CN108667382A - A kind of two phase permanent magnet synchronous motor tolerant system and its control method - Google Patents
A kind of two phase permanent magnet synchronous motor tolerant system and its control method Download PDFInfo
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- CN108667382A CN108667382A CN201810430610.3A CN201810430610A CN108667382A CN 108667382 A CN108667382 A CN 108667382A CN 201810430610 A CN201810430610 A CN 201810430610A CN 108667382 A CN108667382 A CN 108667382A
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- inverter
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- armature winding
- permanent magnet
- fuse
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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
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses a kind of two phase permanent magnet synchronous motor tolerant system and its control methods, including four phase Fault tolerant inverters, quick fuse fuse and bidirectional thyristor；Connect with public direct-current power supply after four inverter leg parallel connections of four phase Fault tolerant inverters；Armature winding A connects a bidirectional thyristor with a port of armature winding B in two phase permanent magnet synchronous motor, armature winding A connects second bidirectional thyristor with another port of armature winding B, and two ports of armature winding A are connected by quick fuse fuse with the midpoint of two inverter legs respectively, two ports of armature winding B are connected by quick fuse fuse with the midpoint of other two inverter leg respectively.The tolerant system and its control technology of the present invention has very strong versatility, they are readily applicable to a variety of different types of two-phase induction motors, such as two phase permanent magnet synchronous motor, two phase brushless DC motors, two-phase switched reluctance machines and two-phase stepping motor.
Description
Technical field
The invention belongs to power electronics fields, and in particular to a kind of two phase permanent magnet synchronous motor tolerant system and its control
Method processed.
Background technology
The stator of two phase permanent magnet synchronous motor generally uses two windings, two phase windings usually separately to be put according to 90 electrical angles
It sets.Two phase permanent magnet synchronizes the two-phase sine voltage driving of usually used 90 degree of the phase mutual deviation of driving, and the method for driving compares
Simple and effectively reduction drives hardware cost.For inexpensive application field, due to unspecial two-phase power supply, so generally
Using single-phase electricity, phase difference is formed by an Xiangli serial capacitors wherein, generates starting torque, present refrigerator, air-conditioning, laundry
It is more in machine that use is exactly this motor.
It is inverse to mostly use Four-switch converter actuation techniques, six switching inverter actuation techniques and eight switches for two-phase induction motor at present
Become device actuation techniques etc..Output power of the eight switching inverter topological structures in two-phase exchanges actuation techniques is maximum, controlling
It can be excellent as shown in Figure 1.However, in eight switching inverter two phase permanent magnets synchronize driving, the power switch failure rate of inverter
It is higher.Use more frequent occasion, system can frequent emergent power switch short or open circuit fault, constrain two-phase induction motor
Application.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of two phase permanent magnet
Synchronous motor tolerant system and its control method can effectively enhance the reliability and peace of two phase permanent magnet synchronous motor control system
Quan Xing.
The present invention uses following technical scheme：
A kind of two phase permanent magnet synchronous motor tolerant system, including four phase Fault tolerant inverters, quick fuse fuse and double
To thyristor；Connect with public direct-current power supply after four inverter leg parallel connections of four phase Fault tolerant inverters；Two phase permanent magnet synchronizes
The a port of armature winding A and armature winding B are separately connected the both ends of a bidirectional thyristor in motor, armature winding A and
Another port of armature winding B is separately connected the both ends of another bidirectional thyristor, and two ports difference of armature winding A
It is connected with the midpoint of two inverter legs by quick fuse fuse, two ports of armature winding B are respectively by quick
Fuse wire is connected with the midpoint of other two inverter leg.
Specifically, four inverter legs include inverter leg La, inverter leg Lb, inverter leg Lx and inversion
Device bridge arm Ly；The midpoint a of inverter leg La, inverter leg Lb, inverter leg Lx and inverter leg Ly, b, x, y points
Not by quick fuse fuse Fa, quick fuse fuse Fb, quick fuse fuse Fx and quick fuse fuse Fy with
Armature winding A is connected with the terminal of armature winding B.
