CN111934583A - Fault-tolerant control system and method for double-direct-current motor series system - Google Patents

Fault-tolerant control system and method for double-direct-current motor series system Download PDF

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CN111934583A
CN111934583A CN202010373540.XA CN202010373540A CN111934583A CN 111934583 A CN111934583 A CN 111934583A CN 202010373540 A CN202010373540 A CN 202010373540A CN 111934583 A CN111934583 A CN 111934583A
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CN111934583B (en
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林海
党婷
闫茂德
左磊
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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

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Abstract

The invention discloses a fault-tolerant control system and method for a double-direct-current motor series system. The fault-tolerant control system comprises two direct current motors, a three-phase voltage source type fault-tolerant inverter, a reference current calculation module, a fault detection module and a fault-tolerant control module. Firstly, when a double-motor series system operates, the fault conditions of two motors are judged by detecting the current of the double motors, the fault judgment of the motors is divided into three conditions, when F is 0, the double-motor system is healthy, no fault occurs, F is 1, the motor 1 fails, the motor 2 is in a good condition, F is 2, the motor 2 fails, and the motor 1 is in a good condition. The current is reconstructed according to each condition of current feedback, and when a certain motor fails, the other motor can drive the whole system to normally operate.

Description

Fault-tolerant control system and method for double-direct-current motor series system
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a fault-tolerant control system and method for a double-direct-current motor series system.
Background
With the development of control theory, computer level and motor process manufacturing level, social life tends to be high-quality and comfortable, the requirement on control quality in industrial production is increasingly outstanding, and the requirements on reliability and safety of a motor control system tend to be urgent in the field of motor control, wherein fault-tolerant control of a motor is a typical research field. At present, the research of the fault-tolerant control technology of the direct current motor is still in a starting stage, more common fault-tolerant control is mostly aimed at the alternating current motor, however, the fault-tolerant theory and technology aimed at the direct current motor are less, the direct current motor has good starting characteristic and speed regulation characteristic, and compared with the direct current motor of the alternating current motor, the direct current motor is more energy-saving and environment-friendly, so that the fault-tolerant control technology of the direct current motor is researched in a series aiming at the fault-tolerant control of the direct current motor.
The dual-motor driving system has the advantages of large power output, high power density, suitability for fault-tolerant operation and the like, so that the dual-motor driving system is widely regarded. In a double-motor double-closed-loop control system, if all controllers adopt PI control, excessive negative effects are introduced due to integral feedback in actual motor control, and the difficulty of system parameter adjustment is increased, so that the torque hysteresis control is added in the design of the controllers.
Disclosure of Invention
The invention aims to provide a fault-tolerant control system and a fault-tolerant control method for a double-direct-current motor series system, so as to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fault-tolerant control method for a double-direct-current motor series system comprises the following steps:
s1, initializing a system, and respectively acquiring a current signal and a speed signal of the double direct current motors by the current sensor and the speed sensor, wherein if a fault occurs, the current sensor can detect the abnormal current of a certain motor, the current sensor transmits the abnormal current to the fault diagnosis unit, and the fault diagnosis unit gives fault information F;
s2, making a fault-tolerant control strategy by the current calculation unit according to the fault information, and setting the normal current range of the direct current motor as Ix～IyWhen one motor fails, the current flowsThe sensor detects that the current of the motor is not in a normal current range, the current sensor transmits abnormal current to the fault diagnosis unit, and the fault diagnosis unit transmits fault information to the current unit, the reference current calculation unit, the PWM unit and the three-phase voltage source inverter; the three-phase voltage source inverter controls a fault motor connected with the three-phase voltage source inverter to stop working according to the fault information and triggers the bidirectional thyristor to be conducted, and the fault-tolerant control unit makes a control decision according to the fault information;
s3, collected double-motor rotating speed signal W1、W2And a reference rotational speed W1 *、W2 *The rotation speed error e is obtained through comparisonw1、ew2The rotating speed error is regulated by PI to obtain a two-phase reference current signal;
s4, converting the two-phase reference current into a three-phase reference current;
s5, under different fault conditions, comparing the obtained three-phase reference current with the three-phase current to obtain an error e1、e2、e3Error of three-phase current e1、e2、e3The hysteresis control unit is used as the input of the hysteresis control unit and can adjust the currents of the double motors, when the current error is larger than a certain value, the hysteresis comparator outputs a negative level to enable the upper bridge arm of the corresponding phase to be switched off and the lower bridge arm to be switched on, so that the actual current is reduced, when the current error is equal to the reference current, the hysteresis comparator still keeps low-level output, the actual current is continuously reduced until the error is increased to a certain value again, and the hysteresis controller overturns to output a high-level signal;
and S6, inputting the result of the hysteresis controller into a PWM unit, and generating a pulse signal for correspondingly controlling the switch of the inverter by the PWM unit according to the fault condition to control the turn-off of the inverter so as to drive the motor to run.
