CN110995086A - Permanent magnet synchronous motor, control method and device thereof and storage medium - Google Patents
Permanent magnet synchronous motor, control method and device thereof and storage medium Download PDFInfo
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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 provides a permanent magnet synchronous motor, a control method, a control device and a storage medium thereof, wherein the method comprises the following steps: the motor is provided with a phase current sensor for respectively collecting phase currents a, b and c, and the method comprises the following steps: respectively acquiring three-phase current amplitude values of the motor through the phase current sensors a, b and c; determining whether the motor has sensor faults or not according to the collected three-phase current amplitude values; if the sensor fault is determined, current prediction is carried out on the motor to obtain a three-phase current prediction value of the motor; and judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value. The scheme provided by the invention can accurately position the fault sensor, so that the motor can continue to operate without stopping by means of the redundant current sensor.
Description
Technical Field
The invention relates to the field of motor control, in particular to a permanent magnet synchronous motor, a control method and a control device thereof and a storage medium.
Background
In industrial production, the shutdown of equipment brings huge economic loss and even sometimes threatens the life safety of personnel, so that the problem of system reliability is greatly concerned. In order to improve the reliability of the alternating current speed regulating system, various protection functions are arranged in the frequency converter, such as overcurrent protection, direct current bus overvoltage protection, over-temperature protection and the like, and after the events are detected, all measures taken by the frequency converter are stopped; however, some devices such as an electric drive system of a space shuttle, a steering engine driver of the shuttle, an electric brake actuator, a hook driver of a port machine, a car test elevator driver and the like are not allowed to stop after a fault occurs, in order to solve the problem, a redundant module needs to be added in hardware or software, and when a host fails, the redundant module replaces the host to continue working.
In a permanent magnet synchronous motor control system, three types of sensors are generally required to acquire information as feedback to perform closed-loop control, including a voltage sensor, a current sensor and a position sensor. The number of the current sensors is 2, and two-phase current in three-phase current is sampled; the third phase current is obtained by calculation. And after the three-phase current information is obtained, decoupling control is carried out on the motor current. Failure of either phase current sensor will cause the system to crash down directly. Whether the current sensor can stably operate for a long time is one of the key factors of the stability of the motor system.
Disclosure of Invention
The present invention is mainly aimed at overcoming the defects of the prior art described above, and providing a permanent magnet synchronous motor, a control method, a control device, and a storage medium thereof, so as to solve the problem that a system is directly crashed and shut down due to a failure of any phase current sensor in the prior art.
The invention provides a control method of a permanent magnet synchronous motor, wherein phase current sensors a, b and c for respectively collecting phase currents a, b and c are arranged on the motor, and the method comprises the following steps: respectively acquiring three-phase current amplitude values of the motor through the phase current sensors a, b and c; determining whether the motor has sensor faults or not according to the collected three-phase current amplitude values; if the sensor fault is determined, current prediction is carried out on the motor to obtain a three-phase current prediction value of the motor; and judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value.
Optionally, determining whether the motor has a sensor fault according to the three-phase current amplitude includes: judging whether the sum of the three-phase current amplitudes is greater than a preset fault protection threshold value or not; if the sum of the three-phase current amplitudes is larger than a preset fault protection threshold value, determining that the motor has a sensor fault; and/or predicting the current of the motor to obtain a three-phase current predicted value of the motor, wherein the three-phase current predicted value comprises the following steps: carrying out current prediction on the motor according to a preset current prediction model to obtain current prediction values d and q-axis components under a two-phase rotating coordinate system; carrying out coordinate transformation from a two-phase rotating coordinate system to a three-phase static coordinate system on the d and q axis components of the current predicted value to obtain a three-phase current predicted value under the three-phase static coordinate system; wherein the current prediction model comprises:
in the formula id pre(k)，iq pre(k) Predicting d and q axis components for the current of the kth control period; omegaeThe electrical angular velocity of the motor, T is a control period, R is a stator resistance value, and L is a stator inductance value; ΨfIs the rotor flux linkage amplitude; i.e. id(k-1)，iq(k-1) is d and q axis components of current in the k-1 th period, and is obtained by carrying out coordinate transformation on three-phase current; u. ofd ref(k-2)，uq ref(k-2) d and q axis reference voltage values output by the current controller in the k-2 th period; and/or, the fault judgment of the phase current sensors a, b and c is carried out according to the three-phase current amplitude and the three-phase current predicted value, and comprises the following steps: comparing the phase current amplitudes of the a, b and c phases with corresponding phase current predicted values of the a, b and c phases to respectively obtain absolute values of difference values of the phase current amplitudes of the a, b and c phases and the current predicted values; and determining a current sensor with a fault in the a-phase current sensors, the b-phase current sensors and the c-phase current sensors according to the absolute value of the difference value between the a-phase current amplitude value, the b-phase current amplitude value and the c-phase current amplitude value and the current predicted value.
Optionally, the method further comprises: performing fault-tolerant control based on a preset current fault-tolerant sampling rule according to a judgment result of the fault judgment, and outputting a three-phase current sampling value of the motor; the current fault-tolerant sampling rule comprises the following steps: if the a-phase sensor fails, ia cal(k)＝-[ib(k)+ ic(k)]，ib cal(k)＝ib(k)，ic cal(k)＝ic(k) (ii) a If the b-phase sensor fails, ia cal(k)＝ia(k)， ib cal(k)＝-[ia(k)+ic(k)]，ic cal(k)＝ic(k) (ii) a If the c-phase sensor fails, ia cal(k)＝ia(k)， ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)](ii) a Wherein ia(k)、ib(k)、ic(k) Respectively are the amplitudes of the currents of a, b and c in the three-phase current amplitudes; i.e. ia cal(k)、ib cal(k)、ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
Optionally, the method further comprises: controlling the motor according to the three-phase current sampling value of the motor and the rotor electrical angular speed of the motor, and the method comprises the following steps: carrying out rotation speed loop control according to the electric angular speed reference value and the electric angular speed sampling value of the motor to obtain d-axis and q-axis current reference values i of the motord refAnd iq ref(ii) a According to the three-phase current sampling value and the d-axis and q-axis current reference value id refAnd iq refAnd carrying out current loop control on the motor to obtain d and q axis voltage reference values u of the motord refAnd uq ref(ii) a Calculating the d-axis and q-axis voltage reference values u by Space Vector Pulse Width Modulation (SVPWM)d refAnd uq refTo act on the inverter to control the motor.
