CN108923713B - Fault-tolerant control method for single-phase open-circuit fault of five-phase permanent magnet synchronous motor - Google Patents

Fault-tolerant control method for single-phase open-circuit fault of five-phase permanent magnet synchronous motor Download PDF

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CN108923713B
CN108923713B CN201810803410.8A CN201810803410A CN108923713B CN 108923713 B CN108923713 B CN 108923713B CN 201810803410 A CN201810803410 A CN 201810803410A CN 108923713 B CN108923713 B CN 108923713B
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CN108923713A (en
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刘国海
宋成炎
徐亮
赵文祥
杨欣宇
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Jiangsu 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P29/0243—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a broken phase
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

Abstract

The invention discloses an improved SVPWM (space vector pulse width modulation) fault-tolerant control method for single-phase open-circuit faults of a five-phase permanent magnet synchronous motor, which comprises the following steps of: the algorithm can obtain various SVPWM fault-tolerant control methods corresponding to different solutions of control parameters according to the existing five-phase SVPWM fault-tolerant control theory. Through analysis of the voltage utilization rate of a direct-current bus of the motor and the harmonic suppression capability of phase current, the optimal solution of the control parameters is solved to reconstruct the coordinates of the system after the fault, and the re-distribution of space vectors and sector reconstruction are carried out on the reconstructed coordinate system. Compared with the prior art, the invention effectively reduces the current harmonic content, inhibits the motor torque pulsation and simultaneously improves the voltage utilization rate of the direct current bus under the condition of ensuring that the average torque output is unchanged before and after the single-phase open circuit fault of the motor. More importantly, the fault-tolerant algorithm can realize high-dynamic-performance fault-tolerant operation of the motor and has certain universality.

Description

Fault-tolerant control method for single-phase open-circuit fault of five-phase permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of multi-phase motor fault-tolerant control, in particular to a fault-tolerant control method based on a five-phase permanent magnet motor. The motor is suitable for occasions with higher requirements on the reliability of the motor, such as aerospace, electric automobiles, ship propulsion systems and the like.
Background
Compared with the traditional three-phase motor, the multi-phase motor has higher control freedom degree, thereby having better fault-tolerant performance. The method has attracted more and more attention and application in the fields of electric automobiles, ship propulsion, aerospace and the like which need high-reliability operation. In recent years, colleges and scientific research institutions at home and abroad also carry out deep research on the fault-tolerant control strategy of the five-phase permanent magnet motor.
Generally, a current hysteresis band pulse width modulation method can achieve a good effect in fault-tolerant control, and the invention patent of china (a five-phase flux switching motor fault-tolerant control method based on the principle of minimum copper loss) (patent number CN201410492490.1) and the invention patent of china (a five-phase flux switching permanent magnet motor fault-tolerant control method considering the influence of reluctance torque) (patent number CN201210501105.6) respectively apply current hysteresis control to a five-phase motor fault-tolerant control strategy by calculating current after fault under the condition of considering copper loss and reluctance torque. But the high switching losses of the inverter caused by the high switching frequency of this method cannot be ignored. To avoid high switching losses, Space Vector Pulse Width Modulation (SVPWM) techniques are employed in multiphase motor drive systems. The Chinese invention patent ' a full vector control method of a five-phase fault-tolerant permanent magnet motor ' (the patent number is CN201510568331.X) ' discloses full vector control of a five-phase permanent magnet motor, and a system coordinate system is reconstructed after a fault by combining a traditional SVPWM method and a current hysteresis control method when a single phase is in an open circuit. But since the strategy is derived from the current hysteresis angle, the method has less freedom in SVPWM fault tolerance. In addition, under fault-tolerant conditions, the problems of dc bus voltage utilization, harmonic current suppression, and the like have not attracted sufficient attention.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, an improved SVPWM five-phase permanent magnet synchronous motor single-phase open-circuit fault tolerance control strategy is provided, so that under the condition that the average torque output before and after the fault is not changed, the current harmonic content is effectively reduced, the motor torque pulsation is restrained, and the voltage utilization rate of a direct current bus is improved.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
an improved SVPWM fault-tolerant control method for single-phase open-circuit faults of a five-phase permanent magnet synchronous motor comprises the following steps: step 1, deducing a phase voltage decoupling transformation matrix in a general fault-tolerant SVPWM control mode and simplifying the phase voltage decoupling transformation matrix; step 2, analyzing the phase current harmonic suppression capability and the voltage utilization rate of the direct current bus of the motor to control the parameter alpha1Carrying out the research on the optimal solution, and deducing a phase voltage decoupling transformation matrix under the optimal solution; and 3, solving the optimal solution of the control parameters to reconstruct the system coordinate after the fault, and performing space vector redistribution and sector reconstruction on the reconstructed coordinate system to realize the real-time control on the motor flux linkage.
