CN110729935A - Open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control SVPWM generation method - Google Patents

Open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control SVPWM generation method Download PDF

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CN110729935A
CN110729935A CN201911036338.1A CN201911036338A CN110729935A CN 110729935 A CN110729935 A CN 110729935A CN 201911036338 A CN201911036338 A CN 201911036338A CN 110729935 A CN110729935 A CN 110729935A
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voltage vector
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CN110729935B (en
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陈益广
刘波
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Tianjin University
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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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses an open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control SVPWM generation method. The direct and alternating axis current controller of the rotor synchronous rotation coordinate system controls the alpha beta axis current of the stator fundamental wave plane; controlling the harmonic plane current by a z-axis current controller with frequency self-adaptive proportional resonance characteristics; the zero sequence current controller inhibits the zero sequence current. The outputs of the four current controllers are subjected to matrix operation to obtain a group of voltage vector instructions which are mutually decoupled, then corresponding space voltage vectors are selected and the action time of the space voltage vectors is reasonably distributed in an SVPWM (space vector pulse width modulation) mode to generate a five-phase full-bridge inverter control signal, so that the four-phase healthy winding control signal has the advantages of equal current amplitude, small harmonic current and zero-sequence current approximate to 0, and the control effect of circular rotating magnetomotive force is achieved. The problem that the switching frequency of a power device is uncontrollable in a traditional hysteresis fault-tolerant system is solved, the utilization rate of direct-current voltage is improved, the fault tolerance of the open circuit of one-phase winding is realized, and the reliability of the system is improved.

Description

Open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control SVPWM generation method
Technical Field
The invention belongs to the field of electrical engineering, and relates to an A-phase open circuit fault-tolerant control SVPWM (space vector pulse width modulation) generation method of an open-winding five-phase permanent magnet synchronous motor.
Background
The motor stator winding of the open-winding five-phase permanent magnet synchronous motor adopts an open-winding structure, improves the fault-tolerant capability of the motor, and is widely applied to occasions with higher requirements on the system. At present, a hysteresis control method is mostly adopted for phase winding open-circuit fault-tolerant control of an open-winding five-phase permanent magnet synchronous motor, and although the principle of the control method is simple, the defect that the switching frequency of a power device is uncontrollable exists, and the service life of the power device is influenced.
Disclosure of Invention
The invention provides an open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control SVPWM generation method aiming at the problems in hysteresis control, and the method is used for realizing the open circuit fault-tolerant control method of the five-phase open-winding permanent magnet synchronous motor based on SVPWM pulse modulation control, so that the problem that the switching frequency of a power device is uncontrollable in the traditional hysteresis fault-tolerant system is solved, the switching frequency of the power device is controllable, the utilization rate of direct-current voltage is improved, and a better fault-tolerant control effect is achieved. Thereby improving the reliability of the system.
In order to solve the technical problem, the invention provides an A-phase open circuit fault-tolerant control SVPWM generation method of an open-winding five-phase permanent magnet synchronous motor, which comprises the following steps:
taking an alpha axis and a beta axis of a stator two-phase static alpha beta coordinate system of the five-phase permanent magnet synchronous motor with the open windings to coincide with a real axis and an imaginary axis of a complex plane of the fundamental wave respectively, wherein the alpha axis of the stator two-phase static alpha beta coordinate system coincides with the axis of the A-phase winding with the open circuit fault;
stator third harmonic two-phase static alpha of five-phase permanent magnet synchronous motor with winding being taken out3β3Alpha of the coordinate system3Axis and beta3The axes are respectively superposed with the real axis and the imaginary axis of the third harmonic complex plane, and the alpha axis3The axes coincide and will be beta3The axis is named as the z-axis;
when an A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault, the A-phase open circuit fault-tolerant control system of the open-winding five-phase permanent magnet synchronous motor gives four voltage instructions according to an A-phase open circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor: fundamental wave complex plane two-phase static alpha beta coordinate system alpha axis voltage instruction
Figure BDA0002251602870000011
And beta axis voltage command
Figure BDA0002251602870000012
Third harmonic complex plane z-axis voltage command
Figure BDA0002251602870000013
And zero sequence voltage command
Figure BDA0002251602870000014
Fundamental wave complex plane open winding five-phase permanent magnet synchronous motor two-phase static alpha beta coordinate system alpha coordinate axis voltage instruction
Figure BDA0002251602870000015
And beta axis voltage command
Figure BDA0002251602870000016
Obtaining fundamental wave space voltage vector instruction U*I.e. by
Figure BDA0002251602870000018
Figure BDA0002251602870000021
Wherein, U*As fundamental space voltage vector command U*Theta is the fundamental space voltage vector command U on the fundamental complex plane*In the space electrical angle with the alpha axis as the fundamental wave space voltage vector command U*When the counter-clockwise rotation is started from the alpha axis position, the fundamental wave space voltage vector instruction U*The space electrical angle theta between the alpha axis and the alpha axis is increased from 0;
the fundamental wave complex plane is divided into 12 sectors in parallel, the space of each sector occupies an angle of 30 degrees, 0-30 degrees are sectors I, 30-60 degrees are sectors II, 60-90 degrees are sectors III, 90-120 degrees are sectors IV, 120-150 degrees are sectors V, 150-180 degrees are sectors VI, 180-210 degrees are sectors VII, 210-240 degrees are sectors VIII, 240-270 degrees are sectors IX, 270-300 degrees are sectors X, 300-330 degrees are sectors XI, and 330-360 degrees are sectors XII;
fundamental wave space voltage vector instruction U*Will necessarily be in one of the 12 sectors;
when fundamental wave space voltage vector instruction U*In one of 12 sectors, to generate a fundamental wave space voltage vector command U*Selecting 5 space voltage vectors corresponding to the sector to synthesize, wherein the 5 space voltage vectors corresponding to the sector comprise 2 selected space voltage vectors U0-15And U15-0And 3 space voltage vectors with different directions and maximum amplitude in the sector, wherein the control system gives out the space voltage vectors according to an A-phase open circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor
Figure BDA0002251602870000022
And
Figure BDA0002251602870000023
four voltage commands in each control period TsDistributing the action time of 5 space voltage vectors corresponding to the sector internally, generating two sets of SVPWM pulse control signals of the five-phase full-bridge inverter to realize A-phase open circuit fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor, and achieving the effects that the current amplitudes of the B, C, D and E four-phase open windings which are healthy are equal, the zero-sequence current is approximately 0, and the four-phase open winding current generates circular rotary fundamental wave magnetomotive force in a combined manner when in a steady state;
the DC bus voltage of two sets of five-phase full-bridge inverters of the open-winding five-phase permanent magnet synchronous motor is UDC；
The space voltage vector U of 2 optional space voltage vectors in each sector0-15And U15-0The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively
Figure BDA0002251602870000024
Figure BDA0002251602870000025
Wherein the content of the first and second substances,and
Figure BDA0002251602870000027
are respectively space voltage vector U0-15Projection values on an alpha axis and a beta axis of a stator two-phase stationary alpha beta coordinate system,
Figure BDA0002251602870000028
and
Figure BDA0002251602870000029
are respectively space voltage vector U15-0Projection values of alpha axis and beta axis in stator two-phase stationary alpha beta coordinate system, and
Figure BDA00022516028700000210
space voltage vector U0-15And U15-0The projection values on the z-axis are respectively
Figure BDA00022516028700000211
And
Figure BDA00022516028700000212
and are all 0, i.e.
