CN112290858A - Five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction - Google Patents

Five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction Download PDF

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CN112290858A
CN112290858A CN202011166399.2A CN202011166399A CN112290858A CN 112290858 A CN112290858 A CN 112290858A CN 202011166399 A CN202011166399 A CN 202011166399A CN 112290858 A CN112290858 A CN 112290858A
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CN112290858B (en
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刘国海
王旭
陈前
赵文祥
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Jiangsu 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
    • 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
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract

The invention discloses a five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction. The method comprises the following steps: detecting motor feedback rotation speed omegamBy a given rotational speed ω*Error of (2) to obtain iqrefSetting idrefIs 0; calculating the compensation voltage uα'，uβ' and the compensating current iα'，iβ'; sampling each phase current iA，iB，iC，iD，iEAnd short-circuit current, combined with compensation current iα'，iβ' and transform the matrix to obtain the feedback d-q axis current id(k)，iq(k) (ii) a Calculating reference voltage value by using dead-beat algorithm, and combining with compensation voltage uα',uβ' and back-emf compensation to obtain the reference value u of the alpha-beta axis voltageαref，uβref(ii) a Derivation baseA cost function of the voltage error; selecting an optimal voltage vector combination according to the shortest distance principle of the cost function; and selecting the optimal voltage vector combination and inputting the corresponding switching state of the optimal voltage vector combination into the PWM module, and inputting the obtained switching signal into the inverter to control the motor, thereby realizing the interphase short circuit fault-tolerant control of the five-phase permanent magnet synchronous motor.

Description

Five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction
Technical Field
The invention relates to the technical field of multi-phase motor fault-tolerant control, realizes fault-tolerant control under the phase short circuit fault of a five-phase permanent magnet motor by injecting compensation voltage and current, and also relates to novel multi-vector model predictive control. The motor is suitable for occasions with higher requirements on the reliability of the motor, such as aerospace, electric automobiles, ship propulsion systems and the like.
Background
The permanent magnet synchronous motor has the characteristics of high torque density, high efficiency, high reliability and the like, and is more and more widely applied to the fields of electric automobiles, aerospace, marine cruise systems and the like. Meanwhile, for some occasions with higher reliability requirements, such as aircrafts, electric automobiles and the like, a stable and reliable motor driving system is particularly important. The three-phase permanent magnet synchronous motor has the defect of insufficient reliability in some special occasions. The multiphase permanent magnet motor is a research hotspot in the field of motors by virtue of low torque ripple and high fault tolerance. The existing fault-tolerant method mainly focuses on the open-circuit fault state, and relatively few fault-tolerant analysis is performed on short-circuit faults. Compared with an open-circuit fault, due to the existence of the permanent magnet, after the five-phase permanent magnet synchronous motor is in a short-circuit fault, the phase current of the motor is rapidly and sharply increased in a short time, the torque ripple of the motor is increased, and the system is more harmful. The existing short circuit fault tolerance mainly focuses on turn-to-turn short circuit and single-phase or relative two-phase to center short circuit of a motor, and fault tolerance control aiming at the interphase short circuit fault of the motor is not available.
In recent years, researchers at home and abroad have conducted intensive research on model prediction control and have achieved abundant results. The Model Predictive Control (MPC) has the characteristics of fast dynamic response, simple and flexible Control, convenience for processing nonlinear constraint and the like, compared with direct torque, the MPC is more accurate and effective in vector selection, and the optimal voltage vector is selected by predicting the state of the motor and substituting the predicted value into a value evaluation function; compared with vector control, MPC does not need current loop parameter setting, and can obtain better dynamic response characteristic. Because the model predictive control error of a single vector is large, the current contains more harmonic currents, and the model predictive control of multiple vectors becomes a research hotspot. At present, model prediction control of multiple vectors is mainly focused on a motor in a normal running state, and research on the motor in a fault-tolerant state is less.
