CN110838808A - Diagnosis-free self-repairing method for open-circuit fault of double three-phase permanent magnet synchronous motor driving system - Google Patents
Diagnosis-free self-repairing method for open-circuit fault of double three-phase permanent magnet synchronous motor driving system Download PDFInfo
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- H—ELECTRICITY
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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Abstract
The invention discloses a diagnosis-free self-repairing method for an open-circuit fault of a driving system of a double three-phase permanent magnet synchronous motor, relates to a motor fault diagnosis technology, and belongs to the technical field of measurement and testing. The diagnosis-free self-repairing method provided by the invention integrates the advantages of PI control and dead-beat control, fully exerts the originally restrained self-healing capability of the dual three-phase motor driving system by optimizing the reference value given by the harmonic current plane, realizes high-performance fault-tolerant control, does not need to diagnose the fault type in advance, is generally suitable for switching tube faults, motor single-phase open-circuit faults and multi-phase open-circuit faults, and fundamentally avoids the problem of long-time fault operation caused by time-consuming misdiagnosis and diagnosis. Meanwhile, the method does not need to modify a motor model, a modulation strategy or a control framework according to different fault categories, reduces the complexity of control, and minimizes the adverse effect generated by a fault-tolerant scheme.
Description
Technical Field
The invention discloses a diagnosis-free self-repairing method for a double three-phase permanent magnet synchronous motor driving system fault, relates to a motor fault diagnosis technology, and belongs to the technical field of measurement and testing.
Background
In recent years, a multiphase motor driving system has attracted more and more attention in the fields of high-power and high-reliability application, such as aerospace, electric vehicles, naval vessel propulsion and the like. In various multi-phase motors, a dual three-phase motor driving system becomes a novel driving system with a very prospect because the dual three-phase motor driving system can eliminate six times of torque pulsation through the cooperative control of two sets of windings. In a system with higher reliability requirement, any potential abnormity and fault are recognized as early as possible, fault-tolerant control is implemented, the original operation performance of the motor driving system can be kept to the maximum extent, and dangerous conditions are avoided. The existing fault-tolerant control often has the following two problems: on one hand, the traditional open-circuit fault-tolerant control strategy of the multi-phase motor has to modify the original motor model, the original modulation strategy or the original control framework according to the fault type, so that the fault-tolerant control strategy becomes complex, a large amount of computing resources are further occupied, the voltage utilization rate of a direct-current bus is reduced, and the transient switching process of the system is unstable. On the other hand, the current fault detection method is usually only studied for a single type or several types of faults. But different kinds of faults may have the same fault signature, are prone to misdiagnosis, and may cause more serious damage. Meanwhile, a certain time is needed for diagnosing faults, so that delay is inevitably caused in the introduction of a fault tolerance strategy, and a long-time fault operation problem can be caused.
Disclosure of Invention
The invention aims to provide a diagnosis-free self-repairing method for the faults of the driving system of the double three-phase permanent magnet synchronous motor, aiming at the defects of the background technology, so that fault-tolerant control can be rapidly and accurately carried out on the open-circuit faults of the motor, the fault types do not need to be diagnosed, and the problem of long-time fault operation caused by time consumption of misdiagnosis and diagnosis is avoided. Meanwhile, the motor model, the modulation strategy and the control framework are not required to be adjusted, and the technical problems that the control scheme is complex and the time is consumed by misdiagnosis and diagnosis in the conventional multi-phase motor fault-tolerant control strategy are solved.