Figure BDA00022516028700000213
Figure BDA00022516028700000214
Space voltage vector U0-15And U15-0The generated zero sequence voltages are respectively
Figure BDA00022516028700000215
And
Figure BDA00022516028700000216
and is
Figure BDA00022516028700000217
Figure BDA00022516028700000218
In 12 sectors, the 3 space voltage vectors with different directions and maximum amplitude in each sector are sequentially as follows: u of sector I9-6、U13-6And U8-6U of sector II8-15、U8-7And U8-2U of sector III8-3、U13-3And U12-3U of sector IV12-3、U4-3And U14-3U of the V-th sector4-1、U14-1And U15-1U of the VI th sector6-1、U6-11And U6-9U of the VII th sector6-9、U6-13And U6-8U of the VIII th sector15-8、U7-8And U2-8U of sector IX3-8、U3-13And U3-12U of the Xth sector3-12、U3-4And U3-14U of sector XI1-4、U1-14And U1-15U of sector XII1-6、U11-6And U9-6Wherein the space voltage vector U9-6Shared by sector I and sector XII, space voltage vector U12-3Shared by sector III and sector IV, space voltage vector U9-6Shared by sectors VI and VII, space voltage vector U9-6The X sector and the IX sector share the fault-tolerant control circuit, and 32 space voltage vectors with different directions and the maximum amplitude are used for the open-circuit fault-tolerant control of the phase A of the five-phase permanent magnet synchronous motor with the open winding in 12 sectors;
the 32 gaps with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectorsInter-voltage vector space U9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The expressions of a stator two-phase stationary alpha beta coordinate system on a fundamental complex plane are respectively as follows:
Figure BDA0002251602870000032
the 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The projection values on the alpha axis and the beta axis of the stator two-phase stationary alpha beta coordinate system are respectively as follows:
Figure BDA0002251602870000033
Figure BDA0002251602870000034
Figure BDA0002251602870000041
the 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The projection values on the z-axis are:
Figure BDA0002251602870000042
Figure BDA0002251602870000043
when fundamental wave space voltage vector instruction U*When in the I-th sector, according to the control system
Figure BDA0002251602870000044
And
Figure BDA0002251602870000045
four voltage commands in each control period TsThe control system controls the selected U in the I-th sector9-6、U13-6、U8-6、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA0002251602870000046
And
Figure BDA0002251602870000047
and
Figure BDA0002251602870000048
and Ts、
Figure BDA0002251602870000049
And
Figure BDA00022516028700000410
satisfies the following relation
Figure BDA00022516028700000411
When fundamental wave space voltage vector instruction U*When in the second sector, according to the control system
Figure BDA00022516028700000412
And
Figure BDA00022516028700000413
four voltage commands in each control period TsThe control system controls the selected U in the II-th sector8-15、U8-7、U8-2、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700000414
And
Figure BDA00022516028700000415
and
Figure BDA00022516028700000416
and Ts、
Figure BDA00022516028700000417
And
Figure BDA00022516028700000418
satisfies the following relation
When fundamental wave space voltage vector instruction U*When in the third sector, according to the control system
Figure BDA0002251602870000051
And
Figure BDA0002251602870000052
four voltage commands in each control period TsThe control system controls the selected U in the third sector8-3、U13-3、U12-3、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA0002251602870000053
And
Figure BDA0002251602870000054
Figure BDA0002251602870000055
and
Figure BDA0002251602870000056
and Ts、
Figure BDA0002251602870000057
And
Figure BDA0002251602870000058
satisfies the following relation
When fundamental wave space voltage vector instruction U*When in the IV sector, according to the control systemAndfour voltage commands in each control period TsThe control system controls the selected U in the IV sector12-3、U4-3、U14-3、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700000512
And
Figure BDA00022516028700000513
Figure BDA00022516028700000514
andand Ts、
Figure BDA00022516028700000516
And
Figure BDA00022516028700000517
satisfies the following relation
When fundamental wave space voltage vector instruction U*When in the V-th sector, according to the control system
Figure BDA00022516028700000519
Andfour voltage commands in each control period TsThe control system controls the selected U in the V-th sector4-1、U14-1、U15-1、U0-15And U15-0Action time of these 5 space voltage vector assignmentsAre respectively as
Figure BDA00022516028700000521
And
Figure BDA00022516028700000522
and
Figure BDA00022516028700000523
and Ts、
Figure BDA00022516028700000524
And
Figure BDA00022516028700000525
satisfies the following relation
Figure BDA00022516028700000526
When fundamental wave space voltage vector instruction U*When in the VI-th sector, according to the control system
Figure BDA00022516028700000527
And
Figure BDA00022516028700000528
four voltage commands in each control period TsThe control system controls the selected U in the VI-th sector6-1、U6-11、U6-9、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectivelyAnd
Figure BDA00022516028700000530
and
Figure BDA00022516028700000532
and Ts、
Figure BDA00022516028700000533
And
Figure BDA00022516028700000534
satisfies the following relation
Figure BDA0002251602870000061
When fundamental wave space voltage vector instruction U*In the VII th sector according to the control systemAnd
Figure BDA0002251602870000063
four voltage commands in each control period TsThe control system controls the selected U in the VII-th sector6-9、U6-13、U6-8、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA0002251602870000064
And
Figure BDA0002251602870000065
Figure BDA0002251602870000066
and
Figure BDA0002251602870000067
and Ts、
Figure BDA0002251602870000068
And
Figure BDA0002251602870000069
satisfies the following relation
When fundamental wave space voltage vector instruction U*When in the VIII sector, according to the control system
Figure BDA00022516028700000611
Andfour voltage commands in each control period TsThe control system controls the selected U in the VIII sector15-8、U7-8、U2-8、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700000613
And
Figure BDA00022516028700000615
and
Figure BDA00022516028700000616
and Ts、And
Figure BDA00022516028700000618
satisfies the following relation
Figure BDA00022516028700000619
When fundamental wave space voltage vector instruction U*In the IX sector, according to the control system
Figure BDA00022516028700000620
And
Figure BDA00022516028700000621
four voltage commands in each control period TsFor selected U in sector IX3-8、U3-13、U3-12、U0-15And U15-0The action time that these 5 space voltage vectors should be allocated is respectively
Figure BDA00022516028700000622
And
Figure BDA00022516028700000623
Figure BDA00022516028700000624
and
Figure BDA00022516028700000625
and Ts、
Figure BDA00022516028700000626
And
Figure BDA00022516028700000627
satisfies the following relation
Figure BDA0002251602870000071
When fundamental wave space voltage vector instruction U*When in the Xth sector, according to the control systemAnd
Figure BDA0002251602870000073
four voltage commands in each control period TsThe control system controls the selected U in the Xth sector3-12、U3-4、U3-14、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA0002251602870000074
And
Figure BDA0002251602870000075
and
Figure BDA0002251602870000076
and Ts、
Figure BDA0002251602870000077
And
Figure BDA0002251602870000078
satisfies the following relation
Figure BDA0002251602870000079
When fundamental wave space voltage vector instruction U*In sector XI, according to the control system
Figure BDA00022516028700000710
And
Figure BDA00022516028700000711
four voltage commands in each control period TsThe control system controls the selected U in the XI sector1-4、U1-14、U1-15、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700000712
And
Figure BDA00022516028700000713
Figure BDA00022516028700000714
and
Figure BDA00022516028700000715
and Ts、
Figure BDA00022516028700000716
And
Figure BDA00022516028700000717
satisfies the following relation
Figure BDA00022516028700000718
When fundamental wave space voltage vector instruction U*When in the XII sector, according to the control systemAnd
Figure BDA00022516028700000720
four voltage commands in each control period TsThe control system controls the selected U in the XII sector1-6、U11-6、U9-6、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700000721
And
Figure BDA00022516028700000722
Figure BDA00022516028700000723
and
Figure BDA00022516028700000724
and Ts、
Figure BDA00022516028700000725
And
Figure BDA00022516028700000726
satisfies the following relation
In the invention, the direct and alternating axis current controller of the rotor synchronous rotation coordinate system controls the stator fundamental wave plane alpha beta axis current; controlling the harmonic plane current by a z-axis current controller with frequency self-adaptive proportional resonance characteristics; the zero sequence current controller inhibits the zero sequence current. The outputs of the four current controllers are subjected to matrix operation to obtain a group of voltage vector instructions which are mutually decoupled, then corresponding space voltage vectors are selected and the action time of the space voltage vectors is reasonably distributed in an SVPWM (space vector pulse width modulation) mode to generate inverter control signals, so that the control effect that the four-phase healthy winding has equal current amplitude, small harmonic current and zero-sequence current approximate to 0 and circular rotating magnetomotive force is generated is achieved. The problem that the switching frequency of a power device is uncontrollable in a traditional hysteresis fault-tolerant system is solved, the utilization rate of direct-current voltage is improved, the fault tolerance of the open circuit of one-phase winding is realized, and the reliability of the system is improved.
Drawings
Fig. 1 is a main circuit topology when an open-winding five-phase permanent magnet synchronous motor has a five-phase open winding in a normal state.
Fig. 2 is a main circuit topology of open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control.
Fig. 3 is a block diagram of an open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control system.
Fig. 4 is a schematic diagram of the distribution of all fundamental wave space voltage vectors which can be output by the cooperative work of two sets of five-phase full-bridge inverters when the phase a is open, which is represented by dots, and the space voltage vectors which can be selected by the 12-sector division and fault-tolerant control system for synthesizing the fundamental wave space voltage vector commands.
Fig. 5 is a sector where the fault-tolerant control system is used for synthesizing the fundamental wave space voltage vector instruction when the A-phase is disconnected and a selectable space voltage vector distribution diagram.
FIG. 6 is a z-axis space voltage vector distribution diagram that may be selected by the fault tolerant control system for synthesizing z-axis voltage vector commands when phase A is open.
