CN111404427B - Motor series mode fault-tolerant system and control method - Google Patents

Motor series mode fault-tolerant system and control method Download PDF

Info

Publication number
CN111404427B
CN111404427B CN202010374347.8A CN202010374347A CN111404427B CN 111404427 B CN111404427 B CN 111404427B CN 202010374347 A CN202010374347 A CN 202010374347A CN 111404427 B CN111404427 B CN 111404427B
Authority
CN
China
Prior art keywords
fault
motor
direct current
tolerant
power switch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010374347.8A
Other languages
Chinese (zh)
Other versions
CN111404427A (en
Inventor
李伟华
王炜
罗黎明
赵国璋
马义波
董建威
赵宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Bonray Measure & Control Equipment Co ltd
Original Assignee
Suzhou Bonray Measure & Control Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Bonray Measure & Control Equipment Co ltd filed Critical Suzhou Bonray Measure & Control Equipment Co ltd
Priority to CN202010374347.8A priority Critical patent/CN111404427B/en
Publication of CN111404427A publication Critical patent/CN111404427A/en
Application granted granted Critical
Publication of CN111404427B publication Critical patent/CN111404427B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
    • H02P5/685—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors electrically connected in series, i.e. carrying the same current
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/281—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices the DC motor being operated in four quadrants
    • H02P7/2815—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices the DC motor being operated in four quadrants whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention relates to a fault-tolerant system and a control method for a motor series connection mode, which are used for combining and classifying fault objects in three direct current motors and adopting corresponding fault-tolerant control laws, wherein each fault type corresponds to one fault-tolerant control law, so that the optimal fault-tolerant control mode in the fault type can be obtained, and three signals are changed into four signals so as to conveniently obtain respective deviation; the output of the hysteresis controller is adjusted according to the variation condition of the deviation, and meanwhile, the bandwidth of the hysteresis controller can change the on-off frequency of the power switch tube; the square wave signal output by the hysteresis controller is converted into a high-low level signal through PWM (pulse-width modulation), so that the starting end of a power switching tube is controlled, the actual torque of the motor is controlled within a given range through the hysteresis control and the PWM, and the problem that the system has more serious faults due to overlarge torque or current when the system has faults is avoided; and the stable operation of the motor system is ensured.

