CN110690839A - Topological control method for six-phase permanent magnet fault-tolerant rim propulsion motor - Google Patents
Topological control method for six-phase permanent magnet fault-tolerant rim propulsion motor Download PDFInfo
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- CN110690839A CN110690839A CN201910935835.9A CN201910935835A CN110690839A CN 110690839 A CN110690839 A CN 110690839A CN 201910935835 A CN201910935835 A CN 201910935835A CN 110690839 A CN110690839 A CN 110690839A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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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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Abstract
The invention discloses a six-phase permanent magnet fault-tolerant rim propulsion motor topology control method, which combines a space voltage vector pulse width modulation method to disperse space voltage vectors of a motor into each winding and calculates the action time of the space voltage vectors on each winding so as to carry out fault-tolerant control on the motor. The method can ensure that the permanent magnet fault-tolerant rim propulsion motor normally runs when in fault, compared with the traditional direct torque control mode, the method has more precise fault-tolerant control on the motor, when the motor breaks down, the rotating speed and the torque pulsation of the motor are almost the same as those of the motor in normal, compared with the traditional space voltage vector control technology, the method is simpler and more convenient, the space voltage vector is classified into each phase winding for analysis, the calculation and analysis processes are greatly reduced, and the motor can respond more reliably and quickly.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a topological control method of a six-phase permanent magnet fault-tolerant rim propulsion motor.
Background
At present, a control algorithm related to a permanent magnet fault-tolerant motor is mainly applied to a double-winding and three-phase permanent magnet fault-tolerant motor, wherein a used space voltage vector is mainly a comprehensive space voltage vector, few conditions are considered, the permanent magnet fault-tolerant motor adopts a full-bridge driving topology mode, the permanent magnet fault-tolerant motor has abundant voltage space vectors, particularly in a 60-degree offset six-phase permanent magnet fault-tolerant motor, the number of the space voltage vectors is as much as 729, the control process is complex, and at present, a method for decomposing the space voltage vector of the permanent magnet fault-tolerant rim propulsion motor into each phase of winding for fault-tolerant control is not provided in China at present. In addition, the traditional direct torque control usually adopts a hysteresis control mode, a double hysteresis control strategy is adopted for flux linkage and torque, a comparison result is sent into a switch table to achieve control over a comprehensive space voltage vector, and when a motor fails, although a fault-tolerant control effect can be achieved, the running state of the fault-tolerant motor under the failure hardly achieves the control effect matched with that before the failure. The control method of the six-phase ten-pole permanent magnet fault-tolerant motor with strong fault-tolerant capability mainly compensates current but does not switch fault-tolerant control strategies under the fault condition, and the control result is slightly defective.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a six-phase permanent magnet fault-tolerant rim propulsion motor topology control method, which combines a space voltage vector pulse width modulation technology, removes a part for judging a traditional direct torque sector, disperses the space voltage vector of a motor to each winding, and realizes fault-tolerant control on the motor by calculating the action time of the space voltage vector on each winding, wherein the specific method comprises the following steps:
when the motor is in a normal state, obtaining a given torque value according to a given rotating speed and an actual rotating speed, subtracting the given torque value from the actual torque to obtain an electromagnetic torque error value, and obtaining a change angle of a stator load in the next control period, a phase angle of a flux linkage and a given amplitude of each phase of winding stator flux linkage under a six-phase coordinate system according to the electromagnetic torque error value; the variable quantity of the stator flux linkage is obtained by comparing the variable quantity with the amplitude of the stator flux linkage, the acting time of the non-zero voltage vector applied to each phase winding is obtained under the condition of neglecting the resistance of the stator, and then the acting time of the space voltage vector on each phase winding is obtained;
when the A phase of the motor has an open circuit fault, a fault phase compensation strategy is adopted to compensate other normal relative fault phases: and compensating the flux linkage amplitude of the fault phase loss by adopting the flux linkage of the normal phase.