Disclosure of Invention
The invention provides a five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction, aiming at the problems that the accuracy of single-vector model prediction fault-tolerant control is not high and a motor can run in a fault-tolerant mode under an interphase short circuit fault.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction comprises the following steps:
step 1, detecting the feedback rotating speed omega of the five-phase permanent magnet synchronous motormComparing the given rotating speed omega to obtain the rotating speed error of the motor, and calculating the q-axis current reference value i of the five-phase permanent magnet synchronous motor by adopting a PI (proportional integral) controller according to the rotating speed errorqref；idFor d-axis current, due to the use of idD-axis current reference value i of five-phase permanent magnet synchronous motor controlled as 0drefSet to 0;
step 2, when the five-phase permanent magnet synchronous motor has an inter-phase short circuit fault, adding a compensation voltage u on the basis of the open circuit fault of the corresponding phase according to the constraint conditions that the magnetomotive force is unchanged and the neutral point is 0α'，uβ' and the compensating current iα'，iβTo eliminate the influence of interphase short-circuit current;
step 3, using a current sensor to sample A, B, C, D, E phase current i of the five-phase permanent magnet motorA，iB，iC，iD，iEAnd short-circuit current i in the event of an interphase short-circuit faultscDetermining a reduced-order matrix when the corresponding phase of the short-circuit fault is missing according to the sampling current, carrying out matrix transformation on the phase current of the five-phase permanent magnet motor obtained by sampling by using the selected reduced-order matrix, and adding the compensation current i obtained by calculation beforeα',iβ' d-q axis current i fed back by five-phase permanent magnet synchronous motor in fault can be obtainedd(k)，iq(k)；
Step 4, according to d-q axis current and current parameter fed back by the five-phase motorThe reference value is predicted by a dead beat current prediction algorithm to obtain an alpha-beta axis voltage reference value, and the alpha-beta axis voltage reference value is added into the compensation voltage u obtained by calculationα'，uβ' and back-emf compensation can obtain the reference value u of the alpha-beta axis voltage after short-circuit compensationαref，uβref；
Step 5, a basic five-phase motor discrete prediction model and a transformation matrix from a static coordinate system to a rotating coordinate system are combined, and a value function based on a voltage error can be constructed on the basis of a fault-tolerant alternative voltage vector;
step 6, according to the previously obtained alpha-beta axis voltage reference value uαref，uβrefJudging the voltage error of the alternative vector in the sector by the principle of the shortest distance, and optionally taking out the optimal voltage vector combination and corresponding action time distribution;
and 7, selecting the optimal voltage vector combination and inputting the corresponding switching state of the optimal voltage vector combination into the PWM module to obtain switching signals of each phase, and inputting the obtained switching signals into the inverter to control the motor so as to realize the interphase short circuit fault-tolerant control of the five-phase permanent magnet synchronous motor.
Further, the derivation method of the compensation voltage and current in step 2 is: under the condition of an interphase short-circuit fault, compensation current needs to be generated in other healthy phases to counteract the influence of the interphase short-circuit current, the interphase short-circuit fault can be divided into adjacent-phase and nonadjacent-phase short-circuit faults, and the adjacent-phase and nonadjacent-phase short-circuit faults need to be analyzed respectively, and the specific steps are as follows:
step 2.1, assuming that the adjacent phase interphase short circuit fault occurs in C, D two phases, the fault can be obtained according to the principle that the magnetomotive force remains unchanged before and after the fault:
NiA+γNiB+γ2Nisc-γ3Nisc+γ4iE＝0
wherein, N is the number of turns of the motor winding, and gamma is 2/5 pi;
when C, D two phases fail, the currents compensated in the remaining healthy phase A, B, E phase need to be such that the sum of the neutral point currents is 0:
iA+iB+iE＝0
assuming that the short-circuit fault between two non-adjacent phases occurs in B, E two phases, the fault can be obtained according to the principle that the magnetomotive force remains unchanged before and after the fault and the sum of the neutral point current is 0:
NiA+γNisc+γ2NiC+γ3NiD-γ4isc＝0
iA+iC+iD＝0
step 2.2, obtaining C, D phases based on short-circuit current i when the phases have inter-phase short-circuit fault according to constraint conditionsscThe compensation current of (a) is:
Figure BDA0002745940700000031
then, through Clarke transformation matrix, the compensation current can be transformed to alpha-beta axis to obtain iα'，iβ'：
Figure BDA0002745940700000032
Figure BDA0002745940700000033
Wherein,
Figure BDA0002745940700000034
the Clarke transformation matrix under C, D phase deletion;
