CN109450315A - A kind of disconnected phase fault tolerant control method of durface mounted permanent magnet synchronous motor - Google Patents
A kind of disconnected phase fault tolerant control method of durface mounted permanent magnet synchronous motor 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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Abstract
The present invention relates to a kind of durface mounted permanent magnet synchronous motor open phase fault fault tolerant control methods.In the case where open phase fault, by designing novel reference coordinate transition matrix, can by under three-phase static coordinate system time-varying sinusoidal pattern non-faulting phase reference current and current in middle wire with reference to two DC quantities under novel synchronous rotating coordinate system are converted to, the two DC quantities are equal with electric system given value of current value.Based on novel coordinate transform, electric machine control system is without redesigning complicated current controller after motor phase failure failure, can the electric current PI controller directly before application failure carry out motor control, to realize faults-tolerant control of the durface mounted permanent magnet synchronous motor under open phase fault.
Description
Technical field
It is same for realizing durface mounted permanent magnet the present invention relates to a kind of disconnected phase fault tolerant control method of durface mounted permanent magnet synchronous motor
The high-performance safe and stable operation of motor driven systems after step motor phase failure.
Background technique
Permanent magnet synchronous motor because it has many advantages, such as that speed-regulating range width, dynamic response are good, controllability is strong, power factor is high,
It is widely used in the fields such as industry, military affairs, aerospace.Open phase fault is a kind of common failure in permanent magnet synchronous motor,
It can reduce motor performance and increase as phase current is uneven and caused by loss.In order to avoid above-mentioned unfavorable factor, will break
Mutually fault-tolerant actuation techniques are applied to disconnected phase motor, can reduce the electric current of non-faulting phase winding after motor phase failure, torque pulsation inhibited,
Guarantee motor driven systems high-performance safe and stable operation.The study found that according to rotor structure, permanent magnet synchronous motor mainly includes
Surface-mount type and two kinds built-in.Durface mounted permanent magnet synchronous motor superior performance, mainly uses id=0 control method.id=0 control
Method processed can simplify analysis and modeling based on four-leg inverter motor.In view of id=0 control method surface-mount type forever
It is widely applied in magnetic-synchro motor, studies its disconnected phase fault tolerant control method and be of great significance.
Summary of the invention
The technical problem to be solved by the present invention is for the disconnected mutually event of the durface mounted permanent magnet synchronous motor based on four bridge legs topology
Barrier problem proposes a kind of novel reference coordinate transformation matrix, which can be by the time-varying under three-phase static coordinate system
Sinusoidal pattern non-faulting phase reference current and current in middle wire reference quantity are converted to two DC quantities under novel synchronous rotating coordinate system,
The two DC quantities are equal with electric system given value of current value.It, can after electric system open phase fault based on novel coordinate transform
Surface-mount type can be realized forever without redesigning complicated current controller with the electric current PI controller before direct application failure
High-performance faults-tolerant control of the magnetic-synchro motor under open phase fault.
The present invention solves the technical solution that above-mentioned technical problem uses are as follows: a kind of durface mounted permanent magnet synchronous motor is disconnected mutually fault-tolerant
Control method, this method comprises the following steps:
Step 1: building disconnected phase fault-tolerant control system.The system includes seven modules: PI controller module 1, coordinate contravariant
Change the mold block 2, PWM wave generation module 3, four-leg inverter module 4, permanent magnet synchronous motor module 5, fault diagnosis module 6, coordinate
Conversion module 7 realizes open phase fault front and back to the high performance control of motor by this 7 modules.Wherein, fault diagnosis module 6
It is responsible for the three-phase current of detection permanent magnet synchronous motor module 5, and judges the health of permanent magnet synchronous motor module 5 according to three-phase current
Situation, and then control system operational mode；Coordinate inverse transform block 7 is responsible for converting three-phase current under synchronous rotating frame