The change angle delta of the stator load in the next control period is obtained by adopting the following method:
at the same time according to psiβAnd psiαPhase angle theta of flux linkagesObtaining the given amplitude of each phase winding stator flux linkage under a six-phase coordinate system as follows:
wherein j is 1 to 6 and corresponds to six phases of the motor, thereby obtaining the variation of the stator flux linkage, psiαψβRepresenting the component of the stator flux linkage alpha beta, according to the variation of the stator flux linkage and the space voltage vector amplitude ujObtaining the non-zero voltage vector action time delta t applied to each phase winding in the following mode;
wherein is at + VDC、-VDCAnd 0, in particular by Δ ψsjDetermining:
when delta phisj>0, the phase winding now applies a positive voltage vector, uj＝+VDC；
When delta phisj<At 0, the phase winding now applies a negative voltage vector, uj＝-VDC；
When delta phisjWhen 0, the phase winding now applies a zero voltage vector, uj＝0；
The flux linkage amplitude of the fault phase loss is compensated by adopting the flux linkage of the normal phase as follows:
wherein:representing the flux linkage amplitude that the failed phase needs to compensate for,θrwhich represents the electrical angle of the rotor,θsrepresents the stator flux linkage angle and has the calculation formula ofObtained by 6/2 transformation of six-phase winding phase stator flux linkage amplitudefRepresenting the permanent magnet flux linkage, after the amplitude of the stator flux linkage needing to be compensated is obtained, the value is evenly distributed to other normal five phases, and the other normal phases bear the required compensation amount.
By adopting the technical scheme, the topology control method of the six-phase permanent magnet fault-tolerant rim propulsion motor provided by the invention can ensure that the permanent magnet fault-tolerant rim propulsion motor normally runs when the motor fails, compared with the traditional direct torque control mode, the method has finer fault-tolerant control on the motor, when the motor fails, the rotating speed and the torque pulsation of the motor are almost the same as those of the motor in normal state, compared with the traditional space voltage vector control technology, the method is simpler and more convenient, the space voltage vector is classified into each phase winding for analysis, the calculation and analysis processes are greatly reduced, and the motor can respond more reliably and quickly.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a permanent magnet fault tolerant rim propulsion motor according to the present invention;
FIG. 2 is a flow chart of the direct torque control of the permanent magnet fault tolerant rim propulsion motor of the present invention;
FIG. 3 is a flux linkage compensation diagram after A phase of fault-tolerant permanent magnet rim propulsion motor according to the present invention;
FIG. 4 is a waveform of the rotation speed in the normal state of the present invention;
FIG. 5 is a torque waveform diagram in a normal state in the present invention;
FIG. 6 is a torque waveform diagram under the open-circuit fault condition of phase A in accordance with the present invention;
fig. 7 is a waveform diagram of six-phase current in the open-circuit fault state of phase a in the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
as shown in figure 1, the method analyzes and researches a plurality of space voltage vectors of a six-phase permanent magnet fault-tolerant rim propulsion motor, because the space voltage vectors in the traditional six-phase permanent magnet fault-tolerant rim propulsion motor have 8 different lengths, if a comprehensive space voltage vector is adopted by referring to a three-phase motor, the control effect is obviously not particularly fine, and if the space voltage vectors are analyzed in sequence, the control process is too complicated and is obviously unrealistic, therefore, the invention combines a space voltage vector pulse width modulation technology, removes the traditional direct torque sector judgment part, disperses the space voltage vectors of the motor to each winding, and realizes the fault-tolerant control of the motor by calculating the space voltage vector acting time on each winding, the control block diagram is shown in fig. 2, the method simplifies the selection process of the space voltage vector of the six-phase fault-tolerant motor, and meanwhile, because the directions of all the space voltage vectors are consistent with the directions of all the windings, the calculation only needs to consider the amplitude of the space voltage vector, and the method greatly simplifies the control process. When the motor fails, the normal phase flux linkage is compensated to the failure phase through flux linkage compensation, so that the failure phase flux linkage is basically consistent with the normal phase, and the motor control effect under the failure is ensured to be consistent with the normal phase. The method is based on a permanent magnet fault-tolerant rim propulsion motor control system, the system at least comprises a six-phase permanent magnet fault-tolerant rim propulsion motor, an inverter, a position sensor, a voltage and current sensor, a power supply and the like, wherein the slot pole ratio of the motor is 12:5, the vibration noise of the rim propulsion motor is reduced, a shallow and wide slot type is adopted, the winding inductance is effectively increased by increasing the slot leakage inductance, and the motor structure is shown in figure 1.
