CN109842343B - Fault-tolerant operation control method and device for flywheel energy storage system based on twelve-phase motor - Google Patents
Fault-tolerant operation control method and device for flywheel energy storage system based on twelve-phase motor Download PDFInfo
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Abstract
The invention discloses a fault-tolerant operation control method and device of a flywheel energy storage system based on a twelve-phase motor, wherein the method comprises the following steps: when one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, the fault phase is cut off, the residual windings in the three-phase windings corresponding to the fault are equivalent to a single-phase permanent magnet synchronous motor, and the three-phase windings without the fault phase are equivalent to three-phase permanent magnet synchronous motors; establishing a mathematical model of an equivalent single-phase permanent magnet synchronous motor under a static coordinate system, and controlling the operation of the equivalent single-phase permanent magnet synchronous motor by a self-adaptive quasi-PR control method; and weak magnetic currents of three equivalent three-phase permanent magnet synchronous motors are controlled to generate reluctance torque, and power fluctuation and amplitude loss generated when one equivalent single-phase permanent magnet synchronous motor runs are compensated through the reluctance torque so as to carry out fault-tolerant operation control on the flywheel energy storage system. The method can effectively ensure the smooth process of switching the normal operation to the fault-tolerant operation, keeps the front power and the rear power unchanged, and is simple and easy to implement.
Description
Technical Field
The invention relates to the technical field of operation reliability of flywheel energy storage systems, in particular to a fault-tolerant operation control method of a flywheel energy storage system based on a twelve-phase motor.
Background
The flywheel energy storage technology has great application potential in the fields of Power grid frequency modulation, Power quality management, vehicle regenerative braking energy recovery, UPS (Uninterruptible Power Supply) and the like. Flywheel energy storage technology is developed with the goals of improving efficiency and reliability, realizing high-power operation, and the like. Compared with a three-phase motor, the multi-phase motor can improve the system operation efficiency, has the phase redundancy characteristic, is convenient to adopt a fault-tolerant control algorithm, and ensures that the system can continue to operate at rated power after the motor phase fault occurs.
In the related technology, (1) a twelve-phase permanent magnet synchronous motor fault-tolerant control method based on maximum output torque is adopted, after an orthogonal two-phase open circuit fault occurs in the twelve-phase permanent magnet synchronous motor, a decoupling transformation matrix of a system is kept unchanged, and an expression of each phase current left under a maximum torque output mode is calculated according to a total magnetomotive force invariant principle. (2) The fault-tolerant control method based on the twelve-phase permanent magnet synchronous motor with the minimum copper loss of the stator comprises the steps of changing a harmonic plane reference current after the twelve-phase permanent magnet synchronous motor has a one-phase open circuit fault, controlling the output torques of the motor to be equal before and after the fault, and carrying out fault-tolerant control under the principle that the power is not changed before and after the fault. (3) The fault-tolerant control method for the short-circuit fault of the 90-degree phase angle four-phase permanent magnet synchronous motor based on the principle of power invariance maintains the output power of the motor unchanged by adjusting other non-short-circuit phase currents when the motor has an end short-circuit fault. (4) The five-phase permanent magnet synchronous motor open-circuit fault-tolerant control method based on the power invariance principle guarantees minimum copper loss of a motor in a fault-tolerant operation state.
However, the above-mentioned fault-tolerant control method for the multi-phase motor needs to control the phase currents of all the remaining phases respectively to realize the fault-tolerant operation control after the multi-phase motor fails, and the switching process is complicated, and the dynamic performance of the system is reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, one purpose of the invention is to provide a fault-tolerant operation control method of a flywheel energy storage system based on a twelve-phase motor, which can effectively ensure that the process of switching from normal operation to fault-tolerant operation is smooth, keeps the front power and the rear power unchanged, and is simple and easy to implement.
