CN111313802B - Fault-tolerant method for topological short-circuit fault of five-phase open winding with suspension capacitor - Google Patents

Fault-tolerant method for topological short-circuit fault of five-phase open winding with suspension capacitor Download PDF

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CN111313802B
CN111313802B CN202010192417.8A CN202010192417A CN111313802B CN 111313802 B CN111313802 B CN 111313802B CN 202010192417 A CN202010192417 A CN 202010192417A CN 111313802 B CN111313802 B CN 111313802B
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CN111313802A (en
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刘自程
孙翔文
李安
蒋栋
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Huazhong University of Science and Technology
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H02M1/325—Means for protecting converters other than automatic disconnection with means for allowing continuous operation despite a fault, i.e. fault tolerant converters

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a fault-tolerant method of a five-phase open winding topology short-circuit fault with a suspension capacitor, when a bridge arm consisting of a switching device in a fault phase has a short-circuit fault, the bridge arm at the opposite side of the fault phase and the bridge arm of the fault phase output the same potential, and the output voltages of a power supply side inverter and a capacitor side inverter of each normal phase are switched to the line voltage of the opposite fault phase before the fault; and injecting corresponding compensation voltage into the output voltage of the power supply side inverter and the capacitor side inverter of each normal phase under a static coordinate system, thereby realizing the short-circuit fault-tolerant control of the five-phase open winding topology with the suspension capacitor. The method can effectively inhibit energy pulse existing under short circuit fault tolerance, and keep the voltage of the suspension capacitor stable continuously after the fault occurs. Meanwhile, the phase currents of all phases are guaranteed not to be distorted, winding loss is reduced, and the working condition of the motor is improved.

Description

Fault-tolerant method for topological short-circuit fault of five-phase open winding with suspension capacitor
Technical Field
The invention belongs to the technical field of multi-phase motor drive control, and particularly relates to a fault-tolerant method for a five-phase open winding topology short-circuit fault with a suspension capacitor.
Background
With the rapid development of power electronic technology, the motor drive is not limited by a three-phase power supply system any more, and a multi-phase system (comprising an inverter and a motor body) can realize higher power, lower torque ripple, higher fault-tolerant capability and more control degrees of freedom than a three-phase system. Therefore, the multi-phase motor system is widely applied to occasions with high power and high reliability requirements, such as ship propulsion, multi-electric aircraft systems and the like. The increase of the number of phases represents that the number of switching devices required by a driving circuit is multiplied, and the failure rate of the semiconductor switching devices is far higher than that of the motor body, so that the failure rate of the inverter is obviously improved. The fault-tolerant control method for the multi-phase system can make the system continue to work normally after a fault occurs by using the redundancy freedom degree of the system, thereby effectively improving the reliability and the service life of the whole power system.
The failures of switching devices are mainly classified into two categories: the first type is open circuit fault, which means that the failed switching tube remains open circuit, and the corresponding phase winding does not work any more. The motor can continue to stably work by reducing the capacitance by adjusting the output commands of other normal phases. The second type is a more serious short-circuit fault, which means that a failed switching tube is kept short-circuited, a corresponding failed bridge arm is kept at a bus potential or a ground potential, and if the fault bridge arm is not controlled, serious current overshoot is caused, so that the system has an overheating risk. At this time, if the circuit is in an open winding common bus power supply mode, a fault phase needs to be cut off through a fuse or an extra breaker, and equivalent breaking treatment is carried out. If the circuit is in an open-winding dual-power-supply isolated power supply mode, the bridge arm control on the opposite side of the fault needs to be at the same potential as the fault bridge arm, the output voltage instructions of the other normal phases need to be switched into line voltage instructions, and the common-mode voltage is used for enabling each phase winding to continue to work normally after the fault.
The topological structure of the five-phase open winding with the suspension capacitor is similar to a dual-power isolation power supply mode, and the difference is that the power supply on one side is supplied with power by a passive device, namely the capacitor, so that the structure effectively reduces the hardware cost and the volume of the isolation bus. After a short-circuit fault occurs, if the corresponding method is adopted, an energy pulse of a fundamental wave period can occur, the pulse can be absorbed when the power supply side is a constant voltage source, but for an open winding topology with a floating capacitor, the capacitor power supply side can cause the capacitor voltage to generate violent fluctuation due to the energy pulse, so that the bridge arm voltage output is influenced, and the winding current is obviously distorted.