Further, the specific process of step 1 is as follows:
if the single-phase open-circuit fault occurs in an A-phase winding of the five-phase permanent magnet motor, reducing the order of a phase voltage decoupling transformation matrix in a normal state; expressed as:
Figure GDA0003144913060000021
in the formula TClarkePhase voltage decoupling transformation matrix under A phase open circuit fault; alpha is alphaxIs the included angle between two adjacent phases;
the general fault-tolerant SVPWM control mode is to simplify the decoupling calculation of phase voltage and adjust a transformation matrix to obtain a phase voltage decoupling transformation matrix:
Figure GDA0003144913060000022
in the formula, alpha2＝π-α1And 0<α1<π/2，π/2<α2<π；
For convenient calculation, the matrix is simplified continuously to obtain:
Figure GDA0003144913060000023
in the formula c1＝cosα1、c2＝cosα2、s1＝sinα1、s2＝sinα2；
At this time, the one-dimensional plane α1-β1And a three-dimensional plane alpha3-β3The voltage matrix in is simplified as follows:
Figure GDA0003144913060000024
in the formula of Uα1、Uβ1Is the component of the phase voltage in the fundamental wave space; u shapeα3、Uβ3Is the component of the phase voltage in the cubic space; sb、Sc、Sd、SeRespectively representing the switching values of b, c, d and e phase inverters; u shapedcRepresenting the dc bus voltage.
Further, in the step 2, in the phase current harmonic suppression capability analysis, the third-order space harmonic component size is equal to the sum of the components of the voltage vectors on the α axis.
Further, in the step 2, in the analysis of the dc bus voltage utilization rate of the motor, the bus voltage utilization rate is represented by an inscribed circle radius of a regular decagon, and the bus voltage utilization rate in the event of a fault is represented by an inscribed circle radius of a rhombus.
Further, in the step 2, the method further comprises the step of dividing the control parameter α into different values1Respectively carrying in a voltage matrix and a vector diagram for operation, and drawing a general five-phase SVPWM fault-tolerant control theory control parameter alpha according to a calculation result1And obtaining a control parameter alpha according to the curve chart by using a relation curve of the percentage value of the utilization rate of the bus voltage and the per-unit value of the third harmonic content1＝π/4。
Further, the phase voltage decoupling transformation matrix under the derived optimal solution is as follows:
Figure GDA0003144913060000031
in the formula c1＝cosα1、c2＝cosα2、s1＝sinα1、s2＝sinα2，α1Pi/4 and alpha2＝π-α1。
Further, the specific process of step 3 is as follows:
s3.1, selecting a synthetic vector by using an asymmetric SVPWM control mode as a principle, and selecting a proper switching sequence in each sector by taking the reduction of switching frequency as a target;
s3.2, calculating the actual rotating speed omega and the given rotating speed omega of the motor in real time*The rotating speed error between the two is measured by a PI regulator to obtain the reference value of the needed quadrature-direct axis current
Figure GDA0003144913060000032
And
Figure GDA0003144913060000033
by using idThe control mode is 0;
s3.3, detecting and calculating the position angle theta of the motor rotor through an S function, and converting the sampling current into a quadrature-direct axis current i under a rotating coordinate system through coordinate conversiondAnd iqComparing with reference value, and obtaining quadrature-direct axis voltage u under rotating coordinate system by PI regulatordAnd uq；
S3.4, converting the obtained quadrature-direct axis voltage component in the rotating coordinate system into a voltage component U in a static coordinate system by coordinate transformationαAnd UβAnd calculating the voltage duty ratio of each phase through a space voltage vector pulse width modulation (SVPWM) mode, thereby controlling the flux linkage of the motor in real time.