The invention discloses a topological control method of a six-phase permanent magnet fault-tolerant rim propulsion motor, which specifically comprises the following steps:
s1, when the motor is in normal state, firstly obtaining a given torque value from the given rotation speed and the actual rotation speed through the rotation speed PI regulator, obtaining an electromagnetic torque error value after making a difference with the actual torque of the motor, obtaining the change angle of the stator load in the next control period after the electromagnetic torque error passes through the load torque change angle calculation module, wherein the calculation mode is that
While incorporating psi derived from flux linkage calculation moduleβAnd psiαThe phase angle theta of the flux linkage can be obtainedsThereby obtaining the stator flux linkage given amplitude of each phase of winding under the six-phase coordinate system
Wherein j is 1 to 6 and respectively corresponds to six phases of the motor, the amplitude of the stator flux linkage can be obtained through calculation, the variation of the stator flux linkage can be obtained after comparison, and the non-zero voltage vector acting time applied to each phase of winding can be obtained by using a winding end voltage equation and neglecting the stator resistance
Wherein u isjIs the magnitude of a space voltage vector, having + VDC、-VDCAnd 0, three cases, specifically Δ ψsjDetermining:
when delta phisj>0, the phase winding now applies a positive voltage vector, uj＝+VDC；
When delta phisj<At 0, the phase winding now applies a negative voltage vector, uj＝-VDC；
When delta phisjWhen 0, the phase winding now applies a zero voltage vector, uj＝0；
The action time of the space voltage vector on each phase winding can be obtained, in one control period, the non-zero voltage vector is that the upper pipe in the H bridge is conducted, the lower pipe is switched off or the upper pipe is switched off, the lower pipe is switched on, the zero voltage vector is that the upper pipe is simultaneously conducted or the lower pipe is simultaneously conducted, the obtained action time is the on-off time of the IGBT in the H bridge, therefore, the effect of controlling the motor is achieved, when the rotating speed of the six-phase permanent magnet fault-tolerant motor is changed, the action time of the corresponding space voltage vector can be changed, and the speed regulation effect of the motor is achieved.
S2, when the A phase of the motor has open circuit fault, the A phase motor is 0, and the formula psi is calculated by the flux linkages＝LsIs+ψffs (θ) indicates that if the motor is still subjected to direct torque control in a normal state, the current of the a phase cannot be compensated, the winding flux of the a phase also generates corresponding changes and only the permanent magnet flux remains, and at this time, large torque ripple occurs, and the motor cannot normally operate, so that fault detection is required, when a fault is found, a fault phase compensation strategy is switched to compensate other five normal phases relative to a fault phase, and the flux linkages of other healthy phases are synthesized, because the six-phase permanent magnet fault-tolerant rim pushes the motor to have a difference of 60 ° in each phase winding, only 1/3 times of the winding flux of each phase needs to be synthesized, one is borne by the permanent magnet flux linkage, one is borne by the D phase opposite to the direction of the a phase, and the other is synthesized by the rest of the phases, as shown in fig. 3. When the h-th phase winding is in an open circuit condition, the stator magnet needing compensationThe chain is as follows:
the specific compensation scheme is shown in table 1.
Fig. 4 and 5 show the rotation speed and torque waveform of the motor in normal operation, respectively, where the given rotation speed is 600r/min and the load torque is 10N · m, and fig. 6 and 7 show the torque and current waveform obtained after the phase a is suddenly opened at 0.5s when the fault-tolerant permanent magnet motor is started with a load, the motor enters a fault state and a flux linkage compensation strategy under the fault is added. Therefore, after the six-phase permanent magnet fault-tolerant rim propulsion motor passes through the A-phase open circuit fault, the six-phase permanent magnet fault-tolerant rim propulsion motor can continue to normally operate through short-time fluctuation.
