CN113507252B - Open-circuit fault-tolerant driving system of electro-magnetic doubly salient motor - Google Patents

Open-circuit fault-tolerant driving system of electro-magnetic doubly salient motor Download PDF

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CN113507252B
CN113507252B CN202110781675.4A CN202110781675A CN113507252B CN 113507252 B CN113507252 B CN 113507252B CN 202110781675 A CN202110781675 A CN 202110781675A CN 113507252 B CN113507252 B CN 113507252B
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winding
switched
positive
excitation
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CN113507252A (en
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赵佳琪
周波
王开淼
徐旸
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust 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
    • 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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

The invention discloses an open-circuit fault-tolerant driving system of an electro-magnetic doubly salient motor, which relates to the field of the electro-magnetic doubly salient motor, and is characterized in that a three-phase winding of the electro-magnetic doubly salient motor is connected on a four-bridge arm converter driving circuit in an open winding mode, an excitation winding is connected on an asymmetric half-bridge converter, a controller controls the on and off of a switching tube in the four-bridge arm converter driving circuit to adjust the direction of phase current of the three-phase winding by combining position information and an inductance curve change rule, so that the electro-magnetic doubly salient motor can be driven to work in a normal operation mode, each phase can be independently controlled during power generation operation, a bidirectional switching tube and a split capacitor are not increased, and fault-tolerant operation of any single tube fault, single bridge arm fault and single phase fault of the three-phase DSEM driving system can be realized only by the four-bridge arm converter driving circuit, the cost of extra devices is not increased, the volume of the control system is kept small, and the operation reliability of the system is improved.

Description

Open-circuit fault-tolerant driving system of electro-magnetic doubly salient motor
Technical Field
The invention relates to the field of an electro-magnetic doubly salient motor, in particular to an open-circuit fault-tolerant driving system of the electro-magnetic doubly salient motor.
Background
The electro-magnetic doubly salient motor (DSEM) has the advantages of simple structure, adjustable excitation, good fault-tolerant performance and the like, and is a novel brushless direct current motor. The converter in the DSEM driving system is a weak link which is easy to break down, and mechanical faults or electrical faults such as insulation abrasion and the like can occur to a body winding, so that the motor can stop running in serious conditions. Faults of the power device and the winding are mainly divided into open-circuit faults and short-circuit faults, wherein the short-circuit faults can cause direct connection of bridge arms of the converter, overlarge bus or phase current and further burn system components. Such faults are usually handled by converting them into open-circuit faults in time through fuse overcurrent protection, and therefore open-circuit faults of power converters are a hotspot of research. On some occasions with higher requirements on reliability, the stable running of the motor needs to be maintained, so that the research on fault-tolerant control of the DSEM has important significance, the current fault-tolerant technology for the electro-magnetic doubly salient motor mainly focuses on fault tolerance of a field loss fault and an open circuit fault of a motor drive converter, and the following fault-tolerant technical researches are mainly carried out:
in the field of field loss fault tolerance, chinese patent No. CN104579067B (excitation fault tolerance power generation system of doubly salient electro-magnetic machine and control method thereof) discloses a method for realizing field loss power generation by using a three-phase four-leg converter, wherein a common point of three-phase windings is connected to a midpoint of a fourth leg, and positive or negative phase current is alternately introduced to each phase through the fault tolerance converter, so as to realize the function of generating power after the windings are excited. However, in the method, the switching times of the switching tube of the fourth bridge arm are three times that of the first three bridge arms, and once a power device fails, the generated power of the system is greatly reduced. An invention patent with patent number CN109450340A (a field failure fault-tolerant power generation system of an electro-magnetic doubly salient motor and a control method thereof): the H-bridge converter composed of 12 power devices is used for realizing three-phase independent control, realizing loss-of-field power generation and having high power generation efficiency, but the H-bridge converter has the defects of more power devices and higher cost.
In the aspect of fault tolerance of open-circuit faults of the driving converter, the single-phase open-circuit fault tolerance scheme of the double-salient-pole motor full-bridge converter, which is published in the journal of 8 and 28 of 2008, is based on a three-phase full-bridge converter, three bidirectional switch tubes and split capacitor bridge arms are added, a four-tube three-phase converter topology is reconstructed after faults occur, and the four-tube three-phase converter topology is switched to fault tolerance control to maintain the output characteristics of the system. The topology increases devices, increases the size of the controller, and reduces the reliability of the system. The invention patent CN105958892B of China (fault-tolerant topological structure and fault-tolerant method of a four-phase electric excitation doubly-salient motor converter) provides a fault-tolerant power converter topology of a four-phase electric excitation doubly-salient motor, two bidirectional switch tubes are added, the bidirectional switch tubes are conducted after a single-phase open circuit fault occurs in the converter, a fault-tolerant control strategy is adopted, the converter can still output trapezoidal wave currents with the phase difference of 90 degrees of four phases and is conducted to each phase of the motor, the motor still has four-phase output, the influence of the open circuit fault is avoided, but the fault-tolerant type of the topology change on double-tube and above open circuit fault types is poor. The chinese invention patent with patent number CN109245660B (a four-phase electro-magnetic doubly salient motor fault-tolerant driving system and its dynamic model building method) adopts a four-phase full-bridge converter with two bidirectional thyristors and a split capacitor to realize fault tolerance of double-tube and double-phase open circuit faults.
