CN111464078B - Fault-tolerant control system and control method for four-direct-current motor series system - Google Patents
Fault-tolerant control system and control method for four-direct-current motor series system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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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
- H02P5/46—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
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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
- H02P5/46—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
Abstract
The invention discloses a fault-tolerant control system and a control method of a four-direct-current motor series system, which utilize the current value of the output end of a five-phase voltage source type fault-tolerant inverter module to judge whether four direct-current motors have faults or not through an actual current reconstruction, fault detection and fault-tolerant control module, and set the reference torque value of the corresponding motor with the faults as zero; the motor reference torque is obtained by calculating the difference between the reference rotating speed and the actual rotating speed through a PI regulator and a reference torque calculating module; and if the motor fails, the corresponding bidirectional thyristor is turned off, so that the flowing torque is zero, the pulsation of the electromagnetic torque is output at the minimum, the normal work of other motors of the system is ensured, the control performance is improved, and the motor system is protected.
Description
Technical Field
The invention belongs to the technical field of fault-tolerant control of direct current motors, and particularly relates to a fault-tolerant control system and a fault-tolerant control method for a four-direct current motor series system.
Background
The direct torque fault-tolerant control has the characteristic of instantaneous torque control, and realizes the direct control of the motor torque; the traditional direct torque fault-tolerant control continuously uses more zero voltage vectors at low speed, so that the switching frequency is very low, the torque pulsation is large, a more accurate mathematical model of a diagnosed object cannot be obtained, and the robustness is poor; the fault diagnosis method based on the mathematical model has the disadvantages of inaccurate model and large interference, and how to design a model sensitive to faults is very critical, and the fault diagnosis of wavelet transformation for signal processing is also a difficult point.
Meanwhile, because the power of the power switch tube on the working bridge arm of the inverter is high, the energy density is high, the fault of any link in variable working environments can influence the work of the whole system, even lead to the stagnation of a fault-tolerant system, and the influence of the fault of a power device on the system is effectively reduced by judging and protecting the overvoltage, the overcurrent, the driving circuit and the like of the working bridge arm of the inverter; the prerequisite for executing the fault-tolerant control is correct judgment of system faults, improves the safety performance of the motor driving system, and is necessary for the fault judgment and fault-tolerant control research of the motor system.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to provide a fault-tolerant control system and a fault-tolerant control method for a four-direct-current motor series system, so as to solve the technical problems that torque pulsation is large, accurate fault diagnosis cannot be realized, and the working efficiency is low in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fault-tolerant control method for a four-direct-current motor series system comprises the following steps:
s1, collecting actual detection current values of middle points of working bridge arms of a four-phase inverter in the five-phase voltage source type inverter, obtaining five-phase calculation current values through a recursion formula, and outputting five actual torque vectors T through current-torque conversioni(ii) a Comparing the five actual torques with a given reference torque, outputting a fault signal F whether the motor system is in fault or not, and controlling the reference torque calculation module and the five-phase bidirectional thyristor to be switched on and off by the fault signal; when the current of the working bridge arm branch of the inverter exceeds a specified value of the fuse, the fuse is fused;
s2, collecting position signals of four direct current motors, calculating the rotating speed, and outputting four actual rotating speeds omegaiAnd with a given reference speed omegairefAfter comparison, the difference is sent to a PI regulator to output a four-phase reference current value Imi；
S3, comparing the four-phase reference current value I of the step S2miAfter the current-torque conversion of the reference torque calculation module, five reference torque vectors T are outputiref；
S4, for five reference torque vectors TirefAnd five actual torque vectors TiAfter comparison, an error value e is obtainediFor the error value eiFive control signals H are generated by corresponding hysteresis comparatorsiFive control signals HiBy means of a PWM generation module, ten are generatedA path control signal; the five control signals are sent to an upper bridge arm power switch tube of a working bridge arm of the five-phase inverter, and the rest five control signals are sent to a lower bridge arm power switch tube of the working bridge arm of the five-phase inverter through a logical NOT gate to control and drive the on-off of the corresponding power switch tube, so that the torque control of the four direct current motor is realized.
Specifically, in step S1, when current-torque conversion is performed on the five calculated current values, an actual torque calculated value can be obtained by the following calculation formula:
wherein, X1，X2，X3And X4Actual detected current values of the middle points of working bridge arms of the four-phase inverter are respectively; k is a radical of1，k2，k3And k4Is a torque constant of the direct current motor.
Specifically, in step S2, the four-phase reference current value ImiThe formula is adopted to calculate the following formula:
Imi＝kpi(ωiref-ωi)+kii∫(ωiref-ωi)dt
wherein i is 1,2,3,4, kpiIs a proportionality coefficient, kiiAnd (4) an integral coefficient.
Specifically, in step S3, five reference torque vectors TirefThe following formula is calculated:
wherein, Im1,Im2,Im3,Im4Is a four-phase reference current.
Specifically, in step S4, the error value eiFive paths of control signals H are output by using a hysteresis comparatoriH is processed by PWM moduleiConverting the output to Hy(ei) A signal to generate ten control signals;
wherein, five control signals HiConverting the output to H byy(ei) Signal:
ei＝Tiref-Ti
where, i is 1,2,3,4,5, h is hysteresis bandwidth, TiCalculating the torque, T, for five phasesirefIs the reference torque.
Specifically, when the motor system normally works, all the bidirectional thyristors are conducted, the five-phase inverter working bridge arm normally works, and the output detected fault information F is equal to 0.