similarly, when a phase-to-phase short circuit fault occurs in B, E phases, the compensation current based on the short circuit current and the current transformed to the α - β axis can be calculated as:
Figure BDA0002745940700000035
Figure BDA0002745940700000036
Figure BDA0002745940700000037
wherein,
Figure BDA0002745940700000038
the Clarke transformation matrix under B, E phase deletion;
step 2.3, in order to generate the compensation current of the other healthy phases, compensation voltage needs to be generated on the front feed voltage, and when the C, D phases have an interphase short circuit fault, a mathematical model of the motor is determined;
the voltage equation of each phase winding can be obtained according to kirchhoff's voltage law, and C, D phase failure needs to be solved by using the two phase windings as a loop:
Figure BDA0002745940700000041
wherein, Uxe(x ═ a, B, C, D, E) is the voltage drop across the winding resistance and inductance of each phase; u shapex(x ═ a, B, C, D, E) is the phase voltage per phase; e.g. of the typex(x ═ a, B, C, D, E) is the counter potential of each phase; rsResistance of each phase winding; l is the inductance of each phase winding;
the compensation voltage u on the alpha-beta axis can be obtained by combining the compensation current of the healthy phase and the transformation matrixα'，uβ'：
Figure BDA0002745940700000042
Similarly, a mathematical model of the motor at the time of short-circuit fault of B, E phases is determined, and its compensation voltage is as follows:
Figure BDA0002745940700000043
Figure BDA0002745940700000044
further, the calculation of the fed back d-q axis current in step 3 is as follows:
because the feedback current is used for generating the voltage reference value, and the process is based on the open-circuit fault-tolerant control of the five-phase motor, the current acquired by the current sensor needs to remove the component of the short-circuit current, and the acquired current i of each phase is converted into the current i of each phaseA，iB，iC，iD，iEIs transformed to alpha-beta axis by Clarke matrix and then is subtracted with compensation current iα'，iβ' to eliminate the short-circuit current component, and then to convert to d-q axis through Park matrix to obtain current id(k)，iq(k)，
Figure BDA0002745940700000045
For the C, D phase missing Park transformation matrix,
Figure BDA0002745940700000046
for the Clarke transformation matrix under the absence of C, D phases, if it is an interphase short fault of an adjacent phase:
Figure BDA0002745940700000047
further, in step 4, the reference value u of the alpha-beta axis voltageαref，uβrefThe calculation of (d) is as follows:
and 4.1, substituting the feedback current and the current reference value into a prediction equation to obtain a dq-axis voltage reference value according to a deadbeat current prediction method:
Figure BDA0002745940700000051
wherein u isdref，uqrefFor d-q axis reference voltage, idref，iqrefIs a d-q axis ginsengTest current, Ld，LqIs d-q axis inductance, TsFor the sampling time, ωeIs the electrical angular frequency, ed(k)，eq(k) D-q axis back-emf at time k under fault-tolerant conditions, id(k)，iq(k) Current at time k;
step 4.2, the dq axis voltage reference value can be converted to an alpha-beta axis according to the Park inverse matrix, and prediction is carried out on the basis of open-circuit fault tolerance at the moment, so that the compensation voltage u needs to be obtainedα'，uβ' addition to obtain reference value u of alpha-beta axis voltageαref，uβrefIf the fault is a phase-to-phase short circuit fault of adjacent phases, then:
Figure BDA0002745940700000052
step 4.3, obtaining the reference value u of the alpha-beta axis voltage according to the step 2.3αref,uβrefThe final alpha-beta axis voltage reference u containing the healthy opposite potential components, for example, the short circuit fault between adjacent phasesαref *，uβref *Can be calculated as:
Figure BDA0002745940700000053
further, the derivation of the cost function based on voltage error in step 5 is as follows:
step 5.1, the basic model prediction control idea is to sequentially substitute the alternative voltage vectors into a cost function for rolling optimization, and screen out the optimal voltage vector according to the error between the current generated by the alternative voltage vectors and the current reference value, and the process can be expressed as:
Figure BDA0002745940700000054
g＝|idref-id(k+1)|2+|iqref-iq(k+1)|2
wherein u isd(k)，uq(k) D-q axis voltage, i, of the candidate voltage vector at time kd(k+1)，iq(k +1) is the current at time k + 1;
and 5.2, combining the dead-beat prediction process of the step 4.1, converting the current error-based cost function into a voltage error-based cost function:
Figure BDA0002745940700000061
step 5.3, if the deviation of the dq axis inductance of the five-phase permanent magnet synchronous motor is not large, the weight factors of the d axis voltage error and the q axis voltage error can be ignored, and then the value function based on the voltage error is converted to an alpha-beta axis through a Park matrix, so that the final value function can be obtained:
g＝|uαref-uα(k)|2+|uβref-uβ(k)|2。
further, the specific steps of selecting the optimal voltage vector combination in step 6 are as follows:
if the adjacent phase short circuit fault:
