CN109842336A - A kind of fault-tolerant Direct Torque Control of five phase magneto one phase short circuit - Google Patents

A kind of fault-tolerant Direct Torque Control of five phase magneto one phase short circuit Download PDF

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CN109842336A
CN109842336A CN201910039060.7A CN201910039060A CN109842336A CN 109842336 A CN109842336 A CN 109842336A CN 201910039060 A CN201910039060 A CN 201910039060A CN 109842336 A CN109842336 A CN 109842336A
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phase
fault
magnetic linkage
tolerant
faulting
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CN109842336B (en
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周华伟
周城
陶炜国
徐金辉
张多
刘国海
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Jiangsu University
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Jiangsu University
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Priority to PCT/CN2019/075503 priority patent/WO2020147162A1/en
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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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0243—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a broken phase
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a kind of fault-tolerant Direct Torque Controls of five phase magneto one phase short circuit.When open-circuit fault occurs for A phase, according to stator magnetic linkage vector before and after failure, the sum of constant, non-faulting phase current is zero and the smallest constraint condition of copper loss, derives that the non-faulting of motor fault-tolerant operation is mutually opened a way fault-tolerant electric current, fault-tolerant transformation matrix T4/2And its inverse matrix T2/4；When short trouble occurs for A phase, according to stator magnetic linkage vector before and after failure, constant, copper loss minimum principle or non-faulting mutually compensate the constraint condition that current amplitude is equal, remaining non-faulting mutually compensates electric current and is zero, derive that remaining non-faulting mutually compensates magnetic linkage；Stator phase voltage instruction is found out in conjunction with stator magnetic linkage and torque observer, given torque and stator magnetic linkage amplitude, coordinate transform, the voltage combines the pulse modulation technology based on injected zero-sequence voltage to realize the self-consistent steady-state performance of electric motor short circuit failure, dynamic property, and inverter switching frequency is constant, CPU overhead is small.

Description

A kind of fault-tolerant Direct Torque Control of five phase magneto one phase short circuit
Technical field
The present invention relates to a kind of one phase short trouble Direct Torque fault tolerant control method of magneto, especially five phase permanent magnetism Motor fault-tolerant Direct Torque Control can be applied in aerospace, electric car etc. to motor reliability and dynamic property There is the occasion of strict demand.
Background technique
With the promotion of social development levels, also huge change is occurring for the vehicles, for example, electric car goes out It is existing, energy consumption can be greatly reduced and reduce environmental pollution, at the same time, electric vehicle engineering standard is more and more tighter Sincerely, as one of components most important on electric vehicle, steady-state performance, dynamic property under malfunction directly determine motor The reliability of electric vehicle, it is therefore necessary to guarantee error resilience performance of the motor under failure, normal operation shape can be possessed Stable state and dynamic property under condition.
When a phase short trouble occurs for motor, although motor still can export a certain size torque at this time, turn There is very big fluctuations for square, and motor operation noise after failure, loss all become larger, so that motor performance and using the longevity Life decline or even phase short trouble can cause motor driven systems permanent damages.And when short trouble occurs for motor, fault-tolerant calculation The addition of method motor can be made to basically reach failure before stable state and dynamic property so that motor output smoothing after failure turns Square." a kind of short circuit of five novel phase magnetoes is fault-tolerant for the patent that Chinese invention patent application number is 201610540823.2 Control method " for five mutually fault-tolerant durface mounted permanent magnet rotating electric machines propose a kind of short-circuit fault tolerant control method.It is a certain when motor When short trouble mutually occurs, short circuit current can generate the torque pulsation that a frequency and phase can determine.This method passes through The amplitude and phase for changing other healthy phase currents make all normal phases that can generate one and short-circuit phase identical frequency and phase Torque pulsation, and make torque pulsation vector sum zero caused by each phase, while finally synthesize average must also be met and turned Square with it is equal under normal circumstances.The remaining non-faulting that this method is used to that short-circuit phase current to be inhibited to lead to torque ripple mutually compensates electric current Amplitude be dynamic change, it is related with motor operation operating condition.Document IEEE Transactions on Power Electronics, 33 (3): 2774-2784,2018 " An Experimenta1 Assessment of Open-Phase Fault-Tolerant Virtual-Vector-Based Direct Torque Control in Five-Phase Induction Motor Drives " proposes a kind of fault-tolerant Direct Torque side for five phase induction machine one-phase open circuit failures It is fault-tolerant to be not particularly suited for short circuit for method, the tolerant fail algorithm which proposes one-phase open circuit failure, and this method exists After motor one-phase open circuit failure, using hysteresis comparison control, there is a problem of that traditional Direct Torque Control is intrinsic.It is so far Only, there are no documents to be directed to five phase magnetoes, one phase short trouble, proposes the fault tolerant control method based on Direct Torque.
Summary of the invention
For deficiency existing for existing five phases magneto Direct Torque Fault Tolerance Control Technology, and control object of the present invention The characteristics of five phase magnetoes and such electric motor short circuit fault characteristic do not have after a phase short trouble occurs for five phase magnetoes There is the Strategy of Direct Torque Control suitable for five phase magnetoes, proposes an a kind of phase short trouble for five phase magnetoes In the case of fault-tolerant Direct Torque Control, can not only realize height of such electric system under a phase short trouble state Error resilience performance, high dynamic performance, excellent Assist force performance, while can reduce the complexity and controller of control algolithm The expense of CPU, but also may be implemented inverter switching frequency is constant, copper wastage is minimum, noise of motor reduce and simplify EMC Design finally can be realized high reliability, high stable state and dynamic under five phase magnetoes, one phase short trouble Energy.