Specifically, when any one direct current motor fails, the actual torque vector and the reference torque vector of the corresponding inverter working bridge arm branch are both zero, and the actual torque vector and the reference torque vector of the other inverter working bridge arm branches are kept unchanged;
when any two direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding two-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged;
when any three direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding three-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged.
Another technical solution of the present invention is that, a fault-tolerant control system of a four-dc motor series system includes a first dc motor DCM1, a second dc motor DCM2, a third dc motor DCM3, a fourth dc motor DCM4, a first inverter operating arm, a second inverter operating arm, a third inverter operating arm, a fourth inverter operating arm, a fifth inverter operating arm, a first triac TR1, a second triac TR2, a third triac TR3, a fourth triac TR4, and a fifth triac TR 5;
the working bridge arm of the first inverter comprises an upper bridge arm T1And a lower bridge arm T2Upper bridge arm T1Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T2Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T1Drain electrode and lower bridge arm T of2The source electrode of (1) is connected, and the connection point of the source electrode is a point a;
the working bridge arm of the second inverter comprises an upper bridge arm T3And a lower bridge arm T4Upper bridge arm T3Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T4Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T3Drain electrode and lower bridge arm T of4The source electrode of (1) is connected, and the connection point of the source electrode is a point b;
the working bridge arm of the third inverter comprises an upper bridge arm T5And a lower bridge arm T6Upper bridge arm T5Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T6Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T5Drain electrode and lower bridge arm T of6The source electrode of (1) is connected, and the connection point of the source electrode of (1) is a point c;
the fourth inverter operating leg comprises an upper leg T7And a lower bridge arm T8Upper bridge arm T7Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T8Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T7Drain electrode and lower bridge arm T of8The source electrode of (1) is connected, and the connection point of the source electrode is a point d;
the working bridge arm of the fifth inverter comprises an upper bridge arm T9And a lower bridge arm T10Upper bridge arm T9Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T10Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T9Drain electrode and lower bridge arm T of10The source electrode of (1) is connected, and the connection point of the source electrode is a point e;
the positive winding of the first direct-current motor DCM1 is connected with the point a through the first bidirectional thyristor TR1, the negative winding of the first direct-current motor DCM1 is connected with the positive winding of the second direct-current motor DCM2, and then is connected with the point b through the second bidirectional thyristor TR 2; a negative winding of the second direct current motor DCM2 is connected with a positive winding of the third direct current motor DCM3, and then is connected with a point c through a third bidirectional thyristor TR 3; a negative winding of the third direct current motor DCM3 is connected with a positive winding of the fourth direct current motor DCM4, and then is connected with a point d through a fourth bidirectional thyristor TR 4; the negative side winding of the fourth dc motor DCM4 is connected to point e via a fifth triac TR 5.
Specifically, the first inverter working bridge arm further comprises a first fuse F1And a second fuse F2First fuse F1And upper bridge arm T1In series, a second fuse F2And a lower bridge arm T2Are connected in series; the second inverter operating arm also comprises a third fuse F3And a fourth fuse F4Third fuse F3And upper bridge arm T3Series, fourth fuse F4And a lower bridge arm T4Are connected in series; the third inverter working bridge arm also comprises a fifth fuse F5And a sixth fuse F6Fifth fuse F5And upper bridge arm T5Series, sixth fuse F6And a lower bridge arm T6Are connected in series; the fourth inverter arm further comprises a seventh fuse F7And an eighth fuse F8Seventh fuse F7And upper bridge arm T7Series connection, eighth fuse F8And a lower bridge arm T8Are connected in series; the fifth inverter working bridge arm also comprises a ninth fuse F9And a second fuse F10Ninth fuse F9And upper bridge arm T9In series, a second fuse F10And a lower bridge arm T10Are connected in series.
Specifically, the upper arm T1Lower bridge arm T2Upper bridge arm T3Lower bridge arm T4Upper bridge arm T5Lower bridge arm T6Upper bridge arm T7Lower bridge arm T8Upper bridge arm T9And a lower bridge arm T10All adopt power MOS switch tube.
Compared with the prior art, the invention has the beneficial effects that:
the invention also provides a fault-tolerant control method of the four-direct-current motor series system, which utilizes the current hysteresis control and fault-tolerant control technology, when the actual current of the direct-current motor is detected to be normally conducted within a given range, if the actual current exceeds the range, the fault occurs; before or after the equipment fails, judging which motor fails according to the detected value of the fault information F, and simultaneously controlling the bidirectional thyristors of the corresponding branches to be switched off; aiming at different fault sources and fault characteristics, corresponding fault-tolerant control measures are adopted to ensure that the direct current motor normally operates and complete the basic functions within the specified time; the invention can better inhibit the torque fluctuation of the direct current motor, effectively improve the dynamic response speed, and when one or more motor windings of the four motors have faults and the inverter switching tube has faults, the invention enables the pulse of the electromagnetic torque of the fault motor to be output at the minimum, and simultaneously can ensure the normal work of the other motors of the system and improve the control performance.
Furthermore, the fault can be compensated, inhibited and weakened through fault detection and diagnosis based on the mathematical model, and a fault detection signal can be accurately given, so that the on-off state of the bidirectional thyristor is controlled, and other normal motors can work normally.
