CN111464079B - Fault-tolerant control method and system for multiple direct current motors connected in series - Google Patents

Fault-tolerant control method and system for multiple direct current motors connected in series Download PDF

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CN111464079B
CN111464079B CN202010373553.7A CN202010373553A CN111464079B CN 111464079 B CN111464079 B CN 111464079B CN 202010373553 A CN202010373553 A CN 202010373553A CN 111464079 B CN111464079 B CN 111464079B
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motor
torque
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CN111464079A (en
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林海
贾俊
朱旭
闫茂德
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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
    • H02P5/685—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors electrically connected in series, i.e. carrying the same current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • H02P7/05—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of electronic switching

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Abstract

The invention discloses a multi-DC motor series fault-tolerant control method and a control system, wherein the control system comprises n DC motors connected in series, n PI controllers, a reference torque calculation unit, n +1 torque hysteresis comparison controllers, a PWM pulse width modulation unit, n +1 phase voltage source type fault-tolerant inverters, a torque calculation, fault detection and fault-tolerant control strategy unit, a permanent magnet synchronous motor current detection sensor, a rotating speed position sensor and a DC power supply. The control system can greatly reduce the complexity of the circuit, so that the control circuit becomes cleaner and tidier, and the control method introduces a fault-tolerant control method while reducing PI controllers, thereby avoiding the circuit damage caused by the fault of a certain motor, namely, not influencing the work of other motors when the motor fails, improving the working efficiency and saving the cost; meanwhile, a fuse is introduced to ensure the safety of the circuit.

Description

Fault-tolerant control method and system for multiple direct current motors connected in series
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a fault-tolerant control method and a fault-tolerant control system for multiple direct current motors in series.
Background
With the progress of society and science and technology, more and more high-risk and tired work is given to automatic equipment to be completed, and the equipment is mostly driven by a motor. Meanwhile, the direct current motor has the advantages of good speed regulation performance, larger speed regulation range than the alternating current motor, smooth speed regulation and the like, so that the direct current motor is widely used in industrial equipment. In addition, the hardware circuit of the hysteresis comparison controller is simpler, and the real-time control performance is excellent. The hysteresis control of multiple direct current motors is a motor control mode developed on the basis of single direct current motor control, and comprehensively considers parameters of current, torque, rotating speed, voltage and the like of the motor control, so that the unified real-time control of the multiple motors is realized. Compared with the traditional control mode: the control method has the defects that the real-time control performance is poor, a control hardware circuit is complex and is not easy to design, and the control effect is general.
Disclosure of Invention
The invention aims to provide a multi-direct current motor series fault-tolerant control method and a control system, and aims to solve the problems that in the prior art, the real-time performance of motor control is poor, a control hardware circuit is complex and is not easy to design, and the control effect is general.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fault-tolerant control method for series connection of multiple direct current motors comprises the following steps:
s1, initializing the system, initially setting the parameters of each PI controller, and simultaneously inputting the reference speed omega1ref，ω2ref…ωnrefThe data detected by the rotating speed position sensor is processed by a rotating speed calculating unit to obtain the real-time speed omega of the motor1，ω2…ωnThe speed error e is obtained by transmitting the speed error to a speed regulation moduleω1，eω2…eωn；
S2, converting the speed error obtained in the step S1 into corresponding current I through a PI controllern1，In2…InnThe corresponding reference torque T is obtained by inputting the reference torque into a reference torque calculation unit1ref，T2ref…Tn+1ref；
S3, measuring the motor current X by the current detection module1，X2…XnCarrying out reconstruction calculation to obtain real-time torque T1，T2…Tn+1And obtaining a torque error e through a torque adjusting module together with the reference torque obtained in the step S21，e2…en+1(ii) a The torque calculation, fault detection and fault-tolerant control strategy unit judges the detected current to obtain a control strategy F, simultaneously calculates the real-time torque of the current direct current motor, respectively transmits the control strategy F to the reference torque calculation unit, the PWM (pulse width modulation) unit and the (n +1) phase voltage source type fault-tolerant inverter to control the reference torque calculation unit, the PWM unit and the (n +1) phase voltage source type fault-tolerant inverterA reference torque calculation unit, a PWM (pulse width modulation) unit and an (n +1) phase voltage source type fault-tolerant inverter execute a control strategy F;
s4, comparing the torque error e obtained in the step S31，e2…en+1Obtaining corresponding duty ratio signal H by using torque hysteresis comparison controller1，H2…Hn+1And finally, processing the obtained duty ratio signal through a PWM (pulse width modulation) unit, outputting two paths of complementary signals, respectively controlling the on-off of an upper power switch tube and a lower power switch tube of each bridge arm of the (n +1) voltage source type fault-tolerant inverter to realize the control of the motor, and changing the reference speed omega1ref，ω2ref…ωnrefThe reverse operation of the motor is realized.
Specifically, in step S1, the speed error is calculated as follows:
eωi＝ωiref-ωi
wherein, the value range of i is 1-n, and the reference rotating speed is omegairefThe actual rotational speed is ωi。
Specifically, in step S2, the speed error eω1，eω2…eωnObtaining current I under the action of PI controllern1，In2…InnThe current is calculated as follows:
Ini＝Kpeωi+Ki∫eωidt
wherein, i is 1,2 … n, KpAnd KiFor controlling the gain, the speed error is eω1，eω2…eωn；
Meanwhile, the obtained current passes through a torque calculation unit to obtain a reference torque T1ref，T2ref…Tn+1refThe formula is as follows:
Figure GDA0003069333390000031
wherein k isiAnd i is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor.
