CN110112960B - Control system and method under double-motor multi-power bridge arm fault - Google Patents

Control system and method under double-motor multi-power bridge arm fault Download PDF

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CN110112960B
CN110112960B CN201910280750.1A CN201910280750A CN110112960B CN 110112960 B CN110112960 B CN 110112960B CN 201910280750 A CN201910280750 A CN 201910280750A CN 110112960 B CN110112960 B CN 110112960B
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motor
current
bridge arm
moment
capacitor voltage
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CN110112960A (en
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赵金
宋宇金
刘洋
杨焕文
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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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
    • 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
    • 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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  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a control system and a method under the condition of double-motor multi-power bridge arm faults, which comprises the following steps: calculating a reference torque and a cost function of each motor according to an upper capacitor voltage, a lower capacitor voltage, three-phase currents and rotating speeds of each motor, a set reference stator flux linkage and a set reference rotating speed at the current moment, screening a minimum cost function under the condition that the switching states of a C power bridge arm are '1' and '0', wherein a voltage vector corresponding to the minimum cost function is an optimal voltage vector at the next moment; controlling the corresponding switch state of the power converter according to the optimal voltage vector at the next moment; the fault-tolerant control method combines a fault-tolerant method of a capacitance center point with a fault-tolerant method of a shared healthy bridge arm, realizes fault-tolerant control on the condition that two power bridge arms of an inverter in a double-motor variable-frequency speed control system have faults, is used for the condition that two power bridge arms at any position of the system have faults, and is also used for the condition of a multi-motor variable-frequency speed control system and nonlinear load.

Description

Control system and method under double-motor multi-power bridge arm fault
Technical Field
The invention belongs to the field of motors, and particularly relates to a control system and method under the condition of double-motor multi-power bridge arm faults.
Background
In recent years, a multi-motor variable-frequency speed regulation system is widely applied to the fields of industrial manufacturing, aerospace, transportation and the like due to the advantages of high energy density, high energy efficiency and the like. With the increasing requirements of the systems on safety and reliability, an effective fault-tolerant control strategy capable of being independently controlled is provided for each component of the system, especially a power inverter part which is most prone to faults, and the fault-tolerant control strategy has an important engineering application value for improving the reliability of a multi-motor variable-frequency speed regulation system.
Currently, in most multi-motor variable frequency speed control systems, each motor has an independent power inverter module, and the power inverter module is supplied by the same direct-current voltage source. In the existing numerous patents and documents aiming at the fault-tolerant control strategy of the multi-motor variable-frequency speed control system, the fault-tolerant control strategy can be roughly divided into three types of topologies: one is a redundancy fault-tolerant strategy adopting system backup, the performance of the system cannot be changed after fault tolerance, but the cost, the weight and the volume of the system are increased; the second type is that a non-redundant fault-tolerant strategy connected with a capacitor central point is adopted to correspondingly connect a fault bridge arm to the capacitor central point, but the speed regulation range of the system is greatly reduced; the third type is non-redundant fault tolerance of a shared healthy bridge arm, and a fault bridge arm is correspondingly connected to a healthy bridge arm of another motor inverter, but the two motors are coupled, and the difficulty of independent control is increased. The topology only aims at the condition of single-bridge arm faults, and no effective solution is provided for multi-bridge arm combined faults.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a control system and a control method under the condition of double-motor multi-power bridge arm faults, and aims to solve the problem that fault-tolerant control cannot be realized under the condition of the multi-power bridge arm faults of a three-phase inverter of a double-motor variable-frequency speed regulation system.
In order to achieve the above object, the present invention provides a control system under a double-motor multi-power bridge arm fault, comprising: the system comprises a power converter, double-motor devices, a state estimation module, a physical prediction module, a function optimization module and a PI controller;
the output end of the power converter is respectively connected with the input ends of the double-motor device, the state estimation module and the physical prediction module;
the output end of the double-motor device is connected with the input end of the PI controller; the output end of the double-motor device is connected with the input end of the state estimation module; the output end of the double-motor device is connected with the input end of the physical prediction module; the output end of the state estimation module is connected with the input end of the physical prediction module; the output end of the physical prediction module is connected with the input end of the function optimizing module; the output end of the function optimizing module is connected with the input end of the power conversion module; the output end of the PI controller is connected with the input end of the function optimizing module;
the power conversion module controls the rotating speed and the output torque of the dual-motor system according to the optimal voltage vector transmitted by the function optimizing module;
the state estimation module calculates a current vector, a rotor flux linkage and a stator flux linkage of the motor at the current moment according to the received three-phase current of each motor at the current moment and the rotating speed of each motor;
the physical prediction module calculates the upper capacitor voltage, the lower capacitor voltage, the stator flux linkage and the output torque at the next moment according to the received upper capacitor voltage, the lower capacitor voltage, the motor rotating speed, the current vector, the rotor flux linkage and the stator flux linkage at the current moment;
the function optimizing module screens an optimal voltage vector at the next moment according to the upper capacitor voltage, the lower capacitor voltage, the stator flux linkage, the output torque, the reference stator flux linkage and the reference torque at the next moment;
and the PI controller calculates the reference torque according to the rotating speed of the double-motor system and the reference rotating speed.
