1And d01The B phases of first group of inverter, C phases and corresponding zero shape in respectively preceding half of sampling period
The duty cycle of state, uba(t) and uca(t) be respectively first group of inverter modulation function；db2、dc2And d02Adopted for half after respectively
The duty cycle of the V phases of second group of inverter, W phases and corresponding nought state, u in the sample cyclevu(t) and uwu(t) it is respectively second group inverse
Become the modulation function of device.
Compared with prior art, the present invention has technique effect beneficial below：
The Fault tolerant inverter of the present invention is that seven rapid fuses are added on the basis of traditional bi-motor inverter
With six bidirectional thyristors, while at the both ends of armature winding also it is both provided with monitoring the voltage of armature winding port voltage
Sensor, voltage sensor are connected with controller, and controller is also connected with the control pole of bidirectional thyristor respectively.Due to inverter
When bridge arm breaks down, the quick fuse fuse between armature winding and the inverter leg midpoint broken down will disconnect,
The voltage sensor at armature winding port being connected with the inverter leg of failure will detect abnormal voltage, and be transferred to
Controller, controller control failure bridge arm is stopped, and triggers bidirectional thyristor conducting；Therefore, the present invention can be from parallel connection
The working methods of two groups of six switching inverters of three-phase be changed into double three-phases ten and switch or the work of eight switching inverter of double three-phases
Make mode, thus ensure that have in the single inverter leg of single inverter or twin inverter a phase bridge arm failure when
Bi-motor inverter can continue securely and reliably to work.
In the method for the present invention, when the single inverter leg failure of drive system any one group of inverter of appearance, it is originally
The topological structure of system is changed into ten switching inverter topological structure of double three-phases, that group of inverter of failure can continue to keep fortune
OK, that group of inverter not broken down continues original operating status；When two groups of inverters of drive system all occur it is single inverse
When becoming device bridge arm failure, traditional twin inverter parallel-connection structure can be switched to the topological structure of eight switching inverter of double three-phases, with
The continuous operation of safeguards system.
Brief description of the drawings
Fig. 1 is the topology diagram under double three-phase permanent-magnetic synchronous motor Fault tolerant inverter normal operation mode of the present invention；
Fig. 2 is equivalent topologies figure of the double three-phase permanent-magnetic synchronous motor Fault tolerant inverter of the present invention under normal operation mode；
Fig. 3 is the overall control strategy flow chart of double three-phase permanent-magnetic synchronous motor Fault tolerant inverter of the present invention；
Fig. 4 is flow chart when double three-phase permanent-magnetic synchronous motor Fault tolerant inverter of the present invention works normally；
Fig. 5 breaks down the lower fault-tolerant inversion of double three-phase permanent-magnetic synchronous motor for 1 first inverter bridge leg L1 of inverter of the present invention
Think highly of structure topology diagram；
Fig. 6 breaks down the lower fault-tolerant inversion of double three-phase permanent-magnetic synchronous motor for the 4th inverter bridge leg L4 of inverter 2 of the present invention
Think highly of structure topology diagram；
Fig. 7 occurs under single inverter leg failure for the double one group of inverter of permanent magnet synchronous motor Fault tolerant inverter of the present invention
The control flow chart of system；
Fig. 8 occurs under single inverter leg failure for the double one group of inverter of permanent magnet synchronous motor Fault tolerant inverter of the present invention
The structure diagram of system algorithm；
There is single inverter leg failure for the double permanent magnet synchronous motor two groups of inverters of Fault tolerant inverter of the present invention in Fig. 9
The topology diagram of lower system reconfiguration；
There is single inverter leg event for the double permanent magnet synchronous motor two groups of inverters of Fault tolerant inverter of the present invention in Figure 10
The control flow chart of the lower system of barrier；
There is single inverter leg event for the double permanent magnet synchronous motor two groups of inverters of Fault tolerant inverter of the present invention in Figure 11
The lower two groups of inverter time division modulation rule schemas of barrier；
There is single inverter leg event for the double permanent magnet synchronous motor two groups of inverters of Fault tolerant inverter of the present invention in Figure 12
Five equivalent leg inverter space vector of voltage distribution maps under barrier；
There is single inverter leg event for the double permanent magnet synchronous motor two groups of inverters of Fault tolerant inverter of the present invention in Figure 13
The structure diagram of the lower system algorithm of barrier.
Embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
Referring to Fig. 1, the present invention includes inverter leg L1, inverter leg L2, inverter leg L3, inverter leg
L4, inverter leg L5, inverter leg L6 and capacitance bridge arm L7；Rapid fuse F1, rapid fuse F2, rapid fuse
It is F3, rapid fuse F4, rapid fuse F5, rapid fuse F6, rapid fuse F7 and bidirectional thyristor FR1, two-way
Thyristor FR2, bidirectional thyristor FR3, bidirectional thyristor FR4, bidirectional thyristor FR5 and bidirectional thyristor FR6；First and secondth,
3rd, after four, five, six inverter leg L1, L2, L3, L4, L5, L6 and a capacitance bridge arm L7 parallel connection with public DC power supply
It is connected；It is first, second, third and fourth, five, six inverter leg L1, L2, L3, L4, L5, L6 and an electricity that public direct-current power supply, which is used for,
Hold bridge arm L7 power supplies, its just extremely Vdc, anode GND.
Inverter leg L1 is made of the first power switch pipe T1 and the 4th power switch pipe T4, and inverter leg L2 is by
Three power switch pipe T3 and the 6th power switch pipe T6 compositions, inverter leg L3 is by the 5th power switch pipe T5 and the second power
Switch transistor T 2 forms, and inverter leg L4 is made of the 7th power switch pipe T7 and the tenth power switch pipe T10, inverter leg
L5 is made of the 9th power switch pipe T9 and the 12nd power switch pipe T12, and inverter leg L6 is by the 11st power switch pipe
T11 and the 8th power switch pipe T8 compositions, capacitance bridge arm L7 are made of the first capacitance C1 and the second capacitance C2, and first and second,
3rd, four, five, six, seven, eight, nine, ten, 11,12 power switch pipe T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
T11, T12 use IGBT or MOSFET power devices.
Double three-phase permanent-magnetic synchronous motor is made of two three-phase permanent magnet synchronous motors M1, M2, three-phase permanent magnet synchronous motor
The first phase winding A of M1 divides two-way, and a-road-through crosses quick fuse fuse F1 and is connected with the midpoint a of inverter leg L1, all the way
It is connected by bidirectional thyristor FR1 with the midpoint O of capacitance bridge arm L7；
The second phase winding B of three-phase permanent magnet synchronous motor M1 divides two-way, and a-road-through crosses quick fuse fuse F2 and inversion
The midpoint b of device bridge arm L2 is connected, and is connected all the way by bidirectional thyristor FR2 with the midpoint O of capacitance bridge arm L7；
The third phase winding C of three-phase permanent magnet synchronous motor M1 divides two-way, and a-road-through crosses quick fuse fuse F3 and inversion
The midpoint c of device bridge arm L3 is connected, and is connected all the way by bidirectional thyristor FR3 with the midpoint O of capacitance bridge arm L7；
The first phase winding U of three-phase permanent magnet synchronous motor M2 divides two-way, and a-road-through crosses quick fuse fuse F4 and inversion
The midpoint x of device bridge arm L4 is connected, and is connected all the way by bidirectional thyristor FR4 with the midpoint O of capacitance bridge arm L7；
The second phase winding V of three-phase permanent magnet synchronous motor M2 divides two-way, and a-road-through crosses quick fuse fuse F5 and inversion
The midpoint y of device bridge arm L5 is connected, and is connected all the way by bidirectional thyristor FR5 with the midpoint O of capacitance bridge arm L7；
The third phase winding W of three-phase permanent magnet synchronous motor M2 divides two-way, and a-road-through crosses quick fuse fuse F6 and inversion
The midpoint z of device bridge arm L6 is connected, and is connected all the way by bidirectional thyristor FR6 with the midpoint O of capacitance bridge arm L7；
It is provided with first voltage sensor at the first phase winding A ports of first three-phase permanent magnet synchronous motor M1, first
Second voltage sensor is provided with the second phase winding B ports of a three-phase permanent magnet synchronous motor M1, first three-phase permanent is same
It is provided with tertiary voltage sensor at the third phase winding C-terminal mouth of step motor M1, the of second three-phase permanent magnet synchronous motor M2
The 4th voltage sensor, the second phase winding V port of second three-phase permanent magnet synchronous motor M2 are provided with one phase winding U ports
Place is provided with the 5th voltage sensor, and the 6th is provided with the third phase winding W ports of second three-phase permanent magnet synchronous motor M2
Voltage sensor, first, second, third and fourth, five, six voltage sensors are connected with controller respectively, controller respectively with first and second,
3rd, the control pole of four, five, six bidirectional thyristor FR1, FR2, FR3, FR4, FR5, FR6 and first, second, third and fourth, five, six inverse
Become device bridge arm L1, L2, L3, L4, L5, L6 is connected.
