CN108574439B - Space vector control method for fault-tolerant system of permanent magnet synchronous motor - Google Patents

Space vector control method for fault-tolerant system of permanent magnet synchronous motor Download PDF

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CN108574439B
CN108574439B CN201810430525.7A CN201810430525A CN108574439B CN 108574439 B CN108574439 B CN 108574439B CN 201810430525 A CN201810430525 A CN 201810430525A CN 108574439 B CN108574439 B CN 108574439B
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fault
voltage
inverter
tolerant
current
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CN108574439A (en
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林海
贾骏
司利云
周熙炜
陈金平
巩建英
龚贤武
陈俊硕
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Weihai Creditfan Ventilator Co Ltd
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Changan University
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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
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency

Abstract

The invention discloses a space vector control method of a fault-tolerant system of a permanent magnet synchronous motor, which obtains rotating speed deviation according to given reference rotating speed of the motor and generates a reference quadrature axis current signal through a rotating speed regulator, and then, determining current deviation by using a given reference direct-axis current signal, a reference quadrature-axis current signal, a direct-axis current and a quadrature-axis current, respectively enabling the current deviation to pass through a current regulator to obtain a reference direct-current voltage and a direct-current quadrature-axis voltage, obtaining a reference voltage under a two-phase static coordinate system through coordinate transformation, determining a fault reason by using a fault signal and the reference voltage, calculating space voltage vectors of control inverters under different faults by using an SVM fault-tolerant control module, and finally sending a modulation signal obtained through calculation to a PWM chopping module to obtain a switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter so as to realize fault-tolerant control of the two-phase permanent magnet synchronous. The invention has strong practicability and universality, and can also be suitable for various types of two-phase motors.

Description

Space vector control method for fault-tolerant system of permanent magnet synchronous motor
Technical Field
The invention belongs to the technical field of power electronics, and particularly relates to a space vector control method of a fault-tolerant system of a permanent magnet synchronous motor.
Background
The stator of a two-phase permanent magnet synchronous motor generally adopts two windings, and the two windings are usually separately arranged according to 90 electrical angles. The two-phase permanent magnet synchronous drive is usually driven by two-phase sine wave voltages with the phases different from each other by 90 degrees, and the driving method is simpler and effectively reduces the cost of driving hardware. For the low-cost application field, because no special two-phase power supply is available, single-phase power is generally used, a phase difference is formed by serially connecting capacitors in one phase to generate starting torque, and the motor is widely used in refrigerators, air conditioners and washing machines at present.
The theoretical basis of SVPWM is the principle of mean value equivalence, i.e. the mean value of a basic voltage vector is made equal to a given voltage vector by combining the basic voltage vectors during a switching cycle. At a certain moment, the rotation of the voltage vector into a certain area can be obtained by two adjacent non-zero vectors making up this area and by different combinations of zero vectors in time. The action time of the two vectors is applied for a plurality of times in a sampling period, thereby controlling the action time of each voltage vector, enabling the voltage space vector to approach to rotate according to a circular track, approaching to an ideal magnetic flux circle through the actual magnetic flux generated by different switching states of the inverter, and determining the switching state of the inverter according to the comparison result of the two vectors, thereby forming a PWM waveform.
At present, four-switch inverter driving technology, six-switch inverter driving technology, eight-switch inverter driving technology and the like are mostly adopted for two-phase motors. The control methods that are frequently used include vector control, direct torque control, and the like. The eight-switch inverter topology has the maximum output power in the two-phase alternating current driving technology and excellent control performance, as shown in fig. 1. However, in the two-phase permanent magnet synchronous driving of the eight-switch inverter, the power switch failure rate of the inverter is high. In the occasion of frequent use, the system can often have power switch short circuit or open circuit fault, and the popularization of the two-phase motor is restricted. Therefore, it is necessary to provide a fault tolerant technique to solve this problem.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a method for controlling a space vector of a fault-tolerant system of a permanent magnet synchronous motor, which can effectively enhance the reliability and safety of a control system of a two-phase permanent magnet synchronous motor, in view of the above-mentioned deficiencies in the prior art.