The invention provides a control device of a permanent magnet synchronous motor, wherein the motor is provided with a phase current sensor for respectively collecting phase currents a, b and c, and the device comprises: the acquisition unit is used for respectively acquiring three-phase current amplitude values of the motor through the phase current sensors a, b and c; the determining unit is used for determining whether the motor has sensor faults or not according to the collected three-phase current amplitude; the current prediction unit is used for predicting the current of the motor if the sensor fault is determined to exist so as to obtain a three-phase current prediction value of the motor; and the fault judgment unit is used for judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value.
Optionally, the determining unit, which determines whether the motor has a sensor fault according to the three-phase current amplitude, includes: judging whether the sum of the three-phase current amplitudes is greater than a preset fault protection threshold value or not; if the sum of the three-phase current amplitudes is larger than a preset fault protection threshold value, determining that the motor has a sensor fault; and/or the current prediction unit predicts the current of the motor to obtain a three-phase current prediction value of the motor, and comprises: carrying out current prediction on the motor according to a preset current prediction model to obtain current prediction values d and q-axis components under a two-phase rotating coordinate system; carrying out coordinate transformation from a two-phase rotating coordinate system to a three-phase static coordinate system on the d and q axis components of the current predicted value to obtain a three-phase current predicted value under the three-phase static coordinate system; wherein the current prediction model comprises:
in the formula id pre(k)，iq pre(k) Predicting d and q axis components for the current of the kth control period; omegaeIs the electrical angular velocity of the motor; t is a control period, R is a stator resistance value, and L is a stator inductance value; ΨfIs the rotor flux linkage amplitude; i.e. id(k-1)，iq(k-1) is d and q axis components of current in the k-1 th period, and is obtained by carrying out coordinate transformation on three-phase current; u. ofd ref(k-2)，uq ref(k-2) d and q axis reference voltage values output by the current controller in the k-2 th period; and/or, the fault judgment of the phase current sensors a, b and c is carried out according to the three-phase current amplitude and the three-phase current predicted value, and comprises the following steps: comparing the phase current amplitudes of the a, b and c phases with corresponding phase current predicted values of the a, b and c phases to respectively obtain absolute values of difference values of the phase current amplitudes of the a, b and c phases and the current predicted values; and determining a current sensor with a fault in the a-phase current sensors, the b-phase current sensors and the c-phase current sensors according to the absolute value of the difference value between the a-phase current amplitude value, the b-phase current amplitude value and the c-phase current amplitude value and the current predicted value.
Optionally, the method further comprises: the fault-tolerant control unit is used for carrying out fault-tolerant control based on a preset current fault-tolerant sampling rule according to a judgment result of the fault judgment and outputting a three-phase current sampling value of the motor; the current fault-tolerant sampling rule comprises the following steps: if the a-phase sensor fails, ia cal(k)＝-[ib(k)+ic(k)]，ib cal(k)＝ib(k)，ic cal(k)＝ic(k) (ii) a If the b-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ic(k)]，ic cal(k)＝ic(k) (ii) a If the c-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)](ii) a Wherein ia(k)、ib(k)、 ic(k) Respectively are the amplitudes of the currents of a, b and c in the three-phase current amplitudes; i.e. ia cal(k)、ib cal(k)、 ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
Optionally, the method further comprises: the control unit is used for controlling the motor according to the three-phase current sampling value of the motor and the rotor electrical angular speed of the motor, and comprises: a rotation speed loop control unit for performing rotation speed loop control according to the electrical angular velocity reference value and the electrical angular velocity sampling value of the motor to obtain d and q axis current reference values i of the motord refAnd iq ref(ii) a A current loop control unit for controlling the current loop according to the three-phase current sampling value and the d-axis and q-axis current reference value id refAnd iq refAnd carrying out current loop control on the motor to obtain d and q axis voltage reference values u of the motord refAnd uq ref(ii) a A modulation unit for calculating the reference value u of the d and q axis voltages by Space Vector Pulse Width Modulation (SVPWM)d refAnd uq refTo act on the inverter to control the motor.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
A further aspect of the invention provides a permanent magnet synchronous machine comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
In a further aspect, the invention provides a permanent magnet synchronous motor comprising a control device of any one of the permanent magnet synchronous motors.
According to the technical scheme of the invention, the redundant three current sensors are adopted, and the sensor fault judgment is carried out according to the three-phase current amplitude obtained by sampling and the three-phase current predicted value obtained by prediction, so that the fault sensor can be accurately positioned; according to the technical scheme of the invention, when no sensor fault exists, the traditional sampling and control mode of two current sensors is adopted, and when the sensor fault exists, a fault-tolerant mechanism in a fault state is adopted to output a three-phase current sampling value according to a fault judgment result, so that the motor can continue to operate without stopping by means of the redundant current sensors. According to the technical scheme of the invention, the reliability of the motor system can be effectively improved, and economic and life safety losses caused by system breakdown and fault shutdown due to current sensor faults are avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a method schematic diagram of an embodiment of a control method of a permanent magnet synchronous motor provided by the present invention;
FIG. 2 is a schematic flow chart diagram illustrating one embodiment of the step of predicting current to the motor in accordance with an embodiment of the present invention;
fig. 3 is a method schematic diagram of another embodiment of a control method of a permanent magnet synchronous motor provided by the present invention;
fig. 4 is a method schematic diagram of a further embodiment of a control method of a permanent magnet synchronous motor provided by the present invention;
FIG. 5 is a schematic flow chart diagram illustrating one embodiment of the steps for controlling the motor based on sampled three-phase current values of the motor and the electrical angular speed of the rotor of the motor;
fig. 6 is a flowchart of the execution of the permanent magnet synchronous motor control method of the present invention;
FIG. 7 is a control block diagram of the permanent magnet synchronous motor control method of the present invention;
fig. 8 is a schematic structural diagram of an embodiment of a control device of a permanent magnet synchronous motor provided by the present invention;
FIG. 9 is a block diagram of an embodiment of a current prediction unit according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another embodiment of a control device of a permanent magnet synchronous motor provided by the present invention;
fig. 11 is a schematic structural diagram of another embodiment of a control device of a permanent magnet synchronous motor provided by the present invention;
fig. 12 is a block diagram of a specific implementation of a control unit according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a control method of a permanent magnet synchronous motor. The invention adopts three redundant current sensors, namely, phase a, phase b and phase c current sensors which are respectively used for collecting phase a, phase b and phase c currents are arranged on the permanent magnet synchronous motor. The a, b and c phase current sensors form a redundant sampling device.