The invention has the following beneficial effects: the invention discloses an improved SVPWM fault-tolerant control strategy for single-phase open-circuit faults of a five-phase permanent magnet synchronous motor. According to the algorithm, according to the existing five-phase SVPWM fault-tolerant control theory, the optimal solution of control parameters is solved through the analysis of the voltage utilization rate of a direct-current bus of a motor and the harmonic suppression capability of phase current, the system coordinate after the fault is reconstructed, and the spatial vector is redistributed and the sector is reconstructed on the reconstructed coordinate system. Compared with the prior art, the invention effectively reduces the current harmonic content, inhibits the motor torque pulsation and simultaneously improves the voltage utilization rate of the direct current bus under the condition of ensuring that the average torque output is unchanged before and after the single-phase open circuit fault of the motor. More importantly, the fault-tolerant algorithm can realize high-dynamic-performance fault-tolerant operation of the motor and has certain universality.
Drawings
FIG. 1: a five-phase permanent magnet synchronous motor fault switching SVPWM vector control system block diagram;
FIG. 2: the phase of the basic space vector before and after fault tolerance; (a) traditional SVPWM fault-tolerant method (alpha)1Pi/5); (b) improved SVPWM fault-tolerant method (alpha)1＝π/4)；
FIG. 3: a traditional SVPWM fault-tolerant voltage vector distribution diagram; (a) a one-dimensional fundamental plane; (b) a one-dimensional harmonic plane;
FIG. 4: bus voltage utilization rate and third harmonic content and parameter alpha1(0<α1<Pi/2 (90 °)); (a) bus voltage utilization curve (U)dcPercent of (d); (b) third harmonic content curve (U)dcPer unit value of);
FIG. 5: voltage vector harmonic analysis after fault tolerance of different SVPWM fault tolerance methods; (a) traditional SVPWM fault-tolerant method (alpha)1Pi/5); (b) improved SVPWM fault-tolerant method (alpha)1＝π/4)；
FIG. 6: bus voltage utilization rates of different SVPWM fault-tolerant methods; (a) traditional SVPWM fault-tolerant method (alpha)1Pi/5); (b) improved SVPWM fault-tolerant method (alpha)1＝π/4)；
FIG. 7: each sector synthesis vector selection and the switching sequence thereof; (a) sector 1; (b) sector 2; (c) sector 3; (d) sector 4; (e) sector 5; (f) sector 6; (g) a sector 7; (h) a sector 8;
FIG. 8: switching the normal state to a fault-tolerant state to simulate a torque waveform; (a) traditional SVPWM fault-tolerant method (alpha)1Pi/5); (b) improved SVPWM fault-tolerant method (alpha)1＝π/4)；
FIG. 9: switching the normal state to a fault-tolerant state to obtain a phase current simulation waveform; (a) conventional typeSVPWM fault-tolerant method (alpha)1Pi/5); (b) improved SVPWM fault-tolerant method (alpha)1＝π/4)
FIG. 10: carrying out phase current simulation waveform harmonic analysis on the traditional fault-tolerant SVPWM and the improved fault-tolerant SVPWM; (a) fundamental amplitude (210 Hz); (b) a harmonic distortion rate;
FIG. 11: comparing the simulation results of the bus voltage utilization rate when the normal state is switched to the fault-tolerant state; (a) traditional SVPWM fault-tolerant method (alpha)1Pi/5); (b) improved SVPWM fault-tolerant method (alpha)1＝π/4)；
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Step 1, deducing a phase voltage decoupling transformation matrix in a general fault-tolerant SVPWM control mode and simplifying the phase voltage decoupling transformation matrix.