It can be seen that the existing short-circuit fault-tolerant strategy for the isolated power supply open winding topology is only effective for the constant-voltage source structure with both sides being active, and a short-circuit control method applied to the five-phase open winding topology structure with the floating capacitor is still lacked.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a fault-tolerant method for the topological short-circuit fault of the five-phase open winding with the suspension capacitor, and aims to solve the problems of voltage pulsation and current distortion caused by the voltage pulsation due to energy pulse on the suspension capacitor after the topological short-circuit fault of the five-phase open winding with the suspension capacitor.
In order to achieve the purpose, the invention provides a fault-tolerant control method which can inhibit energy pulse, keep the voltage of a capacitor stable and reduce the current distortion of a winding after a short-circuit fault occurs. The method comprises the following specific steps:
when a bridge arm consisting of a switching device in a fault phase has a short-circuit fault, keeping the output same potential of the bridge arm at the opposite side of the fault phase and the bridge arm of the fault phase, and switching the output voltage of the power supply side inverter and the capacitor side inverter of each normal phase into the line voltage of the opposite fault phase before the fault;
and injecting corresponding compensation voltage into the output voltage of the power supply side inverter and the capacitor side inverter of each normal phase under a static coordinate system, thereby realizing the short-circuit fault-tolerant control of the five-phase open winding topology with the suspension capacitor.
Preferably, two phases adjacent to the failed phase are symmetrical with respect to the winding, two phases distant from the failed phase are symmetrical with respect to the winding, and the compensation voltages of the two phases adjacent to the failed phase and the two phases distant from the failed phase are respectively equal. The compensation voltage is DC or AC, and when the compensation voltage is DC, the compensation voltage of two phases adjacent to the fault phase is-0.3090VdcThe compensation voltage of two phases far from the fault phase is 0.1910Vdc(ii) a When the compensation voltage is the alternating current, the compensation voltage of two phases adjacent to the fault phase is [ -0.2353cos (2 ω t) +0.2314sin (2 ω t)]VdcThe two phases far from the fault phase have a compensation voltage of [0.2192cos (2 ω t) +0.0509sin (2 ω t)]VdcWhere ω is the corresponding electrical angular frequency, V, of the motor during operationdcIs a dc supply voltage.
The invention utilizes the multiple degrees of freedom of a multi-phase system to analyze the formation mechanism of fundamental wave periodic energy pulses, and provides a five-phase open winding topological short-circuit fault-tolerant control method with a suspension capacitor, which can be used for an isolated bus structure with one side of the five-phase open winding powered by the suspension capacitor, effectively inhibits the energy pulses existing under the short-circuit fault tolerance, and keeps the suspension capacitor voltage stable continuously after the fault occurs; meanwhile, the fault-tolerant control effect of the algorithm is verified by a simulation result on the five-phase motor.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) for the open winding topology with the floating capacitor, when a traditional short-circuit fault tolerance method is adopted, the generated energy pulse in a fundamental wave period can cause the voltage pulsation of the floating capacitor, and the patent provides the fault tolerance method for the five-phase open winding topology short-circuit fault with the floating capacitor, which can eliminate the generated energy pulse and ensure the stability of the voltage of the floating capacitor, thereby ensuring that the phase current is not distorted, reducing the winding loss and improving the working condition of the motor.
(2) The fault-tolerant method for the topological short-circuit fault of the five-phase open winding with the floating capacitor is simple and practical, is not influenced by the topology or the working state of a motor and the external load condition, and is easy to calculate.
(3) The fault-tolerant method for the five-phase open winding topology short-circuit fault with the suspension capacitor does not perform open circuit treatment on the fault phase, so that the motor can still work at rated power after the fault if the power supply voltage has enough allowance.
Drawings
FIG. 1 is a schematic diagram of a five-phase open winding topology with a floating capacitor according to the present invention;
FIG. 2(a) is a diagram of waveforms of a floating capacitor voltage when a conventional short-circuit fault-tolerant control method is applied to a five-phase open winding topology driving motor with a floating capacitor;
fig. 2(b) is a winding current waveform when the conventional short-circuit fault-tolerant control method is applied to a five-phase open winding topology driving motor with a floating capacitor;
FIG. 3(a) is a diagram of a motor winding current waveform after voltage compensation according to the present invention;
fig. 3(b) is a voltage waveform diagram of the suspension capacitor of the motor after voltage compensation according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a fault-tolerant method for a five-phase open winding topology short-circuit fault with a suspension capacitor, which is shown in figure 1.