The invention adopts the following technical scheme for realizing the aim of the invention:
a double three-phase permanent magnet synchronous motor driving system open-circuit fault diagnosis-free self-repairing method comprises the following steps:
1) collecting output signals of a motor speed sensor and a phase current sensor, and obtaining αβ axis and xy axis current components through a decoupling transformation module;
2) obtaining amplitude and phase information of xy-axis current at k moment through an enhanced phase-locked loop module;
3) the method comprises the steps that the rotation of a motor and sampling delay are considered, phase compensation of two sampling periods is carried out on the phase of xy-axis current, and phase information of the xy-axis current at the k +2 moment is obtained;
4) multiplying the current amplitude obtained by the enhanced phase-locked loop by a minimum loss factor KmlObtaining a new xy-axis current amplitude value considering the loss, combining the new xy-axis current amplitude value with the xy-axis compensated phase to obtain the xy-axis current considering the loss and compensated, and obtaining the minimum loss coefficient KmlThe value is less than 1, and the larger the value is, the better the control effect is;
5) the compensated xy-axis current amplitude value is compared with a preset threshold value IthComparing, if the compensated xy-axis current amplitude is less than or equal to the threshold, setting the xy-axis current reference value to be 0 and consistent with normal operation, and if the compensated xy-axis current amplitude is greater than the threshold, setting the xy-axis current reference value to be a compensated xy-axis current value considering loss, wherein the xy-axis current threshold is more than twice of the maximum pulsation amplitude in normal operation;
6) the current prediction module obtains a predicted value of the xy-axis current k +1 moment by discretizing a motor voltage and current differential equation;
7) based on the idea of current dead-beat control, the dead-beat control module takes an xy-axis current reference value as a predicted value at the moment of k +2, and calculates an xy-axis voltage space vector reference value considering the time delay influence of a sampling period;
8) according to a torque plane voltage space vector reference value obtained by dq axis current closed-loop PI control and a harmonic plane voltage space vector reference value obtained by dead-beat module calculation, a six-phase voltage reference value is obtained by using vector space decoupling inverse transformation;
9) and the space vector modulation module modulates according to the vector reference value of each phase voltage and outputs a corresponding pulse action signal to control the inverter.
By adopting the technical scheme, the invention has the following beneficial effects:
(1) the hybrid control framework provided by the invention combines the advantages of PI control and deadbeat control, the PI control ensures the accurate control of dq axis current, the deadbeat control ensures that xy axis current has good tracking performance on current reference values in direct current and alternating current forms, the basis of fault-tolerant control is laid, the self-healing capability originally inhibited by a double three-phase motor driving system is fully exerted by optimizing the reference value given by a harmonic current plane, and the high-performance fault-tolerant control is realized.
(2) Because the fault type does not need to be diagnosed in advance, the invention fundamentally avoids the problem of misdiagnosis and also avoids the problem of long-time fault operation caused by time consumption of diagnosis.
(3) The diagnosis-free self-repairing fault-tolerant control strategy provided by the invention has universality, is suitable for the working conditions of open-circuit faults of switching tubes, single-phase open-circuit faults and multi-phase open-circuit faults of a multi-phase motor driving system, and avoids the condition of misdiagnosis.
(4) The fault-tolerant control strategy provided by the invention does not need to modify a motor model, a modulation strategy or a control framework according to different fault types, avoids the complex adjustment of the fault-tolerant control strategy aiming at different fault types and fault positions, reduces the control complexity and minimizes the adverse effect generated by the fault-tolerant scheme.
Drawings
FIG. 1 is a block diagram of a hybrid control architecture for a dual three-phase PMSM drive system;
the system comprises a speed loop PI regulator 1.1, a q-axis current PI regulator 1.2, a d-axis current PI regulator 1.3, a synchronous inverse transformation module 1.4, a decoupling inverse transformation module 1.5, a polar coordinate transformation module 1.6, a three-phase voltage space vector modulation module 1.7, a direct current bus 1.8, a six-phase inverter 1.9, a double three-phase permanent magnet synchronous motor 1.10, a decoupling transformation module 1.11, a harmonic plane current prediction module 1.12, a speed measurement encoder of the double three-phase permanent magnet synchronous motor 1.13, a dead-beat control module 1.14, a synchronous transformation module 1.15 and a rotating speed calculation module 1.16.
FIG. 2(a) and FIG. 2(b) are α under A-phase open-circuit fault, respectively1-β1Plane sum α2-β2A planar current trace plot;
wherein 2.1 is the positive direction of the A-phase current, 2.2 is the positive direction of the B-phase current, 2.3 is the positive direction of the C-phase current, and 2.4 is α when the motor is in normal operation1-β1Trace of plane current, 2.5 motor fault condition α1-β1Actual trajectory of the plane current, 2.6 is α in the motor fault state1-β1Ideal locus of plane current, 2.7 is positive direction of D-phase current, 2.8 is positive direction of E-phase current, 2.9 is positive direction of F-phase current, 2.10 is α when motor is normally running2-β2Trace of plane current, 2.11 is α in the motor fault state2-β2Actual trajectory of the plane current, 2.12 is α in the motor fault state2-β2Ideal locus of planar currents, 2.13 is the xy-axis current closed-loop control effect, corresponding to direction β in the figure2Horizontal arrows on the coordinate axes, 2.14, are the closed-loop control effects of the dq-axis current, corresponding to the horizontal arrows pointing to the ideal trajectory in the figure.