Further, with quick fuse fuse Fa and quick fuse fuse Fb the armature winding A connecting and armature around
It is connected with bidirectional thyristor TR1 among the terminal of group B, the electricity being connect with quick fuse fuse Fx and quick fuse fuse Fy
Bidirectional thyristor TR2 is connected among the terminal of pivot winding A and armature winding B.
Further, each inverter leg is connected in series by two power switch tubes, and tie point is bridge arm midpoint, inverse
Become device bridge arm La to be made of power switch tube S 1 and power switch tube S 2；Inverter leg Lb is opened by power switch tube S 3 and power
Close pipe S4 compositions；Inverter leg Lx is made of power switch tube S 7 and power switch tube S 8；4th inverter leg Ly is by work(
Rate switching tube S5 and power switch tube S 6 form, and the power switch tube both sides tie point after series connection is being separately connected DC power supply just
Cathode.
Further, power switch tube S 1, S2, S3, S4, S5, S6, S7, S8 are all made of IGBT or MOSFET power devices.
Further, current sensor, current sensor are respectively arranged at the port of armature winding A and armature winding B
It is connected respectively with controller；The controller control pole and inverter bridge with bidirectional thyristor TR1 and bidirectional thyristor TR2 respectively
The power switch tube trigger electrode of arm La, inverter leg Lb, inverter leg Lx and inverter leg Ly are connected.
A kind of control method of two phase permanent magnet synchronous motor tolerant system, utilizes reference rotation velocity ω*It is passed through with actual speed ω
Speed regulator, which generates, refers to ac current signal iq *, then respectively by current deviation ed,eqIt is referred to through current regulator
DC voltage Vd *With direct current quadrature-axis voltage Vq *, the reference voltage V under three-phase static coordinate system is then obtained through coordinate transforma *,
Vb *,Vc *, utilize fault-signal FLDetermine failure cause, calculating four phases under different faults using fault-tolerant PWM policy units modulates
Signal Ma,Mx,Mb,My, the switch triggering letter of each bridge arm of two phase permanent magnet synchronous motor Fault tolerant inverter is obtained by modulated signal
Number realize two phase permanent magnet synchronous motor faults-tolerant control.
Specifically, steps are as follows：
S1, with reference to ac current signalIt is as follows：
Wherein, KpωFor ratio constant value coefficient, KiωTo integrate constant value coefficient, eω=ω*-ω；
S2, current deviation ed,eq, with reference to DC voltageWith direct current quadrature-axis voltageIt is as follows：
Wherein, Kpd,KpqFor ratio constant value coefficient, Kid,KiqTo integrate constant value coefficient；
S3, the stator winding current i that motor is detected according to current sensora,ibCalculate the electric current under two-phase rotating coordinate system
id,iq, according to reference voltageCalculate the reference voltage under three-phase rotating coordinate system
Wherein, θ is motor rotor position electrical angle；
S4, fault of converter signal FLIt is as follows：
Further, modulation wave voltage is obtained according to inverter working condition to be as follows：
S5, when inverter works normally, FL=0, system is operated in traditional eight switching inverter power supply modes, utilizes life
At three-phase rotating coordinate system under reference voltageIt is calculated and generates each switch work of triggering inverter
The required four phases modulation wave voltage M of PWM waveforma,Mx,Mb,MyIt is as follows：
Wherein, VdTo connect the DC bus-bar voltage of inverter；
S6, when inverter A phase bridge arm failures, FL=1, system is operated in traditional six switching inverter power supply modes, profit
With the reference voltage under the three-phase rotating coordinate system of generationThe generation triggering each switch work of inverter is calculated
PWM waveform needed for three-phase modulations wave voltage Mx,Mb,MyIt is as follows：
S7, when inverter B phase bridge arm failures, FL=2, system is operated in traditional six switching inverter power supply modes, profit
With the reference voltage under the three-phase rotating coordinate system of generationThe generation triggering each switch work of inverter is calculated
The required three-phase modulations wave voltage M of PWM waveforma,Mx,MyIt is as follows：
S8, when inverter X phase bridge arm failures, FL=3, system is operated in six traditional switching inverter power supply modes,
Utilize the reference voltage under the three-phase rotating coordinate system of generationThe generation triggering each switch work of inverter is calculated
The required three-phase modulations wave voltage M of PWM waveform of worka,Mb,MyIt is as follows：
