CN108964548A - The ten two-phase permanent magnet synchronous motor fault tolerant control methods based on output torque capacity - Google Patents
The ten two-phase permanent magnet synchronous motor fault tolerant control methods based on output torque capacity Download PDFInfo
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0243—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a broken phase
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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
The ten two-phase permanent magnet synchronous motor fault tolerant control methods based on output torque capacity.Each phase current magnitude is seriously uneven under the fault tolerant control method of stator copper loss minimum mode, therefore stator copper loss minimum mode not can guarantee torque capacity output.Present invention composition includes: that (1) regards n phase motor as an entirety, and each variable in motor is divided into the alpha-beta plane for participating in energy converting between mechanical to and is established in other planes unrelated with energy converting between mechanical the model of ten two-phase permanent magnet synchronous motors；(2) it according to total magnetic potential principle of invariance, keeps system decoupling transformation matrix constant, obtains the expression formula of remaining each phase current under torque capacity way of output when ten two-phase electric machine phase-deficient operations；(3) each phase current expression formula is carried out that the size that the sub- plane of corresponding harmonic wave needs Injection Current can be calculated after static coordinate transformation.The present invention is used for the ten two-phase permanent magnet synchronous motor fault tolerant control methods based on output torque capacity.
Description
The technical field is as follows:
the invention relates to the field of motor control, in particular to a twelve-phase permanent magnet synchronous motor fault-tolerant control method based on maximum output torque.
Background art:
with the continuous expansion of the application of the motor driving system in the fields of military, industry and the like, the motor driving system which is stable and reliable is particularly important for occasions with higher reliability requirements, such as aircrafts, electric automobiles and the like. The system requirement is met through fault-tolerant control, the system reliability is improved, and the loss caused by faults is reduced or avoided to be the key for ensuring the system reliability. Therefore, the high-reliability fault-tolerant control method of the permanent magnet motor is widely concerned, is suitable for fault-tolerant operation and is an important application characteristic of the multiphase motor, and various open-circuit and short-circuit faults in a motor driving system can be converted into open-phase faults of the motor through measures such as hardware isolation and the like. Therefore, the current fault-tolerant control strategy of the multi-phase motor mainly focuses on the study of phase-lack operation. The amplitude of each phase current is seriously unbalanced under the fault-tolerant control method of the stator copper consumption minimum mode, so the maximum torque output cannot be ensured in the stator copper consumption minimum mode.
The invention content is as follows:
the invention aims to solve the problem that the maximum torque output cannot be ensured due to serious imbalance of the phase current amplitude value of each phase in a fault-tolerant control method of a stator copper consumption minimum mode, and provides a fault-tolerant control method of a twelve-phase permanent magnet synchronous motor based on the maximum torque output, which improves the reliability and fault tolerance of a system and ensures the maximum torque output of the motor.
The above purpose is realized by the following technical scheme:
a twelve-phase permanent magnet synchronous motor fault-tolerant control method based on maximum output torque is characterized by comprising the following steps of (1) regarding an n-phase motor as a whole, dividing all variables in the motor into α - β planes participating in electromechanical energy conversion and other planes irrelevant to the electromechanical energy conversion to establish a model of the twelve-phase permanent magnet synchronous motor, (2) keeping a system decoupling transformation matrix unchanged according to a total magnetic potential invariance principle to obtain an expression of each phase current remained in a maximum torque output mode when the twelve-phase motor is in phase failure, and (3) performing the expression of each phase currentAfter the static coordinate transformation, the magnitude of the injection current required by the corresponding harmonic sub-plane can be calculated.
The twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the maximum output torque comprises the following specific processes of establishing a model of the twelve-phase permanent magnet synchronous motor: the stator is composed of four sets of Y-shaped connected three-phase symmetrical windings, A1B1C1Is a first set of windings, A2B2C2Is a second set of windings, A3B3C3Is a third set of windings, A4B4C4The four windings of the twelve-phase motor adopt an isolated neutral point star connection mode, and the current meets the following requirements:
（2）
the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque keeps a system decoupling transformation array unchanged according to a total magnetomotive force invariant principle, and obtains the expression of the remaining phase currents in a maximum torque output mode when the twelve-phase motor is in phase failure: let A1、C3Open-phase, twelve-phase motor stator total magnetic potential can be expressed as:
（16）
in the formula,is the electrical angle of the winding space,
the number of turns of each phase winding;
with B1Phase as an example, having a winding function ofWhen the twelve-phase motor normally operates, the current of each phase is as follows:
（17）
in the formula,the current amplitude value of the twelve-phase motor in normal operation;
is A1Phase angle of phase current.
The total magnetic potential of the twelve-phase motor in normal operation can be obtained by substituting equation (17) into equation (16):
（18）
with A1And phase with C3For example, when two orthogonal phases are open,comparing equation (16) and equation (17), in order to obtain the same resultant magnetic potential, the remaining ten phase currents must satisfy:
（19），
the phase currents are represented in the form:
（20）
substituting equation (20) into equation (19) and separating the real and imaginary parts yields:
（21），
in addition to equation (21), the phase currents also need to satisfy other constraints:
（22）
the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque carries out the expression of each phase currentThe specific process of calculating the required injection current of the corresponding harmonic sub-plane after the transformation of the static coordinate comprises the following steps: with the output maximum torque as the optimization target, it is necessary to minimize the maximum amplitude of the phase current, and the target function can be expressed as:
（23）
a numerical solution satisfying the condition is obtained by adopting a minimum maximum value calculation function fminimax in an MATLAB optimization toolbox, namely, the expression of each phase current is as follows:
（24）
in the formula,the current amplitude value of the twelve-phase motor in normal operation;
is A1Phase angle of phase current;
vector space transformation is carried out on the current under the static coordinate system, so that the magnitude of the current required to be injected into the corresponding harmonic sub-plane can be calculated, and the conditions which should be met are as follows:
（25）
wherein,、is the fundamental sub-plane current;
、is a fifth harmonic sub-plane current;
、is a seventh harmonic sub-plane current;
、is eleven-order harmonic sub-plane current.
Has the advantages that:
1. the invention keeps the system decoupling transformation array unchanged on the premise that the magnetomotive force generated by the residual phase current of the motor is consistent with that before the phase failure after ensuring that one phase or two phases of the motor are in open circuit failure, calculates the current of a non-failure phase based on the principle of outputting the maximum torque, obtains the magnitude of the current required to be injected into a corresponding harmonic sub-plane, and realizes the fault operation of the twelve-phase permanent magnet synchronous motor.
The invention is suitable for fault-tolerant operation of multiphase faults of a twelve-phase motor, solves the problem of serious unbalance of current amplitude in a stator copper consumption minimum mode, overcomes the defects of the existing fault-tolerant technology, ensures that magnetomotive force is equal before and after the faults and outputs maximum torque, reduces torque pulsation and realizes high reliability and fault tolerance of a driving system.
The invention is suitable for occasions with higher requirements on the reliability and the continuity of the motor, such as aerospace, electric automobiles and the like.
