CN111464076B - Three-direct-current motor parallel fault-tolerant control system and control method - Google Patents

Three-direct-current motor parallel fault-tolerant control system and control method Download PDF

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CN111464076B
CN111464076B CN202010374336.XA CN202010374336A CN111464076B CN 111464076 B CN111464076 B CN 111464076B CN 202010374336 A CN202010374336 A CN 202010374336A CN 111464076 B CN111464076 B CN 111464076B
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CN111464076A (en
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林海
石泽凯
李晓辉
李�杰
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Changan University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • 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
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds

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Abstract

The invention discloses a three-DC motor parallel fault-tolerant control system and a control method, meanwhile, the system comprises an operation that a reference current calculation module and a current reconstruction calculation module change three current signals into four current signals, and in the working process of a motor, the current reconstruction calculation is carried out according to an acquired instantaneous signal, and meanwhile, the fault detection and fault-tolerant control technology is adopted to detect an electrode in the real-time working process, so that the normal working of three-parallel DC motors is ensured; the fault-tolerant control technology of the three-parallel direct current motor parallel system is simple to realize, can effectively realize the related control of the three-parallel direct current motors, ensures the normal work of the motors, has small operation difficulty and is convenient to understand.

Description

Three-direct-current motor parallel fault-tolerant control system and control method
Technical Field
The invention belongs to the technical field of motor systems and control, and particularly relates to a three-direct-current motor parallel fault-tolerant control system and a control method.
Background
In the current development process, the three-DC motor control system has very important research significance, has extremely wide application in daily life, and draws more and more attention and attention of researchers. However, due to the characteristics of the three dc motors during their operation, their use environment is complex, in such a case, various unexpected problems often occur during their operation, which bring many problems and difficulties to the normal operation, on the one hand, irreversible damage to the performance of the equipment, and on the other hand, various dangers and accidents may occur.
Disclosure of Invention
The invention aims to provide a three-direct current motor parallel fault-tolerant control system and a control method, which aim to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-DC motor parallel fault-tolerant control method comprises the following steps:
s1, the system is initialized, and the actual rotating speed w is output through the position sensor and the rotating speed calculation module1 w2 w3With a reference speed value w1ref w2ref w3refThe following formula is carried out to calculate the calculated rotating speed error Ew1 Ew2 Ew3Entering a PI control module:
Ewi＝wiref-wi(i＝1.2.3)
s2, obtaining three paths of reference current values I through the PI control modulem1 Im2 Im3And input to the reference current calculation module;
s3, judging whether the motor has a fault or not, if not, the motor normally runs, and calculating four-way reference current value I1ref I2ref I3ref I4ref(ii) a If the motor fails, the fault detection and fault-tolerant control module generates a signal F, the signal F enters a reference current calculation module to enable the actual current value and the reference current value of the failed motor to be set to zero, the actual current value and the reference current value enter a hysteresis controller module through the calculated current error value, and the next step of control is carried out through the conversion of pulse signals;
s4, the actual three-way current value x of the branch circuit is calculated1 x2 x3The actual four-way current value I is calculated by a current reconstruction calculation module1 I2 I3 I4；
While carrying out current reconstruction calculation, generating an error signal F according to a fault detection and fault-tolerant control strategy module, and inputting the error signal F into a reference current module, a PWM module and a four-phase voltage source type fault-tolerant inverter module to carry out feedback of the working state of the motor;
s5, the actual current value I is set1 I2 I3 I4And a reference current value I1ref I2ref I3ref I4refThe current error E is calculated byI1 EI2 EI3 EI4；
EIi＝Iiref-Ii i＝(1.2.3.4)
S6, calculating the current error EIiFour-way pulse signal obtained by entering hysteresis control module (1.2.3.4)Number H1H2 H3 H4；
S7, converting the pulse signal H1 H2 H3 H4The method comprises the steps of entering a PWM module for pulse regulation, modulating a reference voltage output waveform with a row of sawtooth waves, observing a natural intersection point of the reference voltage output waveform and the row of sawtooth waves, obtaining the PWM duty ratio, comparing the working voltage of a direct current motor with the size of a direct current power supply through a four-phase voltage source inverter, realizing fault-tolerant control of three direct current motors connected in parallel, and judging the operation state of the motor; and generating eight paths of complementary signals through the fault signal F in the step S3 by four bidirectional thyristors, and transmitting the generated complementary signals and the fault signal F in the step S2 to the power switching tubes of four bridge arms and the working states of eight fuses of the six-phase voltage type fault-tolerant inverter driving control motor.