Assuming that a single-phase open-circuit fault occurs in an a-phase winding of a five-phase permanent magnet motor, the phase voltage decoupling transformation matrix in a normal state can be represented by the following formula (1):
Figure GDA0003144913060000051
in the formula TClarkePhase voltage decoupling transformation matrix under A phase open circuit fault; alpha is alphaxIs the angle between two adjacent phases.
The general fault-tolerant SVPWM control mode is to simplify the decoupling calculation of phase voltage and adjust a transformation matrix to obtain a phase voltage decoupling transformation matrix shown in a formula (2).
Figure GDA0003144913060000052
In the formula, alpha2＝π-α1And 0<α1<π/2，π/2<α2<π。
For the convenience of calculation, the matrix is continuously simplified to obtain an expression shown in formula (3).
Figure GDA0003144913060000053
In the formula c1＝cosα1、c2＝cosα2、s1＝sinα1、s2＝sinα2。
At this time, the one-dimensional plane α1-β1And a three-dimensional plane alpha3-β3The internal voltage matrix can be simplified as:
Figure GDA0003144913060000054
in the formula of Uα1、Uβ1Is the component of the phase voltage in the fundamental wave space; u shapeα3、Uβ3Is the component of the phase voltage in the cubic space; sb、 Sc、Sd、SeRespectively representing the switching values of b, c, d and e phase inverters; u shapedcRepresenting the dc bus voltage.
Step 2, analyzing the phase current harmonic suppression capability and the voltage utilization rate of the direct current bus of the motor to control the parameter alpha1And (4) carrying out the research on the optimal solution and deducing a phase voltage decoupling transformation matrix under the optimal solution.
According to the deduced general five-phase SVPWM fault-tolerant control theory, the control parameter alpha can be obtained1And (3) multiple SVPWM fault-tolerant control methods corresponding to different solutions. In the traditional SVPWM control mode, a parameter alpha is selected on the basis of a current hysteresis control theory1Pi/5 (36 °), the coordinate transformation is shown in fig. 2 (a). The first and third spatial voltage vector distribution plots shown in fig. 3 were calculated.
According to the target vector synthesis principle under the asymmetric fault-tolerant SVPWM control mode, taking the first sector as an example, U is selected8、 U9And U13And synthesizing the target vector. As can be seen from the corresponding cubic space, the voltage third harmonic component can be decomposed into α -axis and β -axis components. For better suppressing third harmonic, third air gap is dealt withThe vector magnitude between them is controlled. Unlike the normal state SVPWM voltage vector diagram, not all one-dimensional planes alpha1-β1All of the vectors in (a) can be projected onto a three-dimensional plane alpha3-β3Above, only the vector U is considered in the harmonic analysis process0、U3、U5、U10、U12And U15The other 10 residual vectors. As can be seen from FIG. 3(b), the vector U9The component of the amplitude on the beta axis is zero and the component on the alpha axis can be made as small as possible by the action time. And vector U8、U13The components on the beta axis can be mutually offset by controlling the action time, but the components on the alpha axis are the same in direction and cannot be offset, so that the U can be reduced8、U13And the beta axis to reduce its component in the alpha axis. Further, according to the normal case, the bus voltage utilization rate can be expressed as the inscribed circle radius of a regular decagon, and similarly, it is known that the bus voltage utilization rate at the time of the fault is expressed by the inscribed circle radius of a rhombus, as shown in fig. 3 (a).