Description

Motor series mode fault-tolerant system and control method
Technical Field
The invention belongs to the technical field of multi-motor control, and particularly relates to a motor series fault-tolerant system and a control method.
Background
In recent years, the control and driving technology of multiple direct current motors has become an important research field, and can complete complex work which cannot be completed by a plurality of single direct current motors, with the improvement of the control technology of multiple direct current motors by various enterprises and the development of power electronic technology and digital control technology, the fault detection, diagnosis, fault processing and fault-tolerant control of a motor system are made into a hot research content, the fault-tolerant control technology can be mainly divided into two types, namely passive fault-tolerant control and active fault-tolerant control, the passive fault-tolerant control is mainly realized by improving the anti-interference performance of the system, and the active fault-tolerant control is realized by adjusting the structure and parameters of a controller. Compared with a brushless direct current motor and a permanent magnet synchronous motor, the fault-tolerant control technology of the multi-direct current motor is less, but with continuous innovation of the control and driving technology of the multi-direct current motor, the advantages of the direct current motor are gradually shown, and a plurality of students begin to research a multi-direct current motor system. At present, faults of a multi-direct current motor system are mainly divided into two categories, namely inverter faults and motor faults, when the multi-direct current motor system breaks down, in order to avoid sudden stop or instability of the system, the system needs to be ensured to have certain fault-tolerant performance, and robustness of the system is improved, so that a fault-tolerant control technology becomes very important.
Disclosure of Invention
The invention aims to provide a motor series connection mode fault-tolerant system and a motor series connection mode fault-tolerant method, which are used for solving the problem of how to improve the fault-tolerant performance of a multi-direct current motor system.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a fault-tolerant control method for a motor series connection mode, which comprises the following steps of:
step 1, setting reference rotating speeds of three direct current motors, acquiring actual rotating speeds of the three direct current motors, acquiring armature currents of the three direct current motors, calculating deviations of the reference rotating speeds and the actual rotating speeds of the three direct current motors respectively, and generating three paths of reference currents through a PI control algorithm;
step 2, detecting the running state of the motor system, judging whether the circuit system has a fault, and if the circuit system has the fault, judging the fault type and the fault position of the motor system;
step 3, adopting a corresponding fault-tolerant control law for the motor system according to the detected fault type, and calculating four reference torques and four feedback torques corresponding to the fault-tolerant control law;
step 4, calculating the deviation of the four reference torques and the four feedback torques, taking the deviation value as the input of the four hysteresis controllers, and outputting four square wave signals;
and 5, converting the four square wave signals output by the four hysteresis controllers into eight level signals which are complementary in pairs through a PWM signal logic generating function, and using the eight level signals as control signals of power switching tubes of the four-bridge-arm fault-tolerant inverter to realize the stable operation of the three-direct-current motor system.
Preferably, in step 2, the fault type F is 0, 1,2,3,4, 5, 6, where F is 0, which indicates that three dc motors are operating normally; f ═ 1 indicates that only motor a failed; f-2 indicates that only motor B failed; f-3 indicates that only motor C failed; f-4 indicates that motor a and motor B are simultaneously malfunctioning; f-5 indicates that motor B and motor C are simultaneously malfunctioning; f-6 indicates that motor a and motor C are malfunctioning at the same time.
Preferably, in step 3, a corresponding fault-tolerant control law is adopted for the motor system according to the detected fault type, and the specific method is as follows:
when only the motor A fails, the fault type of fault-tolerant control is F-1, and a fault-tolerant control system adopts a fault-tolerant control law when the F-1;
when only the motor B fails, the fault type of fault-tolerant control is F-2, and a fault-tolerant control system adopts a fault-tolerant control law when the F-2 is adopted;
when only the motor C fails, the fault type of fault-tolerant control is F & lt3 & gt, and the fault-tolerant control system adopts a fault-tolerant control law when the F & lt3 & gt;
when the motor A and the motor B simultaneously break down, the error type of the fault-tolerant control is F-4, and the fault-tolerant control system adopts a fault-tolerant control law when F-4;
when the motor B and the motor C simultaneously break down, the error type of the fault-tolerant control is F-5, and the fault-tolerant control system adopts a fault-tolerant control law when F-5;
when the motor A and the motor C simultaneously break down, the error type of the fault-tolerant control is F-6, and the fault-tolerant control system adopts a fault-tolerant control law when F-6;
when the motor A, the motor B and the motor C simultaneously break down, all power switch tubes of the four-bridge-arm fault-tolerant inverter are not conducted, and the three direct current motors are all in a stop operation state.
Preferably, four reference torques and four feedback torques corresponding to the fault-tolerant control law are calculated, and the specific method is as follows:
according to the output of the speed loop
Figure GDA0003497774900000031
Changing the reference torque into four paths of reference torques through a reference torque synthesis algorithm of a fault-tolerant control strategy; armature current I of three DC motors1、I2、I3And the feedback torque synthesis algorithm through the fault-tolerant control strategy is changed into four paths of feedback torques.
Preferably, when F is 0,
Figure GDA0003497774900000032
Figure GDA0003497774900000033
when the F is equal to 1, the F is,
Figure GDA0003497774900000034
Figure GDA0003497774900000035
when the F is equal to 2, the F is not more than 2,
Figure GDA0003497774900000041
Figure GDA0003497774900000042
when the F is 3, the reaction time is as follows,
Figure GDA0003497774900000043
Figure GDA0003497774900000044
when the F is equal to 4, the F is not more than 4,
Figure GDA0003497774900000045
Figure GDA0003497774900000046
when the F is 5, the reaction time is up to 5,
Figure GDA0003497774900000047
Figure GDA0003497774900000051
when the F is equal to 6, the F is not more than 6,
Figure GDA0003497774900000052
Figure GDA0003497774900000053
wherein
Figure GDA0003497774900000054
Torque constant, k, of the DC motor corresponding to the reference torque1，k2，k3Is a torque constant of the DC motor corresponding to the feedback torque, and
Figure GDA0003497774900000055
m＝1,2,3。
preferably, in step 4, the deviation between the four reference torques and the four feedback torques is calculated by the following specific method:
Figure GDA0003497774900000056
the deviation value is used as the input of a four-way hysteresis controller, and four-way square wave signals are output, and the specific method comprises the following steps:
let uiIs the input of a four-way hysteresis controller, and i is equal to 1,2,3,4,
Figure GDA0003497774900000057
is the upper threshold limit of the hysteresis controller input,
Figure GDA0003497774900000058
lower threshold, u, for the hysteresis controller inputmaxIs the upper limit of the output of the hysteresis controller, uminFor the lower output limit of the hysteretic controller, the logic generating function of the hysteretic controller is as follows:
Figure GDA0003497774900000059
where P represents the output of the hysteretic controller from the last comparison.