S9, when inverter Y phase bridge arm failures, FL=4, system is operated in six traditional switching inverter power supply modes,
Utilize the reference voltage under the three-phase rotating coordinate system of generationThe generation triggering each switch work of inverter is calculated
The required three-phase modulations wave voltage M of PWM waveform of worka,Mx,MbIt is as follows：
Specifically, motor stator electric current i of the failure diagnosis unit using detectiona,ibThe failure for obtaining system inverter is former
Cause utilizes the motor stator electric current i of detectiona,ibThe electric current i under two-phase rotating coordinate system is obtained by Park coordinate transformsd,iq。
Compared with prior art, the present invention at least has the advantages that：
A kind of two phase permanent magnet synchronous motor tolerant system of the present invention, after four inverter leg parallel connections with public direct-current power supply
Connect；The a port of the armature winding A and armature winding B of one bidirectional thyristor connection two phase permanent magnet synchronous motor, it is another
Another port of a bidirectional thyristor connection armature winding A and armature winding B, and two ports of armature winding A lead to respectively
It crosses quick fuse fuse with two inverter leg midpoints to be connected, two ports of armature winding B pass through quick fuse respectively
Fuse is connected with other two inverter leg midpoint, simple in structure, easy to use, which only opens traditional eight
4 fusible links and two bidirectional thyristors are increased on the basis of the inverter of pass.It can be determined by detection armature winding electric current inverse
Become device failure cause, controlling bidirectional thyristor according to fault-tolerant strategy carries out topology reconstruction, is sent out in inverter to effectively realize
The sustainable operation of system is realized in the case of raw switch fault.
Further, quick fuse fuse be connected respectively to inverter switching device bridge arm midpoint and one of armature winding
Terminal.What is done so can ensure after any one bridge arm breaks down, since failure causes the phase winding electric current drastically to increase
Greatly, when more than the fuse load current value connected, blown fuse.The failure bridge arm will be automatically from control system
Middle removal ensure that the system quickly source of trouble in removal system, lay the foundation for performing effectively for subsequent faults-tolerant control.
Further, after there is bidirectional thyristor trigger electrode to enable, there can be amphicheirality by the electric current of the pipe, i.e., just
Electric current and negative current can pass through.After bidirectional thyristor, the enabled of trigger electrode is controlled by fault-tolerant strategy, in this way
The Fault tolerant inverter of the present invention can be made to realize quick structural remodeling, realize the basic function of fault-tolerant operation.
Further, in the arbitrary bridge arm of Fault tolerant inverter of the present invention, two power switch both sides difference after series connection
The positive and negative anodes of DC power supply are connected, doing so can be by the different conducting state of two power switch, by the letter of DC voltage
Number square wave voltage signal is exported by bridge arm midpoint, which can effectively control the winding electricity that motor connected
Pressure.I.e. by connection type as two power switch, the conducting state for recycling two power switch different may be implemented
The frequency of the armature winding connected and the alternating voltage of phase-adjustable.
Further, current sensor can feed back the winding current of motor, and realize close loop negative feedback by controller
Control mode, refer in this way, can effectively ensure that the motor moment is under effective control mode and reaches expected control
Mark.
The invention also discloses a kind of two phase permanent magnet synchronous motor tolerant system control methods, single using fault-tolerant PWM strategies
Member calculates four phase modulated signal M under different faultsa,Mx,Mb,My, two phase permanent magnet synchronous motor can be obtained by modulated signal and held
The switch triggering signal of each bridge arm of wrong inverter can be realized rapidly to realize two phase permanent magnet synchronous motor faults-tolerant control
Conventional eight switching inverters are switched to the hardware reconstruction mode of six switching inverters in system, and this method is simple and effective, Ke Yibao
The sustainable ability to work that system ensures system in single-phase bridge arm failure is demonstrate,proved.
