CN110112960A - Control system and method under a kind of more power bridge arm failures of bi-motor - Google Patents
Control system and method under a kind of more power bridge arm failures of bi-motor Download PDFInfo
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- CN110112960A CN110112960A CN201910280750.1A CN201910280750A CN110112960A CN 110112960 A CN110112960 A CN 110112960A CN 201910280750 A CN201910280750 A CN 201910280750A CN 110112960 A CN110112960 A CN 110112960A
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses the control systems and method under a kind of more power bridge arm failures of bi-motor, it include: according to the upper capacitance voltage at current time, lower capacitance voltage, the three-phase current of each motor and revolving speed, the reference stator magnetic linkage of setting and reference rotation velocity, calculate the cost function of torque reference and each motor, in the case where C power bridge arm switch state is " 1 " and " 0 ", screen the smallest cost function, the corresponding voltage vector of the smallest cost function is the optimal voltage vector of subsequent time；According to the optimal voltage vector of subsequent time, the corresponding switch state of power inverter is controlled；The present invention will connect capacitor central point fault-tolerance approach and combine with shared healthy bridge arm fault-tolerance approach, realize the faults-tolerant control in the case of breaking down to two power bridge arm of inverter in bi-motor frequency conversion speed-adjusting system, the case where for the two power bridge arm failures in system any position, it is also used for multiple motor variable frequency and speed regulating system and nonlinear load situation.
Description
Technical field
The invention belongs to motor fields, more particularly, to the control system under a kind of more power bridge arm failures of bi-motor
And method.
Background technique
In recent years, multiple motor variable frequency and speed regulating system, since the advantages that its energy density is big, and efficiency is high is in industry manufacture, boat
The fields such as empty space flight, communications and transportation are widely applied.Requirement with these systems to safety and reliability increasingly increases
Long, for various parts, being especially easiest to that the power inverter part broken down proposes effectively can independent control
Faults-tolerant control strategy has important engineering application value to the reliability for improving multiple motor variable frequency and speed regulating system.
Currently, every motor has independent power inverter module in most of multiple motor variable frequency and speed regulating system,
It is powered by same DC voltage source.In existing numerous patents and text for multiple motor variable frequency and speed regulating System Fault Tolerance control strategy
In offering, can substantially be divided into three classes topology: one kind is the redundancy fault-tolerant strategy using system backup, and fault-tolerant rear system performance will not
It changes, but increases the cost of system, weight and volume；Second class is using the fault-tolerant plan of nonredundancy for connecing capacitor central point
Slightly, failure bridge arm correspondence is mutually connected to capacitor central point, but greatly reduces the speed adjustable range of system；Third class is shared health
The nonredundancy of bridge arm is fault-tolerant, by the corresponding healthy bridge arm for being mutually connected to another motor inverter of failure bridge arm, but results in two electricity
The coupling of machine increases the difficulty of independent control.Above topology is all just in single bridge arm failure the case where, for more bridge arm groups
Closing failure does not have effective solution.
Summary of the invention
In view of the drawbacks of the prior art, the purpose of the present invention is to provide the controls under a kind of more power bridge arm failures of bi-motor
System and method processed, it is intended to solve to cannot achieve under the more power bridge arm failures of existing bi-motor frequency conversion speed-adjusting system three-phase inverter
The problem of faults-tolerant control.
To achieve the above object, the present invention provides the control systems under a kind of more power bridge arm failures of bi-motor, comprising:
Power inverter, double-motor device, state estimation module, physics prediction module, function optimizing module and PI controller；
The output end of the power inverter respectively with double-motor device, state estimation module, physics prediction module it is defeated
Enter end connection；
The output end of the double-motor device is connect with the input terminal of PI controller；The output end of the double-motor device with
The input terminal of state estimation module connects；The output end of the double-motor device is connect with the input terminal of physics prediction module；Institute
The output end for stating state estimation module is connect with the input terminal of physics prediction module；The output end and letter of the physics prediction module
The input terminal connection of number optimizing module；The output end of the function optimizing module and the input terminal of power conversion modules connect；Institute
State the input terminal connection of the output end and function optimizing module of PI controller；
The optimal voltage vector control dual motors system that the power conversion modules are transmitted according to function optimizing module turns
Speed and output torque；
Current time each motor three-phase current and each motor speed calculate currently the state estimation module based on the received
Current phasor, rotor flux and the stator magnetic linkage of moment motor；
The physics prediction module based on the received the upper capacitance voltage under current time, lower capacitance voltage, motor speed,
Current phasor, rotor flux and stator magnetic linkage calculate the upper capacitance voltage of subsequent time, lower capacitance voltage, stator magnetic linkage and defeated
Torque out；
The function optimizing module turns according to the upper capacitance voltage of subsequent time, lower capacitance voltage, stator magnetic linkage, output
Square, with reference to stator magnetic linkage and torque reference, screen the optimal voltage vector of subsequent time；
The PI controller calculates torque reference according to the revolving speed and reference rotation velocity of dual motors system.