Fig. 7 is two zero sequence voltage space voltage vector distribution diagrams that can be selected by the fault-tolerant control system for synthesizing the zero sequence voltage vector command when the phase a is open.
Fig. 8 is a diagram of the relationship between the zero sequence voltage vector command given by the phase-a open circuit fault-tolerant control system in 12 sectors and the selectable two different zero sequence voltage space voltage vectors.
Fig. 9 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector I and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 10 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector II, and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 11 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector III, and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 12 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector IV, and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 13 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the a-phase open circuit fault-tolerant control system in the sector V and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 14 is a diagram of the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VI, respectively, with the selectable fundamental voltage vector and the selectable z-axis space voltage vector.
Fig. 15 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector VII, and the fundamental voltage vector and the z-axis space voltage vector that can be selected, respectively.
Fig. 16 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector VIII, and the fundamental voltage vector and the z-axis space voltage vector that can be selected, respectively.
Fig. 17 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the a-phase open circuit fault-tolerant control system in the sector IX and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 18 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the a-phase open-circuit fault-tolerant control system in the sector X and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 19 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector XI and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
Fig. 20 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector XII, and the fundamental voltage vector and the z-axis space voltage vector that can be selected, respectively.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to a series of drawings in the embodiments of the present invention.
The open-winding five-phase permanent magnet synchronous motor main circuit topology when the five-phase open winding is normal is shown in fig. 1, the five-phase open winding of the open-winding five-phase permanent magnet synchronous motor is controlled by 2 sets of five-phase full-bridge inverters to supply power, each set of five-phase full-bridge inverter is composed of five upper and lower bridge arms formed by two power switching tubes reversely connected with freewheeling diodes in parallel, and the middle output end of each upper and lower bridge arm is connected with the input end of one phase in the five-phase open winding. 5 output ends A1, B1, C1, D1 and E1 of the 1 st set of full-bridge five-phase inverter are respectively connected with positive input ends A1, B1, C1, D1 and E1 of an open-winding five-phase permanent magnet synchronous motor A, B, C, D and an E five-phase open winding, and the 2 nd set of five-phase full-bridge inverter is connected with a power supply and a power supplyAnd 5 output terminals a2, B2, C2, D2 and E2 are connected to the reverse input terminals a2, B2, C2, D2 and E2 of the open-winding five-phase permanent magnet synchronous motor A, B, C, D and the E five-phase open winding, respectively. With SA1、SB1、SC1、SD1、SE1And SA2、SB2、SC2、SD2、SE2And the switching states of upper and lower bridge arms of a set 1 and a set 2 of five-phase full-bridge inverters connected with the forward input end and the reverse input end of the five-phase open winding are respectively shown. Taking phase A as an example for explanation, SA1The working states of upper and lower bridge arms of a1 st set of five-phase full-bridge inverter A1 connected with the positive input end of the A-phase winding are shown: when S isA1When the voltage is equal to 1, the upper arm of A1 of the 1 st set of five-phase full-bridge inverter connected with the positive input end of the A-phase winding is switched on, and the lower arm is switched off; when S isA1When the value is equal to 0, the upper arm of the a1 of the 1 st set of five-phase full-bridge inverter connected with the positive input end of the a-phase winding is turned off, and the lower arm is turned on. SA2The working states of the upper and lower bridge arms of a2 nd set of five-phase full-bridge inverter A2 connected with the reverse input end of the A-phase winding are shown: when S isA2When the voltage is equal to 1, the upper arm of A2 of the 2 nd set of five-phase full-bridge inverter connected with the reverse input end of the A-phase winding is switched on, and the lower arm is switched off; when S isA2When the value is equal to 0, the upper arm of a2 of the fifth-phase full-bridge inverter set 2 connected with the reverse input end of the phase a winding is turned off, and the lower arm is turned on. When the 10 switching state quantities take different values, the space voltage vector U corresponding to the voltage input by the five-phase winding of the five-phase permanent magnet synchronous motor with the open windingm-nIs different. Space voltage vector Um-nThe numerical values of the corner marks m and n are respectively the switching state quantity (S) of the 1 st set of five-phase full-bridge inverterA1、SB1、SC1、SD1、SE1) And the 2 nd set of five-phase full-bridge inverter switching state quantity (S)A2、SB2、SC2、SD2、SE2) The resulting binary value of (a).
When the five-phase open winding of the open-winding five-phase permanent magnet synchronous motor is normal, the control system adopts an SVPWM vector control strategy, and decouples the current of the five-phase open winding of the stator through coordinate transformation, so that the aim of respectively controlling the torque and flux linkage of the motor is fulfilled.
The axial line of the stator A-phase winding is coincided with the alpha axis of a stator two-phase static alpha beta coordinate system, the alpha axis and the beta axis of the stator two-phase static alpha beta coordinate system are coincided with the real axis and the imaginary axis of a fundamental wave complex plane respectively, and the three-harmonic complex plane two-phase static alpha3β3Alpha of the coordinate system3The axis is coincident with the alpha axis, and in a normal state, according to the principle of equal amplitude, the coordinate transformation matrix from the five-phase static coordinate system to the two-phase static coordinate system of the stator is
Figure BDA0002251602870000101
Wherein gamma is an electrical angle between two adjacent axes in the five-phase coordinate system, and the value of gamma is 2 pi/5; matrix T5s/2sThe 1 st line and the 2 nd line of the stator correspond to the conversion from a stator static five-phase coordinate system to an alpha axis and a beta axis of a two-phase static alpha beta coordinate system on a fundamental complex plane respectively, the two lines correspond to the fundamental complex plane, and the quantities participate in the energy conversion of the motor; matrix T5s/2sThe 3 rd and 4 th rows of the three-phase stator correspond to a stator stationary five-phase coordinate system to a third harmonic complex plane two-phase stationary alpha3β3Coordinate system alpha3Axis and beta3An on-axis transformation; matrix T5s/2sLine 5 corresponds to the transformation of the stationary five-phase coordinate system of the stator to a zero-sequence component.
When the five-phase open winding of the open-winding five-phase permanent magnet synchronous motor is normal, if the energy conversion of the motor is controlled to only occur on the complex plane of the fundamental wave and the energy conversion does not occur on the complex plane of the third harmonic wave, the coordinate rotation conversion is only carried out on the complex plane of the fundamental wave, and the coordinate conversion matrix from the two-phase static coordinate system of the motor to the synchronous rotation coordinate system is obtained
Figure BDA0002251602870000111
Wherein, theta is the electrical angle of the rotor position, and is taken as the starting point of theta when the d axis (straight axis) of the rotor coincides with the axis of the A-phase winding, namely, the axis of the alpha axis of the stator two-phase stationary alpha beta coordinate system. The 1 st and 2 nd rows of the matrix respectively correspond to the stationary alpha and beta coordinates of two phases on the complex plane of the fundamental waveTransformation on d-axis (direct axis) and q-axis (quadrature axis) of the system to dq synchronous rotation coordinate system; the 3 rd and 4 th rows of the matrix still correspond to the third harmonic complex plane two-phase stationary alpha3β3Alpha of the coordinate system3Axis and beta3The amount of the axis, not transformed; line 5 still corresponds to the zero sequence component and no transformation is done.
When the five-phase permanent magnet synchronous motor with the open windings normally and stably operates, the symmetrical five-phase open windings of the stator are connected with the same amplitude ImAnd a symmetrical current i with an angular frequency of omega and a phase differential electrical angle gamma of 2 pi/5A、iB、iC、iDAnd iEWhen the stator five-phase open winding generates a space synthetic magnetomotive force of
F5＝KF(iA+iBejγ+iCej2γ+iDej3γ+iEej4γ)
＝KFIm[cos(ωt)+cos(ωt-γ)ejγ+cos(ωt-2γ)ej2γ+cos(ωt-3γ)ej3γ+cos(ωt-4γ)ej4γ]
＝2.5KFIm(cosωt+jsinωt)
＝2.5KFImejωt
Wherein, KFThe coefficient related to the motor stator winding parameter is equivalent to the value of the fundamental wave magnetomotive force amplitude generated by a certain phase when the phase winding is introduced with current with the peak value of 1A.
