CN112994562B - Single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault tolerance method - Google Patents

Single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault tolerance method Download PDF

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CN112994562B
CN112994562B CN202110270670.5A CN202110270670A CN112994562B CN 112994562 B CN112994562 B CN 112994562B CN 202110270670 A CN202110270670 A CN 202110270670A CN 112994562 B CN112994562 B CN 112994562B
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fault
voltage
inverter
series
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CN112994562A (en
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朱庆龙
朱天翔
梁樑
杨勇
金雷
胡薇
王宁
宋天涯
丁建强
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Hefei Hengda Jianghai Pump Co Ltd
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a fault-tolerant method for an open-circuit fault of a winding of a single-inverter-driven double-permanent-magnet synchronous motor system, which is used for solving the problems of overlarge torque ripple, serious heating and unstable operation of a double-motor system after a permanent-magnet synchronous motor fails and solving the current and voltage of a normal phase of the failed motor under the fault-tolerant operation according to a magnetomotive force invariant principle; the voltage drop between the phase voltage of the normal motor and the voltage of the normal phase of the fault motor can be calculated according to the fact that the voltages of the two motor ports are equal; leading out a neutral wire of a fault motor, connecting a resistance inductance component in series, connecting an output end of an inverter corresponding to the fault, and determining parameters of elements connected in series in a circuit according to the relation between voltage and current; if the load of the fault motor changes, the current of the fault motor and the rotating speed of the motor are adjusted to reduce the torque ripple, the invention meets the requirement that the normal motor and the fault motor stably run together under the driving of a single inverter, an auxiliary bridge arm and a split capacitor are not needed, the cost is reduced, and the system stably runs.