Further, the reference current calculating module in S2 is a three-way current value I generated by adjusting the rotation speed by PImiThe current value I of the four-way test was calculated from (1.2.3) Iirefi ═ 1.2.3.4 in subsequent calculations;
Figure GDA0003338038600000021
further, the current reconstruction module in S3 is to acquire three actual current values xiI-1.2.3, four actual current values I are calculated and output by the following formulaii ═ 1.2.3 for subsequent calculations;
Figure GDA0003338038600000031
further, the error signal F in S4 has seven values, which include normal operation of all motors, failure of one motor, simultaneous failure of two motors, and simultaneous failure of three motors:
Figure GDA0003338038600000032
further, a three-dc motor parallel fault-tolerant control system, which uses the three-dc motor parallel fault-tolerant control method of claim 1, includes: the system comprises three parallel direct current motors, a position sensor, a rotating speed calculation module, a PI control module, a PWM module, a four-phase voltage source type fault-tolerant inverter module, a reference current calculation module, a hysteresis control module and a current reconstruction calculation, fault detection and fault-tolerant control strategy module; the three-parallel direct current motor, the position sensor, the rotating speed calculation module, the PI control module, the reference current calculation module, the hysteresis control module, the PWM module and the four-phase voltage source type fault-tolerant inverter module are sequentially connected, and the four-phase voltage source type fault-tolerant inverter module is sequentially connected to the three-parallel direct current motor; the current reconstruction calculation, fault detection and fault-tolerant control strategy module is connected to the reference current calculation module, the hysteresis control module, the three-parallel direct current motor, the PWM module and the four-phase voltage source type fault-tolerant inverter module.
Furthermore, the rotation speed regulation is carried out by adopting PI regulation, the current correlation calculation is carried out by adopting a reference current calculation module and a current reconstruction calculation module, a current controller of the whole system is carried out by adopting a hysteresis controller, and fault-tolerant control of the three parallel motors is realized by accompanying a fault detection and fault-tolerant control module.
Further, the PI controller module is used for referring the value w of the rotating speedirefi ═ 1.2.3 and the actual rotational speed wiError E of rotation speed calculated by phase i ═ 1.2.3wiCarrying out correlation calculation to obtain an actual current parameter I (1.2.3)mi i＝(1.2.3)；
The reference current calculation module is used for calculating three ways to four ways of actual current values and outputting four ways of reference currents I after calculationiref i＝(1.2.3)；
The rotating speed calculating module is used for calculating the actual rotating speed of the three parallel direct current motors and outputting three actual rotating speed values wi i＝(1.2.3)；
The current reconstruction calculation module is used for calculating three paths of actually acquired current signals into four paths of actually acquired current signals and outputting four actual current values I after calculationi i＝(1.2.3)；
The hysteresis controller is used for calculating the actual current error EIii ═ 1.2.3) becomes the actual pulse signal;
PWM module and four-phase voltage source type fault-tolerant inverter module for converting pulse signal HiThe i-1.2.3 pulse modulation is carried out in a PWM module, the output waveform of the reference voltage is modulated with a row of sawtooth waves, and the natural intersection point of the two is observed to obtain the PWM duty ratio;
the fault detection and fault-tolerant control strategy module is used for generating an error signal F according to the real-time working condition of the three parallel motors and inputting the error signal F into the reference current calculation module, the PWM control module and the four-phase voltage source type fault-tolerant inverter module to realize the control of the work of the three parallel direct current motors.
Compared with the prior art, the invention has the following technical effects:
the system has simpler hardware circuit, belongs to a fact control mode, has quicker current reaction, removes carrier signals, does not contain harmonic components with specific frequency in output voltage waveform, has higher harmonic content in the output current with the same switching frequency compared with the original calculation method and modulation method, and belongs to a closed-loop control system.
Furthermore, a method adopting a fault-tolerant control technology is adopted, namely corresponding fault-tolerant control measures are adopted according to the information of the detected faults and aiming at different fault sources and fault characteristics before or after the three parallel direct current motors have faults, so that the normal work of the equipment is realized, and the normal work of the three parallel direct current motors is ensured.
