CN111786613B - Three-phase series winding topology open circuit fault tolerance method for balanced modulation of wave amplitude - Google Patents
Three-phase series winding topology open circuit fault tolerance method for balanced modulation of wave amplitude 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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Abstract
The invention discloses a three-phase series winding topology open circuit fault tolerance method for balanced modulation of wave amplitude, which realizes fault tolerance operation of a motor after a fault by extracting and inhibiting a negative sequence current component in a system when any one phase of three-phase current is zero due to open circuit fault. And after positive sequence modulation wave components and negative sequence modulation wave components required by the control motor are superposed, carrying out redistribution by taking the equal amplitude as constraint, and finally obtaining a new instruction value of each bridge arm after the open circuit fault occurs. The invention provides a fault-tolerant control method which can ensure that a three-phase series winding topology still ensures the normal work of a motor after the open circuit fault of a bridge arm or a winding occurs and effectively improves the amplitude imbalance after modulated waves are superposed for the first time; meanwhile, the method is subjected to simulation verification on a three-phase motor, and the motor fault tolerance and modulation wave balance control effect is obvious.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a three-phase series winding topological open circuit fault tolerance method for balanced modulation of wave amplitude.
Background
The gradual expansion of the application field of electric drive systems puts more and more stringent requirements on the performance of motor systems. A motor drive system, which is one of the cores, requires a series of improvements in power density, voltage utilization, reliability, power class, and the like. The open winding type inverter topological structure is widely applied due to higher voltage utilization rate and more control freedom degrees, if the phase windings with opened neutral points are connected in series in sequence, the direct-current voltage utilization rate identical to that of an open winding H bridge structure can be obtained, and the number of switching devices is reduced by nearly half, so the structure has wide application prospect.
In order to improve the reliability of the system, the fault condition which may occur in the operation process must be considered and the targeted control must be performed, so as to suppress the personal safety hidden trouble and property loss caused after the fault occurs. For motor systems, open or short circuit faults occur in the inverter or the windings most frequently.
And the open circuit fault means that the switch tube or the motor winding with the fault is kept open circuit, the corresponding phase winding does not work at the moment, and the circulating current is always zero. The short-circuit fault means that a failed switching tube or a motor winding is kept short-circuited, if the short-circuit fault is not controlled, serious current overshoot is caused, and the system has an overheating risk, and the short-circuit fault is converted into an open-circuit fault through a fuse mounted on the system for equivalent treatment. If a three-phase motor is driven by adopting a traditional three-phase half-bridge structure, after a fault occurs, the capacity reduction operation can not be carried out theoretically under the condition of meeting the requirement of no low-order torque pulsation, and the series winding structure has the possibility of open circuit fault tolerance due to more control freedom degrees and available zero-sequence paths.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a three-phase series winding topology open-circuit fault tolerance method for balancing modulation wave amplitude, and aims to solve the problems of low-order torque ripple caused by the existence of negative sequence current and modulation wave amplitude imbalance caused in the suppression process after the open-circuit fault of the three-phase series winding topology.
In order to achieve the purpose, the invention provides a three-phase series winding topology open circuit fault tolerance method for equalizing modulation wave amplitude, which comprises the following steps:
the phase winding voltage is subjected to a first rotation transformation matrix to obtain a component V of the phase winding voltage on a rotation planed+、Vq+；
When fault occurs, the negative sequence current is suppressed, and the negative sequence current component I is extracted through a second rotation transformation matrixd-、Iq-Obtaining a negative sequence voltage component V required for inhibiting the negative sequence current through PI control calculationd-、Vq-；
From positive sequence voltage V before fault occurrenced+、Vq+And a negative sequence voltage V required for suppressing the negative sequence currentd-、Vq-Calculating coefficients for determining the voltage amplitude and the phase of the phase winding;
and carrying out new constraint distribution on the phase winding voltage to ensure that the amplitudes of the corresponding bridge arm voltages are equal, solving to obtain coefficients for determining the amplitude and the phase of the modulation wave of the bridge arm, namely obtaining the reference modulation wave size of each bridge arm after the fault occurs, and realizing the fault tolerance of the three-phase series winding topology open circuit of the balanced modulation wave amplitude.