Further, a four-phase reference current value I is output through a PI regulatormiThe method can eliminate steady-state errors, improve the tolerance-free degree, and simultaneously can accelerate the response speed of the system and stabilize the system.
Furthermore, four reference currents can be accurately obtained, and the circuit structure is simple and easy to realize.
Further, the difference value is processed by a corresponding hysteresis comparator to generate five paths of control signals HiThe result is accurate through ten control signals of the logic gate circuitHigh accuracy and convenient operation.
The invention provides a four-DC motor series system fault-tolerant control system, which judges whether four DC motors have faults by using the current value of the output end of a five-phase voltage source type fault-tolerant inverter module through an actual current reconstruction, fault detection and fault-tolerant control module, sets the reference torque value of the corresponding motor with the faults to be zero according to the fault condition, calculates the reference torque of a normal motor as the difference between the reference rotating speed and the actual rotating speed through a PI regulator and a reference torque calculation module, sends the difference between the calculated current value and the reference current value to a hysteresis comparator module, sends the output voltage of the hysteresis comparator to a PWM module, generates a working switch signal capable of driving a working bridge arm of an inverter, sends five paths of signals given by a controller to corresponding bidirectional thyristors, and shuts off the corresponding bidirectional thyristors for the motor with the faults, the torque flowing through the direct current motor is made zero, so that the motor system is protected.
Furthermore, for the motor with a fault, if the current in the loop is too large, the fuse is automatically fused to stop the corresponding inverter working bridge arm.
In summary, the fault-tolerant control system of the four-dc motor series system according to the present invention enables the pulse of the electromagnetic torque of the fault motor to be output at the minimum, and simultaneously, can ensure the normal operation of the other motors of the system, and improve the control performance.
Drawings
FIG. 1 is a circuit diagram of a fault-tolerant control system of a four-DC motor series system according to the present invention;
FIG. 2 is a block diagram illustrating the operation principle of the fault-tolerant control method for a four-DC-motor series system according to the present invention;
fig. 3 is a flowchart illustrating a method for controlling fault tolerance of a four-dc-motor series system according to the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1-3, the present invention provides a fault-tolerant control system for a four-dc motor series system, which comprises. The three-phase inverter comprises a first direct current motor DCM1, a second direct current motor DCM2, a third direct current motor DCM3, a fourth direct current motor DCM4, a first inverter working bridge arm, a second inverter working bridge arm, a third inverter working bridge arm, a fourth inverter working bridge arm, a fifth inverter working bridge arm, a first bidirectional thyristor TR1, a second bidirectional thyristor TR2, a third bidirectional thyristor TR3, a fourth bidirectional thyristor TR4 and a fifth bidirectional thyristor TR 5;
the working bridge arm of the first inverter comprises an upper bridge arm T1Lower bridge arm T2A first fuse F1And a second fuse F2Upper bridge arm T1Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T2Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T1Drain electrode and lower bridge arm T of2The source electrode of (1) is connected, and the connection point of the source electrode is a point a; first fuse F1And upper bridge arm T1In series, a second fuse F2And a lower bridge arm T2Are connected in series.
The working bridge arm of the second inverter comprises an upper bridge arm T3Lower bridge arm T4A third fuse F3And a fourth fuse F4Upper bridge arm T3Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T4Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T3Drain electrode and lower bridge arm T of4The source electrode of (1) is connected, and the connection point of the source electrode is a point b; third fuse F3And upper bridge arm T3Series, fourth fuse F4And a lower bridge arm T4Are connected in series.
The working bridge arm of the third inverter comprises an upper bridge arm T5Lower bridge arm T6The fifth fuse F5And a sixth fuse F6Upper bridge arm T5Source and dc voltage source VdcIs turning toPole connected, lower arm T6Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T5Drain electrode and lower bridge arm T of6The source electrode of (1) is connected, and the connection point of the source electrode of (1) is a point c; fifth fuse F5And upper bridge arm T5Series, sixth fuse F6And a lower bridge arm T6Are connected in series.
The fourth inverter operating leg comprises an upper leg T7Lower bridge arm T8Seventh fuse F7And an eighth fuse F8Upper bridge arm T7Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T8Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T7Drain electrode and lower bridge arm T of8The source electrode of (1) is connected, and the connection point of the source electrode is a point d; seventh fuse F7And upper bridge arm T7Series connection, eighth fuse F8And a lower bridge arm T8Are connected in series.
The working bridge arm of the fifth inverter comprises an upper bridge arm T9Lower bridge arm T10Ninth fuse F9And a second fuse F10Upper bridge arm T9Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T10Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T9Drain electrode and lower bridge arm T of10The source electrode of (1) is connected, and the connection point of the source electrode is a point e; ninth fuse F9And upper bridge arm T9In series, a second fuse F10And a lower bridge arm T10Are connected in series.
The positive winding of the first direct-current motor DCM1 is connected with the point a through the first bidirectional thyristor TR1, the negative winding of the first direct-current motor DCM1 is connected with the positive winding of the second direct-current motor DCM2, and then is connected with the point b through the second bidirectional thyristor TR 2; a negative winding of the second direct current motor DCM2 is connected with a positive winding of the third direct current motor DCM3, and then is connected with a point c through a third bidirectional thyristor TR 3; a negative winding of the third direct current motor DCM3 is connected with a positive winding of the fourth direct current motor DCM4, and then is connected with a point d through a fourth bidirectional thyristor TR 4; the negative side winding of the fourth dc motor DCM4 is connected to point e via a fifth triac TR 5.