Current feedback values；PI control module 1 is responsible for realizing current error value (the i.e. current reference value and electricity by under synchronous rotating frame
Flow the difference of value of feedback) it is converted into voltage reference value；Coordinate inverse transform block 2 is responsible for the Voltage Reference under synchronous rotating frame
Value is converted into the voltage reference value under three-phase static coordinate system；PWM wave generation module 3 generates 8 tunnels according to three-phase voltage reference value
PWM wave, and for controlling the switching tube in four-leg inverter module 4, to realize the driving to permanent magnet synchronous motor module 5
Control；
Step 2: control system is according to the motor health status of the output of fault diagnosis module 6 come running mode switching:
When fault diagnosis module judges motor fault-free, system will be run under normal mode, i.e. coordinate transformation module 7
Using transformation matrix P (i.e. a-b-c coordinate system → d-q-0 coordinate system transformation matrix), coordinate inverse transform block 2 uses matrix P-1
(i.e. d-q-0 coordinate system → a-b-c coordinate system transformation matrix), and PWM wave generation module 3 is using the conventional PWM based on carrier wave
Modulation system, under normal circumstances, in=0 can ignore, at this time the three-phase current i of motor feedbacka,ib,icPass through coordinate transform mould
The transformation matrix of coordinates P of block 7 is converted to the DC feedback electric current i under synchronous rotating framed,iq, feedback current id、iqWith electricity
Flow given value id *、iq *It compares, difference is input in electric current PI controller module 1；Electric current PI controller is according to error amount meter
Calculate simultaneously output reference voltage ud *、uq *；ud *、uq *As the input of coordinate inverse transform block 2, pass through coordinate inverse transformation (P-1) conversion
For three-phase reference voltage uan *,ubn *,ucn *；Three-phase reference voltage is input to PWM wave generation module 3 and as PWM wave generator
Input, PWM wave generator first generate 4 road pwm switching signal S using the PWM modulation mode based on carrier wavea、Sb、ScAnd Sn, then lead to
It crosses 4 tunnels of logical not operation generation and negates switching signal；Four bridges are input by the 8 road pwm switching signals that PWM generation module generates
Controlling in arm inverter module 4 and to 8 switching tubes of four-leg inverter；Inverter by by four bridge arms and electricity
The phase line of machine, middle line are correspondingly connected with, the driving to motor；
Once fault diagnosis module 6 detects that open phase fault occurs for motor, the output signal F of the fault diagnosis module will be controlled
The reconstruct of 7 these three modules of coordinate inverse transform block 2, PWM wave generation module 3 and coordinate transformation module, makes system in system processed
Failure operation mode is switched to, i.e. coordinate transformation module uses transformation matrix (ST) (i.e. b-c-n coordinate system → d-q-0 coordinate system
Transformation matrix), coordinate inverse transform block uses matrix (ST)-1(i.e. d-q-0 coordinate system → b-c-n coordinate system transformation matrix), and
PWM wave generation module uses the PWM modulation mode based on carrier wave under open phase fault mode, and (setting A phase voltage refers to uan *=0,
And by switching signal zero setting corresponding to disconnected phase)；Under malfunction, the electric current of failure phase is zero, i.e. ia=0, motor it is other
Feedback current ib,ic,inIt is converted to by the transformation matrix of coordinates (ST) of coordinate transformation module 7 anti-under synchronous rotating frame
Supply current ir,ik, feedback current ir、ikWith given value of current value id *、iq *It compares, difference is input in PI controller module 1
PI controller；PI controller calculates and output reference voltage ud *、uq *；ud *、uq *It is input in coordinate inverse transform block 2, passes through seat
Mark the coordinate reverse transform matrix (ST) of inverse transform block 2-1Obtain two-phase reference voltage ubn *,ucn *, two-phase reference voltage is input to
Input in PWM wave generation module 3 as PWM wave generator, u is first arranged in PWM wave generator under fault modean *=0, then benefit
4 road pwm switching signal S are directly generated with the PWM modulation mode based on carrier methodb,Sc,Sn, this 4 path switching signal is by patrolling
It collects 4 tunnels of inverse regeneration and negates switching signal, in this 8 road signal, switching signal S corresponding with disconnected failureaWithThen by
To realize the isolation to failure phase, 8 path switching signals ultimately generated are input to four-leg inverter mould by signal wire for zero setting
8 switching tubes in four-leg inverter are controlled in block 4, and four bridge arms of inverter respectively with the phase line of motor,
Middle line is correspondingly connected with (failure is mutually cut off), to realize the drive control under malfunction to motor.