Description

Single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault tolerance method
Technical Field
The invention belongs to the field of motors, relates to a motor fault-tolerant control technology, and particularly relates to a single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault-tolerant method.
Background
In large-scale industrial production, rail transit, gantry crane and other occasions, a dual-motor or multi-motor common driving mode is often adopted for reducing the cost. A common multi-motor system is composed of multiple sets of single-motor systems, and each motor is connected with an inverter. However, this approach increases the number of power electronic components and the system becomes very bulky. At present, one method is to use only one three-phase inverter to simultaneously supply power to two or even more permanent magnet synchronous motors, so that the number of power electronic components can be greatly reduced, the size and the dimension of a system are reduced, and the cost is reduced.
Because of the problems of harsh environment, unstable power supply and the like, the open-circuit fault of the motor winding is easily caused, which is one of the common faults of the motor, and the probability of the fault is increased by a double-motor system. Once the motor has open-circuit faults of windings, the non-fault phase current is extremely increased, the torque ripple of the motor is increased, the control performance of the motor is reduced, and the motor can be burnt out after long-time running.
At present, the research on the fault-tolerant operation of the motor aims at a single-motor system, and because a fault motor is connected with a normal motor in parallel, the modes can not be directly applied to a single-inverter double-motor system. Therefore, aiming at a single-inverter double-motor system, the invention provides a fault-tolerant method for the open-circuit fault of the winding of the single-inverter driving double-permanent magnet synchronous motor system, the method can meet the requirement that a normal motor and a fault motor stably operate together under the drive of a single inverter, an auxiliary bridge arm and a split capacitor are not needed, the cost is reduced, the stable operation of the system is realized, and therefore, the fault-tolerant method for the open-circuit fault of the winding of the single-inverter driving double-permanent magnet synchronous motor system is provided.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the open-circuit fault tolerance method for the system winding of the single-inverter-driven double-permanent-magnet synchronous motor, the method can meet the requirement that a normal motor and a fault motor stably run together under the drive of a single inverter, an auxiliary bridge arm and a split capacitor are not needed, the cost is reduced, and the stable running of the system is realized.
The technical problem to be solved by the invention is as follows:
(1) how to solve the problems of overlarge torque pulsation, serious heating and unstable operation of a double-motor system after the fault of the existing permanent magnet synchronous motor.
The purpose of the invention can be realized by the following technical scheme:
the method for fault tolerance of the open circuit fault of the system winding of the double-permanent magnet synchronous motor driven by the single inverter comprises the following specific steps:
step one, solving the current and the voltage of a normal phase of a fault motor under fault-tolerant operation according to a magnetomotive force invariant principle;
step two, solving the voltage drop between the phase voltage of the normal motor and the voltage of the normal phase of the fault motor according to the equal voltage of the two motor ports;
leading out a neutral line of the fault motor, connecting a resistance inductance component in series, connecting the neutral line to the output end of the inverter corresponding to the fault, and determining parameters of elements connected in series in the circuit according to the relation between voltage and current;
and step four, if the load of the fault motor changes, adjusting the current of the fault motor and the rotating speed of the motor to reduce the torque pulsation.
Further, in the third step, regarding the design of leading out the neutral line of the fault motor and connecting the resistance inductance component in series, the method comprises the following steps:
if the a phase of the motor has a broken circuit fault, after the motor has a fault, the motor is connected to the inverter to output the A phase by leading out a neutral line series component, and the series impedance value phasor is expressed as:
Figure BDA0002974246560000031
in the formula: omegaeThe number of revolutions of the motor is,
Figure BDA0002974246560000032
for motor permanent magnet flux, M is winding mutual inductance:
Figure BDA0002974246560000033
Figure BDA0002974246560000034
further, in the fourth step, after the load changes, the rotation speed of the motor is adjusted to be:
Figure BDA0002974246560000035
the D-axis current of the failed motor is:
Figure BDA0002974246560000036
in the formula: zn＝jωeMn+Rn。
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a fault-tolerant method for open-circuit faults of a winding of a single-inverter-driven double-permanent-magnet synchronous motor system, which is characterized in that the current and the voltage of a normal phase under fault-tolerant operation of a fault motor are calculated according to the principle that magnetomotive force is unchanged, then the voltage drop between the phase voltage of the normal motor and the voltage of the normal phase of the fault motor can be calculated according to the voltage equality of two motor ports, then the neutral line of the fault motor is led out, components such as resistance inductance and the like are connected in series, the output end of an inverter corresponding to the fault is accessed, the parameters of elements connected in a circuit in series are determined by utilizing the relation between the voltage and the current, and if the load of the fault motor changes, the torque ripple is reduced by adjusting the current of the fault motor and the rotating speed of the motor;
in conclusion, the invention meets the requirement that the normal motor and the fault motor stably run together under the drive of the single inverter, does not need an auxiliary bridge arm and a split capacitor, reduces the cost and realizes the stable running of the system.
Drawings
FIG. 1 is a single inverter driven dual PMSM fault tolerant topology of the present invention;
fig. 2 is a block diagram of the fault-tolerant method for the open-circuit fault of the system winding of the single-inverter-driven double-permanent-magnet synchronous motor under the condition of vector control.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 2, a method for fault tolerance of an open-circuit fault of a winding of a single-inverter-driven dual-permanent-magnet synchronous motor system includes the following specific steps:
step one, solving the current and the voltage of a normal phase of a fault motor under fault-tolerant operation according to a magnetomotive force invariant principle;
step two, solving the voltage drop between the phase voltage of the normal motor and the voltage of the normal phase of the fault motor according to the equal voltage of the two motor ports;
leading out a neutral line of the fault motor, connecting a resistance inductance component in series, connecting the neutral line to the output end of the inverter corresponding to the fault, and determining parameters of elements connected in series in the circuit according to the relation between voltage and current;
if the load of the fault motor changes, the current of the fault motor and the rotating speed of the motor are adjusted to reduce torque pulsation, so that the system can stably run;
the following description will be given taking a Permanent magnet synchronous motor #2 (PMSM #2) phase a (phase b and phase c are similar, and PMSM #1 is similar) as an example:
the method comprises the following steps: solving the current and voltage of a normal phase under fault-tolerant operation of a fault motor according to the magnetomotive force invariant principle;
when the motor normally operates, the magnetomotive force of the motor is as follows:
Figure BDA0002974246560000051
when the a-phase winding of the PMSM #2 is in open-circuit fault, the motor magnetomotive force is as follows:
Figure BDA0002974246560000052
to ensure that f is f', then:
Figure BDA0002974246560000053
therefore, the current of the normal phase under the fault-tolerant operation of the PMSM #2 can be obtained as follows:
Figure BDA0002974246560000054
assuming that the motor is an ideal motor, neglecting leakage inductance and magnetic saturation, the motor voltage under a natural coordinate system can be expressed as:
Figure BDA0002974246560000055
in the formula: the u, i permanent magnet synchronous motor three-phase voltage and current, Rs is stator winding resistance, L is winding self-inductance, M is winding mutual inductance, omegaeIn order to be the electrical angular velocity,
Figure BDA0002974246560000056
is the motor permanent magnet flux.
Therefore, the normal phase voltage of the fault motor in fault-tolerant operation is as follows:
Figure BDA0002974246560000057
step two: the voltage drop between the phase voltage of the normal motor and the voltage of the normal phase of the fault motor can be calculated according to the fact that the voltages of the two motor ports are equal;
according to the principle that magnetomotive force is not changed, the amplitude and the phase of normal phase current of a fault motor are changed, the amplitude is changed to be 1.732 times of the original amplitude, the phase difference is changed from 120 degrees to 60 degrees, and the relation between fault-tolerant current and normal current is as follows:
Figure BDA0002974246560000061
substituting equation (7) into equation (6) yields:
Figure BDA0002974246560000062
according to fig. 1, the following relationships can be established:
Figure BDA0002974246560000063
step three: leading out a neutral wire of a fault motor, connecting elements such as a resistance inductor in series and the like into the output end of the inverter corresponding to the fault, and determining parameters of elements connected in series in the circuit according to the relation between voltage and current;
as can be seen from fig. 1, Δ u ═ in·Zn，in＝ib'+ic'＝-3iaThe formula (9) can be substituted by:
Figure BDA0002974246560000064
at steady state, Z can be obtainednThe phasors of (a) are expressed as:
Figure BDA0002974246560000065
in the formula:
Figure BDA0002974246560000066
and 4, step 4: if the load of the fault motor changes, the torque pulsation is reduced by adjusting the current of the fault motor and the rotating speed of the motor, so that the system can stably run.
By controlling id2We can obtain different ZnFor convenience, we generally only connect a resistive or inductive device in series with the neutral line. Once establish ties the back, just be difficult for changing, when motor load changes, can't only let the system stable through adjusting trouble motor current, combine together through current adjustment and reset rotational speed for system steady operation.
The following equations (10) to (11) can be arranged:
Figure BDA0002974246560000071
Figure BDA0002974246560000072
in the formula: zn＝jωeMn+Rn；
In summary, the method provided by the invention can enable fault-tolerant operation after the single-inverter driving double-permanent magnet synchronous motor system generates the winding open circuit fault. The method can meet the requirement that a normal motor and a fault motor stably run together under the drive of a single inverter, does not need an auxiliary bridge arm and a split capacitor, reduces the cost, and is an effective method for bypassing the open-circuit fault-tolerant operation of a double-permanent-magnet synchronous motor system driven by the single inverter.
The fault-tolerant method for the open-circuit fault of the system winding of the double-permanent magnet synchronous motor driven by the single inverter comprises the following steps of:
the method comprises the steps of solving the current and the voltage of a normal phase of a fault motor under fault-tolerant operation according to a magnetomotive force invariant principle, solving the voltage drop between the phase voltage of the normal motor and the voltage of the normal phase of the fault motor according to the equal voltage of two motor ports, leading out the neutral line of the fault motor, connecting elements such as resistance inductance in series, and connecting the elements to the output end of an inverter corresponding to the fault, determining the parameters of the elements connected in the series circuit according to the relation between the voltage and the current, and reducing the torque ripple by adjusting the current and the motor rotating speed of the fault motor if the load of the fault motor changes.
The above formulas are all calculated by taking the numerical value of the dimension, the formula is a formula which obtains the latest real situation by acquiring a large amount of data and performing software simulation, and the preset parameters in the formula are set by the technical personnel in the field according to the actual situation.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (3)

