CN108599672B - Control method for asymmetric fault of stator winding of five-phase permanent magnet synchronous motor - Google Patents

Control method for asymmetric fault of stator winding of five-phase permanent magnet synchronous motor Download PDF

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CN108599672B
CN108599672B CN201810441997.2A CN201810441997A CN108599672B CN 108599672 B CN108599672 B CN 108599672B CN 201810441997 A CN201810441997 A CN 201810441997A CN 108599672 B CN108599672 B CN 108599672B
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fault
phase
permanent magnet
magnet synchronous
synchronous motor
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CN108599672A (en
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杭俊
汤春艳
夏孟杰
严冬冬
丁石川
李国丽
王群京
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Anhui 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/64—Controlling or determining the temperature of the winding

Abstract

The invention discloses a control method for an asymmetric fault of a stator winding of a five-phase permanent magnet synchronous motor, which is used for solving the problem of loss increase of the five-phase permanent magnet synchronous motor caused by the asymmetric fault of the stator winding and avoiding the damage of the permanent magnet synchronous motor due to overhigh temperature. The technical scheme is as follows: under the condition that the fault phase and fault degree of the asymmetric fault of the stator winding are known, the amplitude and the phase of five-phase stator current under the condition of the asymmetric fault of the stator winding of the permanent magnet synchronous motor are calculated according to the principle that magnetomotive force of the stator winding is unchanged before and after the fault of the permanent magnet synchronous motor and the minimum copper loss of the stator winding as optimization constraint conditions, so that the fault-tolerant control of the asymmetric fault of the stator winding of the permanent magnet synchronous motor is finally realized, the copper loss is reduced, and the fault-carrying operation of the permanent magnet synchronous motor is realized.