New coordinate transform (x-y-n coordinate system → r-k coordinate system) are as follows:
Wherein irk=[ir ik]T, the electric current under synchronous rotating frame when being open phase fault, value is respectively and before failure
Electric current i under motor synchronous rotating framed、iqIt is equal；ixyn=[ix iy in]T, indicate motor health phase and middle line when failure
Feedback current, subscript x, y represents non-faulting phase, and k is phase adjustment coefficient: when A phase breaks phase, x=b, y=c, k=0；Work as B
When phase of mutually breaking, x=c, y=a, k=2；When C phase breaks phase, x=a, y=b, k=1.θ indicates rotor angle location；k1、k2、k3For
Constant, value are as follows:
New coordinate inverse transformation (r-k coordinate system → x-y-n coordinate system) are as follows:
Wherein, uxyn *=[ux * uy * un *]T, for health phase and the corresponding voltage instruction of middle line；urk *=[ur * uk *]T, it is
Voltage instruction under r-k coordinate system, value respectively with the Voltage Reference u under failure front motor synchronous rotating framed *、uq *Phase
Deng.
The principle of the present invention is:, can be with by designing novel reference coordinate transition matrix in the case where open phase fault
By under three-phase static coordinate system time-varying sinusoidal pattern non-faulting phase reference current and current in middle wire with reference to be converted to novel synchronous rotation
Turn two DC quantity i under coordinate systemr *、ik *, so that the two DC quantities respectively with the given value of current value i of electric systemd *、iq *
Equal (id *、iq *It can be calculated by torque instruction).It, can be straight after electric system open phase fault based on novel coordinate transform
It is same that durface mounted permanent magnet can be realized without redesigning complicated current controller in electric current PI controller before connecing application failure
Walk high-performance faults-tolerant control of the motor under open phase fault.
Realize that steps are as follows:
The first step calculates three-phase reference current and middle line reference current when failure.
Permanent magnet synchronous motor is from d-q-0 coordinate system to the transformation for mula of a-b-c coordinate system such as following formula under normal circumstances:
In formula, ia、ib、icIndicate three-phase current under a-b-c coordinate system, id、iq、i0Indicate the armature under d-q-0 coordinate system
Electric current, θ indicate rotor angle location.
Assuming that open phase fault occurs for A phase, A phase current perseverance is 0 after failure, is not controlled by system.If immovable with reference to electricity
The calculation method of stream, then the actual current on d-q axis will be difficult to follow current instruction, the performance of control system will drop significantly
It is low.It is influenced to reduce disconnected relative system control performance bring, the phase current of A phase winding can be instructed and be set as 0 (i.e. ia *=
0), substitute into d-q-0 coordinate system arrive a-b-c coordinate system phase current transformation for mula, when can obtain A phase fault, non-faulting phase winding with
The reference current of middle line should meet following formula:
In formula, middle line reference current in *=3i0 *=-(ia+ib+ic), ib *And ic *The respectively reference electricity of B phase and C phase
Stream, id *、iq *And i0 *The respectively reference current of d axis, q axis and zero axle.
Similarly, B phase break phase when non-faulting phase winding and the corresponding reference current of middle line are as follows:
C phase break phase when non-faulting phase winding and the corresponding reference current of middle line are as follows:
Comprehensive A, B, C phase breaks the reference current expression formula after phase it is found that in order to guarantee that motor turns before and after open phase fault respectively
Square value is equal, and the phase current magnitude of remaining two non-faulting phases must be increased to originalTimes, and difference each other is
60 °, and current in middle wire amplitude must increase 3 times.The reference current of k is writeable after motor generation open phase fault are as follows:
In formula, subscript x, y indicates non-faulting phase, and subscript z indicates failure phase, ix *、iy *For the phase current of motor non-faulting phase
With reference to iz *For the phase-current reference of electrical fault phase, k is phase adjustment coefficient, and is had: when A phase open phase fault, x=b, y=
C, k=0；When B phase open phase fault, x=c, y=a, k=2；When C phase open phase fault, x=a, y=b, k=1.
For durface mounted permanent magnet synchronous motor, i is generallyd usedI is arranged in=0 control methodd *=0 can abbreviation above formula:
Second step designs novel electric current coordinate transform.
It can be seen that from above formula, non-faulting phase reference current and middle line reference current are all synchronous with rotor flux.If by this
Reference current by novel coordinate transform is converted to identical with system before failure current reference value, and (reference value is direct current
Amount), then can simplified control device design, improve post-fault system performance.