Preferably, the power converter comprises a direct current capacitor bridge arm A, a power bridge arm B, a power bridge arm C, a power bridge arm D and a power bridge arm E;
the direct current capacitor bridge arm A is connected with the power bridge arm B, the power bridge arm C, the power bridge arm D and the power bridge arm E in parallel;
the A direct current capacitor bridge arm and a of the first motor1Connecting; b of the B power bridge arm and the first motor1Connecting; c of the C power bridge arm and the first motor1C of phase and second motor2Connecting; b of the D power bridge arm and the second motor2Connecting; the E power bridge arm and a of the second motor2Are connected.
Based on the device, the invention provides a control method under the condition of double-motor multi-power bridge arm faults, which comprises the following steps:
(1) calculating current vectors, upper capacitor voltage, lower capacitor voltage, stator flux linkage and output torque of each motor in a switching state at the next moment according to the upper capacitor voltage, the lower capacitor voltage, the three-phase current and the rotating speed of each motor at the current moment;
(2) calculating a reference torque and a cost function of each motor according to a current vector, an upper capacitor voltage, a lower capacitor voltage, a stator flux linkage and an output torque of each switching state of each motor at the next moment, and a set reference rotating speed and a set reference stator flux linkage;
(3) screening a first motor minimum cost function and a second motor minimum cost function under the condition that the switching states of a C power bridge arm are '1' and '0';
(4) comparison JIM1 1+λ·JIM2 1And JIM1 0+λ·JIM2 0Screening the minimum cost function;
(5) and controlling the corresponding power converter switch states according to the optimal voltage vectors of the first motor and the second motor at the next moment fed back by the minimum cost function.
Wherein, JIM1 1、JIM2 1Respectively being minimum cost functions of the first motor and the second motor when the switching state of the C power bridge arm is 1; j. the design is a squareIM1 0、JIM2 0Respectively being minimum cost functions of the first motor and the second motor when the switching state of the C power bridge arm is 0; λ is a weighting factor.
The step (1) specifically includes:
(1.1) calculating a current moment voltage vector value corresponding to each switching state of each motor according to the upper capacitor voltage and the lower capacitor voltage at the current moment; calculating current vectors, rotor flux linkages and stator flux linkages of the motors at the current moment according to the three-phase currents of the motors at the current moment and the rotating speeds of the motors;
(1.2) calculating a current vector, a stator flux linkage and an output torque of each motor at the next moment corresponding to each voltage vector according to the rotating speed, the current vector, the rotor flux linkage and the stator flux linkage of each motor at the current moment;
(1.3) calculating an upper capacitor current and a lower capacitor current at the next moment according to a current vector corresponding to the first motor at the next moment;
and (1.4) calculating the upper capacitor voltage and the lower capacitor voltage at the next moment according to the upper capacitor current and the lower capacitor current at the next moment and the upper capacitor voltage and the lower capacitor voltage at the current moment.
Preferably, the cost function of the first motor and the cost function of the second motor are respectively:
Figure BDA0002021575720000041
Figure BDA0002021575720000042
wherein, Te1 *、Te2 *Reference torques, T, of the first and second electric machines, respectivelye1 k+1、Te2 k+1The output torques of the first motor and the second motor at the next moment are respectively; the above-mentioned
Figure BDA0002021575720000043
Reference stator flux linkages for the first and second electrical machines, respectively; the above-mentioned
Figure BDA0002021575720000044
The stator flux linkages of the first motor and the second motor at the next moment are respectively; the U isu k+1The upper capacitor voltage at the next moment; the U isl k+1The lower capacitor voltage at the next moment; the T ise1 nom、Te2 nomThe maximum output torques of the first motor and the second motor respectively;
Figure BDA0002021575720000045
are respectively the firstA maximum output stator flux linkage of the motor and the second motor; lambda [ alpha ]0、λ1Is an adjustable weight factor; u shapeu kThe upper capacitor voltage at the current moment; the U isl kThe lower capacitor voltage at the present moment, JiIs a first motor minimum cost function, JjIs the second motor minimum cost function.
