CN110601607A - Dual-mode operation control system and control method for three-level six-phase permanent magnet synchronous motor - Google Patents
Dual-mode operation control system and control method for three-level six-phase permanent magnet synchronous motor Download PDFInfo
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- CN110601607A CN110601607A CN201910894198.5A CN201910894198A CN110601607A CN 110601607 A CN110601607 A CN 110601607A CN 201910894198 A CN201910894198 A CN 201910894198A CN 110601607 A CN110601607 A CN 110601607A
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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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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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
- 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
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A three-level six-phase permanent magnet synchronous motor dual-mode operation control system and a control method. The power grade of the existing three-level inverter is limited, the harmonic wave is relatively high, and the torque ripple of the motor is large. The invention comprises the following components: the control circuit, the PWM signal that control circuit output is connected with drive circuit (5) electricity, drive circuit is connected with six looks inverter (2) electricity, six looks inverter is connected with three-phase uncontrollable rectifier circuit (1) electricity of converter, three-phase uncontrollable rectifier circuit front end of converter has run flat detection circuit (4) in parallel, three-phase uncontrollable rectifier circuit rear end and bus voltage detection circuit (3) electricity of converter are connected, run flat detection circuit and bus voltage detection circuit are connected with the AD interface electricity of controller, six looks inverter inputs the AD interface to control circuit through six looks current sampling circuit 12. The invention is used for the dual-mode operation control of the three-level six-phase permanent magnet synchronous motor.
Description
The technical field is as follows:
the invention relates to the field of motor control, in particular to a dual-mode operation control system and a control method for a three-level six-phase permanent magnet synchronous motor.
Background art:
at present, a two-level inverter and a three-level inverter are dominant in an alternating current driving inverter, and the two-level inverter control technology is more mature, but the power level of the two-level inverter is limited compared with that of the three-level inverter. Because the number of the two levels is small, the harmonic wave of the inverter is relatively high, and the motor torque pulsation is large due to the high harmonic wave content; the inverter power cannot be too large either. In order to reduce the harmonic content output by the inverter and meet the requirements of power level and system reliability, a three-level inversion structure is provided, and the three-level driving system can effectively reduce the harmonic content output by the inverter.
The invention content is as follows:
the invention aims to solve the problems of limited power grade, relatively high harmonic wave and large motor torque pulsation of the conventional three-level inverter, and provides a three-level six-phase permanent magnet synchronous motor dual-mode operation control system and a control method, which can realize non-stop operation of a dual-Y-shift 30-degree six-phase permanent magnet synchronous motor after a phase-lack fault occurs by switching different control methods without reconstructing a driving topological circuit.
The above purpose is realized by the following technical scheme:
a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor comprises the following components: the control circuit is used for outputting a PWM signal which is electrically connected with the drive circuit, the drive circuit is electrically connected with the six-phase inverter, the six-phase inverter is electrically connected with the three-phase uncontrolled rectifying circuit of the frequency converter, the front end of the three-phase uncontrolled rectifying circuit of the frequency converter is connected with the open-phase detection circuit in parallel, the rear end of the three-phase uncontrolled rectifying circuit of the frequency converter is electrically connected with the bus voltage detection circuit, the open-phase detection circuit and the bus voltage detection circuit are electrically connected with the A/D interface of the controller, and the six-phase inverter is input to the A/D interface of the control circuit through the six-phase current sampling circuit.
The dual-mode operation control system of the three-level six-phase permanent magnet synchronous motor is characterized in that the controller consists of a DSP and an FPGA, and the DSP is electrically connected with the FPGA.
The three-level six-phase permanent magnet synchronous motor dual-mode operation control system is characterized in that the DSP is in communication connection with an upper computer through a CAN communication circuit.
The three-level six-phase permanent magnet synchronous motor double-mode operation control system is characterized in that the six-phase inverter is also electrically connected with the six-phase permanent magnet synchronous motor, and the six-phase permanent magnet synchronous motor is in communication connection with a QEP interface of the DSP through a rotary transformer.
