CN108923723A - 90 ° of facies tract angles, four phase magneto short trouble fault tolerant control method based on power principle of invariance - Google Patents
90 ° of facies tract angles, four phase magneto short trouble fault tolerant control method based on power principle of invariance Download PDFInfo
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- CN108923723A CN108923723A CN201810764020.4A CN201810764020A CN108923723A CN 108923723 A CN108923723 A CN 108923723A CN 201810764020 A CN201810764020 A CN 201810764020A CN 108923723 A CN108923723 A CN 108923723A
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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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Abstract
90 ° of facies tract angles, four phase magneto short trouble fault tolerant control method based on power principle of invariance, belong to multiphase fault-tolerant magneto field, the present invention is to solve the four phase permanent magnet synchronous motors at conventional 90 ° of facies tract angles in a phase short trouble, the problem that motor torque fan-out capability is weak, torque ripple is big.The method of the present invention maintains output power of motor constant when end short trouble occurs for motor by adjusting the electric currents of other non-shorting phases.When switching tube short trouble occurs for motor, opposite bridge arm same position switching tube is first controlled to be connected, the electric current of other non-shorting phases is adjusted to maintain output power of motor constant, this method weakens influence of the inverter switching device tube short circuit failure to motor, reduces the difficulty of subsequent faults-tolerant control.
Description
Technical field
The invention belongs to multiphase fault-tolerant magneto fields, are related to electric motor short circuit fault tolerant technique.
Background technique
China in Recent Years greatly develops aerospace industry, manned space flight, satellite communication and in terms of achieve
A series of achievements outstanding, China's aerospace industry are welcoming new developing period.Space flight servo-system is to reliability and fault-tolerant
Property it is more demanding, however, traditional three-phase permanent magnet synchronous motor in motor occurs winding open circuit or when short trouble, motor
Output torque acute variation can occur, cannot even work.The phase redundancy characteristic of four mutually fault-tolerant magnetoes makes it have
Certain failure tolerant ability meets the needs of space flight servo field is to reliability, fault-tolerance and servo performance etc..
Motor phase short trouble refers to that a certain phase of motor contacts with each other a kind of electrical fault of short circuit and formation due to end,
Usually caused by winding overhang short circuit or power device of inverter short circuit.Magneto mutually fault-tolerant for four, when certain mutually occur it is short
When the failure of road, since magnetic coupling is small between each phase of single-layered fractional slot concentratred winding, it can not inhibit by adjusting remaining phase current
Short-circuit phase current also mutually can not be cut off and be isolated to failure from inverter end.Therefore, when four mutually fault-tolerant magnetoes certain
When short trouble mutually occurs, how to pass through compensation of the reconstructed residual phase current realization to torque, offset the influence that failure mutually generates
Great realistic meaning.
Summary of the invention
The invention aims to solve the four phase permanent magnet synchronous motors at conventional 90 ° of facies tract angles in a phase short trouble,
The problem that motor torque fan-out capability is weak, torque ripple is big provides 90 ° of facies tract angles, the four phase permanent magnetism based on power principle of invariance
One phase short trouble fault tolerant control method of synchronous motor.
If ignoring the alternate mutual inductance of motor, when winding overhang short trouble occurs for any one phase of four phase permanent magnet synchronous motors,
Short-circuit phase current is made of two parts：Stable State of Sine current component and the transient state component decayed at any time.
Steady-state current expression formula is：
In formula：R0For short-circuit phase winding resistance；L0For short-circuit phase winding inductance；ω is fixed for motor
Electron current angular frequency；N is machine winding the number of turns；kdpFor machine winding factor；Φpm-DFor the permanent-magnet magnetic coupled with short-circuit phase winding
It is logical；θ0For the angle between zero moment electric motor short circuit phase winding axis and rotor permanent magnet d-axis.
Transient current expression formula is：
Steady-state shortcircuit current generate torque expression formula be：
In formula：E0For empty load of motor back-emf fundamental voltage amplitude；Ω is rotor machinery angular speed.
When inverter switching device tube short circuit failure occurs for four phase permanent magnet synchronous motors, system detection occurs to a certain switching tube
After short circuit, is connected by controlling opposite bridge arm same position switching tube, weakens inverter switching device tube short circuit failure to motor
It influences, reduces the difficulty of subsequent faults-tolerant control.It is similar when electric current in short-circuit phase winding is to a phase winding end short trouble.
Four phase magneto short trouble fault tolerant control method of 90 based on power principle of invariance ° facies tract angle of the present invention
Including three schemes.