Further, corresponding PWM pulse modulation technologies are respectively adopted according to different failures in system, can complete to hold
System control performance and response speed are effectively improved on the basis of mistake control.
Further, it is easy to judge the event that the phase winding may occur by detecting the electric current of motor stator winding
Barrier, such as electric current are more than the threshold values of default, which may short trouble；If the phase current is within the regular hour
For zero, which may occur the failure of open circuit.Specific method for diagnosing faults can be easy to look into many documents
It arrives, the electric current under two-phase rotating coordinate system system can be obtained by Park coordinate transforms using stator current, doing so can be real
Complicated AC Motor Control is now converted to a kind of simple DC MOTOR CONTROL mode.I.e. in control, AC signal
Direct current signal is converted to, the control to alternating current generator can be completed using simple DC motor control method.
In conclusion the tolerant system and its control technology of the present invention have very strong versatility, they can also be applied
In a variety of different types of two-phase induction motors, such as two phase permanent magnet synchronous motor, two phase brushless DC motors, two-phase switched reluctance machines
With two-phase stepping motor etc..
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Fig. 1 is four mutually fault-tolerant inverter structure figure of two phase permanent magnet synchronous motor of the present invention；
Fig. 2 is space voltage vector distribution map of the two phase permanent magnet synchronous motor tolerant system of the present invention under fitness mode；
Fig. 3 is the space voltage vector distribution map of two phase permanent magnet synchronous motor tolerant system of the present invention in a failure mode；
Fig. 4 is two phase permanent magnet synchronous motor fault-tolerant control system structure chart of the present invention；
Fig. 5 is two phase permanent magnet synchronous motor fault tolerant control method flow chart of the present invention.
Specific implementation mode
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more this feature.In the description of the present invention,
Unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The present invention provides a kind of two phase permanent magnet synchronous motor tolerant system, including four inverter legs, four quickly
Fuse wire and two bidirectional thyristors；Connect with public direct-current power supply after four inverter leg parallel connections；One two-way
The both ends of thyristor are separately connected a port of armature winding A and armature winding B, the both ends difference of another bidirectional thyristor
Another port of armature winding A and armature winding B is connected, and two ports of armature winding A are protected by quick fuse respectively
Dangerous silk is connected with two inverter leg midpoints, two ports of armature winding B respectively by quick fuse fuse in addition
Two inverter leg midpoints are connected.When any one bridge arm of system inverter breaks down, the appearance of proposition is utilized
Wrong control method can in such a way that conventional eight switching inverters in realization system rapidly are switched to the hardware reconstruction of six switching inverters,
This method is simple and effective, it is ensured that system ensures in single-phase bridge arm failure the sustainable ability to work of system.
Referring to Fig. 1, two phase permanent magnet synchronous motor tolerant system includes inverter leg La, and inverter leg Lb, inversion
Device bridge arm Lx and inverter leg Ly, they pass through quick fuse fuse Fa, quick fuse fuse Fb, quick fuse respectively
Fuse Fx and quick fuse fuse Fy is to be connected to two phase permanent magnet a synchronous motor armature winding A and armature winding B
Four coil terminations；
The midpoint a of inverter leg La, inverter leg Lb, inverter leg Lx and inverter leg Ly, b, x, y difference
It is connected in four terminals of two phase permanent magnet synchronous motor armature winding A and armature winding B；Each inverter leg is by two
Power switch tube is connected in series, and tie point is bridge arm midpoint, and the power switch both sides after series connection are separately connected a DC power supply
Positive and negative anodes；
In four terminals of armature winding A and armature winding B, with quick fuse fuse Fa, quick fuse fuse
It is connected with bidirectional thyristor TR1 among two coil terminations of Fb connections, with quick fuse fuse Fx, quick fuse fuse
It is connected with bidirectional thyristor TR2 among two coil terminations of Fy connections.
