CN114826094A - Fault-tolerant operation method under PMSM turn-to-turn short circuit fault state - Google Patents

Fault-tolerant operation method under PMSM turn-to-turn short circuit fault state Download PDF

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CN114826094A
CN114826094A CN202210440535.5A CN202210440535A CN114826094A CN 114826094 A CN114826094 A CN 114826094A CN 202210440535 A CN202210440535 A CN 202210440535A CN 114826094 A CN114826094 A CN 114826094A
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fault
turn
point
short
pmsm
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黄少坡
孙兆佳
李伟
毕振国
周建军
牛峰
吴立建
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Beijing Institute of Petrochemical Technology
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Beijing Institute of Petrochemical Technology
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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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • 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
    • 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
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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

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

Abstract

The invention discloses a fault-tolerant operation method under a PMSM turn-to-turn short circuit fault state, which comprises the following steps: establishing a short-circuit circulating current model and an electromagnetic torque model of the PMSM in a turn-to-turn short-circuit fault state in a synchronous rotating coordinate system; based on the short-circuit loop current model and the electromagnetic torque model, a plurality of types of fault-tolerant operating points on the dq current plane are obtained by using the constraint conditions that the short-circuit loop current is controlled not to exceed a preset allowable value and the output torque is maximized under the condition that the output torque does not exceed the pre-fault level; obtaining turn-to-turn short circuit fault based on voltage information, current information and rotating speed information of PMSM under turn-to-turn short circuit fault stateNumber of short circuit turns N in the event of a fault f And a short-circuit point resistor r f (ii) a According to the number of short-circuit turns N f And a short-circuit point resistor r f And selecting corresponding fault-tolerant operating points from a plurality of classes of fault-tolerant operating points according to the current rotating speed information and the current torque information of the PMSM in the turn-to-turn short circuit fault state and a pre-established motor parameter lookup table.