And carrying out simulation verification on the torque and flux linkage of the motor under the same condition, wherein when one-phase open circuit fault occurs to the motor, the motor can realize the same working state as that under the normal state.
Simulation results show that the direct torque control strategy can enable the six-phase permanent magnet fault-tolerant motor to have good fault-tolerant control performance, the proposed fault-tolerant fault compensation strategy can effectively compensate flux linkage under open-circuit fault, normal torque balance is maintained, and normal operation of the motor is well guaranteed.
The six-phase permanent magnet fault-tolerant rim propulsion motor topology control method disclosed by the invention can continue to stably operate after one-phase open circuit fault. The invention firstly provides a fault-tolerant control strategy for compensating flux linkage of each phase winding, and effectively improves the reliability of the system by combining the space vector pulse width modulation technology. In addition, compared with the traditional direct torque control, the fault-tolerant control of the motor is more accurate, the torque and rotating speed waveform after the fault-tolerant control strategy is adopted is more excellent, and the requirements of the six-phase permanent magnet fault-tolerant rim propulsion motor used by the invention on the use under the conditions of complex environment and high requirement on the fault-tolerant performance of the motor are completely met.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. A topology control method for a six-phase permanent magnet fault-tolerant rim propulsion motor is characterized by comprising the following steps: the method combines a space voltage vector pulse width modulation method, disperses space voltage vectors of a motor into each winding and calculates the action time of the space voltage vectors on each winding so as to carry out fault-tolerant control on the motor, and the method specifically comprises the following steps:
when the motor is in a normal state, obtaining a given torque value according to a given rotating speed and an actual rotating speed, subtracting the given torque value from the actual torque to obtain an electromagnetic torque error value, and obtaining a change angle of a stator load in the next control period, a phase angle of a flux linkage and a given amplitude of each phase of winding stator flux linkage under a six-phase coordinate system according to the electromagnetic torque error value; the variable quantity of the stator flux linkage is obtained by comparing the variable quantity with the amplitude of the stator flux linkage, the acting time of the non-zero voltage vector applied to each phase winding is obtained under the condition of neglecting the resistance of the stator, and then the acting time of the space voltage vector on each phase winding is obtained;
when the A phase of the motor has an open circuit fault, a fault phase compensation strategy is adopted to compensate other normal relative fault phases: and compensating the flux linkage amplitude of the fault phase loss by adopting the flux linkage of the normal phase.
2. The method of claim 1 for controlling a six-phase permanent magnet fault tolerant rim propulsion motor topology, further characterized by: the change angle delta of the stator load in the next control period is obtained by adopting the following method:
at the same time according to psiβAnd psiαPhase angle theta of flux linkagesObtaining the given amplitude of each phase winding stator flux linkage under a six-phase coordinate system as follows:
wherein j is 1 to 6 and corresponds to six phases of the motor, thereby obtaining the variation of the stator flux linkage, psiαψβRepresenting the component of the stator flux linkage alpha beta, according to the variation of the stator flux linkage and the space voltage vector amplitude ujObtaining the non-zero voltage vector action time delta t applied to each phase winding in the following mode;
wherein is at + VDC、-VDCAnd 0, in particular by Δ ψsjDetermining:
when delta phisjWhen > 0, the phase winding now applies a positive voltage vector uj＝+VDC；
When delta phisjIf < 0, the phase winding now applies a negative voltage vector uj＝-VDC；
When delta phisjWhen 0, the phase winding now applies a zero voltage vector, uj＝0。
3. The method of claim 1 for controlling a six-phase permanent magnet fault tolerant rim propulsion motor topology, further characterized by: the flux linkage amplitude of the fault phase loss is compensated by adopting the flux linkage of the normal phase as follows:
wherein:
magnitude of flux linkage, theta, representing the phase of fault requiring compensationrRepresenting the electrical angle of the rotor, thetasRepresents the stator flux linkage angle and has the calculation formula of
Obtained by 6/2 transformation of six-phase winding phase stator flux linkage amplitudefRepresenting the permanent magnet flux linkage, after the amplitude of the stator flux linkage needing to be compensated is obtained, the value is evenly distributed to other normal five phases, and the other normal phases bear the required compensation amount.
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