A control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor detects the control system of the two-Y-shift six-phase permanent magnet synchronous motor by a sampling circuit in real time, and judges whether the control system is in a normal operation state or a phase-failure fault state so as to facilitate the control system to select a control strategy;
when the system is in normal operation, a four-dimensional current closed-loop control mode is adopted, namely, the current participating in the electromechanical energy conversion is subjected to closed-loop control, the harmonic current is also subjected to closed-loop control, and the current participating in the electromechanical energy conversion is adoptedThe control method of (1) adopts a proportional-integral controller to regulate the current, and harmonic current is given because the current is direct currentBecause the harmonic current is an alternating current quantity, the proportional resonance controller is adopted for regulation, and the voltage control quantity of the control circuit is obtained、、、；
During open-phase operation, when the Z phase is in open circuit, the other five-phase windings are not symmetrical, and at the moment, a fault-tolerant control scheme needs to be selected according to different optimization targets, so that the system is restored to be stable again, and the remaining phase current is optimized according to the targets of minimum stator copper consumption and maximum output torque.
The control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 5, characterized in that: the specific steps in normal operation are as follows: firstly, the voltage control quantity of the control circuit is calculated through a rotating speed closed loop and a current closed loop、、、And performing inverse transformation on the voltage control quantity to obtain the six-phase voltage required by the motor、、、、、Component is then
Secondly, due to the neutral point isolation characteristic of the windings of the double-Y30-degree six-phase permanent magnet synchronous motor, six-phase voltages belong to ABC and XYZ sets of windings respectively and are respectively opposite to each other、、And、、the voltage component is converted from three-phase static state to two-phase static state to obtain、And、component is then
Wherein the content of the first and second substances,、、、、、respectively representing six-phase motor stator voltages;
、and、respectively representing the components of the first set of winding ABC and the second set of winding XYZ in a two-phase static coordinate system;
finally to、Component sum、And (3) writing the modulation wave data into the FPGA in an XINTF external RAM mode, realizing two sets of three-phase three-level SVPWM modulation strategies by using a Verilog language to obtain a PWM waveform for driving a three-level six-phase inverter, controlling a three-level six-phase driver, and realizing the control of a double-Y30-degree six-phase permanent magnet synchronous motor.
The control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 5, characterized in that: the specific process of optimizing the residual phase current by taking the minimum copper loss of the stator as the target is as follows:
the six-phase motor has the following phases in normal operation:
（1）
in the formula:is the amplitude of the stator phase current;
when open circuit occurs in Z phaseAnd the total synthetic magnetic potential of the stator before and after the open-circuit fault is not changed, so that the remaining five-phase current must meet the following conditions: （2）
by simplifying equation (2), we can get the following equation by subtracting the same coefficients from both sides:
（3）
according to the trigonometric function formula, the current in each phase winding is expressed as follows:
（4）
bringing equation (4) into equation (3) and separating its real and imaginary parts yields:
（5）
because the six-phase PMSM has the characteristic of neutral point isolation, the following constraint conditions are required to be met:
（6）
by solving equations (5) and (6) simultaneously, the solutions of which are not unique, the remaining individual phase currents are calculated based on the minimum stator copper loss as an optimization objective, and an objective function thereof is constructed:
constructing a lagrange function of
From the Lagrange multiplier method, it can be concluded that the remaining phase currents can be expressed as
（7）
8. The control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 5, characterized in that: the specific process for optimizing the residual phase current based on the maximum target of the output torque is as follows: analyzing an optimization mode based on the maximum output torque, balancing the amplitudes of the remaining phase currents, minimizing the current amplitudes, representing a performance index by using the maximum value in the amplitudes of the remaining phase currents, and writing an objective function in a column:
（8）
the optimization goal of equation (8) is to find the set of maximum solutions that minimizes the value of F, use F as the objective function, the constraints are equations (5) and (6), and solve the expressions for the remaining individual phase currents:
（9）
the size and the phase of the remaining current of each phase are adjusted by two optimization modes, modulated wave data are written into the FPGA in an XINTF external expansion RAM mode, a carrier stacking comparison control mode is realized by using a Verilog language, and the double-Y30-degree-shift six-phase permanent magnet synchronous motor can be ensured to run without stopping after a phase-lack fault occurs.
Has the advantages that:
1. according to the invention, when the double-Y shift 30-degree six-phase permanent magnet synchronous motor is in a normal operation state, a double three-phase three-level SVPWM modulation strategy is adopted, and the complexity of a three-level six-phase SVPWM control algorithm is reduced.
When the double-Y shift 30-degree six-phase permanent magnet synchronous motor is in a normal running state, closed-loop control is adopted for harmonic current, and the content of 5 and 7 harmonics in stator current can be effectively reduced.