Further, in step S1, the failure information F is expressed as:
Figure BDA0002479257680000021
further, in step S2, the fault-tolerant control strategy is to adopt different reconstruction methods for the detected current according to the fault information, and the specific formula is as follows:
when F is equal to 0, the reaction solution is,
Figure BDA0002479257680000022
when the F is equal to 1, the reaction solution is,
Figure BDA0002479257680000031
when the F is equal to 2, the reaction solution is,
Figure BDA0002479257680000032
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
Further, in step S3, the PI adjustment formula is as follows, wherein K isp、KIIs a PI regulator parameter;
Figure BDA0002479257680000033
further, in step S4, the conversion formula of the reference current calculating unit is different according to the difference of the fault information, which is as follows:
when F is equal to 0, the reaction solution is,
Figure BDA0002479257680000034
when the F is equal to 1, the reaction solution is,
Figure BDA0002479257680000035
when the F is equal to 2, the reaction solution is,
Figure BDA0002479257680000036
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
Further, in step S5, the specific formula is as follows:
Figure BDA0002479257680000037
wherein i is 1,2,3, HiThe output of the hysteresis controller is the threshold of the hysteresis comparator, and Q represents the value equal to the output at the previous moment.
Further, in step S6, when the dual-motor system is healthy, the three-leg inverter is controlled according to the conventional PWM output method, if the point a of the first leg is disconnected when the motor 1 fails, the motor 2 is normally driven, and at this time, only one hysteresis control loop controls two legs of the motor, and the same applies when the motor 2 fails, where i is 1,2,3, U, and the switching logic generating function of the specific PWM unit is as follows, where i is 1,2,3, UiThe output of the PWM unit is:
when F is equal to 0, the reaction solution is,
Figure BDA0002479257680000041
when the F is equal to 1, the reaction solution is,
Figure BDA0002479257680000042
when the F is equal to 2, the reaction solution is,
Figure BDA0002479257680000043
further, the fault-tolerant control method according to claim 1 is adopted, and comprises the following steps: the system comprises two direct current motors, a three-phase inverter, a controller, a rotating speed sensor, a current sensor, a torque hysteresis control unit, a fault detection unit, a fault-tolerant control unit and a direct current power supply;
in the double-direct-current motor series circuit, six IGBT modules are connected in series in pairs to form a three-bridge-arm inverter and are connected in parallel at two ends of a direct-current power supply, a first bridge arm is composed of bipolar transistor chips V1 and V2 and diode chips D1 and D2 connected in parallel, a second bridge arm is composed of bipolar transistor chips V3 and V4 and diode chips D3 and D4 connected in parallel, a third bridge arm is composed of bipolar transistor chips V5 and V6 and diode chips D5 and D6 connected in parallel, fusing fuses F1 and F2 are respectively connected at two ends of the first bridge arm, fusing fuses F3 and F4 are respectively connected at two ends of the second bridge arm, and fusing fuses F5 and F6 are respectively connected at two ends of the third bridge arm.