Preferably, in step 5, the four square wave signals output by the four hysteresis controllers are changed into eight level signals which are complementary to each other in pairs, and the eight level signals are used as control signals of the power switching tubes of the four-leg fault-tolerant inverter, and the specific method is as follows:
firstly, the output of the four-way hysteresis controller is processed by a PWM signal logic generating function to generate four-way level signals, specifically:
q is 1, Q is 0, and represents PWM output high level and low level respectively, and high level is defined as active level, and then control power switch tube to conduct, and low level is inactive level, and control power switch tube to break, then Zi＝Z1，Z2，Z3，Z4The PWM logic generation function of (a) is:
Figure GDA0003497774900000061
secondly, four paths of level signals output by the PWM logic generating function are processed by the main controller to obtain eight paths of level signals which are complementary in pairs, namely Z11、Z12、Z21、Z22、Z31、Z32、Z41、Z42；
Finally, Z is11、Z12The signals are respectively input to the gates of the a bridge arm S1 and S5; will Z21、Z22The grid voltages are respectively input to the grids of the b bridge arms S2 and S6; will Z31、Z32The grid voltages are respectively input to the grids of the c bridge arms S3 and S7; will Z41、Z42The signals are input to the gates of d-bridge arms S4 and S8, respectively.
A fault-tolerant system of a motor series mode adopts the fault-tolerant control method, and comprises four bridge arm fault-tolerant inverters, three direct current motors, a main controller and a power supply, wherein the direct current motors are connected in series, and are all electrically connected with the four bridge arm fault-tolerant inverters; the three direct current motors are all connected with a main controller, and meanwhile, the main controller is connected with the four-bridge-arm fault-tolerant inverter.
Preferably, the four-leg fault-tolerant inverter comprises eight power switching tubes, eight bidirectional thyristors, eight fast fuses and a direct-current power supply DC, wherein the eight power switching tubes are respectively a power switching tube S1Power switch tube S2Power switch tube S3Power switch tube S4Power switch tube S5Power switch tube S6Power switch tube S7And a power switch tube S8(ii) a The bidirectional thyristors are four in number, and are respectively bidirectional thyristors TR1、TR2、TR3And TR4(ii) a The eight fast fusing wires are respectively fast fusing wires F1、F2、F3、F4、F5、F6、F7And F8(ii) a One direct current power supply DC is arranged; specifically, the method comprises the following steps:
power switch tube S1、S2、S3And S4Respectively with a fast fuseF1Quick fuse F2Quick fuse F3And a fast fuse F4Connecting, quick-fusing filaments F1Quick fuse F2Quick fuse F3And a fast fuse F4The common terminal of the power supply is connected with the positive pole of the power supply DC;
power switch tube S5Power switch tube S6Power switch tube S7And a power switch tube S8Respectively with a fast fuse F5Quick fuse F6Quick fuse F7And a fast fuse F8Connecting, quick-fusing filaments F5Quick fuse F6Quick fuse F7And a fast fuse F8The common terminal of the power supply is connected with the DC cathode of the power supply;
power switch tube S1Drain electrode of (1) and power switch tube S5All sources of the transistors are connected with the bidirectional thyristor TR1Is connected with one end of the connecting rod; power switch tube S2Drain electrode of (1) and power switch tube S6All sources of the transistors are connected with the bidirectional thyristor TR2Is connected with one end of the connecting rod; power switch tube S3Drain electrode of (1) and power switch tube S7All sources of the transistors are connected with the bidirectional thyristor TR3One end of the power switch tube S is connected with the power switch tube S4Drain electrode of (1) and power switch tube S8All sources of the transistors are connected with the bidirectional thyristor TR4Is connected with one end of the connecting rod;
wherein, the three direct current motors are respectively a first direct current motor, a second direct current motor and a third direct current motor, the positive pole of the first direct current motor and the bidirectional thyristor TR1Is connected with the other end of the first direct current motor, the negative pole of the first direct current motor and the positive pole of the second direct current motor are both connected with the bidirectional thyristor TR2The negative pole of the second direct current motor and the positive pole of the third direct current motor are connected with the bidirectional thyristor TR3Is connected with the other end of the third direct current motor, and the negative pole of the third direct current motor is connected with the bidirectional thyristor TR4And the other end of the two are connected.
Preferably, the main controller comprises a fault-tolerant control strategy module, a hysteresis controller, a PWM signal logic generation function module and a main control unit, wherein the hysteresis controller is loaded with the logic generation module, the fault-tolerant control strategy module is used for generating a fault-tolerant control law of the motor system, then generating four reference torques and four feedback torques according to the fault-tolerant control law, calculating a deviation between the four reference torques and the four feedback torques, and then taking the deviation as an input of the hysteresis controller; the hysteresis controller is used for generating a PWM output signal of the hysteresis controller according to the received deviation value and transmitting the output value to the PWM signal logic generating function module; the PWM signal logic generation function module is used for generating four paths of level signals from the received PWM output signals; the main control unit is used for generating eight paths of pairwise complementary level signals from the four paths of received level signals.
Compared with the prior art, the invention has at least the following beneficial effects:
the fault-tolerant control method for the motor series connection mode can enable the system to have certain fault-tolerant control capability when a certain direct current motor fails, and ensures the stable operation of the system; combining and classifying fault objects in the three direct current motors, adopting corresponding fault-tolerant control laws, wherein each fault type corresponds to one fault-tolerant control law, obtaining the optimal fault-tolerant control mode when the fault type exists, and changing three signals into four signals so as to conveniently obtain respective deviation; adjusting the output of the hysteresis controller according to the variation condition of the deviation, wherein the output positive value indicates that the torque needs to be increased, and the output negative value indicates that the torque needs to be reduced, so that the feedback torque fluctuates in the upper and lower ranges of the reference torque, and meanwhile, the bandwidth of the hysteresis controller can change the on-off frequency of the power switch tube; the square wave signal output by the hysteresis controller is converted into a high-low level signal through PWM (pulse width modulation), namely, a positive value is output to be converted into a high level, a negative value is output to be converted into a low level, the high level is an effective level, the conduction of a power switch tube is controlled, the low level is an ineffective level, the turn-off of the power switch tube is controlled, the actual torque of a motor is controlled within a given range through hysteresis control and PWM, and the problem that the system has more serious faults due to overlarge torque or current when the system has faults is avoided.
Furthermore, four reference torques corresponding to the fault-tolerant control law are used as target values of hysteresis control, and four feedback torques are used as actual values of hysteresis control, so that the actual values are changed following the target values.
The fault-tolerant system of the motor series connection mode can enable the system to have certain fault-tolerant control capability when a certain direct current motor fails, and can control the rotating speed and the torque of three direct current motors and follow the change of a reference value.