The invention also aims to provide a fault-tolerant operation control device of the flywheel energy storage system based on the twelve-phase motor.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a flywheel energy storage system fault-tolerant operation control method based on a twelve-phase motor, where the flywheel energy storage system includes a flywheel, a twelve-phase permanent magnet synchronous motor, and first to fourth three-phase converters, the twelve-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, where the method includes the following steps: when one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, the fault phase is cut off, the residual windings in the three-phase windings corresponding to the fault are equivalent to a single-phase permanent magnet synchronous motor, and the three-phase windings without the fault phase are equivalent to three-phase permanent magnet synchronous motors; establishing a mathematical model of the equivalent single-phase permanent magnet synchronous motor under a static coordinate system, and controlling the operation of the equivalent single-phase permanent magnet synchronous motor by a self-adaptive quasi-PR (proportional resonance) control method, wherein power fluctuation and amplitude loss are generated when the equivalent single-phase permanent magnet synchronous motor operates; and controlling weak magnetic current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensating power fluctuation and amplitude loss through the reluctance torque so as to carry out fault-tolerant operation control on the flywheel energy storage system.
According to the fault-tolerant operation control method of the flywheel energy storage system based on the twelve-phase motor, when one phase of the twelve-phase permanent magnet synchronous motor fails, the failed phase is cut off, power fluctuation and amplitude loss generated when the equivalent single-phase motor operates are compensated by the three equivalent three-phase motors, and the flywheel energy storage system achieves fault-tolerant operation of maintaining rated power, so that the smooth process of switching normal operation to fault-tolerant operation is effectively guaranteed, the power is kept unchanged before and after normal operation, and the method is simple and easy to achieve.
In addition, the fault-tolerant operation control method for the flywheel energy storage system based on the twelve-phase motor according to the embodiment of the invention may further have the following additional technical features:
further, in an embodiment of the present invention, during the fault-tolerant operation control of the flywheel energy storage system, the method further includes: and controlling the d-axis current of the three equivalent three-phase permanent magnet synchronous motors by adopting a self-adaptive quasi-PR control method, and inhibiting the power fluctuation through the large rotational inertia of the flywheel rotor.
Further, in an embodiment of the present invention, the controlling the operation of the equivalent single-phase permanent magnet synchronous motor by the adaptive quasi-PR control method further includes: and adjusting parameters in the self-adaptive quasi-PR control method according to the change of the rotating speed of the equivalent single-phase permanent magnet synchronous motor, and controlling the phase current of the equivalent single-phase permanent magnet synchronous motor into a sine waveform so as to control the operation of the equivalent single-phase permanent magnet synchronous motor.
Further, in an embodiment of the present invention, the method further includes: establishing a model of the twelve-phase permanent magnet synchronous motor by adopting a vector space decoupling modeling method; and when the twelve-phase permanent magnet synchronous motor normally runs, carrying out 4-d-q coordinate transformation vector control on the first to fourth three-phase windings.
Further, in an embodiment of the present invention, the vector space decoupling transformation array of the vector space decoupling modeling method is:
T＝T1·*T2，
wherein,
wherein, I10A ten-dimensional unit matrix is represented,
k and i are both positive integers and,
in order to achieve the above object, an embodiment of another aspect of the present invention provides a flywheel energy storage system fault-tolerant operation control apparatus based on a twelve-phase motor, where the flywheel energy storage system includes a flywheel, a twelve-phase permanent magnet synchronous motor, and first to fourth three-phase converters, the twelve-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, where the apparatus includes: the equivalent module is used for cutting off a fault phase when one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, enabling the residual windings in the three-phase windings corresponding to the fault to be equivalent to a single-phase permanent magnet synchronous motor, and enabling the three-phase windings without the fault phase to be equivalent to three-phase permanent magnet synchronous motors; the first control module is used for establishing a mathematical model of the equivalent single-phase permanent magnet synchronous motor under a static coordinate system and controlling the equivalent single-phase permanent magnet synchronous motor to operate by a self-adaptive quasi-PR control method, wherein power fluctuation and amplitude loss are generated when the equivalent single-phase permanent magnet synchronous motor operates; and the second control module is used for controlling the weak magnetic current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensating the power fluctuation and amplitude loss through the reluctance torque so as to control the fault-tolerant operation of the flywheel energy storage system.