In the present invention by voltage sensor detect three-phase permanent magnet synchronous motor M1 and three-phase permanent magnet synchronous motor M2 around
Group port voltage, and controller is transferred to, controller judges that three-phase permanent magnet synchronous motor M1 and three-phase permanent magnet synchronous motor M2 are
In normal mode, one group of inverter single inverter leg failure occurs or single inverter bridge occur in two groups of inverters
Arm failure, while send Continuity signal to the bidirectional thyristor control pole that the inverter leg to break down is connected.
Overall operation principle of the invention is as follows：When Fault tolerant inverter of the present invention is in normal operating conditions, the present invention
Fault tolerant inverter is run according to two groups of three-phases, six switching inverter working method in parallel；Due to controller and six voltage sensors
Device is connected, this six voltage sensors detect respectively three of first permanent magnet synchronous motor and second permanent magnet synchronous motor around
The voltage of group port, controller are also connected with the control pole of 12 power switch pipes at the same time；It is a certain when a certain group of inverter
A bridge arm or two groups of inverters have some bridge arm to break down, such as short trouble, the fuse being connected with the bridge arm
Fuse since voltage is excessive.Meanwhile voltage sensor can be checked at the port for the armature winding being connected with the failure bridge arm
Abnormal voltage, voltage sensor is transferred to controller through abnormal voltage, and controller makes breakdown judge according to the abnormal voltage
Stop the control pole signal of failure two power switch pipes of bridge arm, while the bidirectional thyristor control pole being connected to failure bridge arm afterwards
Send Continuity signal.In this way, failure bridge arm is stopped and is disconnected with the armature winding port being connected, at the same the armature around
Group port is connected to by bidirectional thyristor on the midpoint of adjacent bridge arm, and the Fault tolerant inverter topological structure of proposition will change
Become, system can work on according to new inverter topology.
Control signal is sent by fault-tolerant mechanism, the quick reconstruct for adjusting motor control strategy and realizing inverter, inverter
Double three-phases ten will be operated in switch or eight switch topology of double three-phases.At this time, double three-phase permanent-magnetic synchronous motor system is still
Right sustainable work.As shown in figure 3, wherein " 0 " represents inverter normal work, " 1 " represents single the flow chart of control strategy
There is single inverter leg failure in group inverter, and " 2 " represent two groups of inverters and single inverter leg failure all occur.System
The voltage sensor of each machine winding side is connected to judge the state of current system by detection after main interruption is entered.Such as
Fruit system is in normal condition, then system, which enters, interrupts 0, and system initially enters bi-motor independence normal mode of operation；If it is
There is the single inverter leg failure of one group of inverter in the normal mode of operation in system, then system, which enters, interrupts 1；If system exists
Occurs the single inverter leg failure of two groups of inverters under normal mode of operation, then system, which enters, interrupts 2.If system is in one
The group single inverter leg malfunction of inverter, then system, which enters, interrupts 1, and system initially enters one group of inverter fault-tolerant operation
With another group of inverter normal mode of operation；If system work under the single inverter leg failure tolerant pattern of one group of inverter
Make the single inverter leg failure of another group of inverter occur again, then system, which enters, interrupts 2.If system is in two groups of inversions
There is single inverter leg malfunction in device, then system, which enters, interrupts 2, and system initially enters Fault tolerant inverter Working mould
Formula.
It will work normally according to Fault tolerant inverter below, have one group of inverter to occur single inverter leg failure, two
Single these three situations of inverter leg failure, which all occurs, in group inverter to carry out the labor of system topology and provides pair
The control algolithm answered.For ease of analyzing hereinafter, by two groups of inverters of double permanent magnet synchronous motor Fault tolerant inverters respectively into rower
Note：No. 1~No. 3 and No. 7 bridge arms are denoted as inverter 1；No. 4~No. 7 bridge arms are denoted as inverter 2.