The first string：Suitable for not constraining zero-sequence current size condition, any short portion in phase winding end.
Illustrate by taking the short circuit of D phase winding end as an example when wherein winding overhang short trouble occurs for any one phase, it is described
Short trouble fault tolerant control method is：
The electric current of adjustment A, B, C phase winding is pressed
It works, to maintain output power of motor constant；
In formula：TeFor the electromagnetic torque under motor normal operating condition；
And it pressesIt obtains, wherein
Preferably, four phase full-bridge inverters is used to supply in the case where not constraining zero-sequence current for four phase permanent magnet synchronous motors
Electricity.
Second scheme：Suitable for not constraining zero-sequence current size condition, any short portion of phase switching tube.
Illustrate do not constraining when wherein switching tube short trouble occurs for any one phase so that D phase switchs tube short circuit as an example
Under the conditions of zero-sequence current size, the short trouble fault tolerant control method is：
Firstly, another bridge arm in D phase, switching tube corresponding with short switch pipe position is enabled to keep constantly on state；
Then, the electric current for adjusting A, B, C phase winding is pressed
It works, to maintain output power of motor constant；
In formula：E0For empty load of motor back-emf fundamental voltage amplitude；
Ω is rotor machinery angular speed；
TeFor the electromagnetic torque under motor normal operating condition；
TshortFor short circuit current generate torque,
And it pressesIt obtains, wherein
R0For short-circuit phase winding resistance；L0For short-circuit phase winding inductance；ω is motor stator electric current angular frequency.
Preferably, four phase full-bridge inverters is used to power for four phase permanent magnet synchronous motors.
Third scheme：The condition for being zero suitable for constraining zero-sequence current, winding overhang short circuit
Illustrate the short circuit when wherein winding overhang short trouble occurs for any one phase by taking D phase winding short circuit as an example
Failure tolerant control method is：
The electric current of adjustment A, B, C phase winding is pressed
It works, to maintain output power of motor constant.
Preferably, constraint zero-sequence current uses four phase half-bridge inverters to supply for four phase permanent magnet synchronous motors in the case where being zero
Electricity.
Beneficial effects of the present invention：The present invention discloses a kind of 90 based on power principle of invariance ° facies tract angle, four phase Permanent Magnet and Electric
Machine short trouble fault tolerant control method effectively reduces four phases under the premise of ensure that motor maximum output torque is constant
The torque ripple of fault-tolerant operation when one phase short trouble occurs for motor, while ensure that the least copper loss under fault-tolerant operation state.
Detailed description of the invention
Fig. 1 is four phase half-bridge inverter topology schematic diagrames；
Fig. 2 is four phase full-bridge inverter topology schematic diagrames；
Fig. 3 is the winding space arrangement mode figure of 90 ° of facies tract angles, four phase permanent magnet synchronous motor；
Fig. 4 is the empty load of motor torque profile figure under two kinds of failures of a phase winding short circuit and inverter switching device tube short circuit；
Fig. 5 opens the short circuit current path after opposite bridge arm same position switching tube when being inverter switching device tube short circuit failure
Figure；
Fig. 6 blocks the short circuit current waveform figure after each gate electrode drive signals when being inverter switching device tube short circuit failure；
Fig. 7 is powered under the conditions of not constraining zero-sequence current by remaining A, B, C phase three-phase windings after D phase of the present invention is short-circuit
Guarantee each phase current waveform figure of motor output smoothing torque；
Fig. 8 is to be powered to protecting by remaining A, B, C phase three-phase windings under the conditions of constraining zero-sequence current after D phase of the present invention is short-circuit
Demonstrate,prove each phase current waveform figure of motor output smoothing torque；
Fig. 9 is torque profile figure when not applying fault tolerant control method after D phase of the present invention short circuit, and do not constrain/about
Torque profile figure after being compensated under the conditions of beam zero-sequence current by remaining A, B, C phase.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
90 ° of facies tract angles, four phase magneto short trouble faults-tolerant control based on power principle of invariance described in present embodiment
Method, what is provided is the constant situation of four phase motor instantaneous powers of adjustment front and back.
The schematic illustration of 90 ° of four phase permanent magnet synchronous motors of facies tract angle power supply is as depicted in figs. 1 and 2.90 ° of four phases of facies tract angle
The winding space arrangement mode figure of permanent magnet synchronous motor is as shown in Figure 3.If not considering the alternate magnetic coupling of motor, when motor occurs
After one phase winding end short trouble, short-circuit phase current is made of two parts：Stable State of Sine current component and decay at any time
Transient state component separately below analyzes both current components：
(1) steady-state current part
Steady-state current expression formula is：
(2) transient current part
Transient current expression formula is：
In formula：ID0For t=0 moment D phase winding current value.