The fault-tolerant control technology of the three-parallel direct current motor parallel system is simple to realize, can effectively realize the related control of the three-parallel direct current motors, ensures the normal work of the motors, has small operation difficulty and is convenient to understand.
Drawings
FIG. 1 is a system structure diagram of a fault-tolerant control technology of a three-DC motor parallel system;
FIG. 2 is a diagram of a fault-tolerant control method for three DC motors connected in parallel;
FIG. 3 is a schematic diagram of a three-DC motor parallel fault-tolerant control method, namely an L1 bridge arm;
FIG. 4 is a flow chart of a fault-tolerant control technology system of a three-DC motor parallel system.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1 to 4, the present invention adopts a fault-tolerant control system to control three parallel direct current motors, and at the same time, the system includes a reference current calculation module and a current reconstruction calculation module to change three current signals into four current signals, and during the operation of the motor, according to the collected instantaneous signal xiWhen current reconstruction calculation is carried out, (1.2.3), a fault detection and fault-tolerant control technology is adopted to detect the electrodes in the real-time working process, and the normal work of the three-parallel direct current motor is ensured.
Referring to fig. 1, the fault-tolerant control technique for a three-dc-motor parallel system of the present invention mainly includes three parallel dc motors, a position sensor, a rotation speed calculation module, a PI control module, a reference current calculation module, a current reconstruction calculation module, a hysteresis controller module, a PWM module, and a fault-tolerant inverter module. Each module is absent and unavailable, and an inner loop circuit and an outer loop circuit of the system are formed together. The main modules are described in detail below.
Referring to fig. 2, in the method for controlling the parallel connection of three direct current motors, eight IGBT modules are provided, and the eight IGBT modules are connected in series with each other two by two, for example, in the figure, T1 and T2 are connected in series, T3 and T4 are connected in series, T5 and T6 are connected in series, and T7 and T8 are connected in series, and after the connection is successful, the eight IGBT modules are connected in parallel to form a circuit model as shown in the figure. The first branch circuit consists of bipolar transistor chips T1 and T2 and diode chips D1 and D2 which are respectively connected in parallel; the second branch circuit consists of diode chips D3 and D4 which are connected in series and in parallel with the bipolar transistor chips T3 and T4 respectively; the third branch consists of bipolar transistor chips T5 and T6 and diode chips D5 and D6 which are respectively connected in parallel; the fourth branch consists of bipolar transistor chips T7 and T8 and diode chips D7 and D8 connected in parallel.
Meanwhile, three parallel direct current motors are connected with four bidirectional thyristors, the midpoint of a connecting line between the bipolar transistor chip T1 and the bipolar transistor chip T2 in the first branch is a node a, and the midpoint is connected with one bidirectional thyristor TR1 and is connected with the positive electrode of the motor DCM 1; the midpoint of a connecting line between the bipolar transistor chips T3 and T4 in the second branch is a node b, and the node b is connected with a bidirectional thyristor TR2 and is connected with the anode of a motor DCM 2; the midpoint of a connecting line between the bipolar transistor chips T5 and T6 in the third branch is a node c, and the node c is connected with a bidirectional thyristor TR3 and is connected with the anode of a motor DCM 3; the midpoint of the connection line between the bipolar transistor chips T7 and T8 in the fourth branch is a node d, and the connection line is connected with a bidirectional thyristor TR1 and is connected with the negative electrodes of the motors DCM1, DCM2 and DCM 3. And a fuse is added at one end of the connection part of each bridge arm and the power supply, so that the influence of other faults on the system is prevented, and the system is protected.
Referring to fig. 1, after the system is initialized, the position sensor transmits a signal to the rotation speed calculation module to calculate the actual rotation speed of the motor, then an error value between the actual rotation speed and the reference rotation speed is calculated by the PI control module, after a current value is obtained, an error value obtained by calculating the actual current value of the reference current by the current reconstruction calculation module is calculated by the reference current calculation module, a pulse signal is obtained by the hysteresis controller, the pulse signal enters the PWM module and the inverter module to perform PWM modulation, so as to obtain the duty ratio of the pulse signal, then the four-phase voltage source inverter operates on three parallel direct current motors under the action of external direct current voltage, and simultaneously the current on the branch is fed back to the current reconstruction calculation module, so as to complete the control of the whole loop. And when the motor current reconstruction calculation is carried out every time, the fault detection and fault-tolerant control strategy module carries out actual detection on the motor and generates an error signal F, and the error signal F is input into the reference current calculation module, the PWM module and the four-phase voltage source type fault-tolerant inverter module to realize the control of the three-parallel direct current motor.