Preferably, the power inverter includes A DC capacitor bridge arm, B power bridge arm, C power bridge arm, D power bridge arm
With E power bridge arm；
The A DC capacitor bridge arm and B power bridge arm, C power bridge arm, D power bridge arm and E power bridge arm are in parallel；
The a of the A DC capacitor bridge arm and first motor1It is connected；The b of the B power bridge arm and first motor1It is connected
It connects；The c of the C power bridge arm and first motor1The c of phase and the second motor2It is connected；The D power bridge arm and the second motor
b2It is connected；The a of the E power bridge arm and the second motor2It is connected.
Based on above-mentioned apparatus, the present invention provides the control methods under a kind of more power bridge arm failures of bi-motor, comprising:
(1) according to the upper capacitance voltage at current time, lower capacitance voltage, each motor three-phase current and revolving speed, calculate
Current phasor, upper capacitance voltage, lower capacitance voltage, stator magnetic linkage and the output of each switch state of each motor of subsequent time turn
Square；
(2) according to the current phasor of each switch state of each motor of subsequent time, upper capacitance voltage, lower capacitance voltage, fixed
Sub- magnetic linkage and output torque, the reference rotation velocity of setting, with reference to stator magnetic linkage calculate the cost function of torque reference and each motor；
(3) C power bridge arm switch state be " 1 " and " 0 " in the case where, screening first motor least cost function with
Second motor least cost function；
(4) compare JIM1 1+λ·JIM2 1With JIM1 0+λ·JIM2 0Size, screen the smallest cost function；
(5) first motor and the second motor optimal voltage vector of the subsequent time fed back according to the smallest cost function,
Control corresponding power inverter switch state.
Wherein, JIM1 1、JIM2 1The minimum generation of first motor and the second motor when respectively C power bridge arm switch state is " 1 "
Valence function；JIM1 0、JIM2 0The minimum cost letter of first motor and the second motor when respectively C power bridge arm switch state is " 0 "
Number；λ is weight factor.
Above-mentioned steps (1) specifically include:
(1.1) according to the upper capacitance voltage at current time and lower capacitance voltage, it is corresponding to calculate each switch state of each motor
Current time voltage vector value；And according to the three-phase current of current time each motor, the revolving speed of each motor, current time is calculated
Current phasor, rotor flux and the stator magnetic linkage of each motor；
(1.2) each according to each motor of the revolving speed of current time each motor, current phasor, rotor flux and stator magnetic linkage calculating
Current phasor, stator magnetic linkage and the output torque of the corresponding subsequent time of voltage vector；
(1.3) according to the corresponding current phasor of subsequent time first motor, the upper capacitance current of subsequent time is calculated under
Capacitance current；
(1.4) according to the upper capacitance current of subsequent time and lower capacitance current, the upper capacitance voltage at current time and lower electricity
Hold voltage, calculates capacitance voltage and lower capacitance voltage on subsequent time.
Preferably, the cost function of the cost function of the first motor and the second motor is respectively as follows:
Wherein, Te1 *、Te2 *The respectively torque reference of first motor and the second motor, Te1 k+1、Te2 k+1Respectively first electricity
The output torque of machine and the second motor subsequent time；It is describedThe reference of respectively first motor and the second motor is fixed
Sub- magnetic linkage；It is describedThe respectively stator magnetic linkage of first motor and the second motor subsequent time；The Uu k+1For
The upper capacitance voltage of subsequent time；The Ul k+1For the lower capacitance voltage of subsequent time；The Te1 nom、Te2 nomRespectively first electricity
The maximum output torque of machine and the second motor；The respectively maximum output stator of first motor and the second motor
Magnetic linkage；λ0、λ1For adjustable weight factor；Uu kFor the upper capacitance voltage at current time；The Ul kFor the lower capacitor electricity at current time
Pressure, JiFor first motor least cost function, JjFor the second motor least cost function.