Inverter leg La is made of power switch tube S 1 and power switch tube S 2；Inverter leg Lb is by power switch tube
S3 and power switch tube S 4 form；Inverter leg Lx is made of power switch tube S 7 and power switch tube S 8；4th inverter
Bridge arm Ly is made of power switch tube S 5 and power switch tube S 6, and power switch tube S 1, S2, S3, S4, S5, S6, S7, S8 are equal
Using IGBT or MOSFET power devices.
Setting is there are four current sensor at two ports of armature winding A and armature winding B, they respectively with controller
It is connected；Meanwhile controller is respectively with bidirectional thyristor TR1, the control pole of bidirectional thyristor TR2 and inverter leg La, it is inverse
The trigger electrode for becoming eight power switch of device bridge arm Lb, inverter leg Lx and inverter leg Ly is connected.
As shown in figure 1 and table 1, tolerant system 8 power switch tube Ss 1, S2, S3, S4, S5 under the conditions of working healthily,
The conducting state of S6, S7, S8 can obtain 16 groups of space voltage vector V by different Switch State Combination in Power Systemsi, wherein four groups
For Zero voltage vector V00, remaining 12 groups are nonzero voltage space vector.Vector is as shown in Figure 2 in voltage space distribution situation.
The space voltage vector of 1 healthy inverter of table output
In table 1, ViSpace voltage vector is represented, i is the space phase of the vector.Space voltage vector binary expression shape
Formula is (Sa Sx Sb Sy), wherein switch state signal Sa、Sx、SbAnd SyFirst, seven, three, five power switch tube Ss 1 are respectively represented,
The trigger signal of S7, S3 and S5.They with same bridge arm on second, eight, four, six power switch tube Ss 2, S8, S4 and S6's goes out
Signalling is symmetrical.VaAnd VbRespectively represent the phase voltage of the first and second armature winding A, B.Vs represents the voltage vector width of output
Value.
As shown in Fig. 1 and table 2, under any one phase bridge arm malfunction, inverter will be reconstructed into six and open tolerant system
Close inverter topology.By different Switch State Combination in Power Systems, inverter exports space voltage vector ViThere are 7 groups, wherein 1 group is zero
Voltage vector V00, remaining 6 groups are nonzero voltage space vector.Space voltage vector spatial distribution under bridge arm fault mode is as schemed
Shown in 3.
The space voltage vector of inverter output is reconstructed after table Bridge 2 arm failure
In table 2, the F in switch state signal represents arbitrary switch state signal, F=0 or 1.
According to the above, present system operation principle is：
When tolerant system of the present invention is in normal operating conditions, tolerant system of the present invention is according to eight common switch two-phases
Full-bridge inverter working method is run；Since controller is connected with two current sensors, this four current sensors are examined respectively
Survey two armature winding four ports electric current, controller also simultaneously with two bidirectional thyristor trigger electrodes and inverter eight
The control pole of power switch tube is connected；When some bridge arm breaks down, for example, short trouble, the fuse being connected with the bridge arm
It fuses since electric current is excessive.
Meanwhile current sensor can check the abnormal current at the port for the armature winding being connected with the failure bridge arm,
And it is transmitted to controller, controller will stop failure two power switch of bridge arm after making failure cause breakdown judge according to the signal
The control pole signal of pipe, while the bidirectional thyristor control pole being connected to failure bridge arm sends out Continuity signal.
In this way, failure bridge arm is stopped and is disconnected with the armature winding port being connected, while the armature winding end
Mouth is connected to by bidirectional thyristor on the midpoint of adjacent bridge arm, and topology weight will occur for the tolerant system topological structure of proposition
Structure, system can work on according to new inverter topology.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being described and shown in usually here in attached drawing is real
Applying the component of example can be arranged and be designed by a variety of different configurations.Therefore, the present invention to providing in the accompanying drawings below
The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of the selected of the present invention
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 4, a kind of control method of two phase permanent magnet synchronous motor tolerant system of the present invention, main includes one turn
Fast adjuster, two current regulators, a Park coordinates conversion, an IPark coordinates conversion, fault-tolerant PWM policy units, event
Hinder diagnosis unit, four phase voltage source type Fault tolerant inverters and a two phase permanent magnet synchronous motor.