Firstly, can be first by the s-t orthogonal coordinate system of static x-y-n reference frame convert to static, transformational relation
As shown in Figure 3.The coordinate transform is similar to a-b-c coordinate system → alpha-beta coordinate system transformation, and it is public to acquire transformation using projection relation
Formula:
In formula, matrix T are as follows:
Secondly, motor reference current is transformed into synchronous rotary r-k coordinate system by static s-t orthogonal coordinate system.But by
Non-faulting reference current sine term expression formula refers to value expression different from three-phase current under normal condition under malfunction, because
Current reference cannot be transformed into synchronous rotating frame by the transformation matrix of conventional alpha-beta coordinate system → d-q coordinate system by this.
Can first ask A phase break phase when alpha-beta coordinate system → d-q coordinate system transformation matrix.Assuming that by changing as follows, time-varying
Sinusoidal pattern non-faulting phase reference current can be converted to respective synchronization rotary variable (i.e. b-c-n coordinate system → r-k coordinate system):
In formula, S=[acos θ bsin θ；Csin θ dcos θ], ir *、ik *To convert (b-c- through Coordinate
N coordinate system → r-k coordinate system) it is transformed into the DC current reference value under novel r-k coordinate system.Phase reference current and middle line are joined
It examines current expression and substitutes into above formula, above formula can indicate are as follows:
For the design of simplified control device, i is setr *、ik *Value refers to i with failure front motor system power respectivelyd *、iq *Phase
Deng i.e. ir *=id *And ik *=iq *, and a=1 is set, following formula can be obtained:
Therefore, the coordinate transform of novel b-c-n coordinate system → r-k coordinate system can be obtained:
The reference current that the first step obtains is observed it is found that B, C break respectively when phase, reference of the motor under x-y-n coordinate system
Current vector ix *、iy *、in *The difference between corresponding reference current vector when phase of breaking with A phase is 4 π/3 and 2 π/3, and synchronizes rotation
Turn the reference current vector i under coordinate systemr *、ik *It is then identical, it is the i before failured *、iq *, the dimensional orientation of each current vector and
Transformation relation is as shown in Figure 3.Therefore can by euler rotation matrix obtain B, C respectively break phase when x-y-n coordinate system → r-k coordinate
The coordinate conversion relation of system.A, B, C phase respectively break phase when x-y-n coordinate system → r-k coordinate system coordinate conversion relation it is as follows:
In formula, subscript x, y indicates non-faulting phase, and subscript z indicates failure phase, ix、iyFor the phase current of motor non-faulting phase,
izFor the phase current of electrical fault phase, k is phase adjustment coefficient, and is had: when A phase open phase fault, x=b, y=c, k=0；When
When B phase open phase fault, x=c, y=a, k=2；When C phase open phase fault, x=a, y=b, k=1.k1、k2、k3For constant,
Value are as follows:
Third step, the coordinate transform of design voltage instruction.Since three-leg inverter does not have open phase fault fault-tolerant ability,
Therefore open phase fault faults-tolerant control is carried out using four-leg inverter here.Inverter is divided into voltage source inverter and current mode is inverse
Become two kinds of device, because voltage source inverter is widely used in reasons such as the high performance-price ratios of control system for permanent-magnet synchronous motor.In order to
Four bridge legs voltage inverter is controlled, system needs to provide the voltage reference value of three-phase windings and middle line.But electric machine control system is only
PI closed-loop control is carried out to d-q shaft current, the output of PI current controller is d-q shaft voltage reference value (ud *,uq *).In order to obtain
The voltage reference value of three-phase windings and middle line is obtained, system is needed to voltage instruction ud *,uq *Converted (r-k coordinate system → x-y-
N coordinate system).
When open phase fault occurs for z phase, derived according to x-y-n coordinate system → r-k coordinate system electric current coordinate conversion relation
It is following formula that r-k coordinate system → x-y-n coordinate system reverse transform matrix, which can be obtained:
Wherein, uxyn *=[ux * uy * un *]T, for health phase and the corresponding voltage instruction of middle line；urk *=[ur * uk *]T, it is
Voltage instruction under r-k coordinate system, value respectively with the Voltage Reference u under failure front motor synchronous rotating framed *、uq *Phase
Deng.