Fig. 1 is a method schematic diagram of an embodiment of a control method of a permanent magnet synchronous motor provided by the invention.
As shown in fig. 1, according to an embodiment of the present invention, the control method includes at least step S110, step S120, step S130, and step S140.
And step S110, respectively acquiring three-phase current amplitudes of the motor through the phase current sensors a, b and c.
Specifically, phase a, phase b and phase c currents are respectively acquired through phase a, phase b and phase c sensors to obtain three-phase current amplitude ia(k)，ib(k)，ic(k) Where k denotes the kth period.
And step S120, determining whether the motor has sensor faults or not according to the collected three-phase current amplitude.
Specifically, judging whether the sum of the three-phase current amplitudes is greater than a preset fault protection threshold value; and if the sum of the three-phase current amplitudes is larger than a preset fault protection threshold value, determining that the motor has a sensor fault. For example, the predetermined failsafe threshold is ierroAnd judging whether the following conditions are met:
ia(k)+ib(k)+ic(k)＞ierro(1)
if the above formula is satisfied, it is determined that there is a sensor failure. Alternatively, when it is determined that there is a sensor failure, the failure determination signal FO is output as 1, and when it is determined that there is no sensor failure, the failure determination signal FO is output as 0.
Optionally, if it is determined that there is no sensor fault, outputting a three-phase current sampling value of the motor according to a preset current sampling rule.
Specifically, the current sampling rule includes: i.e. ia cal(k)＝ia(k)，b cal(k)＝ib(k)， ic cal(k)＝-[ia(k)+ib(k)]. Wherein ia(k)、ib(k)、ic(k) Respectively being said three-phase currentThe amplitude of the a, b and c phase currents in the amplitude; i.e. ia cal(k)、ib cal(k)、ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
And step S130, if the sensor fault is determined, predicting the current of the motor to obtain a three-phase current predicted value of the motor.
Fig. 2 is a flowchart illustrating an embodiment of the step of predicting the current of the motor according to an embodiment of the present invention. As shown in fig. 2, in one embodiment, step S130 includes step S131 and step S132.
And S131, performing current prediction on the motor according to a preset current prediction model to obtain d-axis and q-axis components of current prediction values under a two-phase rotating coordinate system.
Specifically, the voltage equation under the dq coordinate system of the permanent magnet synchronous motor is
In the formula id、iqIs stator d, q axis current, ud、uqThe d and q axis voltages of the stator are obtained; rsIs a stator resistor; l isd、LqAre respectively stator d-axis and q-axis inductors, and the stator inductor L in the surface-mounted permanent magnet synchronous motord＝Lq＝L；ΨfIs a permanent magnet flux linkage; omegaeIs the electrical angular velocity of the motor.
During a control period, the rotor electrical angular velocity can be regarded as constant, and the Euler approximation method is adopted for the stator current derivative of the sampling time T, namely
Discretizing the voltage equation (2-1) by using the equation (2-2) and taking T as a control period to obtain a predictive control model as follows:
where (k) and (k +1) represent the corresponding variable values for the kth cycle and the (k +1) th cycle, respectively.
The equations (2-3) can also be in the form of current prediction:
current sampling value and rotation speed (electrical angular velocity ω) using equation (2-4) and previous (k-1) control periode) And sampling values, predicting the current at the current moment (k), and taking the control delay of the digital discrete control system into consideration, wherein the voltage signal adopts the first two (k-2) period values to obtain a current prediction model expression (2):
in the formula id pre(k)，iq pre(k) Predicting d and q axis components of the current in the current control period; u. ofd ref(k-2)，uq ref(k-2) d and q axis reference voltage values output by the current controller; k represents the kth period; r is the resistance value of the motor stator; l is the stator inductance value, and L is L in a surface-mounted motord＝Lq；ΨfIs the rotor flux linkage amplitude, and T is the control period duration; omegaeIs the electrical angular velocity of the motor; in the formula id(k-1)、iq(k-1) is d and q axis components of the motor, and three-phase current sampling values i according to corresponding control periodsa cal、ib cal、ic calObtained by the following transformation:
matrix MABC/αβIs a transformation matrix from ABC three-phase stationary coordinate system to αβ two-phase stationary coordinate system, Mαβ/dqIs a transformation matrix from αβ two-phase stationary coordinate system to dq two-phase rotating coordinate system, and the specific expression is as follows:
and step S132, carrying out coordinate transformation from the two-phase rotating coordinate system to the three-phase static coordinate system on the d-axis component and the q-axis component of the current predicted value to obtain a three-phase current predicted value under the three-phase static coordinate system.
Specifically, a current prediction value i under a two-phase rotation coordinate system is obtainedd pre(k)，iq pre(k) Carrying out dq/abc conversion to obtain the predicted value i of the abc phase current of the current period ka pre(k)，ib pre(k)，ic pre(k) The expression is as follows:
in the formula:
and step S140, judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value.