Description of the drawings:
FIG. 1 is a winding structure diagram of a twelve-phase permanent magnet synchronous motor of the present invention with four Y-shifts of 15 °;
FIG. 2 is a star connection diagram of isolated neutral points of stator windings of a twelve-phase motor according to the present invention;
FIG. 3 is a conversion chart between the natural coordinate system and the α - β coordinate system according to the present invention;
FIG. 4 is a diagram of a conversion between the α - β coordinate system and a d-q coordinate system of the present invention;
FIG. 5 is a diagram of a rotational speed waveform of a twelve-phase PMSM during normal operation in accordance with the present invention;
FIG. 6 is a twelve phase current waveform diagram for a twelve phase PMSM of the present invention during normal operation;
FIG. 7 is a torque waveform diagram for a twelve-phase PMSM during normal operation in accordance with the present invention;
FIG. 8 is a waveform of back EMF during normal operation of a twelve-phase PMSM according to the present invention;
FIG. 9 is A in normal operation of the twelve-phase PMSM according to the present invention1Phase current and its back electromotive force waveform diagram;
FIG. 10 shows a twelve-phase PMSM at A in accordance with the present invention1、C3Adopting a rotating speed oscillogram of a fault-tolerant control strategy in a mode of outputting maximum torque when the phase is open;
FIG. 11 is a twelve-phase PMSM at A of the present invention1、C3A twelve-phase current waveform diagram of a fault-tolerant control strategy in a mode of outputting maximum torque is adopted when the phase is open;
FIG. 12 is a twelve-phase PMSM at A of the present invention1、C3And a torque waveform diagram of a fault-tolerant control strategy in a mode of outputting maximum torque is adopted when the phase is open.
FIG. 13 is a control circuit diagram of the present invention;
the specific implementation mode is as follows:
example 1:
a twelve-phase permanent magnet synchronous motor fault-tolerant control method based on maximum output torque comprises the following steps of (1) regarding an n-phase motor as a whole, dividing all variables in the motor into α - β planes participating in electromechanical energy conversion and other planes irrelevant to the electromechanical energy conversion to establish a twelve-phase permanent magnet synchronous motor model, (2) keeping a system decoupling transformation array unchanged according to a total magnetomotive force invariant principle to obtain an expression of each phase current remained in a maximum torque output mode when the twelve-phase motor is in phase failure operation, and (3) performing the expression of each phase currentAfter the static coordinate transformation, the magnitude of the injection current required by the corresponding harmonic sub-plane can be calculated.
Example 2:
according to the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the maximum output torque in the embodiment 1, the n-phase motor is regarded as a whole, and each variable in the motor is divided into α - β planes participating in electromechanical energy conversion and other planes irrelevant to the electromechanical energy conversion, wherein the Clark transformation matrix of the n-symmetric multi-phase motor is given:
wherein:the electrical angle of the phase difference between every two sets of windings;
the value of m is related to the number of phases of the motor whenIn the case of an even number, the number of the first,when is coming into contact withIn the case of an odd number of the groups,and the last row vector as shown in equation (1) will not exist;
when the magnetic potential of the stator and the rotor is distributed in a sine mode, the first two rows of vectors correspond to α - β subspaces, the fundamental flux linkage and the torque components correspond to the fundamental flux linkage and the torque components, the components are the same as the three-phase motor and participate in the electromechanical energy conversion of the motor, and the components in the middle row of vectorsTo pairComponent corresponds toAnThe subspace, which corresponds to the harmonic component and the last two rows to the zero-sequence component, can ignore the influence of the zero-sequence component when the neutral point of the machine is isolated, equation (1)Coefficient ofObtained by using constant power as constraint condition, and only modifying the coefficient in the formula (1) to be the same as that of the amplitudeThat is, in particular, whenPhase motorEach independent winding structure is formed, andwhen neutral points between every two windings in each winding are mutually isolated, 3 after the VSD transformation matrix is adopted, zero sequence components cannot interact between every two windings, so 3The number of the phase motors is changed from the initial oneIs reduced toAnd (4) respectively.
Example 3:
the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque according to the embodiment 1 or 2 is characterized in that: the specific process for establishing the model of the twelve-phase permanent magnet synchronous motor is as follows: the stator is composed of four sets of Y-shaped connected three-phase symmetrical windings, A1B1C1Is a first set of windings, A2B2C2Is a second set of windings, A3B3C3Is a third set of windings, A4B4C4For the fourth set of windings, and the four sets of windings are spatially separated by 15 ° in electrical degrees, the following assumptions are made for the purpose of analysis:
(1) the armature reaction magnetic field generated by the stator winding and the excitation magnetic field generated by the rotor permanent magnet are both distributed in a sine way in the air gap;
(2) magnetic saturation of a motor iron core is ignored, and eddy current, hysteresis loss and mutual leakage inductance among stator windings are not counted;
(3) the rotor has no damping winding;
(4) the electric conductivity of the permanent magnet material is zero, the magnetic conductivity inside the permanent magnet is the same as that of air, and the generated rotor flux linkage is constant;
(5) the directions of the variables such as voltage, current, flux linkage and the like are all selected according to the convention of the motor and accord with the right-hand spiral rule.