Further, the midpoint between the bipolar transistor chip V1 of the first bridge arm and the bipolar transistor chip V2 is a node a, the midpoint between the bipolar transistor chip V3 of the second bridge arm and the bipolar transistor chip V4 is a node b, and the midpoint between the bipolar transistor chip V5 of the third bridge arm and the bipolar transistor chip V6 is a node c. The positive terminal of the direct current motor 1 is connected with the node a through a bidirectional thyristor TR 1; the negative terminal port of the direct current motor 1 is connected with the positive electrode of the direct current motor 2 in series and then connected with the node b through a bidirectional thyristor TR 2; the negative port of the direct current motor 2 is connected with a node c through a bidirectional thyristor TR 3; the acquisition unit is connected with the double direct current motors and used for acquiring the position and the rotating speed of the motors, the fault detection unit judges whether the two motors have faults or not by acquiring the currents of the double motors, if the two motors have faults, which motor has the fault is given, the current calculation unit adjusts a current synthesis method according to the information given by the fault detection unit, the current hysteresis control unit carries out hysteresis control on current errors, and PWM waves for driving the inverter switches are output through the PWM unit.
Compared with the prior art, the invention has the following technical effects:
the fault-tolerant control method of the double-direct-current motor series system can be realized only by carrying out a small amount of modification on the existing or future double-direct-current motor series method, can improve the control precision of the system, ensures that the whole system can also maintain stable operation when one motor of the double-direct-current motor system fails, and provides reliable technology and method for maintaining continuous production operation in industrial production.
Furthermore, the rotating speed and the current of the double direct current motors are detected, the fault information F of the double motors is obtained through the analysis of the current, the operation is simple and safe through the current detection of the fault information, the fault can be effectively detected in time, and the fault motor can be positioned at the initial stage of the fault.
Further, the fault information is transmitted to the current calculation unit, the reference current calculation unit, the PWM unit and the three-phase inverter, and under different fault information, the connection structure of the three-phase inverter and the motor is analyzed to obtain different current calculation methods, so that the motor can perform effective fault-tolerant control.
Furthermore, the rotating speed error of the double motors is regulated by a PI controller to obtain two-phase reference current, and the traditional PI control is adopted, so that the system has good dynamic and steady-state performance.
Further, two-phase reference current is converted into three-phase reference current, and because the connection structure of the motor and the three-phase inverter is different under different fault information, different methods are required to convert the two-phase reference current into the three-phase reference current.
Furthermore, current hysteresis control is carried out on the current error, so that the current of the motor is always in a range near the reference current, and the hysteresis control not only can adjust the current in real time, but also has the advantages of quick response, high accuracy and the like.
Furthermore, according to different detected fault information, the PWM unit controls different output modes of the switching signals of the inverter, and the inverter is guaranteed to be reasonably controlled to be switched on and switched off under different fault conditions.
The invention relates to a fault-tolerant control system of a double-direct-current motor series system, which mainly adopts different synthesis modes of current to realize the control of the double-motor system under different fault conditions.
In conclusion, the invention is suitable for various double-direct-current motor series driving systems, and has the advantages of simple realization and wide application range.
Drawings
FIG. 1 is a schematic structural diagram of a three-bridge-arm control dual DC motor series system;
FIG. 2 is a fault-tolerant control block diagram of a dual DC motor series system;
FIG. 3 is a flow chart of fault-tolerant control of a dual DC motor series system;
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, the double-dc motor forward series control system of the present invention adopts six IGBT modules, and adopts a two-by-two series connection manner to form a three-bridge arm inverter, which is connected in parallel to two ends of a dc power supply;
the first bridge arm consists of bipolar transistor chips V1 and V2 and diode chips D1 and D2 connected in parallel to the bipolar transistor chips V1 and V2;
the second bridge arm consists of bipolar transistor chips V3 and V4 and diode chips D3 and D4 connected in parallel to the bipolar transistor chips V3 and V4;
the third bridge arm is composed of bipolar transistor chips V5 and V6 and diode chips D5 and D6 connected in parallel.
In order to prevent the inverter from being burnt out due to short circuit caused by motor faults, fusing fuses F1-F6 are connected in series at the front end of each inverter switch, and when the current of the bridge arm where the fuse is located is too large, the fuse can be fused to protect the inverter.
Further, a, b and c are middle points of the first bridge arm, the second bridge arm and the third bridge arm;
the positive terminal of the direct current motor 1 is connected with the node a through a bidirectional thyristor TR 1;
the negative terminal port of the direct current motor 1 is connected with the positive electrode of the direct current motor 2 in series and then connected with the node b through a bidirectional thyristor TR 2;
the negative terminal of the dc motor 2 is connected to the node c via a triac TR 3.