Specifically, the phase current amplitudes of a, b and c are compared with corresponding phase current predicted values of a, b and c to respectively obtain absolute values of the difference values of the phase current amplitudes of a, b and c and the current predicted values; and determining a current sensor with a fault in the a-phase current sensors, the b-phase current sensors and the c-phase current sensors according to the absolute value of the difference value between the a-phase current amplitude value, the b-phase current amplitude value and the c-phase current amplitude value and the current predicted value. Wherein, the sensor failure of the phase with the largest absolute value in the phases a, b and c is judged.
For example, the phase current amplitudes of a, b and c are compared with the corresponding phase current predicted values of a, b and c to obtain the absolute values Ea, Eb and Ec of the differences between the phase current amplitudes of a, b and c and the predicted values of current respectively, and the expression is as follows:
Ea＝|ia(k)-ia pre(k)| (4)
Eb＝|ib(k)-ib pre(k)| (5)
Ec＝|ic(k)-ic pre(k)| (6)
and judging the faults of the phase current sensors a, b and c according to the maximum value of Ea, Eb and Ec. Alternatively, the sensor fault sequence signal FN may be output according to the judgment result, and may specifically represent a faulty sensor number. The FN initial value is 0.
For example, the value of FN is obtained by determining the maximum value among Ea, Eb, Ec, the rule is as follows:
if Ea is maximum, judging that the a-phase sensor has a fault, and outputting a sensor fault sequence signal FN equal to 1;
if Eb is maximum, judging that the b-phase sensor has a fault, and outputting a sensor fault sequence signal FN equal to 2;
if Ec is maximum, c-phase sensor failure is determined, and a sensor failure sequence signal FN is output to be 3.
Fig. 3 is a method schematic diagram of another embodiment of the control method of the permanent magnet synchronous motor provided by the invention. As shown in fig. 3, according to another embodiment of the present invention, the control method further includes step S150.
And S150, carrying out fault-tolerant control based on a preset current fault-tolerant sampling rule according to the judgment result of the fault judgment, and outputting a three-phase current sampling value of the motor.
Specifically, the current fault-tolerant sampling rule includes: if no sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)](ii) a If the a-phase sensor fails, ia cal(k)＝-[ib(k)+ic(k)]，ib cal(k)＝ib(k)，ic cal(k)＝ic(k) (ii) a If the b-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ic(k)]，ic cal(k)＝ic(k) (ii) a If the c-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)]。
Wherein ia(k)、ib(k)、ic(k) Respectively are the amplitudes of the currents of a, b and c in the three-phase current amplitudes; i.e. ia cal(k)、ib cal(k)、ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
Alternatively, the faulty sensor can be switched and i can be calculated based on the value of the sensor fault sequence signal FN described abovea cal(k)，ib cal(k)，ic cal(k)：
1) If FN is 0, then no sensor has failed, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)]；
2) If FN is equal to 1, it represents that the a-phase sensor is in failure, ia cal(k)＝-[ib(k)+ic(k)]， ib cal(k)＝ib(k)，ic cal(k)＝ic(k)；
3) If FN is 2, it represents that the b-phase sensor is failed, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ ic(k)]，ic cal(k)＝ic(k)；
4) If FN is 3, it represents that the c-phase sensor is failed, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)， ic cal(k)＝-[ia(k)+ib(k)]。
So far, the fault-tolerant control sampling process is completed.
Fig. 4 is a method schematic diagram of a control method of a permanent magnet synchronous motor according to another embodiment of the present invention. As shown in fig. 4, according to another embodiment of the present invention, the control method further includes step S160.
And step S160, controlling the motor according to the three-phase current sampling value of the motor and the rotor electrical angular speed of the motor.
FIG. 5 is a flowchart illustrating an embodiment of the steps for controlling the motor based on sampled three-phase current values of the motor and an electrical angular speed of a rotor of the motor.
As shown in fig. 5, in a specific embodiment, step S160 includes step S161, step S162, and step S163.
Step S161, carrying out rotating speed loop control according to the electric angular speed reference value and the electric angular speed sampling value of the motor to obtain d-axis and q-axis current reference values i of the motord refAnd iq ref。
In particular, according to an electrical angular speed reference value ω of said electric machinee refAnd electrical angular velocity sample value ωeAnd carrying out rotating speed loop control through a rotating speed controller to obtain d and q axis current reference values i of the motord refAnd iq ref. The rotation speed loop controller adopts a Proportional Integral (PI) regulator, and adopts i in a surface-mounted permanent magnet synchronous motordControl is 0, the expression is as follows:
in the formula, Ki is an integral coefficient, and Kp is a proportional coefficient.
Step S162, according to the three-phase current sampling value and the d-axis and q-axis current reference value id refAnd iq refTo what is calledThe motor is subjected to current loop control to obtain d and q axis voltage reference values u of the motord refAnd uq ref。
Specifically, coordinate transformation is firstly carried out on three-phase current sampling values to obtain d-axis and q-axis currents i under a two-phase rotating coordinate systemd(k)、iq(k) The coordinate transformation expression is as follows:
then the obtained d and q axis currents i are pairedd(k)、iq(k) Performing PI control to obtain d and q axis voltage reference values ud refAnd uq refThe expression is as follows:
step S163, calculating the d and q axis voltage reference values u through Space Vector Pulse Width Modulation (SVPWM)d refAnd uq refTo act on the inverter to control the motor.
Specifically, the voltage reference value u is calculated by SVPWM modulationd ref，uq refThe PWM signal acts on the inverter to output voltage to control the motor, and the whole motor control process is completed.
The following describes a control method of a permanent magnet synchronous motor according to the present invention with reference to fig. 6 and 7. Fig. 6 is a flowchart of the execution of the permanent magnet synchronous motor control method of the present invention. Fig. 7 is a control block diagram of a Permanent Magnet Synchronous Motor (PMSM) control method of the present invention.