Four sets of windings of the twelve-phase motor adopt an isolated neutral point star connection mode, and then the current meets the following requirements:
（2）
the flux linkage equation:
（3）
in the formula:
a flux linkage matrix of twelve-phase windings;
the method comprises the following steps that a twelve-phase stator inductance matrix comprises self-inductance of each phase winding of a stator and mutual inductance among the phase windings, wherein the self-inductance is divided into excitation inductance and leakage inductance;
is a twelve-phase stator phase current matrix,for exciting the flux linkageψ fAnd stator A1The angle of the phase axis.
In the formula,for the self-inductance of each phase,the leakage inductance of the stator is obtained;
voltage equation:
（4）
in the formula:
is a stator phase voltage matrix;
a stator resistance matrix is provided, wherein R is the resistance of each phase of the stator;
electromagnetic torque equation:
from the viewpoint of electromechanical energy conversion, under the condition of neglecting iron core saturation, the magnetic circuit curve psi-i is linearly changed, namely the magnetic energy and the magnetic energy are equal,
（5）
the electromagnetic torque is equal to the partial derivative of the magnetic common energy to the mechanical angle according to the electromechanical energy conversion relation, and the electrical angle is equal to the product of the mechanical angle and the pole pair number of the motor, so that the electromagnetic torque of the twelve-phase motor is obtained as follows:
（6）
in the formula:the number of pole pairs of the motor is shown;
is the mechanical angle of the motor.
Equation of motion:
（7）
in the formula:is the load torque;
is a damping coefficient;
is the mechanical angular frequency;
is the moment of inertia.
The decoupling transformation matrix of the twelve-phase motor is divided into a transformation between a twelve-phase static coordinate system and a two-phase static coordinate system and a transformation between the two-phase static coordinate system and a two-phase rotating coordinate system;
conversion between the twelve-phase stationary coordinate system and the two-phase stationary coordinate system:
let α the direction of the axes and A1The direction of the axes is the same, β the axis is rotated 90 counterclockwise along axis α as shown in figure 3,
（8）
can be divided into 6 spaces, respectivelyFundamental subspace, 3 rd harmonic subspaceSub-space of the 5 th harmonic7 th harmonic subspace9 th harmonic subspace11 th harmonic subspace. The row vectors corresponding to the 3 rd harmonic and the 9 th harmonic are zero-sequence components, so that the zero-sequence components are put in the last four rows, and finally the adjusted static coordinate transformation matrix is obtained as follows:
the formula (9) is a unit orthogonal array, then
Analysis of six spaces gives:
(1) the six subspaces are mutually vertical and orthogonal;
(2) fundamental wave of space vector andminor components, all mapped to phasors
The formed α - β fundamental wave space is an electromechanical energy space, participates in the energy conversion of the motor, and generates rotary magnetomotive force in an air gap;
(3) of space vectorsThe sub-harmonic components, all mapped toIn the formed 5 th harmonic subspace, the harmonic subspace is vertical to the fundamental wave space, is a non-electromechanical energy subspace, does not generate rotary magnetomotive force in an air gap, but generates harmonic loss;
(4) of space vectorsThe sub-harmonic components, all mapped toIn the formed 7 th harmonic subspace, the non-mechanical energy quantum space is vertical to the fundamental wave space, no rotating magnetomotive force is generated in an air gap, but harmonic loss is generated;
(5) of space vectorsThe sub-harmonic part, all mapped toIn the formed 11 th harmonic subspace, the space is a non-electromechanical energy subspace, the space is vertical to a fundamental wave space, no rotary magnetomotive force is generated in an air gap, but harmonic loss is generated;
(6) of space vectorsMinor components, all mapped toIn the formed 3 rd harmonic subspace, the harmonic wave is vertical to the fundamental wave space; when the twelve-symmetric sine power supply is adopted, the harmonic does not flow in the system, does not generate rotary magnetomotive force, and belongs to non-electromechanical energy;
(7) of space vectorsMinor components, all mapped toIn the formed 9-order harmonic subspace, the fundamental wave subspace is vertical to the fundamental wave space and is a non-electromechanical energy space, and when twelve symmetrical sine power supplies are adopted, the harmonic does not flow in the system and does not generate rotary magnetomotive force;
conversion between the two-phase stationary coordinate system and the two-phase rotating coordinate system:
the transformation from the natural coordinate system to the two-phase stationary coordinate system is only a transformation in phase, whereas the transformation from the two-phase stationary coordinate system to the two-phase rotating coordinate system is a transformation in frequency. The translation of the two coordinate systems is shown in fig. 4.