When the double-Y30-degree-shift six-phase permanent magnet synchronous motor is in the phase-failure fault state, the driving topology circuit does not need to be reconstructed, and the double-Y30-degree-shift six-phase permanent magnet synchronous motor can be ensured to operate without stopping after the phase-failure fault occurs by switching into a fault-tolerant control strategy.
The invention provides a control method for driving a three-level medium-voltage high-capacity double-Y30-degree six-phase permanent magnet synchronous motor.
Description of the drawings:
FIG. 1 is a diagram of a six-phase motor control system;
in the figure: 1. a three-phase uncontrolled rectifying circuit; 2. a six-phase inverter; 3. a voltage detection circuit; 4. a phase loss detection circuit; 5. a drive circuit; 6. an FPGA; 7. a DSP; 8. other peripheral circuits; 9. a CAN communication circuit; 10. a load; 11. a six-phase permanent magnet synchronous motor; 12. a six-phase current sampling circuit; 13. a rotary transformer; 14. an overcurrent protection circuit; 15. a QEP circuit; 16. and (4) an upper computer.
FIG. 2 is a diode clamped three-level six-phase inverter topology;
FIG. 3 is a diagram of a six-phase PMSM system architecture based on dual three-level SVPWM control;
FIG. 4 is a block diagram of a fault-tolerant control strategy system based on carrier stacking comparison;
FIG. 5 is a voltage detection circuit;
FIG. 6 is a current sensing circuit;
FIG. 7 is a circuit for detecting a phase loss at the front end of a rectifier bridge;
FIG. 8 is a drive circuit;
FIG. 9 is a CAN communication circuit;
FIG. 10 is a system main program flowchart;
FIG. 11 is an interrupt subroutine flowchart;
FIG. 12 is a waveform diagram of the response of the rotation speed based on the double three-phase three-level SVPWM and the switching based on the stator copper loss minimum optimization mode;
FIG. 13 is a torque response waveform diagram based on dual three-phase three-level SVPWM and based on stator copper loss minimum optimization switching;
FIG. 14 is a waveform diagram of current response under switching based on dual three-phase three-level SVPWM and based on a stator copper loss minimum optimization mode;
FIG. 15 is a waveform diagram of the response of the rotation speed based on the dual three-phase three-level SVPWM and the switching based on the maximum optimization mode of the output torque;
FIG. 16 is a waveform diagram of torque response under switching based on dual three-phase three-level SVPWM and based on the maximum optimization mode of output torque;
FIG. 17 is a waveform diagram of current response under switching based on dual three-phase three-level SVPWM and based on the maximum optimization mode of output torque;
the specific implementation mode is as follows:
example 1:
a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor comprises the following components: the control circuit is characterized in that a PWM signal output by the control circuit is electrically connected with a drive circuit 5, the drive circuit is electrically connected with a six-phase inverter 2, the six-phase inverter is electrically connected with a three-phase uncontrolled rectifying circuit 1 of the frequency converter, the front end of the three-phase uncontrolled rectifying circuit of the frequency converter is connected with a phase failure detection circuit 4 in parallel, the rear end of the three-phase uncontrolled rectifying circuit of the frequency converter is electrically connected with a bus voltage detection circuit 3, the phase failure detection circuit and the bus voltage detection circuit are electrically connected with an A/D interface of the controller, and the six-phase inverter is input to the A/D interface of the control circuit through a six-phase current sampling circuit 12.
Example 2:
according to the dual-mode operation control system of the three-level six-phase permanent magnet synchronous motor in the embodiment 1, the controller is composed of a DSP (digital signal processor), part number: 7 and FPGA, part number: and 6, the DSP is electrically connected with the FPGA.
Example 3:
according to the dual-mode operation control system of the three-level six-phase permanent magnet synchronous motor in the embodiment 1 or 2, the DSP is in communication connection with the upper computer 16 through the CAN communication circuit 9.
Example 4:
according to the dual-mode operation control system of the three-level six-phase permanent magnet synchronous motor in the embodiment 1, 2 or 3, the six-phase inverter is further electrically connected with the six-phase permanent magnet synchronous motor 11, the six-phase permanent magnet synchronous motor is in communication connection with the QEP interface of the DSP through the rotary transformer 13, and the overcurrent protection circuit 14 is arranged between the rotary transformer and the QEP interface of the DSP.