In system control, is generated by a speed regulator using reference rotation velocity and calculating rotating speed and refer to quadrature axis current
Signal iq *, the quadrature axis current signal with refer to DC currentCalculate DC current idWith quadrature axis current iqIt is inclined that electric current is calculated
Poor ed,eq, can obtain by two current regulators referring to DC voltageWith direct current quadrature-axis voltageThey pass through
IPark coordinate transforms can obtain the voltage under two-phase stationary coordinate systemVoltageBecome using Iclark coordinates
Get the reference voltage under three-phase static coordinate system in return
Utilize fault-signal FLIt determines failure cause, and four phases under different faults is calculated according to fault-tolerant PWM policy units
Modulated signal Ma,Mx,Mb,My.Opening for each bridge arm of two phase permanent magnet synchronous motor Fault tolerant inverter can be obtained by modulated signal
Trigger signal is closed to realize two phase permanent magnet synchronous motor faults-tolerant control.Wherein, the motor stator electric current i of detection is utilizeda,ibIt can
To be calculated by failure diagnosis unit and judge to obtain the failure cause of system inverter.Meanwhile utilizing ia,ibIt is sat by Park
Mark transformation can obtain the electric current i under two-phase rotating coordinate systemd,iq。
Referring to Fig. 5, two phase permanent magnet synchronous motor fault tolerant control method is as follows：
Step 1：The given rotating speed ω * and actual speed ω of motor obtain velocity error e after subtracting each other mathematical operationω,
Velocity error eωOutput is to constant current after rotating speed pi regulator
eω=ω*-ω
Wherein, KpωFor ratio constant value coefficient, KiωTo integrate constant value coefficient.
Step 2: constant current will be givenDefeated and detection electric current id,iqCalculate separately current error ed,eqThrough two electric currents
Output reference voltage after pi regulator
Wherein, Kpd,KpqFor ratio constant value coefficient, Kid,KiqTo integrate constant value coefficient.
Step 3: detecting the stator winding current i of motor to current sensora,ibCalculate the electricity under two-phase rotating coordinate system
Flow id,iq, to the reference voltage being calculatedCalculate the reference voltage under three-phase rotating coordinate system
Wherein, θ is motor rotor position electrical angle.
Step 4: the electric current of the A phases of motor and four terminals of B phase stator winding is detected using four current sensors,
Fault of converter signal F is obtained by simple computation and judgementL。
Step 5: when inverter works normally, FL=0, system is operated in eight traditional switching inverter power supply modes.
At this point, utilizing the reference voltage under the three-phase rotating coordinate system generatedGeneration triggering inverter can be calculated
The required four phases modulation wave voltage M of PWM waveform of each switch worka,Mx,Mb,My；
Wherein, VdTo connect the DC bus-bar voltage of inverter.
Step 6: when inverter A phase bridge arm failures, FL=1, system is operated in six traditional switching inverter suppliers of electricity
Formula.At this point, utilizing the reference voltage under the three-phase rotating coordinate system generatedGeneration triggering inversion can be calculated
The required three-phase modulations wave voltage M of PWM waveform of each switch work of devicex,Mb,My；
Step 7: when inverter B phase bridge arm failures, FL=2, system is operated in six traditional switching inverter suppliers of electricity
Formula.At this point, utilizing the reference voltage under the three-phase rotating coordinate system generatedGeneration triggering inversion can be calculated
The required three-phase modulations wave voltage M of PWM waveform of each switch work of devicea,Mx,My；
Step 8: when inverter X phase bridge arm failures, FL=3, system is operated in six traditional switching inverter suppliers of electricity
Formula.At this point, utilizing the reference voltage under the three-phase rotating coordinate system generatedGeneration triggering inversion can be calculated
The required three-phase modulations wave voltage M of PWM waveform of each switch work of devicea,Mb,My；
Step 9: when inverter Y phase bridge arm failures, FL=4, system is operated in six traditional switching inverter suppliers of electricity
Formula.At this point, utilizing the reference voltage under the three-phase rotating coordinate system generatedGeneration triggering inversion can be calculated
The required three-phase modulations wave voltage M of PWM waveform of each switch work of devicea,Mx,Mb；
The modulation wave voltage obtained according to above step can generate PWM wave, it effectively can ensure inversion by driving motor
Sustainable ability to work of the device in different faults system.