The invention can be used in the following open circuit fault situations:
the output voltages of four bridge arms of the three-phase series winding topology are respectively V1～V4Can be represented by the following formulaThe following steps:
V1＝P1cosθ+Q1sinθ
V2＝P2cosθ+Q2sinθ
V3＝P3cosθ+Q3sinθ
V4＝P4cosθ+Q4sinθ
where θ is the rotor flux linkage position angle, P1～P4、Q1～Q4To determine the amplitude and phase coefficients of the modulation wave of the bridge arm. The relation between the phase winding voltage and the bridge arm voltage meets the following conditions:
VA＝V1-V2
VB＝V2-V3
VC＝V3-V4
before the fault occurs, the voltage of the phase winding is calculated through a first rotation transformation matrix to obtain a component V of the voltage on the phase winding on a rotation planed+、Vq+Inversely transformed back to the static coordinate system and sequentially respectively to be Va+～Vc+The DC power supply voltage is stabilized to VdcThe first rotation transformation matrix is:
after the fault occurs, three open circuit conditions are total according to the classification standard that the current of a certain phase winding is zero: open circuit of phase A, open circuit of phase B and open circuit of phase C. No matter which phase the fault occurs in, the negative sequence current needs to be suppressed, and the second rotation transformation matrix is:
extracting negative sequence current component Id-、Iq-Obtaining a negative sequence voltage component V required for inhibiting the negative sequence current through PI control calculationd-、Vq-Which is inversely transformed to correspond toThe negative sequence voltage command on each phase winding is Va-～Vc-The expression is:
VA＝VA++VA-
＝Vd+cos(θ)-Vq+sin(θ)+Vd-cos(-θ)-Vq-sin(-θ)
＝(Vd++Vd-)cosθ+(-Vq++Vq-)sinθ
＝A1cosθ+B1sinθ
wherein, Vd+、Vq+Component of phase winding voltage in plane of rotation, Vd-、Vq-To suppress the negative-sequence voltage component required for the negative-sequence current, A1～A3、B1～B3To determine the voltage amplitude and phase coefficient of the phase winding, the positive sequence voltage V before the fault occursd+、Vq+And a negative sequence voltage V required for suppressing the negative sequence currentd-、Vq-And calculating by substituting into the formula. As long as the voltage on the phase winding meets the voltage command, the motor can operate in fault tolerance without low-order torque ripple.
Further, performing new constraint distribution on the obtained A-C phase winding voltage to enable the amplitudes of the corresponding bridge arm voltages to be equal, and solving an equation:
Px-Px+1＝Ax
Qx-Qx+1＝Bx
Py-Py+1＝Ay
Qy-Qy+1＝By
Px 2+Qx 2＝Px+1 2+Qx+1 2
Py 2+Qy 2＝Py+1 2+Qy+1 2
the equation has only one solution, x is 2 and y is 3 when the A phase is in open circuit fault; when the C phase has an open circuit fault, x is 1, and y is 2; when phase B fails, x is 1, y is 3, P2＝P3，Q2＝Q3。
Solving to obtain P1～P4、Q1～Q4And then obtaining the reference modulation wave size of each bridge arm after the fault occurs. The modulation wave not only meets the fault-tolerant operation of the motor without low-order torque pulsation under the condition of open circuit fault, but also balances the amplitude of the modulation wave of the bridge arm.