Only by this transformation can the windings in the stationary frame be transformed into two commutator windings of an equivalent dc motor. And by means of the transformation, the conversion relation between electromechanical energy is clearer, and the control strategy is simplified. direction of d axis and excitation flux linkage generated by rotor permanent magnetψ fThe direction is the same, the q axis rotates 90 degrees along the d axis anticlockwise, and the included angle between the d axis and the α axis is theta. As mentioned above, only the variable on the α - β subspace participates in the conversion of electromechanical energy, so that only the subspace is required to be converted into a rotating coordinate system.
Because the number of turns of the winding of the stator is the same in the two coordinate systems, the stator is provided with a plurality of windings
（10）
The transformation matrix from the two-phase stationary coordinate system to the two-phase rotating coordinate system can be obtained according to the formula (10)
（11）
Similarly, for calculation, the transformation matrix in the formula (11) is rewritten into a 12 th order square matrix, and since only the variables on the α - β subspaces participate in the conversion of the electromechanical energy and the current components of the remaining subspaces are not related to the conversion of the electromechanical energy, the transformation matrix is rewritten into the transformation matrix
（12）
The easy-to-know formula (12) is a unit orthogonal array, then
（13）
According to the formula (13), the conversion between the twelve-phase motor mathematical model under the two-phase stationary coordinate system and the twelve-phase motor mathematical model under the two-phase rotating coordinate system can be realized.
Calculated to obtain a synchronous rotating coordinate systemThe voltage equation for the subspace is:
（14）
（k=1,2and 3) the voltage equation of the subspace is:
（15）
wherein:are respectively asAnda stator voltage of the subspace;are d-q and x, respectivelyk-ykA stator current of the subspace;is the inductance under a d-q coordinate system;the leakage inductance is obtained;is the electrical angular velocity.
Simulation of the normal operation of a four-Y15-degree-shifted twelve-phase PMSM:
the rotating speed of the motor is 500r/min, and the torque of the motor is equal to or less than t =0.15sT L=20N · m, at t =0.15s, the torque is abruptly changed toT L=50N · m, the system simulation results are shown in fig. 5-9. Fig. 5 is a rotation speed waveform diagram when the twelve-phase PMSM normally operates, after the system is stabilized, the rotation speed is stabilized at 500r/min, the torque is suddenly changed to 50N · m when t =0.15s, and the system quickly responds and is stabilized. FIG. 6 is a waveform diagram of twelve phase currents during normal operation of a twelve-phase PMSM, with each phase current amplitude after system stabilizationThe values are the same and the phase conforms to the theory described above. Fig. 7 is a torque waveform diagram in the normal operation of the twelve-phase PMSM, and after the system is stabilized, the torque is 20N · m, and when t =0.15s, the torque is suddenly applied, and the torque rapidly stabilizes to 50N · m. Fig. 8 is a diagram of back emf waveforms during normal operation of a twelve-phase PMSM. FIG. 9 is A during normal operation of a twelve-phase PMSM1The phase current and its back electromotive force waveform are identical (for convenience of observation, the back electromotive force is reduced by 10 times).