4th step, PWM wave generate.Electric machine control system is inverse to obtain four bridge legs using the PWM method based on carrier wave
Become device switching signal.Under normal circumstances, the PWM method based on carrier wave uses following formula to calculate neutral voltage reference value (with straight
Flowing bus capacitor midpoint is with reference to zero potential):
And A, B, C phase terminal voltage reference value can be expressed as:
Wherein, uas *、ubs *、ucs *And un *It is referred to for motor side to busbar voltage midpoint reference value and neutral point voltage.Work as z
When phase of mutually breaking, z phase voltage directive can not be obtained by coordinate inverse transform block.It calculates it is found that as setting uan *When=0, by above-mentioned
Method, which carries out PWM generation, may make voltage modulated range maximum (with consistent before failure), thus in a failure mode, PWM is generated
Module is first by the voltage instruction zero setting of z phase (even uzn *=0), then using the above method outlet voltage instruction u is calculatedas *、ubs *、
ucs *And un *。
PWM generation module directly generates four-way switch signal S by that voltage instruction will be held to be compared with triangular carriera,
Sb,Sc,Sn, and obtain by logical not operation that 4 tunnels are corresponding negates switching signal to drive lower bridge arm switching tube.Normal mode
Under, this 8 path switching signal is directly input into four-leg inverter module.Under fault mode, to isolate failure, with failure
Corresponding 2 path switching signal inputs in four-leg inverter again after being zeroed out.
The advantages of the present invention over the prior art are that:
1. this method voltage with higher utilizes compared with the disconnected mutually fault-tolerant control strategy based on three-phase inverter topology
Rate.In the topological structure based on three-phase inverter, motor middle line is connected to bus capacitor midpoint.Three phase transformations are based on through analysis
The voltage utilization of parallel operation topology is √ 3/4, and is √ 3/2 based on the voltage utilization of four-arm converter topology.Four bridge legs
It is identical when converter voltage utilization rate is with normal condition.Therefore, the disconnected phase fault-tolerance approach based on four bridge legs topology is with higher
Voltage utilization.
2. this method design is simple, without weight compared with the disconnected mutually fault-tolerant control strategy based on four-arm converter topology
New design current controller, failure front and back can realize higher controlling using the PI current controller of identical control parameter
Energy.This method converts DC quantity for non-faulting phase current by designing novel coordinate transform, to simplify open phase fault
The design of electric machine controller.By novel coordinate transform, the transmission function of electric system is held essentially constant before and after failure, because
The electric current PI controller that electric machine control system can directly before application failure after this open phase fault, without redesigning complicated electricity
Stream controller.This method has the advantages of simple structure and easy realization.
Detailed description of the invention
Fig. 1 is algorithm flow chart of the invention；
Fig. 2 is system construction drawing of the invention, wherein 1 represents PI controller module；2 represent coordinate inverse transform block；3
Represent PWM generation module；4 represent four-leg inverter module；5 represent permanent magnet synchronous motor module；6 representing faults diagnose mould
Block；7 represent coordinate transformation module；
Fig. 3 is reference current coordinate transformation relation schematic diagram according to the present invention.Wherein, Fig. 3 (a), 3 (b), 3 (c) point
Not Wei A, B, C phase individually disconnected phase when correspond to reference current vector signal under x-y-n coordinate system and conventional a-b-c coordinate system
Figure；3 (d), 3 (e), 3 (f) be respectively A, B, C phase individually disconnected phase when, under x-y-n coordinate system, s-t coordinate system and r-k coordinate system
Reference current vector schematic diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the present invention.
Fig. 2 is the disconnected phase fault-tolerant control system of durface mounted permanent magnet synchronous motor that the present invention designs, and mainly includes seven modules:
PI controller module 1, coordinate inverse transform block 2, PWM wave generation module 3, four-leg inverter module 4, permanent magnet synchronous motor mould
Block 5, fault diagnosis module 6, coordinate transformation module 7.
In electric machine control system, coordinate transformation module 7 (passes the measured value of three-phase current and current in middle wire from electric current
Sensor) it is coordinately transformed, so that it is converted into the current measurement value of d-q axis, and the given value as feedback quantity and d-q shaft current
It is compared (it is poor to make), comparison result (error amount) input current PI controller module 1, controller is according to corresponding control rule
Rule converts the error amount of d-q shaft current to the voltage instruction of d-q axis, which converts by coordinate inverse transform block 2
For three-phase voltage command, and three-phase voltage command is transmitted to PWM wave generation module 3 through signal wire, which, which uses, is based on carrier wave
PWM modulation mode generate pwm signal, pwm signal generated is sent to four-leg inverter module 4 to control inverter
8 switching tubes of four bridge legs.Because four bridge legs are connected with 4 ports of motor module 5, voltage is respectively held to motor to realize
And the control of each phase current, the final control realized to stator flux of motor, electromagnetic torque realize the control to motor.