Specifically, in step S3Motor current X measured by current detection sensor of permanent magnet synchronous motor1，X2…XnCarrying out reconstruction calculation to obtain real-time torque T1，T2…Tn+1And obtaining a torque error e through a torque adjusting module together with the reference torque obtained in the step S21，e2…en+1The reconstructed torque is calculated as follows:
Figure GDA0003069333390000032
wherein, the detection current of the DC motor is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n；
The torque error is as follows:
ei＝Tiref-Ti
wherein, TirefFor reference torque, TiIn order to reconstruct the obtained real-time torque, i takes the value of 1 to (n +1), and n represents the value of the number of the motor;
the control strategy calculation formula in step S3 is divided into four cases, as follows:
Figure GDA0003069333390000033
further, the reference torque and real-time torque calculation formula when the system is healthy without a faulty motor is as follows:
Figure GDA0003069333390000034
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure GDA0003069333390000041
wherein the motor current is X1,X2…XnCorresponding DC motor torque constant is ki,1≤i≤n。
Further, when the single motor fails:
a. when only one motor fails and is the first failure, the motor torque constant is directly set to be 0, namely k1When the ratio is 0: k when the last motor failsnThe calculated value is 0, and the reference torque expression is as follows:
Figure GDA0003069333390000042
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure GDA0003069333390000043
wherein the motor current is X1,X2…XnCorresponding DC motor torque constant is ki,1≤i≤n；
b. When the motor between 1 st to n is failed, and n is 3, the expression is as follows:
Figure GDA0003069333390000044
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure GDA0003069333390000045
wherein the motor current is X1,X2,X3Corresponding DC motor torque constant is ki,1≤i≤n；
c. If n is>3, when one motor in the middle but not the second motor fails, the corresponding ki＝0；
The torque calculation formula is as follows:
Figure GDA0003069333390000051
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure GDA0003069333390000052
wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n；
d. If n > 3, when the second motor fails, the torque calculation formula is as follows, where k is20, i.e. T in the calculation result2ref＝0，T2＝0：
Figure GDA0003069333390000053
Wherein k isiI is more than or equal to 1 and less than or equal to n is the torque constant k of the direct current motor of the system2＝0；
Figure GDA0003069333390000054
Wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
Further, when there are two motors failing:
a. if one motor works normally and the other motor works normally, the motor is controlled by a single motor; the torque calculation formula corresponding to the motor is Tiref＝kiIiref，Ti+1ref＝0，Ti＝kiXi，Ti+1＝0，1≤i≤n，If the failed motor is the n-1 st motor and the n-2 nd motor, the calculation formula of the n-th motor is Tnref＝knInref，Tn＝knXnLast torque is Tn+1ref＝0，Tn+10; calculating other motor torques according to a motor torque calculation formula when the system is normal;
b. when the positions of the two motors are random, the torque constant of the corresponding direct current motor is directly set to be 0, and then the torque calculation formula in the state can be obtained.
Further, when there is a plurality of motor trouble:
a. if the faults of a plurality of motors cause that the front motor and the rear motor of a certain motor in the circuit are all in faults, single motor control is formed, a torque calculation formula of the motor is controlled according to the operation of the single motor, and other motors are calculated according to a normal torque calculation formula;
the single motor torque calculation formula is as follows:
Tiref＝kiIiref，Ti+1ref＝0
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system, and i is a motor which normally works;
Ti＝kiXi，Ti+1＝0
wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n；
b. When the motor fails and single motor control is not formed, the torque is calculated in a mode that the torque constant of a direct current motor corresponding to the motor is 0, and the obtained torque is the required reference torque and the required real-time torque.
Further, in step S4, a pair of complementary signals is obtained by the duty ratio output by the torque hysteresis comparison controller under the action of the PWM pulse width modulation unit to control the upper and lower switching tubes of the corresponding bridge arm of the n + 1-phase voltage source-type fault-tolerant inverter; the hysteresis error in step S4 is calculated as follows:
ei＝Tiref-Ti
the output duty cycle is calculated as follows:
Figure GDA0003069333390000061
wherein, i is 1,2, … n +1, Q represents the last moment output value, δ is the threshold of the torque hysteresis comparison controller;
the logic generation function of the pulse signal generated by the PWM pulse width modulation unit in step S4 for controlling the switching of the inverter switching tube is:
Figure GDA0003069333390000071
Figure GDA0003069333390000072
wherein, i is 1,2, … n +1, output signals 0,1 respectively control the on-off of two switch tubes above and below the bridge arm, 0 represents off, and 1 represents on.