According to the analysis criteria of the calculation of the utilization rate of the bus voltage and the suppression of the current harmonic wave, the control parameter alpha with different values1Are respectively brought into a voltage matrix and a vector diagram for operation, and a general five-phase SVPWM fault-tolerant control theory control parameter alpha can be drawn according to the calculation result1(0<α1<The relationship curves of pi/2 (90 °) and the percentage of the bus voltage utilization and the per unit value of the third harmonic content are shown in fig. 4(a) and (b), respectively. From the graph, it can be deduced that the parameter α is1The closer the value of (b) is to pi/4 (45 degrees), the more beneficial the improvement of the utilization rate of the bus voltage; when the parameter α is1The closer to pi/2 (90 °), the more advantageous the suppression of the third harmonic content. Taking comprehensive consideration, the parameter alpha is obtained1Pi/4 (45 °), an improved SVPWM fault-tolerant method is obtained, whose coordinate transformation is shown in fig. 2(b), where the phase voltage decoupling transformation matrix (3) can be transformed into:
Figure GDA0003144913060000061
in the formula c1＝cosα1、c2＝cosα2、s1＝sinα1、s2＝sinα2，α1Pi/4 (45 °) and α2＝π-α1。
Through the calculation of the formula (4), the voltage vector arrangement in the one-dimensional plane and the three-dimensional plane under the traditional and improved SVPWM fault-tolerant control theories after the fault can be obtained. Fig. 5 shows three-dimensional plane space voltage vector distribution diagrams under two control methods.
Taking the first sector as an example, since the components of each vector on the beta axis can be made zero by controlling the acting time of each vector, the amplitude of the three-dimensional harmonic plane synthetic voltage reference vector is the sum of the components of each vector on the alpha axis, i.e. U9Amplitude of plus U8And U13The magnitude of the component on the α axis, at which point the calculation can be found:
uα3_tra_ref＝1.2944Udc (6)
uα3_imp_ref＝1.1314Udc (7)
in the formula uα3_tra_refAnd uα3_imp_refRespectively representing the conventional SVPWM fault-tolerant method and the improved SVPWM fault-tolerant method on the three-dimensional harmonic plane alpha of the first sector3-β3The resultant voltage reference vector magnitude.
The bus voltage utilization rate in the single-phase open-circuit fault-tolerant state is represented by the radius of an inscribed circle of a diamond, and the bus voltage utilization rates of the conventional SVPWM fault-tolerant method and the improved SVPWM fault-tolerant method are respectively shown in fig. 6(a) and (b). Bus voltage utilization rate U under traditional fault-tolerant methodmaxIs 0.38Udc(ii) a And the bus voltage utilization rate U under the improved fault-tolerant methodmaxRise to 0.4Udc。
And 3, selecting vectors by using an asymmetric SVPWM control mode as a principle, selecting 3 non-zero vectors and 2 zero vectors for each sector to synthesize a reference vector, and selecting a proper switching sequence in each sector by taking the reduction of the switching frequency as a target. The selection of the resultant vector for each sector and the switching order thereof are shown in fig. 7.
And 4, step 4: real-time calculation of actual rotation speed omega and given rotation speed omega of motor*The rotating speed error between the two is measured by a PI regulator to obtain the reference value of the needed quadrature-direct axis current
Figure GDA0003144913060000071
And
Figure GDA0003144913060000072
the invention adopts idThe control mode is 0.
And 5: detecting and calculating the position angle theta of the motor rotor through an S function, and converting the sampling current into a quadrature-direct axis current i under a rotating coordinate system through coordinate conversiondAnd iqComparing with the given value, and obtaining the quadrature-direct axis voltage u under the rotating coordinate system through a PI regulatordAnd uq；
Step 6: converting the AC-DC axis voltage component in the rotating coordinate system obtained in the step 5 into a voltage component U in a static coordinate system by coordinate transformationαAnd Uβ. And calculating the voltage duty ratio of each phase through a space voltage vector pulse width modulation (SVPWM) mode, thereby controlling the flux linkage of the motor in real time.