Preferably, the relationship between the reference rotation speed, the rotation speed at the current moment and the reference torque is as follows:
Te *＝kp·(ω*-ω)+ki·∫(ω*-ω)dt
wherein k isp、kiIs a gain factor, ω*Is a reference rotation speed, and omega is the rotation speed at the current moment; t ise *Is the reference torque.
Preferably, the first motor on-off state corresponds to the first motor b in sequence1Phase (c)1Phase switching state:
the voltage vector corresponding to the first motor switch state 00 is 2Ul k/3；
The voltage vector corresponding to the first motor on-off state 10 is
Figure BDA0002021575720000051
The voltage vector corresponding to the first motor switch state 11 is-2Uu k/3；
The voltage vector corresponding to the first motor on-off state 01 is
Figure BDA0002021575720000052
Preferably, the second motor on-off state corresponds to the second motor a in sequence2Phase b2Phase sum c2Phase switching state:
the voltage vector corresponding to the second motor on-off state 000 is 0;
the voltage vector corresponding to the second motor switch state 100 is 2 (U)l k+Uu k)/3；
The voltage vector corresponding to the second motor switching state 110 is
Figure BDA0002021575720000053
The voltage vector corresponding to the second motor switch state 010 is
Figure BDA0002021575720000054
The voltage vector corresponding to the second motor switch state 011 is-2 (U)l k+Uu k)/3；
The voltage vector corresponding to the second motor switch state 001 is
Figure BDA0002021575720000055
The voltage vector corresponding to the second motor switch state 101 is
Figure BDA0002021575720000056
The voltage vector corresponding to the second motor switch state 111 is 0;
wherein, the switching state of each phase of each motor is '0' which represents that the upper bridge arm of the power converter connected with the phase motor winding is switched off and the lower bridge arm is switched on; the switching state of each phase of each motor is 1, which means that the upper bridge arm of the power converter connected with the phase motor winding is switched on, and the lower bridge arm is switched off.
Preferably, in step (1.1), the relationship between the current vector of each motor at the current moment and the three-phase current of each motor at the current moment is:
Figure BDA0002021575720000061
wherein the content of the first and second substances,
Figure BDA0002021575720000062
current vectors of all motors at the current moment are obtained; i.e. ia k，ib k，ic kThe three-phase current of each motor at the current moment.
Preferably, the rotor flux linkage and the stator flux linkage at the current time in the step (1.1) are:
Figure BDA0002021575720000063
τr＝Lr/Rr
Figure BDA0002021575720000064
kr＝Lm/Lr，
Figure BDA0002021575720000065
wherein the content of the first and second substances,
Figure BDA0002021575720000066
the rotor flux linkage at the current moment;
Figure BDA0002021575720000067
the stator flux linkage at the current moment; l isr，Ls，LmRepresenting rotor inductance, stator inductance, mutual inductance; t issRepresents a sampling period; rrRepresenting the rotor resistance;
Figure BDA0002021575720000068
for the current vector, k, of each motor at the present momentrIs the rotor coupling coefficient.
Preferably, the stator flux linkage at the next moment is:
Figure BDA0002021575720000069
wherein the content of the first and second substances,
Figure BDA00020215757200000610
the stator flux linkage at the next moment;
Figure BDA00020215757200000611
the stator flux linkage at the current moment;
Figure BDA00020215757200000612
voltage vectors corresponding to the switch states of the motors; t issRepresents a sampling period;
Figure BDA00020215757200000613
current vectors of all motors at the current moment are obtained; rsIs the stator resistance.
Preferably, the current vector at the next instant is:
Figure BDA00020215757200000614
Rσ＝Rs+kr 2·Rr，τσ＝σ·Ls/Rσ
wherein the content of the first and second substances,
Figure BDA00020215757200000615
is the current vector at the next moment; t issRepresents a sampling period; rsIs a stator resistor; k is a radical ofrIs the rotor coupling coefficient; rrRepresenting the rotor resistance.
Preferably, the output torque at the next time is:
Figure BDA0002021575720000071
wherein the content of the first and second substances,
Figure BDA0002021575720000072
is the output torque at the next moment; p is the number of magnetic pole pairs of the motor;
Figure BDA0002021575720000073
the stator flux linkage at the next moment;
Figure BDA0002021575720000074
is the current at the next momentAnd (4) vectors.