Therefore, the existing research on the fault-tolerant technology of the electro-magnetic doubly salient motor has fewer fault-tolerant schemes for open-circuit faults of a converter and a winding of a three-phase motor, and most of the existing technologies need to add redundant devices, greatly change the circuit, increase the complexity of the circuit and have lower reliability.
Disclosure of Invention
The invention provides an open-circuit fault-tolerant driving system of an electro-magnetic doubly salient motor aiming at the problems and the technical requirements, and the technical scheme of the invention is as follows:
an open-circuit fault-tolerant drive system for an electrically excited doubly salient motor, in which system: the main power supply provides voltage for a bus of the four-bridge arm converter driving circuit, and a three-phase winding of the electrically excited doubly salient motor is connected to the four-bridge arm converter driving circuit in an open winding mode; the excitation power supply is connected to two ends of an excitation winding of the electrically excited doubly salient motor through an asymmetric half-bridge converter; the load side energy storage capacitor is connected with the load in parallel; the current sensor detects phase currents of three-phase windings of the electro-magnetic doubly salient motor and transmits signals to the controller, and the position sensor detects position information and transmits signals to the controller;
when the controller does not detect that the doubly salient electro-magnetic motor has an open-circuit fault through the phase current of the three-phase winding, the controller controls the on and off of a switching tube in a driving circuit of the four-leg converter to adjust the direction of the phase current of the three-phase winding by combining position information and an inductance curve change rule, so that two phase windings working under each sector of an electrical cycle generate reluctance torques which are the same in size and opposite in direction and are both positive excitation torques, and the doubly salient electro-magnetic motor is driven to work in a normal operation mode;
when the controller detects that the doubly salient electro-magnetic motor has an open-circuit fault through phase current of the three-phase winding, the controller controls the on and off of a switching tube in a four-bridge arm converter driving circuit according to a fault-tolerant control mode corresponding to the open-circuit fault by combining position information and an inductance curve change rule to adjust the direction of the phase current of the three-phase winding, so that the total torque output generated by the phase winding working under each sector of an electrical cycle is positive, and the doubly salient electro-magnetic motor is driven to work in a fault-tolerant operation mode.
The beneficial technical effects of the invention are as follows:
the application discloses an open-circuit fault-tolerant driving system of an electro-excitation doubly-salient motor, which connects a three-phase winding of the electro-excitation doubly-salient motor on a four-bridge arm converter driving circuit in an open winding form, connects an excitation winding on an asymmetric half-bridge converter, controls the on and off of a switching tube in the four-bridge arm converter driving circuit to adjust the direction of phase current of the three-phase winding by combining position information and an inductance curve change rule, not only can drive the electro-excitation doubly-salient motor to work in a normal operation mode, but also can realize independent control of each phase during power generation operation, does not increase a bidirectional switching tube and a split capacitor, can realize fault-tolerant operation of any single-tube fault (single-bridge arm fault) and single-phase fault of the three-phase DSEM driving system by only depending on the four-bridge arm converter driving circuit, does not increase extra device cost, and keeps the volume of the control system smaller, the system operation reliability is improved. The method is suitable for motor systems with 12/8-pole three-phase DSEM and 18/12-pole three-phase DSEM and the like with similar inductance curve change.
Drawings
Fig. 1 is a circuit configuration diagram of an open-circuit fault-tolerant drive system of an electro-magnetic doubly salient motor according to the present application.
Fig. 2 is a schematic diagram of the inductance curve change rule of the electrically excited doubly salient motor in an electrical cycle, phase current, and conduction logic of each switching tube in a normal operation mode.
FIG. 3 is a three-phase current simulation waveform diagram under fault tolerance of a second bridge arm open-circuit fault in a simulation example.
FIG. 4 is a waveform of a torque simulation under fault tolerance of an open-circuit fault of a second leg in a simulation example.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
In the system, please refer to the circuit diagram shown in fig. 1, a main power source UdcThe method is characterized in that voltage is provided for a bus of a four-bridge arm converter driving circuit, and a three-phase winding of an electrically excited doubly salient motor (DSEM) is connected to the four-bridge arm converter driving circuit in an open winding mode. Excitation power supply UfThe two ends of the excitation winding of the DSEM are connected through an asymmetric half-bridge converter. The load side energy storage capacitor is connected with the load in parallel and plays a role in stabilizing voltage and filtering. The current sensor detects phase currents of three-phase windings of the electrically excited doubly salient motor and transmits signals to the controller, and the position sensor detects position information and transmits signals to the controller. The controller mainly comprises a DSP and a CPLD logic integrated circuit, and the position sensor can be realized by a photoelectric encoder.
As shown in fig. 1, in the present application, a first bridge arm of a four-bridge arm converter driving circuit includes an upper bridge arm switching tube T1 and a lower bridge arm switching tube T2, a second bridge arm includes an upper bridge arm switching tube T3 and a lower bridge arm switching tube T4, a third bridge arm includes an upper bridge arm switching tube T5 and a lower bridge arm switching tube T6, and a fourth bridge arm includes an upper bridge arm switching tube T7 and a lower bridge arm switching tube T8.