Fault-tolerant Direct Torque Control of the present invention for five phase magnetoes adopts the following technical scheme that
Control object of the invention is five phase magnetoes, and five phases of motor are respectively defined as A, B, C, D, E phase, wherein one Fault-tolerant Direct Torque Control under phase short-circuit conditions, comprising the following steps:
Step 1, stator magnetic linkage mathematical model when motor operates normally is established；
Step 2, when A phase short trouble occurs for motor, a phase short circuit faults-tolerant control strategy can be fault-tolerant in one-phase open circuit On the basis of carry out short-circuit faults-tolerant control, therefore, first since faults-tolerant control of opening a way.When open-circuit fault occurs for A phase, A phase is opened Pass plays magnetic linkage changing unit and is defined as open circuit magnetic linkage disturbance ψ 'A.According to stator magnetic linkage arrow identical before and after motor open-circuit fault Amount, the sum of non-faulting phase current be zero, copper loss minimum principle, finds out the non-faulting phase that motor fault-tolerant after A phase open-circuit fault is run Open a way fault-tolerant electric current (i 'B、i′C、i′D、i′E).On this basis, it is required, is derived for that will open according to the control of Direct Torque Fault-tolerant transformation matrix T of the change of variable into alpha-beta coordinate system under the fault condition of road in natural system of coordinates4/2And it is corresponding inverse Transformation matrix T2/4；
Step 3, further, when short trouble occurs for A phase, A phase short circuit current iscMagnetic linkage changing unit is caused to be defined as Short-circuit magnetic linkage disturbs ψ "A.Constant, copper loss minimum principle or compensation electric current width according to stator magnetic linkage vector before and after electric motor short circuit failure Value principle and remaining non-faulting mutually compensate electric current and be zero constraint condition, derive remaining non-faulting and mutually compensate magnetic linkage (ψcompB、ψcompC、ψcompD、ψcompE) and compensation electric current (icomp、icompC、icompD、icompE)；
Step 4, on the basis of step 3, the short circuit using remaining non-faulting phase after current sensor acquisition A phase short circuit is held Wrong electric current (i "B、i″C、i″D、i″E).Using transformation matrix T4/2The fault-tolerant electric current of short circuit of remaining non-faulting phase is subtracted into compensation electricity Current component (i of the fault-tolerant current transformation of open circuit obtained after stream into alpha-beta and x-y coordinate systemα、iβ、iy), while being controlled using PI Device processed controls electric current iyIt is zero, the output of the PI controller is Three dimensional Targets voltage
Step 5, further, the fault-tolerant magnetic linkage (ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″E) subtract and derived by step 3 Compensation magnetic linkage (ψ outcompB、ψcompC、ψcompD、ψcompE), obtain the fault-tolerant magnetic linkage (ψ " that opens a wayB、ψ′C、ψ′D、ψ″E), by T4/2It should Magnetic linkage transforms to the magnetic linkage component (ψ in alpha-beta coordinate systemα、ψβ)；
Or step 5, by T4/2By the fault-tolerant magnetic linkage (ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″E) transform to alpha-beta coordinate The fault-tolerant magnetic linkage component (ψ " of short circuit in systemα、ψ″β), and by the compensation magnetic linkage (ψ of remaining non-faulting phasecompB、ψcompC、ψcompD、 ψcompE) transform to compensation magnetic linkage component (ψ in alpha-beta coordinate systemcompα、ψcompβ), then by the fault-tolerant magnetic of short circuit in alpha-beta coordinate system Chain component (ψ "α、ψ″β) subtract compensation magnetic linkage component (ψ in alpha-beta coordinate systemcompα、ψcompβ) obtain the magnetic linkage in alpha-beta coordinate system Component (ψα、ψβ)；
Step 6, according to step 4 and 5, stator flux of motor amplitude is estimated using flux observer and torque observer ψs, magnetic linkage angle θsWith torque Te；
Step 7, torque reference valueWith estimated value TeIt is poor to make, which obtains torque increment angle Δ δ through pi regulator, into And according to the stator magnetic linkage amplitude ψ of observations, flux linkage set valueStator magnet chain angle θsAnd torque increment angle Δ δ derives magnetic Difference (the Δ ψ of chain given value and the stator magnetic linkage of observation on α axis and β axisα、Δψβ)；
Step 8, on the basis of step 7, according to stator voltage equation, voltage vector prediction is constructed in alpha-beta coordinate system Device predicts component of the given voltage on α axis and β axisUsing T2/4The stator target voltage component that will be found out It transforms to natural coordinates to fasten, obtains machine phase voltages instructionWith season
Step 9, by the resulting phase voltage directive of step 8 through voltage source inverter, five phase permanent magnetism are realized using CPWM mode The unperturbed of fault-tolerant Direct Torque Control after one phase short trouble of motor is run.
The invention has the following advantages:
1, fault-tolerant Direct Torque Control of the invention is not only able to achieve the permanent magnet motor system for containing only permanent-magnet torque Reliability service, and it is able to achieve the reliability service of the permanent magnet motor system comprising permanent-magnet torque and reluctance torque.That is, should Faults-tolerant control has been extended to permanent magnet motor system by fault-tolerant Strategy of Direct Torque Control.Cooperate torque capacity electric current than algorithm, it should Fault-tolerant Strategy of Direct Torque Control can be realized under magneto open circuit or short circuit fault condition based on torque capacity electric current ratio Direct Torque Control, and then reluctance torque is made full use of, effectively improve the output torque under magneto fault condition.
2, fault-tolerant Direct Torque Control of the invention is different from traditional fault-tolerant Direct Torque Control, and traditional is fault-tolerant Direct Torque Control is using the target voltage vector selected in switch list by hysteresis comparator.Hysteresis comparator exists Voltage block error leads to biggish thrust calculation；Simultaneously because switch list inquiry and sector differentiate the division for being related to sector, three The calculating of angle function and irrational function greatly increases the complexity of program；And fault-tolerant Direct Torque Control of the invention is adopted With voltage vector prediction method and based on residual voltage signal injection pulsewidth modulation CPWM method, without differentiating sector and calculating The identical effect of space vector pulse width modulation SVPWM can be obtained, controller CPU memory source is saved, effectively reduces CPU The calculating time, while greatly suppressing torque pulsation, improve direct torque precision.
3, the mutually fault-tolerant electric current of non-faulting is mutually electric according to stator magnetic linkage vector identical before and after failure, non-faulting in the present invention The sum of stream is zero and copper loss minimum principle optimizes.Before guaranteeing that the identical flux linkage vector in failure front and back can be achieved with failure Identical stator magnetic linkage locus circle, current locus circle and identical magnetomotive force afterwards.And conventional method is generally by magnetic before and after failure Kinetic potential is equal to optimize electric current as the most important condition, and it is round for not can guarantee the stator magnetic linkage track obtained on this basis Shape；Therefore, this method is more succinct, implements under electric motor short circuit failure convenient for Direct Torque Control.
4, for four phase variables remaining in natural system of coordinates to be transformed into the fault-tolerant change of two-phase stationary coordinate system in the present invention It changes matrix and its inverse matrix is based on stator magnetic linkage vector identical before and after failure, copper loss minimum principle and non-faulting phase current The sum of be that zero principle is derived, and the fault-tolerant Direct Torque strategy of short circuit combines that realize one phase short trouble of motor fault-tolerant Current component of the motor in alpha-beta coordinate system, before and after amplitude is equal and 90 degree of phase phase difference, that is, failure of magnetic linkage component afterwards Keeping electric current and magnetic linkage track of the motor in alpha-beta coordinate system is an equal amount of circle.It separately no longer needs to as tradition is fault-tolerant straight It connects direct torque special voltage vector is set like that and disinthibite the electric current of the three-dimensional space, it is only necessary to just using simple PI control The electric current can be eliminated, the sine degree of electric current is improved, reduces copper wastage, iron loss and control algolithm complexity.
5, a phase short circuit Direct Torque fault tolerant control method of the invention is pushed away on the basis of fault-tolerant based on one-phase open circuit It exports the remaining non-faulting for inhibiting magnetic linkage caused by short circuit current to disturb and mutually compensates magnetic linkage, therefore this method can not only be real An existing phase short circuit is fault-tolerant, while can also take into account and realize that one-phase open circuit is fault-tolerant, it is fault-tolerant for open circuit, short circuit have well dynamic hold Wrong ability.