Description

Control method for asymmetric fault of stator winding of five-phase permanent magnet synchronous motor
Technical Field
The invention relates to a control method for an asymmetric fault of a stator winding of a five-phase permanent magnet synchronous motor, which is suitable for application occasions of motor cars, subways and aerospace, particularly systems using high-power motors.
Background
In recent years, because the multiphase permanent magnet synchronous motor has the advantages of high torque density, high efficiency, high reliability, high potential sine degree, small positioning torque, strong fault-tolerant capability, stable output power and the like, the multiphase permanent magnet synchronous motor is widely applied to high and new energy application occasions such as high power and the like of motor cars, high-speed rails, aerospace and the like, and particularly is a five-phase permanent magnet synchronous motor. When the permanent magnet synchronous motor works, a complex electromechanical energy conversion process is achieved, and certain parts can gradually lose efficacy or be damaged under the influence of load working conditions and operating environments in long-term operation. Among them, the stator winding asymmetry fault is one of the most common faults. Under the condition that the asymmetric fault of the stator winding occurs, the temperature of the stator winding and the internal temperature of the motor are increased due to copper loss, and the safety of the motor and the service life of the motor are greatly threatened, especially aiming at a high-power motor. Therefore, under the condition of not influencing the working condition of the motor system, certain measures need to be taken to reduce copper loss, so that the temperature of the stator winding is reduced. At present, most fault-tolerant control aims at open-circuit faults of converters or stator windings, a three-phase to two-phase fault-tolerant method, a three-phase four-leg fault-tolerant method and the like are commonly used, and for asymmetric faults of the stator windings, the asymmetric faults of the stator windings are diagnosed at present, and the control of the asymmetric faults of the stator windings is not reported in documents.
Disclosure of Invention
The invention aims to provide a control method of an asymmetric fault of a stator winding of a five-phase permanent magnet synchronous motor aiming at the asymmetric fault of the stator winding.
The technical scheme adopted by the invention is as follows: a control method of asymmetric fault of stator winding of five-phase permanent magnet synchronous motor is characterized in that a fault detection link is added in a control system, and when the asymmetric fault is not detected, the control system controls the five-phase permanent magnet synchronous motor according to a normal operation mode, namely, five-phase 72-degree sinusoidal current is adopted; when the system detects a single-phase asymmetric fault, the motor system starts a fault-tolerant control mode, and the method specifically comprises the following steps:
(1) listing a corresponding equation according to the principle that the magnetomotive force of the stator winding is unchanged before and after the fault of the permanent magnet synchronous motor;
(2) calculating the amplitude and the phase of the five-phase stator current under the condition of asymmetric fault of the stator winding by taking the minimum copper loss as an optimization constraint condition and applying a Lagrange medium function;
(3) and realizing fault-tolerant control of the permanent magnet synchronous motor after the fault according to the amplitude and the phase of the five-phase current.
Preferably, the step (1) is specifically:
when the five-phase permanent magnet synchronous motor is normal, the current is expressed without considering harmonic waves
Figure BDA0001656106410000021
In the formula: i.e. ia，ib，ic，idAnd ieIs the five-phase stator current, and I is the current amplitude.
When the five-phase permanent magnet synchronous motor is normal, the winding magnetomotive force is
Figure BDA0001656106410000022
After the five-phase permanent magnet synchronous motor has the asymmetric fault of the stator winding, the magnetomotive force of the winding is
Figure BDA0001656106410000023
In the formula: i.e. ia、，ib、，ic、，idAnd ieAnd the five-phase stator current after the fault.
According to the condition that the magnetomotive force of the stator winding does not change before and after the fault of the permanent magnet synchronous motor, the formula (2) is equal to the formula (3) to obtain:
Figure BDA0001656106410000024
under the condition of five-phase permanent magnet synchronous motor fault, the following conditions are still met:
i'A+i'B+i'C+i'D+i'E＝0 (5)
preferably, the step (2) is specifically:
assuming that the asymmetric fault of the stator winding occurs after the a-phase winding, the copper loss is
Figure BDA0001656106410000025
In the formula: rsIs the resistance R of each phase of stator winding when the permanent magnet synchronous motor is normaladd_aIs the resistance deviation of the a-phase stator winding due to an asymmetric fault.
To minimize power loss, equation (6) can be transformed to
Figure BDA0001656106410000031
Further, the optimized current can be obtained as follows:
Figure BDA0001656106410000032
has the advantages that: the control method for the stator winding asymmetric fault of the five-phase permanent magnet synchronous motor provided by the invention can overcome the defects of the existing fault-tolerant control method, so that the copper loss of the motor is minimum under the stator winding asymmetric fault, the damage of the motor caused by overhigh temperature is avoided, and the fault-carrying operation capability of the system is improved. The method is simple in calculation and easy to implement.
Drawings
Fig. 1 is a current waveform for fault-tolerant control after a five-phase permanent magnet synchronous motor fails.
Fig. 2 is a rotation speed waveform of fault-tolerant control performed after a five-phase permanent magnet synchronous motor fails.
Fig. 3 is a torque waveform of fault-tolerant control performed after a fault occurs in the five-phase permanent magnet synchronous motor.
Fig. 4 is a fault-tolerant control block diagram of a five-phase permanent magnet synchronous motor.
Fig. 5 is a flowchart of a five-phase permanent magnet synchronous motor fault-tolerant control method.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
As shown in fig. 1-5, in the fault-tolerant control method provided by the present invention, when the five-phase permanent magnet synchronous motor is in a normal operation state, the control system controls the five-phase permanent magnet synchronous motor according to a normal operation mode, that is, a five-phase 72 ° sinusoidal current is used. When the system detects the asymmetric fault of the stator winding, the motor system starts a fault-tolerant control mode and operates with the fault. The method comprises the following specific steps:
1. corresponding equations are listed according to the principle that the magnetomotive force of the stator winding is unchanged before and after the fault of the permanent magnet synchronous motor.
When the five-phase permanent magnet synchronous motor is normal, the current can be expressed without considering harmonic waves
Figure BDA0001656106410000041
In the formula: i.e. ia，ib，ic，idAnd ieIs the five-phase stator current, and I is the current amplitude.
When the five-phase permanent magnet synchronous motor is normal, the winding magnetomotive force is
Figure BDA0001656106410000042
After the five-phase permanent magnet synchronous motor has the asymmetric fault of the stator winding, the magnetomotive force of the winding is
Figure BDA0001656106410000043
In the formula: i.e. ia、，ib、，ic、，idAnd ieAnd the five-phase stator current after the fault.
According to the condition that the magnetomotive force of the stator winding does not change before and after the fault of the permanent magnet synchronous motor, the formula (2) is equal to the formula (3) to obtain:
Figure BDA0001656106410000044
under the condition of five-phase permanent magnet synchronous motor fault, the following conditions are still met:
i'A+i'B+i'C+i'D+i'E＝0 (5)
2. and (3) calculating the amplitude and the phase of the five-phase stator current under the asymmetric fault condition of the stator winding by using the minimum copper loss as an optimization target and combining constraint conditions of the formula (4) and the formula (5) and applying a Lagrange medium function.
Assuming that the asymmetric fault of the stator winding occurs after the a-phase winding, the copper loss is
Figure BDA0001656106410000051
In the formula: rsIs the resistance R of each phase of stator winding when the permanent magnet synchronous motor is normaladd_aIs the resistance deviation of the a-phase stator winding due to an asymmetric fault.
To minimize power loss, equation (6) can be transformed to
Figure BDA0001656106410000052
Further, the optimized current can be obtained as follows:
Figure BDA0001656106410000053
3. and realizing fault-tolerant control of the motor after the fault according to the amplitude and the phase of the five-phase current.
The following is an analysis with a specific example. When R iss＝1.3Ω,Radd_aWhen 2 Ω, the five-phase stator winding currents obtained are respectively:
Figure BDA0001656106410000054
as can be seen from equation (9), after the five-phase permanent magnet synchronous motor has an asymmetric fault and is subjected to fault-tolerant control processing, the amplitude of the phase current a is significantly reduced, and the amplitudes of the phases b, c, d, and e are relatively increased, so that the power loss of the motor is reduced when the motor has a fault, and the heating phenomenon of the motor is improved, and fig. 1 is a waveform diagram of the five-phase current after the fault-tolerant control of the motor.
The copper loss after the normal operation, the fault operation and the fault-tolerant control of the five-phase permanent magnet synchronous motor is respectively as follows:
when the motor normally operates: rA＝RB＝RC＝RD＝RE＝Rs＝1.3Ω
Figure BDA0001656106410000061
When the motor operates in a fault mode: rA＝1.3+2＝3.3Ω,RB＝RC＝RD＝RE＝Rs＝1.3Ω
Figure BDA0001656106410000062
After the fault-tolerant control of the motor: rA＝1.3+2＝3.3Ω,RB＝RC＝RD＝RE＝Rs＝1.3Ω
Figure BDA0001656106410000063
As can be seen from the calculation: after the motor is subjected to fault-tolerant control, copper loss is reduced, and the effectiveness of the method provided by the invention is proved.
It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims (1)