(1) Fault tolerant inverter works normally；
As shown in Figure 1, when double permanent magnet synchronous motor Fault tolerant inverters work normally, A, B, C three-phase difference of motor M1
It is connected with midpoint a, b, the c for switching bridge arm L1, L2, L3, U, V, W three-phase of motor M2 is respectively with switching in bridge arm L4, L5, L6
Point x, y, z is connected, which can be reduced to topology diagram as shown in Figure 2, and at this time, double permanent magnet synchronous motors respectively have
A set of independent six switching inverter of three-phase, each independently works.The voltage side of the lower system of Fault tolerant inverter normal work
Cheng Wei
Wherein, ua、ub、uc、uu、uvAnd uwThe respectively three-phase phase voltage of permanent magnet synchronous motor M1, M2, UdcFor dc bus
Voltage, Si(i=1,2,3,4,5,6) it is the corresponding switch function of the i-th bridge arm.S during the conducting down tube shut-off of bridge arm upper tubei=1；Bridge
S during the shut-off down tube conducting of arm upper tubei=0.
Corresponding control algolithm：Double permanent magnet synchronous motor Fault tolerant inverters use Magnetic Field Oriented Control Strategies, the control plan
Somewhat there is the characteristics of control performance is good, and control is simple, and reliability is high, the process realized step by step to algorithm below illustrates.
Step 1：System is initialized, the hall signal and two groups of three-phases of collection three-phase permanent magnet synchronous motor M1, M2
Current signal ia、ib、ic、iu、ivAnd iw；Wherein be designated as abc down is one group, under be designated as uvw is one group；
Step 2：Hall signal is resolved to the position signal θ of rotor1And θ2And feedback speed w1And w2, position
Signal θ1And θ2It is sent to dq/abc converter units and abc/dq converter units；Set reference velocityWithBy reference velocity
WithWith feedback speed w1And w2Velocity error is obtained after speed adjustment module, velocity error is handed over by PI controllers
Axis reference currentWith
Step 3：Three-phase current signal ia、ib、ic、iu、ivAnd iwAnd position signal θ1And θ2After abc/dq is converted
Obtain quadrature axis feedback current iq1And iq2And d-axis feedback current id1And id2；Quadrature axis reference currentWithElectricity is fed back with quadrature axis
Flow iq1And iq2Quadrature axis current error is obtained by current regulating module；Set d-axis reference currentWithD-axis refers to
Electric currentWithWith d-axis feedback current id1And id2Direct-axis current error is obtained by current regulating module；
Step 4：Quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWithWith
And d-axis reference voltageWithAc-dc axis reference voltage and position signal θ1And θ2Three-phase is obtained after dq/abc is converted
Reference voltageWithSix road PWM generation units are sent to, to realize the bi-motor under normal mode
Control.Inverter 1 and inverter 2 are each independently of the others, and produce the normal work of 12 road pwm signal control bi-motors altogether.
Flow during double permanent magnet synchronous motor Fault tolerant inverter normal works is as shown in Figure 4.
(2) one group of inverter single inverter leg failure, another group of inverter normal work occurs；
When the armature winding for having a motor breaks down, the voltage sensor being connected with the phase winding detects appearance
The abnormal voltage of the winding of failure, and the abnormal voltage signal is sent to control unit, control unit is judged to have abnormal electric
The inverter leg of pressure, the switching device on the inverter leg is blocked, and then will be occurred with inverter leg rapidly
The bidirectional thyristor conducting that the phase winding of failure is connected, at this time, double permanent magnet synchronous motor Fault tolerant inverter topological structures become Fig. 5
Or the topological structure shown in Fig. 6.Here illustrated with the situation shown in Fig. 5, the inverter 2 of normal work remains original
Six switch topology of three-phase is constant, and the A phase windings for the motor M1 that inverter 1 controls are disconnected with bridge arm L1, controller pair
Switch transistor T1And T4Blocked, bidirectional thyristor FR1Begin to turn on, at this time, the A phase windings of motor M1 just with bridge arm L7
Point establishes connection.There is each phase voltage equation such as formula (2) after single inverter leg failure in permanent magnet synchronous motor M1 or M2
Or shown in (3).
Or
The phase winding phase voltage to break down is 0, and the motor not broken down continues to work normally.It is each after system reconfiguration
Phase voltage equation is
Or
Corresponding control algolithm scheme：Double permanent magnet synchronous motor Fault tolerant inverters have a control during motor failure
Flow is as shown in Figure 7.When there is a motor to break down, system, which enters, interrupts 1, and system carries out the inverter to break down
Initialize installation, switchs control algolithm by original three-phase six and is changed into three-phase four and switch control algolithm, that group not broken down
Inverter keeps original operating status.