6, a phase short circuit Direct Torque fault tolerant control method of the invention, on the basis of opening a way fault-tolerant, most based on copper loss Small principle derives the compensation magnetic linkage of remaining non-faulting phase, so that it is synthesized with magnetic linkage perturbing vector caused by short circuit current It is zero, the disturbance of magnetic linkage caused by short circuit current, torque ripple can not only be eliminated, while also assures identical magnetic before and after failure Chain is round and electric current is round.
7, since short circuit current is a dynamic value with velocity variations, the present invention without carrying out refinement value to it, It is only used as a variable, the fault-tolerant robustness of system one phase short circuit, dynamic fault-tolerant performance is can be improved, has combined short-circuit appearance High-precision, the simplicity of mistake control.
8, the fault-tolerant transformation matrix in the present invention realizes identical magnetic linkage circle and electric current Circular test before and after failure, these are Direct Torque Control under electrical fault state creates precondition；On the other hand control three-dimensional space electric current is zero, is reduced Copper wastage and iron loss, not only increase electric efficiency, while inhibiting torque pulsation caused by three-dimensional space electric current.This hair It is bright by stator magnetic linkage vector constant before and after fault-tolerant transformation matrix and its inverse matrix, failure, based on the pulsewidth of injected zero-sequence voltage Modulation CPWM technology, stator flux observer, torque observer, back-emf integration method combine, and not only realize phase short circuit Unperturbed operation under Direct Torque Control after failure, and inverter busbar voltage utilization rate is improved, while avoiding biography The complexity of system SVPWM algorithm；In addition the CPWM technology that the present invention uses, this method is concise, has highlighted Direct torque The simple and effective feature of system；In addition to this, for a kind of five phase magnetoes, Direct Torque Control proposed by the present invention Direct torque precision under electric motor short circuit malfunction, Assist force performance, torque dynamic property and stability can be improved Can, so that the dynamic after electrical fault is similar to before failure to steady-state performance.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of five phase magneto of the embodiment of the present invention；
Fig. 2 is five phase magneto Strategy of Direct Torque Control schematic diagram of the embodiment of the present invention；
Fig. 3 is fault-tolerant Strategy of Direct Torque Control schematic diagram under five phase magneto A phase short trouble of the embodiment of the present invention；
Fig. 4 be A of the embodiment of the present invention phase from normally under short circuit fault condition without the operation of fault-tolerant Direct Torque Control when Phase current waveform；
Fig. 5 be A of the embodiment of the present invention phase from normally under short circuit fault condition without the operation of fault-tolerant Direct Torque Control when Torque profile；
Fig. 6 be A of the embodiment of the present invention phase from normally under short circuit fault condition without the operation of fault-tolerant Direct Torque Control when Stator magnetic linkage track on alpha-beta；
Fig. 7 be A of the embodiment of the present invention phase from normally under short circuit fault condition without the operation of fault-tolerant Direct Torque Control when Stator current track on alpha-beta；
Fig. 8 is A of embodiment of the present invention phase from normally to the phase under short circuit fault condition when the operation of fault-tolerant Direct Torque Control Current waveform；
Fig. 9 is that A of embodiment of the present invention phase turns from when normally running to fault-tolerant Direct Torque Control under short circuit fault condition Rectangular waveform；
Figure 10 is A of embodiment of the present invention phase from normally to the α-under short circuit fault condition when the operation of fault-tolerant Direct Torque Control Stator magnetic linkage track on β；
Figure 11 is A of embodiment of the present invention phase from normally to the α-under short circuit fault condition when the operation of fault-tolerant Direct Torque Control Stator current track on β；
Figure 12 is motor output torque waveform when torque instruction step rises in normal course of operation of the embodiment of the present invention；
Figure 13 is torque instruction step in fault-tolerant Direct Torque Control operational process under A of embodiment of the present invention phase short trouble Motor output torque waveform when rising.
In figure: 1. stators；2. rotor；3. armature tooth；4. fault-tolerant teeth；5. coil windings；6. permanent magnet.
Specific embodiment
Legibly illustrate five fault-tolerant Strategy of Direct Torque Control of phase magneto of the invention in order to simpler Feature and beneficial effect, carried out below with reference to a specific five phases magneto in detail, be fully described by.
As shown in Figure 1, the structural schematic diagram of five phase magneto of the embodiment of the present invention, using 20 slots/22 poles outer rotor Structure and single layer concentratred winding mode；The addition of fault-tolerant teeth keeps the magnetic between each phase winding, hot coupling almost nil.When It is normal not influenced by failure phase mutually when one phase of motor breaks down, there is stronger error resilience performance.In addition, fault-tolerant teeth adds Enter, reduces the coupling of motor non-faulting phase and failure phase under failure.Five phase magnetoes are powered by voltage source inverter, it is assumed that Five phase of motor is respectively five phase of A, B, C, D, E.
First part, A phase open a way after magnetic linkage Disturbance Rejection
Step 1, stator magnetic linkage mathematical model when five phase magnetoes operate normally is established.Specifically: five phase Permanent Magnet and Electrics Machine is arrived the change of variable that five phase natural coordinates are fastened using formula (1) transformation matrix using Strategy of Direct Torque Control shown in Fig. 2 On alpha-beta coordinate system
In formula, π/5 a=2.
When motor normal condition steady-state operation, it is assumed that motor three-dimensional space electric current ixAnd iyHaving controlled is zero, then A, B, C, the phase current of five phase of D, E is represented by
In formula, iA、iB、iC、iD、iEThe respectively phase current of A, B, C, D, E phase, iα、iβStator current respectively in α axis and Component on β axis.
Stator magnetic linkage (ψ when motor operates normallyA、ψB、ψC、ψD、ψE) [ψ can be expressed asA ψB ψC ψD ψE]=L (θ) [iA iB iC iD iE]T+ψf (3)
In formula, L (θ) is the inductance matrix of motor, and θ is electrical angle, Lm=0.2 (Ld+Lq), Lθ=0.2 (Lq-Ld), Ld、Lq Respectively motor d axis and q axle inductance, LA、LB、LC、LD、LEFor the stator inductance of A, B, C, D, E phase, LlsFor motor leakage inductance, I5×5 For five rank unit matrixs, ψfIt is coupled to the permanent magnet flux linkage of stator side for motor permanent magnet, is represented by ψf=ψm[cosθ cos (θ-a) cos(θ-2a) cos(θ-3a) cos(θ-4a)]T, ψmFor motor permanent magnet flux linkage amplitude.
Further, according to each phase space position, stator flux of motor vector is
In formula, ε=eja。
Influence of the one phase short trouble to electric system can regard as the influence of the phase open-circuit fault to electric system with Influence the sum of of the phase short circuit current to system.Therefore the present invention first proposes the fault-tolerant Strategy of Direct Torque Control of open-circuit fault.