The invention adopts the following technical scheme:
a space vector control method for a fault-tolerant system of a permanent magnet synchronous motor is characterized in that a reference rotating speed omega is given according to the motor*Obtaining a rotational speed deviation eωAnd generating a reference quadrature axis current signal via a speed regulator
Figure BDA0001653292820000021
Then using a given reference direct axis current signal
Figure BDA0001653292820000022
Reference quadrature axis current signal
Figure BDA0001653292820000023
Direct axis current idAnd quadrature axis current iqDetermining a current deviation ed,eqDeviation of the current ed,eqObtaining a reference DC voltage via a current regulator
Figure BDA0001653292820000024
And DC/AC shaft voltage
Figure BDA0001653292820000025
Obtaining reference voltage under a two-phase static coordinate system through coordinate transformation
Figure BDA0001653292820000026
Using fault signals FLAnd a reference voltage
Figure BDA0001653292820000027
Determining the fault reason, and calculating the space voltage vector V of the control inverter under different faults by utilizing an SVM fault-tolerant control moduleiAnd finally, sending the modulation signal obtained by calculation to a PWM chopping module to obtain a switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter, so as to realize fault-tolerant control of the two-phase permanent magnet synchronous motor.
In particular, reference quadrature axis current signals
Figure BDA0001653292820000028
The calculation is as follows:
Figure BDA0001653292820000029
wherein, KpIs a proportional constant coefficient, KiIs an integral constant coefficient, eω＝ω*And- ω, ω is the motor speed.
In particular, reference to the direct-axis voltage
Figure BDA00016532928200000210
And reference quadrature axis voltage
Figure BDA00016532928200000211
The calculation is as follows:
Figure BDA00016532928200000212
Figure BDA00016532928200000213
wherein, Kpd,KpqIs a proportional constant coefficient, Kid,KiqIs an integral constant coefficient.
In particular, using a reference DC voltage
Figure BDA00016532928200000214
And DC/AC shaft voltage
Figure BDA00016532928200000215
Ipark coordinate transformation is carried out to calculate the reference voltage under a two-phase static coordinate system
Figure BDA00016532928200000216
The following were used:
Figure BDA0001653292820000031
where θ is the rotor position signal.
In particular, using phase current iα,iβCalculating to obtain a fault signal F of the inverterLPhase current i in two-phase stationary coordinate systemα,iβThe calculation is as follows:
Figure BDA0001653292820000032
wherein ia,ibThe phase currents of the armature winding a and the armature winding B detected by the current sensor.
In particular, inverter fault signal FLThe definition is as follows:
Figure BDA0001653292820000033
further, when FLWhen the voltage is equal to 0, the system works in an eight-switch inverter SVM working mode, and the seven-segment PWM switching waveform is as follows: V0-Vc1-Vc2-V9-Vc2-Vc 1-V0; reference voltage VrAnd space voltage vector Vc1,Vc2Zero voltage vector V0(V9) Time of action Tc1,Tc2,T0The following are calculated respectively:
Figure BDA0001653292820000034
Figure BDA0001653292820000035
wherein the reference voltage
Figure BDA0001653292820000036
j represents the imaginary unit of the complex number, | | represents the magnitude of the vector, and phi is the reference voltage vector VrAdjacent voltage vector Vc1T is a system sampling time.
Further, when FLAt any moment, the SVM fault-tolerant control module obtains a space voltage vector V for driving the power switch tube of the inverter to workiThe system normally works according to the working mode of the eight-switch inverter SVM, and the space voltage vector ViComprises the following steps:
Vi＝(Sa,Sx,Sb,Sy)
where i is 0,1,2,3,4,5,6,7,8,9, Sa, Sx, Sb, Sy represents switching state signals of the switching tubes connected to the inverter switching arms La, Lx, Lb, Ly, respectively.
Further, when FLIf the voltage is more than 0, the system works in a six-switch inverter SVM working mode, and the seven-segment PWM switching waveform is as follows: v0 ' -Vc1-Vc2-V7 ' -Vc2-Vc1-V0 '; reference voltage VrAnd space voltage vector Vc1,Vc2Zero voltage vector V0'(V7') time of action T1,T2,T0The following are calculated respectively:
Figure BDA0001653292820000041
Figure BDA0001653292820000042
in sectors I, II, IV, V
Figure BDA0001653292820000043
In sectors III and VI
Where phi is a reference voltage vector VrAdjacent voltage vector Vc1The included angle between the two is T, which is a system sampling time, | | | represents the vector amplitude.