Current value I to be referencedirefAnd the actual currentValue IiThe calculated current error is subjected to pulse signal H through the hysteresis moduleiA transition where i ═ (1.2.3.4), where:
Figure GDA0003338038600000061
according to the above expression of the logic function: when the current error value E of the input terminali1、Ei2、Ei3、Ei4When h is greater than or equal to h, outputting a high level; when the current error value E of the input terminali1、Ei2、Ei3、Ei4When the voltage is less than or equal to-h, outputting a low level; when the current error value E of the input terminali1、Ei2、Ei3、Ei4Is between-h and h, the output remains equal to the value at the previous time. Wherein EIiFor current error and input of hysteretic controller, pulse signal HiQ is the same as the value at the previous time, h is the threshold of the hysteretic controller, and i is 1,2, 3, 4.
Then, the pulse signal HiPulse modulation is performed by a PWM module, i is equal to (1.2.3.4), and H of each group is shown in figure twoiThe signal will produce two opposite signals. The state of the switching tube of the bridge arm is controlled, so that the pulse signal is changed into eight paths from four paths through the PWM module, and the bridge arm L is controllediThe fault-tolerant control of the three parallel direct current motors is now performed (1.2.3.4).
The following specific variations are shown in fig. 3, taking the signal value of the first bridge arm in the second as an example (note: at this time, 1,2 represents two opposite signal values, and the series elements on the same bridge arm are represented identically, such as T1 and T2 as T1-1 and T1-2, and the other four bridge arms are also so as to be distinguished):
Figure GDA0003338038600000071
as shown in FIG. 2, if Iiref>IiI.e. Iiref-IiWhen the reaction time is more than or equal to h,the hysteresis controller outputs high level and transmits the high level to the PWM generating module to generate current waveform, and then the generated PWM waveform signal generates a driving signal through the inverter so as to drive the bridge arm L1For example, the driving signal is shown as H in FIG. two1-1In H1-1Under the action of the DC voltage, T1-1 is conducted, T1-2 turns off the motor to switch on the positive end of the DC bus, and the current starts to rise. When growing to and IirefWhen the difference is equal, the HBC keeps outputting a positive level and keeps conducting, and i continues to increase, although the sign of the input signal of the hysteresis comparator changes. Until reaching Ii＝Iiref+h，EIiWhen the hysteresis loop is inverted, a negative level is output, and T1-1 is turned off, at this time, after a PWM current wave generated by the PWM generation module takes a logical negation, a driving signal is generated by the inverter and a time delay is performed to drive the lower bridge arm power switching device T1-2, the motor is turned on a negative terminal of the dc bus, and the current starts to decrease.
When I isiref-IiNot less than h
Figure GDA0003338038600000072
When-h is less than Iiref-IiWhen is less than h
Figure GDA0003338038600000073
When I isiref-IiWhen the temperature is less than or equal to-h
Figure GDA0003338038600000074
Wherein i ═ 1.2.3.4)
(note: in the above formula "→" represents control, "1" represents on of the switching device, and "0" represents off of the switching device)
As mentioned above, the remaining three legs have the same operation.