1. A control method for asymmetric faults of stator windings of a five-phase permanent magnet synchronous motor is characterized by comprising the following steps: a fault detection link is added in the control system, and when an asymmetric fault is not detected, the control system controls the five-phase permanent magnet synchronous motor according to a normal operation mode, namely, five-phase 72-degree sinusoidal current is adopted; when the system detects a single-phase asymmetric fault, the motor system starts a fault-tolerant control mode, and the method specifically comprises the following steps:
(1) listing a corresponding equation according to the principle that the magnetomotive force of the stator winding is unchanged before and after the fault of the permanent magnet synchronous motor; the step (1) is specifically as follows:
when the five-phase permanent magnet synchronous motor is normal, the current is expressed without considering harmonic waves
Figure FDA0003157597200000011
In the formula: i.e. ia，ib，ic，idAnd ieThe stator current is five phases, and I is the current amplitude;
when the five-phase permanent magnet synchronous motor is normal, the winding magnetomotive force is
Figure FDA0003157597200000012
After the five-phase permanent magnet synchronous motor has the asymmetric fault of the stator winding, the magnetomotive force of the winding is
Figure FDA0003157597200000013
In the formula: i.e. ia`，ib`，ic`，id' and ieFive phases after failureA stator current;
according to the condition that the magnetomotive force of the stator winding does not change before and after the fault of the permanent magnet synchronous motor, the formula (2) is equal to the formula (3) to obtain:
Figure FDA0003157597200000014
under the condition of five-phase permanent magnet synchronous motor fault, the following conditions are still met:
i'A+i'B+i'C+i'D+i'E＝0 (5)；
(2) calculating the amplitude and the phase of the five-phase stator current under the condition of asymmetric fault of the stator winding by taking the minimum copper loss as an optimization constraint condition and applying a Lagrange multiplier method;
the step (2) is specifically as follows:
assuming that the asymmetric fault of the stator winding occurs after the a-phase winding, the copper loss is
Figure FDA0003157597200000021
In the formula: rsIs the resistance R of each phase of stator winding when the permanent magnet synchronous motor is normaladd_aResistance deviation of a-phase stator winding due to asymmetric fault;
when the power loss is minimized, the formula (6) is converted into the formula by using the conditional extremum and the Lagrange multiplier method
Figure FDA0003157597200000022
Further, the optimized current can be obtained as follows:
Figure FDA0003157597200000023
(3) and realizing fault-tolerant control of the permanent magnet synchronous motor after the fault according to the amplitude and the phase of the five-phase current.
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CN105743398A (en) * 2016-05-04 2016-07-06 哈尔滨工业大学 Current setting method for open-circuit fault tolerance control of five-phase permanent magnet synchronous motor

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Publication number Priority date Publication date Assignee Title
CN105743398A (en) * 2016-05-04 2016-07-06 哈尔滨工业大学 Current setting method for open-circuit fault tolerance control of five-phase permanent magnet synchronous motor

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基于最小铜损的BLDCM矢量控制;李红梅等;《沈阳工业大学学报》;20130131;第35卷(第1期);第6-11页 *
多相永磁同步电机不对称运行的研究;唐龙;《中国优秀硕士学位论文全文数据库（工程科技Ⅱ辑）》;20140515(第05期);第2.4节、第3章 *

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