Further, when FLWhen the voltage is more than 0, one of four inverter switch bridge arms La, Lx, Lb and Ly stops running due to faults, and the SVM fault-tolerant control module obtains space voltage vectors V of the rest three sequential bridge arm switch tubes (Sr1, Sr2 and Sr3) according to the previous control logiciThe following were used:
Figure BDA0001653292820000051
wherein i is 0,1,2,3,4,5,6, 7.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention discloses a space vector modulation method of a two-phase permanent magnet synchronous motor fault-tolerant system, which utilizes reference two-phase current and motor two-phase detection current after coordinate conversion to generate space voltage vectors for control through an SVM fault-tolerant control module, and can obtain switch trigger signals of each bridge arm of a two-phase permanent magnet synchronous motor fault-tolerant inverter through a PWM (pulse-width modulation) generation module, thereby realizing the two-phase permanent magnet synchronous motor fault-tolerant control based on the space vector modulation control, and rapidly realizing the hardware reconstruction mode that a conventional eight-switch inverter in the system is switched into a six-switch inverter.
Furthermore, the vector control technology adopted by the system is a space vector control method, and the space voltage vector modulation technology (SVPWM) is a relatively novel control method developed in recent years, and is a pulse width modulation wave generated by a specific switching mode consisting of six power switching elements of a three-phase power inverter, so that the output current waveform can be as close to an ideal sinusoidal waveform as possible. SVPWM is different from traditional sinusoidal PWM, and it is from the whole effect of three-phase output voltage, focuses on how to make the motor obtain ideal circular flux linkage track. Compared with the SPWM, the SVPWM technology has the advantages that harmonic components of winding current waveforms are small, so that motor torque pulsation is reduced, a rotating magnetic field is more approximate to a circle, the utilization rate of direct-current bus voltage is greatly improved, and digitization is easier to realize. Therefore, the control performance of the system can be further optimized by using the technology in the application of the two-phase permanent magnet synchronous motor.
Furthermore, the possible faults of the phase winding can be easily judged by detecting the current of the stator winding of the motor, for example, the current exceeds a threshold value set by a system, and the phase winding can be in short circuit fault; if the phase current is zero for a certain period of time, the phase winding may fail open circuit. The specific fault diagnosis method can be easily found in many documents.
In summary, the fault tolerant system and the control technique thereof of the present invention have strong practicability and universality, and they can also be applied to various types of two-phase motors, such as two-phase permanent magnet synchronous motors, two-phase brushless dc motors, two-phase switched reluctance motors, two-phase stepping motors, and the like.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a block diagram of a four-phase fault-tolerant inverter for a two-phase PMSM according to the present invention;
FIG. 2 is a space voltage vector distribution diagram of the fault-tolerant system of the two-phase permanent magnet synchronous motor in the healthy mode according to the present invention;
FIG. 3 is a space voltage vector distribution diagram of the fault tolerant system of the two-phase PMSM in the failure mode according to the present invention;
FIG. 4 is a structural diagram of a fault-tolerant control system of a two-phase permanent magnet synchronous motor according to the present invention;
fig. 5 is a flow chart of the fault-tolerant control method of the two-phase permanent magnet synchronous motor according to the invention.
Detailed Description
The invention provides a two-phase permanent magnet synchronous motor fault-tolerant system, which is shown in figure 1. The system comprises four inverter bridge arms, four fast fusing fuses and two bidirectional thyristors; four inverter bridge arms are connected in parallel and then connected with a common direct-current power supply; two ends of one bidirectional thyristor are respectively connected with one port of the armature winding A and one port of the armature winding B, two ends of the other bidirectional thyristor are respectively connected with the other port of the armature winding A and the other port of the armature winding B, the two ports of the armature winding A are respectively connected with the middle points of the bridge arms of the two inverters through fast fusing fuses, and the two ports of the armature winding B are respectively connected with the middle points of the bridge arms of the other two inverters through fast fusing fuses. When any one bridge arm of the system inverter has a fault, the hardware reconfiguration mode that the conventional eight-switch inverter in the system is switched into the six-switch inverter can be quickly realized by using the proposed fault-tolerant control method.