The main circuit topology when the open-winding five-phase permanent magnet synchronous motor A-phase is open-circuited is shown in fig. 2, and at the moment, the open-winding five-phase permanent magnet synchronous motor works in a fault-tolerant control operation mode. The upper and lower bridge arms corresponding to the output ends of A1 and A2 of the two sets of full-bridge five-phase inverters are all turned off, and the remaining healthy B, C, D and E four-phase open windings are still controlled by the corresponding bridge arms of the 2 sets of five-phase full-bridge inverters to supply power to the inverters. At the moment, 4 output ends B1, C1, D1 and E1 of the 1 st set of full-bridge five-phase inverter are respectively connected with positive input ends B1, C1, D1 and E1 of healthy B, C, D and E four-phase open winding of the open-winding five-phase permanent magnet synchronous motor, and 4 output ends B2, C2, D2 and E2 of the 2 nd set of five-phase full-bridge inverter are respectively connected with output ends B2, C1, D1 and E1 of the open-winding five-phase permanent magnet synchronous motorThe reverse input ends B2, C2, D2 and E2 of healthy B, C, D and E four-phase open windings of the permanent magnet synchronous motor are respectively connected. With SB1、SC1、SD1、SE1And SB2、SC2、SD2、SE2And respectively showing the switching states of the remaining healthy four-phase upper and lower bridge arms in the 1 st and 2 nd sets of five-phase full-bridge inverters connected with the positive input end and the negative input end of the healthy four-phase open winding. When the 8 switching state quantities take different values, the space voltage vector U corresponding to the voltage input by the remaining healthy four-phase open winding when the A phase of the open-winding five-phase permanent magnet synchronous motor is in open circuitm'-n'Is different. Space voltage vector Um'-n'The numerical values of the corner marks m 'and n' are the remaining healthy four-phase switching state quantity (S) in the 1 st set of five-phase full-bridge invertersB1、SC1、SD1、SE1) And healthy four-phase switching state quantity (S) in the 2 nd set of five-phase full-bridge invertersB2、SC2、SD2、SE2) The resulting binary value.
When the open-circuit fault occurs to the A-phase winding of the open-winding five-phase permanent magnet synchronous motor, the A-phase open-circuit control system of the open-winding five-phase permanent magnet synchronous motor needs to convert T of the open-winding five-phase permanent magnet synchronous motor when the five-phase open-circuit winding is normal5s/2sAnd (5) modifying the matrix. Since the A phase winding is open-circuited and no longer controlled, T is removed5s/2s Column 1 of the transformation matrix. In order to ensure any two-line orthogonality of the modified matrix, namely to ensure mutual decoupling between variables after matrix transformation, T is removed5s/2sRow 3 of the matrix, with the same constant 1/4 added to each element in row 1. Obtaining a transformation matrix T after the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault4s/2sIs composed of
Wherein, the matrix T4s/2sLines 1 and 2 of (1) correspond to the transformation of the remaining healthy four-phase stationary stator coordinate system into the fundamental complex plane of the two-phase stationary stator α β coordinate system, which is involved in the energy conversion of the electrical machineFor controlling the flux linkage and torque of the motor; matrix T4s/2sLine 3 for stator residual healthy four-phase stationary coordinate system to two-phase stationary alpha in the third harmonic complex plane3β3Beta in the coordinate system3On-axis transformation, now will be beta3The axis is referred to as the transformation in the z-axis; matrix T4s/2sLine 4 of (a) corresponds to the transformation of the remaining healthy four-phase stationary coordinate system of the stator to the zero-sequence component.
The matrix after being reformed in the way can ensure that the z-axis harmonic component can be used as a constraint condition for limiting the stator current waveform in the subsequent control process, and simultaneously, the zero-sequence component generated by the motor open winding structure can be inhibited.
Thus, passing through the transformation matrix T4s/2sPhysical components in a stator four-phase static coordinate system BCDE when the open-circuit fault occurs to the phase A winding of the open-winding five-phase permanent magnet synchronous motor can be transformed into an alpha beta z0 coordinate system which is orthogonal to each other.
When the A-phase winding of the open-winding five-phase permanent magnet synchronous motor is in open circuit, only the coordinate rotation transformation is carried out on the alpha axis, the beta axis, the harmonic z axis and the zero sequence component in the fundamental complex plane, and the original T can be converted2s/2rRemoving the 3 rd row and the 3 rd column in the transformation matrix to obtain a coordinate transformation matrix from a two-phase static coordinate system corresponding to the remaining healthy four-phase open winding of the stator to a synchronous rotating coordinate system when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor is in open circuit
Figure BDA0002251602870000122
According to a transformation matrix T'2s/2rAnd T4s/2sThe transformation matrix T of transforming the physical components in the stator four-phase static coordinate system BCDE to the dqz0 coordinate system when the open-circuit fault occurs to the A-phase winding of the open-winding five-phase permanent magnet synchronous motor is obtained
Figure BDA0002251602870000131
Therefore, by transforming the matrix T, the permanent magnet synchronous electricity of the phase-opening winding can be obtainedB, C, D and E-phase current i in stator four-phase static coordinate system BCDE when open-circuit fault occurs in machine A-phase windingB、iC、iDAnd iEDirect axis current i converted into synchronous rotating coordinate systemdQuadrature axis current iqAnd z-axis current i of the other two coordinate systemszAnd zero sequence current i0I.e. by
Figure BDA0002251602870000132
When the open-winding five-phase permanent magnet synchronous motor A-phase winding has an open-circuit fault, the remaining healthy B, C, D and E four-phase open-winding are respectively switched in to have amplitudes IBm、ICm、IDmAnd IEmInitial phase angles are respectively
Figure BDA0002251602870000133
And
Figure BDA0002251602870000134
at an angular frequency ω, the stator B, C, D and the E four-phase open winding produce a resultant magnetomotive force
Figure BDA0002251602870000135
When the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault and the open-winding five-phase permanent magnet synchronous motor works in a fault-tolerant control operation mode, in order to enable the heating conditions of the remaining healthy four-phase open windings to be the same, the control system controls the amplitudes of the remaining healthy four-phase open winding currents to be the same, adjusts the initial phase angle of the currents and reconstructs the remaining healthy four-phase open winding currents; the algebraic sum of the remaining healthy four-phase open winding current is controlled to be 0, and the aim of inhibiting the zero-sequence current is achieved. Under the two constraint conditions, in order to ensure that the synthetic magnetomotive force generated by B, C, D and E four-phase open windings which remain healthy after the A-phase is disconnected and the input amplitude of the five-phase open winding when the A-phase winding is normal are ImThe amplitude and the spatial position of the resultant magnetomotive force generated by the symmetrical current are the same, and the current is equal to B, C,When D and E four-phase open winding current is reconstructed, the current parameter satisfies the following relation
Figure BDA0002251602870000136
Wherein, Im1The amplitude of the B, C, D, E phase winding current during fault-tolerant control after the A phase winding is open-circuited is shown.
Get Im1The minimum group of solutions, namely the reconstructed four-phase open winding current in fault-tolerant control after the open circuit of the A-phase winding is
Figure BDA0002251602870000141
In order to generate reconstructed four-phase open winding current to realize fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor with the open circuit of the A-phase winding, the reconstructed four-phase open winding current needs to be decoupled and transformed. Through T4s/2sCoordinate transformation can be obtained
Figure BDA0002251602870000142
From the above equation, two currents i can be seenzAnd iβThere is a relationship of the following formula
iz＝0.236iβ
Considering that the A-phase open circuit fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor also adopts vector control, and the direct-axis current instruction is set to be 0, namely adopting
Figure BDA0002251602870000143
And (5) controlling.
When in use
Figure BDA0002251602870000144
When it is converted from the following reverse rotation
Figure BDA0002251602870000145
From the above two equations, the z-axis current command can be obtained as
Figure BDA0002251602870000146
The block diagram of the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control system designed according to the above analysis is shown in FIG. 3.
The control system actually detects healthy B, C, D and E four-phase open winding current iB、iC、iDAnd iEDirect axis current i transformed into a synchronous rotating coordinate system by a transformation matrix TdQuadrature axis current iqAnd z-axis current i of the other 2 coordinate systemszAnd zero sequence current i0。
And obtaining theta of the rotor position angle motor by a rotor position sensor coaxially mounted with the rotor of the open-winding five-phase permanent magnet synchronous motor, and obtaining the actual rotating speed n of the motor by resolving.
Motor speed command n*The actual speed n of the motor is compared with the actual speed n and then input to a speed regulator, which may be a conventional regulator with PI (proportional integral) characteristics or various intelligent regulators. The output of the speed controller is the quadrature axis current instruction of the rotor synchronous rotation coordinate system
Figure BDA0002251602870000147
By
Figure BDA0002251602870000148
The z-axis current instruction can be obtained according to the rotor position electrical angle theta
Figure BDA0002251602870000149
The system adopts direct-axis current instruction
Figure BDA0002251602870000151
Is controlled by 0, i.e.