And the fault diagnosis module 6 in electric machine control system is then responsible for carrying out motor fault detection, and control system according to testing result
The algorithm of coordinate transformation module in system, coordinate inverse transform block and PWM wave generation module this 3 modules, if detecting at system
In normal condition, then these three modules use conventional algorithm, and when detecting failure, these three modules then use fault algorithms.With
The lower specific algorithm that each module is described in detail.
Coordinate transformation module 7: the module utilizes transformation matrix of coordinates (P or ST) three-phase windings that will test and middle line electricity
Flow (iabcOr ixyn) it is converted into the current feedback (i under synchronous rotating framedqOr irk).The algorithm of the module can be with system shape
State changes.Algorithm (conventional algorithm) under normal circumstances are as follows:
Algorithm when failure are as follows:
Wherein irk=[ir ik]T, the electric current under synchronous rotating frame when being open phase fault, value is respectively and before failure
Electric current i under motor synchronous rotating framed、iqIt is equal；ixyn=[ix iy in]T, indicate motor health phase and middle line when failure
Feedback current, subscript x, y represents non-faulting phase, and k is phase adjustment coefficient: when A phase breaks phase, x=b, y=c, k=0；Work as B
When phase of mutually breaking, x=c, y=a, k=2；When C phase breaks phase, x=a, y=b, k=1.θ indicates rotor angle location；k1、k2、k3For
Constant, value are as follows:
Electric current PI controller module 1: the module utilizes PI control law, converts voltage desired value for current error value,
Algorithm before and after failure does not change, and specific algorithm may be expressed as:
K in algorithmpd、KIdAnd Kpq、KIqThe control parameter of electric current PI controller respectively on d, q axis, is determined by the parameter of electric machine
Calmly, when practical application, trial and error procedure can be used, is adjusted according to the step response of system under motor normal operating condition.Edge after failure
With the parameter before failure, without separately setting its value.
Coordinate inverse transform block 2: the module utilizes coordinate reverse transform matrix P-1/(ST)-1, d-q shaft voltage is instruction morphing
For a-b-c three-phase voltage command.The algorithm that the module uses is determined by system mode.Algorithm (conventional algorithm) under normal circumstances
Are as follows:
And under malfunction, algorithm is changed to:
Wherein, uxyn *=[ux * uy * un *]T, for health phase and the corresponding voltage instruction of middle line；urk *=[ur * uk *]T, it is
Voltage instruction under r-k coordinate system, value respectively with the Voltage Reference u under failure front motor synchronous rotating framed *、uq *Phase
Deng.
PWM wave generation module 3: the modular algorithm can be divided into phase voltage directive zero setting, end voltage instruction meter according to process order
It calculates, 4 tunnel PWM waves generate and this four parts of the logical operation of PWM wave.Phase voltage directive zero-setting operation refers to from coordinate contravariant
It changes the mold the phase voltage directive that block obtains and carries out instruction pre-handle, i.e., set zero (if z phase fault for the phase voltage directive of failure phase
When, u is setzn *=0), and the end voltage instruction of non-faulting phase remains unchanged.After holding voltage instruction calculating section that will then pre-process
Phase voltage directive according to following formula calculate outlet voltage instruction:
It is then to be compared end voltage instruction obtained with isoceles triangle carrier wave that PWM wave, which generates operation, and to comparing
The positive and negative of value is judged, to obtain four tunnel PWM waves.Wherein the amplitude of triangular carrier is DC bus-bar voltage, and average value is
0, frequency then can may generally be 10kHz according to performance requirement to system etc. compromise selection.The logical operation of PWM wave is then
Refer to that 4 road PWM of previous step 4 tunnel PWM wave progress logical not operation acquisition obtained, which are negated signal, is used to that lower bridge arm to be driven to open
Guan Guan.This negates signal and adds former 4 road pwm signals, totally 8 road pwm signal.After obtaining 8 road pwm signals, according to motor
The corresponding two-way pwm signal of failure is carried out zero-setting operation by state, i.e., it is carried out logic and operation with logic ' 0 ').And
The corresponding PWM wave of non-faulting then carries out logic and operation with logic ' 1 ').