Preferably, step (1.3) specifically comprises:
(1.3.1) calculating the three-phase current of the first motor at the next moment according to the current vector corresponding to the first motor at the next moment;
and (1.3.2) calculating the upper capacitance current and the lower capacitance current at the next moment according to the three-phase current of the first motor at the next moment.
Preferably, the three-phase current of the first motor at the next moment is:
Figure BDA0002021575720000075
Figure BDA0002021575720000076
ic1 k+1＝-ia1 k+1-ib1 k+1
wherein ia1 k+1、ib1 k+1、ic1 k+1The three-phase current of the first motor at the next moment; re { } denotes taking the real part, and Im { } denotes taking the imaginary part.
Preferably, the upper capacitance current and the lower capacitance current at the next moment are:
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+1Respectively an upper capacitor current and a lower capacitor current at the next moment; sb1，Sc1Respectively representing the first motor b at the next moment1Phase sum c1A phase inverter leg switch state; i.e. ib1 k+1、ic1 k+1Respectively the first motor b at the next moment1Phase sum c1The corresponding current.
Preferably, the upper capacitor voltage and the lower capacitor voltage at the next time are:
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 upper capacitor voltage and the lower capacitor voltage at the next moment are respectively; t issRepresents a sampling period; i.e. iu k +1、il k+1Respectively an upper capacitor current and a lower capacitor current at the next moment; cuIs the upper capacitance value; clIs the lower capacitance value.
Through the technical scheme, compared with the prior art, the invention can obtain the following advantages
Has the advantages that:
(1) the invention provides a control system under the condition of double-motor multi-power bridge arm faults, which adopts a direct-current capacitor bridge arm A and a direct-current capacitor bridge arm C to be combined with a capacitor center point fault-tolerant method and a shared healthy bridge arm fault-tolerant method to realize fault-tolerant control under the condition that two power bridge arms of a three-phase inverter in a double-motor variable-frequency speed regulation system have faults.
(2) The invention provides a direct torque power prediction control method through the analysis of a motor model, voltage vectors are divided into two types according to the state of a C power sharing bridge arm, the two motors are prevented from being electrically coupled due to the connection of the sharing bridge arm by comparing the cost functions corresponding to the two types of voltage vectors, the independent control of the two motors is realized, a pulse width modulator is not needed, the realization is simple, and the good speed regulation range and the output torque performance are ensured through the optimal selection of the voltage vectors.
(3) The invention analyzes the corresponding relation between the charging and discharging current directly influencing the DC capacitor voltage and the switching state of the power converter and the three-phase current of the motor, simplifies the corresponding relation, realizes the inhibition of the capacitor voltage drift, enlarges the speed regulation range of the motor and improves the control performance of the fault-tolerant system.
Drawings
FIG. 1 is a control system under a double-motor multi-power bridge arm fault provided by the invention;
FIG. 2 is a schematic diagram of a power converter under a two-motor multi-power bridge arm fault provided by the present invention;
FIG. 3 is a control schematic diagram in a function optimizing module under a double-motor multi-power bridge arm fault.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the present invention provides a control system under a dual-motor multi-power bridge arm fault, including: the system comprises a power converter, double-motor devices, a state estimation module, a physical prediction module, a function optimization module and a PI controller;
the output end of the power converter is respectively connected with the input ends of the double-motor device, the state estimation module and the physical prediction module;
the output end of the double-motor device is connected with the input end of the PI controller; the output end of the double-motor device is connected with the input end of the state estimation module; the output end of the double-motor device is connected with the input end of the physical prediction module; the output end of the state estimation module is connected with the input end of the physical prediction module; the output end of the physical prediction module is connected with the input end of the function optimizing module; the output end of the function optimizing module is connected with the input end of the power conversion module; the output end of the PI controller is connected with the input end of the function optimizing module;
the power conversion module controls the rotating speed and the output torque of the dual-motor system according to the optimal voltage vector transmitted by the function optimizing module;
the state estimation module calculates a current vector, a rotor flux linkage and a stator flux linkage of the motor at the current moment according to the received three-phase current of each motor and the rotating speed of each motor at the current moment;
the physical prediction module calculates the upper capacitor voltage, the lower capacitor voltage, the stator flux linkage and the output torque at the next moment according to the received upper capacitor voltage, the lower capacitor voltage, the motor rotating speed, the current vector, the rotor flux linkage and the stator flux linkage at the current moment;
the function optimizing module screens an optimal voltage vector at the next moment according to the upper capacitor voltage, the lower capacitor voltage, the stator flux linkage, the output torque, the reference stator flux linkage and the reference torque at the next moment;
and the PI controller calculates the reference torque according to the rotating speed of the double-motor system and the reference rotating speed.