Preferably, the relationship between the reference rotation velocity, the revolving speed and torque reference at current time are as follows:
Te *=kp·(ω*-ω)+ki·∫(ω*-ω)dt
Wherein, kp、kiFor gain factor, ω*For reference rotation velocity, ω is the revolving speed at current time；Te *For torque reference.
Preferably, the first motor switch state, is corresponding in turn to first motor b1Phase, c1Phase switch state:
The corresponding voltage vector of the first motor switch state 00 is 2Ul k/3；
The corresponding voltage vector of the first motor switch state 10 is
The corresponding voltage vector of the first motor switch state 11 is -2Uu k/3；
The corresponding voltage vector of the first motor switch state 01 is
Preferably, the second motor switch state is corresponding in turn to the second motor a2Phase, b2Phase and c2Phase switch state:
The corresponding voltage vector of the second motor switch state 000 is 0；
The corresponding voltage vector of the second motor switch state 100 is 2 (Ul k+Uu k)/3；
The corresponding voltage vector of the second motor switch state 110 is
The corresponding voltage vector of the second motor switch state 010 is
The corresponding voltage vector of the second motor switch state 011 is -2 (Ul k+Uu k)/3；
The corresponding voltage vector of the second motor switch state 001 is
The corresponding voltage vector of the second motor switch state 101 is
The corresponding voltage vector of the second motor switch state 111 is 0；
Wherein, each phase switch state of each motor is that " 0 " represents the upper of the power inverter connecting with the phase machine winding
Bridge arm shutdown, lower bridge arm conducting；Each phase switch state of each motor is that " 1 " represents the power conversion connecting with the phase machine winding
The upper bridge arm of device is connected, lower bridge arm shutdown.
Preferably, in step (1.1) current phasor of current time each motor and current time each motor three-phase current
Between relationship are as follows:
Wherein,For the current phasor of current time each motor；ia k, ib k, ic kFor the three-phase electricity of current time each motor
Stream.
Preferably, in the step (1.1) current time rotor flux and stator magnetic linkage are as follows:
τr=Lr/Rr
kr=Lm/Lr,
Wherein,For the rotor flux at current time；For the stator magnetic linkage at current time；Lr, Ls, LmIndicate rotor
Inductance, stator inductance, mutual inductance；TsIndicate the sampling period；RrIndicate rotor resistance；It is sweared for the electric current of current time each motor
Amount, krFor the rotor coefficient of coup.
Preferably, the stator magnetic linkage of subsequent time are as follows:
Wherein,For the stator magnetic linkage of subsequent time；For the stator magnetic linkage at current time；It is respectively opened for each motor
The corresponding voltage vector of off status；TsIndicate the sampling period；For the current phasor of current time each motor；RsFor stator electricity
Resistance.
Preferably, the current phasor of subsequent time are as follows:
Rσ=Rs+kr 2·Rr, τσ=σ Ls/Rσ
Wherein,For the current phasor of subsequent time；TsIndicate the sampling period；RsFor stator resistance；krFor rotor coupling
Coefficient；RrIndicate rotor resistance.
Preferably, the output torque of the subsequent time are as follows:
Wherein,For the output torque of subsequent time；P is motor pole logarithm；For the stator magnet of subsequent time
Chain；For the current phasor of subsequent time.
Preferably, step (1.3) specifically includes:
(1.3.1) calculates the three-phase electricity of subsequent time first motor according to the corresponding current phasor of subsequent time first motor
Stream；
(1.3.2) calculates capacitance current and lower capacitor on subsequent time according to the three-phase current of subsequent time first motor
Electric current.
Preferably, the three-phase current of the subsequent time first motor are as follows:
ic1 k+1=-ia1 k+1-ib1 k+1
Wherein, ia1 k+1、ib1 k+1、ic1 k+1For the three-phase current of subsequent time first motor；Re { } expression takes real part, Im { }
Expression takes imaginary part.