Referring to fig. 2, in the control process of the dual dc motor series fault-tolerant control system, the general working principle of the present invention is as follows:
when a motor breaks down, the current sensor for detecting the current of the motor detects abnormal current, the current sensor transmits the abnormal current to the fault diagnosis unit, and the fault diagnosis unit transmits fault information to the current calculation unit, the reference current calculation unit and the three-phase voltage source inverter.
The current calculation unit and the reference current calculation unit make a control decision according to the fault information, the three-phase voltage source inverter controls the fault motor connected with the three-phase voltage source inverter to stop working according to the fault information and triggers the bidirectional thyristor to be conducted, the motor is in fault to cause the short circuit of the motor and a bridge arm connected with the motor, a fuse connected with the bridge arm is fused due to overlarge current, and if the dual-motor system is in a normal working state, the fault-tolerant control strategy of the invention operates according to a normal dual-direct current motor control mode driven by the three-phase voltage source inverter.
The invention discloses a fault-tolerant control method for a double-direct-current motor series system, which comprises the following steps of:
s1, initializing the system, collecting the current signal and speed signal of the double DC motors by the current sensor and the speed sensor respectively, and setting the normal current range of the DC motor as Ix～IyWhen one motor breaks down, the current sensor detects that the current of the motor is not in the normal current range, the current sensor detects the abnormal current of the motor, the current sensor transmits the abnormal current to the fault diagnosis unit, and the fault diagnosis unit gives out fault information F.
Figure BDA0002479257680000071
S2, the fault-tolerant control unit makes a fault-tolerant control strategy according to the fault information, the fault-tolerant control strategy adopts different reconstruction methods for the detected current according to the fault information, and the specific formula is as follows:
when F is equal to 0, the reaction solution is,
Figure BDA0002479257680000072
when the F is equal to 1, the reaction solution is,
Figure BDA0002479257680000073
when the F is equal to 2, the reaction solution is,
Figure BDA0002479257680000074
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
S3, collected double-motor rotating speed signal W1、W2And a reference rotational speed W1 *、W2 *The rotation speed error e is obtained through comparisonw1、ew2The rotation speed error is regulated by PI to obtain two-phase reference current signal, and the PI regulation formula is as follows, wherein Kp、KIIs the PI regulator parameter.
Figure BDA0002479257680000081
S4, since the system driver is a three-phase inverter, it is necessary to convert the two-phase reference current into a three-phase reference current, and the conversion formula is different according to the difference of the fault information, which is specifically as follows:
when F is equal to 0, the reaction solution is,
Figure BDA0002479257680000082
when the F is equal to 1, the reaction solution is,
Figure BDA0002479257680000083
when the F is equal to 2, the reaction solution is,
Figure BDA0002479257680000084
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
S5, under different fault conditions, comparing the obtained three-phase reference current with the three-phase current to obtain an error e1、e2、e3To supply three-phase currentError e1、e2、e3The hysteresis control unit is used as an input of the hysteresis control unit, can adjust the current of the double motors, when the error is larger than a certain value, the hysteresis comparator outputs a negative level to enable the upper bridge arm of the corresponding phase to be switched off and the lower bridge arm to be switched on, so that the actual current is reduced, when the error is reduced to be equal to the reference current, the hysteresis comparator still keeps low level output, the actual current is continuously reduced until the error is increased to a certain value again, the hysteresis controller overturns, and outputs a high level signal, and the specific formula is as follows:
Figure BDA0002479257680000085
wherein i is 1,2,3, HiThe output of the hysteresis controller is the threshold of the hysteresis comparator, and Q represents the value equal to the output at the previous moment.
S6, inputting the result of the hysteresis controller into a PWM unit, the PWM unit generating a pulse signal for controlling the switch of the inverter according to the fault information to control the turn-off of the inverter, and further driving the operation of the motor, and the specific formula related to PWM output PWM wave is as follows:
when F is equal to 0, the reaction solution is,
Figure BDA0002479257680000086
when the F is equal to 1, the reaction solution is,
Figure BDA0002479257680000087
when the F is equal to 2, the reaction solution is,
Figure BDA0002479257680000091
wherein i is 1,2,3, UiIs the output of the PWM unit.