Two end outlet terminals of an A-phase winding of the electro-magnetic doubly-salient motor are respectively connected with intermediate points of a first bridge arm and a second bridge arm, two end outlet terminals of a B-phase winding are respectively connected with intermediate points of the second bridge arm and a third bridge arm, and two end outlet terminals of a C-phase winding are respectively connected with intermediate points of the third bridge arm and a fourth bridge arm. And the A phase winding is connected with the homonymous end of the B phase winding, and the B phase winding is connected with the homonymous end of the C phase winding.
Referring to fig. 2, in the topology structure shown in fig. 1, phases of an a-phase winding, a B-phase winding, and a C-phase winding sequentially differ by 120 ° in order, the a-phase leads the B-phase by 120 ° in advance, the B-phase leads the C-phase by 120 ° in advance, self-inductance and excitation mutual-inductance values of the three-phase winding are all in change at any time, the inductance curve change rule indicates a change rule of self-inductance and excitation mutual-inductance values of the three-phase winding at any time, and one electrical cycle can be divided into three sectors according to the inductance curve change rule:
(1) at an electrical angle of [0 °, 120 ° ]]In the first Sector of the interval (Sector1), the self-inductance L of the A-phase windingaValue of mutual inductance with excitationafRising, self-inductance L of the B-phase windingbValue of mutual inductance with excitationbfConstant, self-inductance L of the C-phase windingcValue of mutual inductance with excitationcfAnd (4) descending.
(2) At an electrical angle (120 degrees, 240 degrees)]In the second Sector of the interval (Sector2), the self-inductance L of the A-phase windingaValue of mutual inductance with excitationafFalling, self-inductance L of the B-phase windingbValue of mutual inductance with excitationbfRising, self-inductance L of the C-phase windingcValue of mutual inductance with excitationcfRemain unchanged.
At an electrical angle (240 DEG, 360 DEG)]In the third Sector of the interval (Sector3), the self-inductance L of the A-phase winding is now setaValue of mutual inductance with excitationafConstant, self-inductance L of the B-phase windingbValue of mutual inductance with excitationbfFalling, self-inductance L of the C-phase windingcValue of mutual inductance with excitationcfAnd (4) rising.
Therefore, the variation trends of the self-inductance and the excitation mutual inductance of any p-phase winding are similar, the absolute value of the variation rate of the excitation mutual inductance of the p-phase winding is larger than that of the self-inductance in any sector, and the p-phase winding represents any one of an A-phase winding, a B-phase winding and a C-phase winding.
Output torque T generated by any p-phase winding of electrically excited doubly salient motorpComprises the following steps:
Figure GDA0003379299300000041
ipis the phase current of a p-phase winding and can be positive or negative, ifIs the excitation current, LpIs the self-inductance of the p-phase winding, LpfIs the excitation mutual inductance value of the p-phase winding, and θ is the rotor position angle. T isprIs the reluctance torque generated by the p-phase winding and the change rule of the self-inductance of the p-phase winding
Figure GDA0003379299300000051
Is related to ipIs irrelevant to the positive and negative of the magnetic material,
Figure GDA0003379299300000052
can be positive, can be negative, can be 0, whereby TprMay be positive, may be negative, may be 0. T ispeI is the variation law of the excitation torque generated by the p-phase winding and the excitation mutual inductance value of the p-phase windingpBoth the positive and the negative of (c) are correlated,
Figure GDA0003379299300000053
can be positive, can be negative, can be 0, whereby TpeMay be positive, may be negative, may be 0.
Therefore, the output torque generated by each phase of winding can be adjusted by controlling the direction of the phase current of the three-phase winding according to the inductance curve change rule, so that the total torque output under each sector can be adjusted, based on the principle, the application can adjust the conduction strategy of the switching tube by combining the inductance curve change rule to realize driving, specifically, the controller is firstly set to drive the electrically-excited doubly-salient motor to work in a normal operation mode, then the phase current of the three-phase winding is used for detecting whether the electrically-excited doubly-salient motor has an open-circuit fault by using a fault detection method, and if the detection result is normal and has no open-circuit fault, the electrically-excited doubly-salient motor continues to operate in the normal operation mode; and if the open-circuit fault is detected, switching to a fault-tolerant operation mode corresponding to the open-circuit fault. The fault detection method can be realized by adopting the existing method, and is not repeated in the application, different open-circuit faults comprise different fault types and/or different fault positions, the fault types comprise open-circuit faults of switching tubes or open-circuit faults of phase windings, and the fault positions comprise bridge arms where the switching tubes with the open-circuit faults are located or connection positions of the phase windings with the open-circuit faults.
The application introduces the following specific driving modes of the normal operation mode and the fault-tolerant operation mode corresponding to different open-circuit faults respectively:
first, normal operation mode
When the controller does not detect that the doubly salient electro-magnetic motor has an open-circuit fault through the phase current of the three-phase winding, the direction of the phase current of the three-phase winding is adjusted by controlling the on and off of a switching tube in a driving circuit of the four-leg converter according to position information and an inductance curve change rule, so that two phase windings working under each sector of an electrical cycle generate reluctance torques which are the same in size and opposite in direction and are both positive excitation torques, and the doubly salient electro-magnetic motor is driven to work in a normal operation mode.