Figure BDA0002251602870000152
System set direct axis powerFlow of
Figure BDA0002251602870000153
Command and direct current i as negative feedbackdAfter comparison, the signals are sent to a direct-axis current controller, wherein the direct-axis current controller can be a traditional controller regulator with PI (proportional integral) characteristics or various intelligent regulators. The output of the direct-axis current controller is a direct-axis voltage command
Figure BDA0002251602870000154
Speed controller outputs quadrature axis current instructionWith quadrature current i as negative feedbackqAfter comparison, the signals are sent to a quadrature-axis current controller, and the quadrature-axis current controller can be a traditional regulator with PI (proportional integral) characteristics or various intelligent regulators. The output of the quadrature axis current controller is a quadrature axis voltage command
As can be seen from the expression of the z-axis current command, the value thereof is an alternating variable related to the position electrical angle θ of the motor rotor. The open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control system can not effectively control an alternating variable by using a traditional PI (proportional integral) controller, so that a Z-axis current is controlled by using an adaptive PR (proportional resonance) controller capable of following frequency change. In the system, z-axis current commandWith z-axis current i as negative feedbackzAnd after comparison, the signals are sent to a z-axis current controller, and the z-axis current controller can control the z-axis current by an adaptive PR (proportional resonance) controller which can follow the frequency change. The output of the z-axis current controller is a z-axis voltage command
Figure BDA0002251602870000158
In order to inhibit zero-sequence current, the A-phase open-circuit fault-tolerant control system of the open-winding five-phase permanent magnet synchronous motor also instructs the zero-sequence current
Figure BDA0002251602870000159
Set to 0, i.e. adopt
Figure BDA00022516028700001510
And (5) controlling. When the system control effect can be realized, the actual zero-sequence current is very small, although the zero-sequence current is an alternating quantity, the open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control system can use a PI (proportional integral) controller to regulate and control the zero-sequence current. Zero sequence current set by system
Figure BDA00022516028700001511
Command and zero sequence axis current i as negative feedback0After comparison, the signals are sent to a zero sequence current controller, which can be a traditional regulator with PI (proportional integral) characteristic or various intelligent regulators. The output of the zero-sequence current controller is a zero-sequence voltage instruction
Figure BDA00022516028700001512
The output of the DC/AC shaft current controller is DC/AC shaft voltage command
Figure BDA00022516028700001513
Obtaining an alpha axis voltage instruction of a fundamental wave complex plane two-phase static alpha beta coordinate system through rotation inverse transformation
Figure BDA00022516028700001514
And beta axis voltage command
Figure BDA00022516028700001515
4 voltage instructions obtained by a control system when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has open circuit fault are as follows: fundamental wave complex plane two-phase static alpha beta coordinate system alpha axis voltage instruction
Figure BDA00022516028700001516
And beta axis voltage command
Figure BDA00022516028700001517
And z-axis voltage command
Figure BDA00022516028700001518
And zero sequence voltage command
Figure BDA00022516028700001519
These 4 voltage commands are input to the SVPWM controller. In the SVPWM controller, a control system distributes the action time of corresponding space voltage vectors according to the A-phase open circuit fault-tolerant control SVPWM generation method of the open-winding five-phase permanent magnet synchronous motor, thereby generating SVPWM pulses, controlling two sets of five-phase full-bridge inverters to work and realizing fault-tolerant control when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has open circuit faults.
Fundamental wave complex plane open winding five-phase permanent magnet synchronous motor two-phase static alpha beta coordinate system alpha coordinate axis voltage instruction
Figure BDA00022516028700001520
And beta axis voltage command
Figure BDA00022516028700001521
Obtaining fundamental wave space voltage vector instruction U*I.e. by
Figure BDA00022516028700001522
Figure BDA00022516028700001523
Figure BDA00022516028700001524
Wherein, U*As fundamental space voltage vector command U*With theta being at the baseFundamental wave space voltage vector instruction U on complex wave plane*In the space electrical angle with the alpha axis as the fundamental wave space voltage vector command U*When the counter-clockwise rotation is started from the alpha axis position, the fundamental wave space voltage vector instruction U*The electrical angle θ of the space from the α axis increases from 0.
When an open-winding five-phase permanent magnet synchronous motor has an open-circuit fault of an A-phase winding, the control strategy of the control system is changed into an open-circuit fault-tolerant control mode of the A-phase winding of the open-winding five-phase permanent magnet synchronous motor, a bridge arm corresponding to the output end of the two sets of five-phase full-bridge inverters which is originally connected with the A-phase winding stops working, and the remaining healthy bridge arms of B, C, D, E and the like in the two sets of five-phase full-bridge inverters work. At this time, the starting point of the fundamental complex plane space voltage vector is taken as the origin of coordinates, the end point of the space voltage vector is represented by a "point", and a schematic diagram of the distribution of all fundamental space voltage vectors which can be output by the cooperative work of two sets of five-phase full-bridge inverters when the phase a is open, which is represented by a circular point, and the 12-sector division and fault-tolerant control system for synthesizing the selectable space voltage vectors of the fundamental space voltage vector command, as shown in fig. 4, is obtained. All "points" in fig. 4 represent the end points of all fundamental voltage vectors, and have a total of 2 in the fundamental complex plane8A space voltage vector.
When the sectors are divided and the space voltage vectors are selected, after the number of the sectors, the number of the space voltage vectors in the sectors and the size and the angle relationship among the space voltage vectors are comprehensively considered, the fundamental wave complex plane is divided into 12 sectors in parallel, each sector space occupies an angle of 30 degrees, 0-30 degrees is a sector I, 30-60 degrees is a sector II, 60-90 degrees is a sector III, 90-120 degrees is a sector IV, 120-150 degrees is a sector V, 150-180 degrees is a sector VI, 180-210 degrees is a sector VII, 210-240 degrees is a sector VIII, 240-270 degrees is a sector IX, 270-300 degrees is a sector 10, 300-330 degrees is a sector XI, and 330-360 degrees is a sector XII.
Fundamental wave space voltage vector instruction U*And will necessarily be within one of the 12 sectors.
When fundamental wave space voltage vector instruction U*At the position ofIn one of the 12 sectors, a fundamental wave space voltage vector command U is generated*Selecting 5 space voltage vectors corresponding to the sector to synthesize, wherein the 5 space voltage vectors corresponding to the sector comprise 2 selected space voltage vectors U0-15And U15-0And 3 space voltage vectors with different directions and maximum amplitude in the sector are provided by the control system according to the open-circuit fault-tolerant control strategy of the A-phase open-circuit of the open-winding five-phase permanent magnet synchronous motor
Figure BDA0002251602870000161
And
Figure BDA0002251602870000162
four voltage commands in each control period TsAnd distributing the action time of 5 space voltage vectors corresponding to the sector internally, generating two sets of SVPWM pulse control signals of the five-phase full-bridge inverter to realize A-phase open circuit fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor, and achieving the effects that the residual healthy B, C, D and E four-phase open-winding current amplitudes are equal, the zero-sequence current is approximately 0, and the four-phase open-winding current generates circular rotary fundamental wave magnetomotive force jointly in a steady state. U shape0-15And U15-0The dots in fig. 4 are labeled with "diamonds". In 12 sectors, the 3 space voltage vectors with different directions and maximum amplitude in each sector are sequentially as follows: u of sector I9-6、U13-6And U8-6U of sector II8-15、U8-7And U8-2U of sector III8-3、U13-3And U12-3U of sector IV12-3、U4-3And U14-3U of the V-th sector4-1、U14-1And U15-1U of the VI th sector6-1、U6-11And U6-9U of the VII th sector6-9、U6-13And U6-8U of the VIII th sector15-8、U7-8And U2-8U of sector IX3-8、U3-13And U3-12U of the Xth sector3-12、U3-4And U3-14U of sector XI1-4、U1-14And U1-15U of sector XII1-6、U11-6And U9-6Wherein the space voltage vector U9-6Shared by sector I and sector XII, space voltage vector U12-3Shared by sector III and sector IV, space voltage vector U9-6Shared by sectors VI and VII, space voltage vector U9-6The sector IX and the sector X share the space voltage vector, 32 space voltage vectors with different directions and the maximum amplitude are used for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in 12 sectors, and the 32 space voltage vectors are marked by circles in a dot in fig. 4. Finally, U is put0-15And U15-0And 32 space voltage vectors with different directions and the largest amplitude in the 12 sectors are plotted in fig. 5. Fig. 5 shows the sector where the fault-tolerant control system is used for synthesizing the fundamental wave space voltage vector instruction when the A-phase is disconnected and a selectable space voltage vector distribution diagram.