Referring to fig. 4, a flowchart of the fault-tolerant control technique for the three dc motors connected in parallel at this time includes the following specific steps:
firstly, initializing a system, and outputting an actual rotating speed w through a rotating speed calculation module by a position sensor1 w2w2With a reference speed value w1ref w2ref w3refThe following formula (1) is carried out to calculate the calculated rotating speed error Ew1 Ew2 Ew3Entering a PI control module:
Ewi＝wiref-wi(i＝1.2.3) (1)
step two, obtaining the reference current value I of the three paths through the PI regulating modulem1 Im2 Im3And through a reference current calculation module;
step three, judging whether the motor has faults or not, if not, normally operating the motor, and calculating four reference current values I through the following formula (2)1ref I2ref I3ref I4ref(ii) a If the motor fails, the fault detection and fault-tolerant control module generates a signal F, the signal F enters a corresponding module, the actual current value and the reference current value of the motor are set to be zero, and the next step of control is carried out;
Figure GDA0003338038600000081
step four, the actual three-way current value x of the branch circuit is calculated1 x2 x3The actual four-way current value I is calculated by a current reconstruction calculation module through a formula (3)1 I2 I3 I4；
Figure GDA0003338038600000082
While carrying out current reconstruction calculation, generating an error signal F according to a fault detection and fault-tolerant control strategy module, and inputting the error signal F into a reference current module, a PWM module and a four-phase voltage source type fault-tolerant inverter module to carry out feedback of the working state of the motor;
step five, the actual current value I is measured1 I2 I3 I4And a reference current value I1ref I2ref I3ref I4refThe current error E is calculated through the step (4)i1 Ei2 Ei3 Ei4；
EIi＝Iiref-Ii i＝(1.2.3.4) (4)
Step six, calculating the current error EIiThe obtained four-way pulse signal H entering the hysteresis control module is (1.2.3.4)1 H2 H3 H4；
Step seven, the pulse signal H1 H2 H3 H4And the PWM module is used for pulse regulation, the output waveform of the reference voltage is modulated with a row of sawtooth waves, the natural intersection point of the output waveform of the reference voltage and the row of sawtooth waves is observed, the PWM duty ratio is obtained, the working voltage of the direct current motor is compared with the direct current power supply through the four-phase voltage source inverter, the fault-tolerant control of the three parallel direct current motors is realized, and the operation state of the motor is judged.
In the actual working process of the motor, the fault-tolerant control strategy can be based on the collected instantaneous current value x1 x2 x3And controlling the actual working state of the motor, and judging the working condition of the motor according to the value of the error signal F reflected by the fault-tolerant control strategy module. The three parallel direct current motors have 7 changes in the value of the error signal F according to different generated signals, and the change represents the working states of the three parallel direct current motors. The details are as follows:
the values of the error signal F respectively represent:
Figure GDA0003338038600000091
the detailed data are as follows:
table one: relevant value of F and motor working state table
Figure GDA0003338038600000092
Figure GDA0003338038600000101
Note: wherein the motors have 8 operating states, the symbol represents the normal operation of the motors, and the symbol represents the abnormal operation of the motors.
According to the collected instantaneous current value x1 x2 x3Through the current reconstruction, fault detection and fault-tolerant control strategy module shown in the figure I, the reference current value and the actual current value fed back according to the real-time working state of the motor are different. And according to the reference current value I1ref I2ref I3ref I4refAnd the actual current value I1 I2 I3 I4The value of the error signal F varies:
for F ═ 0-3: taking F1 as an example, when F1, the actual F signal enters the reference current module to affect the calculation of the reference current through the action of the fault detection and fault-tolerant control strategy module according to the actual state of the motor, and the actual current value passing through the current reconstruction calculation module changes in response, at this time, I changes1refAnd I1The value of (1) is zero, a controller cannot generate a response pulse response signal, at the moment, as shown in the figure II, an L1 bridge arm does not work, a bidirectional thyristor TR1 is turned off, a motor DCM1 fails to work, and other motors work normally;
for the single motor mode of operation where F is 4-6: if the other normal motors of the motor DCMi (i is 1.2.3) have faults, the difference value between the actual current and the reference current of the motor DCMi (i is 1.2.3) is sent to the hysteresis controller module as described above to generate a pulse signal corresponding to the sound, and the two pulse signals H are generated by the PWM modulei-1And Hi-2Wherein (i ═ 1.2.3.4), the two paths of signals control the switching of the IGBT tube;
as shown in figure threeAs shown, if the motor DCMi (i ═ 1.2.3) is operating normally, then H isi-1Make the ith road and bridge arm LiUpper end IGBT and fourth bridge arm L4Lower end of IGBT tube of (1) is conducted, Hi-2Make the ith road and bridge arm LiLower end of IGBT and fourth bridge arm L4The IGBT tube at the upper end is turned off, and is in cross conduction and turn off, so that a hysteresis loop is realized to control signals of two bridge arms of a single motor, and the running state of the single motor is realized;
reference current value I for 8 value changes of F1ref I2ref I3ref I4refAnd the actual current value I1 I2 I3 I4The detailed changes are as follows:
(1) when F is equal to 0, the system works normally, and the three motors run normally;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure GDA0003338038600000111
(2) when F is equal to 1, the system is abnormal, the bidirectional thyristor TR1 is turned off, and the DCM1 does not work when in fault;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure GDA0003338038600000112