Based on the topology shown in fig. 1 and the inductance curve change rule shown in fig. 2, specifically:
(1) when the position information indicates that the position information is in the first sector, the controller controls the switching tubes T1, T7 and T4 to be switched on for chopping, and the rest of the switching tubes are kept switched off. And leading the phase current of the phase A winding to be introduced in a positive direction, leading the phase current of the phase B winding to be introduced in a positive direction and leading the phase current of the phase C winding to be introduced in a negative direction. The A-phase winding and the C-phase winding generate positive excitation torque, and the B-phase winding does not generate output torque.
(2) When the position information indicates that the position information is in the second sector, the controller controls the switching tubes T5 and T2 to be switched on for chopping, and the rest of the switching tubes are kept switched off. And the phase current of the A-phase winding is switched into the negative phase current, the phase current of the B-phase winding is switched into the positive phase current, and the A, B-phase winding generates positive excitation torque.
(3) When the position information indicates that the position information is in the third sector, the controller controls the switching tubes T3 and T8 to be switched on for chopping, and the rest of the switching tubes are kept switched off. And the negative phase current is introduced into the phase B winding, the positive phase current is introduced into the phase C winding, and the B, C phase windings generate positive excitation torque.
Second, fault tolerant mode of operation
When the controller detects that the doubly salient electro-magnetic motor has an open-circuit fault through phase current of the three-phase winding, the controller controls the on and off of a switching tube in a four-bridge arm converter driving circuit according to a fault-tolerant control mode corresponding to the open-circuit fault by combining position information and an inductance curve change rule to adjust the direction of the phase current of the three-phase winding, so that the total torque output generated by the phase winding working under each sector of an electrical cycle is positive, and the doubly salient electro-magnetic motor is driven to work in a fault-tolerant operation mode.
The open-circuit faults of the doubly salient electro-magnetic motor are mainly divided into five types, namely a first open-circuit fault, a second open-circuit fault, a third open-circuit fault, a fourth open-circuit fault and a fifth open-circuit fault. The first open-circuit fault is an open-circuit fault of at least one switching tube on the first bridge arm or an open-circuit fault of the A-phase winding. The second open-circuit fault is an open-circuit fault of at least one switching tube on the second bridge arm. The third open-circuit fault is an open-circuit fault of at least one switching tube on the third bridge arm. And the fourth circuit fault is an open-circuit fault of at least one switching tube on the fourth bridge arm or an open-circuit fault of the C-phase winding. The fifth open-circuit fault is an open-circuit fault occurring in the B-phase winding. At least one switching tube on one bridge arm indicates that the upper bridge arm switching tube and the lower bridge arm switching tube of the bridge arm have single-tube open-circuit faults or both open-circuit faults.
The application first divides the five open circuit faults into two groups and introduces the five open circuit faults respectively:
1. when the controller controls the on and off of the switching tube in the four-bridge arm converter driving circuit according to the fault-tolerant control mode corresponding to the first open-circuit fault, or the fault-tolerant control mode corresponding to the fourth open-circuit fault, or the fault-tolerant control mode corresponding to the fifth open-circuit fault, only one corresponding phase winding works under each sector of the electric cycle, and the generated total torque is output as the output torque of the working phase winding. The present application introduces the three types of open circuit faults as follows:
1.1, when an electrically excited doubly salient motor has a first open-circuit fault, on the basis of blocking a control signal of a switching tube on a first bridge arm, namely always keeping T1 and T2 on the first bridge arm in an off state, controlling according to a fault-tolerant control mode corresponding to the first open-circuit fault, and the method comprises the following steps:
(1) and when the phase current is determined to be in the first sector according to the position information, the switching tubes T7 and T6 are controlled to be switched on for chopping, and the other switching tubes are kept switched off, so that the phase current of the B-phase winding is switched on in a positive direction, and the phase current of the C-phase winding is switched on in a negative direction. The change rate of the self-inductance and the excitation mutual inductance of the B-phase winding is 0, no output torque is generated, the change rate of the self-inductance and the excitation mutual inductance of the C-phase winding is negative, positive excitation torque and negative reluctance torque are generated, and the absolute value of the change rate of the excitation mutual inductance of the C-phase winding is greater than the absolute value of the change rate of the self-inductance, so that only the C-phase winding works and the total torque outputs the absolute value of the change rate of the self-inductancece|-|TcrAnd | is positive.
(2) When the position information is determined to be in the second sector, the switching tubes T5 and T4 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the B-phase winding is switched on to forward phase current. The change rate of the self inductance and the excitation mutual inductance of the B-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the B-phase winding works and the total torque outputs | T |be|+|TbrAnd | is positive.
(3) When the position information is determined to be in the third sector, the switching tubes T5 and T8 are controlled to conduct chopping, and the rest switching tubes are kept off, so that only the C-phase winding is conducted with forward phase current. The change rate of the self inductance and the excitation mutual inductance of the C-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the C-phase winding works and the total torque outputs | T |ce|+|TcrAnd | is positive.
Note that, as described above, TprAnd TpeThe sum can be positive, negative or 0, so that the sum operation is actually performed, and in order to more clearly show the difference between the positive and negative values, the sum operation is expressed in an absolute value manner, for example, | T in the above formula (1)ce|-|TcrI represents TceIs positive, TcrIs negative, and in the above formula (3, | Tce|+|TcrI represents TceIs positive, TcrAlso positive.