Another technical solution of the present invention is a multiple dc motor series fault-tolerant control system for implementing the control method, comprising n dc motors connected in series, n PI controllers, a reference torque calculation unit, n +1 torque hysteresis comparison controllers, a PWM pulse width modulation unit, n +1 phase voltage source type fault-tolerant inverters, a torque calculation, fault detection and fault-tolerant control strategy unit, a pmsm current detection sensor, a rotation speed position sensor, and a dc power supply;
the input end of the reference torque calculation unit is respectively connected with the n PI controllers, and the output end of the reference torque calculation unit is respectively connected with the input ends of the (n +1) torque hysteresis comparison controllers; the input end of the PWM unit is respectively connected with the output ends of the (n +1) torque hysteresis comparison controllers, and the output end of the PWM unit is connected with the (n +1) phase voltage source type fault-tolerant inverter; the n series-connected direct current motors are connected with an (n +1) phase voltage source type fault-tolerant inverter; the rotating speed position sensor is connected with the speed adjusting module through a rotating speed calculating unit; the permanent magnet synchronous motor current detection sensor is connected with the current regulation module through a torque calculation, fault detection and fault-tolerant control strategy unit; the (n +1) phase voltage source type fault-tolerant inverter comprises 2 x (n +1) IGBT modules, wherein the 2 x (n +1) IGBT modules form n +1 bridge arms in a pairwise serial connection mode, a fuse is arranged at each of two ends of each bridge arm, each bridge arm is connected in parallel to the positive electrode and the negative electrode of a direct current power supply, and n direct current motors connected in series are connected to the middle positions of the n +1 bridge arms after being respectively connected with a bidirectional thyristor; the fuse is arranged at each of two ends of each bridge arm and used for preventing circuit current from increasing due to damage of the motor and protecting the circuit; meanwhile, a bidirectional thyristor is connected between the two IGBT modules of each bridge arm and then connected with the direct current motor, wherein the bidirectional thyristor is used for bidirectional conduction to realize positive and negative control of the direct current motor; the connection mode of the direct current motor for connecting each bridge arm is as follows:
the positive pole of the first direct current motor is connected with a bidirectional thyristor and then connected to the middle position of the first bridge arm, and the negative pole and the positive pole of the second direct current motor are connected with a bidirectional thyristor and then connected to the middle position of the second bridge arm;
the negative pole of the second direct current motor and the positive pole of the third direct current motor are connected with a bidirectional thyristor and then connected to the middle position of the third bridge arm;
the negative electrode of the (n-1) th direct current motor and the positive electrode of the (n) th direct current motor are connected with one bidirectional thyristor and then connected to the middle position of the (n) th bridge arm, and the negative electrode of the (n) th direct current motor is connected with one bidirectional thyristor and then connected to the middle position of the (n +1) th bridge arm.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a multi-direct current motor series fault-tolerant control method, which comprises the steps of firstly utilizing a position sensor to obtain the actual rotating speed omega of the current motor through a rotating speed calculating unit1，ω2…ωnConvert it to a referenceSpeed omega1ref，ω2ref…ωnrefObtaining a speed error e by using a rotating speed adjusting moduleω1，eω2…eωn(ii) a Then, the PI controller is used for calculating the speed error to obtain the corresponding current In1，In2…Inn. The obtained current passes through a reference torque calculation unit to obtain a reference torque T corresponding to each motor1ref，T2ref…Tnref(ii) a Then, the motor current X measured by the current sensor is measured1，X2…XnCarrying out reconstruction calculation to obtain corresponding real-time torque T1，T2…Tn+1The reference torque and the reference torque are processed by a torque adjusting module to obtain a torque error e1，e2…en+1(ii) a Meanwhile, the detected current passes through a torque calculation, fault detection and fault-tolerant control strategy unit, the working state of the motor is judged according to the detected current, a corresponding control strategy is output, and the strategy is sent to a reference torque calculation unit PWM (pulse width modulation) unit and an (n +1) phase voltage source inverter to obtain a corresponding control mode.
Further, the torque error is subjected to the action of (n +1) torque hysteresis comparison controllers to obtain a duty ratio signal H1，H2…Hn+1And finally, processing the obtained duty ratio signal through a PWM (pulse width modulation) unit, outputting to obtain two paths of complementary signals, and respectively controlling the on-off of an upper switching tube and a lower switching tube of each bridge arm of the voltage source type fault-tolerant inverter to realize the control of the motor. By varying the reference speed omega1ref，ω2ref…ωnrefThe purpose of reverse running of the motor is achieved.
Furthermore, a fault-tolerant control method is introduced while PI controllers are reduced, circuit damage caused by a certain motor fault is avoided, namely the work of other motors is not influenced when the motor is in fault, the working efficiency is improved, and the cost is saved; meanwhile, a fuse is introduced to ensure the safety of the circuit.
The fault-tolerant control system with the multiple direct current motors connected in series can greatly reduce the complexity of a circuit and enable the control circuit to be tidier; in the control process, the duty ratio signal is synthesized and processed into a PWM square wave signal, so that the on-off of the IGBT is more conveniently controlled, the control accuracy is improved, and the error is reduced; and meanwhile, a fault-tolerant control unit is introduced to improve the operation stability of the system.
Further, the (n +1) phase voltage source fault-tolerant inverter mainly has the functions of: the pulse output by the PWM pulse width modulation unit can be processed, and each pulse unit signal is distributed to the corresponding IGBT switching tube to control the on-off of the IGBT switching tube so as to control the rotation direction and the rotation speed of the motor. The fault tolerance is mainly realized by skipping the motor or some motors in the circuit without outputting the motor or compensating some parameters of the motor or some motors in the circuit when the motor or some motors in the circuit is in fault, and meanwhile, the normal operation of other motors is not influenced.