step 6.1, obtaining a vector distribution diagram after fault tolerance according to the Clarke transformation matrix and the switch state after two-phase deletion, and dividing the vector distribution diagram into six sectors according to six non-zero vectors;
step 6.2, the amplitude and the phase of the reference voltage vector can be determined according to the alpha-beta axis voltage reference value obtained in the step 4.3, and then the sector where the reference vector is located is determined, the reference vector is assumed to be located in the first sector, the vector selection can be simplified into a mathematical problem according to the cost function determined in the step 5.3, a synthetic vector with the minimum voltage error is searched in the sector, namely the point closest to the reference vector is searched, the vertical lines can be respectively drawn from the vertex of the reference voltage vector to three edges, and the shortest distance can be generated in the three edges;
step 6.3, the vector combination can be divided into two cases, the combination of the non-zero vector and the combination of the two non-zero vectors, the combination1 each contain U0，U4And U0，U6Vector synthesis of (2);
wherein r is1And r2Respectively a non-zero vector U4，U6The action time of (c) can be calculated to obtain:
Figure BDA0002745940700000062
wherein, Usref＝uαref+juβrefIs a reference voltage, θs＝arctan(uβref/uαref)；
Combination 2 is then a non-zero vector U4，U6The range of the vertex of the synthesized vector is the third side of the triangle;
wherein r is3And r4Respectively a non-zero vector U4，U6The vector synthesis will follow the parallelogram rule and can be calculated as:
Figure BDA0002745940700000071
wherein d is1，d2Can be expressed as:
Figure BDA0002745940700000072
θ1is d1And U4Angle, the optimum vector combination will result in the above combination, i.e., g min g1,g2,g3}:
g1＝|Usref-r1U4|2
g2＝|Usref-r2U6|2
g3＝|Usref-(r3U6+r4U4)|2
Wherein g is1，g2，g3Is the expression of the cost function in three cases.
The invention has the following beneficial effects:
1. the method divides the influence of the interphase short-circuit fault into the influence of the open-circuit fault and the influence of the interphase short-circuit current, and adds the compensation voltage and the compensation current to an algorithm of the open-circuit fault-tolerant control to eliminate the influence of the interphase short-circuit current, so that the fault-tolerant control of the interphase short-circuit fault of the five-phase permanent magnet synchronous motor is realized, the fault-tolerant performance of the motor is improved, the method is suitable for the application fields of electric automobiles and the like which need high reliability and wide speed regulation range, and the method is simple and easy to.
2. The multi-vector model predictive control adopted by the invention can select the optimal vector combination in the asymmetric shape sector of the fault-tolerant vector distribution diagram by the principle of the shortest distance, greatly reduces the calculation burden compared with the traditional multi-vector control method, and is simple and easy to realize. The analysis method aiming at the asymmetric sector can utilize the sector in various states, is not limited to the symmetric sector in a normal state, and has wider applicability.
3. The dead-beat control method adopted by the invention is used for calculating the reference voltage, has faster dynamic response compared with a PI regulator, and has better tracking performance on alternating current signals.
Drawings
FIG. 1: a mathematical model of an interphase short circuit motor of adjacent phases (taking C, D phases as an example);
FIG. 2: mathematical models of the short-circuit motor between non-adjacent phases (taking B, E phases as an example);
FIG. 3: adjacent phase short circuit vector distribution diagram;
FIG. 4: adjacent phase short circuit sector distribution diagram;
FIG. 5: selecting an optimal vector combination principle;
FIG. 6: u shape0And U4Vector synthesis;
FIG. 7: u shape0And U6Vector synthesis;
FIG. 8: u shape4And U6Vector synthesis; (a) in a manner of1. (b) is scheme 2;
FIG. 9: a five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control block diagram based on multi-vector model prediction; (a) adjacent phase short circuit fault tolerance control chart; (b) a fault-tolerant control chart of the short circuit among non-adjacent phases;
FIG. 10: the current and torque waveforms from fault to fault tolerance of the five-phase permanent magnet synchronous motor are obtained; (a) adjacent phase interphase short circuit fault tolerance; (b) fault tolerance of short circuit between non-adjacent phases;
FIG. 11: load sudden change current and torque waveform during short-circuit fault-tolerant control of the five-phase permanent magnet synchronous motor; (a) fault tolerance of adjacent phase short circuit (given rotation speed 100r/min, load 1-2-1 Nm); (b) fault tolerance of short circuit between non-adjacent phases (given rotation speed 100r/min, load from 0-1-0 Nm);
FIG. 12: the rotating speed sudden change current and torque waveform of the five-phase permanent magnet synchronous motor during short-circuit fault-tolerant control; (a) fault tolerance of adjacent phase short circuit (given load 2Nm, rotation speed 50-100-50 r/min); (b) and the short circuit between different adjacent phases is fault-tolerant (the given load is 1Nm, and the rotating speed is 50-100-50 r/min).