When single inverter leg failure occurs for Fault tolerant inverter, the space vector of voltage under former rest frame is by original
8 come are reduced to 4.In order to make double permanent magnet synchronous motor inverter systems under failure can continue to work, when certain
When the single inverter leg of one group of inverter breaks down, 60 can be differed with two-phase.Modulation function produce control signal come
Fault tolerant inverter is driven, continues to work.The specific implementation of algorithm is as shown in figure 8, specifically implementation steps are with inverter 1
First bridge arm L1 is illustrated exemplified by breaking down.
Step 1：System is initialized, the hall signal and three-phase current signal of collection permanent magnet synchronous motor M1, M2
ia、ib、ic、iu、ivAnd iw；
Step 2：Fast hall signal is resolved to the position signal θ of rotor1And θ2And feedback speed w1And w2, position
Confidence θ1And θ2It is sent to dq/abc converter units and abc/dq converter units；Set reference velocityWithReference velocity
WithWith feedback speed w1、w2Velocity error is obtained after speed adjustment module, velocity error obtains quadrature axis by PI controllers
Reference currentWith
Step 3：Three-phase current signal ia、ib、ic、iu、ivAnd iwAnd position signal θ1And θ2After abc/dq is converted
Obtain quadrature axis feedback current iq1And iq2And d-axis feedback current id1And id2；Quadrature axis reference currentWithElectricity is fed back with quadrature axis
Flow iq1And iq2Quadrature axis current error is obtained by current regulating module；Set d-axis reference currentWithD-axis refers to
Electric currentWithWith d-axis feedback current id1And id2Direct-axis current error is obtained by current regulating module；
Step 4：Quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWith
And d-axis reference voltageWithAc-dc axis reference voltage and position signal θ1And θ2Three are obtained after dq/abc is converted
Phase reference voltageWithThe three-phase reference voltage of inverter 1By line voltage
Computing module obtains the reference line voltage signal of two 60 ° of mutual deviationsFour road PWM generation units are sent to, and inverter 2 is
By three-phase reference voltageIt is sent to six road PWM generation units；
After completing four steps of the above, it is single that double permanent magnet synchronous motor Fault tolerant inverters can ensure that any inverter occurs
Dual motors system can be able to Continuous Drive during a inverter leg failure.Now occurs single inverter leg event to inverter 1
The modulated signal that three-phase four during barrier switchs is derived.
It is now assumed that
It can obtain the reference line voltage between A phase windings and B phase windings by formula (6)And B phase windings and C phase windings it
Between reference line voltage
WillThe modulated signal that four road PWM are produced as inverter 1 is sent into PWM generation units with driving generation event
The inverter 1 of barrier.Therefore, when single inverter leg failure occurs in one group of inverter, double permanent magnet synchronous fault-tolerant inverters lead to
The continuous operation of bi-motor tolerant system can be ensured by crossing the topological structure of change system and corresponding control algolithm.
All there is single inverter leg failure in (3) two groups of inverters；
When single inverter leg failure all occur in two groups of inverters, the voltage sensor being connected with the phase winding detects
Control unit is sent to the abnormal voltage of failure winding, and by abnormal voltage, control unit is judged to produce abnormal electric
The inverter leg of pressure, the switching device on the inverter bridge leg is blocked, and then will be connected with failure phase winding rapidly
Bidirectional thyristor turns on, and at this time, former seven leg inverter topological structures are changed into the topology knot of five leg inverters as shown in Figure 9
Structure.A phase winding U of a phase winding A and motor M2 of motor M1 are connected after being in parallel together with the midpoint O of capacitance bridge L7.
Motor M1, M2 break down, and each phase phase voltage is：
Each phase voltage is after Fault tolerant inverter system reconfiguration
Corresponding control algolithm：Nought state is defined as upper half-bridge after a certain group of single inverter leg failure of inverter appearance
The state that the switch of arm or the switch of lower bridge arm all close.To realize the independent control of two motors, it is necessary to inverter
Each bridge arm carries out independent control, carries out time division modulation strategy using to five bridge arms here, for convenience of description, here to scheme
Topological diagram shown in 9 illustrates.Sampling period division rule and nought state switch closure situation are as shown in table 1.