As shown in fig. 2, the power converter includes a dc capacitor bridge arm a, and power bridge arms B, C, D, and E;
the direct current capacitor bridge arm A is connected with the power bridge arms B, C, D and E in parallel;
the A direct current capacitor bridge arm and a of the first motor1Connecting; b of the B power bridge arm and the first motor1Connecting; c of the C power bridge arm and the first motor1C of phase and second motor2Connecting; b of the D power bridge arm and the second motor2Connecting; the E power bridge arm and a of the second motor2Are connected.
The control system under the condition of the double-motor multi-power bridge arm fault provided by the invention adopts the direct current capacitor bridge arm A to replace a specific expression form under the failed power bridge arm when the power bridge arm fails; when the double motors do not have faults, the traditional multi-power bridge arm is adopted, and the mode of combining the direct current capacitor bridge arm A and the power bridge arm C provided by the invention is not needed for system control;
a direct current capacitor bridge arm A and a power bridge arm C are combined to connect a capacitor center point fault-tolerant method and a shared healthy bridge arm fault-tolerant method, so that fault-tolerant control is realized under the condition that two power bridge arms of a three-phase inverter in a double-motor variable-frequency speed control system have faults.
As shown in fig. 1, the control method provided by the control system based on the dual-motor multi-power bridge arm fault of the present invention includes:
s1: calculating a current moment voltage vector value corresponding to each switching state of each motor according to the upper capacitor voltage and the lower capacitor voltage at the current moment; calculating current vectors, rotor flux linkages and stator flux linkages of the motors at the current moment according to the three-phase currents of the motors at the current moment and the rotating speeds of the motors;
the first motor connected with the capacitor center has four voltage vectors (00, 10, 11, 01)
Figure BDA0002021575720000101
The second motor has eight voltage vectors (000, 100, 110, 010, 011, 001, 101 and 111)
Figure BDA0002021575720000102
Wherein, the switching state of each phase of each motor is '0' which represents that the upper bridge arm of the power converter connected with the phase motor winding is switched off and the lower bridge arm is switched on; the switching state of each phase of each motor is 1, which represents that an upper bridge arm of a power converter connected with a phase motor winding is switched on, and a lower bridge arm of the power converter is switched off;
the on-off state of the first motor represents the first motor b in turn1Phase (c)1Phase switch state, equivalent to the switch state of leg B, C; the second motor switching state represents the second motor a once2Phase b2Phase sum c2Phase switching state, equivalent to the switching state of leg E, D, C;
the relation between the voltage vector corresponding to the switching state of the first motor and the upper capacitor voltage and the lower capacitor voltage is as follows:
the voltage vector corresponding to the first motor switch state 00 is 2Ul k/3；
The voltage vector corresponding to the first motor on-off state 10 is
Figure BDA0002021575720000111
The voltage vector corresponding to the first motor switch state 11 is-2Uu k/3；
The voltage vector corresponding to the first motor on-off state 01 is
Figure BDA0002021575720000117
The voltage vector of the first motor switching state is:
the voltage vector corresponding to the second motor on-off state 000 is 0;
the voltage vector corresponding to the second motor switch state 100 is 2 (U)l k+Uu k)/3；
The voltage vector corresponding to the second motor switching state 110 is
Figure BDA0002021575720000112
The voltage vector corresponding to the second motor switch state 010 is
Figure BDA0002021575720000113
The voltage vector corresponding to the second motor switch state 011 is-2 (U)l k+Uu k)/3；
The voltage vector corresponding to the second motor switch state 001 is
Figure BDA0002021575720000114
The voltage vector corresponding to the second motor switch state 101 is
Figure BDA0002021575720000115
The voltage vector corresponding to the second motor switch state 111 is 0.