Upper bridge arm T of the invention1Lower bridge arm T2Upper bridge arm T3Lower bridge arm T4Upper bridge arm T5Lower bridge arm T6Upper bridge arm T7Lower bridge arm T8Upper bridge arm T9And a lower bridge arm T10All adopt power MOS switch tube.
The invention also provides a fault-tolerant control method of a four-direct-current motor series system, which comprises the following steps:
s1, collecting actual detection current values of middle points of working bridge arms of a four-phase inverter in the five-phase voltage source type inverter, obtaining five-phase calculation current values through a recursion formula, and outputting five actual torque vectors T through current-torque conversioni(ii) a In the current calculation model, comparing the five actual torques with the reference torque, outputting a fault signal F of the motor system, and controlling the on-off of the reference torque calculation module and the five-phase bidirectional thyristor; when the current of the working bridge arm branch of the inverter exceeds a specified value of the fuse, the fuse is fused;
when the current-torque conversion is carried out on the five-phase calculated current value, an actual torque calculated value can be obtained, and the calculation formula is as follows:
wherein, X1，X2，X3And X4Actual detected current values of the middle points of working bridge arms of the four-phase inverter are respectively; k is a radical of1，k2，k3And k4Is a torque constant of the direct current motor.
S2, collecting position signals of four direct current motors, calculating the rotating speed, and outputting four actual rotating speeds omegaiAnd with a given reference speed omegairefAfter comparison, obtaining a difference value, sending the difference value into a PI regulator to output a four-phase reference current value Imi；
Wherein, the four-phase reference current value ImiThe formula is adopted to calculate the following formula:
Imi＝kpi(ωiref-ωi)+kii∫(ωiref-ωi)dt
wherein i is 1,2,3,4, kpiIs a proportionality coefficient, kiiAnd (4) an integral coefficient.
S3, comparing the four-phase reference current value I of the step S2miAfter the current-torque conversion of the reference torque calculation module, five reference torque vectors T are outputiref；
Five reference torque vectors TirefThe formula is adopted to calculate the following formula:
wherein, Im1,Im2,Im3,Im4Is a four-phase reference current.
S4, for five reference torque vectors TirefAnd five actual torque vectors TiAfter comparison, an error value e is obtainediFor the error value eiFive control signals H are generated by corresponding hysteresis comparatorsiFive control signals HiGenerating ten paths of control signals through a PWM generating module; the other processing is that the five control signals are sent to a lower bridge arm power switch tube of the five-phase inverter working bridge arm through a logic NOT gate to control and drive the on-off of the corresponding power switch tube, so as to realize the torque control of the four direct current motor.
Error value eiFive-path signal H output by using hysteresis comparatoriH is processed by PWM moduleiConverting the output to H byy(ei) Generating ten control signals, wherein one treatment is that five signals are directly sent to the switching tubes H of the upper bridge arms of the phases a, b, c, d and e of the invertersi1The other processing is to send five paths of signals to five lower bridge arm switching tubes H of the inverter through a logic NOT gatei2；
Wherein, five control signals HiBy passingTransform the output into H by the following formulay(ei) Signal:
ei＝Tiref-Ti(i＝1,2,3,4,5)
where h is the hysteresis bandwidth, TiCalculating the torque, T, for five phasesirefAs reference torque, eiIs a torque error value; hi1Outputting an upper bridge arm switch control signal of the ith inverter for the hysteresis comparator; hi2And outputting a lower bridge arm switch control signal of the ith inverter for the hysteresis comparator.
The invention utilizes the current hysteresis control and fault-tolerant control technology, when the actual current of the direct current motor is detected to be normally conducted within a given range, if the actual current exceeds the range, the fault occurs. Before or after the equipment fails, judging which motor fails according to the detected value of the fault information F, and simultaneously controlling the bidirectional thyristors of the corresponding branches to be switched off; for different fault sources and fault signatures; corresponding fault-tolerant control measures are taken to ensure that the direct current motor normally operates and complete the basic functions within a specified time, and the following two working states are specifically adopted:
(1) when the motor system normally works, all the bidirectional thyristors are conducted, the working bridge arm of the five-phase inverter normally works, and the output detected fault information is F ═ 0.
(2) When the system is abnormal, the fuse of the corresponding branch circuit can not work, and the detected fault signal F is output; actual torque TiAnd five reference torques TirefThe following three cases are included:
when one direct current motor breaks down, the actual torque vector and the reference torque vector of the corresponding inverter working bridge arm branch are zero, and the actual torque vector and the reference torque vector of the other inverter working bridge arm branches are kept unchanged;
when any two direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding two-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged;
when any three direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding three-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged.
Examples
The embodiment provides a fault-tolerant control system of a four-direct-current motor series system, a power supply is powered by a direct-current voltage source, a first direct-current motor DCM1, a second direct-current motor DCM2, a third direct-current motor DCM3 and a fourth direct-current motor DCM4 are driven by a five-phase inverter working bridge arm, and the five-phase inverter working bridge arm comprises ten switching inverters; each inverter working bridge arm comprises two power MOS switching tubes and a fuse which are connected in series, and an upper bridge arm T in the first inverter working bridge arm1And a first fuse F1Connecting, the middle and upper bridge arms T of the working bridge arm of the second inverter3And a third fuse F3Connecting, the middle and upper bridge arms T of the working bridge arm of the third inverter5And a fifth fuse F5Connecting, the upper bridge arm T of the fourth inverter working bridge arm7And a seventh fuse F7Connecting, the middle and upper bridge arms T of the working bridge arm of the fifth inverter9And a ninth fuse F9And the source electrode of the MOS tube of the upper bridge arm in the five-phase inverter working bridge arm is connected with the anode of the direct-current voltage source.