After inverter switching device tube short circuit failure occurs for motor, the short circuit current in machine winding will also undergo transient process
And steady-state process, if such failure blocks each gate electrode drive signals when occurring, when electric motor short circuit current temporary state procedure continues
Between shorten, steady-state shortcircuit current becomes pulsating direct current, and average value is not zero, and amplitude compared in a phase winding short trouble therefore
Barrier situation significantly increases.Empty load of motor torque profile under two kinds of end short troubles is as shown in Figure 4.
After inverter switching device tube short circuit failure occurs for motor, if the system detects that the switching tube VT in Fig. 53Occur short
After road, lockout switch pipe VT2、VT4Gate electrode drive signals, keep switching tube VT1In normally open, current path at this time
As shown in figure 5, forward current is via VD1, positive DC bus, VT3Machine winding is flowed back to, negative current is via VT3And VD3, just
Pole DC bus, VT1Machine winding is flowed back to, at this point, the electric current in short-circuit phase winding is similar to a phase winding short circuit fault condition,
It is two-way flow state.By above-mentioned processing, influence of the inverter switching device tube short circuit failure to motor is weakened, and is reduced
The difficulty of subsequent faults-tolerant control.
One embodiment：Zero-sequence current size is not constrained, uses four phase full-bridges to power for four phase permanent magnet synchronous motors, D
The short circuit of phase end.
In the case where D phase is short-circuit, it is consistent before the instantaneous electromagnetic power and failure that enable motor export, then needs to meet：
In formula：
J is each phase winding number, and 0,1,2 respectively represents A, B, C phase.
If each phase winding of motor is electrically mutually isolated, without constraining the zero-sequence current under fault-tolerant state, in above formula
On the basis of, further using least copper loss as object definition objective function：
In formula：P is objective function, and λ is coefficient, ijFor phase winding electric current, j=0,1,2, i.e. ijRepresent A, B, C phase winding electricity
Stream；
It is by the expression formula that lagrange's method of multipliers can solve remaining phase winding electric current：
Four mutually fault-tolerant magnetoes after short trouble occurs are controlled according to above-mentioned current expression, it is ensured that
Motor output power before and after fault-tolerant operation is constant；Copper olse is minimum when fault-tolerant operation.
Second embodiment：Zero-sequence current size is not constrained, using four phase full-bridges, D phase either switch tube short circuit.
Referring to fig. 2, A phase constitutes full-bridge inverter by four switching tubes, is divided into two bridge arms, when the upper bridge of first bridge arm
When arm switch tube short circuit, constantly on state is set by the upper bridge arm switching tube of second bridge arm first.Then it presses again
Adjust A, B, C phase winding electric current.
If blocking each gate electrode drive signals according to previous processing mode when short trouble occurs in full-bridge inverter switching tube,
Then the electric motor short circuit current temporary state procedure duration shortens, and steady-state shortcircuit current becomes pulsating direct current, and average value is not zero, and
Amplitude is significantly increased compared to winding overhang short circuit fault condition, and short circuit current wave shape is as shown in Figure 6.Not according to this kind of processing mode
The influence of short trouble can only aggravated, also will increase the difficulty of faults-tolerant control, the method that the present embodiment is proposed can weaken
Influence of the inverter switching device tube short circuit failure to motor, and reduce the difficulty of subsequent faults-tolerant control, keep inverter switching device pipe short
Road failure can use identical fault tolerant control method with winding overhang short trouble.
Third embodiment：Constraining zero-sequence current is zero, and four phase half-bridge inverters is used to supply for four phase permanent magnet synchronous motors
Electricity, the short circuit of D phase end.
In D phase end in the case where short circuit, if each phase winding electrically has coupling, it is also necessary to which additional zero-sequence current is zero
Constraint condition, i.e.,：
iA+iB+iC=0
It is by the Minimum square error of object definition of least copper loss：
P is objective function, λ1And λ2For coefficient.
It is by the expression formula that lagrange's method of multipliers can solve remaining phase winding electric current：
Four mutually fault-tolerant magnetoes after short trouble occurs are controlled according to above-mentioned current expression, it is ensured that
Motor output power before and after fault-tolerant operation is constant；Copper olse is minimum when fault-tolerant operation.