The fault-tolerant control method is characterized in that the fault-tolerant control strategy is made according to the fault information, the reference current and the actual current are reconstructed by different reconstruction methods under different fault conditions, so that the fault-tolerant control is simpler and more effective, the real-time performance is higher, the fault-tolerant control method can be used for the application occasions of the double direct current motors with high control freedom and high reliability, after the motor fails, the fault-tolerant control can be realized by controlling the turn-off of the bidirectional thyristor on hardware, and the fault-tolerant control algorithm is relatively simple and reliable, thereby being beneficial to realizing the fault-tolerant control of a double-motor system.
In summary, the fault-tolerant control method for the dual-dc-motor series system of the present invention can operate the dual-motor system in the single-motor driving mode when one motor fails in a simple and effective manner, thereby ensuring the continuous and stable operation of the system and preventing the whole system from being crashed due to the failure of one motor in the industrial production of the dual motors.
Finally, it should be noted that: the scope of the invention is not limited to the specific embodiments, and those skilled in the art will understand that: those skilled in the art can still make modifications or easily conceive of changes to the specific embodiments described above or equivalent substitutions of parts of the technical features within the technical scope of the present disclosure, without departing from the spirit and scope of the embodiments of the present disclosure. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A fault-tolerant control method for a double-direct-current motor series system is characterized by comprising the following steps:
s1, initializing a system, and respectively acquiring a current signal and a speed signal of the double direct current motors by the current sensor and the speed sensor, wherein if a fault occurs, the current sensor can detect the abnormal current of a certain motor, the current sensor transmits the abnormal current to the fault diagnosis unit, and the fault diagnosis unit gives fault information F;
s2, making a fault-tolerant control strategy by the current calculation unit according to the fault information, and setting the normal current range of the direct current motor as Ix～IyWhen one motor breaks down, the current sensor detects that the current of the motor is not in the normal current range, and the current sensor detects that the current of the motor is not in the normal current rangeThe normal current is transmitted to a fault diagnosis unit, and the fault diagnosis unit transmits fault information to a current unit, a reference current calculation unit, a PWM unit and a three-phase voltage source inverter; the three-phase voltage source inverter controls a fault motor connected with the three-phase voltage source inverter to stop working according to the fault information and triggers the bidirectional thyristor to be conducted, and the fault-tolerant control unit makes a control decision according to the fault information;
s3, collected double-motor rotating speed signal W1、W2And a reference rotational speed W1 *、W2 *The rotation speed error e is obtained through comparisonw1、ew2The rotating speed error is regulated by PI to obtain a two-phase reference current signal;
s4, converting the two-phase reference current into a three-phase reference current;
s5, under different fault conditions, comparing the obtained three-phase reference current with the three-phase current to obtain an error e1、e2、e3Error of three-phase current e1、e2、e3The hysteresis control unit is used as the input of the hysteresis control unit and can adjust the currents of the double motors, when the current error is larger than a certain value, the hysteresis comparator outputs a negative level to enable the upper bridge arm of the corresponding phase to be switched off and the lower bridge arm to be switched on, so that the actual current is reduced, when the current error is equal to the reference current, the hysteresis comparator still keeps low-level output, the actual current is continuously reduced until the error is increased to a certain value again, and the hysteresis controller overturns to output a high-level signal;
and S6, inputting the result of the hysteresis controller into a PWM unit, and generating a pulse signal for correspondingly controlling the switch of the inverter by the PWM unit according to the fault condition to control the turn-off of the inverter so as to drive the motor to run.