The present invention inherits that structure that two phase permanent magnet synchronous motor tolerant system and its control method have is simple, robustness
The advantages that strong, this method can effectively improve system control precision, accelerate response speed, reduce conventional motors System Fault Tolerance control
The complexity of system realizes accurate, fast-response control high to two-phase induction motor, is suitable for various two-phase induction motor systems.
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (10)
1. a kind of two phase permanent magnet synchronous motor tolerant system, which is characterized in that insure including four phase Fault tolerant inverters, quick fuse
Silk and bidirectional thyristor；Connect with public direct-current power supply after four inverter leg parallel connections of four phase Fault tolerant inverters；Two-phase
The a port of armature winding A and armature winding B are separately connected the both ends of a bidirectional thyristor, armature in permanent magnet synchronous motor
Another port of winding A and armature winding B is separately connected the both ends of another bidirectional thyristor, and two of armature winding A
Port is connected by quick fuse fuse with the midpoint of two inverter legs respectively, two ports difference of armature winding B
It is connected with the midpoint of other two inverter leg by quick fuse fuse.
2. a kind of two phase permanent magnet synchronous motor tolerant system according to claim 1, which is characterized in that four inverter bridges
Arm includes inverter leg La, inverter leg Lb, inverter leg Lx and inverter leg Ly；Inverter leg La, inversion
The midpoint a, b, x of device bridge arm Lb, inverter leg Lx and inverter leg Ly, y are respectively by quick fuse fuse Fa, quickly
Fuse wire Fb, quick fuse fuse Fx and quick fuse fuse Fy and the terminal of armature winding A and armature winding B connect
It connects.
3. a kind of two phase permanent magnet synchronous motor tolerant system according to claim 2, which is characterized in that protected with quick fuse
It is connected with bidirectional thyristor among dangerous silk Fa and the terminal of the quick fuse fuse Fb armature winding A connected and armature winding B
TR1, among the terminal of quick fuse fuse Fx and quick fuse fuse Fy the armature winding A and armature winding B connecting
It is connected with bidirectional thyristor TR2.
4. a kind of two phase permanent magnet synchronous motor tolerant system according to claim 2, which is characterized in that each inverter bridge
Arm is connected in series by two power switch tubes, and tie point is bridge arm midpoint, and inverter leg La is by power switch tube S 1 and work(
Rate switching tube S2 compositions；Inverter leg Lb is made of power switch tube S 3 and power switch tube S 4；Inverter leg Lx is by work(
Rate switching tube S7 and power switch tube S 8 form；4th inverter leg Ly is by 6 groups of power switch tube S 5 and power switch tube S
At the power switch tube both sides tie point after series connection is separately connected the positive and negative anodes of DC power supply.
5. a kind of two phase permanent magnet synchronous motor tolerant system according to claim 4, which is characterized in that power switch tube
S1, S2, S3, S4, S5, S6, S7, S8 are all made of IGBT or MOSFET power devices.
6. a kind of two phase permanent magnet synchronous motor tolerant system according to claim 2, which is characterized in that armature winding A and
Current sensor is respectively arranged at the port of armature winding B, current sensor is connected with controller respectively；Controller respectively with
The control pole and inverter leg La of bidirectional thyristor TR1 and bidirectional thyristor TR2, inverter leg Lb, inverter leg
Lx is connected with the power switch tube trigger electrode of inverter leg Ly.