Detailed Description
The detailed description and the practical effects of the embodiment will be described in detail below with reference to the accompanying drawings.
The motor equivalent mathematical models shown in the attached figures 1 and 2 can show that when the short circuit between adjacent phases and the short circuit between non-adjacent phases occur, the influence of the short circuit can be divided into the influence of the open circuit fault and the influence of the short circuit current, so that the compensation voltage u is added on the basis of the open circuit fault-tolerant controlα'，uβ' and the compensating current iα'，iβ' to implement short circuit fault tolerant control.
Taking C, D phases as an example, the Clarke and Park transformation matrices for the adjacent phase short circuit are:
Figure BDA0002745940700000081
Figure BDA0002745940700000082
the principle that the magnetomotive force remains unchanged before and after the fault can be obtained:
NiA+γNiB+γ2Nisc-γ3Nisc+γ4iE＝0
the current compensated at the A, B, E remaining healthy phases is required to be such that the sum of the neutral point currents is 0:
iA+iB+iE＝0
assuming that the short-circuit fault between two non-adjacent phases occurs in B, E two phases, the fault can be obtained according to the principle that the magnetomotive force remains unchanged before and after the fault and the sum of the neutral point current is 0:
NiA+γNisc+γ2NiC+γ3NiD-γ4isc＝0
iA+iC+iD＝0
c, D phase interphase short circuit fault can be obtained according to the constraint condition, and the rest phases are based on the short circuit current iscThe compensation current of (a) is:
Figure BDA0002745940700000091
then, through a Clarke transformation matrix under C, D phase loss, the compensation current can be transformed to an alpha-beta axis to obtain iα'，iβ'：
Figure BDA0002745940700000092
Figure BDA0002745940700000093
In order to generate the compensation current for the remaining healthy phases, a compensation voltage needs to be generated on the feed-forward voltage. The voltage equation of each phase winding can be obtained according to kirchhoff's voltage law, and C, D phase failure needs to be solved by using the two phase windings as a loop:
Figure BDA0002745940700000094
the compensation voltage u on the alpha-beta axis can be obtained by combining the compensation current of the healthy phase and the transformation matrixα'，uβ'：
Figure BDA0002745940700000095
Taking B, E phases as an example, the Clarke and Park transformation matrices for the non-adjacent phases are:
Figure BDA0002745940700000101
Figure BDA0002745940700000102
similarly, when a phase-to-phase short circuit fault occurs in B, E phases, the compensation current based on the short circuit current and the current transformed to the α - β axis can be calculated as:
Figure BDA0002745940700000103
Figure BDA0002745940700000104
Figure BDA0002745940700000105
the compensation voltage is as follows:
Figure BDA0002745940700000106
Figure BDA0002745940700000107
the last row of the Clarke transformation matrix is a zero sequence component, and the principle that the sum of the neutral points is 0 is satisfied, which is usually ignored in the calculation.
It can be seen from fig. 3 and 4 that when C, D phase-to-phase short circuit fault occurs, the vector distribution diagram is divided into six sectors by the non-zero vector, and the located sector can be determined according to the phase angle of the reference voltage vector after the reference voltage vector is solved.
Figure BDA0002745940700000108
Since the situation is similar for each sector, the reference voltage vector is located in the first sector as an example.