The module completes the generation of 8 road pwm signals by above four operations.
Four-leg inverter module 4 and permanent magnet synchronous motor module 5: the two modules are strong power system, are analog circuits
The execution module of module and control system.Wherein four-leg inverter is the driving circuit of motor, its four bridge arms difference
Four ends of motor are connected to, may be implemented by the on-off of 8 switching tubes to motor terminal voltage, phase voltage, the control of phase current, from
And realize the control to motor.
Fault diagnosis module 6: the module real-time perfoming fault detection and will test result be conveyed to coordinate transformation module, sit
Inverse transform block and PWM wave generation module are marked, the algorithm of these three modules is controlled, to realize to whole system state
Switching.After fault detection algorithm detects open phase fault, which sets 1 to corresponding Reflector variable, and non-faulting
The Reflector variable zero setting of phase.When such as A phase fault, F is seta=1, Fb=Fc=0, which exports these three Reflectors
Variable is switched with the state of this control system.
The algorithm flow chart of entire control system is as shown in Figure 1.
Chronologically, signal flow is successively for whole system process are as follows: current measurement (three-phase windings and middle line) → fault diagnosis
→ model selection (algorithm reconstruct) → coordinate transform → PI control → coordinate inverse transformation → PWM generation → inverter switching device pipe movement
→ motor operation, whole flow process cycle operation.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (2)
- The phase fault tolerant control method 1. a kind of durface mounted permanent magnet synchronous motor breaks, it is characterised in that: new coordinate transformation method is used, Under the premise of not changing current controller, it is kept approximately constant control performance of the system before and after failure.This method includes Following steps:Step 1: building disconnected phase fault-tolerant control system, which includes seven modules: PI controller module (1), coordinate inverse transformation Module (2), PWM wave generation module (3), four-leg inverter module (4), permanent magnet synchronous motor module (5), fault diagnosis module (6), coordinate transformation module (7) realize open phase fault front and back to the high performance control of motor, wherein failure by this 7 modules Diagnostic module (6) is responsible for the three-phase current of detection permanent magnet synchronous motor module (5), and judges motor (5) according to three-phase current Health status, and then control system operational mode；Coordinate inverse transform block (2) is responsible for converting three-phase current to synchronous rotary seat Mark is lower current feedback values；PI controller module (1) is responsible for realizing current error value, that is, electric current under synchronous rotating frame Reference value and the difference of current feedback values are converted into voltage reference value；Coordinate inverse transform block (2) is responsible for synchronous rotating frame Under voltage reference value be converted into the voltage reference value under three-phase static coordinate system；PWM wave generation module (3) is according to three-phase voltage Reference value generates 8 tunnel PWM waves, and for controlling the switching tube in four-leg inverter (4), to realize to permanent magnet synchronous motor The drive control of module (5)；Step 2: the motor health status that control system is exported according to fault diagnosis module (6) is come running mode switching:When fault diagnosis module judges motor fault-free, system will be run under normal mode, i.e., coordinate transformation module (7) is adopted With transformation matrix P (i.e. a-b-c coordinate system → d-q-0 coordinate system transformation matrix), coordinate inverse transform block (2) uses matrix P-1 (i.e. d-q-0 coordinate system → a-b-c coordinate system transformation matrix), and PWM wave generation module (3) using conventional based on carrier wave PWM modulation mode, under normal circumstances, in=0 can ignore, at this time the three-phase current i of motor feedbacka,ib,icBecome by coordinate The transformation matrix of coordinates P of mold changing block (7) is converted to the DC feedback electric current i under synchronous rotating framed,iq, feedback current id、 iqWith given value of current value id *、iq *It compares, difference is input in electric current PI controller module (1)；Electric current PI controller according to Error amount calculates and output reference voltage ud *、uq *；ud *、uq *As the input of coordinate inverse transform block (2), pass through coordinate contravariant Change (P-1) it is converted into