Example 5:
a control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor detects the control system of the two-Y-shift six-phase permanent magnet synchronous motor by a sampling circuit in real time, and judges whether the control system is in a normal operation state or a phase-failure fault state so as to facilitate the control system to select a control strategy;
when the system normally operates, a four-dimensional current closed-loop control mode is adopted, namely, the current participating in electromechanical energy conversion is subjected to closed-loop control, and meanwhile, the harmonic current is also subjected to closed-loop control. Current adoption for participating in electromechanical energy conversionThe control method of (1) adopts a proportional-integral controller to regulate the current, and harmonic current is given because the current is direct currentBecause the harmonic current is an alternating current quantity, the proportional resonance controller is adopted for regulation, and the voltage control quantity of the control circuit is obtained、、、；
During open-phase operation, when the Z phase is in open circuit, the other five-phase windings are not symmetrical, and at the moment, a fault-tolerant control scheme needs to be selected according to different optimization targets, so that the system is restored to be stable again, and the remaining phase current is optimized according to the targets of minimum stator copper consumption and maximum output torque.
Example 6:
according to the control method of the dual-mode operation control system of the three-level six-phase permanent magnet synchronous motor in the embodiment 1, 2, 3, 4 or 5, the specific steps in normal operation are as follows: firstly, the voltage control quantity of the control circuit is calculated through a rotating speed closed loop and a current closed loop、、、And performing inverse transformation on the voltage control quantity to obtain the six-phase voltage required by the motor、、、、、Component is then
Secondly, due to the neutral point isolation characteristic of the windings of the double-Y30-degree six-phase permanent magnet synchronous motor, six-phase voltages belong to ABC and XYZ sets of windings respectively and are respectively opposite to each other、、And、、the voltage component is converted from three-phase static state to two-phase static state to obtain、And、component is then
Wherein the content of the first and second substances,、、、、、respectively representing six-phase motor stator voltages;
、and、respectively representing the components of the first set of winding ABC and the second set of winding XYZ in a two-phase static coordinate system;
finally to、Component sum、Writing the modulated wave data into FPGA by XINTF external RAM mode, using Verilog language to implement two sets of three-phase three-level SVPWM modulation strategies to obtain PWM waveform for driving three-level six-phase inverter, controlling three-level six-phase driver and implementing double-Y shift by 30 deg. six-phaseAnd controlling the permanent magnet synchronous motor.
Example 7:
the control method of the dual-mode operation control system of the three-level six-phase permanent magnet synchronous motor according to embodiment 1, 2, 3, 4, 5, or 6, wherein the specific process of optimizing the residual phase current with the aim of minimizing the stator copper loss is as follows:
the six-phase motor has the following phases in normal operation:
（1）
in the formula:is the amplitude of the stator phase current;
when open circuit occurs in Z phaseAnd the total synthetic magnetic potential of the stator before and after the open-circuit fault is not changed, so that the remaining five-phase current must meet the following conditions: （2）
by simplifying equation (2), we can get the following equation by subtracting the same coefficients from both sides:
（3）
according to the trigonometric function formula, the current in each phase winding is expressed as follows:
（4）
bringing equation (4) into equation (3) and separating its real and imaginary parts yields:
（5）
because the six-phase PMSM has the characteristic of neutral point isolation, the following constraint conditions are required to be met:
（6）
by solving equations (5) and (6) simultaneously, the solutions of the equations are not unique. Based on the minimum copper loss of the stator as an optimization target, calculating the remaining phase currents and constructing an objective function of the remaining phase currents:
constructing a lagrange function of
From the Lagrange multiplier method, it can be concluded that the remaining phase currents can be expressed as
（7）
Example 8:
the control method of the dual-mode operation control system of the three-level six-phase permanent magnet synchronous motor according to embodiment 1, 2, 3, 4, 5, 6, or 7, wherein the specific process of optimizing the residual phase current based on the maximum target output torque is as follows: the optimization mode based on the maximum output torque is analyzed, the capacity requirement on a switching tube is reduced and the total cost is reduced by balancing the amplitudes of the remaining phases of current and minimizing the amplitudes of the current, so that the design of an inverter driving system is facilitated, the maximum value of the amplitudes of the remaining phases of current is used for representing a performance index, and a target function is written as follows:
（8）
the optimization goal of equation (8) is to find a maximum set of solutions that minimizes the F value, it is very difficult to solve the objective function using conventional analytical methods, and the maximum and minimum calculation function fminimax in the Matlab optimal toolkit can be used to solve this problem. The constraint condition of the function can be an equation set or an inequality set, and the boundary range of the variable can be defined, so that the method is suitable for various occasions of obtaining the extreme value. Using F as the objective function, the constraints are equations (5) and (6), and the expressions for the remaining individual phase currents are solved:
（9）
the size and the phase of the remaining current of each phase are adjusted by two optimization modes, modulated wave data are written into the FPGA in an XINTF external expansion RAM mode, a carrier stacking comparison control mode is realized by using a Verilog language, and the double-Y30-degree-shift six-phase permanent magnet synchronous motor can be ensured to run without stopping after a phase-lack fault occurs.