Preferably, capacitance current and lower capacitance current on subsequent time are as follows:
iu k+1=Sb1·ib1 k+1+Sc1·ic1 k+1
il k+1=(1-Sb1)·ib1 k+1+(1-Sc1)·ic1 k+1
Wherein, iu k+1、il k+1Capacitance current and lower capacitance current respectively on subsequent time；Sb1, Sc1It respectively indicates next
Moment first motor b1Phase and c1Phase inverter leg switch state；ib1 k+1、ic1 k+1Respectively subsequent time first motor b1Phase
And c1Corresponding electric current.
Preferably, the upper capacitance voltage of the subsequent time and lower capacitance voltage are as follows:
Uu k+1=Uu k-(1/Cu)·iu k+1·Ts
Ul k+1=Ul k+(1/Cl)·il k+1·Ts
Wherein, Uu k+1、Ul k+1The respectively upper capacitance voltage of subsequent time and lower capacitance voltage；TsIndicate the sampling period；iu k +1、il k+1Capacitance current and lower capacitance current respectively on subsequent time；CuFor upper capacitance；ClFor lower capacitance.
Contemplated above technical scheme through the invention can obtain following compared with prior art
The utility model has the advantages that
(1) the invention proposes the control systems under a kind of more power bridge arm failures of bi-motor, using A DC capacitor bridge arm
It is combined with C power bridge arm and connects capacitor central point fault-tolerance approach and shared healthy bridge arm fault-tolerance approach, realized to bi-motor frequency conversion tune
Faults-tolerant control in the case of two power bridge arm of three-phase inverter breaks down in speed system, and this method is suitable for any position of system
The case where setting two power bridge arm failures is also applied for any multiple motor variable frequency and speed regulating system and nonlinear load situation.
(2) present invention proposes a kind of Direct Torque power prediction control method by the analysis to motor model, will be electric
Pressure vector shares bridge arm state according to C power and is divided into two classes, by comparing the side of the corresponding cost function sum of two class voltage vectors
Formula avoids two motor electrical couplings caused by shared bridge arm connection, realizes the independent control of two motors, do not need arteries and veins
Wide modulator is realized simply, and ensure that good speed adjustable range and output torque by most preferably taking for voltage vector
Energy.
(3) present invention directly affects the charging and discharging currents and power inverter switch state of DC capacitor voltage by analysis
Corresponding relationship between motor three-phase current, and corresponding simplification has been carried out, the inhibition of capacitance voltage drift is realized, is increased
The speed adjustable range of motor improves the control performance of tolerant system.
Detailed description of the invention
Fig. 1 is the control system under a kind of more power bridge arm failures of bi-motor provided by the invention；
Fig. 2 is the schematic diagram of power inverter under the more power bridge arm failures of bi-motor provided by the invention；
Fig. 3 is the control schematic diagram in a kind of more power bridge arm failure minor function optimizing modules of bi-motor.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, the present invention provides the control systems under a kind of more power bridge arm failures of bi-motor, comprising: power
Converter, double-motor device, state estimation module, physics prediction module, function optimizing module and PI controller；
The output end of the power inverter respectively with double-motor device, state estimation module, physics prediction module it is defeated
Enter end connection；
The output end of the double-motor device is connect with the input terminal of PI controller；The output end of the double-motor device with
The input terminal of state estimation module connects；The output end of the double-motor device is connect with the input terminal of physics prediction module；Institute
The output end for stating state estimation module is connect with the input terminal of physics prediction module；The output end and letter of the physics prediction module
The input terminal connection of number optimizing module；The output end of the function optimizing module and the input terminal of power conversion modules connect；Institute
State the input terminal connection of the output end and function optimizing module of PI controller；
The optimal voltage vector control dual motors system that the power conversion modules are transmitted according to function optimizing module turns
Speed and output torque；
Current time each motor three-phase current and each motor speed, calculating are current based on the received for the state estimation module
Current phasor, rotor flux and the stator magnetic linkage of moment motor；
The physics prediction module based on the received the upper capacitance voltage under current time, lower capacitance voltage, motor speed,
Current phasor, rotor flux and stator magnetic linkage calculate the upper capacitance voltage of subsequent time, lower capacitance voltage, stator magnetic linkage and defeated
Torque out；
The function optimizing module turns according to the upper capacitance voltage of subsequent time, lower capacitance voltage, stator magnetic linkage, output
Square, with reference to stator magnetic linkage and torque reference, screen the optimal voltage vector of subsequent time；
The PI controller calculates torque reference according to the revolving speed and reference rotation velocity of dual motors system.