Further, the mode of connecting each motor to the bridge arm has the following advantages: firstly, when each motor is connected with a bridge arm, a bidirectional thyristor is connected, so that bidirectional circulation of current can be realized, and steering control of the motor is achieved; in addition, two ends of each bridge arm are connected with a fuse, and the arrangement can avoid circuit current increase and circuit damage caused by motor damage; and finally, each motor is connected to the middle node of each bridge arm, so that the current flow direction of the motor can be controlled by controlling the on-off of the upper IGBT switch tube and the lower IGBT switch tube of each node, and the steering direction of the motor is controlled.
Furthermore, the circuit is provided with a torque hysteresis comparison controller which has the following functions: 1. the hardware circuit is simpler; 2. the method can realize real-time control, has quick response and better tracking property. 3. No carrier wave is required and the output voltage waveform does not contain some harmonics of a particular frequency. 4. Belongs to the field of closed-loop control, and is a common characteristic of various tracking PWM alternating current circuit control.
In summary, the present invention has the advantages that fault tolerance under the condition of serial connection of multiple dc motors can be achieved, that is, when a certain motor or some motors in a circuit fail, normal operation of the circuit can still be ensured, so that the whole system is not stopped, and the working efficiency of the system can be improved. In addition, the connecting circuit of the invention is additionally provided with the fuse, thereby improving the safety of the system and avoiding the circuit from being damaged due to the increase of circuit current caused by motor failure or other factors. In addition, the action of the bidirectional thyristor enables the motor to realize steering control. And the torque hysteresis comparison controller is used, so that the tracking performance of the system is improved on the basis of simplifying the circuit, and the practicability of the system is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a control circuit structure of a multi-DC-motor series fault-tolerant control system according to the present invention;
FIG. 2 is a schematic structural diagram of a fault-tolerant control system with multiple DC motors connected in series according to the present invention;
FIG. 3 is a flow chart illustrating a control method according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The following detailed description is exemplary in nature and is intended to provide further details of the invention. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.
Referring to fig. 1 and 2, the present invention provides a fault-tolerant control system for multiple dc motors connected in series, which includes n dc motors connected in series, n PI controllers, a reference torque calculation unit, n +1 torque hysteresis comparison controllers, a PWM pulse width modulation unit, n +1 phase voltage source type fault-tolerant inverters, a torque calculation, fault detection and fault-tolerant control strategy unit, a current detection sensor of a permanent magnet synchronous motor, a rotation speed position sensor, and a dc power supply;
the input end of the reference torque calculation unit is respectively connected with the n PI controllers, and the output end of the reference torque calculation unit is respectively connected with the input ends of the (n +1) torque hysteresis comparison controllers; the input end of the PWM unit is respectively connected with the output ends of the (n +1) torque hysteresis comparison controllers, and the output end of the PWM unit is connected with the (n +1) phase voltage source type fault-tolerant inverter; the n series-connected direct current motors are connected with an (n +1) phase voltage source type fault-tolerant inverter; the rotating speed position sensor is connected with the speed adjusting module through a rotating speed calculating unit; the permanent magnet synchronous motor current detection sensor is connected with the current regulation module through a torque calculation, fault detection and fault-tolerant control strategy unit.
And each direct current motor is connected with a bidirectional thyristor and then connected with the middle node of each bridge arm of the (n +1) phase voltage source type fault-tolerant inverter. The (n +1) phase voltage source type fault-tolerant inverter comprises 2 x (n +1) IGBT modules, 2 x (n +1) fuses, and (n +1) bidirectional thyristors and a direct-current power supply, wherein the 2 x (n +1) IGBT modules are connected in series in pairs, every two IGBT modules are connected in series to form a bridge arm, and the n +1 bridge arms are connected in parallel at two ends of the direct-current power supply. The bridge arm structure of the (n +1) phase voltage source type fault-tolerant inverter is as follows: the first bridge arm is composed of bipolar transistor chips T1 and T2 and diode chips D1 and D2 connected in parallel, the second bridge arm is composed of bipolar transistor chips T3 and T4 and diode chips D3 and D4 connected in parallel, and the n +1 th bridge arm of … is composed of bipolar transistor chips T (2 x n +1), T (2 x n +2) and diode chips D (2 x n +1) and D (2 x n +2) connected in parallel. The midpoint of the first leg T1 and T2 is designated as node 1, the midpoint of the second leg T3 and T4 is designated as node 2, the midpoint of the nth leg T (2 × n-1) and T (2 × n) of … is designated as node n, and the midpoint of the (n +1) th leg T (2 × n +1) and T (2 × n +2) is designated as node n + 1. The two ends of each bridge arm are respectively connected with a fuse and then connected to the positive electrode and the negative electrode of the direct current voltage source, wherein the fuse is used for preventing the circuit from being burnt out due to the increase of circuit current caused by the fault of the direct current motor, and the function of protecting the circuit is achieved. The node of each bridge arm is connected with a bidirectional thyristor and then connected with a direct current motor, and the bidirectional thyristor has the function of bidirectional conduction.
The direct current motor is connected in the following way:
the positive pole of the first direct current motor is connected with a bidirectional thyristor and then connected with a node 1 point, and the negative pole of the first direct current motor and the positive pole of the second direct current motor are connected with a bidirectional thyristor and then connected with a node 2 point.
The negative pole of the second direct current motor and the positive pole of the third direct current motor are connected with a bidirectional thyristor and then connected with the node 3, and the negative pole of the … … (n-1) th direct current motor and the positive pole of the nth direct current motor are connected with a bidirectional thyristor and then connected with the node n.