As shown in fig. 1, a six-phase motor control system structure diagram is shown, and a core control unit of the six-phase motor control system structure diagram is formed by combining a DSP of the company TI and an FPGA of the company Altera, wherein the model of the DSP is TMS320F28335, and the model of the FPGA is EP4CE15E22C 8N. The FPGA is externally expanded into an off-chip RAM through an XINTF external memory interface of the DSP, so that the DSP can read and write data to the FPGA, and the later-stage FPGA is used as a peripheral expansion device of a DSP chip. The DSP is mainly used for carrying out A/D conversion on voltage and current signals, reading rotating speed and position information, establishing communication with an upper computer, controlling a peripheral circuit and controlling and generating a modulation wave; the FPGA is used for carrying out a PWM (pulse-width modulation) strategy, generating a plurality of paths of PWM control signals, and finally, carrying out power amplification and dead zone processing on a driving circuit and isolating and driving the modular IGBT.
The sampling circuit is used for detecting the double-Y30-degree-shift six-phase permanent magnet synchronous motor control system in real time, and judging whether the control system is in a normal operation state or in a phase failure state, so that the control system can select a control strategy, and the system can work in a normal operation state and a phase failure operation state.
When the system is in a normal operation state, a double three-phase three-level SVPWM modulation strategy is adopted; fig. 3 shows a structure diagram of a six-phase PMSM system based on dual three-level SVPWM control. The current detection circuit is utilized to detect whether the control system has an open-circuit fault in real time, when the control system has no fault, the double-Y shift 30-degree six-phase permanent magnet synchronous motor is in a normal operation state, and a double three-level SVPWM (space vector pulse width modulation) strategy is adopted to realize the stable operation of the double-Y shift 30-degree six-phase permanent magnet synchronous motor.
When the control system has a phase-lack fault, a driving topological circuit does not need to be reconstructed, and the double-Y30-degree-shift six-phase permanent magnet synchronous motor can run without stopping after the phase-lack fault occurs only by switching different control methods. Fig. 4 is a block diagram of a fault-tolerant control strategy system based on carrier stacking comparison. The method comprises the steps that a current detection circuit is utilized to detect whether the control system has an open-circuit fault or not in real time, when the control system has the fault, PWM output of a fault phase is cut off, at the moment, the double-Y-shift 30-degree six-phase permanent magnet synchronous motor is in a phase-failure running state, when the drive system has the open-circuit fault, a drive topological circuit does not need to be reconstructed, only a fault-tolerant control strategy needs to be switched, residual phase currents of all phases are optimized, and a carrier stacking comparison control mode is adopted to guarantee that the double-Y-shift 30-degree six-phase permanent magnet synchronous motor can run without stopping after the phase-failure fault occurs.
The hardware parts of this system are as follows:
(1) voltage and current detection circuit
The voltage detection circuit is shown in figure 5, a voltage Hall sensor CHV-50/600 is adopted to sample the voltage on a direct current bus, the transformation ratio of the voltage Hall sensor CHV-50/600 is adjustable, the secondary side sampling resistor RM of the voltage Hall sensor is configured according to the voltage range required by the detection circuit, the output voltage is conditioned through a voltage follower, the voltage range of the voltage output by the direct current bus voltage detection circuit to the A/D of a DSP is ensured to be between 0 ~ 3.3.3V, a current detection circuit is shown in figure 6, a current Hall sensor with the model of CSB3-300A is selected, the output end of the sensor needs to be connected with a sampling resistor R1, the output signal of the sensor is converted into a voltage signal, the voltage signal is conditioned through the voltage follower and has the effect of isolation, the influence of a post-stage output circuit on pre-stage input is avoided, a stable direct current voltage is output through a bias circuit, the stable direct current voltage is added with the voltage output by the voltage follower, the detected alternating current is converted into an alternating current with the minimum value also larger than zero, the alternating current is conditioned through an operational amplifier circuit, and the voltage is amplified or reduced to the input port of the.