Example 4:
according to the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque in the embodiment 1, 2 or 3, the specific process of keeping the system decoupling transformation array unchanged according to the principle of the invariance of the total magnetomotive force to obtain the expression of the remaining phase currents in the maximum torque output mode when the twelve-phase motor is in the open-phase operation is as follows: the twelve-phase permanent magnet synchronous motor with the four Y-shift of 15 degrees adopts a neutral point isolation mode during normal operation, and the mode can effectively inhibit zero-sequence current and simplify a control structure.
The open circuit condition discussed in the present invention is an open circuit between the inverter and the motor windings, and the motor windings are not damaged. Suppose A1、C3And the phase is open, and because the motor is not physically influenced, if the decoupling transformation matrix is kept unchanged, the voltage equation, the flux linkage equation and the torque equation are not influenced, and only the current is influenced. Because two degrees of freedom of control are reduced in the two-phase open circuit operation, currents in a static coordinate system are not independent, and when the two-phase open circuit operation is performed, if a static transformation matrix is kept unchanged, currents of a fundamental sub-plane and a harmonic sub-plane are not decoupled, so that torque ripple is inevitably generated if the currents of the harmonic sub-plane are continuously set to be zero. The current reference of the harmonic sub-plane in the maximum torque output mode is difficult to directly calculate through static decoupling transformation, but the expression of the remaining phase current in the maximum torque output mode when the twelve-phase motor is in phase failure can be obtained through a total magnetic potential invariant fault-tolerant control method,then, the expression of each phase current is carried outAfter the static coordinate transformation, the magnitude of the injection current required by the corresponding harmonic sub-plane can be calculated.
The electromagnetic torque can also be considered to be generated by the interaction of the rotating magnetomotive force generated by the winding current and the magnetic field of the permanent magnet, so that the normal operation of the motor can be maintained as long as the magnetic potential generated by the residual phase current after the phase failure of the motor is kept consistent with that before the phase failure, namely the principle of constant magnetomotive force is ensured, and A is set1、C3Open-phase, twelve-phase motor stator total magnetic potential can be expressed as:
（16）
in the formula,is the electrical angle of the winding space,
the number of turns of each phase winding;
with B1Phase as an example, having a winding function ofWhen the twelve-phase motor normally operates, the current of each phase is as follows:
（17）
in the formula,the current amplitude value of the twelve-phase motor in normal operation;
is A1Phase angle of phase current.
The total magnetic potential of the twelve-phase motor in normal operation can be obtained by substituting equation (17) into equation (16):
（18）
with A1And phase with C3For example, when two orthogonal phases are open,comparing equation (16) and equation (17), in order to obtain the same resultant magnetic potential, the remaining ten phase currents must satisfy:
（19），
the phase currents are represented in the form:
（20）
substituting equation (20) into equation (19) and separating the real and imaginary parts yields:
（21），
in addition to equation (21), the phase currents also need to satisfy other constraints:
（22）
example 5:
the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque according to the embodiment 1, 2, 3 or 4 is characterized in that: the expression of each phase current is carried outThe specific process of calculating the required injection current of the corresponding harmonic sub-plane after the transformation of the static coordinate comprises the following steps: with the output maximum torque as the optimization target, it is necessary to minimize the maximum amplitude of the phase current, and the target function can be expressed as:
（23）
the final goal of the optimization is to find a solution that satisfies F1The minimum group of solutions is difficult to solve by adopting an analytical method, a numerical solution meeting the conditions can be obtained by adopting a minimum maximum value calculation function fminimax in an MATLAB optimization toolbox, wherein fminimax is an optimization problem for solving the minimum maximum value, and the minimum value is selected from a series of maximum values, which is equivalent to solving the following optimization problem and a function of the optimization problem:
the vector x and the vector function f (x) in each domain have a component with a maximum value, but the component with the maximum value changes with the value of the vector x, and when the values of the components are recorded, the task of finding the minimum value, namely fminimax, is performed.