And the negative electrode of the nth direct current motor is connected with a bidirectional thyristor and then connected with the (n +1) th node.
The torque hysteresis comparison controller inputs the reference torque T obtained by the reference torque calculation unit at the same-direction input end of the integrated operational amplifier1ref，T2ref…Tn+1refThe real-time torque T obtained through current reconstruction is input at the reverse input end1，T2…Tn+1Output duty ratio H of output end of torque hysteresis comparison controller1，H2…Hn+1Meanwhile, a positive feedback is introduced into the output end and the non-inverting input end of the circuit; torque error e of input1，e2…en+1Outputting a high level when the output value is larger than delta, outputting a low level when the output value is smaller than-delta, and keeping the output value at the last moment when the output value is between-delta and delta;
wherein δ is a threshold of the torque hysteresis comparison controller, and the hysteresis width is 2 δ;
when duty ratio H1，H2…Hn+1When the voltage is high level, the output end T of the PWM unit at the moment1，T3…T2n+1Is at a low level, T2，T4…T2n+2At a high level, the switch tubes D are respectively connected1，D3…D2n+1Cut-off and switching tube D2，D4…D2n+2Is conducted to output current I1，I2…In+1The value becomes smaller;
when duty ratio H1，H2…Hn+1When the voltage is low, the output end T of the PWM unit at the moment1，T3…T2n+1Is at a high level, T2，T4…T2n+2At a low level, the switch transistors D are respectively turned on1，D3…D2n+1Conducting and switching tube D2，D4…D2n+2Cut off to make the output current I1，I2…In+1The value becomes large.
Referring to fig. 3, the working principle of the control system of the present invention is as follows:
after system initialization, setting corresponding reference input signal omega1ref…ωnrefThe real-time speed detected by each direct current motor is processed by a rotating speed calculating unit by utilizing a rotating speed position sensor to obtain a real-time rotating speed omega1，ω2…ωnObtaining n speed errors e by the obtained real-time rotating speed and the corresponding reference rotating speed under the action of a speed adjusting moduleω1…eωnThe speed error is used for obtaining a corresponding reference input current I under the action of a PI regulatorn1…Inn。
The obtained reference current is processed by a reference torque calculation unit to obtain corresponding reference torque T1ref，T2ref…Tn+1refAnd furthermore, the real-time current X of each DC motor obtained through measurement1…XnObtaining corresponding real-time torque T through torque calculation, fault detection and fault-tolerant control unit1，T2…Tn+1。
The reference torque and the real-time torque obtain corresponding torque error e under the action of the torque adjusting module1…en+1The torque error is input into a torque hysteresis comparison controller to obtain the corresponding duty ratio H of each error1…Hn+1And the duty ratio obtains two paths of complementary pulse control signals under the action of the PWM pulse width control unit, and the two paths of complementary pulse control signals are used for controlling the (n +1) phase voltage source type fault-tolerant inverter.
Meanwhile, a torque calculation, fault detection and fault tolerance control strategy unit judges whether the direct current motor has a fault according to the detected real-time current so as to obtain a corresponding control strategy, the strategy is sent to a reference torque calculation unit, a PWM (pulse width modulation) unit and an (n +1) phase voltage source type fault tolerance inverter, each unit controls output according to the obtained strategy, the normal work of other motors is not influenced when a certain motor has a fault, and the working efficiency is improved.
The other technical scheme of the invention is as follows:
a control method of a multi-direct current motor series fault-tolerant control system specifically comprises the following steps:
s1, initializing the system, initially setting the parameters of each PI controller, and simultaneously inputting the reference speed omega1ref，ω2ref…ωnrefThe data detected by the rotating speed position sensor is processed by a rotating speed calculating unit to obtain the real-time speed omega of the direct current motor1，ω2…ωnThe speed error e is obtained by transmitting the speed error to a speed regulation moduleω1，eω2…eωn。
The error is calculated as follows:
eωi＝ωiref-ωi
wherein the value range of i is 1-n, and the reference rotating speed is omegairefThe actual rotational speed is ωi。
S2, converting the speed error obtained in the S1 into corresponding current I through a PI controllern1，In2…InnInput into a reference torque calculation unit to obtain a corresponding reference torque T1ref，T2ref…Tn+1ref. The related formula is as follows:
Ini＝Kpeωi+Ki∫eωidt
where i is 1,2 … n, KpAnd KiFor controlling the gain, the speed error is eω1，eω2…eωn。
Meanwhile, the obtained current passes through a torque calculation unit to obtain a reference torque T1ref，T2ref…Tn+1refThe formula is as follows:
Figure GDA0003069333390000131
wherein k isiAnd i is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system.
S3, measuring the motor current X by the current detection module1，X2…XnCarrying out reconstruction calculation to obtain real-time torque T1，T2…Tn+1And the reference torque obtained by the step S2 is processed by a torque adjusting module to obtain a torque error e1，e2…en+1。
And the torque calculation, fault detection and fault-tolerant control strategy unit judges the detected current to obtain a control strategy F, and simultaneously calculates the real-time torque of the current motor, transmits the control strategy F to the reference torque calculation unit and the PWM (pulse width modulation) unit, and controls the corresponding unit to execute a corresponding calculation mode by the (n +1) phase voltage source type fault-tolerant inverter.