(2) Phase-loss detection circuit
Fig. 7 shows a phase loss detection circuit at the front end of the rectifier bridge. The open-phase detection circuit is connected to the front end of a three-phase uncontrolled rectifier bridge of the frequency converter in parallel, and in a normal state, a light emitting diode in the optocoupler is lighted, so that a triode in the optocoupler is connected by receiving light and the LACK outputs a low level; when the three-phase alternating current input source has an open-phase fault, the light emitting diode in the optical coupler is not bright, so that the triode in the optical coupler is not conducted, and LACK outputs high level. And when the main control chip DSP detects that LACK is in a high level, a phase failure alarm is sent out.
Driving circuit
As shown in FIG. 8, a driving circuit is adopted, 2SD315A driving is adopted, because the driving of an isolation device in 315 is provided with overcurrent protection and the driving of an upper tube and a lower tube is not common to ground, and the driving can directly drive the IGBT of 1200V/400A with stable operation, a PWM signal output by a control circuit is connected into 6 pins and 10 pins of the driving, and the IGBT is driven after isolation, amplification and guard.
(3) CAN communication circuit
Fig. 9 shows a CAN communication circuit, which monitors the operation state of the motor in real time and sets parameters of the motor to realize human-computer interaction. The CAN communication adopts a TLE6250GV33 chip. TLE6250GV33 is an 8-pin CAN transceiver chip, and has not only a signal conversion function but also a signal isolation function.
The software part of the system comprises a system main program and a system interrupt program design.
(1) Main program of system
Fig. 10 shows a flow chart of the main program of the system. The main function of the main program is to initialize the system and the relevant registers, and set some relevant parameters, specifically including: the method comprises the following steps of initializing a system, initializing an interrupt vector table, initializing peripherals such as an IO port and the like, initializing some related variables, and resetting the FPGA. When all initialization is finished, the system starts interruption and enters a circular waiting interruption subprogram. And the communication data is read once every 20ms, so that the running state of the motor is monitored in real time.
(2) System interrupt service routine
Fig. 11 shows a flowchart of the interrupt subroutine. Firstly, the bus voltage and the motor phase current are sampled and detected, and if the detected value exceeds the limited range, the PWM output is blocked for controlling the circuit safety of the system. Secondly, when the detection value of the previous stage is in a normal range, reading a signal input into QEP after the rotary transformer is decoded, acquiring the rotating speed and the rotor position information of the motor, and performing closed-loop calculation of a rotating speed outer ring. And thirdly, detecting the instantaneous value of the phase current of the motor, wherein the detection device adopts a current Hall sensor, and the detected value can be used as a feedback value calculated by a current inner loop and also can be used as a detection signal for judging whether the motor has an open-circuit fault or not. If the detection value of a certain current is constant zero, the phase can be judged to have an open circuit fault, at the moment, a fault-tolerant control strategy is selected to control the control system, the size and the phase of the remaining phase current are adjusted, modulated wave data are written into the FPGA in an XINTF (extensible random access memory) outward expansion RAM mode, and a Verilog language is used for realizing an SVPWM (space vector pulse width modulation) algorithm. If no open circuit fault occurs, the required modulation wave is obtained, the modulation wave data is written into the FPGA in an XINTF (extensible random access memory) external RAM mode, and the SVPWM algorithm is realized by using Verilog language. And finally, clearing the interrupt flag bit, jumping out of the interrupt program, re-entering the cycle program in the main program, and waiting for executing the interrupt command next time.
System simulation:
in order to verify the feasibility and the effectiveness of the invention, MATLAB/Simulink software is utilized to simulate and verify the control algorithm of the control system.
Given rotating speed of 500r/min and load TL=50N · m, the motor is in a normal operation state before 0.3s, and a double three-phase three-level SVPWM control strategy is adopted; and when t =0.3s, simulating the Z phase to be disconnected, and switching to a fault-tolerant control strategy. The fault-tolerant optimization control strategy comprises two strategies: one is based on the stator copper loss minimum optimization mode, and the other is based on the output torque maximum optimization mode.