Lower bridge arm T of working bridge arm of first inverter2And a second fuse F2Lower arm T of the working arm of the second inverter4And a fourth fuse F4Lower arm T of working arm of third inverter6And a sixth fuse F6Lower arm T of the fourth inverter arm8And an eighth fuse F8Lower arm T of working arm of fifth inverter10And a tenth fuse F10Connecting, wherein the drain electrode of the MOS tube of the upper bridge arm in the five-phase inverter working bridge arm is connected with the negative electrode of the direct current voltage source, and the upper bridge arm T1Drain electrode and lower arm T of2The source electrode of the bridge is connected with a connection point a, and the upper bridge arm T3Drain electrode and lower arm T of4The source electrode of the bridge is connected with a connection point b, and the upper bridge arm T5Drain electrode and lower arm T of6The source electrode of the bridge is connected with a connection point c, and the upper bridge arm T7Drain electrode and lower arm T of8The source electrode of (1) is connected with a connection point d, and an upper bridge arm T9Drain electrode and lower arm T of10The connection point connected to the source of (a) is e.
The first direct-current motor DCM1, the second direct-current motor DCM2, the third direct-current motor DCM3 and the fourth direct-current motor DCM4 are connected in series in a special mode, a forward winding of the first direct-current motor DCM1 is connected with a connection point a after being connected with a first bidirectional thyristor TR1 in series, a negative winding of the first direct-current motor DCM1 is connected with a forward winding of the second direct-current motor DCM2 and then connected with a connection point b after being connected with a second bidirectional thyristor TR2 in series, a negative winding of the second direct-current motor DCM2 is connected with a forward winding of the third direct-current motor DCM3 and then connected with a connection point c after being connected with a third bidirectional thyristor TR3 in series, a negative winding of the third direct-current motor DCM3 is connected with a forward winding of the fourth direct-current motor DCM4 and then connected with a connection point d after being connected with the fourth bidirectional thyristor TR4 in series, and a negative winding of the fourth direct-current motor DCM4 and the fifth bidirectional thyristor TR5 are connected at a connection point e in series.
In the embodiment, the fault-tolerant control method for the four-direct-current motor series system adopts a direct torque control mode, and the direct torque control adopts a double closed-loop control strategy, which comprises an inner loop and an outer loop; the inner ring is a current ring, the detection current value of the midpoint of the working bridge arm of the four-phase inverter of the five-phase voltage source inverter is acquired, the five-phase calculation current value is obtained through a recursion formula after passing through an overcurrent calculation and fault-tolerant control module, and the current-torque transformation is carried outInstead, five actual torque vectors T are outputi(ii) a In the current calculation model, after comparing the five-phase calculated current value with the reference torque, outputting a fault signal F of the motor system, and controlling the reference torque calculation module, the five-phase bidirectional thyristor and the like; the outer ring is a rotating speed ring, position signals of four direct current motors are collected according to the Hall sensors, and four actual rotating speeds omega are output through rotating speed calculationi(ii) a Four actual rotating speeds omegaiWith a given four reference rotational speeds ωirefAfter comparison, the four-phase reference current is sent to a PI regulator to output a four-phase reference current value Imi(ii) a Then, a reference torque calculation module outputs five-phase reference current, and five reference torque vectors T are output through current-torque conversionirefFor five reference torque vectors TirefAnd five actual torque vectors TiAfter comparison, the obtained difference value is used for generating five paths of control signals H through the corresponding hysteresis loop comparatoriThe control signal generates ten paths of control signals after passing through two processing modes of the PWM generating module, wherein one processing mode is to send five paths of control signals to an upper bridge arm power switch tube of a working bridge arm of the five-phase inverter, and the other processing mode is to send five paths of control signals to a lower bridge arm power switch tube of the working bridge arm of the five-phase inverter through a logical NOT gate to control and drive the on-off of the corresponding power switch tube, so that the torque control of the four direct current motor is realized.
Error value eiFive-path signal H output by using hysteresis comparatoriH is processed by PWM moduleiConverting the output to H byy(ei) Generating ten control signals, wherein one treatment is that five signals are directly sent to the switching tubes H of the upper bridge arms of the phases a, b, c, d and e of the invertersi1The other processing is to send five paths of signals to five lower bridge arm switching tubes H of the inverter through a logic NOT gatei2；
Wherein:
ei＝Tiref-Ti(i＝1,2,3,4,5)
where h is the hysteresis bandwidth, i is 1,2,3,4,5, eiIs the torque error value.
When the actual current of the direct current motor is detected to be within a certain range, the direct current motor is normally conducted, and if the actual current exceeds the range, a fault occurs; before or after the direct current motor fails, aiming at different fault sources and fault characteristics according to the detected fault information; and adopting corresponding fault-tolerant control measures, judging which motor faults are the types according to the value of the detected fault information F, and simultaneously controlling the bidirectional thyristors of the corresponding branches to be switched off. The normal operation of a direct current motor system is ensured, the basic functions of the direct current motor system are completed within a specified time, and the direct current motor system has two working states as follows:
1. when the system works normally, the fuse and the bidirectional thyristor can work normally, and the detected fault information F is output to be 0; outputs five actual torque vectors TiAnd five reference torque vectors Tiref。
Of which five actual torque vectors TiThe calculation formula of (a) is as follows:
wherein, X1，X2，X3And X4Actual detected current values of the middle points of working bridge arms of the four-phase inverter are respectively; k is a radical of1，k2，k3And k4Is a torque constant of the direct current motor.