In 12 sectors, 32 space voltage vector spaces U with different directions and maximum amplitude for open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The projection values on the alpha axis and the beta axis of the stator two-phase stationary alpha beta coordinate system are respectively as follows:
Figure BDA0002251602870000171
Figure BDA0002251602870000172
when 32 space voltage vectors with different directions and maximum amplitude in 12 sectors are projected to the z-axis of a stator third harmonic two-phase stationary coordinate system, the z-axis space voltage vector distribution diagram which can be selected by the A-phase open circuit fault-tolerant control system for synthesizing the z-axis voltage vector command and is shown in fig. 6 is obtained, wherein the amplitudes of some z-axis voltage vectors are the same.
In 12 sectors, 32 space voltage vector spaces U with different directions and maximum amplitude for open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The projection values on the z-axis are:
Figure BDA0002251602870000173
Figure BDA0002251602870000174
Figure BDA0002251602870000181
fig. 7 shows two zero sequence voltage space voltage vector distribution diagrams that can be selected by the fault-tolerant control system for synthesizing the zero sequence voltage vector command when the phase a is open. As can be seen from fig. 7, when the dc bus voltage of two sets of five-phase full-bridge inverters of the open-winding five-phase permanent magnet synchronous motor is UDCThen, each sector has 2 space voltage vectors selected by the user0-15And U15-0The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively
Figure BDA0002251602870000182
Figure BDA0002251602870000183
Wherein the content of the first and second substances,
Figure BDA0002251602870000184
and
Figure BDA0002251602870000185
are respectively space voltage vector U0-15Projection values on an alpha axis and a beta axis of a stator two-phase stationary alpha beta coordinate system,
Figure BDA0002251602870000186
and
Figure BDA0002251602870000187
are respectively space voltage vector U15-0The projection values of the alpha axis and the beta axis in the stator two-phase static alpha beta coordinate system are respectively as follows:
Figure BDA0002251602870000188
space voltage vector U0-15And U15-0The projection values on the z-axis are respectively
Figure BDA0002251602870000189
And
Figure BDA00022516028700001810
and are both 0, i.e.:
space voltage vector U0-15And U15-0The generated zero sequence voltages are respectivelyAnd
Figure BDA00022516028700001813
and is
Figure BDA00022516028700001814
Figure BDA00022516028700001815
The relation between the zero sequence voltage vector command given by the phase-a open circuit fault-tolerant control system in 12 sectors and the selectable two different zero sequence voltage space voltage vectors is shown in fig. 8. That is, when the fundamental wave space voltage vector command U*In any sector, space voltage vector U is utilized0-15And U15-0The generated zero sequence voltages are respectively
Figure BDA00022516028700001816
And
Figure BDA00022516028700001817
to synthesize a zero sequence voltage command
Figure BDA00022516028700001818
When fundamental wave space voltage vector instruction U*When in the I-th sector, according to the control system
Figure BDA00022516028700001819
And
Figure BDA00022516028700001820
four voltage commands in each control period TsThe control system controls the selected U in the I-th sector9-6、U13-6、U8-6、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700001821
And
Figure BDA00022516028700001822
and
Figure BDA00022516028700001823
and Ts、
Figure BDA00022516028700001824
And
Figure BDA00022516028700001825
satisfies the following relation
Fig. 9 shows a relationship diagram between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector I and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the second sector, according to the control systemAndfour voltage commands in each control period TsThe control system controls the selected U in the II-th sector8-15、U8-7、U8-2、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA0002251602870000193
And
Figure BDA0002251602870000194
and
Figure BDA0002251602870000195
and Ts、
Figure BDA0002251602870000196
And
Figure BDA0002251602870000197
satisfies the following relation
Figure BDA0002251602870000198
Fig. 10 is a graph showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector II and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the third sector, according to the control system
Figure BDA0002251602870000199
And
Figure BDA00022516028700001910
four voltage commands in each control period TsThe control system controls the selected U in the third sector8-3、U13-3、U12-3、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700001911
And
Figure BDA00022516028700001912
Figure BDA00022516028700001913
and
Figure BDA00022516028700001914
and Ts、
Figure BDA00022516028700001915
And
Figure BDA00022516028700001916
satisfies the following relation
Figure BDA00022516028700001917
Fig. 11 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector III and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the IV sector, according to the control system
Figure BDA00022516028700001918
And
Figure BDA00022516028700001919
four voltage commands in each control period TsThe control system controls the selected U in the IV sector12-3、U4-3、U14-3、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectivelyAnd
Figure BDA00022516028700001921
Figure BDA00022516028700001922
and
Figure BDA00022516028700001923
and Ts、
Figure BDA00022516028700001924
And
Figure BDA00022516028700001925
satisfies the following relation
Figure BDA00022516028700001926
Fig. 12 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector IV and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the V-th sector, according to the control system
Figure BDA0002251602870000201
And
Figure BDA0002251602870000202
four voltage commands in each control period TsThe control system controls the selected U in the V-th sector4-1、U14-1、U15-1、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA0002251602870000203
And
Figure BDA0002251602870000204
and
Figure BDA0002251602870000205
and
Figure BDA0002251602870000206
and
Figure BDA0002251602870000207
satisfies the following relation
Figure BDA0002251602870000208
Fig. 13 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector V and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the VI-th sector, according to the control system
Figure BDA0002251602870000209
And
Figure BDA00022516028700002010
four voltage commands in each control period TsThe control system controls the selected U in the VI-th sector6-1、U6-11、U6-9、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700002011
And
Figure BDA00022516028700002012
and
Figure BDA00022516028700002014
and Ts、
Figure BDA00022516028700002015
Andsatisfies the following relation
Figure BDA00022516028700002017
Fig. 14 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VI and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*In the VII th sector according to the control system
Figure BDA00022516028700002018
And
Figure BDA00022516028700002019
four voltage commands in each control period TsThe control system controls the selected U in the VII-th sector6-9、U6-13、U6-8、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectivelyAnd
Figure BDA00022516028700002021
Figure BDA00022516028700002022
and
Figure BDA00022516028700002023
and Ts、
Figure BDA00022516028700002024
And
Figure BDA00022516028700002025
satisfies the following relation
Figure BDA00022516028700002026
Fig. 15 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VII and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the VIII sector, according to the control system
Figure BDA0002251602870000211
And
Figure BDA0002251602870000212
four voltage commands in each control period TsThe control system controls the selected U in the VIII sector15-8、U7-8、U2-8、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectivelyAnd
Figure BDA0002251602870000214
and
Figure BDA0002251602870000216
and Ts、
Figure BDA0002251602870000217
And
Figure BDA0002251602870000218
satisfies the following relation
Figure BDA0002251602870000219
Fig. 16 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VIII, and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*In the IX sector, according to the control systemAndfour voltage commands in each control period TsFor selected U in sector IX3-8、U3-13、U3-12、U0-15And U15-0The action time that these 5 space voltage vectors should be allocated is respectively
Figure BDA00022516028700002112
And
Figure BDA00022516028700002113
Figure BDA00022516028700002114
and
Figure BDA00022516028700002115
and Ts、
Figure BDA00022516028700002116
And
Figure BDA00022516028700002117
satisfies the following relation
Figure BDA00022516028700002118
Fig. 17 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a disconnection fault-tolerant control system in the sector IX and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the Xth sector, according to the control system
Figure BDA00022516028700002119
And
Figure BDA00022516028700002120
four voltage commands in each control period TsThe control system selects from the Xth sectorTaken U3-12、U3-4、U3-14、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700002121
And
Figure BDA00022516028700002122
and
Figure BDA00022516028700002123
and Ts、
Figure BDA00022516028700002124
And
Figure BDA00022516028700002125
satisfies the following relation
Figure BDA00022516028700002126
Fig. 18 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the a-phase open-circuit fault-tolerant control system in sector X and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*In sector XI, according to the control system
Figure BDA0002251602870000221
And
Figure BDA0002251602870000222
four voltage commands in each control period TsThe control system controls the selected U in the XI sector1-4、U1-14、U1-15、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA0002251602870000223
And
Figure BDA0002251602870000225
and
Figure BDA0002251602870000226
and Ts、
Figure BDA0002251602870000227
And
Figure BDA0002251602870000228
satisfies the following relation
Figure BDA0002251602870000229
Fig. 19 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a disconnection fault-tolerant control system in sector XI and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.
When fundamental wave space voltage vector instruction U*When in the XII sector, according to the control system
Figure BDA00022516028700002210
And
Figure BDA00022516028700002211
four voltage commands in each control period TsThe control system controls the selected U in the XII sector1-6、U11-6、U9-6、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure BDA00022516028700002212
And
Figure BDA00022516028700002213
Figure BDA00022516028700002214
and
Figure BDA00022516028700002218
and Ts、
Figure BDA00022516028700002215
And
Figure BDA00022516028700002216
satisfies the following relation
The relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector XII and the selectable fundamental voltage vector and the selectable z-axis space voltage vector are shown in fig. 20.