As shown in Fig. 2, the power inverter includes A DC capacitor bridge arm, B, C, D, E is power bridge arm；
The A DC capacitor bridge arm and B, C, D, E are that power bridge arm is in parallel；
The a of the A DC capacitor bridge arm and first motor1It is connected；The b of the B power bridge arm and first motor1It is connected
It connects；The c of the C power bridge arm and first motor1The c of phase and the second motor2It is connected；The D power bridge arm and the second motor
b2It is connected；The a of the E power bridge arm and the second motor2It is connected.
Control system under the more power bridge arm failures of bi-motor provided by the invention is incited somebody to action in the case where power bridge arm breaks down
Specific expression form under the power bridge arm to be broken down using A DC capacitor bridge arm substitution；When bi-motor does not break down, adopt
With traditional more power bridge arms, the mode combined without A DC capacitor bridge arm provided by the invention and C power bridge arm is carried out
System control；
It is combined using A DC capacitor bridge arm and C power bridge arm and connects capacitor central point fault-tolerance approach and shared healthy bridge arm appearance
Wrong method realizes the fault-tolerant control in the case of breaking down to two power bridge arm of three-phase inverter in bi-motor frequency conversion speed-adjusting system
System.
As shown in Figure 1, the present invention is based on the controlling parties that the control system under the more power bridge arm failures of above-mentioned bi-motor provides
Method, comprising:
S1: according to the upper capacitance voltage at current time and lower capacitance voltage, calculate that each switch state of each motor is corresponding to work as
Preceding moment voltage vector value；And according to the three-phase current of current time each motor, the revolving speed of each motor, each of current time is calculated
Current phasor, rotor flux and the stator magnetic linkage of motor；
The first motor for connecing capacitor center shares (00,10,11,01) four kinds of voltage vectorsSecond motor
Shared (000,100,110,010,011,001,101,111) eight kinds of voltage vectors
Wherein, each phase switch state of each motor is that " 0 " represents the upper of the power inverter connecting with the phase machine winding
Bridge arm shutdown, lower bridge arm conducting；Each phase switch state of each motor is that " 1 " represents the power conversion connecting with the phase machine winding
The upper bridge arm of device is connected, lower bridge arm shutdown；
First motor switch state successively represents first motor b1Phase, c1Phase switch state, the switch shape of equivalent bridge arm B, C
State；Second motor switch state once represents the second motor a2Phase, b2Phase and c2Phase switch state, the switch of equivalent bridge arm E, D, C
State；
Relationship between the first motor switch state corresponding voltage vector and upper capacitance voltage, lower capacitance voltage are as follows:
The corresponding voltage vector of the first motor switch state 00 is 2Ul k/3；
The corresponding voltage vector of the first motor switch state 10 is
The corresponding voltage vector of the first motor switch state 11 is -2Uu k/3；
The corresponding voltage vector of the first motor switch state 01 is
The voltage vector of the first motor switch state are as follows:
The corresponding voltage vector of the second motor switch state 000 is 0；
The corresponding voltage vector of the second motor switch state 100 is 2 (Ul k+Uu k)/3；
The corresponding voltage vector of the second motor switch state 110 is
The corresponding voltage vector of the second motor switch state 010 is
The corresponding voltage vector of the second motor switch state 011 is -2 (Ul k+Uu k)/3；
The corresponding voltage vector of the second motor switch state 001 is
The corresponding voltage vector of the second motor switch state 101 is
The corresponding voltage vector of the second motor switch state 111 is 0.