Five reference torque vectors TirefThe calculation formula is as follows:
wherein, Im1,Im2,Im3,Im4Is a four-phase reference current.
2. When the system is abnormal, the fuse of the corresponding branch circuit can not work, and the detected fault signal is output; five actual torque vectors TiAnd five reference torque vectors TirefThree cases are divided as follows:
(1) when any one direct current motor fails, the actual torque vector and the reference torque vector of the corresponding inverter working bridge arm branch are zero, and the actual torque vector and the reference torque vector of the rest inverter working bridge arm branches are kept unchanged;
for example, when the first dc motor DCM1 fails, the fuse on the first inverter operating arm where the first dc motor DCM1 is located plays a role in protection, the first bidirectional thyristor TR1 is turned off, the remaining second dc motor DCM2, the third dc motor DCM3 and the fourth dc motor DCM4 operate normally, and the first dc motor DCM1 current detection model outputs failure information F ═ 1; corresponding to the actual torque vector T of the working bridge arm branch of the inverter1And a reference torque vector T1refIs zero, five corresponding actual torque vectors T are obtainediAnd five reference torque vectors Tiref。
Five actual torque vectors TiThe calculation formula of (a) is as follows:
wherein, X2，X3，X4For acquiring current signal values, k2，k3，k4Is a torque constant of the direct current motor.
Five reference torque vectors TirefThe calculation formula of (a) is as follows:
wherein I is 1,2,3,4, Im2,Im3,Im4Is a four-phase reference current.
(2) When any two direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding two-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged;
for example, when the first dc motor DCM1 and the second dc motor DCM2 have a fault, the fuses of the first inverter operating arm and the second inverter operating arm where the first dc motor DCM1 and the second dc motor DCM2 are located play a role in protection, the corresponding first bidirectional thyristor TR1 and the second bidirectional thyristor TR2 are turned off, the third dc motor DCM3 and the fourth dc motor DCM4 normally operate, and the current detection model outputs the fault information F ═ 5; the actual torque vector and the reference torque vector of the corresponding working bridge arm branch of the inverter are zero, and five corresponding actual torque vectors T are obtainediAnd five reference torque vectors Tiref。
Of which five actual torque vectors TiThe calculation formula of (a) is as follows:
wherein, X3，X4For acquiring current signal values, k3，k4Is a torque constant of the direct current motor.
Five reference torque vectors TirefThe calculation formula of (a) is as follows:
wherein I is 1,2,3,4, Im3,Im4Is a four-phase reference current.
(3) When any three direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding three-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged.
For example, when the first dc motor DCM1, the second dc motor DCM2 and the third dc motor DCM3 fail, the fuses of the first inverter working arm, the second inverter working arm and the third inverter working arm of the first dc motor DCM1, the second dc motor DCM2 and the third dc motor DCM3 are protected, and the corresponding first triac TR1, the second triac TR2 and the third triac TR3 are turned off; the DCM4 motor of the fourth dc motor is normally turned on and the control signal is H optionallyiOne signal of the two-way bridge outputs two control signals through PWM, wherein one control signal controls an upper bridge arm T7And a lower bridge arm T10Conducting, the other path of control signal controls the lower bridge arm T8And a lower bridge arm T9Turning off, and outputting fault information F to be 11 by the current detection model; the actual torque and the reference torque of the corresponding branch are zero, and five corresponding actual torque vectors T are obtainediAnd five reference torque vectors Tiref。
Five actual torque vectors TiThe calculation formula of (a) is as follows:
wherein, X4For acquiring current signal values, k4Is a torque constant of the direct current motor.
Five reference torque vectors TirefThe calculation formula of (a) is as follows:
wherein I is 1,2,3,4, Im4Is a four-phase reference current.
The fault-tolerant control system of the four-direct-current motor series system can be applied to the situation that when the frequency of a unit, a guide vane servomotor or a water head, a control circuit part of a new energy electric automobile and the like have faults, a speed regulator can continuously automatically regulate and work, and the normal work of the system is maintained.
When one or more motor windings of the four motors have faults and the inverter switching tube has faults, the pulse of the electromagnetic torque of the fault motor is output to the minimum, and meanwhile, the normal work of other motors of the system can be ensured, and the control performance is improved.
The invention relates to a four-DC motor series system fault-tolerant control system, which judges whether four DC motors have faults or not according to the current value of the output end of a five-phase voltage source type fault-tolerant inverter module through an actual current reconstruction, fault detection and fault-tolerant control module, sets the reference torque of the corresponding motor with the faults to be zero according to the fault condition, calculates the reference torque of a normal motor as the difference between the reference rotating speed and the actual rotating speed through a PI regulator and a reference torque calculation module, sends the difference between the calculated torque and the reference torque value to a hysteresis comparator module, then sends the output voltage of the hysteresis comparator to a PWM module, generates a switching signal capable of driving an inverter to work, and for the motor with the faults, if the current in a loop is overlarge, a fuse automatically fuses to stop the corresponding inverter working bridge arm to work, and then sends five control signals given by a controller to a corresponding bidirectional thyristor, for the motor with the fault, the corresponding bidirectional thyristor is turned off, so that the torque flowing through the direct current motor is zero, and the system is protected.