Referring to fig. 1, the fault-tolerant system of the two-phase permanent magnet synchronous motor includes an inverter bridge arm La, an inverter bridge arm Lb, an inverter bridge arm Lx and an inverter bridge arm Ly, which are connected to four winding terminals of an armature winding a and an armature winding B through a fast fusing fuse Fa, a fast fusing fuse Fb, a fast fusing fuse Fx and a fast fusing fuse Fy, respectively, so as to ensure that after any one bridge arm fails, the current of the phase winding is increased sharply due to the failure, and when the current exceeds the rated current value of the connected fuse, the fuse is fused. The fault bridge arm is automatically removed from the control system, so that the system is ensured to rapidly remove a fault source in the system, and a foundation is laid for effective execution of subsequent fault-tolerant control.
The middle points a, B, x and y of the inverter bridge arm La, the inverter bridge arm Lb, the inverter bridge arm Lx and the inverter bridge arm Ly are respectively connected to four terminals of the armature winding A and the armature winding B; each inverter bridge arm is formed by connecting two power switch tubes in series, the connecting point is the middle point of the bridge arm, and the two sides of the power switch after being connected in series are respectively connected with the positive electrode and the negative electrode of the direct-current power supply;
on armature winding A and armature winding B's four terminals, with fast fusing fuse Fa, two winding terminal intermediate connections that fast fusing fuse Fb connects have bidirectional thyristor TR1, with fast fusing fuse Fx, two winding terminal intermediate connections that fast fusing fuse Fy connects have bidirectional thyristor TR2, bidirectional thyristor has trigger electrode enable back, the electric current through this pipe can have the diplonecy, positive current and negative current can all pass through smoothly promptly. After the bidirectional thyristor is adopted, the trigger electrode is controlled to be enabled through a fault-tolerant strategy, so that the fault-tolerant inverter disclosed by the invention can realize rapid structure reconstruction and realize the basic function of fault-tolerant operation.
The bridge arm La of the inverter consists of a power switch tube S1 and a power switch tube S2; the inverter bridge arm Lb consists of a power switch tube S3 and a power switch tube S4; the inverter bridge arm Lx consists of a power switch tube S7 and a power switch tube S8; the fourth inverter arm Ly consists of a power switch tube S5 and a power switch tube S6, and the power switch tubes S1, S2, S3, S4, S5, S6, S7 and S8 all adopt IGBT or MOSFET power devices.
In any bridge arm of the fault-tolerant inverter, two sides of two power switches which are connected in series are respectively connected with the positive electrode and the negative electrode of a direct-current power supply, so that a signal of direct-current voltage can output a square-wave voltage signal through the middle point of the bridge arm through different conduction states of the two power switches, and the square-wave voltage signal can effectively control the winding voltage connected with a motor. The frequency and phase of the connected armature winding can be adjusted by the connection mode of the two power switches and the different conduction states of the two power switches.
Two current sensors are arranged at two ports of the armature winding A and the armature winding B and are respectively connected with the controller; meanwhile, the controller is respectively connected with the control poles of the bidirectional thyristor TR1 and the bidirectional thyristor TR2 and the trigger poles of the eight power switches of the inverter arm La, the inverter arm Lb, the inverter arm Lx and the inverter arm Ly, the current sensor can feed back the winding current of the motor, and a closed-loop negative feedback control mode is realized through the controller, so that the motor can be effectively ensured to be in an effective control mode at any time and reach an expected control index.
As shown in fig. 2 and table 1, the on states of 8 power switching tubes S1, S2, S3, S4, S5, S6, S7, and S8 of the fault-tolerant system under healthy operating conditions can be combined through different switching states to obtain 10 space voltage vectors ViTwo of which are zero voltage vectors V0 and V9, and the remaining 8 are non-zero voltage vectors. The distribution of the vectors in the voltage space is shown in fig. 2.
TABLE 1 space Voltage vector of Normal inverter output
Figure BDA0001653292820000081
In Table 1, ViRepresents a space voltage vector, i is 0,1,2,3,4,5,6,7,8, 9. The space voltage vector binary expression is (S)aSxSbSy) Wherein the switch state signal Sa、Sx、SbAnd SyRespectively represent trigger signals of first, seventh, third and fifth power switch tubes S1, S7, S3 and S5 on four inverter bridge arms La, Lb, Lx and Ly. The signals are symmetrical with the starting signals of the second, the eighth, the fourth and the sixth power switch tubes S2, S8, S4 and S6 on the same bridge arm. VaAnd VbRespectively representing the phase voltages of the first and second armature windings a, B. Vs represents the output voltage vector magnitude, Vdc represents the system DC bus voltageThe amplitude value.