Step 2, when open-circuit fault occurs for A phase, A phase, which is opened a way, causes magnetic linkage changing unit to be defined as open circuit magnetic linkage disturbance ψ′A；According to stator magnetic linkage vector before and after failure, the sum of constant, non-faulting phase current is zero and copper loss minimum principle, finds out electricity Non-faulting in the case of machine fault-tolerant operation opens a way fault-tolerant electric current mutually as i 'B、i′C、i′D、i′E；On this basis, deriving will open Fault-tolerant transformation matrix T of the change of variable into alpha-beta coordinate system under the fault condition of road in natural system of coordinates4/2And it is corresponding inverse Matrix T2/4.Specifically: after A phase open-circuit fault occurs, five phase winding magnetic linkages are respectively
ψ′A=[LAB LAC LAD LAE][i′B i′C i′D i′E]T+ψmcosθ (8)
[ψ′B ψ′C ψ′D ψ′E]T=L (θ) ' [i 'B i′C i′D i′E]T+ψ′f (9)
In formula, ψ 'ACaused magnetic linkage disturbance, ψ ' after opening a way for A phaseβ、ψ′C、ψ′D、ψ′ERespectively A phase open a way after residue The mutually fault-tolerant magnetic linkage of non-faulting, i 'B、i′C、i′D、i′ERespectively A phase open a way after the mutually fault-tolerant electric current of remaining non-faulting, x2、y2、x3、 y3、x4、y4、x5、y5The current coefficient of respectively remaining non-faulting phase B, C, D, E phase, inductance matrix L (θ) ' are that L (θ) removes first The new inductance matrix that capable and first row obtains, ψfMotor permanent magnet is coupled to the permanent magnet flux linkage of stator side after opening a way for A phase, It is represented by ψ 'f=ψm[cos(θ-a) cos(θ-2a) cos(θ-3a) cos(θ-4a)]T。
Further, the stator flux of motor after A phase open-circuit fault Vector modulation is carried out according to winding space position to obtain Stator magnetic linkage vector be
According to formula (7) and (11), caused magnetic linkage disturbance after opening a way for inhibition A phase, as long as determining under ensuring open circuit situation Sub- flux linkage vector is consistent under normal circumstances, i.e., the positive sequence of stator magnetic linkage vector and negative phase-sequence part are constant before and after holding failure, It is ensured that stator magnetic linkage locus circle constant before and after failure and current locus circle and constant dynamically potential energy produced in magnetic field of stator winding.Enable formula (7) and (11) are equal, obtain
Due to machine winding using star-like connection and central point is not connected to DC bus midpoint, therefore remaining non-faulting is mutually electric It flows and is zero
It sets objectives function
According to copper loss minimum principle, the minimum value of joint type (12) and (13) solution objective function (14) is obtained
Formula (15) can be further represented as
Therefore, when open-circuit fault occurs for A phase, the fault-tolerant electric current of open circuit of pouring-in (16) can effectively inhibit A phase to open a way Caused magnetic linkage disturbance, the stator magnetic linkage vector for keeping failure front and back constant, winding magnetomotive force and current locus circle.
Further, after A phase is opened a way, the effective dimension of motor is reduced to the four-dimension, original transformation matrix T by five dimensions5/2It is no longer suitable It closes, needs to transformation matrix T5/2Carry out depression of order processing.When open-circuit fault occurs for A phase, degree of freedom in system becomes three, and two certainly By spending in alpha-beta plane, another freedom degree is in x-y plane, therefore transformation matrix T5/2The first row and last line are deleted, then Transformation matrix is rewritten as T '4/2
Extract matrix T '4/2Front two row, enable it for base T2
With matrix T2Formula (9) is transformed to the magnetic linkage component (ψ ' in alpha-beta coordinate systemα、ψ′β)
As it can be seen that stator inductance, the constant coefficient of permanent magnet flux linkage part are unequal on alpha-beta coordinate system in formula (20), therefore even if Track of the electric current on alpha-beta coordinate system is circle, but since flux linkage equations are no longer symmetry models, stator magnetic linkage is in alpha-beta Track is not round on coordinate system.To realize that the stator magnetic linkage track before and after failure is identical circle, the electric current in alpha-beta coordinate system Track will not be round.However Direct Torque is built upon on the basis of electric current and magnetic linkage Circular test.Directly turn to realize as a result, Square control, matrix T2It needs further to be modified.In matrix T2On the basis of, define matrix T3
To obtain identical electric current circle and magnetic linkage Circular test before and after failure in alpha-beta coordinate system, is analyzed, defined according to front Following constraint condition
In formula, E is second order unit matrix, thus acquires x=-1 in formula (21).
Therefore, transformation matrix T '4/2It can be expressed as again
Since open-circuit fault occurs for A phase, which is 0, the electric current i in x-y planexWith the electric current i in alpha-beta planeαPhase It closes, therefore ixWithout control, it is only necessary to control iy.It simultaneously must principle orthogonal with alpha-beta plane and remaining non-faulting according to x-y plane Phase current and the constraint condition for being zero, puncture table T '4/2The third line.According to spatial orthogonality principle, obtain for sitting alpha-beta Mark system in change of variable to natural system of coordinates matrix T1Third column, then the fault-tolerant transformation matrix opened a way in fault-tolerant situation T4/2And its inverse-transform matrix T2/4It is represented by
Therefore, after open-circuit fault occurs for A phase, using above-mentioned fault-tolerant transformation matrix, not only effectively inhibit A phase to open a way and cause Magnetic linkage disturbance, while can be realized and identical magnetic linkage and current locus circle under normal circumstances, and then can be realized and mutually open a way The unperturbed operation of Direct Torque Control under fault condition.
Second part, the magnetic linkage Disturbance Rejection after A phase short circuit
Step 3, when short trouble occurs for A phase, A phase short circuit current iscMagnetic linkage changing unit is caused to be defined as short-circuit magnetic linkage Disturb ψ "A；The remaining non-faulting that definition is used to offset short circuit magnetic linkage disturbance mutually compensates magnetic linkage (ψcompB、ψcompC、ψcompD、 ψcompE), it is equal that current amplitude is mutually compensated according to the minimum or remaining non-faulting of stator magnetic linkage vector principle of invariance, copper loss before and after failure Principle and remaining non-faulting mutually compensate the constraint condition that the sum of electric current is zero, derive the compensation magnetic linkage and compensation electric current (icompB、icompC、icompD、icompE).Specifically:
On the basis of first part, when phase short trouble occurs for motor, A phase current, five phase winding magnetic linkage of motor point It Wei not i "A=isc (26)
[ψ″A ψ″B ψ″C ψ″D ψ″E]T=L (θ) [i "A i″B i″C i″D i″E]T+ψf (27)
In formula, i "B、i″C、i″D、i″EThe fault-tolerant electric current of remaining non-faulting phase respectively after the short circuit of A phase, ψ "AIt is short for A phase The disturbance of magnetic linkage caused by the electric current of road, ψ "B、ψ″C、ψ″D、ψ″EThe mutually fault-tolerant magnetic linkage of remaining non-faulting respectively after the short circuit of A phase, iscFor A phase short circuit current.