The fault-tolerant control system and the control method for the four-direct-current motor series system can well inhibit the torque fluctuation of the direct-current motor, effectively improve the dynamic response speed, enable the pulse of the electromagnetic torque of the fault motor to be output at the minimum when one or more motor windings of the four motors have faults and an inverter switching tube has faults, and simultaneously ensure the normal work of other motors of the system and improve the control performance; the system comprises a rotating speed loop PI adjusting module, a reference torque calculating module, a fault detection and fault tolerance control module, a hysteresis comparison module, a PWM module and a five-phase voltage source inverter module; the control method can well inhibit the torque fluctuation of the direct current motor and has high dynamic response speed; for example, an electric vehicle can meet various situations in the driving process, so that when a direct current motor fails, corresponding fault-tolerant control measures are taken according to detected fault information and aiming at different fault sources and fault characteristics, normal operation of equipment is ensured, and basic functions of the equipment are completed within a specified time, so that the direct current motor fault-tolerant control system has practical engineering value.
The direct torque fault-tolerant control has the characteristic of instantaneous torque control, the torque of the motor is directly calculated under a stator coordinate system through a Hall sensor, the calculated value is compared with a given value, and a difference value is obtained through a hysteresis controller to obtain a corresponding control signal to directly control the switching state of an inverter, so that the direct control of the torque of the motor is realized. The direct torque control method can be used for controlling the direct current motor in an attempt to achieve the aim of suppressing torque fluctuation.
Because the inverter switching tube has high power and high energy density, the fault of any link in variable working environment can influence the work of the whole system and even lead to the stagnation of the system. The prerequisite for executing the fault-tolerant control is correct judgment of system faults, improves the safety performance of the motor driving system, and is necessary for the fault judgment and fault-tolerant control research of the motor 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 (8)
1. A fault-tolerant control method for a four-DC motor series system is characterized by comprising the following steps:
s1, collecting actual detection current values of middle points of working bridge arms of a four-phase inverter in the five-phase voltage source type inverter, obtaining five-phase calculation current values through a recursion formula, and outputting five actual torque vectors T through current-torque conversioni(ii) a Five actual torque vectors TiComparing with the given reference torque to output a fault signal F of the motor system, therebyThe barrier signal F controls the on-off of the reference torque calculation module and the five-phase bidirectional thyristor; when the current of the working bridge arm branch of the inverter exceeds a specified value of the fuse, the fuse is fused;
s2, collecting position signals of four direct current motors, calculating the rotating speed, and outputting four actual rotating speeds omegaiAnd with a given reference speed omegairefAfter comparison, the difference is sent to a PI regulator to output a four-phase reference current value Imi；
S3, comparing the four-phase reference current value I of the step S2miAfter the current-torque conversion of the reference torque calculation module, five reference torque vectors T are outputiref；
S4, for five reference torque vectors TirefAnd five actual torque vectors TiAfter comparison, an error value e is obtainediFor the error value eiFive control signals H are generated by corresponding hysteresis comparatorsiFive control signals HiGenerating ten paths of control signals through a PWM generating module; the five control signals are sent to an upper bridge arm power switch tube of a working bridge arm of the five-phase inverter, and the rest five control signals are sent to a lower bridge arm power switch tube of the working bridge arm of the five-phase inverter through a logical NOT gate to control the on-off of a corresponding power switch tube, so that the torque control of the four direct current motor is realized;
in step S4, the error value eiFive paths of control signals H are output by using a hysteresis comparatoriH is processed by PWM moduleiConverting the output to Hy(ei) A signal to generate ten control signals;
wherein, five control signals HiConverting the output to H byy(ei) Signal:
ei＝Tiref-Ti
where, i is 1,2,3,4,5, h is hysteresis bandwidth, TiCalculating the torque, T, for five phasesirefIs a reference torque; hi1Outputting an upper bridge arm switch control signal of the ith inverter for the hysteresis comparator; hi2Outputting a lower bridge arm switch control signal of the ith inverter for the hysteresis comparator;
in step S1, current-torque conversion is performed on the detected current value at the midpoint of the four-phase inverter arm to obtain five actual torque calculated values TiThe calculation formula is as follows:
wherein, X1，X2，X3And X4Respectively detecting current values of the middle points of working bridge arms of the four-phase inverter; k is a radical of1，k2，k3And k4Is a torque constant of the direct current motor.
2. The fault-tolerant control method for a four-DC motor series system according to claim 1, wherein in step S2, the four-phase reference current value ImiThe formula is adopted to calculate the following formula:
Imi＝kpi(ωiref-ωi)+kii∫(ωiref-ωi)dt
wherein i is 1,2,3,4, kpiIs a proportionality coefficient, kiiAnd (4) an integral coefficient.
3. The fault-tolerant control method for the four-DC motor series system of claim 1, wherein in step S3, five reference torques are providedVector TirefThe following formula is calculated:
wherein, Im1,Im2,Im3,Im4Is a four-phase reference current; k is a radical of1，k2，k3And k4Is a torque constant of the direct current motor.