1.2, when the doubly salient electro-magnetic motor has a fourth circuit fault, on the basis of blocking the control signal of the switching tube on the fourth bridge arm, controlling according to a fault-tolerant control mode corresponding to the fourth circuit fault, including:
(1) when the position information is determined to be in the first sector, the switching tubes T1 and T4 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the A-phase winding is switched on to forward phase current. The change rate of the self inductance and the excitation mutual inductance of the A-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the A-phase winding works and the total torque output is | T |ae|+|TarAnd | is positive.
(2) When the position information is determined to be in the second sector, the switching tubes T5 and T4 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the B-phase winding is switched on to forward phase current. The change rate of the self inductance and the excitation mutual inductance of the B-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the B-phase winding works and the total torque output is | T |be|+|TbrAnd | is positive.
(3) And when the position information indicates that the phase current is in the third sector, the switching tubes T3 and T6 are controlled to be switched on for chopping, and the other switching tubes are kept switched off, so that only the B-phase winding is switched on with negative phase current. The change rates of the self-inductance and the excitation mutual inductance of the B-phase winding are negative, positive excitation torque and negative reluctance torque are generated, and the absolute value of the change rate of the excitation mutual inductance of the B-phase winding is larger than that of the self-inductance, so that only the B-phase winding works and the total torque outputs | T |, and the total torque output is larger than the absolute value of the change rate of the self-inductancebe|-|TbrAnd | is positive.
1.3, when the doubly salient electro-magnetic motor of electricity excitation has the fifth open circuit trouble, A looks winding and C looks winding are thoroughly separated, and independent control controls according to the fault-tolerant control mode that the fifth open circuit trouble corresponds, includes:
(1) when it is determined to be in the first sector based on the position information, controlling onThe switch tubes T1 and T4 are switched on for chopping, and the rest of the switch tubes are kept off, so that only the A-phase winding is switched on to forward phase current. The change rate of the self inductance and the excitation mutual inductance of the A-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the A-phase winding works and the total torque output is | T |ae|+|TarAnd | is positive.
(2) And when the position information indicates that the phase current is in the second sector, the switching tubes T3 and T2 are controlled to be switched on for chopping, and the other switching tubes are kept switched off, so that only the A-phase winding is switched on with negative phase current. The change rates of the self-inductance and the excitation mutual inductance of the A-phase winding are negative, positive excitation torque and negative reluctance torque are generated, and the absolute value of the change rate of the excitation mutual inductance of the A-phase winding is larger than that of the self-inductance, so that only the A-phase winding works and the total torque outputs | T |, and the total torque output is larger than the absolute value of the change rate of the self-inductanceae|-|TarAnd | is positive.
(3) When the position information is determined to be in the third sector, the switching tubes T5 and T8 are controlled to conduct chopping, and the rest switching tubes are kept off, so that only the C-phase winding is conducted with forward phase current. The change rate of the self inductance and the excitation mutual inductance of the C-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the C-phase winding works and the total torque output is | T |ce|+|TcrAnd | is positive.
2. When the controller controls the on and off of a switching tube in the four-leg converter driving circuit according to the fault-tolerant control mode corresponding to the second open-circuit fault or the fault-tolerant control mode corresponding to the third open-circuit fault, two corresponding phase windings work under each sector of an electric cycle, the reluctance torques generated by the two working phase windings are the same in size and opposite in direction, the excitation torques generated by the two working phase windings are positive, and the total torque output generated by the excitation torques is the sum of the excitation torques of the two working phase windings. The present application introduces these two types of open circuit faults as follows:
2.1, when a second open-circuit fault exists in the electro-magnetic doubly salient motor, controlling according to a fault-tolerant control mode corresponding to the second open-circuit fault on the basis of blocking a control signal of a switching tube on a second bridge arm, and the method comprises the following steps:
(1) when the position information indicates that the position information is in the first sector, the switching tubes T1, T7 and T6 are controlled to be switched on for chopping, and the rest of the switching tubes are kept switched off. The phase A winding is led with positive phase current, the phase C winding is led with negative phase current, and the phase B winding only provides a current circulation path and does not generate output torque. The total torque output produced by the working A-phase winding and C-phase winding is | Tae|+|TceAnd | is positive.
(2) When the position information is determined to be in the second sector, the switching tubes T5 and T2 are controlled to be switched on for chopping, and the rest of the switching tubes are kept switched off. And leading the phase B winding to be connected with positive phase current, and leading the phase A winding to be connected with negative phase current. The total torque output produced by the working A-phase winding and B-phase winding is | Tae|+|TbeAnd | is positive.
(3) When the position information indicates that the position information is in the third sector, the switching tubes T1 and T8 are controlled to be switched on for chopping, and the rest of the switching tubes are kept switched off. The phase A winding and the phase C winding are both connected with positive phase current, the phase B winding is connected with negative phase current, and the phase A winding only provides a current circulation path and does not generate output torque. The total torque output produced by the operating B-phase winding and C-phase winding is | Tbe|+|TceAnd | is positive.
2.2 when the doubly salient electro-magnetic machine of electricity excitation has third open circuit trouble, on the basis of the control signal of the switch tube on blockade third bridge arm, according to the fault-tolerant control mode control that third open circuit trouble corresponds, include:
(1) when the position information indicates that the position information is in the first sector, the switching tubes T1, T7 and T4 are controlled to be switched on for chopping, and the rest of the switching tubes are kept switched off. The phase A winding is led with positive phase current, the phase C winding is led with negative phase current, and the phase B winding only provides a current circulation path and does not generate output torque. The total torque output produced by the working A-phase winding and C-phase winding is | Tae|+|TceAnd | is positive.