As can be seen from fig. 5 in conjunction with the derived voltage-based cost function, the vector selection is simplified to a mathematical problem, finding the resultant vector with the smallest voltage error within the sector, i.e. the point closest to the reference vector, can be made perpendicular to three sides from the vertex of the reference voltage vector, respectively, and the shortest distance will be generated among the three perpendicular lines. FIGS. 6 and 7 are a combination of a non-zero voltage vector and a zero vector, respectively, where r1And r2Respectively a non-zero vector U4，U6The action time of (c) can be calculated to obtain:
Figure BDA0002745940700000111
FIG. 8 is a combination of two non-zero voltage vectors, where r3And r4Respectively a non-zero vector U4，U6The vector synthesis will follow the parallelogram rule and can be calculated as:
Figure BDA0002745940700000112
the optimal vector combination will result in the above combination, i.e., g min g1,g2,g3}:
g1＝|Usref-r1U4|2
g2＝|Usref-r2U6|2
g3＝|Usref-(r3U6+r4U4)|2
FIG. 9 is a five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control block diagram based on multi-vector model prediction. Fig. 10 shows the switching from the interphase short-circuit fault to the fault-tolerant control of the five-phase permanent magnet synchronous motor, and no matter whether the five-phase permanent magnet synchronous motor is in the adjacent phase or the non-adjacent interphase short-circuit, the short-circuit fault-tolerant control provided by the invention can reduce the torque ripple caused by the fault, and simultaneously, the sine degree of the healthy phase current is recovered, so that the five-phase permanent magnet synchronous motor has good fault-tolerant performance. Fig. 11 and fig. 12 respectively verify the dynamic performance of the fault-tolerant control proposed by the present invention, and the fault-tolerant control has a fast response to sudden load change and sudden rotation speed change, so that the motor can maintain good operation performance under different conditions.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (6)

1. A five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction is characterized by comprising the following steps:
step 1, detecting the feedback rotating speed omega of the five-phase permanent magnet synchronous motormComparing the given rotating speed omega to obtain the rotating speed error of the motor, and calculating the q-axis current reference value i of the five-phase permanent magnet synchronous motor by adopting a PI (proportional integral) controller according to the rotating speed errorqref；idFor d-axis current, due to the use of idD-axis current reference value i of five-phase permanent magnet synchronous motor controlled as 0drefSet to 0;
step 2, when the five-phase permanent magnet synchronous motor has an inter-phase short circuit fault, adding a compensation voltage u on the basis of the open circuit fault of the corresponding phase according to the constraint conditions that the magnetomotive force is unchanged and the neutral point is 0α'，uβ' and the compensating current iα'，iβTo eliminate the influence of interphase short-circuit current;
step 3, using a current sensor to sample A, B, C, D, E phase current i of the five-phase permanent magnet motorA，iB，iC，iD，iEAnd short-circuit current i in the event of an interphase short-circuit faultscDetermining a reduced-order matrix when the corresponding phase of the short-circuit fault is missing according to the sampling current, carrying out matrix transformation on the phase current of the five-phase permanent magnet motor obtained by sampling by using the selected reduced-order matrix, and adding the compensation current i obtained by calculation beforeα',iβ' d-q axis current i fed back by five-phase permanent magnet synchronous motor in fault can be obtainedd(k)，iq(k)；
Step 4, according to d-q axis current and current reference values fed back by the five-phase motor, an alpha-beta axis voltage reference value can be predicted by utilizing a dead beat current prediction algorithm, and the compensation voltage u obtained by calculation is addedα'，uβ' and back-emf compensation can obtain the reference value u of the alpha-beta axis voltage after short-circuit compensationαref，uβref；
Step 5, a basic five-phase motor discrete prediction model and a transformation matrix from a static coordinate system to a rotating coordinate system are combined, and a value function based on a voltage error can be constructed on the basis of a fault-tolerant alternative voltage vector;
step 6, according to the previously obtained alpha-beta axis voltage reference value uαref，uβrefJudging the voltage error of the alternative vector in the sector by the principle of the shortest distance, and optionally taking out the optimal voltage vector combination and corresponding action time distribution;
and 7, selecting the optimal voltage vector combination and inputting the corresponding switching state of the optimal voltage vector combination into the PWM module to obtain switching signals of each phase, and inputting the obtained switching signals into the inverter to control the motor so as to realize the interphase short circuit fault-tolerant control of the five-phase permanent magnet synchronous motor.