Before a fault occurs, the output voltages of ten bridge arms of a five-phase open winding topology are respectively V of a power supply side invertera～VeV to capacitor side invertera`～VeAt this time, the voltages of the DC power supply and the suspension capacitor are all stabilized to be Vdc。
After the fault occurs (without loss of generality, the fault is assumed to occur in the upper switch tube of the A phase), the method is equivalent to clamp Va＝0.5Vdc. Let the capacitor side output V in phase Aa0.5V is kept constantlydc. The output of the two ends of the B-E phase is switched from phase voltage to line voltage and is output:
Figure BDA0002416387230000041
VbF＝Vb-Va
VcF＝Vc-Va
VdF＝Vd-Va
VeF＝Ve-Va
Figure BDA0002416387230000051
VbF'＝Vb'-Va'
VcF'＝Vc'-Va'
VdF'＝Vd'-Va'
VeF'＝Ve'-Va'
each phase VaF～VeF、VaF`～VeF"is the output voltage after the fault occurs. At this time, due to the existence of the common mode voltage, if the capacitor voltage is stable, the phase voltage of each phase winding does not change before and after the fault, however, the capacitor voltage cannot keep the capacitor voltage stable in the face of the energy exchange of the existing fundamental wave as a period, and further fault tolerance fails.
The method provided by the invention is to inject corresponding compensation voltage X into the phases B to Eb～Xe：
Figure BDA0002416387230000052
VbF-c＝Vb-Va+Xb
VcF-c＝Vc-Va+Xc
VdF-c＝Vd-Va+Xd
VeF-c＝Ve-Va+Xe
Figure BDA0002416387230000053
VbF-c'＝Vb'-Va'+Xb
VcF-c'＝Vc'-Va'+Xc
VdF-c'＝Vd'-Va'+Xd
VeF-c'＝Ve'-Va'+Xe
Wherein, the compensation voltage satisfies:
Figure BDA0002416387230000054
the aforementioned existing energy exchange can be counteracted.
Considering the symmetry of the motor windings, such as faults occurring in phase A, phase B and phase E being symmetric with respect to phase A, and phase C and phase D being symmetric with respect to phase A, the compensation voltage should also follow a symmetric relationship such that the compensation effect is satisfied while the complexity is minimized, i.e., Xb＝Xe，Xc＝Xd. When a fault occurs in the other phase, the above symmetrical relationship is also satisfied: the two phases adjacent to the failed phase are symmetrical with respect to the winding and the two phases remote from the failed phase are symmetrical with respect to the winding, so that the two sets of compensation voltages should be equal to each other.
Considering that the four normal phase outputs except the compensation voltage are all switched to the phase voltage, the relationship between the pentagon and the pentagon row edge shows that the amplitude of the two phase outputs close to the fault phase is increased to be 1.1756 times of the original 2sin36 degrees, the output far away from the fault phase is increased to be 1.902 times of the original 2sin72 degrees, and the design margins of the phases of the inverter are equal, so in order to ensure that the output voltage of each phase is fully utilized, the phase voltages simultaneously reach the maximum output value, and the voltage utilization rate is the highest at this moment, taking the phase-a fault as an example, the method meets the following requirements:
Figure BDA0002416387230000061
the compensation voltage provided by the invention is divided into two conditions, the fault-tolerant control effect can be realized, and the maximum voltage utilization rate of the capacitor side inverter under the corresponding condition is met:
if the compensation voltage is a DC value, the two equations are solved to obtain: let the compensation voltage be:
Xb＝Xe＝-0.3090Vdc，Xc＝Xd＝0.1910Vdc
if the compensation voltage is an alternating current quantity, the compensation voltage is made as follows:
Xb＝[A2cos(2wt)+B2sin(2wt)]Vdc
Xc＝[A3cos(2wt)+B3sin(2wt)]Vdc
Xd＝[A4cos(2wt)+B4sin(2wt)]Vdc
Xe＝[A5cos(2wt)+B5sin(2wt)]Vdc
wherein, ω is the electrical angular frequency corresponding to the motor when running, and the equation is solved as well, and the ac voltage corresponding coefficient is:
Figure BDA0002416387230000062
the compensation voltage value provided by the invention is injected to a normal four-phase inverter bridge arm (namely B-E phases in the hypothesis) under a static coordinate system, so that the short-circuit fault-tolerant control of the five-phase open winding topology with the suspension capacitor can be realized.