In summary, the present invention provides a control system and a control method for a fault-tolerant system in a motor series connection manner, which provides a fault-tolerant control strategy when any one or two of three dc motors fail, and ensures stable operation of a motor system.
Drawings
FIG. 1 is a circuit diagram of a four leg fault tolerant inverter of the present invention;
FIG. 2 is a flow chart illustrating a control method according to the present invention;
FIG. 3 is a schematic diagram of a control system according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 3, the fault-tolerant system of a series connection mode of motors provided by the present invention includes a four-leg fault-tolerant inverter, three dc motors, a main controller and a power supply, wherein the three dc motors are connected in series, and are all electrically connected to the four-leg fault-tolerant inverter; the three direct current motors are all connected with a main controller, and meanwhile, the main controller is connected with the four-bridge-arm fault-tolerant inverter.
The main controller is used for collecting the running state information of the three direct current motors and carrying out internal processing according to the detected running state information, and the internal processing comprises the functions of motor rotating speed reading, sampling current processing, fault-tolerant control strategy, PID control algorithm, hysteresis control algorithm, PWM output and the like, wherein the output eight-path level signals are used for controlling the on and off of eight power switch tubes of the four-bridge-arm fault-tolerant inverter, so that the midpoint voltage of four bridge arms is changed, the rotating speed and the torque of the three direct current motors are further controlled, and the starting and stopping of the three direct current motors are controlled.
The three direct current motors are respectively a first direct current motor A, a second direct current motor B and a third direct current motor C.
The main controller comprises a fault-tolerant control strategy module, a hysteresis controller, a PWM signal logic generation function module and a main control unit, wherein the hysteresis controller is loaded with the logic generation module, the fault-tolerant control strategy module is used for generating a fault-tolerant control law of the motor system, the fault-tolerant control law comprises a reference torque synthesis algorithm and a feedback torque synthesis algorithm, four paths of reference torques and four paths of feedback torques are generated through the fault-tolerant control law, the deviation between the four paths of reference torques and the four paths of feedback torques is calculated, and the deviation is used as the input of the hysteresis controller; the logic generation module in the hysteresis controller is used for generating a PWM output signal of the hysteresis controller according to the received deviation value and transmitting the output value to the PWM signal logic generation function module; the PWM signal logic generation function module is used for generating four paths of level signals from the received PWM output signals; the main control unit is used for generating eight paths of pairwise complementary level signals from the four paths of received level signals.
Referring to fig. 1, the four-leg fault-tolerant inverter includes eight power switching tubes, eight bidirectional thyristors, fast fuses, and a DC power supply DC, where the number of the power switching tubes is S1Power switch tube S2Power switch tube S3Power switch tube S4Power switch tube S5Power switch tube S6Power switch tube S7And a power switch tube S8(ii) a The bidirectional thyristors are four in number, and are respectively bidirectional thyristors TR1、TR2、TR3And TR4(ii) a The eight fast fusing wires are respectively fast fusing wires F1、F2、F3、F4、F5、F6、F7And F8(ii) a One direct current power supply DC is arranged; specifically, the method comprises the following steps:
power switch tube S1、S2、S3And S4Respectively with a fast fuse F1Quick fuse F2Quick fuse F3And is rapidly fusedFilament F4Connecting, quick-fusing filaments F1Quick fuse F2Quick fuse F3And a fast fuse F4The common terminal of the power supply is connected with the positive pole of the power supply DC;
power switch tube S5Power switch tube S6Power switch tube S7And a power switch tube S8Respectively with a fast fuse F5Quick fuse F6Quick fuse F7And a fast fuse F8Connecting, quick-fusing filaments F5Quick fuse F6Quick fuse F7And a fast fuse F8The common terminal of the power supply is connected with the DC cathode of the power supply;
power switch tube S1Drain electrode of (1) and power switch tube S5All sources of the transistors are connected with the bidirectional thyristor TR1Is connected with one end of the connecting rod; power switch tube S2Drain electrode of (1) and power switch tube S6All sources of the transistors are connected with the bidirectional thyristor TR2Is connected with one end of the connecting rod; power switch tube S3Drain electrode of (1) and power switch tube S7All sources of the transistors are connected with the bidirectional thyristor TR3One end of the power switch tube S is connected with the power switch tube S4Drain electrode of (1) and power switch tube S8All sources of the transistors are connected with the bidirectional thyristor TR4Is connected with one end of the connecting rod;
the first direct current motor A, the second direct current motor B and the third direct current motor C adopt a connection mode of end-to-end series connection, namely the anode of the first direct current motor A and the bidirectional thyristor TR1Is connected with the other end of the first direct current motor A, the negative pole of the first direct current motor A and the positive pole of the second direct current motor B are both connected with the bidirectional thyristor TR2Is connected with the other end of the first direct current motor B, the negative pole of the second direct current motor B and the positive pole of the third direct current motor C are both connected with the bidirectional thyristor TR3Is connected with the other end of the third direct current motor C, the negative pole of the third direct current motor C is connected with the bidirectional thyristor TR4And the other end of the two are connected.
The system software comprises a fault-tolerant control strategy, a hysteresis controller and a logic generating function thereof, and a PWM signal logic generating function.
Referring to fig. 2, the fault-tolerant control method for a series connection of motors provided by the present invention includes the following steps:
step 1, initializing a direct current motor system; setting three DC motor reference rotating speed
Figure GDA0003497774900000101
Obtaining the actual rotating speed omega of three direct current motors1、ω2、ω3Obtaining armature currents I of three direct current motors1、I2、I3Respectively calculating the deviation between the reference rotating speed and the actual rotating speed of the three direct current motors, and generating three reference currents through a PI control algorithm
Figure GDA0003497774900000102
Step 2, detecting which motor of the three direct current motors fails through the existing fault detection technology, and dividing the motor into different fault types according to the difference of the failed motors;
step 3, adopting the most appropriate fault-tolerant control law, namely the control law of the fault-tolerant control strategy, to the motor system according to the detected fault type to generate four reference torques and four feedback torques, wherein the four reference torques are respectively the reference torques Tref1Reference torque Tref2Reference torque Tref3And a reference torque Tref4(ii) a The four feedback torques are respectively feedback torque Tfb1Feedback torque Tfb2Feedback torque Tfb3And feedback torque Tfb4；
Step 4, calculating four-way reference torque Tref1、Tref2、Tref3、Tref4And four feedback torques Tfb1、Tfb2、Tfb3、Tfb4And the deviation value is used as the input of the four-way hysteresis controller, and four-way square wave signals Z are output1，Z2，Z3，Z4；
Step 5, outputting the four-path square wave signal output by the four-path hysteresis controller through a PWM signal logic generating functionNumber Z1，Z2，Z3，Z4The eight paths of level signals which are complementary to each other are changed into eight paths of level signals which are used as control signals of power switching tubes of the four-bridge-arm fault-tolerant inverter, and therefore stable operation of a three-direct-current motor system is achieved.