2. The interphase short-circuit fault-tolerant control method for the five-phase permanent magnet synchronous motor based on multi-vector model prediction as claimed in claim 1, wherein the derivation method of the compensation voltage and current in step 2 is as follows: under the condition of an interphase short-circuit fault, compensation current needs to be generated in other healthy phases to counteract the influence of the interphase short-circuit current, the interphase short-circuit fault can be divided into adjacent-phase and nonadjacent-phase short-circuit faults, and the adjacent-phase and nonadjacent-phase short-circuit faults need to be analyzed respectively, and the specific steps are as follows:
step 2.1, assuming that the adjacent phase interphase short circuit fault occurs in C, D two phases, the fault can be obtained according to the principle that the magnetomotive force remains unchanged before and after the fault:
NiA+γNiB+γ2Nisc-γ3Nisc+γ4iE＝0
wherein, N is the number of turns of the motor winding, and gamma is 2/5 pi;
when C, D two phases fail, the currents compensated in the remaining healthy phase A, B, E phase need to be such that the sum of the neutral point currents is 0:
iA+iB+iE＝0
assuming that the short-circuit fault between two non-adjacent phases occurs in B, E two phases, the fault can be obtained according to the principle that the magnetomotive force remains unchanged before and after the fault and the sum of the neutral point current is 0:
NiA+γNisc+γ2NiC+γ3NiD-γ4isc＝0
iA+iC+iD＝0
step 2.2, obtaining C, D phases based on short-circuit current i when the phases have inter-phase short-circuit fault according to constraint conditionsscThe compensation current of (a) is:
Figure FDA0002745940690000021
then, through Clarke transformation matrix, the compensation current can be transformed to alpha-beta axis to obtain iα'，iβ'：
Figure FDA0002745940690000022
Figure FDA0002745940690000023
Wherein,
Figure FDA0002745940690000024
the Clarke transformation matrix under C, D phase deletion;
similarly, when a phase-to-phase short circuit fault occurs in B, E phases, the compensation current based on the short circuit current and the current transformed to the α - β axis can be calculated as:
Figure FDA0002745940690000025
Figure FDA0002745940690000026
Figure FDA0002745940690000027
wherein,
Figure FDA0002745940690000028
the Clarke transformation matrix under B, E phase deletion;
step 2.3, in order to generate the compensation current of the other healthy phases, compensation voltage needs to be generated on the front feed voltage, and when the C, D phases have an interphase short circuit fault, a mathematical model of the motor is determined;
the voltage equation of each phase winding can be obtained according to kirchhoff's voltage law, and C, D phase failure needs to be solved by using the two phase windings as a loop:
Figure FDA0002745940690000031
wherein, Uxe(x ═ a, B, C, D, E) is the voltage drop across the winding resistance and inductance of each phase; u shapex(x ═ a, B, C, D, E) is the phase voltage per phase; e.g. of the typex(x ═ a, B, C, D, E) is the counter potential of each phase; rsResistance of each phase winding; l is the inductance of each phase winding;
the compensation voltage u on the alpha-beta axis can be obtained by combining the compensation current of the healthy phase and the transformation matrixα'，uβ'：
Figure FDA0002745940690000032
Similarly, a mathematical model of the motor at the time of short-circuit fault of B, E phases is determined, and its compensation voltage is as follows:
Figure FDA0002745940690000033
Figure FDA0002745940690000034
3. the interphase short-circuit fault-tolerant control method for the five-phase permanent magnet synchronous motor based on multi-vector model prediction as claimed in claim 1, characterized in that the calculation of the fed-back d-q axis current in step 3 is as follows:
because the feedback current is used for generating the voltage reference value, and the process is based on the open-circuit fault-tolerant control of the five-phase motor, the current acquired by the current sensor needs to remove the component of the short-circuit current, and the acquired current i of each phase is converted into the current i of each phaseA，iB，iC，iD，iEIs transformed to alpha-beta axis by Clarke matrix and then is subtracted with compensation current iα'，iβ' to eliminate the short-circuit current component, and then to convert to d-q axis through Park matrix to obtain current id(k)，iq(k)，
Figure FDA0002745940690000041
For the C, D phase missing Park transformation matrix,
Figure FDA0002745940690000042
for the Clarke transformation matrix under the absence of C, D phases, if it is an interphase short fault of an adjacent phase:
Figure FDA0002745940690000043
4. the five-phase permanent magnet synchronous motor interphase short-circuit fault-tolerant control method based on multi-vector model prediction as claimed in claim 1, characterized in that in step 4, α - β axis voltage reference value uαref，uβrefThe calculation of (d) is as follows:
and 4.1, substituting the feedback current and the current reference value into a prediction equation to obtain a dq-axis voltage reference value according to a deadbeat current prediction method:
Figure FDA0002745940690000044
wherein u isdref，uqrefFor d-q axis reference voltage, idref，iqrefIs a d-q axis reference current, Ld，LqIs d-q axis inductance, TsFor the sampling time, ωeIs the electrical angular frequency, ed(k)，eq(k) D-q axis back-emf at time k under fault-tolerant conditions, id(k)，iq(k) Current at time k;
step 4.2, the dq axis voltage reference value can be converted to an alpha-beta axis according to the Park inverse matrix, and prediction is carried out on the basis of open-circuit fault tolerance at the moment, so that the compensation voltage u needs to be obtainedα'，uβ' addition to obtain reference value u of alpha-beta axis voltageαref，uβrefIf the fault is a phase-to-phase short circuit fault of adjacent phases, then:
Figure FDA0002745940690000045
step 4.3, obtaining the reference value u of the alpha-beta axis voltage according to the step 2.3αref,uβrefThe final alpha-beta axis voltage reference u containing the healthy opposite potential components, for example, the short circuit fault between adjacent phasesαref *，uβref *Can be calculated as:
Figure FDA0002745940690000046
5. the interphase short-circuit fault-tolerant control method for the five-phase permanent magnet synchronous motor based on multi-vector model prediction as claimed in claim 1 is characterized in that the derivation of the cost function based on the voltage error in step 5 is as follows:
step 5.1, the basic model prediction control idea is to sequentially substitute the alternative voltage vectors into a cost function for rolling optimization, and screen out the optimal voltage vector according to the error between the current generated by the alternative voltage vectors and the current reference value, and the process can be expressed as:
Figure FDA0002745940690000051
g＝|idref-id(k+1)|2+|iqref-iq(k+1)|2
wherein u isd(k)，uq(k) D-q axis voltage, i, of the candidate voltage vector at time kd(k+1)，iq(k +1) is the current at time k + 1;
and 5.2, combining the dead-beat prediction process of the step 4.1, converting the current error-based cost function into a voltage error-based cost function:
Figure FDA0002745940690000052
step 5.3, if the deviation of the dq axis inductance of the five-phase permanent magnet synchronous motor is not large, the weight factors of the d axis voltage error and the q axis voltage error can be ignored, and then the value function based on the voltage error is converted to an alpha-beta axis through a Park matrix, so that the final value function can be obtained:
g＝|uαref-uα(k)|2+|uβref-uβ(k)|2。
6. the five-phase permanent magnet synchronous motor interphase short circuit fault-tolerant control method based on multi-vector model prediction as claimed in claim 1, wherein the specific steps of optimal voltage vector combination selection in step 6 are as follows:
if the adjacent phase short circuit fault:
step 6.1, obtaining a vector distribution diagram after fault tolerance according to the Clarke transformation matrix and the switch state after two-phase deletion, and dividing the vector distribution diagram into six sectors according to six non-zero vectors;
step 6.2, the amplitude and the phase of the reference voltage vector can be determined according to the alpha-beta axis voltage reference value obtained in the step 4.3, and then the sector where the reference vector is located is determined, the reference vector is assumed to be located in the first sector, the vector selection can be simplified into a mathematical problem according to the cost function determined in the step 5.3, a synthetic vector with the minimum voltage error is searched in the sector, namely the point closest to the reference vector is searched, the vertical lines can be respectively drawn from the vertex of the reference voltage vector to three edges, and the shortest distance can be generated in the three edges;
step 6.3, the vector combination can be divided into two cases, namely the combination of a non-zero vector and a zero vector and the combination of two non-zero vectors, wherein the combination 1 respectively comprises U0，U4And U0，U6Vector synthesis of (2);
wherein r is1And r2Respectively a non-zero vector U4，U6The action time of (c) can be calculated to obtain:
Figure FDA0002745940690000061
wherein, Usref＝uαref+juβrefIs a reference voltage, θs＝arctan(uβref/uαref)；
Combination 2 is then a non-zero vector U4，U6The range of the vertex of the synthesized vector is the third side of the triangle;
wherein r is3And r4Respectively a non-zero vector U4，U6The vector synthesis will follow the parallelogram rule and can be calculated as:
Figure FDA0002745940690000062
wherein d is1，d2Can be expressed as:
Figure FDA0002745940690000063
θ1is d1And U4Angle, the optimum vector combination will result in the above combination, i.e., g min g1,g2,g3}:
g1＝|Usref-r1U4|2
g2＝|Usref-r2U6|2
g3＝|Usref-(r3U6+r4U4)|2
Wherein g is1，g2，g3Is the expression of the cost function in three cases.
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