Fig. 12-14 are graphs showing simulation results of switching based on a dual three-phase three-level SVPWM and based on a stator copper loss minimum optimization mode. Fig. 12 is a rotating speed response waveform diagram based on dual three-phase three-level SVPWM and based on stator copper loss minimum optimization, fig. 13 is a torque response waveform diagram based on dual three-phase three-level SVPWM and based on stator copper loss minimum optimization, and fig. 14 is a current response waveform based on dual three-phase three-level SVPWM and based on stator copper loss minimum optimization. As can be seen from fig. 12 and 13, the response is fast when the system is started, the open-circuit fault occurs in the Z-phase at t =0.3s, the fault-tolerant control mode is switched to the fault-tolerant control mode based on the maximum output torque, and although there is some fluctuation, the rotation speed and the torque of the motor can still be fast consistent with the normal operation state. As can be seen from fig. 14, the sine degree of the current waveform is high, in which the phase of the a-phase current is the same as that of the X-phase current; the current amplitudes of the X phase and the Y phase and the B phase and the C phase are the same, but the phases of the X phase and the Y phase and the B phase are different; the Z-phase current is 0. Therefore, the fault-tolerant control optimization strategy based on the minimum stator copper loss is correct.
Fig. 15-17 are graphs showing simulation results of switching based on a dual three-phase three-level SVPWM and based on an output torque maximum optimization mode. Fig. 15 is a waveform diagram of a rotation speed response when switching is performed based on a dual three-phase three-level SVPWM and based on an output torque maximum optimization method, fig. 16 is a waveform diagram of a torque response when switching is performed based on a dual three-phase three-level SVPWM and based on an output torque maximum optimization method, and fig. 17 is a waveform diagram of a current response when switching is performed based on a dual three-phase three-level SVPWM and based on an output torque maximum optimization method. As can be seen from fig. 15 and 16, the response is fast at the system start, the open-circuit fault occurs in the Z-phase at t =0.3s, the fault-tolerant control mode is switched to the fault-tolerant control mode based on the maximum output torque, and although there is some fluctuation, the rotation speed and the torque of the motor can still be fast consistent with the normal operation state. As can be seen from fig. 17, the currents of the phases a and Z are all zero, and the current amplitudes of the remaining phases are all equal, wherein the phases between the phase X and phase Y and between the phase B and phase C are different by 180 ° in electrical angle. Therefore, the above-described fault-tolerant control optimization strategy based on output torque maximization is feasible.
Claims (8)
1. A dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor comprises the following components: the control circuit is characterized in that: the PWM signal output by the control circuit is electrically connected with a drive circuit, the drive circuit is electrically connected with a six-phase inverter, the six-phase inverter is electrically connected with a three-phase uncontrolled rectifying circuit of the frequency converter, the front end of the three-phase uncontrolled rectifying circuit of the frequency converter is connected with a phase-lack detection circuit in parallel, the rear end of the three-phase uncontrolled rectifying circuit of the frequency converter is electrically connected with a bus voltage detection circuit, the phase-lack detection circuit and the bus voltage detection circuit are electrically connected with an A/D interface of the controller, and the six-phase inverter is input to the A/D interface of the control circuit through a six-phase current sampling circuit.
2. A dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 1, wherein: the controller consists of a DSP and an FPGA, and the DSP is electrically connected with the FPGA.
3. A dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 1 or 2, characterized in that: and the DSP is in communication connection with the upper computer through a CAN communication circuit.
4. A dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 1, wherein: the six-phase inverter is also electrically connected with a six-phase permanent magnet synchronous motor, and the six-phase permanent magnet synchronous motor is in communication connection with the QEP interface of the DSP through a rotary transformer.
5. A control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claims 1 to 4, characterized in that: detecting a double-Y30-degree-shift six-phase permanent magnet synchronous motor control system in real time through a sampling circuit, and judging whether the control system is in a normal operation state or a phase-failure fault state so as to facilitate the control system to select a control strategy;
when the system normally operates, a double three-level SVPWM control strategy is adopted, the current adopts a four-dimensional current closed-loop control mode, namely the current participating in the electromechanical energy conversion is subjected to closed-loop control, the harmonic current is also subjected to closed-loop control, and the current participating in the electromechanical energy conversion is subjected to closed-loop controlThe control method of (1) adopts a proportional-integral controller to regulate the current, and harmonic current is given because the current is direct currentBecause the harmonic current is an alternating current quantity, the proportional resonance controller is adopted for regulation, and the voltage control quantity of the control circuit is obtained、、、；
During open-phase operation, when the Z phase is in open circuit, the other five-phase windings are not symmetrical, and at the moment, a fault-tolerant control scheme needs to be selected according to different optimization targets, so that the system is restored to be stable again, and the remaining phase current is optimized according to the targets of minimum stator copper consumption and maximum output torque.