The relationship between the current vector of each motor at the current moment and the three-phase current of each motor at the current moment is as follows:
Figure BDA0002021575720000116
wherein the content of the first and second substances,
Figure BDA0002021575720000121
current vectors of all motors at the current moment are obtained; i.e. ia k，ib k，ic kThe three-phase current of each motor at the current moment;
the rotor flux linkage and the stator flux linkage at the present moment are:
Figure BDA0002021575720000122
τr＝Lr/Rr
Figure BDA0002021575720000123
kr＝Lm/Lr，
Figure BDA0002021575720000124
wherein the content of the first and second substances,
Figure BDA0002021575720000125
the rotor flux linkage at the current moment;
Figure BDA0002021575720000126
the stator flux linkage at the current moment; l isr，Ls，LmRepresenting rotor inductance, stator inductance, mutual inductance; t issRepresents a sampling period; rrRepresenting the rotor resistance;
Figure BDA0002021575720000127
for the current vector, k, of each motor at the present momentrIs the rotor coupling coefficient;
s2: calculating current vectors, stator flux linkages and output torques at the next moment corresponding to the voltage vectors of the motors according to the rotating speed, the current vectors, the rotor flux linkages and the stator flux linkages of the motors at the current moment;
the current vector at the next moment is:
Figure BDA0002021575720000128
Rσ＝Rs+kr 2·Rr，τσ＝σ·Ls/Rσ
wherein the content of the first and second substances,
Figure BDA0002021575720000129
is the current vector at the next moment; t issRepresents a sampling period; rsIs a stator resistor; k is a radical ofrIs the rotor coupling coefficient; rrRepresenting the rotor resistance;
Figure BDA00020215757200001210
voltage vectors corresponding to the switch states of the motors;
Figure BDA00020215757200001211
the rotor flux linkage at the current moment;
the stator flux linkage at the next moment is as follows:
Figure BDA00020215757200001212
wherein the content of the first and second substances,
Figure BDA00020215757200001213
the stator flux linkage at the next moment;
Figure BDA00020215757200001214
the stator flux linkage at the current moment;
Figure BDA00020215757200001215
voltage vectors corresponding to the switch states of the motors;
Figure BDA00020215757200001216
current vectors of all motors at the current moment are obtained;
the output torque at the next moment is:
Figure BDA00020215757200001217
wherein the content of the first and second substances,
Figure BDA0002021575720000131
is the output torque at the next moment; p is the number of magnetic pole pairs of the motor;
Figure BDA0002021575720000132
the stator flux linkage at the next moment;
s3: calculating an upper capacitor current and a lower capacitor current at the next moment according to a current vector corresponding to the first motor at the next moment;
specifically, the step S3 includes:
s3.1: calculating the three-phase current of the first motor at the next moment according to the current vector corresponding to the first motor at the next moment;
the three-phase current of the first motor at the next moment is as follows:
Figure BDA0002021575720000133
Figure BDA0002021575720000134
ic1 k+1＝-ia1 k+1-ib1 k+1
wherein ia1 k+1、ib1 k+1、ic1 k+1The three-phase current of the first motor at the next moment; re { } represents taking a real part, and Im { } represents taking an imaginary part;
s3.2: and calculating the upper capacitor current and the lower capacitor current at the next moment according to the three-phase current of the first motor at the next moment.
The upper capacitance current and the lower capacitance current at the next moment 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+1Respectively an upper capacitor current and a lower capacitor current at the next moment; sb1，Sc1Respectively representing the first motor b at the next moment1Phase sum c1A phase inverter leg switch state;
and S4, calculating the upper capacitor voltage and the lower capacitor voltage at the next moment according to the upper capacitor current and the lower capacitor current at the next moment and the upper capacitor voltage and the lower capacitor voltage at the current moment.