Stator magnetic linkage shown in formula (27) is subjected to Vector modulation according to winding space position, is determined after obtaining A phase short circuit Sub- flux linkage vector
To balance out the disturbance of magnetic linkage caused by short circuit current, the stator magnetic linkage vector that short trouble front and back need to be kept constant. Influence according to front phase short trouble and phase open-circuit fault to electric system defines the benefit of remaining non-faulting phase after the short circuit of A phase Electric current is repaid, the fault-tolerant electric current of open circuit and the fault-tolerant electric current (i " of short circuit with remaining non-faulting phaseB、i″C、i″D、i″E) relationship is
In formula, icompB、icompC、icompD、icompEThe compensation electric current of respectively remaining non-faulting phase, xb、yb、xc、yc、xd、 yd、xe、yeThe coefficient of the compensation electric current of respectively remaining non-faulting phase B, C, D, E phase.
Define the compensation magnetic linkage (ψ of remaining non-faulting phasecompB、ψcompC、ψcompD、ψcompE) it is respectively [ψcompB ψcompC ψcompD ψcompE]T=L (θ) ' [icompB icompC icompD icompE]T (31)
Compensation magnetic linkage (the ψ of remaining non-faulting phasecompB、ψcompC、ψcompD、ψcompE) be used to offset magnetic caused by short circuit current Chain disturbance, is derived according to formula (28) and formula (31)
isc+εicompB+ε2icompC+ε3icompD+ε4icompE=0 (32)
According to formula (29) and (31), five phase magnetic linkage of motor can be expressed as
According to formula (32) and (33), stator flux of motor vector can be further represented as
As it can be seen that formula (34) is consistent with formula (11) opened a way in fault-tolerant situation, as long as therefore compensation magnetic linkage elimination short circuit current The disturbance of caused magnetic linkage, stator magnetic linkage vector in the fault-tolerant situation of short circuit is just the same under open fault condition, and is pushed away according to front Stator magnetic linkage under open circuit situation known to leading and equal under normal circumstances, the then stator magnetic linkage vector in short-circuit fault-tolerant situation With it is equal under normal circumstances.The constant stator magnetic linkage locus circle in A phase short trouble front and back, current locus circle and perseverance are ensured simultaneously Fixed dynamically potential energy produced in magnetic field of stator winding.
Further, the relationship of the compensation electric current and A phase short circuit current of remaining non-faulting phase is sought.According to A phase short circuit current With the relationship of back-emf, the expression formula of available A phase short circuit current
isc=Ifcos(ωt-θsc) (35)
In formula, IfIt is the amplitude of short circuit current, θscIt is the angle of A opposite potential and A phase axis.
Due to machine winding star-like connection, the compensation electric current of remaining non-faulting phase and 0 should be, obtain
Based on copper loss minimum principle or compensation current amplitude principle, objective function
Convolution (32), (35), (36) and (37), the compensation electric current for obtaining remaining non-faulting phase are
Therefore after short trouble occurs for A phase, short circuit current can be effectively eliminated using the compensation electric current of formula (38) and drawn The magnetic linkage disturbance risen, the stator magnetic linkage vector for keeping failure front and back constant.
Step 4, on the basis of step 3, the fault-tolerant electric current i " of short circuit of remaining non-faulting phase after A phase short trouble is acquiredB、 i″C、i″D、i″E.Using transformation matrix T4/2The fault-tolerant electric current of the short circuit is subtracted to the fault-tolerant electric current of open circuit obtained after compensation electric current to become The current component changed in alpha-beta and x-y coordinate system is iα、iβ、iy, while electric current i is controlled using controlleryIt is zero, the controller Output be Three dimensional Targets voltageDetailed process are as follows: convolution (16), (29) and (38), using T4/2It will be in natural seat Mark the remaining non-faulting the fastened mutually fault-tolerant electric current (i " of short circuitB、i″C、i″D、i″E) subtract compensation electric current (icompB、icompC、icompD、 icompE) after obtained current transformation into alpha-beta and x-y coordinate system
Wherein, i "α、i″β、i″yFor the fault-tolerant current component of short circuit after A phase short circuit in alpha-beta and x-y coordinate system.
Step 5, the fault-tolerant magnetic linkage ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″ENon-faulting is individually subtracted and mutually compensates magnetic linkage ψcompB、ψcompC、ψcompD、ψcompE, the fault-tolerant magnetic linkage that obtains opening a way is ψ 'B、ψ′C、ψ′D、ψ′E, by T4/2The magnetic linkage is transformed into alpha-beta Magnetic linkage component in coordinate system is ψαAnd ψβ；Or step 5, by T4/2By the fault-tolerant magnetic linkage ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、 ψ″EThe fault-tolerant magnetic linkage component of short circuit transformed in alpha-beta coordinate system is ψ "α、ψ″β, and by the compensation magnetic linkage ψ of non-faulting phasecompB、 ψcompC、ψcompD、ψcompETransforming to the compensation magnetic linkage component in alpha-beta coordinate system is ψcompα、ψcompβ, then by short circuit fault-tolerant magnetic linkage point Measure ψ "α、ψ″βCompensation magnetic linkage component ψ is individually subtractedcompα、ψcompβObtaining the magnetic linkage component in alpha-beta coordinate system is ψαAnd ψβ.Specific mistake Journey are as follows:
After A phase is short-circuit, the fault-tolerant magnetic linkage (ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″E) subtract compensation magnetic linkage (ψcompB、ψcompC、ψcompD、ψcompE), i.e., formula (33) subtracts formula (31), and convolution (38) obtains
It can be seen that the magnetic linkage is consistent with formula (9).Convolution (39), with fault-tolerant transformation matrix T4/2By the stator magnetic linkage of formula (40) Transform to the magnetic linkage component (ψ in alpha-beta coordinate systemα、ψβ)
Alternatively, by T4/2By the fault-tolerant magnetic linkage (ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″E) transform in alpha-beta coordinate system The fault-tolerant magnetic linkage component (ψ " of short circuitα、ψβ)
Using T4/2By the compensation magnetic linkage (ψ of remaining non-faulting phasecompB、ψcompC、ψcompD、ψcompE) transform to alpha-beta coordinate system In compensation magnetic linkage component (ψcompα、ψcompβ)
Convolution (39), by the fault-tolerant magnetic linkage (ψ " of short circuitα、ψ″β) subtract compensation magnetic linkage (ψcompα、ψcompβ) obtain alpha-beta coordinate Magnetic linkage component (ψ in systemα、ψβ) as shown in formula (41).