7. a kind of control method using any one of claim 1 to 6 two phase permanent magnet synchronous motor tolerant system, special
Sign is, utilizes reference rotation velocity ω*It is generated through speed regulator with actual speed ω and refers to ac current signalThen distinguish
By current deviation ed,eqIt obtains referring to DC voltage through current regulatorWith direct current quadrature-axis voltageThen through coordinate transform
Obtain the reference voltage under three-phase static coordinate systemUtilize fault-signal FLIt determines failure cause, utilizes fault-tolerant PWM
Policy unit calculates four phase modulated signal M under different faultsa,Mx,Mb,My, two phase permanent magnet synchronous motor is obtained by modulated signal
The switch triggering signal of each bridge arm of Fault tolerant inverter realizes two phase permanent magnet synchronous motor faults-tolerant control.
8. a kind of two phase permanent magnet synchronous motor tolerant system control method according to claim 7, which is characterized in that specific
Steps are as follows：
S1, with reference to ac current signalIt is as follows：
Wherein, KpωFor ratio constant value coefficient, KiωTo integrate constant value coefficient, eω=ω*-ω；
S2, current deviation ed,eq, with reference to DC voltageWith direct current quadrature-axis voltageIt is as follows：
Wherein, Kpd,KpqFor ratio constant value coefficient, Kid,KiqTo integrate constant value coefficient；
S3, the stator winding current i that motor is detected according to current sensora,ibCalculate the electric current i under two-phase rotating coordinate systemd,
iq, according to reference voltageCalculate the reference voltage under three-phase rotating coordinate system
Wherein, θ is motor rotor position electrical angle；
S4, fault of converter signal FLIt is as follows：
9. a kind of two phase permanent magnet synchronous motor tolerant system control method according to claim 8, which is characterized in that according to
Inverter working condition obtains modulation wave voltage and is as follows：
S5, when inverter works normally, FL=0, system is operated in traditional eight switching inverter power supply modes, utilizes generation
Reference voltage under three-phase rotating coordinate systemThe PWM wave for generating each switch work of triggering inverter is calculated
The required four phases modulation wave voltage M of shapea,Mx,Mb,MyIt is as follows：
Wherein, VdTo connect the DC bus-bar voltage of inverter；
S6, when inverter A phase bridge arm failures, FL=1, system is operated in traditional six switching inverter power supply modes, utilizes generation
Three-phase rotating coordinate system under reference voltageThe PWM for generating each switch work of triggering inverter is calculated
Three-phase modulations wave voltage M needed for waveformx,Mb,MyIt is as follows：
S7, when inverter B phase bridge arm failures, FL=2, system is operated in traditional six switching inverter power supply modes, utilizes generation
Three-phase rotating coordinate system under reference voltageThe PWM for generating each switch work of triggering inverter is calculated
The required three-phase modulations wave voltage M of waveforma,Mx,MyIt is as follows：
S8, when inverter X phase bridge arm failures, FL=3, system is operated in six traditional switching inverter power supply modes, utilizes life
At three-phase rotating coordinate system under reference voltageIt is calculated and generates each switch work of triggering inverter
The required three-phase modulations wave voltage M of PWM waveforma,Mb,MyIt is as follows：
S9, when inverter Y phase bridge arm failures, FL=4, system is operated in six traditional switching inverter power supply modes, utilizes life
At three-phase rotating coordinate system under reference voltageIt is calculated and generates each switch work of triggering inverter
The required three-phase modulations wave voltage M of PWM waveforma,Mx,MbIt is as follows：
10. a kind of two phase permanent magnet synchronous motor tolerant system control method according to claim 7, which is characterized in that therefore
Hinder motor stator electric current i of the diagnosis unit using detectiona,ibThe failure cause of system inverter is obtained, it is fixed using the motor of detection
Electron current ia,ibThe electric current i under two-phase rotating coordinate system is obtained by Park coordinate transformsd,iq。
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