1 sampling period of table division rule and nought state switch closure situation
Note：Upper bridge arm switch and lower bridge arm switch, which are appointed, opens one group
After interruption 2 is entered, inverter 1 is modulated using SPWM within preceding half of sampling period, and inverter 2 works
In nought state.Modulated at latter half using inverter 2 in the cycle using SPWM, inverter 1 is operated in nought state.Thus realize
To the independent control of two motors in the same sampling period, double permanent magnet synchronous motor Fault tolerant inverters occur two it is single-phase therefore
The flow of control algolithm during barrier is as shown in Figure 10.B, C, V, W phase and nought state of inverter 1 and 2 are within a sampling period
Duty cycle can be calculated according to SPWM modulation principles, d01、d02Can be by db1、dc1、db2、dc2Between relation obtain,
Its time division modulation rule is as shown in figure 11.D in figureb1、dc1、d01B, C two-phase of inverter 1 in respectively preceding half of sampling period
With the duty cycle of corresponding nought state；db2、dc2、d02V, W two-phase and corresponding zero of inverter 2 in respectively rear half of sampling period
The duty cycle of state.
The definition of known duty cycle d
Wherein, T is the sampling period, TonFor the pulse width time in PWM regular samplings.TonIt can be represented by formula (11)：
Wherein, ur(t) it is modulation function, UtmFor triangular carrier function.Convolution (10) and formula (11), it is known that db1、dc1、
d01For
U in formulaba(t) and uca(t) be respectively inverter 1 modulation function；Similarly, db2、dc2、d02For
U in formulavu(t) and uwu(t) be respectively inverter 2 modulation function；
Inverter 1 and inverter 2 have each independent PWM generation units, and five leg inverters can realize bi-motor
Independent operating under fault-tolerant mode, the distribution of five leg inverter space vector of voltage is as shown in figure 12, motor M1 and motor
M2 is respectively with speed w1And w2Independent operating.
The specific implementation of double permanent magnet synchronous motor tolerant system control algolithms is as shown in figure 13.
Step 1：System is initialized, the hall signal and three-phase current signal of collection permanent magnet synchronous motor M1, M2；
Step 2：Hall signal is resolved to the position signal θ of rotor1And θ2And feedback speed w1And w2, position
Signal θ1、θ2It is sent to dq/abc converter units and abc/dq converter units；Set reference velocityReference velocityWith feedback speed w1、w2Velocity error is obtained after speed adjustment module, velocity error is obtained by PI controllers
Quadrature axis reference current
Step 3：Three-phase current signal ia、ib、ic、iu、ivAnd iwAnd position signal θ1And θ2After abc/dq is converted
Obtain quadrature axis feedback current iq1、iq2With d-axis feedback current id1、id2；Quadrature axis reference currentWith quadrature axis feedback current
iq1、iq2Quadrature axis current error is obtained by current regulating module；Set d-axis reference currentD-axis is with reference to electricity
StreamWith d-axis feedback current id1、id2Direct-axis current error is obtained by current regulating module；
Step 4：Quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllers
With d-axis reference voltageAc-dc axis reference voltage and position signal θ1And θ2Three are obtained after dq/abc is converted
Phase reference voltageThe three-phase reference voltage of inverter 1,2 passes through line voltage computing module
Respectively obtain the reference line voltage signal of two 60 ° of mutual deviationsWithAndWithAnd respective PWM generation units are sent to,
To realize the Double Motor Control under fault-tolerant mode.
Four steps of the above are completed, can be to realizing that two groups of inverters are occurring in double permanent magnet synchronous motor Fault tolerant inverters
Fault-tolerant driving when all there is single inverter leg failure to system motor.
The present invention provides a kind of double permanent magnet synchronous motor Fault tolerant inverters and its control method, comprising controller, six
Inverter leg, a capacitance bridge arm, seven rapid fuses and six bidirectional thyristors；Six inverter legs and one
It is connected after capacitance bridge arm parallel connection with public DC power supply, in terms of control algolithm, is divided into three parts.When during normal work,
Double permanent magnet synchronous motor Fault tolerant inverters are driven using traditional six road PWM of Liang Ge；Second, have in two groups of inverters one group it is inverse
Become device and single inverter leg failure, another group of inverter normal work occur, that group of inverter of failure uses two-way
It is driven with reference to line voltage to produce four road PWM, to ensure the continuous operation of system；Third, all there is list in two groups of inverters
During a inverter leg failure, double permanent magnet synchronous motor Fault tolerant inverters are used is divided into two-part modulation plan by controlling cycle
Slightly realize the independent control of two motors.Double permanent magnet synchronous motor Fault tolerant inverters of the invention, can strengthen double three-phase permanent-magnetic
The reliability and security of synchronous motor.