Through the technical scheme, compared with the prior control technology that severe torque pulsation of the motor cannot work normally after a fault occurs, the fault-tolerant control method for the open-circuit fault of the three-phase series winding topology is provided by utilizing the redundant freedom degree and the zero sequence path of the three-phase series winding structure, and the fault-tolerant control method for the open-circuit fault of the three-phase series winding topology can be used for fault-tolerant control after the open-circuit fault occurs on one phase in the three-phase series winding topology, so that the motor can always output smooth torque before and after the fault, the torque pulsation and vibration noise can be kept at a lower level, and the amplitude of the modulation wave of each bridge arm before and after the fault is kept always balanced by redistributing the superimposed modulation wave in a new constraint, the output voltage of each bridge arm can be ensured to reach the output upper limit at the same time, the output capacity of the bridge arms is fully.
Drawings
FIG. 1 is a schematic diagram of a three-phase series winding topology open circuit fault provided by the present invention;
FIG. 2(a) is a schematic diagram of output torque of a system without using the open-circuit fault-tolerant and modulated wave equalization method proposed by the present invention when an open-circuit fault occurs;
FIG. 2(b) is a waveform diagram of a bridge arm voltage modulation wave of a system without using the open-circuit fault-tolerant and modulation wave equalization method proposed by the present invention when an open-circuit fault occurs;
FIG. 3(a) is a schematic diagram of output torque of a system employing the open-circuit fault-tolerant and modulated wave equalization method proposed by the present invention when open-circuit fault occurs;
fig. 3(b) is a waveform diagram of a bridge arm voltage modulation wave of a system adopting the open-circuit fault-tolerant and modulation wave equalization method provided by the invention when an open-circuit fault occurs.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a three-phase series winding topology open circuit fault tolerance method for equalizing modulation wave amplitude, which comprises the following steps:
the phase winding voltage is subjected to a first rotation transformation matrix to obtain a component V of the phase winding voltage on a rotation planed+、Vq+；
When fault occurs, the negative sequence current is suppressed, and the negative sequence current component I is extracted through a second rotation transformation matrixd-、Iq-Obtaining a negative sequence voltage component V required for inhibiting the negative sequence current through PI control calculationd-、Vq-；
From positive sequence voltage V before fault occurrenced+、Vq+And a negative sequence voltage V required for suppressing the negative sequence currentd-、Vq-Calculating coefficients for determining the voltage amplitude and the phase of the phase winding;
and carrying out new constraint distribution on the phase winding voltage to ensure that the amplitudes of the corresponding bridge arm voltages are equal, solving to obtain coefficients for determining the amplitude and the phase of the modulation wave of the bridge arm, namely obtaining the reference modulation wave size of each bridge arm after the fault occurs, and realizing the fault tolerance of the three-phase series winding topology open circuit of the balanced modulation wave amplitude.
The invention can be used in the following open circuit fault situations:
three-phase series winding topologyThe output voltages of the four bridge arms are respectively V1～V4And can be represented by the following formula:
V1＝P1cosθ+Q1sinθ
V2＝P2cosθ+Q2sinθ
V3＝P3cosθ+Q3sinθ
V4＝P4cosθ+Q4sinθ
where θ is the rotor flux linkage position angle, P1～P4、Q1～Q4To determine the amplitude and phase coefficients of the modulation wave of the bridge arm. The relation between the phase winding voltage and the bridge arm voltage meets the following conditions:
VA＝V1-V2
VB＝V2-V3
VC＝V3-V4
before the fault occurs, the voltage of the phase winding is calculated through a first rotation transformation matrix to obtain a component V of the voltage on the phase winding on a rotation planed+、Vq+Inversely transformed back to the static coordinate system and sequentially respectively to be Va+～Vc+The DC power supply voltage is stabilized to VdcThe first rotation transformation matrix is:
after the fault occurs, three open circuit conditions are total according to the classification standard that the current of a certain phase winding is zero: open circuit of phase A, open circuit of phase B and open circuit of phase C. Where the phase a open circuit occurrence position corresponds to the failure points 1, 2 in fig. 1. The B-phase open circuit occurrence position corresponds to the failure point 3 in fig. 1. The C-phase open circuit occurrence positions correspond to the failure points 4, 5 in fig. 1. Equivalent to infinite fault point impedance, and 0 circulating current.