The formula involved is as follows:
Figure GDA0003069333390000141
wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
The torque error is calculated as follows:
ei＝Tiref-Ti
wherein, TirefFor reference torque, TiTo reconstruct the resulting real-time torque, i ranges from (1- (n +1)), and n represents the motor magnitude.
The control strategy calculation formula in step S3 is divided into four cases, as follows:
Figure GDA0003069333390000142
the control strategy for each case is as follows:
the reference torque and real-time torque calculation formula when the system is healthy and has no fault motor is as follows:
Figure GDA0003069333390000143
wherein k isiAnd i is more than 0 and less than n is the torque constant of the direct current motor of the system.
Figure GDA0003069333390000151
Wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
When the second or single motor fails
a. When only one motor fails and is the first failure, the motor torque constant is directly set to be 0, namely k1When the ratio is 0: k when the last motor failsnThe calculated value is 0, and the reference torque expression is as follows:
Figure GDA0003069333390000152
wherein k isiAnd i is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system.
Figure GDA0003069333390000153
Wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
b. When the motor between the 1 st to the n th fails and n is equal to 3, the fault-tolerant control is performed on two independent motors, and only one hysteresis loop is needed to control two bridge arm signals of a single motor to be symmetrically arranged. The expression is as follows:
Figure GDA0003069333390000154
wherein k isiAnd i is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system.
Figure GDA0003069333390000155
Wherein the motor current is X1，X2，X3Corresponding DC motor torque constant is ki，1≤i≤n。
c. If n > 3, when a motor located in the middle (not the second one) fails, the corresponding kiIt is sufficient if 0.
The torque calculation formula is as follows:
Figure GDA0003069333390000161
wherein k isiAnd i is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system.
Figure GDA0003069333390000162
Wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
d. If n > 3, the torque calculation formula when the second fault occurs is as follows, where k20, i.e. T in the calculation result2ref＝0，T2＝0：
Figure GDA0003069333390000163
Wherein，kiI is more than or equal to 1 and less than or equal to n is the torque constant k of the direct current motor of the system2＝0。
Figure GDA0003069333390000164
Wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
Thirdly, when two motors are in failure
a. If one and only one of the two motors in fault work normally, the motor is controlled by a single motor. The torque calculation formula corresponding to the motor is Tiref＝kiIiref，Ti+1ref＝0，Ti＝kiXi，Ti+1I is 0,1 is less than or equal to n, and if the failed motor is the n-1 st motor and the n-2 nd motor, the calculation formula of the n-th motor is Tnref＝knInref，Tn＝knXnLast torque is Tn+1ref＝0，Tn+10. And other motor torques are calculated according to a motor torque calculation formula when the system is normal.
b. When the positions of the two motors are random, the torque constant of the corresponding direct current motor is directly set to be 0, and then the torque calculation formula in the state can be obtained.
Fourthly, when a plurality of motors have faults
a. If the faults of multiple motors cause that the motors before and after a certain motor in the circuit are all in faults, single motor control is formed, a torque calculation formula of the motor is controlled according to the operation of the single motor, and other motors are calculated according to a normal torque calculation formula.
The torque of the single motor is calculated as
Tiref＝kiIiref，Ti+1ref＝0
Wherein k isiN is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system, and i is a motor which normally works.
Ti＝kiXi，Ti+1＝0
Wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
b. When the motor fails and single motor control is not formed, the torque is calculated in a mode that the torque constant of a direct current motor corresponding to the motor is 0, and the obtained torque is the required reference torque and the required real-time torque.
S4, comparing the torque error e obtained in the step S31，e2…en+1Obtaining corresponding duty ratio signal H by using hysteresis comparator1，H2…Hn+1Finally, the obtained duty ratio signal is processed through a PWM (pulse width modulation) unit, two paths of complementary signals are output, the on-off of an upper power switch tube and a lower power switch tube of each bridge arm of the voltage source type fault-tolerant inverter are respectively controlled, the control of the motor is realized, and the reference speed omega can be changed1ref，ω2ref…ωnrefThe reverse operation of the motor is realized. The hysteresis error is expressed as follows:
ei＝Tiref-Ti
wherein the reference torque is TirefI is more than or equal to 1 and less than or equal to n +1, and the real-time torque is Ti，1≤i≤n+1。
The output duty cycle expression is as follows:
Figure GDA0003069333390000181
where i is 1,2, … n +1, Q represents the last time output value, δ is the threshold of the hysteresis comparison controller, eiFor torque error and input to the hysteresis comparison controller, HiIs the output of the hysteresis comparison controller.
The logic generating function of the pulse signal generated by the PWM unit and used for controlling the on-off of the inverter switching tube is as follows:
Figure GDA0003069333390000182
Figure GDA0003069333390000183
wherein, i is 1,2, … n +1, output signals 0,1 respectively control the on-off of two switch tubes above and below the bridge arm, 0 represents off, and 1 represents on.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For example, in a large production plant, a conveyor belt for conveying articles is provided, the power source of the conveyor belt is one motor, but when a plurality of motors are used, one or more motors can be in failure, and the failure of the whole system caused by the failure can be avoided by using the invention. Meanwhile, the invention can also improve the safety of the system, avoid the influence on the safety of the system caused by the rapid increase of circuit current due to the misconnection or short circuit of the circuit, and realize the function mainly through the fuse on each bridge arm in the (n +1) phase voltage source fault-tolerant inverter.