(3) when F is 2, the system is abnormal, the bidirectional thyristor TR2 is turned off, and the DCM2 does not work due to fault;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure GDA0003338038600000113
(4) when F is 3, the system is abnormal, the bidirectional thyristor TR3 is turned off, and the DCM3 does not work due to fault;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure GDA0003338038600000114
(5) when F is 4, the system is abnormal, the bidirectional thyristors TR1 and TR2 are turned off, and the DCM1 and the DCM2 simultaneously fail to work;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure GDA0003338038600000115
(6) when F is 5, the system is abnormal, the bidirectional thyristors TR2 and TR3 are turned off, and the DCM2 and the DCM3 simultaneously fail to work;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure GDA0003338038600000121
(7) when F is 6, the system is abnormal, the bidirectional thyristors TR1 and TR3 are turned off, and the DCM1 and the DCM3 simultaneously fail to work;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure GDA0003338038600000122
the above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (5)

1. A three-DC motor parallel fault-tolerant control method is characterized by comprising the following steps:
s1, the system is initialized, and the actual rotating speed w is output through the position sensor and the rotating speed calculation module1 w2 w3With a reference speed value w1ref w2ref w3refThe following formula is carried out to calculate the calculated rotating speed error Ew1 Ew2 Ew3Entering a PI control module:
Ewi＝wiref-wi i＝1,2,3
s2, obtaining three paths of reference current values I through the PI control modulem1 Im2 Im3And input to the reference current calculation module;
s3, judging whether the motor has a fault or not, if not, the motor normally runs, and calculating four-way reference current value I1ref I2ref I3ref I4ref(ii) a If the motor fails, the fault detection and fault-tolerant control module generates a signal F, the signal F enters a reference current calculation module to enable the actual current value and the reference current value of the failed motor to be set to zero, the actual current value and the reference current value enter a hysteresis controller module through the calculated current error value, and the next step of control is carried out through the conversion of pulse signals;
s4, the actual three-way current value x of the branch circuit is calculated1 x2 x3The actual four-way current value I is calculated by a current reconstruction calculation module1 I2 I3 I4；
While carrying out current reconstruction calculation, generating an error signal F according to a fault detection and fault-tolerant control strategy module, and inputting the error signal F into a reference current module, a PWM module and a four-phase voltage source type fault-tolerant inverter module to carry out feedback of the working state of the motor;
s5, the actual current value I is set1 I2 I3 I4And a reference current value I1ref I2ref I3ref I4refThe current error E is calculated byI1 EI2 EI3 EI4；
EIi＝Iiref-Ii i＝(1.2.3.4)
S6, calculating the current error EIiThe obtained four-way pulse signal H entering the hysteresis control module is (1.2.3.4)1H2H3 H4；
S7, converting the pulse signal H1 H2 H3 H4The method comprises the steps of entering a PWM module for pulse regulation, modulating a reference voltage output waveform with a row of sawtooth waves, observing a natural intersection point of the reference voltage output waveform and the row of sawtooth waves, obtaining the PWM duty ratio, comparing the working voltage of a direct current motor with the size of a direct current power supply through a four-phase voltage source type inverter, realizing fault-tolerant control of three direct current motors connected in parallel, and judging the operation state of the motor; generating eight paths of complementary signals through the fault signals F in the step S3 by four bidirectional thyristors, and transmitting the generated complementary signals and the fault signals F in the step S3 to power switching tubes and eight fuses of four bridge arms of a four-phase voltage type fault-tolerant inverter control motor;
the reference current calculation module in S2 is a three-way current value I generated by adjusting the rotation speed by PImiThe current value I of the four reference paths is calculated by the following formula (1.2.3)irefi ═ 1.2.3.4 in subsequent calculations;
Figure FDA0003338038590000021
the current reconstruction module in S3 is to adoptCollected three actual current values xiI-1.2.3, four actual current values I are calculated and output by the following formulaii ═ 1.2.3.4) for subsequent calculations;
Figure FDA0003338038590000022
2. the method according to claim 1, wherein the error signal F in S4 has seven values, which include normal operation of all motors, failure of one motor, and simultaneous failure of two motors:
Figure FDA0003338038590000023
3. a three-dc-motor parallel fault-tolerant control system, which is characterized in that the three-dc-motor parallel fault-tolerant control method of claim 1 is adopted, and comprises the following steps: the system comprises three parallel direct current motors, a position sensor, a rotating speed calculation module, a PI control module, a PWM module, a four-phase voltage source type fault-tolerant inverter module, a reference current calculation module, a hysteresis control module and a current reconstruction calculation, fault detection and fault-tolerant control strategy module; the three-parallel direct current motor, the position sensor, the rotating speed calculation module, the PI control module, the reference current calculation module, the hysteresis control module, the PWM module and the four-phase voltage source type fault-tolerant inverter module are sequentially connected, and the four-phase voltage source type fault-tolerant inverter module is sequentially connected to the three-parallel direct current motor; the current reconstruction calculation, fault detection and fault-tolerant control strategy module is connected to the reference current calculation module, the hysteresis control module, the three-parallel direct current motor, the PWM module and the four-phase voltage source type fault-tolerant inverter module.