Referring to fig. 3, a fault-tolerant control strategy is added to a current and torque double closed-loop control structure of a motor series fault-tolerant system, and the fault-tolerant control strategy of the motor series fault-tolerant system is only suitable for a direct current motor fault, when a fault other than the direct current motor fault occurs, a fast fuse and a bidirectional thyristor of a four-leg fault-tolerant inverter can play a role of protecting a circuit, so that the four-leg fault-tolerant inverter or the direct current motor is prevented from being damaged due to the fault other than the fault-tolerant control strategy.
The fault type of the system possibly occurring on the DC motor side is analyzed, suitable fault-tolerant control laws required when the system has a certain fault are respectively calculated, each fault-tolerant control law comprises a reference torque synthesis algorithm and a feedback torque synthesis algorithm, all the fault-tolerant control laws are stored in the STM32 main controller, and once the system has a fault in the operation process, the most suitable fault-tolerant control law is selected according to the fault type.
In step 2, the fault type of the motor system is specifically as follows:
the failure type F is 0, 1,2,3,4, 5, and 6, where F is 0 to indicate that three dc motors are normally operated, F is 1 to indicate that only motor a fails, F is 2 to indicate that only motor B fails, F is 3 to indicate that only motor C fails, F is 4 to indicate that motor a and motor B fail simultaneously, F is 5 to indicate that motor B and motor C fail simultaneously, and F is 6 to indicate that motor a and motor C fail simultaneously, and when motors a, B, and C fail simultaneously, the driving system stops operating completely, that is, fault-tolerant control is not required.
All cases of direct current motor failure and control strategies adopted are as follows:
when only the motor A fails, the fault type of fault-tolerant control is F-1, and a fault-tolerant control system adopts a fault-tolerant control law when the F-1;
when only the motor B fails, the fault type of fault-tolerant control is F-2, and a fault-tolerant control system adopts a fault-tolerant control law when the F-2 is adopted;
when only the motor C fails, the fault type of fault-tolerant control is F & lt3 & gt, and the fault-tolerant control system adopts a fault-tolerant control law when the F & lt3 & gt;
when the motor A and the motor B simultaneously break down, the error type of the fault-tolerant control is F-4, and the fault-tolerant control system adopts a fault-tolerant control law when F-4;
when the motor B and the motor C simultaneously break down, the error type of the fault-tolerant control is F-5, and the fault-tolerant control system adopts a fault-tolerant control law when F-5;
when the motor A and the motor C simultaneously break down, the error type of the fault-tolerant control is F-6, and the fault-tolerant control system adopts a fault-tolerant control law when F-6;
when the motor A, the motor B and the motor C simultaneously break down, all power switch tubes of the four-bridge-arm fault-tolerant inverter are not conducted, and the three direct current motors are all in a stop operation state.
In step 3, the fault-tolerant control law corresponding to each fault of the motor system is specifically as follows:
according to the output of the speed loop
Figure GDA0003497774900000121
Reference torque synthesis algorithm through fault-tolerant control strategy to become four-way reference torque Tref1、Tref2、Tref3、Tref4(ii) a Armature current I of three DC motors1、I2、I3Feedback torque synthesis algorithm through fault-tolerant control strategy is changed into four-way feedback torque Tfb1、Tfb2、Tfb3、Tfb4。
The specific reference torque synthesis algorithm and the feedback torque synthesis algorithm are as follows:
combined with the output of the speed loop
Figure GDA0003497774900000122
And armature currents I of three direct current motors1、I2、I3According to the systemAdopting a corresponding reference torque synthesis algorithm and a corresponding feedback torque synthesis algorithm for the type of the fault, wherein the four-way reference torque is Tref1、Tref2、Tref3、Tref4The four feedback torques are Tfb1、Tfb2、Tfb3、Tfb4The specific method comprises the following steps:
when F is equal to 0, the first phase is,
Figure GDA0003497774900000131
Figure GDA0003497774900000132
when the F is equal to 1, the F is,
Figure GDA0003497774900000133
Figure GDA0003497774900000134
when the F is equal to 2, the F is not more than 2,
Figure GDA0003497774900000135
Figure GDA0003497774900000136
when the F is 3, the reaction time is as follows,
Figure GDA0003497774900000141
Figure GDA0003497774900000142
when the F is equal to 4, the F is not more than 4,
Figure GDA0003497774900000143
Figure GDA0003497774900000144
when the F is 5, the reaction time is up to 5,
Figure GDA0003497774900000145
Figure GDA0003497774900000146
when the F is equal to 6, the F is not more than 6,
Figure GDA0003497774900000147
Figure GDA0003497774900000151
wherein
Figure GDA0003497774900000152
Torque constant, k, of the DC motor corresponding to the reference torque1，k2，k3Is a torque constant of the DC motor corresponding to the feedback torque, and
Figure GDA0003497774900000153
m＝1,2,3。
the deviation formula of the four-way reference torque and the four-way feedback torque is as follows:
Figure GDA0003497774900000154
let uiIs the input of a four-way hysteresis controller, and i is equal to 1,2,3,4,
Figure GDA0003497774900000155
is the upper threshold limit of the hysteresis controller input,
Figure GDA0003497774900000156
lower threshold, u, for the hysteresis controller inputmaxIs the upper limit of the output of the hysteresis controller, uminFor the lower output limit of the hysteretic controller, the logic generating function of the hysteretic controller is as follows:
Figure GDA0003497774900000157
where P represents the output of the hysteretic controller from the last comparison.
Firstly, the output of the four-path hysteresis controller generates four-path level signals through a PWM signal logic generating function, and the specific method and the corresponding relation are as follows:
q is 1, Q is 0, and represents PWM output high level and low level respectively, and high level is defined as active level, and then control power switch tube to conduct, and low level is inactive level, and control power switch tube to break, then Zi＝Z1，Z2，Z3，Z4The PWM logic generation function of (a) is:
Figure GDA0003497774900000158
secondly, after four paths of logic signals obtained according to the PWM logic generating function are processed by a main control unit with the model of STM32, each path of logic signals respectively outputs two paths of complementary level signals, and eight paths of level signals are respectively Z11、Z12、Z21、Z22、Z31、Z32、Z41、Z42。
Finally, Z is11、Z12The signals are respectively input to the gates of the a bridge arm S1 and S5; will Z21、Z22The grid voltages are respectively input to the grids of the b bridge arms S2 and S6; will Z31、Z32The grid voltages are respectively input to the grids of the c bridge arms S3 and S7; will Z41、Z42The signals are input to the gates of d-bridge arms S4 and S8, respectively.
The invention can be applied to traction motor systems of large-scale mechanical equipment, such as oil rigs, rolling mills, mining machines and the like, and has the advantages of large traction force, stable operation, simple control structure, high efficiency, energy conservation and the like.
In conclusion, the invention can enable the three-DC motor driving system of the four-leg fault-tolerant inverter to have certain fault-tolerant control capability when a motor fault occurs, can realize independent four-quadrant operation of the three-DC motor in a series connection mode, and can improve the stability and response speed of the control system.
The above description is only illustrative of the preferred embodiments of the present invention, and any structural changes, improvements, modifications, etc. made without departing from the principle of the present invention are deemed to be within the scope of the present invention.