The state of the motor is represented by the rotating speed and the current of the motor in the working process, if the whole control system starts to work, the rotating speed of the direct current motor approaches to the reference rotating speed, meanwhile, the torque calculation is carried out on the detected current, meanwhile, the working state of the motor is transmitted to a fault-tolerant control strategy, the working state of the motor is judged according to the current of the motor, and the working state is transmitted to the torque calculation unit, the pwm pulse width modulation unit and the (n +1) phase voltage source type inverter according to the control strategy, so that corresponding parameters are obtained. The fault-tolerant control strategy of the invention can keep the stability of the circuit under the condition that a certain motor or certain motors in the motor system have faults, and simultaneously can ensure the normal work of other motors and improve the working efficiency.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims (8)

1. A fault-tolerant control method for series connection of multiple direct current motors is characterized by comprising the following steps:
s1, initializing the system, initially setting the parameters of each PI controller, and simultaneously inputting the reference speed omega1ref，ω2ref…ωnrefThe data detected by the rotating speed position sensor is processed by a rotating speed calculating unit to obtain the real-time speed omega of the motor1，ω2…ωnThe speed error e is obtained by transmitting the speed error to a speed regulation moduleω1，eω2…eωn；
S2, converting the speed error obtained in the step S1 into corresponding current I through a PI controllern1，In2…InnThe corresponding reference torque T is obtained by inputting the reference torque into a reference torque calculation unit1ref，T2ref…Tn+1ref；
Current In1，In2…InnThe calculation method is as follows:
Ini＝Kpeωi+Ki∫eωidt
wherein, i is 1,2 … n, KpAnd KiTo control the gain;
meanwhile, the obtained current passes through a torque calculation unit to obtain a reference torque T1ref，T2ref…Tn+1refThe formula is as follows:
Figure FDA0003069333380000011
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor;
s3, measuring the motor current X by the current detection module1，X2…XnCarrying out reconstruction calculation to obtain real-time torque T1，T2…Tn+1And obtaining a torque error e through a torque adjusting module together with the reference torque obtained in the step S21，e2…en+1(ii) a The torque calculation, fault detection and fault tolerance control strategy unit judges the detected current to obtain a control strategy F, and simultaneously calculates the real-time torque of the current direct current motor, and respectively transmits the control strategy F to the reference torque calculation unit, the PWM (pulse width modulation) unit and the (n +1) phase voltage source type fault tolerance inverter, and controls the reference torque calculation unit, the PWM (pulse width modulation) unit and the (n +1) phase voltage source type fault tolerance inverter to execute the control strategy F;
reconstructed real-time torque T1，T2…Tn+1The calculation is as follows:
Figure FDA0003069333380000021
wherein, the detection current of the DC motor is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n；
The torque error is as follows:
ei＝Tiref-Ti
wherein, TirefFor reference torque, TiIn order to reconstruct the obtained real-time torque, i takes the value of 1 to (n +1), and n represents the value of the number of the motor;
the control strategy F is divided into four cases, as follows:
Figure FDA0003069333380000022
s4, comparing the torque error e obtained in the step S31，e2…en+1Obtaining corresponding duty ratio signal H by using torque hysteresis comparison controller1，H2…Hn+1And finally, processing the obtained duty ratio signal through a PWM (pulse width modulation) unit, outputting two paths of complementary signals, respectively controlling the on-off of an upper power switch tube and a lower power switch tube of each bridge arm of the (n +1) voltage source type fault-tolerant inverter to realize the control of the motor, and changing the reference speed omega1ref，ω2ref…ωnrefThe reverse operation of the motor is realized.
2. The method of claim 1, wherein in step S1, the speed error is calculated as follows:
eωi＝ωiref-ωi
wherein, the value range of i is 1-n, and the reference rotating speed is omegairefThe actual rotational speed is ωi。
3. The method of claim 1, wherein the reference torque and the real-time torque calculation when the system is healthy without a faulty motor are formulated as follows:
Figure FDA0003069333380000023
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure FDA0003069333380000031
wherein the motor currentIs X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
4. The method of claim 1, wherein, in the event of a single motor failure:
a. when only one motor fails and is the first failure, the motor torque constant is directly set to be 0, namely k1When the ratio is 0: k when the last motor failsnThe calculated value is 0, and the reference torque expression is as follows:
Figure FDA0003069333380000032
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure FDA0003069333380000033
wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n；
b. When the motor between 1 st to n is failed, and n is 3, the expression is as follows:
Figure FDA0003069333380000034
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure FDA0003069333380000035
wherein the motor current is X1，X2，X3Corresponding to a DC motor torque constant ofki，1≤i≤n；
c. If n is more than 3, when one motor in the middle and not the second motor is in failure, the corresponding ki＝0；
The torque calculation formula is as follows:
Figure FDA0003069333380000041
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system;
Figure FDA0003069333380000042
wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n；
d. If n > 3, when the second motor fails, the torque calculation formula is as follows, where k is20, i.e. T in the calculation result2ref＝0，T2＝0：
Figure FDA0003069333380000043
Wherein k isiI is more than or equal to 1 and less than or equal to n is the torque constant k of the direct current motor of the system2＝0；
Figure FDA0003069333380000044
Wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n。
5. The method of claim 1, wherein when there are two motors failing:
a. if one motor works normally and the other motor works normally, the motor is controlled by a single motor; the torque calculation formula corresponding to the motor is Tiref＝kiIiref，Ti+1ref＝0，Ti＝kiXi，Ti+1I is 0,1 is less than or equal to n, and if the failed motor is the n-1 st motor and the n-2 nd motor, the calculation formula of the n-th motor is Tnref＝knInref，Tn＝knXnLast torque is Tn+1ref＝0，Tn+10; calculating other motor torques according to a motor torque calculation formula when the system is normal;
b. when the positions of the two motors are random, the torque constant of the corresponding direct current motor is directly set to be 0, and then the torque calculation formula in the state can be obtained.