The upper capacitor voltage and the lower capacitor voltage at the next moment 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 upper capacitor voltage and the lower capacitor voltage at the next moment are respectively; t-meter
s denotes the sampling period; i.e. iu k+1、il k+1Respectively an upper capacitor current and a lower capacitor current at the next moment; cuIs the upper capacitance value; clIs a lower capacitance value;
s5: calculating a reference torque and a cost function of each motor according to a current vector, an upper capacitor voltage, a lower capacitor voltage, a stator flux linkage and an output torque of each motor in a switching state at the next moment, and a set reference rotating speed and a set reference stator flux linkage;
the relation among the reference rotating speed, the rotating speed at the current moment and the reference torque is as follows:
Te *＝kp·(ω*-ω)+ki·∫(ω*-ω)dt
wherein k isp、kiIs a gain factor, ω*Is a reference rotation speed, and omega is the rotation speed at the current moment; t ise *Is a reference torque;
the cost function of the first motor and the cost function of the second motor are respectively as follows:
Figure BDA0002021575720000141
Figure BDA0002021575720000142
wherein, Te1 *、Te2 *Reference torques, T, of the first and second electric machines, respectivelye1 k+1、Te2 k+1The output torques of the first motor and the second motor at the next moment are respectively; the above-mentioned
Figure BDA0002021575720000143
Reference stator flux linkages for the first and second electrical machines, respectively; the above-mentioned
Figure BDA0002021575720000144
The stator flux linkages of the first motor and the second motor at the next moment are respectively; the U isu k+1The upper capacitor voltage at the next moment; the U isl k+1The lower capacitor voltage at the next moment; the T ise1 nom、Te2 nomThe maximum output torques of the first motor and the second motor respectively;
Figure BDA0002021575720000145
maximum output stator flux linkages of the first motor and the second motor respectively; lambda [ alpha ]0、λ1Is an adjustable weight factor; u shapeu kThe upper capacitor voltage at the current moment; the U isl kIs the current time downCapacitor voltage, JiIs a cost function of the first electrical machine, JjIs a cost function of the second motor;
s6: screening a first motor minimum cost function and a second motor minimum cost function under the condition that the switching states of a C power bridge arm are '1' and '0';
as shown in fig. 3, the switching states of the motors are divided into two groups based on the switching states of the C power arm being "1" and "0":
when C power bridge arm switch state ScWhen the current value is 1, the first motor has two switch states, namely (01) and (11), the value corresponding to i is (0, 1), cost functions of the first motor in the two switch states are calculated, and the minimum cost function J of the first motor is screenedIM1 1(ii) a The second motor has four switching states, namely (011), (001), (101) and (111), corresponding to J having a value of (0,1,2 and 3), a cost function is calculated for the second motor in the four switching states, and a minimum cost function J of the second motor is selectedIM2 1；
When C power bridge arm switch state ScWhen the current value is '1', the first motor has two switch states, namely (00) and (10), the value corresponding to i is (2, 3), cost functions of the first motor under the two switch states are calculated, and the minimum cost function J of the first motor is screenedIM1 0(ii) a The second motor has four switching states, namely (000), (100), (110), (010), corresponding to J having a value of (4, 5, 6, 7), a cost function is calculated for the second motor for the four switching states, and a minimum cost function J for the second motor is screenedIM2 0；
S7: as shown in fig. 3, by comparison JIM1 1+λ·JIM2 1And JIM1 0+λ·JIM2 0The minimum cost function is screened, and the voltage vector corresponding to the minimum cost function is the optimal voltage vector at the next moment;
s8: and controlling the corresponding power converter switch state according to the optimal voltage vector at the next moment.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. A control system under the condition of double-motor multi-power bridge arm faults is characterized by comprising a power converter, double-motor devices, a state estimation module, a physical prediction module, a function optimization module and a PI (proportional-integral) controller;
the output end of the power converter is respectively connected with the input ends of the double-motor device, the state estimation module and the physical prediction module;
the output end of the double-motor device is connected with the input end of the PI controller; the output end of the double-motor device is connected with the input end of the state estimation module; the output end of the double-motor device is connected with the input end of the physical prediction module; the output end of the state estimation module is connected with the input end of the physical prediction module; the output end of the physical prediction module is connected with the input end of the function optimizing module; the output end of the function optimizing module is connected with the input end of the power conversion module; the output end of the PI controller is connected with the input end of the function optimizing module;
the power conversion module controls the rotating speed and the output torque of the dual-motor system according to the optimal voltage vector transmitted by the function optimizing module;
the state estimation module calculates a current vector, a rotor flux linkage and a stator flux linkage of the motor at the current moment according to the received three-phase current of each motor and the rotating speed of each motor at the current moment;
the physical prediction module calculates the upper capacitor voltage, the lower capacitor voltage, the stator flux linkage and the output torque of the next moment according to the received upper capacitor voltage, the lower capacitor voltage, the motor rotating speed, the current vector, the rotor flux linkage and the stator flux linkage of the current moment;
the function optimizing module screens the optimal voltage vector at the next moment through a cost function according to the upper capacitor voltage, the lower capacitor voltage, the stator flux linkage, the output torque, the reference stator flux linkage and the reference torque at the next moment;
the PI controller calculates a reference torque according to the rotating speed of the double-motor system and a reference rotating speed;
the power converter comprises a direct current capacitor bridge arm A, a power bridge arm B, a power bridge arm C, a power bridge arm D and a power bridge arm E;
the direct current capacitor bridge arm A is connected with the power bridge arm B, the power bridge arm C, the power bridge arm D and the power bridge arm E in parallel;
the A direct current capacitor bridge arm and a of the first motor1Connecting; b of the B power bridge arm and the first motor1Connecting; c of the C power bridge arm and the first motor1C of phase and second motor2Connecting; b of the D power bridge arm and the second motor2Connecting; the E power bridge arm and a of the second motor2Are connected.