FIG. 3 is a graph of x-axis current waveform under an open circuit fault for phase A;
wherein 3.1 is the actual value of the x (y) axis current, 3.2 is the ideal value of the x (y) axis current, 3.3 is the given reference value of the x (y) axis current, 3.4 is the closed-loop control effect of the dq axis current, corresponding to the vertical arrow pointing to the ideal track in the figure, and 3.5 is the closed-loop control effect of the x (y) axis current, corresponding to the vertical arrow pointing to the time axis in the figure.
FIG. 4 is a block diagram of a method for optimizing a harmonic planar current reference;
wherein, 4.1 is an enhanced phase-locked loop module, 4.2 is a minimum loss factor, 4.3 is a phase conversion module, and 4.4 is a reference value generation module.
FIG. 5 is a process diagram of harmonic planar current self-repair;
where 5.1 is the actual value of the x (y) axis current, 5.2 is the given reference value of the x (y) axis current, and 5.3 is the ideal value of the x (y) axis current.
FIG. 6(a) and FIG. 6(b) are α under single-phase open-circuit fault, respectively1-β1Plane sum α2-β2A planar ideal current trace plot;
wherein 6.1 is the positive direction of the A phase current, and 6.2 is α under the D phase open circuit fault of the motor1-β1Ideal locus of plane current, 6.3 is α under normal state of motor1-β1Plane current trace, 6.4 is the positive direction of the B-phase current, 6.5 is α under the E-phase open circuit fault of the motor1-β1Plane current ideal locus, 6.6 is the positive direction of C-phase current, 6.7 is α under the F-phase open circuit fault of the motor1-β1Plane current ideal trace, 6.8 is α under motor C phase open circuit fault1-β1Plane current ideal trace, 6.9 is α under motor A phase open circuit fault1-β1Plane current ideal trace, 6.10 is α under motor B phase open circuit fault1-β1Plane current ideal trace, 6.11 is α under motor A phase open circuit fault2-β2Plane current ideal locus, 6.12 is the positive direction of D-phase current, 6.13 is α under the open circuit fault of C-phase of motor2-β2Plane current ideal trace, 6.14 is α under motor B phase open circuit fault2-β2Plane current ideal locus, 6.15 is the positive direction of E-phase current, 6.16 is α under the normal state of the motor2-β2Planar current trace, positive direction of F-phase current 6.17, and open fault of F-phase α at 6.182-β2Ideal locus of planar current, 6.19D-phase open circuit fault α2-β2Ideal locus of planar currents, 6.20 for open-circuit fault of E-phase α2-β2Planar current ideal trajectory.
FIGS. 7(a) and 7(b) are α, respectively, for a two-phase open circuit fault with a fault phase angle of 90 deg1-β1Plane sum α2-β2A planar ideal current trace plot;
wherein, 7.1 is the positive direction of the A phase current, and 7.2 is α under the open circuit fault of the B phase and the D phase of the motor1-β1Ideal locus of plane current, 7.3 is α under normal state of motor1-β1Planar current trace, 7.4 motor open circuit fault α for phase A and phase F1-β1Plane current ideal locus, 7.5 is the positive direction of the B-phase current, 7.6 is the positive direction of the C-phase current, 7.7 is α under the open circuit fault of the C-phase and the E-phase of the motor1-β1Plane current ideal trace, 7.8 is α under open circuit fault of A phase and F phase of motor2-β2Plane current ideal locus, 7.9 is the positive direction of the D-phase current of the motor, 7.10 is α under the open circuit fault of the C-phase and the E-phase of the motor2-β2Plane current ideal locus, 7.11 is α under normal state of motor2-β2Planar current trace, 7.12 for open circuit fault α for motor phase B and phase D2-β2The plane current ideal trajectory, 7.13 is the positive direction of the E-phase current, and 7.14 is the positive direction of the F-phase current.