Relationship between the current phasor of current time each motor and the three-phase current of current time each motor are as follows:
Wherein,For the current phasor of current time each motor；ia k, ib k, ic kFor the three-phase electricity of current time each motor
Stream；
The rotor flux and stator magnetic linkage at current time are as follows:
τr=Lr/Rr
kr=Lm/Lr,
Wherein,For the rotor flux at current time；For the stator magnetic linkage at current time；Lr, Ls, LmIndicate rotor
Inductance, stator inductance, mutual inductance；TsIndicate the sampling period；RrIndicate rotor resistance；It is sweared for the electric current of current time each motor
Amount, krFor the rotor coefficient of coup；
S2: each each electricity of motor is calculated according to the revolving speed of current time each motor, current phasor, rotor flux and stator magnetic linkage
Press current phasor, stator magnetic linkage and the output torque of the corresponding subsequent time of vector；
The current phasor of the subsequent time are as follows:
Rσ=Rs+kr 2·Rr, τσ=σ Ls/Rσ
Wherein,For the current phasor of subsequent time；TsIndicate the sampling period；RsFor stator resistance；krFor rotor coupling
Coefficient；RrIndicate rotor resistance；For the corresponding voltage vector of each switch state of each motor；For the rotor magnetic at current time
Chain；
The stator magnetic linkage of the subsequent time are as follows:
Wherein,For the stator magnetic linkage of subsequent time；For the stator magnetic linkage at current time；It is respectively opened for each motor
The corresponding voltage vector of off status；For the current phasor of current time each motor；
The output torque of the subsequent time are as follows:
Wherein,For the output torque of subsequent time；P is motor pole logarithm；For the stator magnet of subsequent time
Chain；
S3: according to the corresponding current phasor of subsequent time first motor, the upper capacitance current and lower electricity of subsequent time are calculated
Capacitance current；
Specifically, above-mentioned steps S3 includes:
S3.1: the three-phase electricity of subsequent time first motor is calculated according to the corresponding current phasor of subsequent time first motor
Stream；
The three-phase current of the subsequent time first motor are as follows:
ic1 k+1=-ia1 k+1-ib1 k+1
Wherein, ia1 k+1、ib1 k+1、ic1 k+1For the three-phase current of subsequent time first motor；Re { } expression takes real part, Im { }
Expression takes imaginary part；
S3.2: according to the three-phase current of subsequent time first motor, capacitance current and lower capacitor electricity on subsequent time are calculated
Stream.
Capacitance current and lower capacitance current on the subsequent time are as follows:
iu k+1=Sb1·ib1 k+1+Sc1·ic1 k+1
il k+1=(1-Sb1)·ib1 k+1+(1-Sc1)·ic1 k+1
Wherein, iu k+1、il k+1Capacitance current and lower capacitance current respectively on subsequent time；Sb1, Sc1It respectively indicates next
Moment first motor b1Phase and c1Phase inverter leg switch state；
S4: according to the upper capacitance current of subsequent time and lower capacitance current, the upper capacitance voltage at current time and lower capacitor
Voltage calculates capacitance voltage and lower capacitance voltage on subsequent time.
The upper capacitance voltage of the subsequent time and lower capacitance voltage are as follows:
Uu k+1=Uu k-(1/Cu)·iu k+1·Ts
Ul k+1=Ul k+(1/Cl)·il k+1·Ts
Wherein, Uu k+1、Ul k+1The respectively upper capacitance voltage of subsequent time and lower capacitance voltage；T table
S shows the sampling period；iu k+1、il k+1Capacitance current and lower capacitance current respectively on subsequent time；CuFor upper capacitor
Value；ClFor lower capacitance；
S5: according to the current phasor, upper capacitance voltage, lower capacitance voltage, stator of each switch state of each motor of subsequent time
Magnetic linkage and output torque and the reference rotation velocity of setting, with reference to stator magnetic linkage, calculate the cost function of torque reference and each motor；
Relationship between the reference rotation velocity, the revolving speed and torque reference at current time are as follows:
Te *=kp·(ω*-ω)+ki·∫(ω*-ω)dt
Wherein, kp、kiFor gain factor, ω*For reference rotation velocity, ω is the revolving speed at current time；Te *For torque reference；
The cost function of the cost function of the first motor and the second motor is respectively as follows:
Wherein, Te1 *、Te2 *The respectively torque reference of first motor and the second motor, Te1 k+1、Te2 k+1Respectively first electricity
The output torque of machine and the second motor subsequent time；It is describedThe reference of respectively first motor and the second motor is fixed
Sub- magnetic linkage；It is describedThe respectively stator magnetic linkage of first motor and the second motor subsequent time；The Uu k+1For
The upper capacitance voltage of subsequent time；The Ul k+1For the lower capacitance voltage of subsequent time；The Te1 nom、Te2 nomRespectively first electricity
The maximum output torque of machine and the second motor；The respectively maximum output stator of first motor and the second motor