According to the fault-tolerant operation control device of the flywheel energy storage system based on the twelve-phase motor, when one phase of the twelve-phase permanent magnet synchronous motor fails, the failed phase is cut off, power fluctuation and amplitude loss generated when the equivalent single-phase motor operates are compensated by the three equivalent three-phase motors, and the flywheel energy storage system achieves fault-tolerant operation of maintaining rated power, so that the smooth process of switching normal operation to fault-tolerant operation is effectively guaranteed, the power is kept unchanged before and after normal operation, and the fault-tolerant operation control device is simple and easy to implement.
In addition, the fault-tolerant operation control device for the flywheel energy storage system based on the twelve-phase motor according to the above embodiment of the invention may further have the following additional technical features:
further, in an embodiment of the present invention, the method further includes: and the third control module is used for controlling the d-axis currents of the three equivalent three-phase permanent magnet synchronous motors by adopting a self-adaptive quasi-PR control method during fault-tolerant operation control of the flywheel energy storage system, and suppressing the power fluctuation through the large rotational inertia of the flywheel rotor.
Further, in an embodiment of the present invention, the first control module is further configured to adjust parameters in the adaptive quasi-PR control method according to a rotation speed variation of the equivalent single-phase permanent magnet synchronous motor, and control a phase current of the equivalent single-phase permanent magnet synchronous motor to be a sine waveform, so as to control the equivalent single-phase permanent magnet synchronous motor to operate.
Further, in an embodiment of the present invention, the method further includes: the modeling module is used for establishing a model of the twelve-phase permanent magnet synchronous motor by adopting a vector space decoupling modeling method; and the fourth control module is used for carrying out 4-d-q coordinate transformation vector control on the first to fourth three-phase windings when the twelve-phase permanent magnet synchronous motor normally operates.
Further, in an embodiment of the present invention, the vector space decoupling transformation array of the vector space decoupling modeling method is:
T＝T1·*T2，
wherein,
wherein, I10A ten-dimensional unit matrix is represented,
k and i are both positive integers and,
additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a1After phase winding failure, cut off A1A structure diagram of a phase winding rear flywheel energy storage system;
fig. 2 is a winding distribution diagram of a twelve-phase permanent magnet synchronous motor of a flywheel system according to an embodiment of the invention, wherein the difference between corresponding windings of two adjacent sets of windings is 15 degrees;
FIG. 3 is a flow chart of a fault-tolerant operation control method of a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the invention;
FIG. 4 is a flow chart of a fault tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the invention;
FIG. 5 shows a1After phase winding failure, cut off A1A twelve-phase permanent magnet synchronous motor winding distribution diagram of a phase winding rear flywheel system;
FIG. 6 shows a1After phase winding failure, cut off A1A fault-tolerant control block diagram of a twelve-phase permanent magnet synchronous motor of a phase winding rear flywheel system;
fig. 7 is a schematic structural diagram of a fault-tolerant operation control device of a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Before introducing the fault-tolerant operation control method and device of the flywheel energy storage system based on the twelve-phase motor, the flywheel energy storage system is briefly introduced.
The flywheel energy storage system comprises a flywheel rotor, a twelve-phase permanent magnet synchronous motor and four three-phase converters. The twelve-phase winding of the motor is divided into four groups and respectively connected with the alternating current ends of the four sets of converters, and the direct current ends of the converters are connected in parallel to form a common direct current bus.
The flywheel rotor may also be referred to as a flywheel, among others. The four three-phase converters comprise a first converter, a second converter, a third converter and a fourth converter. The twelve-phase permanent magnet synchronous motor stator winding is divided into four sets, and each set comprises three-phase windings with the mutual difference of 120 degrees.
Specifically, as shown in fig. 1, a flywheel rotor (1) is coaxially connected to a twelve-phase permanent magnet synchronous motor (2). The AC end of the first converter (3) and the winding A of the twelve-phase permanent magnet synchronous motor (2)1B1C1Connecting; the AC end of the second converter (4) and the winding A of the twelve-phase permanent magnet synchronous motor (2)2B2C2Connecting; the alternating current end of the third converter (5) and the winding A of the twelve-phase permanent magnet synchronous motor (2)3B3C3Connecting; the alternating current end of the fourth converter (6) and the winding A of the twelve-phase permanent magnet synchronous motor (2)4B4C4Are connected. The direct current ends of the first converter, the second converter, the third converter and the fourth converter are connected in parallel to form a common direct current bus. As shown in fig. 2, the corresponding windings of two adjacent sets of windings differ by 15 °.