S1, speed and current sampling: obtaining motor speed and position information through an encoder: omegae(k) θ (k); obtaining three-phase current amplitude values through a redundant sampling device: i.e. ia(k)，ib(k)，ic(k)；
S2, failure determination 1, determines whether or not a sensor failure has occurred. The judging method comprises the following steps: if equation (1) is satisfied, it is determined that there is a failure and the output failure determination signal FO is 1, otherwise, it is determined that there is no failure and the output FO is 0.
ia(k)+ib(k)+ic(k)＞ierro(1)
In the formula ierroIs a failsafe threshold.
S3 judges the failure determination signal FO, and if FO is 0, there is no failure, and the sensor failure sequence signal FN remains unchanged (the FN initial value is 0).
S4, if FO is 1, it is determined that there is a fault, and the current prediction module is entered, where the current prediction expression is as shown in expression (2):
obtaining a predicted current value i according to the formula (2)d pre(k)，iq pre(k) For the current predicted value id pre(k)，iq pre(k) D, q/abc conversion is carried out to obtain predicted values i of phase currents a, b and c at the current momenta pre(k)，ib pre(k)， ic pre(k) The expression is as follows:
in the formula:
s5, failure determination 2: comparing the actual three-phase current sampling value with the current predicted value to obtain Ea, Eb and Ec, wherein the expression is as follows:
Ea＝|ia(k)-ia pre(k)| (4)
Eb＝|ib(k)-ib pre(k)| (5)
Ec＝|ic(k)-ic pre(k)| (6)
and S6, carrying out fault-tolerant control:
1) if FN is 0, then no sensor has failed, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)]；
2) If FN is equal to 1, it represents that the a-phase sensor is in failure, ia cal(k)＝-[ib(k)+ic(k)]， ib cal(k)＝ib(k)，ic cal(k)＝ic(k)；
3) If FN is 2, it represents that the b-phase sensor is failed, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ ic(k)]，ic cal(k)＝ic(k)；
4) If FN is 3, it represents that the c-phase sensor is failed, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)， ic cal(k)＝-[ia(k)+ib(k)]；
And the fault-tolerant control sampling process is completely finished.
S7, carrying out ABC/dq coordinate transformation on the three-phase current sampling value obtained by fault-tolerant control,
s8, controlling a rotating speed ring, wherein the rotating speed ring controller adopts a Proportional Integral (PI) regulator, and the surface-mounted permanent magnet synchronous motor adopts idControl is 0, the expression is as follows:
in the formula, Ki is an integral coefficient, and Kp is a proportional coefficient.
And S9, carrying out current loop control, carrying out PI control on the dq axis current, and obtaining the following expression:
s10, calculating a voltage reference value u through SVPWM modulationd ref，uq refThe three-phase PWM duty cycle of (1).
And S11, the PWM signal acts on the inverter to output voltage to control the motor, and the whole motor control process is completed.
The invention also provides a control device of the permanent magnet synchronous motor. The invention adopts three redundant current sensors, namely, phase a, phase b and phase c current sensors which are respectively used for collecting phase a, phase b and phase c currents are arranged on the permanent magnet synchronous motor. The a, b and c phase current sensors form a redundant sampling device.
Fig. 8 is a schematic structural diagram of an embodiment of a control device of a permanent magnet synchronous motor according to the present invention. As shown in fig. 8, the control device 100 for a permanent magnet synchronous motor includes: the current prediction device includes an acquisition unit 110, a determination unit 120, a current prediction unit 130, and a fault determination unit 140.
The collecting unit 110 is configured to collect three-phase current amplitudes of the motor through the a-phase current sensors, the b-phase current sensors, and the c-phase current sensors, respectively. Specifically, phase a, phase b and phase c currents are respectively acquired through phase a, phase b and phase c sensors to obtain three-phase current amplitude ia(k)，ib(k)，ic(k) Where k denotes the kth period.
The determining unit 120 is configured to determine whether the motor has a sensor fault according to the collected three-phase current amplitudes.
Specifically, judging whether the sum of the three-phase current amplitudes is greater than a preset fault protection threshold value; and if the sum of the three-phase current amplitudes is larger than a preset fault protection threshold value, determining that the motor has a sensor fault. For example, the predetermined failsafe threshold is ierroAnd judging whether the following conditions are met:
ia(k)+ib(k)+ic(k)＞ierro(1)
if the above formula is satisfied, it is determined that there is a sensor failure. Alternatively, when it is determined that there is a sensor failure, the failure determination signal FO is output as 1, and when it is determined that there is no sensor failure, the failure determination signal FO is output as 0.
Optionally, the apparatus further comprises: a sampling value output unit (not shown) configured to output a three-phase current sampling value of the motor according to a preset current sampling rule if the determining unit 120 determines that the motor has no sensor fault.
Specifically, the current sampling rule includes: i.e. ia cal(k)＝ia(k)，ib cal(k)＝ib(k)， ic cal(k)＝-[ia(k)+ib(k)]. Wherein ia(k)、ib(k)、ic(k) Respectively are the amplitudes of the currents of a, b and c in the three-phase current amplitudes; i.e. ia cal(k)、ib cal(k)、ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
The current prediction unit 130 is configured to perform current prediction on the motor to obtain a predicted three-phase current value of the motor if the determination unit 120 determines that there is a sensor fault.
Fig. 9 is a block diagram of a specific implementation of a current prediction unit according to an embodiment of the invention. As shown in fig. 9, the current prediction unit 130 includes a prediction subunit 131 and a transformation subunit 132.
And the predicting subunit 131 is configured to perform current prediction on the motor according to a preset current prediction model to obtain d-axis and q-axis components of a current prediction value in a two-phase rotation coordinate system.
Specifically, the voltage equation in the dq coordinate system of the permanent magnet synchronous motor is as follows:
in the formula id、iqIs stator d, q axis current, ud、uqThe d and q axis voltages of the stator are obtained; rsIs a stator resistor; l isd、LqAre respectively asStator d and q axis inductances, and stator inductance L in surface-mounted permanent magnet synchronous motord＝Lq＝L；ΨfIs a permanent magnet flux linkage; omegaeIs the electrical angular velocity of the motor.