(2) When the position information indicates that the position information is in the second sector, the controller controls the switching tubes T7 and T2 to be switched on for chopping, and the rest of the switching tubes are kept switched off. The phase B winding is led in positive phase current, and the phase A winding is led in negative phase currentPhase current, the C-phase winding provides only a current flow path and does not produce output torque. The total torque output produced by the working A-phase winding and B-phase winding is | Tae|+|TbeI is positive;
(3) when the position information indicates that the position information is in the third sector, the controller controls the switching tubes T3 and T8 to be switched on for chopping, and the rest of the switching tubes are kept switched off. And leading the phase C winding to be connected with positive phase current, and leading the phase B winding to be connected with negative phase current. The total torque output produced by the operating B-phase winding and C-phase winding is | Tbe|+|TceAnd | is positive.
Based on the above technical description, the windings operating in each sector of the electrical cycle in the different operating modes and the corresponding resulting total torque output are respectively shown in the following table:
Figure GDA0003379299300000091
Figure GDA0003379299300000101
in a simulation experiment, a three-phase current simulation oscillogram under the fault tolerance of the open-circuit fault of the second bridge arm is shown in fig. 3, the simulation conditions are bus voltage 115V, exciting current 5A, motor rotating speed 1000r/min and load torque 3 N.m, and the current conduction rule is the same as the theoretical analysis according to the waveform. Fig. 4 is a torque simulation waveform diagram under the fault tolerance of the open-circuit fault of the second bridge arm, and compared with the normal operation, the fault tolerance operation is two-phase output, the average value of the output torque is almost equal, and the pulsation of the non-commutation torque is almost zero.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.

Claims (7)

1. An open-circuit fault-tolerant drive system of an electro-magnetic doubly salient motor, characterized in that in the system: the main power supply provides voltage for a bus of the four-bridge arm converter driving circuit, and a three-phase winding of the electrically excited doubly salient motor is connected to the four-bridge arm converter driving circuit in an open winding mode; an excitation power supply is connected to two ends of an excitation winding of the electric excitation doubly salient motor through an asymmetric half-bridge converter; the load side energy storage capacitor is connected with the load in parallel; a current sensor detects phase currents of three-phase windings of the electrically excited doubly salient motor and transmits signals to a controller, and a position sensor detects position information and transmits signals to the controller;
when the controller does not detect that the doubly salient electro-magnetic motor has an open-circuit fault through phase currents of three-phase windings, the controller controls the on and off of a switching tube in a driving circuit of the four-leg converter to adjust the direction of the phase currents of the three-phase windings by combining position information and an inductance curve change rule, so that two phase windings working under each sector of an electrical cycle generate reluctance torques which are the same in size and opposite in direction and an excitation torque which is positive, and the doubly salient electro-magnetic motor is driven to work in a normal operation mode;
when the controller detects that the doubly salient electro-magnetic motor has an open-circuit fault through phase current of a three-phase winding, the controller controls the on and off of a switching tube in a driving circuit of the four-leg converter according to a fault-tolerant control mode corresponding to the open-circuit fault by combining position information and an inductance curve change rule to adjust the direction of the phase current of the three-phase winding, so that the total torque output generated by a phase winding working under each sector of an electro-cycle is positive, and the doubly salient electro-magnetic motor is driven to work in a fault-tolerant operation mode;
the first bridge arm of the four-bridge arm converter driving circuit comprises an upper bridge arm switching tube T1 and a lower bridge arm switching tube T2, the second bridge arm comprises an upper bridge arm switching tube T3 and a lower bridge arm switching tube T4, the third bridge arm comprises an upper bridge arm switching tube T5 and a lower bridge arm switching tube T6, and the fourth bridge arm comprises an upper bridge arm switching tube T7 and a lower bridge arm switching tube T8; two end outlet ends of an A-phase winding of the electro-magnetic doubly-salient motor are respectively connected with the middle points of the first bridge arm and the second bridge arm, two end outlet ends of a B-phase winding are respectively connected with the middle points of the second bridge arm and the third bridge arm, and two end outlet ends of a C-phase winding are respectively connected with the middle points of the third bridge arm and the fourth bridge arm; the A-phase winding is connected with the homonymous end of the B-phase winding, the B-phase winding is connected with the homonymous end of the C-phase winding, and the current flows from the homonymous end of the winding to be a positive direction;
the output torque T generated by the p-phase winding of the electro-magnetic doubly salient motorpComprises the following steps:
Figure FDA0003379299290000011
the p-phase winding represents any one of the A-phase winding, the B-phase winding and the C-phase winding, ipPhase current of p-phase winding, ifIs the excitation current, LpIs the self-inductance of the p-phase winding, LpfIs the excitation mutual inductance value of the p-phase winding, and theta is the rotor position angle; t isprIs reluctance torque generated by the p-phase winding and is related to the change law of the self-inductance of the p-phase winding and ipIs irrelevant to the positive or negative, TpeI is the variation law of the excitation torque generated by the p-phase winding and the excitation mutual inductance value of the p-phase windingpBoth positive and negative are related;
the inductance curve change rule indicates the change rule of self-inductance and excitation mutual inductance values of the three-phase winding at any time, and the direction of phase current of the three-phase winding is controlled according to the inductance curve change rule to adjust output torque generated by each phase of winding, so that the total torque output under each sector is adjusted;
wherein the inductance curve change law indicates that in one electrical cycle:
in a first sector of an electrical angle interval of [0 degrees and 120 degrees ], the self-inductance and excitation mutual inductance value of the A-phase winding is increased, the self-inductance and excitation mutual inductance value of the B-phase winding is kept unchanged, and the self-inductance and excitation mutual inductance value of the C-phase winding is decreased;