No matter which phase the fault occurs in, the negative sequence current needs to be suppressed, and the second rotation transformation matrix is:
extracting negative sequence current component Id-、Iq-Obtaining a negative sequence voltage component V required for inhibiting the negative sequence current through PI control calculationd-、Vq-After inverse transformation, the negative sequence voltage command corresponding to each phase winding is Va-～Vc-The expression is:
VA＝VA++VA-
＝Vd+cos(θ)-Vq+sin(θ)+Vd-cos(-θ)-Vq-sin(-θ)
＝(Vd++Vd-)cosθ+(-Vq++Vq-)sinθ
＝A1cosθ+B1sinθ
wherein, Vd+、Vq+Component of phase winding voltage in plane of rotation, Vd-、Vq-To suppress the negative-sequence voltage component required for the negative-sequence current, A1～A3、B1～B3To determine the voltage amplitude and phase coefficient of the phase winding, the positive sequence voltage V before the fault occursd+、Vq+And a negative sequence voltage V required for suppressing the negative sequence currentd-、Vq-And calculating by substituting into the formula. As long as the voltage on the phase winding meets the voltage command, the motor can operate in fault tolerance without low-order torque ripple.
Further, performing new constraint distribution on the obtained A-C phase winding voltage to enable the amplitudes of the corresponding bridge arm voltages to be equal, and solving an equation:
Px-Px+1＝Ax
Qx-Qx+1＝Bx
Py-Py+1＝Ay
Qy-Qy+1＝By
Px 2+Qx 2＝Px+1 2+Qx+1 2
Py 2+Qy 2＝Py+1 2+Qy+1 2
the equation has only one solution, x is 2 and y is 3 when the A phase is in open circuit fault; when the C phase has an open circuit fault, x is 1, and y is 2; when phase B fails, x is 1, y is 3, P2＝P3，Q2＝Q3。
Solving to obtain P1～P4、Q1～Q4And then obtaining the reference modulation wave size of each bridge arm after the fault occurs. The modulation wave not only meets the fault-tolerant operation of the motor without low-order torque pulsation under the condition of open circuit fault, but also balances the amplitude of the modulation wave of the bridge arm.
In order to verify the effectiveness of the method, the simulation verification of the short-circuit fault tolerance method is carried out on the three-phase asynchronous motor. The three-phase motor is a motor with distributed windings, and the parameters of the motor are shown in table 1. Wherein r issIs stator resistance, rrIs rotor resistance, LmFor stator-rotor mutual inductance, LlsFor stator leakage inductance, LlrFor rotor leakage inductance, pnIs the number of pole pairs.
TABLE 1
| rs | rr | Lm | Lls | Llr | pn |
| 0.853Ω | 0.512Ω | 40.1mH | 3.5mH | 3.5mH | 2 |
And setting the rotating speed instruction value of the three-phase motor to be 600r/min, the fundamental frequency to be 50Hz, and the direct-current power supply voltage to be 540V. The open circuit fault occurs at t ═ 1.7 s.
As shown in fig. 2(a), if there is no corresponding fault-tolerant control strategy after the open-circuit fault occurs, the output torque of the system will have obvious pulsation, and the control system is always in an unstable dynamic adjustment process, the amplitude of the modulation wave shown in fig. 2(b) is obviously unbalanced, and the amplitude of the modulation waves of the bridge arms 2, 3, 4 can be known to be 20.86V, 16.04V, 21.88V in sequence according to the dc voltage base value and per unit data in the waveform. If the degree of imbalance is defined:
the modulation wave imbalance reaches 26.69% when the fault-tolerant control is not employed.
After the fault-tolerant and modulated wave voltage equalization method provided by the invention is used, the low-order pulsation component in the output torque of the system in fig. 3(a) is obviously inhibited, and the control system is basically stable. In fig. 3(b), the amplitude of the bridge arm voltage modulation wave is 20.16V, 20.38V and 20.03V in sequence, the degree of imbalance is 1.72%, and the improvement is obvious compared with the case of not adopting the bridge arm voltage modulation wave.