When short trouble occurs for A phase, the compensation magnetic linkage of remaining non-faulting phase is eliminated A phase short circuit current bring magnetic linkage and is disturbed It is dynamic so that stator magnetic linkage vector in the fault-tolerant situation of short circuit with it is identical under normal circumstances；Ensure the benefit of remaining non-faulting phase simultaneously The synthesis magnetomotive force for repaying electric current and short circuit current is zero；In conjunction with fault-tolerant transformation matrix and its inverse matrix, alpha-beta is sat before and after realizing failure Magnetic linkage track and current locus in mark system are circle, final to realize unperturbed fault-tolerant operation under short trouble.
Part III realizes the fault-tolerant Direct Torque Control unperturbed operation of phase short circuit
Step 6, on the basis of step 4 and 5, stator magnetic linkage vector is estimated using flux observer and torque observer Amplitude ψs, magnetic linkage angle θsWith torque Te.Detailed process are as follows: flux observer is constructed based on voltage model or current model, this Stator magnetic linkage component (the ψ that invention observes in alpha-beta coordinate system according to the flux observer that formula (41) constructsα、ψβ) be
In formula, ψsIt is stator magnetic linkage amplitude, θsIt is stator magnet chain angle.
According to magnetic coenergy method, the torque observer in fault-tolerant situation is constructed, the motor torque observed is
In formula, P is motor number of pole-pairs.
Step 7, torque reference valueWith estimated value TeIt is poor to make, which obtains torque increment angle Δ δ, in turn According to the stator magnetic linkage vector magnitude ψ observeds, flux linkage set valueStator magnet chain angle θsAnd torque increment angle Δ δ is derived The difference of flux linkage set value and stator magnetic linkage on α axis and β axis is Δ ψ outα、Δψβ；As a result, according to stator voltage equation in alpha-beta Voltage vector fallout predictor is constructed in coordinate system, predicts that component of the given voltage on α axis and β axis isUsing T2/4It will ask Stator target voltage component outIt transforms to natural coordinates to fasten, obtaining machine phase voltages instruction isWith seasonDetailed process are as follows: torque reference valueWith estimated value TeIt is poor to make, and the difference is through PI tune It saves device and obtains torque increment angle Δ δ, and then according to the stator magnetic linkage amplitude ψ of observations, flux linkage set valueStator magnet chain angle θs And torque increment angle Δ δ derives difference (Δ ψ of the stator magnetic linkage of flux linkage set value and estimation on alpha-beta axisα、Δψβ)
After short trouble occurs for motor A phase, in machine winding after the fault-tolerant electric current of short circuit of pouring-in (29), voltage equation It can be expressed as
Using fault-tolerant transformation matrix T4/2Formula (47) natural coordinates is fastened into remaining non-faulting phase voltage equation transform to alpha-beta Component of voltage (u in coordinate systemα、uβ)
In formula, ucompα=-0.3998Risc=0.3998 (uα-Riα)=0.3998d ψα/dt。
According to formula (44) and (48), voltage vector fallout predictor is constructed in alpha-beta coordinate system, obtains the voltage vector in α-axis With the stator target voltage component on β-axis
In formula, T is the controller sampling period.
I is controlled using PI controlleryIt is zero, the output voltage for defining the PI controller is
Using T2/4By formula (49) stator target voltage componentAnd Three dimensional Targets voltageIt transforms to certainly Right coordinate system obtains machine phase voltages instructionFor
Since short trouble occurs for A phase, therefore the A phase voltage directive is enabled to be
Step 8, the resulting phase voltage directive of step 7 is sent to voltage source inverter, using the arteries and veins based on injected zero-sequence voltage Wide modulation CPWM method realizes the fault-tolerant Direct Torque Control after five phase magnetoes, one phase short trouble.It is specific to be based on because using Residual voltage harmonic signal c0=-(max (ui)+min(ui))/2(uiIt is the five each phase functions of phase sinusoidal modulation wave) injection CPWM method can obtain control effect identical with SVPWM method, therefore proposed adoption of the present invention is based on injection residual voltage harmonic wave CPWM modulation technique.
The phase voltage directive of formula (50)Through voltage source inverter, and using based on zero sequence electricity The pulsewidth modulation CPWM technology that pressure injection enters realizes the fault-tolerant Direct Torque Control after five phase magnetoes, one phase short trouble.This hair The fault-tolerant Strategy of Direct Torque Control of phase short circuit of bright proposition is as shown in Figure 3.
Fig. 4-7 be A phase from normally to motor under short circuit fault condition without fault-tolerant operation when phase current waveform, torque wave Stator magnetic linkage and current locus in shape, alpha-beta, A phase short trouble occurs when 0.15s.As it can be seen that current waveform is distorted；Electricity Machine torque ripple is obvious；Although magnetic linkage amplitude differs very little, the stator magnetic linkage component waveform in alpha-beta coordinate system still has abnormal Become；Current locus fluctuation is big, and is no longer constant circular trace.Fig. 8-11 is A phase from normally to electricity under short circuit fault condition Phase current waveform, torque profile when machine fault-tolerant operation, stator magnetic linkage and current locus in alpha-beta coordinate system.A phase when 0.15s Short trouble occurs, and starts fault-tolerant Strategy of Direct Torque Control of the invention immediately, it is seen then that and it compares under fault condition, it is electric Stream sine degree is obviously improved, and motor output torque pulsation is significantly suppressed, almost without pulsation, stator magnetic linkage track on alpha-beta Almost consistent when with normal operation, the current locus before and after failure is almost identical circular trace.Figure 12 is to operate normally Motor output torque waveform when torque instruction step rises in journey, response time 1ms.Figure 13 is that the short circuit of A phase is fault-tolerant directly Motor output torque waveform when torque instruction step rises in direct torque operational process, the response time is also 1ms.As it can be seen that After the fault-tolerant Strategy of Direct Torque Control of present invention short circuit shown in Fig. 3, for output torque almost without fluctuation, phase current is sinusoidal Preferably, electric current constant on alpha-beta circle, magnetic linkage are round before and after failure, while the dynamic property of motor is not also affected, and just for degree Dynamic property in normal situation is identical.
If short trouble occurs for a certain phase of motor, mutually separately electrical angle ka, k=0,1,2,3,4, k=0 are corresponded to A for this A phase short trouble, k=1 correspond to B phase short trouble, k=2 corresponds to C phase short trouble, k=3 corresponds to D phase short trouble, k= Natural system of coordinates, is rotated 0.4k π electrical angle, A phase axis and failure phase before making failure by 4 corresponding E phase short troubles counterclockwise Axis is overlapped and direction is consistent, then, by the θ in fault-tolerant Strategy of Direct Torque Control θ -0.4k π, θsUse θs- 0.4k π is replaced, Flux observer, the magnetic linkage difference in alpha-beta coordinate system become at this time
From the above it is found that phase short circuit fault-tolerant Strategy of Direct Torque Control of the present invention for five phase magnetoes exists In the case of motor driven systems allow maximum current, motor output torque and normal condition when not only can guarantee a phase short trouble It is lower consistent, and can obviously inhibit the torque ripple after one phase short trouble of motor, more crucially have and failure is previous Dynamic property, stability and the Assist force precision of sample, and there is a situation where short trouble, versatilities suitable for any phase By force, complicated calculations are not necessarily to, CPU overhead is small.The invention is compared with fault-tolerant vector control strategy, the simple, CPU overhead with structure Small, dynamic responding speed faster the characteristics of so that it requires high, dynamic property to want running reliability of motor in electric car etc. It asks in high system and possesses good application prospect.