The complete call format for this function is as follows:
fun represents the optimization objective function, x0 represents the initial value of the optimization, and the parameters A and b represent the linear relationCoefficient matrix and result matrix of (2); the parameters Aeq, beq represent a matrix that satisfies the linear equation Aeq · X = beq; the parameter lb and ub indicate that the parameter value range is satisfiedThe upper and lower limits of (d); the parameter options are the attribute settings for optimization. The method can obtain an optimal solution;
a numerical solution satisfying the condition is obtained by adopting a minimum maximum value calculation function fminimax in an MATLAB optimization toolbox, namely, the expression of each phase current is as follows:
（24）
in the formula,the current amplitude value of the twelve-phase motor in normal operation;
is A1Phase angle of phase current;
vector space transformation is carried out on the current under the static coordinate system, so that the magnitude of the current required to be injected into the corresponding harmonic sub-plane can be calculated, and the conditions which should be met are as follows:
（25）
wherein,is the fundamental sub-plane current;
is a fifth harmonic sub-plane current;
is a seventh harmonic sub-plane current;
is eleven-order harmonic sub-plane current.
The common multiphase motor open-phase fault-tolerant control strategy needs to establish a dimensionality reduction mathematical model after open phase, and different decoupling transformation arrays corresponding to different open-circuit conditions with different phase numbers need to be respectively modeled, so that the fault-tolerant control strategy is complex to realize. Aiming at the characteristics of a twelve-phase permanent magnet synchronous motor, the characteristics of open-circuit faults of the motor system and the problems in the prior art, the invention provides a twelve-phase permanent magnet synchronous motor fault-tolerant control method based on a maximum torque output mode. When the motor normally operates, the harmonic sub-plane currentThe given value of (a) is zero; when the motor has an open circuit fault, if the static transformation array is kept unchanged, the currents of the fundamental sub-plane and the harmonic sub-plane are not decoupled any more, and if the current given value of the harmonic sub-plane is continuously set to be zero, torque pulsation is inevitably caused. Thus harmonic sub-plane currentsThe given value is not all zero any more, the decoupling transformation array of the system is kept unchanged according to the principle that the total magnetic potential is unchanged,given value for solving optimal fault-tolerant current of each phase winding by taking maximum torque output as optimization target. The optimal fault-tolerant current set value of each phase winding is carried outTransforming to obtain the magnitude of the injection current required by the corresponding harmonic sub-plane. Will be provided withAnd the rotation speed loop is obtained by PI regulationTo carry outIs transformed to obtainThen will beHarmonic current set pointThroughAnd transforming to obtain a given value of the twelve-phase current, making a difference with the actually detected twelve-phase current of the motor, obtaining PWM pulses through a current hysteresis system, and controlling an inverter unit to achieve the purpose of controlling the motor so as to realize the fault stable operation of the motor. Wherein,is a fundamental sub-plane current, and is,is the sub-plane current of the fifth harmonic,is a seventh harmonic sub-plane current,is a sub-plane current of the eleven-order harmonic,is a zero sequence current.
The simulation analysis is carried out on the condition, the rotating speed of the given motor is 500r/min, and the torque isT L=50N · m, the system simulation results are shown in fig. 10-12. FIG. 10 is a twelve-phase PMSM at A of the present invention1、C3And when the phase is open, a rotating speed oscillogram of a fault-tolerant control strategy in a mode of outputting maximum torque is adopted, and after the system is stabilized, the rotating speed is stabilized at 500 r/min. FIG. 11 shows a twelve-phase PMSM at A in accordance with the present invention1、C3A twelve-phase current waveform diagram adopting a fault-tolerant control strategy of a mode of outputting maximum torque when a phase is open, A1、C3The phase current is zero, and the amplitude and the phase size of each non-fault phase current are in line with the theory. FIG. 12 is a twelve-phase PMSM at A of the present invention1、C3And a torque oscillogram of a fault-tolerant control strategy adopting a mode of outputting the maximum torque is adopted when the phase is open, and after the system is stabilized, the torque is 50N m.