As shown in fig. 3 and table 2, in any one-phase bridge arm fault state, the inverter of the fault-tolerant system is reconstructed into a six-switch inverter topology. Through different switch state combinations, the inverter outputs a space voltage vector Vi' there are 8, 2 of which are zero voltage vectors V0 ' and V7 ', and the remaining 6 are non-zero voltage vectors. The spatial voltage vector distribution in the bridge arm failure mode is shown in fig. 3.
TABLE 2 reconstruction of space Voltage vectors output by inverter after bridge arm failure
Figure BDA0001653292820000091
In Table 2, Vj' stands for space voltage vector, j is 0,1,2,3,4,5,6, 7. The space voltage vector binary expression form is (Sr)1Sr2Sr3) Wherein the switch state signal Sr1、Sr2And Sr3And the trigger signals respectively represent the trigger signals of the upper tubes of three bridge arms which are left by four inverter bridge arms La, Lb, Lx and Ly after one bridge arm is in fault.
According to the above content, the working principle of the system of the invention is as follows:
when the fault-tolerant system is in a normal working state, the fault-tolerant system operates according to a common eight-switch two-phase full-bridge inverter working mode; the controller is connected with the two current sensors which respectively detect the currents of the four ports of the two armature windings, and the controller is also connected with the two bidirectional thyristor trigger poles and the control poles of the eight power switch tubes of the inverter; when a certain bridge arm has a fault, such as a short-circuit fault, the fuse connected with the bridge arm is blown out due to excessive current.
And meanwhile, the current sensor detects abnormal current at the port of the armature winding connected with the failed bridge arm and transmits the abnormal current to the controller, and the controller stops control pole signals of two power switching tubes of the failed bridge arm after fault reason fault judgment is carried out according to the signals and simultaneously sends out a conduction signal to a control pole of a bidirectional thyristor connected with the failed bridge arm.
Therefore, the fault bridge arm stops working and is disconnected with the armature winding port connected with the fault bridge arm, the armature winding port is connected to the middle point of the adjacent bridge arm through the bidirectional thyristor, the topological structure of the fault-tolerant system is subjected to topological reconstruction, and the system utilizes the rest normal switch bridge arms to form a new topological structure of the inverter to continuously drive the motor to continuously work.
The two-phase permanent magnet synchronous motor fault-tolerant system is simple in structure and convenient to use, 4 fuses and two bidirectional thyristors are added on the basis of the traditional eight-switch inverter, the fault reason of the inverter can be determined by detecting armature winding current, and the bidirectional thyristors are controlled to carry out topology reconstruction according to a fault-tolerant strategy, so that the sustainable operation of the system is effectively realized under the condition that the inverter has a switch fault.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, the space vector modulation method for the fault-tolerant system of the two-phase permanent magnet synchronous motor according to the present invention includes a rotation speed regulator, two current regulators, a Park coordinate conversion unit, an Ipark coordinate conversion unit, an SVM fault-tolerant control unit, a PWM generation unit, a fault diagnosis module, a two-phase permanent magnet synchronous motor, and a four-leg fault-tolerant inverter.
Two-phase permanent magnetThe rotor position detection sensor signal of the motor in the fault-tolerant system of the step motor can be calculated to obtain the motor rotating speed omega and the rotor position signal theta, and the given reference rotating speed omega of the two-phase permanent magnet synchronous motor*And calculating the rotation speed omega to obtain the rotation speed deviation e through mathematical operationωGenerating a reference quadrature current signal via a speed regulator
Figure BDA0001653292820000111
Then a given reference direct axis current signal is applied
Figure BDA0001653292820000112
Calculated reference quadrature axis current signal
Figure BDA0001653292820000113
Two calculated current deviations ed,eqObtaining reference DC voltages through two current regulators respectively
Figure BDA0001653292820000114
And DC/AC shaft voltage
Figure BDA0001653292820000115
Then obtaining the reference voltage under the two-phase static coordinate system through Imark coordinate transformation
Figure BDA0001653292820000116
Using fault signals FLReference voltage for joint calculation for determining fault cause
Figure BDA0001653292820000117
Calculating space voltage vector V of control inverter under different faults by utilizing SVM fault-tolerant control moduleiAnd sending the modulation signal obtained by calculation to a PWM chopping module to obtain a switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter, so that fault-tolerant control of the two-phase permanent magnet synchronous motor is realized.