Claims (8)
- A kind of 1. double permanent magnet synchronous motor Fault tolerant inverters, it is characterised in that：Including controller, three-phase permanent magnet synchronous motor M1, Three-phase permanent magnet synchronous motor M2, and six inverter legs and a capacitance bridge being connected in parallel on public DC power supply Arm,Wherein, the three-phase windings of three-phase permanent magnet synchronous motor M1 and three-phase permanent magnet synchronous motor M2 are divided into two-way, wherein all the way Corresponded and be connected with the midpoint of inverter leg by quick fuse fuse respectively, another way connects two-way brilliant lock respectively Pipe, bidirectional thyristor are connected with the midpoint of capacitance bridge arm at the same time；Voltage sensor is respectively provided with the three-phase windings port of three-phase permanent magnet synchronous motor M1 and three-phase permanent magnet synchronous motor M2, electricity Pressure sensor is connected with controller at the same time, and controller is connected with bidirectional thyristor and inverter leg at the same time.
- A kind of 2. double permanent magnet synchronous motor Fault tolerant inverters according to claim 1, it is characterised in that：Inverter leg is equal It is made of the power switch pipe of two series connection.
- A kind of 3. double permanent magnet synchronous motor Fault tolerant inverters according to claim 2, it is characterised in that：Power switch pipe is equal Using IGBT or MOSFET.
- A kind of 4. double permanent magnet synchronous motor Fault tolerant inverters according to claim 1, it is characterised in that：Capacitance bridge arm L7 by The capacitance composition of two series connection.
- A kind of 5. control method of permanent magnet synchronous motor Fault tolerant inverters double as claimed in claim 1, it is characterised in that：Including with Lower step：Step 1：System is initialized, gathers three-phase permanent magnet synchronous motor M1's and three-phase permanent magnet synchronous motor M2 respectively Hall signal and two groups of three-phase current signal ia、ib、ic、iu、ivAnd iw；Step 2：Hall signal is resolved to the position signal θ of rotor1And θ2And feedback speed w1And w2, position is believed Number θ1And θ2It is sent to dq/abc converter units and abc/dq converter units；Step 3：Set reference velocityWithReference velocityWithWith feedback speed w1And w2After speed adjustment module Velocity error is obtained, velocity error obtains quadrature axis reference current by PI controllersWithThree-phase current signal ia、ib、ic、 iu、ivAnd iwAnd position signal θ1And θ2Quadrature axis feedback current i is obtained after abc/dq is convertedq1And iq2And d-axis feedback Electric current id1And id2；Quadrature axis reference currentWithWith quadrature axis feedback current iq1And iq2Quadrature axis electricity is obtained by current regulating module Stream error；Set d-axis reference currentWithAnd with d-axis feedback current id1And id2D-axis is obtained by current regulating module Current error；Step 4：Quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWithIt is and straight Axis reference voltageWithQuadrature axis reference voltage, d-axis reference voltage and position signal θ1And θ2After dq/abc is converted Obtain two groups of three-phase reference voltagesWithSix road PWM generation units are sent to respectively, to realize just The control of double permanent magnet synchronous motor Fault tolerant inverters under norm formula；Or quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWithAnd d-axis Reference voltageWithQuadrature axis reference voltage, d-axis reference voltage and position signal θ1And θ2After dq/abc is converted To two groups of three-phase reference voltages, wherein the three-phase reference voltage for the inverter of single inverter leg failure occur passes through line voltage Computing module obtains the reference line voltage signal of two 60 ° of mutual deviations, is sent to four road PWM generation units, another normal work The three-phase reference voltage of inverter is sent to six road PWM generation units, realizes that single inverter leg failure occurs in one group of inverter When double permanent magnet synchronous motor Fault tolerant inverters control；Or quadrature axis current error and direct-axis current error obtain quadrature axis reference voltage by PI controllersWithAnd d-axis Reference voltageWithQuadrature axis reference voltage, d-axis reference voltage and position signal θ1And θ2After dq/abc is converted To two groups of three-phase reference voltages, two groups of three-phase reference voltages each pass through line voltage computing module, respectively obtain the ginseng of 60 ° of mutual deviation Line voltage signal is examined, respective four roads PWM generation units are sent to, when realizing that single inverter leg failure occur in two groups of inverters Double permanent magnet synchronous motor Fault tolerant inverters control.