Fig. 1 is a block diagram of a five-phase permanent magnet synchronous motor fault switching SVPWM vector control system, and switching from a normal state to a fault-tolerant system is realized through a multi-way switch. When a single-phase open-circuit fault occurs in the a phase, the a phase current becomes zero, and the simulation results of switching to the conventional SVPWM fault-tolerant method and the improved SVPWM fault-tolerant method by the four-vector SVPWM normal method are shown in fig. 8 to 9. As shown in fig. 8(a) and (b), the steady-state torque ripple peak-to-peak value of 6Nm of the improved fault-tolerant method is smaller than the peak-to-peak value of 8Nm of the conventional fault-tolerant method, and accounts for 16.2% and 21.6% of the average torque, respectively; as shown in fig. 9(a) and (b), the phase current amplitude in the fault-tolerant state is increased and the sine degree is decreased compared to the normal state; as shown in fig. 10 (a) and (b), the amplitude of the fundamental wave of the phase current of the improved fault-tolerant method is similar to that of the phase current of the conventional fault-tolerant method, but the harmonic content of the phase current of the improved fault-tolerant method is less, and finally, bus voltage utilization rate traces of the two fault-tolerant methods are given, as shown in fig. 11(a) and (b), voltage circles at the inner side in the diagram reflect that the amplitude of the phase voltage of the fault-tolerant SVPWM output is 60.4V and 63.6V respectively, a voltage circle at the middle reflects that the amplitude of the phase voltage of the four-vector SVPWM output is about 83.5V, and a voltage circle at the outer side reflects that the amplitude of the bus voltage is 159V.
In summary, the fault-tolerant control method for the single-phase open-circuit fault of the improved SVPWM five-phase permanent magnet synchronous motor of the invention comprises the following steps: the algorithm can obtain various SVPWM fault-tolerant control methods corresponding to different solutions of control parameters according to the existing five-phase SVPWM fault-tolerant control theory. Through analysis of the voltage utilization rate of a direct-current bus of the motor and the harmonic suppression capability of phase current, the optimal solution of the control parameters is solved to reconstruct the coordinates of the system after the fault, and the re-distribution of space vectors and sector reconstruction are carried out on the reconstructed coordinate system. Compared with the prior art, the invention effectively reduces the current harmonic content, inhibits the motor torque pulsation and simultaneously improves the voltage utilization rate of the direct current bus under the condition of ensuring that the average torque output is unchanged before and after the single-phase open circuit fault of the motor. More importantly, the fault-tolerant algorithm can realize high-dynamic-performance fault-tolerant operation of the motor and has certain universality.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (6)

1. An improved SVPWM fault-tolerant control method for single-phase open-circuit faults of a five-phase permanent magnet synchronous motor is characterized by comprising the following steps: step 1, deducing a phase voltage decoupling transformation matrix in a fault-tolerant SVPWM control mode and simplifying the phase voltage decoupling transformation matrix; step 2, analyzing the phase current harmonic suppression capability and the voltage utilization rate of the direct current bus of the motor to control the parameter alpha1Carrying out the research on the optimal solution, and deducing a phase voltage decoupling transformation matrix under the optimal solution; step 3, solving the optimal solution of the control parameters to reconstruct the system coordinate after the fault, and performing space vector redistribution and sector reconstruction on the reconstructed coordinate system to realize the real-time control on the motor flux linkage;
the specific process of the step 1 is as follows:
if the single-phase open-circuit fault occurs in an A-phase winding of the five-phase permanent magnet motor, reducing the order of a phase voltage decoupling transformation matrix in a normal state; expressed as:
Figure FDA0003144913050000011
in the formula TClarkePhase voltage decoupling transformation matrix under A phase open circuit fault; alpha is alphaxIs the included angle between two adjacent phases;
the fault-tolerant SVPWM control mode is to simplify the decoupling calculation of phase voltage, adjust the transformation matrix to obtain a phase voltage decoupling transformation matrix:
Figure FDA0003144913050000012
in the formula, alpha2＝π-α1And 0<α1<π/2，π/2<α2<π；
For convenient calculation, the matrix is simplified continuously to obtain:
Figure FDA0003144913050000013
in the formula c1＝cosα1、c2＝cosα2、s1＝sinα1、s2＝sinα2；
At this time, the one-dimensional plane α1-β1And a three-dimensional plane alpha3-β3The voltage matrix in is simplified as follows:
Figure FDA0003144913050000021
in the formula of Uα1、Uβ1Is the component of the phase voltage in the fundamental wave space; u shapeα3、Uβ3Is the component of the phase voltage in the cubic space; sb、Sc、Sd、SeRespectively representing the switching values of b, c, d and e phase inverters; u shapedcRepresenting the dc bus voltage.