The method and the device for controlling the fault-tolerant operation of the flywheel energy storage system based on the twelve-phase motor according to the embodiment of the invention are described below with reference to the accompanying drawings.
Fig. 3 is a flowchart of a fault-tolerant operation control method of a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the invention.
As shown in fig. 3, the flywheel energy storage system fault-tolerant operation control method based on the twelve-phase motor includes a flywheel, a twelve-phase permanent magnet synchronous motor, and first to fourth three-phase converters, the twelve-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein the method includes the following steps:
in step S301, when a fault occurs in one of the twelve-phase permanent magnet synchronous motors, the fault phase is removed, the remaining windings in the three-phase windings corresponding to the fault are equivalent to one single-phase permanent magnet synchronous motor, and the three-phase windings without the fault phase are equivalent to three-phase permanent magnet synchronous motors.
It can be understood that, as shown in fig. 4, when a fault occurs in one phase of the twelve-phase permanent magnet synchronous motor, the fault phase is cut off, the remaining effective winding is equivalent to the combination of one single-phase permanent magnet synchronous motor and three-phase permanent magnet synchronous motors, the converter connected with the fault works as a single-phase converter, and the remaining three converters still work as three-phase converters.
Further, in an embodiment of the present invention, the method further includes: establishing a model of the twelve-phase permanent magnet synchronous motor by adopting a vector space decoupling modeling method; and when the twelve-phase permanent magnet synchronous motor normally operates, carrying out 4-d-q coordinate transformation vector control on the first to fourth three-phase windings.
Specifically, as shown in FIG. 4, in a first step, for ease of analysis, the following assumptions are made in the system modeling:
(1) the armature reaction magnetic field generated by the stator winding and the excitation magnetic field generated by the rotor permanent magnet are both distributed in a sine way in the air gap;
(2) magnetic saturation of a motor iron core is ignored, and eddy current and hysteresis loss are not counted;
(3) neglecting the rotor damping winding;
(4) the magnetic linkage generated by the permanent magnetic material is constant;
and secondly, regarding the twelve-phase permanent magnet synchronous motor as a whole, and establishing a model of the twelve-phase permanent magnet synchronous motor by adopting a VSD (Vector space Decomposition, Vector space decoupling) integral modeling method.
The stator of the twelve-phase permanent magnet synchronous motor is divided into four sets of windings, each set of windings is symmetrical three-phase, and phase currents meet the relation:
the stator voltage, the current and the flux linkage of the twelve-phase permanent magnet synchronous motor are converted from a natural coordinate system to a d-q coordinate system, and a vector space decoupling transformation array of the twelve-phase permanent magnet synchronous motor can be written as follows:
T＝T1·*T2(2)
wherein,
wherein, I10A ten-dimensional unit matrix is represented,
in a d-q coordinate system, the stator voltage, current and flux linkage equations of the twelve-phase permanent magnet synchronous motor can be expressed as follows:
Tus＝[uduquz1uz2uz3uz4uz5uz６uo1uo2uo3uo4](7)
Tis＝[idiqiz1iz2iz3iz4iz5iz6io1io2io3io4](8)
Tψs＝[ψdψqψz1ψz2ψz3ψz4ψz5ψz6ψo1ψo2ψo3ψo4](9)
the electromagnetic torque expression of the twelve-phase permanent magnet synchronous motor can be simplified as follows:
Te＝6pn[(LD-LQ)idiq+iqψfd](10)
in the formula, pnIs the pole pair number of a twelve-phase permanent magnet synchronous motorfdFlux linkage generated in each phase winding for permanent magnetsThe amplitude value.
The active power of charging and discharging of the twelve-phase permanent magnet synchronous motor is as follows:
P＝ωm×Te(11)
in the formula, TeIs the electromagnetic torque of the motor; omegamIs the mechanical angular velocity of the motor.
Thirdly, when the twelve-phase permanent magnet synchronous motor normally runs, the winding A is oppositely wound1B1C1、A2B2C2、A3B3C3、A4B4C4A vector control algorithm based on 4-d-q coordinate transformation is adopted.