FIGS. 8(a) and 8(b) are α under a two-phase open fault with a fault phase angle of 30 DEG or 150 DEG, respectively1-β1Plane sum α2-β2A planar ideal current trace plot;
wherein 8.1 is the positive direction of the A-phase current, and 8.2 is α under the open circuit fault of the B-phase and the F-phase of the motor1-β1Plane current ideal trace, 8.3 is α under open circuit fault of B phase and E phase of motor1-β1Plane current ideal locus, 8.4 is α under the normal state of the motor1-β1Planar current trace, 8.5 motor open circuit fault α for A-phase and D-phase1-β1Plane current ideal trace, 8.6 is α under open circuit fault of motor A phase and E phase1-β1Plane current ideal locus, 8.7 is the positive direction of the B-phase current, 8.8 is the positive direction of the C-phase current, 8.9 is α under the open circuit fault of the C-phase and the D-phase of the motor1-β1Plane current ideal locus, 8.10 is α under open circuit fault of C phase and F phase of motor1-β1Plane current ideal trace, 8.11 is α under open circuit fault of B phase and F phase of motor2-β2Ideal locus of plane current, 8.12 for motor Cα phase and F phase open circuit fault2-β2Plane current ideal locus, 8.13 is the positive direction of D-phase current, 8.14 is α under open circuit fault of A-phase and E-phase of motor2-β2Plane current ideal trace, 8.15 is α under open circuit fault of B phase and E phase of motor2-β2Plane current ideal trace, 8.16 is α under open circuit fault of motor A phase and D phase2-β2Plane current ideal locus, 8.17 is α under open circuit fault of C phase and D phase of motor2-β2Plane current ideal locus, 8.18 is the positive direction of E-phase current, 8.19 is α under the normal state of the motor2-β2The planar current trace, 8.20, is the positive direction of F-phase current.
FIGS. 9(a) and 9(b) are α respectively showing a single three-phase winding in a two-phase open circuit fault1-β1Plane sum α2-β2A planar ideal current trace plot;
wherein 9.1 is the positive direction of the A-phase current, and 9.2 is α under the open circuit fault of the D-phase, the E-phase and the F-phase of the motor1-β1Plane current ideal locus, 9.3 is α under the normal state of the motor1-β1Plane current track, 9.4 positive direction of motor B-phase current, 9.5 positive direction of motor C-phase current, and 9.6 open-circuit fault α for motor A-phase, B-phase and C-phase1-β1Plane current ideal locus, 9.7 is D-phase current positive direction, 9.8 is α under open circuit fault of A-phase, B-phase and C-phase of motor2-β2Plane current ideal locus, 9.9 is α under the normal state of the motor2-β2Plane current trace, positive direction of E-phase current at 9.10, positive direction of F-phase current at 9.11, and open-circuit fault of D-phase, E-phase and F-phase at 9.122-β2Planar current ideal trajectory.
Detailed Description
The technical solutions of the present invention will be described in detail with reference to the accompanying drawings, it should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention, and after reading the present invention, various modifications of equivalent forms of the present invention by those skilled in the art will fall within the scope of the present invention defined by the appended claims.
The invention provides a diagnosis-free self-repairing method for open-circuit faults of a double three-phase permanent magnet synchronous motor driving system, which aims at solving the problems of complex control scheme, time-consuming misdiagnosis and diagnosis and the like existing in the conventional multi-phase motor fault-tolerant control strategy.
The invention provides a hybrid control scheme for a driving system of a double three-phase permanent magnet synchronous motor, which comprises a speed loop PI regulator 1.1, a q-axis current PI regulator 1.2, a d-axis current PI regulator 1.3, a synchronous inverse transformation module 1.4, a decoupling inverse transformation module 1.5, a polar coordinate transformation module 1.6, a three-phase voltage space vector modulation module 1.7, a direct current bus 1.8, a six-phase inverter 1.9, a double three-phase permanent magnet synchronous motor 1.10, a decoupling transformation module 1.11, a harmonic plane current prediction module 1.12, a speed measurement encoder 1.13 of the double three-phase permanent magnet synchronous motor, a dead beat control module 1.14, a synchronous transformation module 1.15 and a rotating speed calculation module 1.16.
The hybrid control described in the present invention is composed of PI control of dq-axis current and dead-beat control of xy-axis current. In the torque plane, typical PI control is employed to achieve precise closed loop control of the dq-axis current. In the harmonic plane, in order to ensure that the harmonic current has good tracking performance on a direct current reference value under a normal operation condition and an alternating current reference value under a fault self-repairing state, the method adopts dead-beat control to realize closed-loop control on xy-axis current.