When one phase short trouble fault-tolerant operation, compensated phase current waveform such as Fig. 7 institute under the conditions of zero-sequence current is not constrained
Show, compensated phase current waveform is not as shown in figure 8, motor is constraining/constraining zero-sequence current item under the conditions of constraining zero-sequence current
Torque profile after compensating under part is as shown in Figure 9.When a phase short trouble occurs, carried out using method proposed in this paper
After compensation, before motor average electromagnetic torque and failure quite, and motor torque fluctuation is greatly reduced, and faults-tolerant control effect is good.
Although disclosed herein embodiment it is as above, the content is only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (6)
1. 90 ° of facies tract angles, the four phase magneto short trouble fault tolerant control method based on power principle of invariance, which is characterized in that
Illustrate by taking the short circuit of D phase winding end as an example when wherein winding overhang short trouble occurs for any one phase, is not constraining zero sequence
Under the conditions of size of current, the short trouble fault tolerant control method is：
The electric current of adjustment A, B, C phase winding is pressed
It works, to maintain output power of motor constant；
In formula：E0For empty load of motor back-emf fundamental voltage amplitude；
Ω is rotor machinery angular speed；
TeFor the electromagnetic torque under motor normal operating condition；
TshortFor short circuit current generate torque,
And it pressesIt obtains, wherein
R0For short-circuit phase winding resistance；L0For short-circuit phase winding inductance；ω is motor stator electric current angular frequency.
2. 90 ° of facies tract angles, the four fault-tolerant control of phase magneto short trouble according to claim 1 based on power principle of invariance
Method processed, which is characterized in that use four phase full-bridge inverters for four phase permanent magnet synchronous motors in the case where not constraining zero-sequence current
Power supply.
3. 90 ° of facies tract angles, the four phase magneto short trouble fault tolerant control method based on power principle of invariance, which is characterized in that
Illustrate do not constraining zero-sequence current when wherein switching tube short trouble occurs for any one phase so that D phase switchs tube short circuit as an example
Under the conditions of size, the short trouble fault tolerant control method is：
Firstly, another bridge arm in D phase, switching tube corresponding with short switch pipe position is enabled to keep constantly on state；
Then, the electric current for adjusting A, B, C phase winding is pressed
It works, to maintain output power of motor constant；
In formula：E0For empty load of motor back-emf fundamental voltage amplitude；
Ω is rotor machinery angular speed；
TeFor the electromagnetic torque under motor normal operating condition；
TshortFor short circuit current generate torque,
And it pressesIt obtains, wherein
R0For short-circuit phase winding resistance；L0For short-circuit phase winding inductance；ω is motor stator electric current angular frequency.
4. 90 ° of four phase magneto short trouble fault tolerant control methods of facies tract angle according to claim 3, which is characterized in that
Four phase full-bridge inverters are used to power for four phase permanent magnet synchronous motors.
5. 90 ° of facies tract angles, the four phase magneto short trouble fault tolerant control method based on power principle of invariance, which is characterized in that
Illustrate by taking D phase winding short circuit as an example when wherein winding overhang short trouble occurs for any one phase, is in constraint zero-sequence current
Under conditions of zero, the short trouble fault tolerant control method is：
The electric current of adjustment A, B, C phase winding is pressed
It works, to maintain output power of motor constant；
In formula：E0For empty load of motor back-emf fundamental voltage amplitude；
Ω is rotor machinery angular speed；
TeFor the electromagnetic torque under motor normal operating condition；
TshortFor short circuit current generate torque,
And it pressesIt obtains, wherein
R0For short-circuit phase winding resistance；L0For short-circuit phase winding inductance；ω is motor stator electric current angular frequency.
6. 90 ° of facies tract angles, the four fault-tolerant control of phase magneto short trouble according to claim 5 based on power principle of invariance
Method processed, which is characterized in that constraint zero-sequence current uses four phase half-bridge inverters for four phase permanent magnet synchronous electrics in the case where being zero
Machine power supply.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109639214A (en) * | 2018-12-31 | 2019-04-16 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of polyphase machine is fault-tolerant to cut through transient process control method online |
| CN111464109A (en) * | 2020-03-26 | 2020-07-28 | 新风光电子科技股份有限公司 | Electrical topological structure of 10kV high-voltage variable frequency motor integrated machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109639214A (en) * | 2018-12-31 | 2019-04-16 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of polyphase machine is fault-tolerant to cut through transient process control method online |
| CN109639214B (en) * | 2018-12-31 | 2021-06-25 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Multiphase motor fault-tolerant on-line channel-cutting transition process control method |
| CN111464109A (en) * | 2020-03-26 | 2020-07-28 | 新风光电子科技股份有限公司 | Electrical topological structure of 10kV high-voltage variable frequency motor integrated machine |
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