Further, referring to fig. 4, 5 and 6, a fourth step is to provide a twelve-phase permanent magnet synchronous motor a at a certain time1Open circuit failure of phase winding, and failure phase A1And cutting off, and making no change on other hardware structures. In the remaining active winding, A without fault2B2C2、A3B3C3、A4B4C4The windings can be equivalent to three-phase permanent magnet synchronous motors for fault-tolerant operation, and B remains in the fault windings1-C1The winding can be equivalent to the fault-tolerant operation of a single-phase permanent magnet synchronous motor.
In step S302, a mathematical model of the equivalent single-phase permanent magnet synchronous motor in a stationary coordinate system is established, and the operation of the equivalent single-phase permanent magnet synchronous motor is controlled by an adaptive quasi-PR control method, wherein power fluctuation and amplitude loss are generated when the equivalent single-phase permanent magnet synchronous motor operates.
In an embodiment of the present invention, an equivalent single-phase permanent magnet synchronous motor is controlled to operate by an adaptive quasi-PR control method, which further includes: parameters in the self-adaptive quasi-PR control method are adjusted according to the rotating speed change of an equivalent single-phase permanent magnet synchronous motor, and the phase current of the equivalent single-phase permanent magnet synchronous motor is controlled to be sine wave shape so as to control the equivalent single-phase permanent magnet synchronous motor to operate.
Specifically, as shown in FIGS. 4-6, normal A is ignored2B2C2、A3B3C3、A4B4C4Winding and B1-C1Mutual inductance of the windings, B1-C1The winding is equivalent to a single-phase permanent magnet synchronous motor, a mathematical model of the single-phase permanent magnet synchronous motor under a static coordinate system is established, and a self-adaptive quasi-PR control method is utilized to control B1-C1The winding current.
The equivalent single-phase permanent magnet synchronous motor voltage equation is as follows:
the equivalent single-phase permanent magnet synchronous motor flux linkage equation is as follows:
the equivalent single-phase permanent magnet synchronous motor torque equation is as follows:
θs＝θe+Δθ (15)
in the formula,
respectively phase voltage, resistance, current, inductance and flux linkage theta of the equivalent single-phase permanent magnet synchronous motorsIs left over B1-C1Relative position between the winding and the rotor. Δ θ is an electrical angle compensation value of the twelve-phase permanent magnet synchronous motor winding in which one-phase open circuit fault occurs, and the value is shown in table 1, where table 1 is a table of electrical angle compensation values of the remaining phase winding when one phase is open.
TABLE 1
And a self-adaptive quasi-PR control method is adopted, parameters in the quasi-PR method are adjusted according to the change of the rotating speed, and the phase current of the equivalent single-phase motor is controlled to be a sine waveform.
The torque equation for an equivalent single phase motor can be written as:
equation 16 shows that the electromagnetic torque generated by the equivalent single-phase motor is a double-frequency fluctuation amount, which will cause the equivalent single-phase motor power to be a fluctuation amount, and further cause the twelve-phase permanent magnet synchronous motor of the flywheel system to operate with reduced power and generate larger power fluctuation.
In step S303, the weak magnetic currents of the three equivalent three-phase permanent magnet synchronous motors are controlled to generate reluctance torques, and power fluctuation and amplitude loss are compensated by the reluctance torques, so as to perform fault-tolerant operation control on the flywheel energy storage system.
It can be understood that power fluctuation and amplitude loss generated when the equivalent single-phase motor operates are compensated by the three equivalent three-phase motors, and the flywheel energy storage system realizes fault-tolerant operation for maintaining rated power.
Specifically, as shown in fig. 4 to 6, aiming at the problem of power fluctuation caused by torque fluctuation generated by the operation of an equivalent single-phase motor, a method of compensating by using reluctance torque of other equivalent three-phase motors is adopted, so that during the fault-tolerant control period, the flywheel energy storage system does not reduce power and continuously operates without power fluctuation.
Controlling the weak magnetic current of the remaining three equivalent three-phase motors to generate reluctance torque, which is respectively as follows:
order:
in the formula, T2_rel、T3_rel、T4_relRespectively the reluctance torque generated by three equivalent three-phase motors.