1. The method for fault tolerance of the open circuit fault of the winding of the single-inverter-driven double-permanent magnet synchronous motor system is characterized by comprising the following specific steps of:
step one, solving the current and the voltage of a normal phase of a fault motor under fault-tolerant operation according to a magnetomotive force invariant principle;
step two, solving the voltage drop between the phase voltage of the normal motor and the voltage of the normal phase of the fault motor according to the equal voltage of the two motor ports;
leading out a neutral line of the fault motor, connecting a resistance inductance component in series, connecting the neutral line to the output end of the inverter corresponding to the fault, and determining the parameter of the resistance inductance component connected in series in the circuit according to the relation between voltage and current;
and step four, if the load of the fault motor changes, adjusting the current of the fault motor and the rotating speed of the fault motor to reduce the torque pulsation.
2. The open-circuit fault tolerance method for the winding of the single-inverter-driven double-permanent-magnet synchronous motor system according to claim 1, wherein in the third step, regarding the design of leading out the neutral line of the fault motor and connecting resistance inductance components in series, the method comprises the following steps:
if the a phase of the motor has a broken circuit fault, after the motor has a fault, the motor is connected to the A phase output end of the inverter by leading out a neutral line series component, and the series impedance value phasor is expressed as:
Figure FDA0003283596650000011
in the formula: omegaeIn order to determine the rotational speed of the failed motor,
Figure FDA0003283596650000012
the magnetic flux of a permanent magnet of the fault motor is adopted, and M is the mutual inductance of a fault motor winding;
Figure FDA0003283596650000013
Figure FDA0003283596650000014
in the formula: i.e. id2For D-axis current of faulty motor, iq2Is the fault motor Q-axis current.
3. The open-circuit fault tolerant method for the winding of the single-inverter driving double-permanent magnet synchronous motor system according to claim 1, wherein in the fourth step, when the load changes, the rotating speed of the fault motor is adjusted to be:
Figure FDA0003283596650000021
the D-axis current of the failed motor is:
Figure FDA0003283596650000022
in the formula: zn＝jωeMn+Rn；ωeIn order to determine the rotational speed of the failed motor,
Figure FDA0003283596650000023
for failed motor permanent magnet flux, M for failed motor winding mutual inductance, MnIs a series inductance value, RnIs a series resistance value iq2Is the fault motor Q-axis current.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108649843A (en) * 2018-05-31 2018-10-12 南京航空航天大学 A kind of permanent magnetism starting-generating system and its control method with open circuit fault-tolerant ability

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