three-phase reference voltage uan *,ubn *,ucn *；Three-phase reference voltage is input to PWM wave generation module (3) and conduct The input of PWM wave generator, PWM wave generator first generate 4 road pwm switching signal S using the PWM modulation mode based on carrier wavea、 Sb、ScAnd Sn, then 4 tunnels are generated by logical not operation and negate switching signal；Letter is switched by the 8 road PWM that PWM generation module generates Number it is input into controlling in four-leg inverter module (4) and to 8 switching tubes of four-leg inverter；Inverter is logical It crosses and is correspondingly connected with four bridge arms and the phase line of motor, middle line, the driving to motor；Once fault diagnosis module (6) detects that open phase fault occurs for motor, the output signal F of the fault diagnosis module will be controlled The reconstruct of coordinate inverse transform block (2) in system, PWM wave generation module (3) and coordinate transformation module (7) these three modules, makes System switches to failure operation mode, i.e. coordinate transformation module uses transformation matrix (ST): x-y-n coordinate system → d-q-0 coordinate It is transformation matrix, x, y, z is motor A, B, C three-phase, and wherein x, y represent non-faulting phase, z representing fault phase, when A phase fault, x =b, y=c, z=a；When B phase fault, x=c, y=a, z=b；When C phase fault, x=a, y=b, z=c, coordinate contravariant It changes the mold block and uses matrix (ST)-1(i.e. d-q-0 coordinate system → x-y-n coordinate system transformation matrix), and PWM wave generation module is using disconnected The Voltage Reference u of failure phase is arranged in the PWM modulation mode based on carrier wave under phase fault modezn *=0, and will be corresponding to disconnected phase Switching signal zero setting；Under malfunction, the electric current of failure phase is zero, i.e. iz=0, other feedback current i of motorx,iy,in The feedback current i under synchronous rotating frame is converted to by the transformation matrix of coordinates (ST) of coordinate transformation module (7)r,ik, instead Supply current ir、ikWith given value of current value id *、iq *It compares, difference is input to the PI controller in PI controller module (1)；PI Controller calculates and output reference voltage ud *、uq *；ud *、uq *It is input in coordinate inverse transform block (2), passes through coordinate inverse transformation The coordinate reverse transform matrix (ST) of module (2)-1Obtain two-phase reference voltage ubn *,ucn *, it is raw that two-phase reference voltage is input to PWM wave At the input in module (3) as PWM wave generator, and u is first arranged in PWM wave generatorzn *=0, it recycles and is based on carrier method PWM modulation mode directly generate 4 road pwm switching signal Sa,Sb,Sc,Sn, this 4 path switching signal pass through logical not operation regenerate Switching signal is negated at 4 tunnels, in this 8 road signal, switching signal S corresponding with disconnected failurezAnd SzIt is then zeroed out to realize to event Hinder the isolation of phase, 8 path switching signals ultimately generated are input in four-leg inverter module (4) by signal wire to four bridge legs 8 switching tubes in inverter are controlled, and four bridge arms of inverter are correspondingly connected with the phase line of motor, middle line respectively, Failure is mutually cut off, to realize the drive control under malfunction to motor.
- The phase fault tolerant control method 2. durface mounted permanent magnet synchronous motor according to claim 1 breaks, it is characterised in that: new seat Mark transformation (x-y-n coordinate system → r-k coordinate system) are as follows:New coordinate transform (x-y-n coordinate system → r-k coordinate system) are as follows:Wherein irk=[ir ik]T, the electric current under synchronous rotating frame when being open phase fault, value respectively with failure front motor Electric current i under synchronous rotating framed、iqIt is equal；ixyn=[ix iy in]T, indicate that motor health is mutually anti-with middle line when failure Supply current, subscript x, y represent non-faulting phase, and k is phase adjustment coefficient: when A phase breaks phase, x=b, y=c, k=0；When B phase is broken Xiang Shi, x=c, y=a, k=2；When C phase breaks phase, x=a, y=b, k=1, θ indicate rotor angle location；k1、k2、k3For constant, Its value are as follows:New coordinate inverse transformation (r-k coordinate system → x-y-n coordinate system) are as follows:Wherein, uxyn *=[ux * uy * un *]T, for health phase and the corresponding voltage instruction of middle line；urk *=[ur * uk *]T, sat for r-k Mark system under voltage instruction, value respectively with the Voltage Reference u under failure front motor synchronous rotating framed *、uq *It is equal.
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