The reference values of the flux weakening currents of the three equivalent three-phase motors can be obtained as follows:
further, in an embodiment of the present invention, during the fault-tolerant operation control of the flywheel energy storage system, the method further includes: and controlling the d-axis current of three equivalent three-phase permanent magnet synchronous motors by adopting a self-adaptive quasi-PR control method, and inhibiting power fluctuation through the large rotational inertia of a flywheel rotor.
Specifically, during fault-tolerant operation, the d-axis current of three equivalent three-phase permanent magnet synchronous motors is controlled by adopting a self-adaptive quasi-PR method, and the large rotational inertia of a flywheel rotor plays a beneficial role in inhibiting electromagnetic torque pulsation and power fluctuation.
It should be noted that the fault-tolerant control method according to the embodiment of the present invention may also be used in a 3 n-phase (n ═ 2) neutral point isolated multiphase permanent magnet synchronous motor. The present invention has been described in detail with respect to the known technology, and many variations, modifications and substitutions may be made without departing from the spirit and scope of the invention as set forth in the appended claims.
In summary, the system comprises: the system comprises a flywheel rotor, a twelve-phase permanent magnet synchronous motor, a first converter, a second converter, a third converter and a fourth converter. The twelve-phase permanent magnet synchronous motor stator winding is divided into four sets, and each set comprises three-phase windings with the mutual difference of 120 degrees.
The fault-tolerant control method specifically comprises the following steps: when the flywheel system normally operates, the stator windings of the twelve-phase permanent magnet synchronous motor are divided into four sets and are respectively connected with the first converter, the second converter and the fourth converter, neutral points o1, o2, o3 and o4 of the four sets of windings are isolated from each other, and the twelve-phase permanent magnet synchronous motor is equivalent to four three-phase motors for control. When a one-phase open circuit fault occurs in the twelve-phase permanent magnet synchronous motor, the fault phase is cut off, the fault phase and the fault phase are combined to form a set of three-phase other two phases which are equivalent to a single-phase motor winding, and the connected converter is used as a single-phase driver for control; and the remaining windings without fault phases are continuously equivalent to three-phase motor windings for control. When the equivalent single-phase motor operates, frequency doubling power fluctuation is generated, and the amplitude of the frequency doubling power fluctuation is damaged compared with that of the original equivalent three-phase motor during operation. The three equivalent three-phase motors are used for generating reluctance torque, so that the power fluctuation and amplitude loss of the equivalent single-phase motors can be compensated, and the running power before and after the fault of the flywheel system is unchanged.
According to the fault-tolerant operation control method of the flywheel energy storage system based on the twelve-phase motor, when a certain phase of the twelve-phase permanent magnet synchronous motor fails, the failed phase is cut off, power fluctuation and amplitude loss generated when the equivalent single-phase motor operates are compensated by the three equivalent three-phase motors, and the flywheel energy storage system achieves fault-tolerant operation of maintaining rated power, so that the process of switching normal operation to fault-tolerant operation is effectively guaranteed to be smooth, the front power and the rear power are kept unchanged, and the method is simple and easy to implement.
Next, a fault-tolerant operation control device of a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the invention will be described with reference to the accompanying drawings.
Fig. 7 is a schematic structural diagram of a fault-tolerant operation control device of a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the invention.
As shown in fig. 7, the fault-tolerant operation control apparatus for a flywheel energy storage system based on a twelve-phase motor includes a flywheel, a twelve-phase permanent magnet synchronous motor, and first to fourth three-phase converters, where the twelve-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, where the apparatus 10 includes: an equivalent module 100, a first control module 200, and a second control module 300.
The equivalent module 100 is configured to, when a one-phase fault occurs in a twelve-phase permanent magnet synchronous motor, remove the fault phase, and equate remaining windings in a three-phase winding corresponding to the fault to one single-phase permanent magnet synchronous motor, and equate a three-phase winding without the fault phase to three-phase permanent magnet synchronous motors. The first control module 200 is configured to establish a mathematical model of an equivalent single-phase permanent magnet synchronous motor in a stationary coordinate system, and control the operation of the equivalent single-phase permanent magnet synchronous motor by using a self-adaptive quasi-PR control method, where power fluctuation and amplitude loss are generated when the equivalent single-phase permanent magnet synchronous motor operates. The second control module 300 is configured to control the weak magnetic current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensate power fluctuation and amplitude loss through the reluctance torque, so as to perform fault-tolerant operation control on the flywheel energy storage system. The device 10 of the embodiment of the invention can effectively ensure the smooth process of switching the normal operation to the fault-tolerant operation, keeps the front and back power unchanged, and is simple and easy to realize.