Claims (9)

1. A fault-tolerant control method for a motor series mode is characterized by comprising the following steps:
step 1, setting reference rotating speeds of three direct current motors, acquiring actual rotating speeds of the three direct current motors, acquiring armature currents of the three direct current motors, calculating deviations of the reference rotating speeds and the actual rotating speeds of the three direct current motors respectively, and generating three paths of reference currents through a PI control algorithm
Figure FDA0003497774890000011
Step 2, detecting the running state of the motor system, judging whether the motor system has a fault, and if the motor system has the fault, judging the fault type and the fault position of the motor system;
step 3, adopting a corresponding fault-tolerant control law for the motor system according to the detected fault type F, and calculating four reference torques and four feedback torques corresponding to the fault-tolerant control law;
step 4, calculating deviation values of the four reference torques and the four feedback torques, taking the deviation values as the input of the four hysteresis controllers, and outputting four square wave signals;
step 5, converting the four square wave signals output by the four hysteresis controllers into eight level signals which are complementary in pairs through a PWM signal logic generating function, and using the eight level signals as control signals of power switching tubes of the four-bridge-arm fault-tolerant inverter to realize the stable operation of a three-direct-current motor system; wherein:
four reference torques and four feedback torques corresponding to the fault-tolerant control law are calculated, and the specific method is as follows:
according to three reference currents
Figure FDA0003497774890000012
Reference torque synthesis algorithm through fault-tolerant control strategy to become four-way reference torque Tref1、Tref2、Tref3、Tref4(ii) a Armature current I of three DC motors1、I2、I3Feedback torque synthesis algorithm through fault-tolerant control strategy is changed into four-way feedback torque Tfb1、Tfb2、Tfb3、Tfb4。
2. The method according to claim 1, wherein in step 2, the fault type F is 0, 1,2,3,4, 5, 6, wherein F is 0, which indicates that three direct current motors are operating normally; f ═ 1 indicates that only the dc motor a failed; f ═ 2 indicates that only the dc motor B failed; f-3 indicates that only the dc motor C fails; f is 4, the direct current motor A and the direct current motor B simultaneously have faults; f-5 indicates that the direct current motor B and the direct current motor C simultaneously fail; f-6 indicates that dc motor a and dc motor C are simultaneously malfunctioning.
3. The method according to claim 2, wherein in step 3, a corresponding fault-tolerant control law is adopted for the motor system according to the detected fault type, and the method comprises the following specific steps:
when only the direct current motor A fails, the fault type of fault-tolerant control is F equal to 1, and a fault-tolerant control system adopts a fault-tolerant control law when F equal to 1;
when only the direct current motor B fails, the fault type of fault-tolerant control is F & lt2 & gt, and a fault-tolerant control system adopts a fault-tolerant control law when the F & lt2 & gt;
when only the direct current motor C fails, the fault type of fault-tolerant control is F & lt3 & gt, and a fault-tolerant control system adopts a fault-tolerant control law when the F & lt3 & gt;
when the direct current motor A and the direct current motor B simultaneously break down, the error type of fault-tolerant control is F-4, and a fault-tolerant control system adopts a fault-tolerant control law when F-4;
when the direct current motor B and the direct current motor C simultaneously break down, the error type of fault-tolerant control is F-5, and a fault-tolerant control system adopts a fault-tolerant control law when F-5;
when the direct current motor A and the direct current motor C simultaneously break down, the error type of fault-tolerant control is F-6, and a fault-tolerant control system adopts a fault-tolerant control law when F-6;
when the direct current motor A, the direct current motor B and the direct current motor C simultaneously break down, all power switch tubes of the four-bridge-arm fault-tolerant inverter are not conducted, and the three direct current motors are all in a stop operation state.
4. The method of claim 3,
when F is equal to 0, the first phase is,
Figure FDA0003497774890000021
Figure FDA0003497774890000031
when the F is equal to 1, the F is,
Figure FDA0003497774890000032
Figure FDA0003497774890000033
when the F is equal to 2, the F is not more than 2,
Figure FDA0003497774890000034
Figure FDA0003497774890000035
when the F is 3, the reaction time is as follows,
Figure FDA0003497774890000036
Figure FDA0003497774890000037
when the F is equal to 4, the F is not more than 4,
Figure FDA0003497774890000041
Figure FDA0003497774890000042
when the F is 5, the reaction time is up to 5,
Figure FDA0003497774890000043
Figure FDA0003497774890000044
when the F is equal to 6, the F is not more than 6,
Figure FDA0003497774890000045
Figure FDA0003497774890000046
wherein
Figure FDA0003497774890000047
Torque constant, k, of the DC motor corresponding to the reference torque1，k2，k3Is a torque constant of the DC motor corresponding to the feedback torque, and
Figure FDA0003497774890000048
5. the method of claim 1, wherein in step 4, the offset values for the four reference torques and the four feedback torques are calculated by:
Figure FDA0003497774890000051
the deviation value is used as the input of a four-way hysteresis controller, and four-way square wave signals are output, and the specific method comprises the following steps:
let uiIs the input of a four-way hysteresis controller, and i is equal to 1,2,3,4,
Figure FDA0003497774890000052
is the upper threshold limit of the hysteresis controller input,
Figure FDA0003497774890000053
lower threshold, u, for the hysteresis controller inputmaxIs a hysteresis controllerUpper limit of output of uminFor the lower output limit of the hysteretic controller, the logic generating function of the hysteretic controller is as follows:
Figure FDA0003497774890000054
wherein, P represents the output of the hysteresis controller after the last comparison; ziIs the ith square wave signal.
6. The method according to claim 1, wherein in step 5, the four square wave signals output by the four hysteretic-loop controller are changed into eight level signals which are complementary to each other, and the eight level signals are used as control signals of a power switch tube of the four-leg fault-tolerant inverter, and the method specifically comprises the following steps:
firstly, the output of the four-way hysteresis controller is processed by a PWM signal logic generating function to generate four-way level signals, specifically:
q is 1, Q is 0, and represents PWM output high level and low level respectively, and high level is defined as active level, and then control power switch tube to conduct, and low level is inactive level, and control power switch tube to break, then Zi＝Z1，Z2，Z3，Z4The PWM signal logic generation function of (a) is:
Figure FDA0003497774890000055
wherein u ismaxIs the upper limit of the output of the hysteresis controller, uminThe lower limit of the output of the hysteresis controller; ziIs the ith square wave signal;
secondly, four paths of level signals output by the PWM signal logic generating function are processed by the main controller to obtain eight paths of level signals which are complementary in pairs and are Z11、Z12、Z21、Z22、Z31、Z32、Z41、Z42；
Finally, Z is11、Z12Respectively input to the a-bridge arm power switch tubes S1Power switch tube S5A gate electrode of (1); will Z21、Z22Respectively input to the b-bridge arm power switch tubes S2Power switch tube S6A gate electrode of (1); will Z31、Z32Respectively input to the c-bridge arm power switch tubes S3Power switch tube S7A gate electrode of (1); will Z41、Z42Respectively input to d-bridge arm power switch tubes S4Power switch tube S8A gate electrode of (1).
7. A fault-tolerant system of a motor series connection mode, which is characterized in that the fault-tolerant control method of any one of claims 1 to 6 is adopted, and the fault-tolerant system comprises four bridge arm fault-tolerant inverters, three direct current motors, a main controller and a power supply source, wherein the direct current motors are provided with three direct current motors, the three direct current motors are connected in series, and the three direct current motors are all electrically connected with the four bridge arm fault-tolerant inverters; the three direct current motors are all connected with a main controller, and meanwhile, the main controller is connected with the four-bridge-arm fault-tolerant inverter.
8. The system of claim 7, wherein the four leg fault tolerant inverter comprises power switching tubes, triacs, fast fuses, and DC power source DC, wherein eight power switching tubes are provided, each power switching tube being a power switching tube S1、S2、S3、S4、S5、S6、S7And S8(ii) a The bidirectional thyristors are four in number, and are respectively bidirectional thyristors TR1、TR2、TR3And TR4(ii) a The eight fast fusing wires are respectively fast fusing wires F1、F2、F3、F4、F5、F6、F7And F8(ii) a One direct current power supply DC is arranged; specifically, the method comprises the following steps:
power switch tube S1、S2、S3And S4Respectively with a fast fuse F1Quick fuse F2Quick fuse F3And a fast fuse F4Connecting, quick-fusing filaments F1Quick fuse F2Quick fuse F3And a fast fuse F4The common terminal of the power supply is connected with the positive pole of the power supply DC;
power switch tube S5Power switch tube S6Power switch tube S7And a power switch tube S8Respectively with a fast fuse F5Quick fuse F6Quick fuse F7And a fast fuse F8Connecting, quick-fusing filaments F5Quick fuse F6Quick fuse F7And a fast fuse F8The common terminal of the power supply is connected with the DC cathode of the power supply;
power switch tube S1Drain electrode of (1) and power switch tube S5All sources of the transistors are connected with the bidirectional thyristor TR1Is connected with one end of the connecting rod; power switch tube S2Drain electrode of (1) and power switch tube S6All sources of the transistors are connected with the bidirectional thyristor TR2Is connected with one end of the connecting rod; power switch tube S3Drain electrode of (1) and power switch tube S7All sources of the transistors are connected with the bidirectional thyristor TR3Is connected with one end of the connecting rod; power switch tube S4Drain electrode of (1) and power switch tube S8All sources of the transistors are connected with the bidirectional thyristor TR4Is connected with one end of the connecting rod;
wherein, the three direct current motors are respectively a direct current motor A, a direct current motor B and a direct current motor C, the positive pole of the direct current motor A and the bidirectional thyristor TR1Is connected with the other end of the bidirectional thyristor TR, and the negative pole of the direct current motor A and the positive pole of the direct current motor B are connected with the bidirectional thyristor TR2Is connected with the other end of the DC motor B, the negative pole of the DC motor B and the positive pole of the DC motor C are both connected with the bidirectional thyristor TR3Is connected with the other end of the DC motor C, the negative pole of the DC motor C is connected with the bidirectional thyristor TR4And the other end of the two are connected.
9. The system according to claim 7, wherein the master controller comprises a fault-tolerant control strategy module, a hysteresis controller, a PWM signal logic generation function module and a master control unit, wherein the hysteresis controller is loaded with the logic generation module, the fault-tolerant control strategy module is used for generating a fault-tolerant control law of the motor system, then generating four-way reference torque and four-way feedback torque through the fault-tolerant control law, calculating the deviation between the four-way reference torque and the four-way feedback torque, and then taking the deviation as the input of the hysteresis controller; the hysteresis controller is used for generating a PWM output signal of the hysteresis controller according to the received deviation value and transmitting the PWM output signal to the PWM signal logic generation function module; the PWM signal logic generation function module is used for generating four paths of level signals from the received PWM output signals; the main control unit is used for generating eight paths of pairwise complementary level signals from the four paths of received level signals.
CN202010374347.8A 2020-05-06 2020-05-06 Motor series mode fault-tolerant system and control method Active CN111404427B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010374347.8A CN111404427B (en) 2020-05-06 2020-05-06 Motor series mode fault-tolerant system and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010374347.8A CN111404427B (en) 2020-05-06 2020-05-06 Motor series mode fault-tolerant system and control method