4. The fault-tolerant control method for the four-direct-current motor series system according to claim 1, wherein when the motor system normally works, all the bidirectional thyristors are conducted, the five-phase inverter working bridge arm normally works, and detected fault information F is output as 0.
5. The fault-tolerant control method for the four-DC motor series system according to claim 1,
when any one direct current motor fails, the actual torque vector and the reference torque vector of the corresponding inverter working bridge arm branch are zero, and the actual torque vector and the reference torque vector of the rest inverter working bridge arm branches are kept unchanged;
when any two direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding two-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged;
when any three direct current motors have faults, the actual torque vectors and the reference torque vectors of the corresponding three-phase inverter working bridge arm branches are zero, and the actual torque vectors and the reference torque vectors of the other inverter working bridge arm branches are kept unchanged.
6. A four-dc motor series system fault-tolerant control system, for implementing the four-dc motor series system fault-tolerant control method of any one of claims 1 to 5, the system comprising a first dc motor DCM1, a second dc motor DCM2, a third dc motor DCM3, a fourth dc motor DCM4, a first inverter working leg, a second inverter working leg, a third inverter working leg, a fourth inverter working leg, a fifth inverter working leg, a first bidirectional thyristor TR1, a second bidirectional thyristor TR2, a third bidirectional thyristor TR3, a fourth bidirectional thyristor TR4 and a fifth bidirectional thyristor TR 5;
the working bridge arm of the first inverter comprises an upper bridge arm T1And a lower bridge arm T2Upper bridge arm T1Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T2Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T1Drain electrode and lower bridge arm T of2The source electrode of (1) is connected, and the connection point of the source electrode is a point a;
the working bridge arm of the second inverter comprises an upper bridge arm T3And a lower bridge arm T4Upper bridge arm T3Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T4Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T3Drain electrode and lower bridge arm T of4The source electrode of (1) is connected, and the connection point of the source electrode is a point b;
the working bridge arm of the third inverter comprises an upper bridge arm T5And a lower bridge arm T6Upper bridge arm T5Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T6Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T5Drain electrode and lower bridge arm T of6The source electrode of (1) is connected, and the connection point of the source electrode of (1) is a point c;
the fourth inverter operating leg comprises an upper leg T7And a lower bridge arm T8Upper bridge arm T7Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T8Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T7Drain electrode and lower bridge arm T of8The source electrode of (1) is connected, and the connection point of the source electrode is a point d;
the working bridge arm of the fifth inverter comprises an upper bridge arm T9And a lower bridge arm T10Upper bridge arm T9Source and dc voltage source VdcIs connected with the positive pole of the lower bridge arm T10Drain electrode of and a DC voltage source VdcThe negative electrode of (1) is connected; upper bridge arm T9Drain electrode and lower bridge arm T of10The source electrode of (1) is connected, and the connection point of the source electrode is a point e;
the positive winding of the first direct-current motor DCM1 is connected with the point a through the first bidirectional thyristor TR1, the negative winding of the first direct-current motor DCM1 is connected with the positive winding of the second direct-current motor DCM2, and then is connected with the point b through the second bidirectional thyristor TR 2; a negative winding of the second direct current motor DCM2 is connected with a positive winding of the third direct current motor DCM3, and then is connected with a point c through a third bidirectional thyristor TR 3; a negative winding of the third direct current motor DCM3 is connected with a positive winding of the fourth direct current motor DCM4, and then is connected with a point d through a fourth bidirectional thyristor TR 4; the negative side winding of the fourth dc motor DCM4 is connected to point e via a fifth triac TR 5.
7. The fault-tolerant control system for a four-DC motor series system according to claim 6, wherein the first inverter bridge arm further comprises a first fuse F1And a second fuse F2First fuse F1And upper bridge arm T1In series, a second fuse F2And a lower bridge arm T2Are connected in series; the second inverter operating arm also comprises a third fuse F3And a fourth fuse F4Third fuse F3And upper bridge arm T3Series, fourth fuse F4And a lower bridge arm T4Are connected in series; the third inverter working bridge arm also comprises a fifth fuse F5And a sixth fuse F6Fifth fuse F5And upper bridge arm T5Series, sixth fuse F6And a lower bridge arm T6Are connected in series; the fourth inverter arm further comprises a seventh fuse F7And an eighth fuse F8Seventh fuse F7And upper bridge arm T7Series connection, eighth fuse F8And a lower bridge arm T8Are connected in series; the fifth inverter working bridge arm also comprises a ninth fuse F9And a second fuse F10Of 1 atNine fuses F9And upper bridge arm T9In series, a second fuse F10And a lower bridge arm T10Are connected in series.
8. The fault-tolerant control system of a four-DC motor series system according to claim 6, wherein the upper bridge arm T1Lower bridge arm T2Upper bridge arm T3Lower bridge arm T4Upper bridge arm T5Lower bridge arm T6Upper bridge arm T7Lower bridge arm T8Upper bridge arm T9And a lower bridge arm T10All adopt power MOS switch tube.
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| 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 |
| CN108683367A (en) * | 2018-06-20 | 2018-10-19 | 长安大学 | A kind of more direct current generator forward direction series control system and methods |
| 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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Application publication date: 20200728 Assignee: Shaanxi Yunrui Chuangzhi Technology Co.,Ltd. Assignor: CHANG'AN University Contract record no.: X2023980048852 Denomination of invention: A fault-tolerant control system and control method for a series connected system of four DC motors Granted publication date: 20211130 License type: Common License Record date: 20231130 |