Further, in one embodiment of the present invention, the apparatus 10 of the embodiment of the present invention further comprises: and a third control module. And the third control module is used for controlling the d-axis current of the three equivalent three-phase permanent magnet synchronous motors by adopting a self-adaptive quasi-PR control method during fault-tolerant operation control of the flywheel energy storage system, and suppressing power fluctuation through the large rotational inertia of the flywheel rotor.
Further, in an embodiment of the present invention, the first control module 200 is further configured to adjust parameters in the adaptive quasi-PR control method according to a rotation speed variation of an equivalent single-phase permanent magnet synchronous motor, and control a phase current of the equivalent single-phase permanent magnet synchronous motor to be a sinusoidal waveform, so as to control the operation of the equivalent single-phase permanent magnet synchronous motor.
Further, in one embodiment of the present invention, the apparatus 10 of the embodiment of the present invention further comprises: a modeling module and a fourth control module.
The modeling module is used for establishing a model of the twelve-phase permanent magnet synchronous motor by adopting a vector space decoupling modeling method; and the fourth control module is used for carrying out 4-d-q coordinate transformation vector control on the first to fourth three-phase windings when the twelve-phase permanent magnet synchronous motor normally operates.
Further, in an embodiment of the present invention, the vector space decoupling transformation array of the vector space decoupling modeling method is:
T＝T1·*T2，
wherein,
wherein, I10A ten-dimensional unit matrix is represented,
k and i are both positive integers and,
it should be noted that the foregoing explanation of the embodiment of the method for controlling fault-tolerant operation of the flywheel energy storage system based on the twelve-phase motor is also applicable to the device for controlling fault-tolerant operation of the flywheel energy storage system based on the twelve-phase motor in this embodiment, and details are not repeated here.
According to the fault-tolerant operation control device of the flywheel energy storage system based on the twelve-phase motor, when a certain phase of the twelve-phase permanent magnet synchronous motor fails, the failed phase is cut off, power fluctuation and amplitude loss generated when the equivalent single-phase motor operates are compensated by the three equivalent three-phase motors, and the flywheel energy storage system achieves fault-tolerant operation of maintaining rated power, so that the process of switching normal operation to fault-tolerant operation is effectively guaranteed to be smooth, the front power and the rear power are kept unchanged, and the fault-tolerant operation control device is simple and easy to implement.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A fault-tolerant operation control method of a flywheel energy storage system based on a twelve-phase motor is characterized in that the flywheel energy storage system comprises a flywheel rotor, a twelve-phase permanent magnet synchronous motor and first to fourth three-phase converters, the twelve-phase permanent magnet synchronous motor comprises first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein the method comprises the following steps:
when one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, the fault phase is cut off, the residual windings in the three-phase windings corresponding to the fault are equivalent to a single-phase permanent magnet synchronous motor, and the three-phase windings without the fault phase are equivalent to three-phase permanent magnet synchronous motors;
establishing a mathematical model of the equivalent single-phase permanent magnet synchronous motor under a static coordinate system, and controlling the equivalent single-phase permanent magnet synchronous motor to operate by a self-adaptive quasi-PR control method, wherein power fluctuation and amplitude loss are generated when the equivalent single-phase permanent magnet synchronous motor operates; and: and controlling weak magnetic current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensating power fluctuation and amplitude loss through the reluctance torque so as to carry out fault-tolerant operation control on the flywheel energy storage system.
2. The method for controlling fault-tolerant operation of a flywheel energy storage system based on a twelve-phase motor according to claim 1, wherein during fault-tolerant operation control of the flywheel energy storage system, the method further comprises:
and controlling the d-axis current of the three equivalent three-phase permanent magnet synchronous motors by adopting a self-adaptive quasi-PR control method, and inhibiting the power fluctuation through the large rotational inertia of the flywheel rotor.