in a second sector of an electrical angle (120 degrees and 240 degrees), the self-inductance and excitation mutual inductance value of the A-phase winding is reduced, the self-inductance and excitation mutual inductance value of the B-phase winding is increased, and the self-inductance and excitation mutual inductance value of the C-phase winding is kept unchanged;
in a third sector of an electrical angle (240 degrees and 360 degrees), the self-inductance and excitation mutual inductance value of the A-phase winding is kept unchanged, the self-inductance and excitation mutual inductance value of the B-phase winding is reduced, and the self-inductance and excitation mutual inductance value of the C-phase winding is increased;
in any sector, the absolute value of the change rate of the excitation mutual inductance value of the p-phase winding is greater than the absolute value of the change rate of the self-inductance;
when the controller drives the electrically excited doubly salient motor to work in a normal operation mode: when the position information is determined to be in the first sector, the controller controls the switching tubes T1, T7 and T4 to be switched on for chopping, and the other switching tubes are kept to be switched off, so that a phase A winding is switched on with a positive phase current, a phase B winding is switched on with a positive phase current, a phase C winding is switched on with a negative phase current, the phase A winding and the phase C winding both generate a positive excitation torque, and the phase B winding does not generate an output torque; when the position information is determined to be in the second sector, the controller controls the switching tubes T5 and T2 to be switched on for chopping, and the other switching tubes are kept to be switched off, so that the phase A winding is switched on with negative phase current, the phase B winding is switched on with positive phase current, and the A, B winding generates positive excitation torque; when the position information is determined to be in the third sector, the controller controls the switching tubes T3 and T8 to be switched on for chopping, and the other switching tubes are kept to be switched off, so that the phase B winding is switched on with negative phase current, the phase C winding is switched on with positive phase current, and the B, C winding generates positive excitation torque;
when the controller controls the on and off of a switching tube in the four-bridge arm converter driving circuit according to a fault-tolerant control mode corresponding to a first open-circuit fault, or a fault-tolerant control mode corresponding to a fourth open-circuit fault, or a fault-tolerant control mode corresponding to a fifth open-circuit fault, only one corresponding phase winding works under each sector of an electrical cycle, and the generated total torque is output as the output torque of the working phase winding; the first open-circuit fault is an open-circuit fault of at least one switching tube on the first bridge arm or an open-circuit fault of the A-phase winding; the fourth circuit fault is an open-circuit fault of at least one switching tube on the fourth bridge arm or an open-circuit fault of the C-phase winding; and the fifth open-circuit fault is an open-circuit fault of the B-phase winding.
2. The system according to claim 1, wherein when the doubly salient electro-magnetic motor has the first open-circuit fault, the controlling according to the fault-tolerant control mode corresponding to the first open-circuit fault on the basis of blocking the control signal of the switching tube on the first bridge arm comprises:
when the position information is determined to be in the first sector, switching tubes T7 and T6 are controlled to be switched on for chopping, and the other switching tubes are kept switched off, so that a phase current of a phase B winding is switched on to a positive phase, and a phase current of a phase C winding is switched on to a negative phase; the change rate of the self-inductance and the excitation mutual inductance value of the B-phase winding is 0, no output torque is generated, the change rate of the self-inductance and the excitation mutual inductance value of the C-phase winding is negative, and positive excitation torque and negative reluctance torque are generated, so that only the C-phase winding works and the total torque outputs | T |ce|-|TcrI is positive;
when the position information is determined to be in the second sector, switching tubes T5 and T4 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the B-phase winding is switched on with forward phase current; the change rate of the self inductance and the excitation mutual inductance of the B-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the B-phase winding works and the total torque outputs | T |be|+|TbrI is positive;
when the position information is determined to be in the third sector, switching tubes T5 and T8 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the C-phase winding is switched on with forward phase current; the change rate of the self inductance and the excitation mutual inductance of the C-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the C-phase winding works and the total torque outputs | T |ce|+|TcrAnd | is positive.
3. The system according to claim 1, wherein when the doubly salient electro-magnetic motor has the fourth circuit fault, on the basis of blocking the control signal of the switching tube of the fourth bridge arm, the controlling according to the fault-tolerant control mode corresponding to the fourth circuit fault includes:
when the position information is determined to be in the first sector, switching tubes T1 and T4 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the A-phase winding is switched on with forward phase current; the change rate of the self inductance and the excitation mutual inductance of the A-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the A-phase winding works and the total torque output is | T |ae|+|TarI is positive;
when the position information is determined to be in the second sector, switching tubes T5 and T4 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the B-phase winding is switched on with forward phase current; the change rate of the self inductance and the excitation mutual inductance of the B-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the B-phase winding works and the total torque output is | T |be|+|TbrI is positive;
when the position information is determined to be in the third sector, switching tubes T3 and T6 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the B-phase winding is switched on with negative phase current; the change rates of the self-inductance and the excitation mutual inductance of the B-phase winding are negative, and positive excitation torque and negative reluctance torque are generated, so that only the B-phase winding works and the total torque outputs | T |be|-|TbrAnd | is positive.