The harmonic plane current prediction module is obtained by discretization of an xy axis voltage equation of a motor. From the discretization result, the current value at the time k +1 is calculated as follows:
wherein,
and
is the predicted value of the x-axis current and the y-axis current at the moment of k +1,
and
are sampled values of x-axis and y-axis currents at time k,
and
is the sample value of the x and y axis voltage at the k time, RsIs the stator resistance value, TsIs the sampling period, LlsIs the stator leakage inductance value.
The specific implementation mode of the dead beat control module is as follows: according to the current dead beat control theory, after the sampling delay is considered, the harmonic plane voltage reference value obtained by calculation based on the motor model is as follows:
wherein,
and
is the predicted value of the x-axis current and the y-axis current at the moment of k +1,
and
is a reference value of the x-axis current and the y-axis current,
and
is a reference value of x, y axis voltage, RsIs the stator resistance value, TsIs the sampling period, LlsIs the stator leakage inductance value.
The structural block diagram of the hybrid control of the driving system of the double three-phase permanent magnet synchronous motor is shown in figure 1, firstly, A, B, C, D, E, F six-phase current is extracted from the double three-phase permanent magnet synchronous motor, current values in a α - β and x-y coordinate system can be obtained through a decoupling conversion module 1.11, xy-axis current obtains xy-axis current value at the moment of k +1 through a current prediction module 1.12, then, the xy-axis current value is combined with a given xy-axis current value reference value, reference voltage of an xy axis is obtained through a dead beat control module 1.14, meanwhile, α and β -axis current obtains a feedback value of dq-axis current through a synchronous conversion module 1.15, actual rotating speed of the motor is obtained by enabling a signal obtained by an encoder 1.13 to pass through a rotating speed calculation module 1.16, a speed loop PI regulator 1.1 is used for generating a q-axis current reference value, a q-axis current PI regulator 1.2 is used for generating a q-axis voltage reference value, a d-axis current PI regulator 1.3 is used for generating a d-axis voltage reference value, and a decoupling voltage loss of a torque plane are obtained through a decoupling conversion moduleA-UF. A. B, C three-phase reference voltage and D, E, F three-phase reference voltage are respectively modulated into control signals in a three-phase voltage space vector modulation module 1.7 after passing through respective polar coordinate transformation modules 1.6, power amplification of the control signals is achieved through a six-phase inverter 1.9, and finally control over the double three-phase permanent magnet synchronous motor 1.10 is achieved. In this embodiment, the control system structures in the normal state and the fault state are the same, and both are the hybrid control scheme shown in fig. 1.
The invention analyzes the open-circuit fault of the winding as follows, the six-phase current of the motor is respectively converted into two α - β coordinate systems through coordinate transformation, and the method comprises the following steps:
wherein iα1And iβ1Is α1-β1Plane α1Shaft current sum β1Axial current, iα2And iβ2Is α2-β2Plane α2Shaft current sum β2Axial current, iA、iB、iC、iD、iE、iFIs the A, B, C, D, E, F phase winding current. The relationship between the above equation and the vector space decoupled coordinate system is:
wherein iα、iβ、ix、iyIs α, β, x and y axis current i obtained by decouplingα1And iβ1Is α1-β1Plane α1Shaft current sum β1Axial current, iα2And iβ2Is α2-β2Plane α2Shaft current sum β2Shaft current was analyzed using an open circuit of the A-phase winding as an example FIG. 2 shows α under an open circuit fault of the A-phase1-β1Plane sum α2-β2When the motor operates normally, two sets of windings of the motor flow equivalent currents, and half of electromagnetic torque is contributed respectively, at the moment α1-β1Plane sum α2-β2The planar trajectories are circles of the same diameter, as shown in fig. 2.4 and 2.10. When phase A is open, phase A current is immediately forced to 0, which also results in iα1I becomes 0 and is perpendicular to A-phase currentβ1Not affected, therefore when phase A is open, α1-β1The actual current trajectory of the plane is a straight line. According to the equivalent rotating magnetomotive force theory, if the second set of windings can compensate the current missing from the first set of windings, the motor can still generate stable torque. In other words, if iα1Can be iα2Thus, as shown in FIGS. 2(a) and 2(b), in the event of a fault, the ideal current trajectory is α2-β2The plane is an ellipse and is α1-β1The plane is a straight line. According to the formula (4), the current relationship at the time of the fault can be obtained as follows:
wherein, the corner mark in F represents the physical quantity after the fault occurs. According to the above formula, the open-circuit failure of phase A causes iαAnd ixThe tracking of (2) is in error, which is expressed as: as shown at 2.14 in FIG. 2(b), in the fault condition, the closed loop control effect of the dq axis current is such that iα2There is a tendency to increase to the ideal trajectory and therefore the dq-axis current closed loop control helps to eliminate torque ripple. But at this time ixIs equal to-iα2The xy-axis current control effect may hinder iα2Increasing the torque ripple, as shown in 2.15. finally, the dq-axis current closed loop and xy-axis current closed loop control will be balanced so that the actual current at fault will be less than the ideal current, α2-β2The planar actual current trace will be inside the ideal current trace as shown at 2.11. In general, the difference between the ideal current and the actual current causes a ripple of the torque. Fig. 3 shows waveforms of x-axis ideal current and actual current under the open-circuit fault of the phase a. Similarly, the dq-axis current closed-loop control 3.4 tends the actual value to the ideal value, contributing to a reduction in the difference between the ideal current and the actual current, while the xy-axis current closed-loop control 3.3 hinders the actual value from increasing toward 0, causing an increase in the difference between the ideal current and the actual current. Thus, when the effects of the two closed-loop controls are balanced, the actual current magnitude is between 0 and the ideal current, as shown at 3.1. Therefore, it is not reasonable to directly give the harmonic current reference value to 0, which suppresses the self-repairing capability of the dual three-phase motor drive system. The analysis of single-phase open faults here applies equally to the case of switching tube faults and polyphase open faults.
According to the analysis, the invention provides a diagnosis-free self-repairing method for open-circuit faults of a double three-phase permanent magnet synchronous motor driving system, and the selection of the harmonic plane current reference value is optimized through an enhanced phase-locked loop. When a fault occurs, the x-axis and y-axis current reference values are automatically adjusted according to the x-axis and y-axis actual currents. Thus, the error between the actual current and the ideal current will gradually decrease to 0. When the x-axis and y-axis current reference values reach the ideal values, the reference value of the current in the corresponding fault phase will be reduced to 0, and the motor driving system with the fault can be regarded as a normal operation state. Therefore, the fault-tolerant control can be automatically realized by the system without changing a motor model, a decoupling matrix, a modulation strategy and a control system framework.
The harmonic current reference value optimization method of the present invention is shown in fig. 4. The enhanced phase locked loop 4.1 is used to estimate the amplitude and phase of the xy-axis actual current. The minimum loss coefficient of 4.2 is introduced to avoid the situation that the actual current continues to increase after reaching the ideal current, and simultaneously, the minimum copper loss of the motor in a fault state is ensured. The phase of the xy-axis actual current is compensated for two sampling periods in generating the xy-axis current reference value, taking into account the effects of motor rotation and sampling delay. Under normal operation, the x-axis and y-axis current reference values are both set to 0, and after a fault occurs, one of the x-axis and y-axis current reference values is still set to 0. Therefore, in order to ensure that only the reference value to be adjusted is modified in the fault state, the invention introduces a condition criterion to further optimize the setting of the xy-axis current reference value, as shown in the reference value generation module 4.4. Only when the amplitude I of the reference value is generatedxOr IyGreater than a predetermined threshold value IthThe generated reference value is actually given, otherwise the corresponding reference value is still set to 0.