2. The fault-tolerant control method for the double-direct-current-motor series system according to claim 1, wherein in step S1, the fault information F is represented as:
Figure FDA0002479257670000011
3. the fault-tolerant control method for the double-direct-current-motor series system according to claim 1, wherein in step S2, the fault-tolerant control strategy is to adopt different reconstruction methods for the detected current according to the fault information, and the specific formula is as follows:
when F is equal to 0, the reaction solution is,
Figure FDA0002479257670000021
when the F is equal to 1, the reaction solution is,
Figure FDA0002479257670000022
when the F is equal to 2, the reaction solution is,
Figure FDA0002479257670000023
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
4. The fault-tolerant control method for a double-direct-current motor series system according to claim 1, wherein in step S3, the PI regulation formula is as follows, wherein K isp、KIIs a PI regulator parameter;
Figure FDA0002479257670000024
5. the fault-tolerant control method for the series system of double direct current motors as claimed in claim 1, wherein in step S4, the conversion formula of the reference current calculation unit is different according to the difference of the fault information, specifically as follows:
when F is equal to 0, the reaction solution is,
Figure FDA0002479257670000025
when the F is equal to 1, the reaction solution is,
Figure FDA0002479257670000026
when the F is equal to 2, the reaction solution is,
Figure FDA0002479257670000027
wherein, K1、K2Is the dc motor torque constant of motor 1 and motor 2.
6. The fault-tolerant control method for the double-direct-current motor series system according to claim 1, wherein in step S5, the specific formula is as follows:
Figure FDA0002479257670000031
wherein i is 1,2,3, HiThe output of the hysteresis controller is the threshold of the hysteresis comparator, and Q represents the value equal to the output at the previous moment.
7. The fault-tolerant control method for a dual-dc motor series system according to claim 1, wherein in step S6, when the dual-motor system is healthy, the three-leg inverter is controlled according to a conventional PWM output method, if the point a of the first leg is disconnected when the motor 1 fails, the motor 2 is normally driven, and at this time, only one hysteretic control loop controls two legs of the motor, and the same applies when the motor 2 fails, and the switching logic generation function of the specific PWM unit is as follows, where i is 1,2,3,ithe output of the PWM unit is:
when F is equal to 0, the reaction solution is,
Figure FDA0002479257670000032
when the F is equal to 1, the reaction solution is,
Figure FDA0002479257670000033
when the F is equal to 2, the reaction solution is,
Figure FDA0002479257670000034
8. a fault-tolerant control system for a double-dc motor series system, wherein the fault-tolerant control method of claim 1 is adopted, and comprises: the system comprises two direct current motors, a three-phase inverter, a controller, a rotating speed sensor, a current sensor, a torque hysteresis control unit, a fault detection unit, a fault-tolerant control unit and a direct current power supply;
in the double-direct-current motor series circuit, six IGBT modules are connected in series in pairs to form a three-bridge-arm inverter and are connected in parallel at two ends of a direct-current power supply, a first bridge arm is composed of bipolar transistor chips V1 and V2 and diode chips D1 and D2 connected in parallel, a second bridge arm is composed of bipolar transistor chips V3 and V4 and diode chips D3 and D4 connected in parallel, a third bridge arm is composed of bipolar transistor chips V5 and V6 and diode chips D5 and D6 connected in parallel, fusing fuses F1 and F2 are respectively connected at two ends of the first bridge arm, fusing fuses F3 and F4 are respectively connected at two ends of the second bridge arm, and fusing fuses F5 and F6 are respectively connected at two ends of the third bridge arm.
9. The fault-tolerant control system for the double-direct-current motor series system of claim 8, wherein a midpoint between the bipolar transistor chip V1 and the bipolar transistor chip V2 of the first bridge arm is a node a, a midpoint between the bipolar transistor chip V3 and the bipolar transistor chip V4 of the second bridge arm is a node b, and a midpoint between the bipolar transistor chip V5 and the bipolar transistor chip V6 of the third bridge arm is a node c; the positive terminal of the direct current motor 1 is connected with the node a through a bidirectional thyristor TR 1; the negative terminal port of the direct current motor 1 is connected with the positive electrode of the direct current motor 2 in series and then connected with the node b through a bidirectional thyristor TR 2; the negative port of the direct current motor 2 is connected with a node c through a bidirectional thyristor TR 3; the acquisition unit is connected with the double direct current motors and used for acquiring the position and the rotating speed of the motors, the fault detection unit judges whether the two motors have faults or not by acquiring the currents of the double motors, if the two motors have faults, which motor has the fault is given, the current calculation unit adjusts a current synthesis method according to the information given by the fault detection unit, the current hysteresis control unit carries out hysteresis control on current errors, and PWM waves for driving the inverter switches are output through the PWM unit.
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