Claims (4)
1. A twelve-phase permanent magnet synchronous motor fault-tolerant control method based on maximum output torque is characterized by comprising the following steps of (1) regarding an n-phase motor as a whole, dividing all variables in the motor into α - β planes participating in electromechanical energy conversion and other planes irrelevant to the electromechanical energy conversion to establish a model of the twelve-phase permanent magnet synchronous motor, (2) keeping a system decoupling transformation matrix unchanged according to a total magnetic potential invariance principle to obtain an expression of remaining phase currents in a maximum torque output mode when the twelve-phase motor is in phase failure, and (3) expressing the expressions of the remaining phase currentsTo carry outAfter the static coordinate transformation, the magnitude of the injection current required by the corresponding harmonic sub-plane can be calculated.
2. The twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque as claimed in claim 1, which is characterized in that: the specific process for establishing the model of the twelve-phase permanent magnet synchronous motor is as follows: the stator is composed of four sets of Y-shaped connected three-phase symmetrical windings, A1B1C1Is a first set of windings, A2B2C2Is a second set of windings, A3B3C3Is a third set of windings, A4B4C4The four windings of the twelve-phase motor adopt an isolated neutral point star connection mode, and the current meets the following requirements:
（2）
3. the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque as claimed in claim 1, which is characterized in that: the specific process of obtaining the expression of the remaining phase currents in the maximum torque output mode when the twelve-phase motor is in open-phase operation by keeping the system decoupling transformation array unchanged according to the principle of the invariable total magnetomotive force is as follows: let A1、C3Open-phase, twelve-phase motor stator total magnetic potential can be expressed as:
（16）
in the formula,for spatial electrical angle of winding，
The number of turns of each phase winding;
with B1Phase as an example, having a winding function ofWhen the twelve-phase motor normally operates, the current of each phase is as follows:
（17）
in the formula,the current amplitude value of the twelve-phase motor in normal operation;
is A1Phase angle of phase current.
The total magnetic potential of the twelve-phase motor in normal operation can be obtained by substituting equation (17) into equation (16):
（18）
with A1And phase with C3For example, when two orthogonal phases are open,comparing equation (16) and equation (17), in order to obtain the same resultant magnetic potential, the remaining ten phase currents must satisfy:
（19），
the phase currents are represented in the form:
（20）
substituting equation (20) into equation (19) and separating the real and imaginary parts yields:
（21），
in addition to equation (21), the phase currents also need to satisfy other constraints:
（22）
4. the twelve-phase permanent magnet synchronous motor fault-tolerant control method based on the output maximum torque as claimed in claim 1, which is characterized in that: the expression of each phase current is carried outThe specific process of calculating the required injection current of the corresponding harmonic sub-plane after the transformation of the static coordinate comprises the following steps: with the output maximum torque as the optimization target, it is necessary to minimize the maximum amplitude of the phase current, and the target function can be expressed as:
（23）
a numerical solution satisfying the condition is obtained by adopting a minimum maximum value calculation function fminimax in an MATLAB optimization toolbox, namely, the expression of each phase current is as follows:
（24）
in the formula,the current amplitude value of the twelve-phase motor in normal operation;
is A1Phase angle of phase current;
vector space transformation is carried out on the current under the static coordinate system, so that the magnitude of the current required to be injected into the corresponding harmonic sub-plane can be calculated, and the conditions which should be met are as follows:
（25）
wherein,、is the fundamental sub-plane current;
、is a fifth harmonic sub-plane current;
、is a seventh harmonic sub-plane current;
、is eleven-order harmonic sub-plane current.
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