2. The control method of the control system according to claim 1, comprising:
(1) calculating current vectors, upper capacitor voltage, lower capacitor voltage, stator flux linkage and output torque of each motor in a switching state at the next moment according to the upper capacitor voltage, the lower capacitor voltage, the three-phase current and the rotating speed of each motor at the current moment;
(2) calculating a reference torque and a cost function of each motor according to a current vector, an upper capacitor voltage, a lower capacitor voltage, a stator flux linkage and an output torque of each motor in a switching state at the next moment, and a set reference rotating speed and a set reference stator flux linkage;
(3) screening a first motor minimum cost function and a second motor minimum cost function under the condition that the switching states of a C power bridge arm are '1' and '0';
(4) by comparison of JIM1 1+λ·JIM2 1And JIM1 0+λ·JIM2 0Screening the minimum cost function;
(5) controlling the corresponding power converter switch states according to the optimal voltage vectors of the first motor and the second motor at the next moment fed back by the minimum cost function;
wherein, JIM1 1、JIM2 1Respectively being minimum cost functions of the first motor and the second motor when the switching state of the C power bridge arm is 1; j. the design is a squareIM1 0、JIM2 0Respectively being minimum cost functions of the first motor and the second motor when the switching state of the C power bridge arm is 0; λ is a weighting factor.
3. The control method according to claim 2, wherein the step (1) includes:
(1.1) calculating a current moment voltage vector value corresponding to each switching state of each motor according to the upper capacitor voltage and the lower capacitor voltage at the current moment;
calculating current vectors, rotor flux linkages and stator flux linkages of the motors at the current moment according to the three-phase currents of the motors at the current moment and the rotating speeds of the motors;
(1.2) calculating a current vector, a stator flux linkage and an output torque of each motor at the next moment corresponding to each voltage vector according to the rotating speed, the current vector, the rotor flux linkage and the stator flux linkage of each motor at the current moment;
(1.3) calculating an upper capacitor current and a lower capacitor current at the next moment according to a current vector corresponding to the first motor at the next moment;
and (1.4) calculating the upper capacitor voltage and the lower capacitor voltage at the next moment according to the upper capacitor current and the lower capacitor current at the next moment and the upper capacitor voltage and the lower capacitor voltage at the current moment.
4. A control method according to claim 2 or 3, wherein the cost function of the first electric machine and the cost function of the second electric machine are respectively:
Figure FDA0002359319240000031
Figure FDA0002359319240000032
wherein, Te1 *、Te2 *Reference torques, T, of the first and second electric machines, respectivelye1 k+1、Te2 k+1The output torques of the first motor and the second motor at the next moment are respectively; the above-mentioned
Figure FDA0002359319240000033
Reference stator flux linkages for the first and second electrical machines, respectively; the above-mentioned
Figure FDA0002359319240000034
The stator flux linkages of the first motor and the second motor at the next moment are respectively; the U isu k+1The upper capacitor voltage at the next moment; the U isl k+1The lower capacitor voltage at the next moment; the T ise1 nom、Te2 nomThe maximum output torques of the first motor and the second motor respectively;
Figure FDA0002359319240000035
maximum output stator flux linkages of the first motor and the second motor respectively; lambda [ alpha ]0、λ1Is an adjustable weight factor; u shapeu kThe upper capacitor voltage at the current moment; the U isl kThe lower capacitor voltage at the present moment, JiIs a cost function of the first electrical machine, JjAs a cost function of the second motor.
5. The control method according to claim 2, wherein the relationship among the reference rotation speed, the rotation speed at the present time, and the reference torque in step (2) is:
Te *＝kp·(ω*-ω)+ki·∫(ω*-ω)dt
wherein k isp、kiIs a gain factor, ω*Is a reference rotation speed, and omega is the rotation speed at the current moment; t ise *Is the reference torque.
6. A control method according to claim 3, characterized in that said step (1.3) comprises:
(1.3.1) calculating the three-phase current of the first motor at the next moment according to the current vector corresponding to the first motor at the next moment;
and (1.3.2) calculating the upper capacitance current and the lower capacitance current at the next moment according to the three-phase current of the first motor at the next moment.
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