4. The system according to claim 3, wherein the rotation speed regulation is performed by PI regulation, the current correlation calculation is performed by a reference current calculation module and a current reconstruction calculation module, and the current controller of the whole system is performed by a hysteresis controller, and is accompanied with a fault detection and fault tolerance control module to realize fault tolerance control of the three parallel motors.
5. The fault-tolerant control system for three direct current motors connected in parallel according to claim 3, wherein the PI controller module is used for referencing the value w of the rotating speedirefi ═ 1.2.3 and the actual rotational speed wiError E of rotation speed calculated by phase i ═ 1.2.3wiCarrying out correlation calculation to obtain an actual current parameter I (1.2.3)mi i＝(1.2.3)；
The reference current calculation module is used for calculating three ways to four ways of actual current values and outputting four ways of reference currents I after calculationiref i＝(1.2.3.4)；
The rotating speed calculating module is used for calculating the actual rotating speed of the three parallel direct current motors and outputting three actual rotating speed values wi i＝(1.2.3)；
The current reconstruction calculation module is used for calculating three paths of actually acquired current signals into four paths of actually acquired current signals and outputting four actual current values I after calculationi i＝(1.2.3.4)；
The hysteresis controller is used for calculating the actual current error EIii ═ 1.2.3.4 becomes the actual pulse signal;
PWM module and four-phase voltage source type fault-tolerant inverter module for converting pulse signal HiThe pulse modulation is carried out on the i-value (1.2.3.4) entering a PWM module, the output waveform of the reference voltage is modulated with a row of sawtooth waves, the natural intersection point of the two is observed, and the size of the PWM duty ratio is obtained;
the fault detection and fault-tolerant control strategy module is used for generating an error signal F according to the real-time working condition of the three parallel motors, and sending the error signal F into the reference current calculation module, the PWM control module and the four-phase voltage source type fault-tolerant inverter module to realize the control of the work of the three parallel direct current motors; reference current value I for 7 value changes of F1ref I2ref I3refI4refAnd the actual current value I1 I2 I3 I4The detailed changes are as follows:
(1) when F is equal to 0, the system works normally, and the three motors run normally;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure FDA0003338038590000041
(2) when F is equal to 1, the system is abnormal, the bidirectional thyristor TR1 is turned off, and the DCM1 does not work when in fault;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure FDA0003338038590000042
(3) when F is 2, the system is abnormal, the bidirectional thyristor TR2 is turned off, and the DCM2 does not work due to fault;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure FDA0003338038590000043
(4) when F is 3, the system is abnormal, the bidirectional thyristor TR3 is turned off, and the DCM3 does not work due to fault;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure FDA0003338038590000044
(5) when F is 4, the system is abnormal, the bidirectional thyristors TR1 and TR2 are turned off, and the DCM1 and the DCM2 simultaneously fail to work; reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure FDA0003338038590000051
(6) when F is 5, the system is abnormal, the bidirectional thyristors TR2 and TR3 are turned off, and the DCM2 and the DCM3 simultaneously fail to work;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure FDA0003338038590000052
(7) when F is 6, the system is abnormal, the bidirectional thyristors TR1 and TR3 are turned off, and the DCM1 and the DCM3 simultaneously fail to work;
reference current value I1ref I2ref I3ref I4refValue of (D) and actual current value I1 I2 I3 I4The following were used:
Figure FDA0003338038590000053
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CN206564553U (en) * 2016-10-26 2017-10-17 哈尔滨理工大学 Brushless DC motor control system based on current hysteresis-band control
CN108880339A (en) * 2018-06-20 2018-11-23 长安大学 Three direct current generator differential concatenation control systems of one kind 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

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