Wherein the detected motor stator current i is utilizeda,ibThe fault reason of the system inverter can be obtained through calculation and judgment of the fault diagnosis unit. At the same time, utilize ia,ibThe current i under a two-phase rotating coordinate system can be obtained through Park coordinate transformationd,iq。
Referring to fig. 3, the method for modulating the space vector of the fault-tolerant system of the two-phase permanent magnet synchronous motor specifically includes the following steps:
s1, speed error eωGenerating a reference torque signal after being regulated by a rotating speed PI regulator
Figure BDA0001653292820000118
Error in velocity eωThe calculation is as follows:
eω＝ω*-ω
reference torque signal
Figure BDA0001653292820000119
The calculation is as follows:
Figure BDA00016532928200001110
wherein, KpIs a proportional constant coefficient, KiIs an integral constant coefficient;
s2, setting a given reference direct current signal
Figure BDA0001653292820000121
Calculated reference AC current signal
Figure BDA0001653292820000122
Calculated direct axis current idAnd quadrature axis current iqCalculating two current deviations ed,eqThe reference direct axis voltage is output after passing through two current PI regulators
Figure BDA0001653292820000123
And reference quadrature axis voltage
Figure BDA0001653292820000124
Figure BDA0001653292820000125
Figure BDA0001653292820000126
Wherein, Kpd,KpqIs a proportional constant coefficient, Kid,KiqIs an integral constant coefficient;
s3, using reference direct axis voltage
Figure BDA0001653292820000127
And reference quadrature axis voltage
Figure BDA0001653292820000128
Ipark coordinate transformation is carried out on the calculated position theta of the motor rotor, and reference voltage under a two-phase static coordinate system is calculated
Figure BDA0001653292820000129
Figure BDA00016532928200001210
S4, detecting phase current i of armature winding A and armature winding B by current sensora,ibAnd calculating the phase current i under the two-phase static coordinate systemα,iβ；
Figure BDA00016532928200001211
S5, using phase current iα,iβThe inverter fault signal F can be obtained by analysis and calculationLThe signal represents different inverter fault conditions, defined as follows:
Figure BDA00016532928200001212
s6, utilizing inverter fault signal FLReference direct axis voltage
Figure BDA0001653292820000131
And reference quadrature axis voltage
Figure BDA0001653292820000132
The reference is sent to an SVM fault-tolerant control module for processing, and the specific processing steps comprise:
when F is presentLWhen the voltage is equal to 0, the system works in an eight-switch inverter SVM working mode;
as shown in FIG. 2, in the voltage vector plane, eight non-zero voltage vectors V1(1000), V2(1010), V3(0010), V4(0110), V5(0100), V6(0101), V7(0001), V8(1001) and two zero voltage vectors V0(0000), and V9(1111) divides the plane into eight sectors (I, II, III, IV, V, VI, VII, VIII), each of which occupies 45 degree electrical angle, and within one system sampling time T, the reference voltage V1(1000), V2(1010), V3(0010), V4 (0100), and V9(1111) occupies 45 degree electrical anglerAny sector can be divided into two adjacent space voltage vectors Vc1,Vc2And zero voltage vector V0(V9) And (4) performing equivalent synthesis.
Reference voltage VrAnd space voltage vector Vc1,Vc2Zero voltage vector V0(V9) Time of action Tc1,Tc2,T0The following are calculated respectively:
Figure BDA0001653292820000133
Figure BDA0001653292820000134
wherein the reference voltage
Figure BDA0001653292820000135
j represents a virtual unit of the complex number; representing the magnitude of the vector; phi is a reference voltage vector VrAdjacent voltage vector Vc1The included angle therebetween.
Calculating to obtain the action time T of the voltage vectorc1,Tc2,T0Then, according to the principle of minimum switching times in a cycleThe seven-segment PWM switching waveform generated by the sequential synthesis of the following vectors is as follows: V0-Vc1-Vc2-V9-Vc2-Vc 1-V0.