Magnetic linkage；λ0、λ1For adjustable weight factor；Uu kFor the upper capacitance voltage at current time；The Ul kFor the lower capacitor electricity at current time
Pressure, JiFor the cost function of first motor, JjFor the cost function of the second motor；
S6: C power bridge arm switch state be " 1 " and " 0 " in the case where, screening first motor least cost function with
Second motor least cost function；
As shown in figure 3, by C power bridge arm switch state be " 1 " and " 0 " on the basis of, each motor switch state is divided into two
Group:
As C power bridge arm switch state ScWhen for " 1 ", there are two types of switch state, i.e. (01), (11), corresponding i for first motor
Value be (0,1), calculate two kinds of switch states of first motor under cost function, screen first motor least cost function
JIM1 1；Second motor is (0,1,2,3), meter there are four types of switch state, i.e. (011), (001), (101), (111), the value of corresponding j
The cost function under four kinds of switch states of the second motor is calculated, the second motor least cost function J is screenedIM2 1；
As C power bridge arm switch state ScWhen for " 1 ", there are two types of switch state, i.e. (00), (10), corresponding i for first motor
Value be (2,3), calculate two kinds of switch states of first motor under cost function, screen first motor least cost function
JIM1 0；Second motor is (4,5,6,7), meter there are four types of switch state, i.e. (000), (100), (110), (010), the value of corresponding j
The cost function under four kinds of switch states of the second motor is calculated, the second motor least cost function J is screenedIM2 0；
S7: as shown in figure 3, by comparing JIM1 1+λ·JIM2 1With JIM1 0+λ·JIM2 0Size screen the smallest cost letter
Number, and the corresponding voltage vector of the smallest cost function is the optimal voltage vector of subsequent time；
S8: according to the optimal voltage vector of subsequent time, corresponding power inverter switch state is controlled.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. the control system under a kind of more power bridge arm failures of bi-motor, which is characterized in that filled including power inverter, bi-motor
It sets, state estimation module, physics prediction module, function optimizing module and PI controller；
The output end of the power inverter input terminal with double-motor device, state estimation module, physics prediction module respectively
Connection；
The output end of the double-motor device is connect with the input terminal of PI controller；The output end and state of the double-motor device
The input terminal of estimation module connects；The output end of the double-motor device is connect with the input terminal of physics prediction module；The shape
The output end of state estimation module is connect with the input terminal of physics prediction module；The output end and function of the physics prediction module is sought
The input terminal of excellent module connects；The output end of the function optimizing module and the input terminal of power conversion modules connect；The PI
The input terminal of the output end and function optimizing module of controller connects；
The optimal voltage vector that the power conversion modules are transmitted according to function optimizing module, control dual motors system revolving speed and
Output torque；
The state estimation module current time each motor three-phase current and each motor speed based on the received calculate current time
Current phasor, rotor flux and the stator magnetic linkage of motor；
The physics prediction module based on the received current time upper capacitance voltage, lower capacitance voltage, motor speed, electric current arrow
Amount, rotor flux and stator magnetic linkage, calculate upper capacitance voltage, lower capacitance voltage, stator magnetic linkage and the output torque of subsequent time；
The function optimizing module is according to the upper capacitance voltage of subsequent time, lower capacitance voltage, stator magnetic linkage, output torque, ginseng
Stator magnetic linkage and torque reference are examined, the optimal voltage vector of subsequent time is screened by cost function；
The PI controller calculates torque reference according to the revolving speed and reference rotation velocity of dual motors system.
2. control system as described in claim 1, which is characterized in that the power inverter includes A DC capacitor bridge arm, B
Power bridge arm, C power bridge arm, D power bridge arm and E power bridge arm；
The A DC capacitor bridge arm and B power bridge arm, C power bridge arm, D power bridge arm and E power bridge arm are in parallel；
The a of the A DC capacitor bridge arm and first motor1It is connected；The b of the B power bridge arm and first motor1It is connected；Institute
State the c of C power bridge arm and first motor1The c of phase and the second motor2It is connected；The b of the D power bridge arm and the second motor2Phase
Connection；The a of the E power bridge arm and the second motor2It is connected.