It should be noted that the method has universality and is suitable for short-circuit faults of upper or lower switching tubes of any bridge arm. The A phase tube short circuit fault solution given by the above formula. If the upper tube short circuit occurs in other phases, the compensation value is extended along the letter sequence (because of the circumference symmetry, the E phase is extended along the next phase to be the A phase). For example, failure occurred in the C (a-phase cis-bi-phase) phase: phase B outputs phase E in the solution, phase D outputs phase B in the solution, phase E outputs phase C in the solution, and phase a outputs phase D value in the solution. If a fault occurs in the lower tube short circuit, the output voltage may be reversed (i.e., positive voltage is adjusted to negative voltage and negative voltage is adjusted to positive voltage) except for the above-described sequential relationship.
In order to verify the effectiveness of the method, simulation verification of the short-circuit fault tolerance method is performed on the five-phase asynchronous motor. The five-phase motor is a distributed winding motor, and the parameters of the motor are shown in table 1. Wherein r issIs stator resistance, rrIs rotor resistance, LmFor stator-rotor mutual inductance, LlsFor stator leakage inductance, LlrFor rotor leakage inductance, pnIs the number of pole pairs.
TABLE 1
rs rr Lm Lls Llr pn
1.32Ω 1.52Ω 71.4mH 0.94mH 13.7mH 3
And setting the rotating speed instruction value of the five-phase motor to be 300r/min, setting the fundamental frequency to be 50Hz, and setting the instruction values of the direct-current power supply and the suspension capacitor to be 120V. Short-circuit failure occurs at t-4 s. The zero potential of the two-side power supply is defined as the midpoint potential.
As shown in fig. 2(a), after the conventional short-circuit fault-tolerant method suitable for the isolated dual-power supply topology is adopted, the floating capacitor generates a ripple with a peak-to-peak value of about 40V and a fundamental wave as a period after a fault occurs, and the fluctuation of the bus voltage causes an obvious distortion of the phase current, as shown in fig. 2(b), at this time, the performance of the motor is obviously deteriorated.
Fig. 3(a) and (b) are waveform diagrams of the winding of each phase and the capacitor voltage of the motor after the compensation voltage proposed by the present invention is injected, and it can be seen that the capacitor voltage is kept stable before and after the fault, and is not affected by the energy exchange with the fundamental wave as the cycle, and the phase current is also kept as before the fault, and is not distorted.
According to the simulation results, the five-phase open winding topology short-circuit fault-tolerant control method with the suspension capacitor has good effectiveness.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (1)

1. A fault-tolerant method for a five-phase open winding topology short-circuit fault with a suspension capacitor is disclosed, wherein five phases are respectively an A phase, a B phase, a C phase, a D phase and an E phase, and the fault-tolerant method is characterized by comprising the following steps:
when a bridge arm consisting of a switching device in a fault phase has a short-circuit fault, keeping the opposite side bridge arm of the fault phase and the fault bridge arm of the fault phase to output the same potential, and switching the output voltage of the power supply side inverter and the capacitor side inverter of each normal phase to the line voltage of the opposite fault phase before the fault;
injecting corresponding compensation voltage into output voltage of each normal phase power supply side inverter and capacitor side inverter under a static coordinate system, and realizing short circuit fault-tolerant control of five-phase open winding topology with a suspension capacitor; two adjacent fault phases are symmetrical relative to the fault phase winding, two far away from the fault phase are symmetrical relative to the fault phase winding, and the compensation voltages of the two adjacent fault phases and the two far away from the fault phase are respectively equal; the compensation voltage is direct current or alternating current;
when the compensation voltage is DC, the compensation voltage of two phases adjacent to the fault phase is-0.3090VdcThe compensation voltage of two phases far from the fault phase is 0.1910Vdc；
When the compensation voltage is AC flow, the compensation voltage of two phases near the fault phaseIs [ -0.2353cos (2 ω t) +0.2314sin (2 ω t)]VdcThe two phases far from the fault phase have a compensation voltage of [0.2192cos (2 ω t) +0.0509sin (2 ω t)]Vdc；
Wherein, VdcIs the dc supply voltage, and ω is the corresponding electrical angular frequency of the motor when running.
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