Publications (2)

Publication Number Publication Date
CN111404427A CN111404427A (en) 2020-07-10
CN111404427B true CN111404427B (en) 2022-03-25

Family

ID=71431937

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010374347.8A Active CN111404427B (en) 2020-05-06 2020-05-06 Motor series mode fault-tolerant system and control method

Country Status (1)

Country Link
CN (1) CN111404427B (en)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8310176B2 (en) * 2008-12-22 2012-11-13 Progress Rail Services Corp Traction control for DC electric motor
CN101984553B (en) * 2010-11-28 2013-01-09 沈阳工业大学 Voltage vector selection method and multi-motor synchronous control system established by same
CN102710188B (en) * 2012-05-25 2014-09-10 燕山大学 Direct torque control method and device of brushless continuous current dynamo
CN106787988A (en) * 2016-12-22 2017-05-31 东南大学 A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor
CN108683367B (en) * 2018-06-20 2020-04-07 长安大学 Multi-direct current motor forward series control system and method
CN108696197B (en) * 2018-06-20 2019-10-01 长安大学 A kind of double direct current generator forward direction series control system and methods
CN108809157B (en) * 2018-06-20 2020-05-05 长安大学 Three-direct-current motor forward series control system and method
CN109428536A (en) * 2018-09-06 2019-03-05 河南森源重工有限公司 One kind opening winding electric machine system and driving circuit

Also Published As

Publication number Publication date
CN111404427A (en) 2020-07-10

Similar Documents

Publication Publication Date Title
JP6521332B2 (en) Cascaded H-bridge inverter and method for handling defects thereof
CN113507252B (en) Open-circuit fault-tolerant driving system of electro-magnetic doubly salient motor
CN110601607A (en) Dual-mode operation control system and control method for three-level six-phase permanent magnet synchronous motor
WO2021135739A1 (en) Electric motor control system and electric motor control apparatus
CN108809173B (en) Common-bus open-winding brushless doubly-fed wind generator system fault-tolerant control method
CN108963980B (en) Multi-mode fault isolation method based on fault isolation library
CN108631673B (en) Vector control method for fault-tolerant system of permanent magnet synchronous motor
CN109995275B (en) Current source phase modulator variable frequency starting phase change lead angle subsection control method
CN111404427B (en) Motor series mode fault-tolerant system and control method
CN115987172B (en) Double-salient motor current sensor signal loss fault tolerance control method
CN111464072B (en) Fault-tolerant system and fault-tolerant control method for multiple direct current motors in parallel
CN111464077B (en) Five-direct-current motor series direct torque fault-tolerant control method and system
CN110112960A (en) Control system and method under a kind of more power bridge arm failures of bi-motor
CN111404425B (en) Direct current motor parallel control system and current following control method
CN111404426B (en) Multi-direct-current motor parallel system and current control method
CN111464076B (en) Three-direct-current motor parallel fault-tolerant control system and control method
CN111934583B (en) Fault-tolerant control system and method for double-direct-current motor series system
CN108183638B (en) Three-phase nine-switch double-synchronous-motor time-sharing control inverter and control method
CN111628679B (en) Fault-tolerant system and control method for parallel motors
CN111464079B (en) Fault-tolerant control method and system for multiple direct current motors connected in series
CN111464071B (en) Four-direct-current motor parallel current hysteresis fault-tolerant control method and control system
CN221103210U (en) Dual-motor control circuit and variable-frequency speed regulation system
CN111464078B (en) Fault-tolerant control system and control method for four-direct-current motor series system
CN214281275U (en) Inverter system
CN110463571B (en) Irrigation power supply system and control method thereof under fault

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: A Fault Tolerant System and Control Method for Motor Series Connection

Effective date of registration: 20230407

Granted publication date: 20220325

Pledgee: Bank of China Limited Suzhou Xiangcheng sub branch

Pledgor: SUZHOU BONRAY MEASURE & CONTROL EQUIPMENT Co.,Ltd.

Registration number: Y2023980037657

PE01 Entry into force of the registration of the contract for pledge of patent right