Although the present invention has been described by way of example and in terms of the preferred embodiments, embodiment is not for the purpose of limiting the invention.Not It is detached from the spirit and scope of the present invention, any equivalent change or retouch done belongs to the application appended claims institute The protection scope of restriction.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ", The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this The range of invention is defined by the claims and their equivalents.

Claims (8)

1. a kind of fault-tolerant Direct Torque Control of five phase magneto one phase short circuit, which comprises the following steps:
Step 1, stator magnetic linkage mathematical model when five phase magnetoes operate normally is established；
Step 2, when open-circuit fault occurs for A phase, A phase, which is opened a way, causes magnetic linkage changing unit to be defined as open circuit magnetic linkage disturbance ψ 'A；Root According to stator magnetic linkage vector before and after failure, the sum of constant, non-faulting phase current is zero and copper loss minimum principle, finds out motor fault-tolerant Non-faulting under operating condition opens a way fault-tolerant electric current mutually as i 'B、i′C、i′D、i′E；On this basis, it derives open-circuit fault In the case of fault-tolerant transformation matrix T of the change of variable into alpha-beta coordinate system in natural system of coordinates4/2And corresponding inverse matrix T2/4；
Step 3, when short trouble occurs for A phase, A phase short circuit current iscMagnetic linkage changing unit is caused to be defined as short-circuit magnetic linkage disturbance ψ″A；The remaining non-faulting that definition is used to offset short circuit magnetic linkage disturbance mutually compensates magnetic linkage ψcompB、ψcompC、ψcompD、ψcompE, according to Before and after failure the minimum or remaining non-faulting of stator magnetic linkage vector principle of invariance, copper loss mutually compensate current amplitude principle and Remaining non-faulting mutually compensates the constraint condition that the sum of electric current is zero, derives the compensation magnetic linkage and compensation electric current icompB、 icompC、icompD、icompE；
Step 4, on the basis of step 3, the fault-tolerant electric current i " of short circuit of remaining non-faulting phase after A phase short trouble is acquiredB、i″C、 i″D、i″E.Using transformation matrix T4/2The fault-tolerant electric current of the short circuit is subtracted the fault-tolerant current transformation of open circuit obtained after compensation electric current to arrive Current component in alpha-beta and x-y coordinate system is iα、iβ、iy；Electric current i is controlled using controller simultaneouslyyBe zero, the controller it is defeated It is out Three dimensional Targets voltage u "y；
Step 5, the fault-tolerant magnetic linkage ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″ENon-faulting is individually subtracted and mutually compensates magnetic linkage ψcompB、 ψcompC、ψcompD、ψcompE, the fault-tolerant magnetic linkage that obtains opening a way is ψ 'B、ψ′C、ψ′D、ψ′E, by T4/2The magnetic linkage is transformed into alpha-beta coordinate system In magnetic linkage component be ψαAnd ψβ；
Or step 5, by T4/2By the fault-tolerant magnetic linkage ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″EIt transforms to short in alpha-beta coordinate system Appearance of a street mistake magnetic linkage component is ψ "α、ψ″β, and by the compensation magnetic linkage ψ of non-faulting phasecompB、ψcompC、ψcompD、ψcompETransform to alpha-beta Compensation magnetic linkage component in coordinate system is ψcompα、ψcompβ, then by the fault-tolerant magnetic linkage component ψ " of short circuitα、ψ″βCompensation magnetic linkage is individually subtracted Component ψcompα、ψcompβObtaining the magnetic linkage component in alpha-beta coordinate system is ψαAnd ψβ；
Step 6, on the basis of step 4 and 5, the width of stator magnetic linkage vector is estimated using flux observer and torque observer Value ψs, magnetic linkage angle θsWith torque Te；
Step 7, torque reference valueWith estimated value TeIt is poor to make, which obtains torque increment angle Δ δ, and then basis The stator magnetic linkage vector magnitude ψ observeds, flux linkage set valueStator magnet chain angle θsAnd torque increment angle Δ δ derives magnetic The difference of chain given value and stator magnetic linkage on α axis and β axis is Δ ψα、Δψβ, as a result, according to stator voltage equation in alpha-beta coordinate Voltage vector fallout predictor is constructed in system, predicts that component of the given voltage on α axis and β axis isUsing T2/4By what is found out Stator target voltage componentIt transforms to natural coordinates to fasten, obtaining machine phase voltages instruction isWith season A phase voltage directive
Step 8, the resulting phase voltage directive of step 7 is sent to voltage source inverter, using the pulsewidth tune based on injected zero-sequence voltage CPWM method processed realizes the fault-tolerant Direct Torque Control after five phase magnetoes, one phase short trouble.