3. The method for controlling fault-tolerant operation of a flywheel energy storage system based on a twelve-phase motor according to claim 1, wherein the method for controlling the operation of the equivalent single-phase permanent magnet synchronous motor through an adaptive quasi-PR control method further comprises the following steps:
and adjusting parameters in the self-adaptive quasi-PR control method according to the change of the rotating speed of the equivalent single-phase permanent magnet synchronous motor, and controlling the phase current of the equivalent single-phase permanent magnet synchronous motor into a sine waveform so as to control the operation of the equivalent single-phase permanent magnet synchronous motor.
4. The fault-tolerant operation control method for the flywheel energy storage system based on the twelve-phase motor according to claim 1, further comprising the following steps of:
establishing a model of the twelve-phase permanent magnet synchronous motor by adopting a vector space decoupling modeling method;
and when the twelve-phase permanent magnet synchronous motor normally runs, carrying out 4-d-q coordinate transformation vector control on the first to fourth three-phase windings.
5. The twelve-phase motor-based fault-tolerant operation control method for the flywheel energy storage system according to claim 4, wherein a vector space decoupling transformation array of the vector space decoupling modeling method is as follows:
T＝T1·*T2，
wherein,
wherein, I10A ten-dimensional unit matrix is represented,
k and i are both positive integers and,
6. a fault-tolerant operation control device of a flywheel energy storage system based on a twelve-phase motor is characterized in that the flywheel energy storage system comprises a flywheel rotor, a twelve-phase permanent magnet synchronous motor and first to fourth three-phase converters, the twelve-phase permanent magnet synchronous motor comprises first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein the device comprises:
the equivalent module is used for cutting off a fault phase when one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, enabling the residual windings in the three-phase windings corresponding to the fault to be equivalent to a single-phase permanent magnet synchronous motor, and enabling the three-phase windings without the fault phase to be equivalent to three-phase permanent magnet synchronous motors;
the first control module is used for establishing a mathematical model of the equivalent single-phase permanent magnet synchronous motor under a static coordinate system and controlling the equivalent single-phase permanent magnet synchronous motor to operate by a self-adaptive quasi-PR control method, wherein power fluctuation and amplitude loss are generated when the equivalent single-phase permanent magnet synchronous motor operates; and:
and the second control module is used for controlling the weak magnetic current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensating the power fluctuation and amplitude loss through the reluctance torque so as to control the fault-tolerant operation of the flywheel energy storage system.
7. The twelve-phase motor based fault-tolerant operation control device of a flywheel energy storage system according to claim 6, further comprising:
and the third control module is used for controlling the d-axis currents of the three equivalent three-phase permanent magnet synchronous motors by adopting a self-adaptive quasi-PR control method during fault-tolerant operation control of the flywheel energy storage system, and suppressing the power fluctuation through the large rotational inertia of the flywheel rotor.
8. The twelve-phase motor based flywheel energy storage system fault-tolerant operation control device of claim 6, wherein the first control module is further configured to adjust parameters in the adaptive quasi-PR control method according to the rotation speed variation of the equivalent single-phase permanent magnet synchronous motor, and control the phase current of the equivalent single-phase permanent magnet synchronous motor to be a sine waveform, so as to control the equivalent single-phase permanent magnet synchronous motor to operate.
9. The twelve-phase motor based fault-tolerant operation control device of a flywheel energy storage system according to claim 6, further comprising:
the modeling module is used for establishing a model of the twelve-phase permanent magnet synchronous motor by adopting a vector space decoupling modeling method;
and the fourth control module is used for carrying out 4-d-q coordinate transformation vector control on the first to fourth three-phase windings when the twelve-phase permanent magnet synchronous motor normally operates.
10. The twelve-phase motor-based fault-tolerant operation control method for the flywheel energy storage system according to claim 9, wherein the vector space decoupling transformation array of the vector space decoupling modeling method is as follows:
T＝T1·*T2，
wherein,
wherein, I10A ten-dimensional unit matrix is represented,
k and i are both positive integers and,
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