During a control period, the rotor electrical angular velocity can be regarded as constant, and the Euler approximation method is adopted for the stator current derivative of the sampling time T, namely
Discretizing the voltage equation (2-1) by using the equation (2-2) and taking T as a control period to obtain a predictive control model as follows:
where (k) and (k +1) represent the corresponding variable values for the kth cycle and the (k +1) th cycle, respectively.
The equations (2-3) can also be in the form of current prediction:
current sampling value and rotation speed (electrical angular velocity ω) using equation (2-4) and previous (k-1) control periode) And sampling values, predicting the current at the current moment (k), and taking the control delay of the digital discrete control system into consideration, wherein the voltage signal adopts the first two (k-2) period values to obtain a current prediction model expression (2):
in the formula id pre(k)，iq pre(k) Predicting d and q axis components of the current in the current control period; u. ofd ref(k-2)，uq ref(k-2) d and q axis reference voltage values output by the current controller; k represents the kth period; r is the resistance value of the motor stator; l is stator inductance valueAnd in the surface-mounted motor, L is Ld＝Lq；ΨfIs the rotor flux linkage amplitude, and T is the control period duration; omegaeIs the electrical angular velocity of the motor; in the formula id(k-1)、iq(k-1) is d and q axis components of the motor, and three-phase current sampling values i according to corresponding control periodsa cal、ib cal、ic calObtained by the following transformation:
matrix MABC/αβIs a transformation matrix from ABC three-phase stationary coordinate system to αβ two-phase stationary coordinate system, Mαβ/dqIs a transformation matrix from αβ two-phase stationary coordinate system to dq two-phase rotating coordinate system, and the specific expression is as follows:
and the transformation subunit 132 is configured to perform coordinate transformation from the two-phase rotating coordinate system to the three-phase stationary coordinate system on the current predicted values d and q-axis components to obtain three-phase current predicted values in the three-phase stationary coordinate system.
Specifically, a current prediction value i under a two-phase rotation coordinate system is obtainedd pre(k)，iq pre(k) Carrying out dq/abc conversion to obtain the predicted value i of the abc phase current of the current period ka pre(k)，ib pre(k)，ic pre(k) The expression is as follows:
in the formula:
the fault judgment unit 140 is configured to perform fault judgment on the phase current sensors a, b, and c according to the three-phase current amplitude and the three-phase current predicted value.
Specifically, the phase current amplitudes of a, b and c are compared with corresponding phase current predicted values of a, b and c to respectively obtain absolute values of the difference values of the phase current amplitudes of a, b and c and the current predicted values; and determining a current sensor with a fault in the a-phase current sensors, the b-phase current sensors and the c-phase current sensors according to the absolute value of the difference value between the a-phase current amplitude value, the b-phase current amplitude value and the c-phase current amplitude value and the current predicted value. Wherein, the sensor failure of the phase with the largest absolute value in the phases a, b and c is judged.
For example, the phase current amplitudes of a, b and c are compared with the corresponding phase current predicted values of a, b and c to obtain the absolute values Ea, Eb and Ec of the differences between the phase current amplitudes of a, b and c and the predicted values of current respectively, and the expression is as follows:
Ea＝|ia(k)-ia pre(k)| (4)
Eb＝|ib(k)-ib pre(k)| (5)
Ec＝|ic(k)-ic pre(k)| (6)
and judging the faults of the phase current sensors a, b and c according to the maximum value of Ea, Eb and Ec. Alternatively, the sensor fault sequence signal FN may be output according to the judgment result, and may specifically represent a faulty sensor number. The FN initial value is 0.
For example, the value of FN is obtained by determining the maximum value among Ea, Eb, Ec, the rule is as follows:
if Ea is maximum, judging that the a-phase sensor has a fault, and outputting a sensor fault sequence signal FN equal to 1;
if Eb is maximum, judging that the b-phase sensor has a fault, and outputting a sensor fault sequence signal FN equal to 2;
if Ec is maximum, c-phase sensor failure is determined, and a sensor failure sequence signal FN is output to be 3.
Fig. 10 is a schematic structural diagram of another embodiment of the control device of the permanent magnet synchronous motor according to the present invention. As shown in fig. 10, the control apparatus 100 of the permanent magnet synchronous motor further includes a fault-tolerant control unit 150.
And a fault-tolerant control unit 150, configured to perform fault-tolerant control based on a preset current fault-tolerant sampling rule according to a determination result of the fault determination, and output a three-phase current sampling value of the motor.
Specifically, the current fault-tolerant sampling rule includes: if no sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)](ii) a If the a-phase sensor fails, ia cal(k)＝-[ib(k)+ic(k)]，ib cal(k)＝ib(k)，ic cal(k)＝ic(k) (ii) a If the b-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ic(k)]，ic cal(k)＝ic(k) (ii) a If the c-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)]。
Wherein ia(k)、ib(k)、ic(k) Respectively are the amplitudes of the currents of a, b and c in the three-phase current amplitudes; i.e. ia cal(k)、ib cal(k)、ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
Alternatively, the faulty sensor can be switched and i can be calculated based on the value of the sensor fault sequence signal FN described abovea cal(k)，ib cal(k)，ic cal(k)：
1) If FN is 0, then no sensor has failed, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)]；
2) If FN is equal to 1, it represents that the a-phase sensor is in failure, ia cal(k)＝-[ib(k)+ic(k)]， ib cal(k)＝ib(k)，ic cal(k)＝ic(k)；
3) If FN is 2, it represents that the b-phase sensor is failed, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ ic(k)]，ic cal(k)＝ic(k)；
4) If FN is 3, it represents that the c-phase sensor is failed, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)， ic cal(k)＝-[ia(k)+ib(k)]。
So far, the fault-tolerant control sampling process is completed.
Fig. 11 is a schematic structural diagram of another embodiment of the control device of the permanent magnet synchronous motor according to the present invention. As shown in fig. 11, the control apparatus 100 of the permanent magnet synchronous motor further includes a fault-tolerant control unit 160.