- 6. the control method of double permanent magnet synchronous motor Fault tolerant inverters according to claim 5, it is characterised in that：Step 3 In, set d-axis reference currentWith
- 7. the control method of double permanent magnet synchronous motor Fault tolerant inverters according to claim 5, it is characterised in that：Step 4 In, when single inverter leg failure occur in two groups of inverters, time division modulation is carried out to remaining four inverter legs.
- 8. the control method of double permanent magnet synchronous motor Fault tolerant inverters according to claim 7, it is characterised in that：Time division modulation It is specific as follows：Assuming that three inverter legs and capacitance bridge arm that are connected with three-phase permanent magnet synchronous motor M1 are first group of inverter, with Three inverter legs and capacitance bridge arm that three-phase permanent magnet synchronous motor M2 is connected are second group of inverter；Three-phase permanent is synchronous Motor M1 contains A phase windings, B phase windings and C phase windings, and three-phase permanent magnet synchronous motor M2 contains U phase windings, V phase windings and W phases Winding, defines nought state and occurs the switch or lower bridge arm of upper half bridge arm after single inverter leg failure for a certain group of inverter The state that all closes of switch；The definition of duty cycle d is：<mrow> <mi>d</mi> <mo>=</mo> <mfrac> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mi>T</mi> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>Wherein, T is the sampling period, TonFor the pulse width time in PWM regular samplings；<mrow> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mi>T</mi> <mn>2</mn> </mfrac> <mo>&lsqb;</mo> <mn>1</mn> <mo>+</mo> <mfrac> <mrow> <msub> <mi>u</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>U</mi> <mrow> <mi>t</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&rsqb;</mo> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>Wherein, ur(t) it is modulation function, UtmFor triangular carrier function；Convolution (1) and formula (2), obtain：<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mrow> <mi>b</mi> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>4</mn> </mfrac> <mo>&lsqb;</mo> <mn>1</mn> <mo>+</mo> <mfrac> <mrow> <msub> <mi>u</mi> <mrow> <mi>b</mi> <mi>a</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>U</mi> <mrow> <mi>t</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&rsqb;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mrow> <mi>c</mi> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>4</mn> </mfrac> <mo>&lsqb;</mo> <mn>1</mn> <mo>+</mo> <mfrac> <mrow> <msub> <mi>u</mi> <mrow> <mi>c</mi> <mi>a</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>U</mi> <mrow> <mi>t</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&rsqb;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mn>01</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>-</mo> <msub> <mi>d</mi> <mrow> <mi>b</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>d</mi> <mrow> <mi>c</mi> <mn>1</mn> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow><mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mrow> <mi>b</mi> <mn>2</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>4</mn> </mfrac> <mo>&lsqb;</mo> <mn>1</mn> <mo>+</mo> <mfrac> <mrow> <msub> <mi>u</mi> <mrow> <mi>v</mi> <mi>u</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>U</mi> <mrow> <mi>t</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&rsqb;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mrow> <mi>c</mi> <mn>2</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>4</mn> </mfrac> <mo>&lsqb;</mo> <mn>1</mn> <mo>+</mo> <mfrac> <mrow> <msub> <mi>u</mi> <mrow> <mi>w</mi> <mi>u</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>U</mi> <mrow> <mi>t</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&rsqb;</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mn>02</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mo>-</mo> <msub> <mi>d</mi> <mrow> <mi>b</mi> <mn>2</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>d</mi> <mrow> <mi>c</mi> <mn>2</mn> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>Wherein, db1、dc1And d01B phases of first group of inverter in respectively preceding half of sampling period, C phases and corresponding nought state Duty cycle, uba(t) and uca(t) be respectively first group of inverter modulation function；db2、dc2And d02Half of sampling week after respectively The duty cycle of the V phases of second group of inverter, W phases and corresponding nought state, u in phasevu(t) and uwu(t) it is respectively second group of inverter Modulation function.
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Application publication date: 20180515 |