When F is presentLIf the voltage is more than 0, the system works in a six-switch inverter SVM working mode;
as shown in FIG. 3, in the voltage vector plane, six non-zero voltage vectors V1 ', V2', V3 ', V4', V5 ', V6' and two zero voltage vectors V0 '(000), V7' (111) divide the plane into six sectors (I, II, III, IV, V, VI), the remaining four sectors each occupy 45 degrees in electrical angle except that the sectors III and VI occupy 90 degrees in electrical angle, and the reference voltage V within one system sampling time TrAny sector can be divided into two adjacent space voltage vectors Vc1,Vc2And zero voltage vector V0'(V7') equivalent synthesis.
Reference voltage VrAnd space voltage vector Vc1,Vc2Zero voltage vector V0'(V7') time of action T1,T2,T0The following are calculated respectively:
Figure BDA0001653292820000141
Figure BDA0001653292820000142
in sectors I, II, IV, V
Figure BDA0001653292820000143
In sectors III and VI
Wherein the reference voltage VrCan also be expressed as
Figure BDA0001653292820000144
Calculating to obtain the action time T of the voltage vectorc1,Tc2,T0Then, according to the principle of the minimum switching times in one period, the seven-segment PWM switching waveform generated by synthesizing according to the following vector sequence is as follows: v0 '-Vc 1-Vc 2-V7' -Vc2-Vc1-V0’。
Calculating the action time T of the voltage vector according to the above principlec1,Tc2,T0Then, the space voltage vector Vi of the control inverter can be obtained after chopping.
S7, utilizing inverter fault signal FLAnd the calculated space voltage vector Vi is sent into the PWM generating module for processing, and the specific processing steps comprise:
when F is presentLAt any moment, the SVM fault-tolerant control module obtains a space voltage vector V for driving the power switch tube of the inverter to work according to the logiciAnd the system normally works according to the working mode of the eight-switch inverter SVM.
Space voltage vector ViComprises the following steps:
Vi＝(Sa,Sx,Sb,Sy)
where i is 0,1,2,3,4,5,6,7,8,9, Sa, Sx, Sb, Sy represents switching state signals of the switching tubes connected to the inverter switching arms La, Lx, Lb, Ly, respectively.
When F is presentLWhen the voltage is more than 0, one of four inverter switch bridge arms La, Lx, Lb and Ly stops running due to faults, and the SVM fault-tolerant control module obtains space voltage vectors V of the rest three sequential bridge arm switch tubes (Sr1, Sr2 and Sr3) according to the previous control logiciComprises the following steps:
Figure BDA0001653292820000151
wherein i is 0,1,2,3,4,5,6, 7.
According to the steps, a switch state signal can be generated, and the motor can be effectively driven to ensure the sustainable working capacity of the system of the inverter under different fault conditions.
The method inherits the advantages of simple structure, strong robustness and the like of the two-phase permanent magnet synchronous motor fault-tolerant system and the space vector modulation method thereof, can effectively improve the control precision of the system, accelerate the response speed, reduce the complexity of fault-tolerant control of the traditional motor system, realize high-precision and fast-response control of the two-phase motor, and is suitable for various two-phase motor systems.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (5)

1. A space vector control method of a fault-tolerant system of a permanent magnet synchronous motor is characterized in that a reference rotating speed omega is given according to the motor*Obtaining a rotational speed deviation eωAnd generating a reference quadrature axis current signal via a speed regulator
Figure FDA0002366407290000011
Then using a given reference direct axis current signal
Figure FDA0002366407290000012
Reference quadrature axis current signal
Figure FDA0002366407290000013
Direct axis current idAnd quadrature axis current iqDetermining a current deviation ed,eqDeviation of the current ed,eqObtaining a reference direct-axis voltage through a current regulator
Figure FDA0002366407290000014
And reference quadrature axis voltage
Figure FDA0002366407290000015
Obtaining reference voltage under a two-phase static coordinate system through coordinate transformation
Figure FDA0002366407290000016
Using fault signals FLAnd a reference voltage
Figure FDA0002366407290000017