The self-repairing method of the invention is realized by the process shown in figure 5. As described above, the dq-axis current closed-loop control contributes to reducing the difference between the actual value and the ideal value, and unreasonably setting the xy-axis current reference value to 0 suppresses the self-repair capability at the time of motor failure. In the diagnosis-free self-repairing method provided by the invention, the xy-axis current reference value can be automatically adjusted by the optimization method of the harmonic current reference value in fig. 4 under the normal state and the fault state, so that the problem that the harmonic plane current reference value is unreasonably given under the fault state is solved. When open circuit or switch tube fault occurs, xy-axis current reference valueIs 0 at the moment of failure occurrence. Due to the closed loop control of the dq-axis current, either the x-axis current or the y-axis current or both may deviate from the 0 given before the fault and lie between the ideal current and 0, as shown in fig. 3. In the self-repairing method provided by the invention, the xy-axis current reference value can be automatically adjusted according to the amplitude and the phase of the actual current estimated by the enhanced phase-locked loop, and the newly given reference value is closer to the ideal current. Since the effect of the dq-axis closed-loop control is always present, the actual current will always lie between the newly given reference value and the ideal current value, i.e. the area indicated by the hatching in fig. 5. As can be seen from fig. 5, the amplitude error and the phase error of the actual current and the ideal current are gradually reduced. For a double three-phase motor with two isolated winding neutral points, the current control dimension in normal operation is four-dimensional. Single phase open faults and two phase open faults can reduce the current control dimension to three and two dimensions, respectively. When the motor operates in a fault state, the current control dimension of more than two dimensions is the premise of normal control of the current of the torque plane. For a two-phase open circuit fault, the current control dimension is reduced to two dimensions. In this case all control dimensions are used for the current control of the torque plane. For single phase open faults, the remaining one control dimension affects the current condition of the harmonic plane. The amplitude of the xy-axis current is in positive correlation with the copper loss of the motor. Therefore, a minimum loss factor K is introducedmlThe situation that the actual xy-axis current continues to increase after reaching the ideal current can be avoided. Finally, the reference value and the actual value of the harmonic plane current are both equal to the ideal value, at which point the fault phase current given reference value will be equal to 0. Therefore, the motor with the fault can still be regarded as a normal operation state, and automatic fault-tolerant control is realized on the premise of not changing a motor model, a decoupling matrix, a modulation strategy and a control system framework.
The self-repairing capability of the double three-phase motor driving system is used as the basis, so the diagnosis-free self-repairing method is effective to both the switching tube fault and the winding open-circuit fault. The ideal current trace at the open-circuit fault of the switch tube is the same as the ideal current trace at the open-circuit fault of the corresponding winding. For example, the ideal current track under the condition of the failure of the bridge arm switch tube on the phase A of the inverter is completely consistent with the ideal current track under the condition of the open-circuit failure of the phase A winding. To illustrate the self-healing capabilities of a dual three-phase motor drive system, the ideal current trajectories for different faults described in the present invention are shown in fig. 6-9.
α under single-phase open-circuit fault1-β1Plane sum α2-β2The planar ideal current trajectory diagrams are shown in fig. 6(a) and 6 (b). As described above, when a single-phase open-circuit fault occurs, the current trace of the faulted phase winding immediately becomes a straight line. The remaining normal windings will automatically perform an equivalent compensation for the missing current of the failed phase as shown in fig. 6 due to the closed loop control of the dq-axis current. Current trace FMThe ideal current track (M is A, B, C, D, E, F) when the M-phase open circuit is failed. As can be seen from fig. 6, the ideal current trajectory for different single-phase open faults has the same shape: the plane of the failed phase is a straight line and in the plane of the other set of windings is an ellipse.
Two-phase open-circuit faults in different motor windings can be divided into two types according to current tracks, wherein the first type is the two-phase open-circuit fault with a fault phase included angle of 90 degrees; the second is a two-phase open circuit fault with a fault phase angle of 30 ° or 150 °. Because each three-phase winding has one phase with open circuit fault, the current tracks of the two winding planes are constrained into a straight line, as shown in fig. 7 and 8.
α under the condition of two-phase open circuit fault with fault phase angle of 90 degrees1-β1Plane sum α2-β2Because the direction of the missing current vectors for different winding planes is perpendicular under such faults, the current lost in one plane can be directly compensated by the remaining current in the other plane, as shown in fig. 7. for example, when an open circuit fault occurs with phases a and F being the same, α1Shaft current sum β2The shaft currents will each become 0 self-healing capability exists because the motor is closed-loop controlled by the dq shaft currents α1Shaft current sum β2The shaft current will be α2Shaft current sum β1And compensating the shaft current. Therefore, the temperature of the molten metal is controlled,α2shaft current sum β1The shaft current will double as it is, as shown in fig. 7.
The invention provides α under the condition of two-phase open circuit fault with fault phase included angle of 30 degrees or 150 degrees1-β1Plane sum α2-β2The planar ideal current trajectory diagrams are shown in fig. 8(a) and 8 (b). the simultaneous open circuit failure of windings at 30 ° or 150 ° leads to a severe decrease in α or β axis current, therefore, compensation for failed phase currents results in ideal current magnitudes much greater than the current in the case of a two-phase open circuit failure at 90 ° phase fault, as shown in fig. 8. for example, when open circuit failure occurs when a and D phases are identical, α axis current is severely reduced, while α, which is a combination of E and F phases alone, can compensate α axis current2When α axle current compensation is completed, β axle current will be much larger than the magnitude needed to establish equivalent rotating magnetomotive force, therefore β1The shaft current will automatically counteract the excess β2Shaft current to ensure composition of equivalent rotating magnetomotive force finally α1-β1Plane sum α2-β2The planar ideal current tracks are all four times the diameter of the normal operating track circle, as shown in fig. 8.