2. The improved fault-tolerant control method for the single-phase open-circuit fault of the SVPWM five-phase permanent magnet synchronous motor according to claim 1, characterized in that: in the step 2, in the phase current harmonic suppression capability analysis, the third-order spatial harmonic component size is equal to the sum of the components of the voltage vectors on the α axis.
3. The improved fault-tolerant control method for the single-phase open-circuit fault of the SVPWM five-phase permanent magnet synchronous motor according to claim 1, characterized in that: in the step 2, in the analysis of the voltage utilization rate of the direct-current bus of the motor, the voltage utilization rate of the bus is represented by the radius of an inscribed circle of a regular decagon, and the voltage utilization rate of the bus in the case of a fault is represented by the radius of the inscribed circle of a rhombus.
4. The improved fault-tolerant control method for single-phase open-circuit fault of SVPWM (space vector pulse width modulation) five-phase permanent magnet synchronous motor according to claim 1The method is characterized in that: in the step 2, the method also comprises the step of dividing the control parameter alpha into different values1Respectively carrying in a voltage matrix and a vector diagram for operation, and drawing a five-phase SVPWM fault-tolerant control theory control parameter alpha according to the calculation result1And obtaining a control parameter alpha according to the curve chart by using a relation curve of the percentage value of the utilization rate of the bus voltage and the per-unit value of the third harmonic content1＝π/4。
5. The improved fault-tolerant control method for the single-phase open-circuit fault of the SVPWM five-phase permanent magnet synchronous motor according to claim 1, characterized in that: the phase voltage decoupling transformation matrix under the derived optimal solution is as follows:
Figure FDA0003144913050000022
in the formula c1＝cosα1、c2＝cosα2、s1＝sinα1、s2＝sinα2，α1Pi/4 and alpha2＝π-α1。
6. The improved fault-tolerant control method for the single-phase open-circuit fault of the SVPWM five-phase permanent magnet synchronous motor according to claim 1, wherein the specific process of step 3 is as follows:
s3.1, selecting a synthetic vector by using an asymmetric SVPWM control mode as a principle, and selecting a proper switching sequence in each sector by taking the reduction of switching frequency as a target;
s3.2, calculating the actual rotating speed omega and the given rotating speed omega of the motor in real time*The rotating speed error between the two is measured by a PI regulator to obtain the reference value of the needed quadrature-direct axis current
Figure FDA0003144913050000023
And
Figure FDA0003144913050000024
by using idThe control mode is 0;
s3.3, detecting and calculating the position angle theta of the motor rotor through an S function, and converting the sampling current into a quadrature-direct axis current i under a rotating coordinate system through coordinate conversiondAnd iqComparing with reference value, and obtaining quadrature-direct axis voltage u under rotating coordinate system by PI regulatordAnd uq；
S3.4, converting the obtained quadrature-direct axis voltage component in the rotating coordinate system into a voltage component U in a static coordinate system by coordinate transformationαAnd UβAnd calculating the voltage duty ratio of each phase through a space voltage vector pulse width modulation (SVPWM) mode, thereby controlling the flux linkage of the motor in real time.
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