6. The method of claim 1, wherein when there is a failure of multiple motors:
a. if the faults of a plurality of motors cause that the front motor and the rear motor of a certain motor in the circuit are all in faults, single motor control is formed, a torque calculation formula of the motor is controlled according to the operation of the single motor, and other motors are calculated according to a normal torque calculation formula;
the single motor torque calculation formula is as follows:
Tiref＝kiIiref，Ti+1ref＝0
wherein k isiI is more than or equal to 1 and less than or equal to n is a torque constant of the direct current motor of the system, and i is a motor which normally works;
Ti＝kiXi，Ti+1＝0
wherein the motor current is X1，X2…XnCorresponding DC motor torque constant is ki，1≤i≤n；
b. When the motor fails and single motor control is not formed, the torque is calculated in a mode that the torque constant of a direct current motor corresponding to the motor is 0, and the obtained torque is the required reference torque and the required real-time torque.
7. The method according to claim 1, wherein in step S4, a pair of complementary signals is obtained by the duty ratio outputted by the torque hysteresis comparison controller under the action of the PWM pulse width modulation unit for controlling the upper and lower switching tubes of the corresponding bridge arm of the n +1 phase voltage source-type fault-tolerant inverter; the hysteresis error in step S4 is calculated as follows:
ei＝Tiref-Ti
the output duty cycle is calculated as follows:
Figure FDA0003069333380000051
where i is 1,2, … n +1, Q represents the last time output value, δ is the threshold of the torque hysteresis comparison controller, HiThe output of the torque hysteresis comparison controller;
the logic generation function of the pulse signal generated by the PWM pulse width modulation unit in step S4 for controlling the switching of the inverter switching tube is:
Figure FDA0003069333380000061
Figure FDA0003069333380000062
wherein, i is 1,2, … n +1, output signals 0,1 respectively control the on-off of two switch tubes above and below the bridge arm, 0 represents off, and 1 represents on.
8. A multi-dc-motor series fault-tolerant control system for performing the control method according to any one of claims 1 to 7, comprising n series-connected dc motors, and n PI controllers, and a reference torque calculation unit, and (n +1) torque hysteresis comparison controllers, and a PWM pulse width modulation unit, and (n +1) phase voltage source type fault-tolerant inverters, and torque calculation, fault detection and fault-tolerant control strategy units, and a permanent magnet synchronous motor current detection sensor, and a rotational speed position sensor, and a dc power supply;
the input end of the reference torque calculation unit is respectively connected with the n PI controllers, and the output end of the reference torque calculation unit is respectively connected with the input ends of the (n +1) torque hysteresis comparison controllers; the input end of the PWM unit is respectively connected with the output ends of the (n +1) torque hysteresis comparison controllers, and the output end of the PWM unit is connected with the (n +1) phase voltage source type fault-tolerant inverter; the n series-connected direct current motors are connected with an (n +1) phase voltage source type fault-tolerant inverter; the rotating speed position sensor is connected with the speed adjusting module through a rotating speed calculating unit; the permanent magnet synchronous motor current detection sensor is connected with the current regulation module through a torque calculation, fault detection and fault-tolerant control strategy unit; the (n +1) phase voltage source type fault-tolerant inverter comprises 2 x (n +1) IGBT modules, wherein the 2 x (n +1) IGBT modules form n +1 bridge arms in a pairwise serial connection mode, a fuse is arranged at each of two ends of each bridge arm, each bridge arm is connected in parallel to the positive electrode and the negative electrode of a direct current power supply, and n direct current motors connected in series are connected to the middle positions of the n +1 bridge arms after being respectively connected with a bidirectional thyristor; the fuse is arranged at each of two ends of each bridge arm and used for preventing circuit current from increasing due to damage of the motor and protecting the circuit; meanwhile, a bidirectional thyristor is connected between the two IGBT modules of each bridge arm and then connected with the direct current motor, wherein the bidirectional thyristor is used for bidirectional conduction to realize positive and negative control of the direct current motor; the connection mode of the direct current motor for connecting each bridge arm is as follows:
the positive pole of the first direct current motor is connected with a bidirectional thyristor and then connected to the middle position of the first bridge arm, and the negative pole and the positive pole of the second direct current motor are connected with a bidirectional thyristor and then connected to the middle position of the second bridge arm;
the negative pole of the second direct current motor and the positive pole of the third direct current motor are connected with a bidirectional thyristor and then connected to the middle position of the third bridge arm;
the negative electrode of the (n-1) th direct current motor and the positive electrode of the (n) th direct current motor are connected with one bidirectional thyristor and then connected to the middle position of the (n) th bridge arm, and the negative electrode of the (n) th direct current motor is connected with one bidirectional thyristor and then connected to the middle position of the (n +1) th bridge arm.
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