α under the condition of single-set three-phase winding two-phase open circuit fault1-β1Plane sum α2-β2The planar ideal current trajectory diagrams are shown in fig. 9(a) and 9 (B). when a two-phase open-circuit fault occurs in the same winding, all phase currents in that winding will become 0, so the failed winding cannot contribute α axis current or β axis current, the missing α and β axis currents will be fully compensated by the other set of windings, as shown in fig. 9. for example, when an open-circuit fault occurs when phase a and phase B are identical, the current trajectory of the first set of windings will be constrained to α by force1-β1Plane origin, while the other set of windings automatically compensates for α axis and β axis currents due to dq axis current closed loop control α2-β2The planar ideal current trajectory is a concentric circle with twice the diameter of the normal running trajectory circle.
Claims (4)
1. The diagnosis-free self-repairing method for open-circuit fault of double three-phase permanent magnet synchronous motor driving system is characterized in that a PI control strategy pair is adopteddqClosed loop control of shaft current to update torque plane reference voltage, pairxyThe shaft current is subjected to dead-beat control to update the harmonic plane reference voltage, wherein the dead-beat control is performedxyThe method for determining the shaft current reference value comprises the following steps: initializationxyThe reference value of the shaft current is 0, and the current moment is extractedxyAmplitude and phase information of the shaft current, for the present momentxyThe amplitude and the phase of the shaft current are respectively subjected to the amplification processing of the minimum loss coefficient and the phase compensation of two sampling periods to obtain the updated amplitude and phasexyShaft current after updatexyUpdated when shaft current exceeds thresholdxyShaft current asxyShaft current reference value, after updatingxyShaft current not exceeding threshold valuexyThe shaft current reference value is 0.
2. The diagnosis-free and self-repairing method for the open-circuit fault of the double three-phase permanent magnet synchronous motor driving system according to claim 1, characterized by comprising the following steps of performing dead-beat controlxyThe shaft current reference value iskPredicted value at +2 time point, predicted from motor phase current sample value and voltage sample valuexyAxial current ofkAt +1 timexyShaft current according tok+2 timexyPredicted value of shaft current, pairkAt +1 timexyThe shaft current is subjected to dead-beat control to obtain a harmonic plane reference voltage value considering the time delay influence of one sampling period, and the harmonic plane reference voltage is updated and obtaineddqAnd performing decoupling transformation, polar coordinate transformation and space vector transformation on the updated torque plane reference voltage in the shaft current closed-loop control to update the motor driving signal.
3. The diagnosis-free self-repairing method for the open-circuit fault of the double-three-phase permanent magnet synchronous motor driving system according to claim 2, wherein the diagnosis-free self-repairing method is used for predicting the open-circuit fault according to the phase current sampling value and the voltage sampling value of the motorxyThe method of the shaft current is to discretize the differential equation of the motor voltage and the current.
4. The double three-phase permanent magnet synchronous motor driving system open-circuit fault diagnosis-free self-repairing method according to claim 1, characterized in that the method is generatedxyThe device for the shaft current reference value comprises:
enhanced phase-locked loop with input terminated prior timexyShaft current for extracting the present momentxyAmplitude and phase information of the shaft current;
an adder having two input terminals respectively connected to the current timexyPhase information of the shaft current and an electrical angle generated by twice the sampling period are used for accumulating the electrical angles of the two sampling periods on the basis of the extracted phase information;
sin function module with input end connected to adder output end and output end compensated by two sampling periodsxyA sin function of the shaft current phase;
a multiplier with two input ends respectively connected with the output end of the minimum loss coefficient and sin function module and used for counting the current timexyThe amplitude and the phase of the shaft current are respectively subjected to the amplification processing of the minimum loss coefficient and the phase compensation of two sampling periods to obtain the updated amplitude and phasexyShaft current; and a process for the preparation of a coating,
one input end of the alternative data selector is connected with 0, and the other input end is connected with the updated data selectorxyShaft current after updatexyOutputting updated output when shaft current exceeds thresholdxyShaft current after updatexy0 is output when the shaft current does not exceed the threshold.
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