6. The control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 5, characterized in that: the specific steps in normal operation are as follows: firstly, the voltage control quantity of the control circuit is calculated through a rotating speed closed loop and a current closed loop、、、And performing inverse transformation on the voltage control quantity to obtain the six-phase voltage required by the motor、、、、、Component is then
Secondly due to the doubleThe neutral point isolation characteristic of the windings of the Y-shift 30-degree six-phase permanent magnet synchronous motor is that six-phase voltages belong to two sets of ABC and XYZ windings respectively and are respectively coupled、、And、、the voltage component is converted from three-phase static state to two-phase static state to obtain、And、component is then
Wherein the content of the first and second substances,、、、、、respectively representing six-phase motor stator voltages;
、and、respectively representing the components of the first set of winding ABC and the second set of winding XYZ in a two-phase static coordinate system;
finally to、Component sum、And (3) writing the modulation wave data into the FPGA in an XINTF external RAM mode, realizing two sets of three-phase three-level SVPWM modulation strategies by using a Verilog language to obtain a PWM waveform for driving a three-level six-phase inverter, controlling a three-level six-phase driver, and realizing the control of a double-Y30-degree six-phase permanent magnet synchronous motor.
7. The control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 5, characterized in that: the specific process of optimizing the residual phase current by taking the minimum copper loss of the stator as the target is as follows:
the six-phase motor has the following phases in normal operation:
（1）
in the formula:is the amplitude of the stator phase current;
when open circuit occurs in Z phaseAnd the total synthetic magnetic potential of the stator before and after the open-circuit fault is not changed, so that the remaining five-phase current must meet the following conditions:（2）
by simplifying equation (2), we can get the following equation by subtracting the same coefficients from both sides:
（3）
according to the trigonometric function formula, the current in each phase winding is expressed as follows:
（4）
bringing equation (4) into equation (3) and separating its real and imaginary parts yields:
（5）
because the six-phase PMSM has the characteristic of neutral point isolation, the following constraint conditions are required to be met:
（6）
by solving equations (5) and (6) simultaneously, the solutions of which are not unique, the remaining individual phase currents are calculated based on the minimum stator copper loss as an optimization objective, and an objective function thereof is constructed:
constructing a lagrange function of
From the Lagrange multiplier method, it can be concluded that the remaining phase currents can be expressed as
（7）。
8. The control method of a dual-mode operation control system of a three-level six-phase permanent magnet synchronous motor according to claim 5, characterized in that: the specific process for optimizing the residual phase current based on the maximum target of the output torque is as follows: analyzing an optimization mode based on the maximum output torque, balancing the amplitudes of the remaining phase currents, minimizing the current amplitudes, representing a performance index by using the maximum value in the amplitudes of the remaining phase currents, and writing an objective function in a column:
（8）
the optimization goal of equation (8) is to find the set of maximum solutions that minimizes the value of F, use F as the objective function, the constraints are equations (5) and (6), and solve the expressions for the remaining individual phase currents:
（9）
the size and the phase of the remaining current of each phase are adjusted by two optimization modes, modulated wave data are written into the FPGA in an XINTF external expansion RAM mode, a carrier stacking comparison control mode is realized by using a Verilog language, and the double-Y30-degree-shift six-phase permanent magnet synchronous motor can be ensured to run without stopping after a phase-lack fault occurs.
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| CN112234901A (en) * | 2020-11-18 | 2021-01-15 | 沈阳工业大学 | Direct torque control system for open-phase compensation of six-phase motor |
| CN113472260A (en) * | 2021-08-05 | 2021-10-01 | 大连海事大学 | Permanent magnet fault-tolerant motor model prediction current control method based on six-phase static coordinate system |
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| CN111830435B (en) * | 2020-07-27 | 2021-07-13 | 北京航空航天大学 | Open-circuit fault diagnosis method for power tube of six-phase permanent magnet fault-tolerant motor system |
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| CN113472260A (en) * | 2021-08-05 | 2021-10-01 | 大连海事大学 | Permanent magnet fault-tolerant motor model prediction current control method based on six-phase static coordinate system |
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