And the control unit 160 is used for controlling the motor according to the three-phase current sampling value of the motor and the rotor electrical angular speed of the motor.
Fig. 12 is a block diagram of a specific implementation of a control unit according to an embodiment of the invention. As shown in fig. 12, the control unit 160 includes a rotation speed loop control unit 161, a current loop control unit 162, and a modulation unit 163.
The rotating speed loop control unit 161 is configured to perform rotating speed loop control according to the electrical angular velocity reference value and the electrical angular velocity sampling value of the motor to obtain d-axis and q-axis current reference values i of the motord refAnd iq ref。
In particular, according to an electrical angular speed reference value ω of said electric machinee refAnd electrical angular velocity sample value ωeBy means of a rotational speed controllerCarrying out rotating speed loop control to obtain d and q axis current reference values i of the motord refAnd iq ref. The rotating speed ring controller adopts a Proportional Integral (PI) regulator, and generally adopts i in a surface-mounted permanent magnet synchronous motordControl is 0, the expression is as follows:
in the formula, Ki is an integral coefficient, and Kp is a proportional coefficient.
The current loop control unit 162 is used for obtaining the three-phase current sampling value and the d-axis and q-axis current reference value id refAnd iq refAnd carrying out current loop control on the motor to obtain d and q axis voltage reference values u of the motord refAnd uq ref。
Specifically, coordinate transformation is firstly carried out on three-phase current sampling values to obtain d-axis and q-axis currents i under a two-phase rotating coordinate systemd(k)、iq(k) The coordinate transformation expression is as follows:
then the obtained d and q axis currents i are pairedd(k)、iq(k) Performing PI control to obtain d and q axis voltage reference values ud refAnd uq refThe expression is as follows:
the modulation unit 163 is used for calculating the d-axis and q-axis voltage reference values u by Space Vector Pulse Width Modulation (SVPWM)d refAnd uq refTo act on the inverter to control the motor.
Specifically, the voltage reference value u is calculated by SVPWM modulationd ref，uq refThree-phase PWM dutyAnd the space ratio and the PWM signal act on the inverter to output voltage to control the motor, thereby finishing the control process of the whole motor.
The execution process of the above device can also refer to the embodiment part of the execution process of the method and the execution flow chart and the control block diagram of fig. 6 and 7.
The invention also provides a storage medium corresponding to the control method of the permanent magnet synchronous motor, on which a computer program is stored, which program, when executed by a processor, carries out the steps of any of the methods described above.
The invention also provides a permanent magnet synchronous motor corresponding to the control method of the permanent magnet synchronous motor, which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of any one of the methods when executing the program.
The invention also provides a permanent magnet synchronous motor corresponding to the control device of the permanent magnet synchronous motor, which comprises any one of the control devices of the permanent magnet synchronous motor.
According to the scheme provided by the invention, the redundant three current sensors are adopted, and the sensor fault judgment is carried out according to the three-phase current amplitude obtained by sampling and the three-phase current predicted value obtained by prediction, so that the fault sensor can be accurately positioned; according to the technical scheme of the invention, when no sensor fault exists, the traditional sampling and control mode of two current sensors is adopted, and when the sensor fault exists, a fault-tolerant mechanism in a fault state is adopted to output a three-phase current sampling value according to a fault judgment result, so that the motor can continue to operate without stopping by means of the redundant current sensors. According to the technical scheme of the invention, the reliability of the motor system can be effectively improved, and economic and life safety losses caused by system breakdown and fault shutdown due to current sensor faults are avoided.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A control method of a permanent magnet synchronous motor is characterized in that phase current sensors of a, b and c which respectively collect phase currents of a, b and c are arranged on the motor, and the method comprises the following steps:
respectively acquiring three-phase current amplitude values of the motor through the phase current sensors a, b and c;
determining whether the motor has sensor faults or not according to the collected three-phase current amplitude values;
if the sensor fault is determined, current prediction is carried out on the motor to obtain a three-phase current prediction value of the motor;
and judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value.
2. The method of claim 1,
determining whether the motor has a sensor fault according to the three-phase current amplitude, comprising:
judging whether the sum of the three-phase current amplitudes is greater than a preset fault protection threshold value or not;
if the sum of the three-phase current amplitudes is larger than a preset fault protection threshold value, determining that the motor has a sensor fault;
and/or the presence of a gas in the gas,
the current prediction is carried out on the motor to obtain a three-phase current prediction value of the motor, and the method comprises the following steps:
carrying out current prediction on the motor according to a preset current prediction model to obtain current prediction values d and q-axis components under a two-phase rotating coordinate system;
carrying out coordinate transformation from a two-phase rotating coordinate system to a three-phase static coordinate system on the d and q axis components of the current predicted value to obtain a three-phase current predicted value under the three-phase static coordinate system;
wherein the current prediction model comprises:
in the formula id pre(k),iq pre(k) Predicting d and q axis components for the current of the kth control period; omegaeIs the electrical angular velocity of the motor; t is a control period, R is a stator resistance value, and L is a stator inductance value; ΨfIs the rotor flux linkage amplitude; i.e. id(k-1),iq(k-1) is d and q axis components of current in the k-1 th period, and is obtained by carrying out coordinate transformation on three-phase current; u. ofd ref(k-2),uq ref(k-2) d and q axis reference voltage values output by the current controller in the k-2 th period;
and/or the presence of a gas in the gas,
and judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value, wherein the fault judgment comprises the following steps:
comparing the phase current amplitudes of the a, b and c phases with corresponding phase current predicted values of the a, b and c phases to respectively obtain absolute values of difference values of the phase current amplitudes of the a, b and c phases and the current predicted values;
and determining a current sensor with a fault in the a-phase current sensors, the b-phase current sensors and the c-phase current sensors according to the absolute value of the difference value between the a-phase current amplitude value, the b-phase current amplitude value and the c-phase current amplitude value and the current predicted value.