4. The system according to claim 1, wherein when the doubly salient electro-magnetic motor has the fifth open-circuit fault, the controlling according to the fault-tolerant control mode corresponding to the fifth open-circuit fault comprises:
when the position information is determined to be in the first sector, switching tubes T1 and T4 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the A-phase winding is switched on with forward phase current; self-inductance and excitation of A-phase windingThe change rate of the magnetic mutual inductance value is positive, and positive excitation torque and positive reluctance torque are generated, so that only the A-phase winding works and the total torque output is | T |ae|+|TarI is positive;
when the position information is determined to be in the second sector, switching tubes T3 and T2 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the A-phase winding is switched on with negative phase current; the change rates of the self-inductance and the excitation mutual inductance of the A-phase winding are negative, and positive excitation torque and negative reluctance torque are generated, so that only the A-phase winding works and the total torque outputs | T |ae|-|TarI is positive;
when the position information is determined to be in the third sector, switching tubes T5 and T8 are controlled to be switched on for chopping, and the rest switching tubes are kept switched off, so that only the C-phase winding is switched on with forward phase current; the change rate of the self inductance and the excitation mutual inductance of the C-phase winding is positive, and positive excitation torque and positive reluctance torque are generated, so that only the C-phase winding works and the total torque output is | T |ce|+|TcrAnd | is positive.
5. The system of claim 1,
when the controller controls the on and off of a switching tube in the four-bridge arm converter driving circuit according to a fault-tolerant control mode corresponding to a second open-circuit fault or a fault-tolerant control mode corresponding to a third open-circuit fault, two corresponding phase windings work under each sector of an electric cycle, and the generated total torque output is the sum of excitation torques of the two working phase windings;
the second open-circuit fault is an open-circuit fault of at least one switching tube on the second bridge arm, and the third open-circuit fault is an open-circuit fault of at least one switching tube on the third bridge arm.
6. The system according to claim 5, wherein when the second open-circuit fault exists in the doubly-salient electro-magnetic motor, the control is performed in a fault-tolerant control mode corresponding to the second open-circuit fault on the basis of blocking the control signal of the switching tube in the second bridge arm, and the control method comprises the following steps:
when the position information is determined to be in the first sector, switching tubes T1, T7 and T6 are controlled to be switched on for chopping, and the other switching tubes are kept switched off, so that a phase A winding is switched on with a positive phase current, a phase C winding is switched on with a negative phase current, and a phase B winding only provides a current circulation path and does not generate output torque; the total torque output produced by the working A-phase winding and C-phase winding is | Tae|+|TceI is positive;
when the position information is determined to be in the second sector, the switching tubes T5 and T2 are controlled to be switched on for chopping, the other switching tubes are kept switched off, so that the phase B winding is switched on with positive phase current, the phase A winding is switched on with negative phase current, and the total torque output generated by the working phase A winding and the working phase B winding is | T |, wherein the phase A winding and the working phase B winding are connected in parallelae|+|TbeI is positive;
when the position information is determined to be in the third sector, switching tubes T1 and T8 are controlled to be switched on for chopping, the other switching tubes are kept switched off, so that positive phase current is conducted to the A-phase winding and the C-phase winding, negative phase current is conducted to the B-phase winding, the A-phase winding only provides a current circulation path and does not generate output torque, and the total torque output generated by the working B-phase winding and the working C-phase winding is | T |, wherein the total torque output isbe|+|TceAnd | is positive.
7. The system according to claim 5, wherein when the electrically excited double-salient pole motor has the third open-circuit fault, the controlling according to the fault-tolerant control mode corresponding to the third open-circuit fault on the basis of the control signal for blocking the switching tube on the third bridge arm comprises:
when the position information is determined to be in the first sector, the switching tubes T1, T7 and T4 are controlled to be switched on for chopping, the other switching tubes are kept switched off, so that the phase A winding is switched on with positive phase current, the phase C winding is switched on with negative phase current, the phase B winding only provides a current circulation path and does not generate output torque, and the total torque output generated by the working phase A winding and the working phase C winding is | T |, wherein the phase A winding and the phase C winding are controlled to be switched on and switched offae|+|TceI is positive;
when the position information is determined to be in the second sector, the controller controls the switching tubes T7 and T2 to be switched on for chopping, the other switching tubes are kept switched off, so that the phase B winding is switched on with positive phase current, the phase A winding is switched on with negative phase current, the phase C winding only provides a current circulation path and does not generate output torque, and the total torque output generated by the working phase A winding and the working phase B winding is | T |, wherein the phase A winding and the phase B winding are connected in series, and the phase B winding are connected in seriesae|+|TbeI is positive;
when the position information is determined to be in the third sector, the controller controls the switching tubes T3 and T8 to be switched on for chopping, the other switching tubes are kept switched off, so that the phase C winding is switched on with positive phase current, the phase B winding is switched on with negative phase current, and the total torque output generated by the working phase B winding and the working phase C winding is | T |, wherein the phase B winding and the working phase C winding are connected in parallelbe|+|TceAnd | is positive.
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