Determining fault cause, and utilizing SVM fault-tolerant control modeBlock calculation of space voltage vector V of control inverter under different faultsiFinally, the modulation signal obtained by calculation is sent to a PWM chopping module to obtain a switch trigger signal of each bridge arm of the two-phase permanent magnet synchronous motor fault-tolerant inverter, so that fault-tolerant control of the two-phase permanent magnet synchronous motor is realized; the two-phase permanent magnet synchronous motor fault-tolerant system comprises an inverter bridge arm La, an inverter bridge arm Lb, an inverter bridge arm Lx, an inverter bridge arm Ly and an inverter fault signal FLThe definition is as follows:
Figure FDA0002366407290000018
when F is presentLWhen the voltage is equal to 0, the system works in an eight-switch inverter SVM working mode, and the seven-segment PWM switching waveform is as follows: V0-Vc1-Vc2-V9-Vc2-Vc 1-V0; reference voltage V within a system sampling time TrAny sector can be divided into two adjacent space voltage vectors Vc1,Vc2And zero voltage vector V0、V9Equivalent synthetic, space voltage vector Vc1Time of action Tc1Space voltage vector Vc2Time of action Tc2Zero voltage vector V0、V9Time of action T0The following are calculated respectively:
Figure FDA0002366407290000019
Figure FDA0002366407290000021
wherein the reference voltage
Figure FDA0002366407290000022
j represents the imaginary unit of the complex number, | | represents the magnitude of the vector, and phi is the reference voltage vector VrAdjacent voltage vector Vc1T is a system sampling time when FLAt any moment, the SVM fault-tolerant control module obtains a power switch tube for driving the inverterOperating space voltage vector ViThe system normally works according to the working mode of the eight-switch inverter SVM, and the space voltage vector ViComprises the following steps:
Vi＝(Sa,Sx,Sb,Sy)
wherein, i is 0,1,2,3,4,5,6,7,8,9, Sa, Sx, Sb, Sy respectively represents the switch state signals of the switch tubes connected to the inverter switch bridge arms La, Lx, Lb, Ly;
when F is presentLIf the voltage is more than 0, the system works in a six-switch inverter SVM working mode, and the seven-segment PWM switching waveform is as follows: v0 ' -Vc1-Vc2-V7 ' -Vc2-Vc1-V0 '; space voltage vector Vc1Time of action Tc1Space voltage vector Vc2Time of action Tc2Zero voltage vector V0'、V7Action time of0The following are calculated respectively:
Figure FDA0002366407290000023
Figure FDA0002366407290000024
in sectors I, II, IV, V
Figure FDA0002366407290000031
In sectors III and VI
When F is presentLWhen the voltage is more than 0, one of four inverter switch bridge arms La, Lx, Lb and Ly stops running due to faults, and the SVM fault-tolerant control module obtains space voltage vectors V of the rest three sequential bridge arm switch tubes Sr1, Sr2 and Sr3 according to the previous control logiciThe following were used:
Figure FDA0002366407290000032
wherein i is 0,1,2,3,4,5,6, 7.
2. A fault tolerant permanent magnet synchronous machine according to claim 1The system space vector control method is characterized in that the cross-axis current signal is referred to
Figure FDA0002366407290000033
The calculation is as follows:
Figure FDA0002366407290000034
wherein, KpIs a proportional constant coefficient, KiIs an integral constant coefficient, eω＝ω*And- ω, ω is the motor speed.
3. The method as claimed in claim 1, wherein the reference direct axis voltage is used as a reference for space vector control of fault tolerant system of PMSM
Figure FDA0002366407290000035
And reference quadrature axis voltage
Figure FDA0002366407290000036
The calculation is as follows:
Figure FDA0002366407290000037
Figure FDA0002366407290000038
wherein, Kpd,KpqIs a proportional constant coefficient, Kid,KiqIs an integral constant coefficient.
4. The method as claimed in claim 1, wherein the reference DC voltage is used for controlling space vector of fault tolerant system of PMSM
Figure FDA0002366407290000041
And DC/AC shaft voltage
Figure FDA0002366407290000042
Ipark coordinate transformation is carried out to calculate the reference voltage under a two-phase static coordinate system
Figure FDA0002366407290000043
The following were used:
Figure FDA0002366407290000044
where θ is the rotor position signal.
5. The fault-tolerant system space vector control method of the permanent magnet synchronous motor according to claim 1, wherein phase current i is utilizedα,iβCalculating to obtain a fault signal F of the inverterLPhase current i in two-phase stationary coordinate systemα,iβThe calculation is as follows:
Figure FDA0002366407290000045
wherein ia,ibThe phase currents of the armature winding a and the armature winding B detected by the current sensor.
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