3. The method of claim 1 or 2, further comprising: performing fault-tolerant control based on a preset current fault-tolerant sampling rule according to a judgment result of the fault judgment, and outputting a three-phase current sampling value of the motor;
the current fault-tolerant sampling rule comprises the following steps:
if the a-phase sensor fails, ia cal(k)＝-[ib(k)+ic(k)]，ib cal(k)＝ib(k)，ic cal(k)＝ic(k)；
If the b-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ic(k)]，ic cal(k)＝ic(k)；
If the c-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)]；
Wherein ia(k)、ib(k)、ic(k) Respectively are the amplitudes of the currents of a, b and c in the three-phase current amplitudes; i.e. ia cal(k)、ib cal(k)、ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
4. The method of claim 3, further comprising: controlling the motor according to the three-phase current sampling value of the motor and the rotor electrical angular speed of the motor, and the method comprises the following steps:
carrying out rotation speed loop control according to the electric angular speed reference value and the electric angular speed sampling value of the motor to obtain d-axis and q-axis current reference values i of the motord refAnd iq ref；
According to the three-phase current sampling value and the d-axis and q-axis current reference value id refAnd iq refAnd carrying out current loop control on the motor to obtain d and q axis voltage reference values u of the motord refAnd uq ref；
Calculating the d-axis and q-axis voltage reference values u by Space Vector Pulse Width Modulation (SVPWM)d refAnd uq refTo act on the inverter to control the motor.
5. The utility model provides a permanent magnet synchronous motor's controlling means, its characterized in that, be equipped with the a, b, the c phase current sensor who gathers a, b, c three-phase current respectively on the motor, the device includes:
the acquisition unit is used for respectively acquiring three-phase current amplitude values of the motor through the phase current sensors a, b and c;
the determining unit is used for determining whether the motor has sensor faults or not according to the collected three-phase current amplitude;
the current prediction unit is used for predicting the current of the motor if the sensor fault is determined to exist so as to obtain a three-phase current prediction value of the motor;
and the fault judgment unit is used for judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value.
6. The apparatus of claim 5,
the determining unit determines whether the motor has a sensor fault according to the three-phase current amplitude, and comprises:
judging whether the sum of the three-phase current amplitudes is greater than a preset fault protection threshold value or not;
if the sum of the three-phase current amplitudes is larger than a preset fault protection threshold value, determining that the motor has a sensor fault;
and/or the presence of a gas in the gas,
the current prediction unit predicts the current of the motor to obtain a three-phase current prediction value of the motor, and comprises:
carrying out current prediction on the motor according to a preset current prediction model to obtain current prediction values d and q-axis components under a two-phase rotating coordinate system;
carrying out coordinate transformation from a two-phase rotating coordinate system to a three-phase static coordinate system on the d and q axis components of the current predicted value to obtain a three-phase current predicted value under the three-phase static coordinate system;
wherein the current prediction model comprises:
in the formula id pre(k),iq pre(k) Predicting d and q axis components for the current of the kth control period; omegaeIs the electrical angular velocity of the motor; t is a control period, R is a stator resistance value, and L is a stator inductance value; ΨfIs the rotor flux linkage amplitude; i.e. id(k-1),iq(k-1) is d and q axis components of current in the k-1 th period, and is obtained by carrying out coordinate transformation on three-phase current; u. ofd ref(k-2),uq ref(k-2) d and q axis reference voltage values output by the current controller in the k-2 th period;
and/or the presence of a gas in the gas,
and judging the faults of the phase current sensors a, b and c according to the three-phase current amplitude and the three-phase current predicted value, wherein the fault judgment comprises the following steps:
comparing the phase current amplitudes of the a, b and c phases with corresponding phase current predicted values of the a, b and c phases to respectively obtain absolute values of difference values of the phase current amplitudes of the a, b and c phases and the current predicted values;
and determining a current sensor with a fault in the a-phase current sensors, the b-phase current sensors and the c-phase current sensors according to the absolute value of the difference value between the a-phase current amplitude value, the b-phase current amplitude value and the c-phase current amplitude value and the current predicted value.
7. The apparatus of claim 5 or 6, further comprising: the fault-tolerant control unit is used for carrying out fault-tolerant control based on a preset current fault-tolerant sampling rule according to a judgment result of the fault judgment and outputting a three-phase current sampling value of the motor;
the current fault-tolerant sampling rule comprises the following steps:
if the a-phase sensor fails, ia cal(k)＝-[ib(k)+ic(k)]，ib cal(k)＝ib(k)，ic cal(k)＝ic(k)；
If the b-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝-[ia(k)+ic(k)]，ic cal(k)＝ic(k)；
If the c-phase sensor fails, ia cal(k)＝ia(k)，ib cal(k)＝ib(k)，ic cal(k)＝-[ia(k)+ib(k)]；
Wherein ia(k)、ib(k)、ic(k) Respectively are the amplitudes of the currents of a, b and c in the three-phase current amplitudes; i.e. ia cal(k)、ib cal(k)、ic cal(k) Respectively, the sampled values of the phase current of a, b and c of the motor, and k represents the kth period.
8. The apparatus of claim 7, further comprising: the control unit is used for controlling the motor according to the three-phase current sampling value of the motor and the rotor electrical angular speed of the motor, and comprises:
a rotation speed loop control unit for performing rotation speed loop control according to the electrical angular velocity reference value and the electrical angular velocity sampling value of the motor to obtain d and q axis current reference values i of the motord refAnd iq ref；
A current loop control unit for controlling the current loop according to the three-phase current sampling value and the d-axis and q-axis current reference value id refAnd iq refAnd carrying out current loop control on the motor to obtain d and q axis voltage reference values u of the motord refAnd uq ref；
A modulation unit for calculating the reference value u of the d and q axis voltages by Space Vector Pulse Width Modulation (SVPWM)d refAnd uq refTo act on the inverter to control the motor.
9. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
10. A permanent magnet synchronous machine comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any of claims 1-4 when executing the program. Or a control device comprising a permanent magnet synchronous machine according to any of claims 5-8.
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