3. the control method based on control system described in claim 1 characterized by comprising
(1) according to the upper capacitance voltage at current time, lower capacitance voltage, each motor three-phase current and revolving speed, calculate it is next
Current phasor, upper capacitance voltage, lower capacitance voltage, stator magnetic linkage and the output torque of each switch state of each motor at moment；
(2) according to the current phasor, upper capacitance voltage, lower capacitance voltage, stator magnetic linkage of each switch state of each motor of subsequent time
With output torque and the reference rotation velocity of setting, with reference to stator magnetic linkage, the cost function of calculating torque reference and each motor；
(3) in the case where C power bridge arm switch state is " 1 " and " 0 ", first motor least cost function and second is screened
Motor least cost function；
(4) by comparing JIM1 1+λ·JIM2 1With JIM1 0+λ·JIM2 0Size, screen the smallest cost function；
(5) according to the first motor and the second motor optimal voltage vector of the subsequent time of the smallest cost function feedback, control
Corresponding power inverter switch state；
Wherein, JIM1 1、JIM2 1The minimum cost letter of first motor and the second motor when respectively C power bridge arm switch state is " 1 "
Number；JIM1 0、JIM2 0The least cost function of first motor and the second motor when respectively C power bridge arm switch state is " 0 "；λ is
Weight factor.
4. control method as claimed in claim 3, which is characterized in that the step (1) includes:
(1.1) according to the upper capacitance voltage at current time and lower capacitance voltage, it is corresponding current to calculate each switch state of each motor
Moment voltage vector value；
And according to the three-phase current of current time each motor, the revolving speed of each motor, the electric current arrow of each motor at current time is calculated
Amount, rotor flux and stator magnetic linkage；
(1.2) each each voltage of motor is calculated according to the revolving speed of current time each motor, current phasor, rotor flux and stator magnetic linkage
Current phasor, stator magnetic linkage and the output torque of the corresponding subsequent time of vector；
(1.3) according to the corresponding current phasor of subsequent time first motor, the upper capacitance current and lower capacitor of subsequent time are calculated
Electric current；
(1.4) according to the upper capacitance current of subsequent time and lower capacitance current, the upper capacitance voltage at current time and lower capacitor electricity
Pressure calculates capacitance voltage and lower capacitance voltage on subsequent time.
5. control method as described in claim 3 or 4, which is characterized in that the cost function of the first motor and the second electricity
The cost function of machine is respectively as follows:
Wherein, Te1 *、Te2 *The respectively torque reference of first motor and the second motor, Te1 k+1、Te2 k+1Respectively first motor and
The output torque of second motor subsequent time；It is describedThe respectively reference stator magnet of first motor and the second motor
Chain；It is describedThe respectively stator magnetic linkage of first motor and the second motor subsequent time；The Uu k+1It is next
The upper capacitance voltage at moment；The Ul k+1For the lower capacitance voltage of subsequent time；The Te1 nom、Te2 nomRespectively first motor and
The maximum output torque of second motor；The respectively maximum output stator magnet of first motor and the second motor
Chain；λ0、λ1For adjustable weight factor；Uu kFor the upper capacitance voltage at current time；The Ul kFor the lower capacitance voltage at current time,
JiFor the cost function of first motor, JjFor the cost function of the second motor.
6. control method as claimed in claim 3, which is characterized in that reference rotation velocity, turn at current time in the step (2)
Relationship between speed and torque reference are as follows:
Te *=kp·(ω*-ω)+ki·∫(ω*-ω)dt
Wherein, kp、kiFor gain factor, ω*For reference rotation velocity, ω is the revolving speed at current time；Te *For torque reference.
7. control method as claimed in claim 4, which is characterized in that the step (1.3) includes:
(1.3.1) calculates the three-phase current of subsequent time first motor according to the corresponding current phasor of subsequent time first motor；
(1.3.2) calculates capacitance current and lower capacitance current on subsequent time according to the three-phase current of subsequent time first motor.
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