According to the simulation results, the three-phase series winding topology open circuit fault tolerance and modulation wave balancing method has good effectiveness.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A three-phase series winding topology open circuit fault tolerance method for equalizing modulation wave amplitude is characterized by comprising the following steps:
the phase winding voltage is subjected to a first rotation transformation matrix to obtain a component V of the phase winding voltage on a rotation planed+、Vq+；
When fault occurs, the negative sequence current is suppressed, and the negative sequence current component I is extracted through a second rotation transformation matrixd-、Iq-Obtaining a negative sequence voltage component V required for inhibiting the negative sequence current through PI control calculationd-、Vq-；
From positive sequence voltage V before fault occurrenced+、Vq+And a negative sequence voltage V required for suppressing the negative sequence currentd-、Vq-Calculating coefficients for determining the voltage amplitude and the phase of the phase winding;
and carrying out constraint distribution on the phase winding voltage to ensure that the amplitudes of the corresponding bridge arm voltages are equal, solving to obtain coefficients for determining the amplitude and the phase of the modulation wave of the bridge arms, namely obtaining the reference modulation wave size of each bridge arm after the fault occurs, and realizing the fault tolerance of the three-phase series winding topology open circuit fault of the balanced modulation wave amplitude.
2. The three-phase series winding topology open-circuit fault-tolerant method of claim 1, characterized in that the phase winding voltage is VA、VBAnd VCFour bridge arm output voltages V in series winding topology with three phases1～V4The relationship satisfies:
VA＝V1-V2
VB＝V2-V3
VC＝V3-V4
four bridge arms output voltage V1～V4Can be represented by the following formula:
V1＝P1cosθ+Q1sinθ
V2＝P2cosθ+Q2sinθ
V3＝P3cosθ+Q3sinθ
V4＝P4cosθ+Q4sinθ
where θ is the rotor flux linkage position angle, P1～P4、Q1～Q4To determine the amplitude and phase coefficients of the modulation wave of the bridge arm.
3. The three-phase series winding topology open-circuit fault-tolerant method according to claim 1, characterized in that the first rotating transformation matrix T+Comprises the following steps:
where θ is the rotor flux linkage position angle.
4. The three-phase series winding topology open-circuit fault-tolerant method according to claim 1, characterized in that the second rotation transformation matrix T-Comprises the following steps:
where θ is the rotor flux linkage position angle.
5. The three-phase series winding topology open circuit fault tolerance method of claim 2, wherein the coefficients that determine the phase winding voltage amplitude and phase are expressed as:
VA＝Vd+cos(θ)-Vq+sin(θ)+Vd-cos(-θ)-Vq-sin(-θ)＝(Vd++Vd-)cosθ+(-Vq++Vq-)sinθ＝A1cosθ+B1sinθ
wherein, Vd+、Vq+Component of phase winding voltage in plane of rotation, Vd-、Vq-To suppress the negative-sequence voltage component required for the negative-sequence current, A1～A3、B1～B3The coefficients that determine the amplitude and phase of the phase winding voltage, respectively.
6. The three-phase series winding topology open-circuit fault tolerance method according to claim 5, wherein the process of solving coefficients determining the amplitude and the phase of the modulation wave of the bridge arm is represented as follows:
Px-Px+1＝Ax
Qx-Qx+1＝Bx
Py-Py+1＝Ay
Qy-Qy+1＝By
Px 2+Qx 2＝Px+1 2+Qx+1 2
Py 2+Qy 2＝Py+1 2+Qy+1 2
when the phase A is in open circuit fault, x is 2, and y is 3; when the C phase has an open circuit fault, x is 1, and y is 2; when the open circuit fault occurs to the phase B, x is 1,y＝3，P2＝P3，Q2＝Q3。
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