2. the fault-tolerant Direct Torque Control of five phase magnetoes, one phase short circuit according to claim 1, which is characterized in that institute State the detailed process of step 2 are as follows:
Step 2.1, after A phase open-circuit fault occurs, defining the disturbance of magnetic linkage caused by A phase open-circuit fault is ψ 'A=[LAB LAC LAD LAE][i′B i′C i′D i′E]T+ψmCos θ, wherein ψmFor permanent magnet flux linkage amplitude, θ is electrical angle, according to fixed before and after open-circuit fault Sub- flux linkage vector is constant, the sum of non-faulting phase current is zero, copper loss minimum principle, obtain non-under motor fault-tolerant operating condition therefore Hinder the fault-tolerant electric current i ' that mutually opens a wayB、i′C、i′D、i′EAnd matrix T1
In formula, iα、iβIt is component of the stator current on α axis and β axis respectively；
Step 2.2, after open-circuit fault occurs for A phase, degree of freedom in system becomes three, and two freedom degrees are in alpha-beta plane, and in addition one A freedom degree is rewritten as T ' in x-y plane, therefore by transformation matrix under normal circumstances4/2
In formula, π/5 a=2；
Step 2.3, to obtain identical electric current and magnetic linkage track circle before and after failure in alpha-beta coordinate system, in T '4/2On the basis of, Define matrix T3For
Step 2.4, following constraint condition is defined
In formula, E is second order unit matrix, Lm=0.2 (Ld+Lq), Lθ=0.2 (Lq-Ld), Ld、LqRespectively motor d axis and q axis electricity Sense, ψ 'B、ψ′C、ψ′D、ψ′ERespectively A phase open a way after the mutually fault-tolerant magnetic linkage [ψ ' of remaining non-faultingB ψ′C ψ′D ψ′E]T=L (θ) ' [i′B i′C i′D i′E]T+ψ′f, ψ 'fMotor permanent magnet is coupled to the permanent magnet flux linkage of stator side after opening a way for A phase, is represented by ψ′f=ψm[cos(θ-a)cos(θ-2a)cos(θ-3a)cos(θ-4a)]T, LlsFor motor phase leakage inductance, L (θ) ' is after A phase is opened a way The new inductance matrix that inductance matrix L (θ) removes the first row when will operate normally and first row obtains, in conjunction with step 2.1 institute The fault-tolerant current expression of open circuit obtained, acquires step 2.3 matrix T3In x=-1；
Step 2.5, transformation matrix T ' as a result,4/2It can be expressed as again
Step 2.6, the electric current i since open-circuit fault occurs for A phase, in x-y planexWith the electric current i in alpha-beta planeαIt is associated, because This ixWithout control, puncture table T '4/2The third line；According to spatial orthogonality principle, derive for will be in alpha-beta coordinate system Matrix T of the change of variable to natural system of coordinates1Third column, then the fault-tolerant transformation matrix T under open circuit situation4/2And its inverse transformation Matrix T2/4It is represented by
3. the fault-tolerant Direct Torque Control of five phase magnetoes, one phase short circuit according to claim 1, which is characterized in that institute It states in step 3, defines non-faulting and mutually compensate magnetic linkage ψcompB、ψcompC、ψcompD、ψcompEAre as follows:
[ψcompB ψcompC ψcompD ψcompE] T=L (θ) ' [icompB icompC icompD icompE]T,
icompB、icompC、icompD、icompEElectric current is mutually compensated for remaining non-faulting, according to the constant original of stator magnetic linkage vector before and after failure Then, the compensation magnetic linkage of remaining non-faulting phase is used to offset the disturbance of magnetic linkage caused by short circuit current, derives
isc+εicompB+ε2icompC+ε3icompD+ε4icompE=0,
In formula, ε=eja；On this basis, according to the minimum or remaining non-faulting of copper loss mutually compensate current amplitude principle and Remaining non-faulting mutually compensates the constraint condition that the sum of electric current is zero, derives that non-faulting mutually compensates electric current
4. the fault-tolerant Direct Torque Control of five phase magnetoes, one phase short circuit according to claim 1, which is characterized in that institute It states in step 4, the fault-tolerant electric current of the short circuit subtracts the fault-tolerant electric current of open circuit obtained after compensation electric current in alpha-beta and x-y coordinate system Current component iα、iβ、iyAre as follows:
Wherein, i "α、i″β、i″yFor the fault-tolerant current component of short circuit after A phase short circuit in alpha-beta and x-y coordinate system.
5. the fault-tolerant Direct Torque Control of five phase magnetoes, one phase short circuit according to claim 1, which is characterized in that institute State the detailed process of step 5 are as follows:
Step 5.1, in conjunction with step 3 and 4, the fault-tolerant magnetic linkage ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″ENon-faulting is individually subtracted The compensation magnetic linkage ψ of phasecompB、ψcompC、ψcompD、ψcompEObtain non-faulting phase magnetic linkage, it is seen that the magnetic linkage is exactly fault-tolerant magnetic linkage of opening a way ψ′B、ψ′C、ψ′D、ψ′E
[ψ′B ψ′C ψ′D ψ′E]T=L (θ) ' [i 'B i′C i′D i′E]T+ψ′f；
Step 5.2, with fault-tolerant transformation matrix T4/2The resulting fault-tolerant magnetic linkage of open circuit of step 5.1 is transformed into the magnetic in alpha-beta coordinate system Chain component ψαAnd ψβFor
Or step 5.1, in conjunction with step 3 and 4, using T4/2By the fault-tolerant magnetic linkage ψ " of remaining non-faulting phase short circuitB、ψ″C、ψ″D、ψ″ETransformation The fault-tolerant magnetic linkage component ψ " of short circuit into alpha-beta coordinate systemα、ψ″β, while by the compensation magnetic linkage ψ of remaining non-faulting phasecompB、ψcompC、 ψcompD、ψcompETransform to the compensation magnetic linkage component ψ in alpha-beta coordinate systemcompαAnd ψcompβ, obtain
Or step 5.2, by the fault-tolerant magnetic linkage ψ " of short circuitα、ψ″βSubtract compensation magnetic linkage ψcompα、ψcompβObtain the magnetic linkage in alpha-beta coordinate system Component ψαAnd ψβ。
6. the fault-tolerant Direct Torque Control of five phase magnetoes, one phase short circuit according to claim 1, which is characterized in that step In rapid 6, the amplitude ψ of stator magnetic linkage vector is estimated using flux observer and torque observers, magnetic linkage angle θsWith torque TeAre as follows:
Te=2.5p (ψαiβ-ψβiα),
In formula, p is motor number of pole-pairs.
7. the fault-tolerant Direct Torque Control of five phase magnetoes, one phase short circuit according to claim 1, which is characterized in that institute State the detailed process of step 7 are as follows:
Step 7.1, after short trouble occurs for motor A phase, after the fault-tolerant electric current of short circuit in machine winding in injection step 4, electricity Pressure equation can be expressed as
In formula, R is stator resistance；
Step 7.2, using fault-tolerant transformation matrix T4/2Natural coordinates is fastened remaining non-faulting phase voltage equation transform to sit to alpha-beta Component of voltage u in mark systemαAnd uβ
In formula, ucompα=-0.3998Risc=0.3998 (uα-Riα)0.3998dψα/dt；
Step 7.3, in alpha-beta coordinate system, according to Δ ψαWith Δ ψβVoltage vector fallout predictor is constructed, obtains the voltage vector in alpha-beta Stator target voltage component on coordinate systemWith
In formula, T is the controller sampling period；
Step 7.4, using T2/4By the resulting stator target voltage component of step 7.3WithAnd the three-dimensional that step 4 obtains Extraterrestrial target voltageNatural system of coordinates is transformed to, machine phase voltages instruction is obtainedFor
It is with season A phase voltage directive
8. the fault-tolerant Direct Torque Control of five phase magnetoes, one phase short circuit according to claim 1, which is characterized in that also If including: that short trouble occurs for a certain phase of motor, mutually separately electrical angle ka, k=0,1,2,3,4, k=0 correspond to A with A for this Phase short trouble, k=1 correspond to B phase short trouble, k=2 corresponds to C phase short trouble, k=3 corresponds to D phase short trouble, k=4 pairs E phase short trouble is answered, natural system of coordinates is rotated to 0.4k π electrical angle counterclockwise, the A phase axis before making failure phase axis and failure It is overlapped and direction is consistent, then, by the θ in fault-tolerant Strategy of Direct Torque Control θ -0.4k π, θsUse θs- 0.4k π is replaced, at this time Magnetic linkage difference in flux observer, alpha-beta coordinate system becomes
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