In each sector, the SVPWM controller generates corresponding SVPWM to control the on-off work of two sets of five-phase full-bridge inverter power switch tubes according to the A-phase open-circuit fault-tolerant control SVPWM generation method of the open-winding five-phase permanent magnet synchronous motor provided by the invention, and the open-winding five-phase permanent magnet synchronous motor with the A-phase open circuit can run stably.
Although the above description is only about the method for generating the open-winding five-phase permanent magnet synchronous motor a-phase open-circuit fault-tolerant control SVPWM, a person skilled in the art will obtain a description about the method for generating one open-circuit fault-tolerant control SVPWM in other four phases of the open-winding five-phase permanent magnet synchronous motor in the light of the present invention; many variations are possible without departing from the spirit of the invention, which falls within the scope of the invention.

Claims (1)

1. A method for generating open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control SVPWM is characterized by comprising the following steps:
the position relations of a stator two-phase static alpha beta coordinate system of the open-winding five-phase permanent magnet synchronous motor, a real shaft and an imaginary shaft of a fundamental wave complex plane and an A-phase winding axis with an open-circuit fault are as follows: an alpha axis and a beta axis of a stator two-phase static alpha beta coordinate system of the open-winding five-phase permanent magnet synchronous motor are respectively superposed with a real axis and an imaginary axis of a complex plane of fundamental waves, and the alpha axis of the stator two-phase static alpha beta coordinate system is superposed with an axis of an A-phase winding with a broken circuit fault;
stator third harmonic two-phase static alpha of open-winding five-phase permanent magnet synchronous motor3β3The position relation between the coordinate system and the real axis and the imaginary axis of the third harmonic complex plane is as follows: stator third harmonic two-phase static alpha of open-winding five-phase permanent magnet synchronous motor3β3Alpha of the coordinate system3Axis and beta3The axes are respectively superposed with the real axis and the imaginary axis of the third harmonic complex plane, and the alpha axis3The axes coincide and will be beta3The axis is named as the z-axis;
when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault, four voltage instructions are given according to an A-phase open circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor, and the method comprises the following steps: fundamental wave complex plane two-phase static alpha beta coordinate system alpha axis voltage instruction
Figure FDA0002251602860000011
And beta axis voltage command
Figure FDA0002251602860000012
Third harmonic complex plane z-axis voltage commandAnd zero sequence voltage command
Alpha-axis voltage command of fundamental complex plane two-phase stationary alpha beta coordinate system
Figure FDA0002251602860000015
And beta axis voltage commandObtaining fundamental wave space voltage vector instruction U*I.e. by
Figure FDA0002251602860000018
Figure FDA0002251602860000019
Wherein, U*As fundamental space voltage vector command U*Theta is the fundamental space voltage vector command U on the fundamental complex plane*In the space electrical angle with the alpha axis as the fundamental wave space voltage vector command U*When the counter-clockwise rotation is started from the alpha axis position, the fundamental wave space voltage vector instruction U*The space electrical angle theta between the alpha axis and the alpha axis is increased from 0;
the fundamental wave complex plane is divided into 12 sectors in parallel, and the space of each sector occupies an angle of 30 degrees, and the division is as follows: 0-30 degrees is the sector I, 30-60 degrees is the sector II, 60-90 degrees is the sector III, 90-120 degrees is the sector IV, 120-150 degrees is the sector V, 150-180 degrees is the sector VI, 180-210 degrees is the sector VII, 210-240 degrees is the sector VIII, 240-270 degrees is the sector IX, 270-300 degrees is the sector 10, 300-330 degrees is the sector XI, 330-360 degrees is the sector XII;
when fundamental wave space voltage vector instruction U*In one of 12 sectors, for generating fundamental wave space voltage vector command U*Selecting 5 space voltage vectors corresponding to the sector to synthesize, and distributing the action time of the 5 space voltage vectors corresponding to the sector in each control period according to four voltage instructions given by an A-phase open-circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor, thereby generating two SVPWM pulse control signals of the five-phase full-bridge inverter to realize the same-phase permanent magnet of the open-winding five-phase permanent magnetThe phase A open circuit fault-tolerant control of the step motor achieves the effects that the residual healthy B, C, D and E four-phase open winding current amplitude values are equal, the zero-sequence current is approximately 0, and the four-phase open winding current jointly generates circular rotary fundamental wave magnetomotive force control in a steady state;
when fundamental wave space voltage vector instruction U*For generating fundamental wave space voltage vector command U no matter which one of 12 sectors*When 5 space voltage vectors corresponding to the sector are selected for synthesis, U must be selected0-15And U15-0These 2 space voltage vectors;
the DC bus voltage of two sets of five-phase full-bridge inverters of the open-winding five-phase permanent magnet synchronous motor is UDC；
2 optional space voltage vectors U of each sector0-15And U15-0The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively
Figure FDA0002251602860000022
Wherein the content of the first and second substances,and
Figure FDA0002251602860000024
are respectively space voltage vector U0-15Projection values on an alpha axis and a beta axis of a stator two-phase stationary alpha beta coordinate system,
Figure FDA0002251602860000025
and
Figure FDA0002251602860000026
are respectively space voltage vector U15-0In stator two-phase stationary alpha beta coordinate system alpha axis andprojection value of beta axis, and
Figure FDA0002251602860000027
Figure FDA0002251602860000028
Figure FDA0002251602860000029
Figure FDA00022516028600000210
Figure FDA00022516028600000211
space voltage vector U0-15And U15-0The projection values on the z-axis are respectively
Figure FDA00022516028600000212
And
Figure FDA00022516028600000213
and are all 0, i.e.
Figure FDA00022516028600000214
Figure FDA00022516028600000215
Space voltage vector U0-15And U15-0The generated zero sequence voltages are respectivelyAnd
Figure FDA00022516028600000217
and is
In 12 sectors, the 3 space voltage vectors with different directions and maximum amplitude in each sector are sequentially as follows: u of sector I9-6、U13-6And U8-6U of sector II8-15、U8-7And U8-2U of sector III8-3、U13-3And U12-3U of sector IV12-3、U4-3And U14-3U of the V-th sector4-1、U14-1And U15-1U of the VI th sector6-1、U6-11And U6-9U of the VII th sector6-9、U6-13And U6-8U of the VIII th sector15-8、U7-8And U2-8U of sector IX3-8、U3-13And U3-12U of the Xth sector3-12、U3-4And U3-14U of sector XI1-4、U1-14And U1-15U of sector XII1-6、U11-6And U9-6Wherein the space voltage vector U9-6Shared by sector I and sector XII, space voltage vector U12-3Shared by sector III and sector IV, space voltage vector U6-9Shared by sectors VI and VII, space voltage vector U3-12The X sector and the IX sector share the fault-tolerant control circuit, and 32 space voltage vectors with different directions and the maximum amplitude are used for the open-circuit fault-tolerant control of the phase A of the five-phase permanent magnet synchronous motor with the open winding in 12 sectors;
the 32 space voltage vectors U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively
Figure FDA0002251602860000032
Figure FDA0002251602860000034
Figure FDA0002251602860000035
Figure FDA0002251602860000036
Figure FDA0002251602860000038
Figure FDA0002251602860000039
Figure FDA00022516028600000310
Figure FDA00022516028600000311
Figure FDA00022516028600000312
Figure FDA00022516028600000313
Figure FDA00022516028600000314
Figure FDA00022516028600000315
Figure FDA00022516028600000316
Figure FDA00022516028600000317
Figure FDA00022516028600000318
Figure FDA00022516028600000319
Figure FDA00022516028600000321
Figure FDA00022516028600000322
Figure FDA00022516028600000323
Figure FDA00022516028600000324
Figure FDA00022516028600000325
Figure FDA00022516028600000326
Figure FDA00022516028600000327
Figure FDA00022516028600000328
Figure FDA0002251602860000041
Figure FDA0002251602860000042
Figure FDA0002251602860000044
The 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The projection values on the alpha axis and the beta axis of the stator two-phase static alpha beta coordinate system are respectively
Figure FDA0002251602860000045
Figure FDA0002251602860000046
Figure FDA0002251602860000047
Figure FDA0002251602860000048
Figure FDA0002251602860000049
Figure FDA00022516028600000410
Figure FDA00022516028600000411
Figure FDA00022516028600000414
Figure FDA00022516028600000415
Figure FDA00022516028600000416
Figure FDA00022516028600000417
Figure FDA00022516028600000418
Figure FDA00022516028600000422
Figure FDA00022516028600000423
Figure FDA00022516028600000424
Figure FDA00022516028600000425
Figure FDA00022516028600000426
Figure FDA0002251602860000051
Figure FDA0002251602860000052
Figure FDA0002251602860000053
Figure FDA0002251602860000054
Figure FDA0002251602860000055
Figure FDA0002251602860000056
Figure FDA0002251602860000057
Figure FDA0002251602860000058
Figure FDA0002251602860000059
Figure FDA00022516028600000510
Figure FDA00022516028600000511
Figure FDA00022516028600000512
Figure FDA00022516028600000513
Figure FDA00022516028600000514
Figure FDA00022516028600000515
Figure FDA00022516028600000516
Figure FDA00022516028600000518
Figure FDA00022516028600000519
Figure FDA00022516028600000520
Figure FDA00022516028600000521
Figure FDA00022516028600000522
Figure FDA00022516028600000523
Figure FDA00022516028600000524
Figure FDA00022516028600000527
Figure FDA00022516028600000528
Figure FDA00022516028600000530
Figure FDA00022516028600000531
Figure FDA0002251602860000061
Figure FDA0002251602860000062
Figure FDA0002251602860000063
Figure FDA0002251602860000065
Figure FDA0002251602860000067
Figure FDA0002251602860000068
Figure FDA0002251602860000069
The 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors9-6、U13-6、U8-6、U8-15、U8-7、U8-2、U8-3、U13-3、U12-3、U4-3、U14-3、U4-1、U14-1、U15-1、U6-1、U6-11、U6-9、U6-13、U6-8、U15-8、U7-8、U2-8、U3-8、U3-13、U3-12、U3-4、U3-14、U1-4、U1-14、U1-15、U1-6And U11-6The projection values on the z-axis are respectively
Figure FDA00022516028600000612
Figure FDA00022516028600000613
Figure FDA00022516028600000614
Figure FDA00022516028600000615
Figure FDA00022516028600000616
Figure FDA00022516028600000617
Figure FDA00022516028600000618
Figure FDA00022516028600000619
Figure FDA00022516028600000620
Figure FDA00022516028600000621
Figure FDA00022516028600000622
Figure FDA00022516028600000623
Figure FDA00022516028600000624
Figure FDA00022516028600000625
Figure FDA00022516028600000626
Figure FDA0002251602860000071
Figure FDA0002251602860000072
Figure FDA0002251602860000073
Figure FDA0002251602860000074
Figure FDA0002251602860000075
Figure FDA0002251602860000078
Figure FDA0002251602860000079
Figure FDA00022516028600000710
Figure FDA00022516028600000711
Figure FDA00022516028600000712
Figure FDA00022516028600000713
Figure FDA00022516028600000714
Figure FDA00022516028600000715
Figure FDA00022516028600000716
Figure FDA00022516028600000717
When fundamental wave space voltage vector instruction U*When in the I-th sector, according to the control system
Figure FDA00022516028600000718
And
Figure FDA00022516028600000719
four voltage commands in each control period TsThe control system controls the selected U in the I-th sector9-6、U13-6、U8-6、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600000720
And
Figure FDA00022516028600000721
and
Figure FDA00022516028600000722
and Ts、
Figure FDA00022516028600000723
And
Figure FDA00022516028600000724
satisfies the following formulaIs a system
Figure FDA00022516028600000725
When fundamental wave space voltage vector instruction U*When in the second sector, according to the control system
Figure FDA00022516028600000726
And
Figure FDA00022516028600000727
four voltage commands in each control period TsThe control system controls the selected U in the II-th sector8-15、U8-7、U8-2、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600000728
And
Figure FDA00022516028600000729
andand Ts、
Figure FDA00022516028600000731
And
Figure FDA00022516028600000732
satisfies the following relation
Figure FDA0002251602860000081
When fundamental wave space voltage vector instruction U*When in the third sector, according to the control system
Figure FDA0002251602860000082
And
Figure FDA0002251602860000083
four voltage commands in each control period TsThe control system controls the selected U in the third sector8-3、U13-3、U12-3、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA0002251602860000084
And
Figure FDA0002251602860000085
Figure FDA0002251602860000086
and
Figure FDA0002251602860000087
and Ts、
Figure FDA0002251602860000088
And
Figure FDA0002251602860000089
satisfies the following relation
Figure FDA00022516028600000810
When fundamental wave space voltage vector instruction U*When in the IV sector, according to the control system
Figure FDA00022516028600000811
And
Figure FDA00022516028600000812
four voltage commands in each control period TsThe control system controls the selected U in the IV sector12-3、U4-3、U14-3、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600000813
And
Figure FDA00022516028600000814
and
Figure FDA00022516028600000816
and Ts、
Figure FDA00022516028600000817
And
Figure FDA00022516028600000818
satisfies the following relation
Figure FDA00022516028600000819
When fundamental wave space voltage vector instruction U*When in the V-th sector, according to the control system
Figure FDA00022516028600000820
And
Figure FDA00022516028600000821
four voltage commands in each control period TsThe control system controls the selected U in the V-th sector4-1、U14-1、U15-1、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600000822
And
Figure FDA00022516028600000823
and
Figure FDA00022516028600000824
and Ts、
Figure FDA00022516028600000825
And
Figure FDA00022516028600000826
satisfies the following relation
Figure FDA00022516028600000827
When fundamental wave space voltage vector instruction U*When in the VI-th sector, according to the control system
Figure FDA0002251602860000091
And
Figure FDA0002251602860000092
four voltage commands in each control period TsThe control system controls the selected U in the VI-th sector6-1、U6-11、U6-9、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA0002251602860000093
And
Figure FDA0002251602860000094
Figure FDA0002251602860000095
andand Ts、
Figure FDA0002251602860000097
And
Figure FDA0002251602860000098
satisfies the following relation
Figure FDA0002251602860000099
When fundamental wave space voltage vector instruction U*In the VII th sector according to the control system
Figure FDA00022516028600000910
And
Figure FDA00022516028600000911
four voltage commands in each control period TsThe control system controls the selected U in the VII-th sector6-9、U6-13、U6-8、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600000912
And
Figure FDA00022516028600000914
and
Figure FDA00022516028600000915
and Ts、
Figure FDA00022516028600000916
And
Figure FDA00022516028600000917
satisfies the following relation
Figure FDA00022516028600000918
When fundamental wave space voltage vector instruction U*When in the VIII sector, according to the control system
Figure FDA00022516028600000919
And
Figure FDA00022516028600000920
four voltage commands in each control period TsThe control system controls the selected U in the VIII sector15-8、U7-8、U2-8、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600000921
And
Figure FDA00022516028600000923
and
Figure FDA00022516028600000924
and Ts、
Figure FDA00022516028600000925
And
Figure FDA00022516028600000935
satisfies the following relation
Figure FDA00022516028600000926
When fundamental wave space voltage vector instruction U*In the IX sector, according to the control system
Figure FDA00022516028600000927
And
Figure FDA00022516028600000928
four voltage commands in each control period TsFor selected U in sector IX3-8、U3-13、U3-12、U0-15And U15-0The action time that these 5 space voltage vectors should be allocated is respectively
Figure FDA00022516028600000929
And
Figure FDA00022516028600000930
and
Figure FDA00022516028600000932
and Ts、Andsatisfies the following relation
Figure FDA0002251602860000101
When fundamental wave space voltage vector instruction U*When in the Xth sector, according to the control system
Figure FDA0002251602860000102
And
Figure FDA0002251602860000103
four voltage commands in each control period TsThe control system controls the selected U in the Xth sector3-12、U3-4、U3-14、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA0002251602860000104
And
Figure FDA0002251602860000105
and
Figure FDA0002251602860000106
and Ts、
Figure FDA0002251602860000107
And
Figure FDA0002251602860000108
satisfies the following relation
Figure FDA0002251602860000109
When fundamental wave space voltage vector instruction U*In sector XI, according to the control system
Figure FDA00022516028600001010
And
Figure FDA00022516028600001011
four voltage commands in each control period TsThe control system controls the selected U in the XI sector1-4、U1-14、U1-15、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600001012
And
Figure FDA00022516028600001013
Figure FDA00022516028600001014
andand Ts、And
Figure FDA00022516028600001017
satisfies the following relation
Figure FDA00022516028600001018
When fundamental wave space voltage vector instruction U*When in the XII sector, according to the control system
Figure FDA00022516028600001019
Andfour voltage commands in each control period TsThe control system controls the selected U in the XII sector1-6、U11-6、U9-6、U0-15And U15-0The action time of the 5 space voltage vector allocations is respectively
Figure FDA00022516028600001021
And
Figure FDA00022516028600001022
and
Figure FDA00022516028600001024
and Ts、
Figure FDA00022516028600001025
And
Figure FDA00022516028600001026
satisfies the following relation
Figure FDA00022516028600001027
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