Description

Fault-tolerant operation method under PMSM turn-to-turn short circuit fault state
Technical Field
The specification relates to the technical field of motor control, in particular to a fault-tolerant operation method in a PMSM turn-to-turn short circuit fault state.
Background
Among the failure modes of PMSM drive systems, a stator winding turn-to-turn short circuit fault due to turn-to-turn insulation degradation is one of the most common failure modes. Turn-to-turn short circuit belongs to gradual fault, but when proper fault-tolerant control is not applied, the short-circuit circulating current of a fault loop can also rise in a short time, so that a motor is damaged, and the safety of a system and personnel is threatened.
In a typical motor drive application, the adverse effects of a fault can be eliminated by direct shutdown after a stator turn-to-turn short circuit fault is detected. However, in the situation with high safety requirement, the sudden stop of the motor driving system may cause serious accidents, so even if the motor has a stator turn-to-turn short circuit fault, the motor must be ensured to output torque, and at least the motor must be maintained to be capable of being stopped safely. At present, fault-tolerant control research on turn-to-turn short circuit faults of PMSM stators mainly focuses on a multi-phase motor and a three-phase motor driving system with a complex inverter structure, and a fault-tolerant control method or a fault-tolerant operation method of the fault-tolerant control method or the fault-tolerant operation method are not suitable for a traditional three-phase PMSM driving system. In addition, on the occasion with higher safety requirement, in order to ensure the output torque of the motor as much as possible, the influence of the severity of the turn-to-turn short circuit fault on the fault-tolerant operation point should be considered, so that the operation performance of the motor after the fault is maintained to the maximum extent, and the risk of system accidents is reduced.
Therefore, it is necessary to provide a fault-tolerant operation method suitable for a conventional three-phase PMSM driving system in a short-circuit fault state.
Disclosure of Invention
The embodiment of the specification provides a fault-tolerant operation method in a PMSM turn-to-turn short-circuit fault state, so as to provide a fault-tolerant operation method in a short-circuit fault state, which is suitable for a traditional three-phase PMSM driving system.
In order to solve the above technical problem, the embodiments of the present specification are implemented as follows:
the fault-tolerant operation method in the PMSM turn-to-turn short circuit fault state provided by the embodiment of the specification includes:
establishing a short-circuit circulating current model and an electromagnetic torque model of the PMSM in a turn-to-turn short circuit fault state in a synchronous rotating coordinate system;
based on the short-circuit circulating current model and the electromagnetic torque model, a plurality of types of fault-tolerant operating points on a dq current plane after the PMSM turn-to-turn short circuit fault are obtained by using constraint conditions of controlling the short-circuit circulating current not to exceed a preset allowable value and maximizing the output torque under the condition that the output torque does not exceed the level before the fault;
obtaining the number of short circuit turns N during turn-to-turn short circuit fault based on voltage information, current information and rotating speed information of PMSM under the state of turn-to-turn short circuit fault f And a short-circuit point resistor r f ；
According to the number of short circuit turns N f And the short-circuit point resistance r f And selecting corresponding fault-tolerant operating points from the plurality of fault-tolerant operating points according to the current rotating speed information and the current torque information of the PMSM in the turn-to-turn short circuit fault state and a pre-established motor parameter lookup table.
Preferably, the method for establishing the short-circuit circulating current model specifically includes:
recording the resistance of the PMSM under a healthy state as r s The number of turns of each phase is Ns, and the number of turns of the A-phase short circuit is N f Turn-to-turn short circuit fault of (1), recording delta as N f /N s The phase A is divided into healthy part windings a h And a failed partial winding a f A winding a h Resistance r of ah A winding a f Resistance r of af And b phase winding resistance r b C phase windingResistance r c Respectively as follows:
Figure BDA0003613808270000021
recording the self-inductance of a phase of the PMSM as L in a healthy state a Winding a in turn-to-turn short circuit fault state h Is L from the self-inductance ah A winding a f Is L from the self-inductance af A winding a h And winding a f Mutual inductance between M ahaf ，λ pm Magnetic flux linkage, theta, generated for permanent magnets e For the electrical angle between the q-axis and the a-phase of the synchronously rotating coordinate system, ω e For the rotor rotational electrical angular velocity, the back electromotive force vector is [ e ] a ,e b ,e c ,e af ] T Then, there are:
Figure BDA0003613808270000022
Figure BDA0003613808270000023
according to an equation of the turn-to-turn short circuit loop voltage:
Figure BDA0003613808270000024
wherein i af ＝i a -i f Is flowed through the winding a f The current of (a);
the formula (4) is expressed as short-circuit circulating current i f For variable rearrangement, there are:
Figure BDA0003613808270000031
expressed with the aid of a current space vector as:
Figure BDA0003613808270000032
wherein, I s And δ represents the magnitude and angle of the current space vector, respectively; i in the formula (6) a The linear differential equation is introduced into the equation (5) and solved in the equation (5) to obtain the short-circuit circulating current i f Comprises the following steps:
Figure BDA0003613808270000033
wherein,
Figure BDA0003613808270000034
the expression of the current space vector on the dq axis is:
Figure BDA0003613808270000035
taking equation (9) into equations (7) and (8), the effective value of the short-circuit circulating current is obtained as:
Figure BDA0003613808270000036
wherein,
Figure BDA0003613808270000037
the characteristic of the constant short-circuit circulating current effective value on the dq current plane is a circle which is called as a short-circuit circulating current circle according to the formula (10);
solving the center coordinates of the short-circuit ring current circle by using the following formula (12):
Figure BDA0003613808270000038
preferably, for the surface-mounted PMSM, the method for establishing the electromagnetic torque model specifically includes:
solving the electromagnetic torque characteristic of the PMSM in a dq current plane in a healthy state into a straight line parallel to a d axis by using the following formula (13),
Figure BDA0003613808270000041
solving the electromagnetic torque formula T in turn-to-turn short circuit by using the following formula (14) f ：
Figure BDA0003613808270000042
Wherein n is p Is the number of pole pairs; i f I represents i f The amplitude of (c) can be obtained by equation (7); the first term on the right side of the equation (14) is an electromagnetic torque equation in a healthy state, and the second term is a torque direct-current component change quantity caused by turn-to-turn short circuit fault and an introduced second harmonic component;
substituting the formula (9) into the formulas (8) and (14) to obtain the average electromagnetic torque of the PMSM under the fault state
Figure BDA0003613808270000043
Formula (15):
Figure BDA0003613808270000044
wherein,
Figure BDA0003613808270000045
formula (15) is a formula containing i d And i q Of a binary linear equation of (a), thus, in i d Is an independent variable, i q In the case of a dependent variable, equation (15) represents a straight line in the dq current plane, and the slope k of the straight line is solved using equation (17):
Figure BDA0003613808270000046
preferably, the solving of the plurality of fault-tolerant operating points on the dq current plane after the PMSM turn-to-turn short circuit fault specifically includes:
under the healthy state and the turn-to-turn short circuit fault state, the operation point of the motor needs to be at the maximum phase current I max Determining that the current limit circle represented by formula (18); simultaneously, operating in a second quadrant of the dq current plane in an motoring state;
Figure BDA0003613808270000047
in dq current plane, with short-circuit circulating current allowable value CC lim The determined short-circuit circulating current circle is CC lim Circular fault-tolerant operating point can not be in CC lim Outside the circle;
the PMSM output torque is reduced due to the turn-to-turn short circuit fault, and fault-tolerant operation points are determined under the two conditions that the PMSM runs at the rated torque and is lower than the rated torque before the PMSM fault.
Preferably, the fault-tolerant operating point after the fault is determined when the PMSM before the fault operates under the condition of rated torque, at this time, the level of the torque before the fault cannot be maintained, and three types of fault-tolerant operating points exist according to the severity of turn-to-turn short circuit fault, which specifically comprises the following steps:
separate solutions represent the post-failure by I max The point P of the maximum torque output by the limitation of the circle represents the point I max Circle sum CC lim The Q point of the maximum torque that can be output by the limitation of the circle represents CC lim The T point of the maximum torque that can be output by the limitation of the circle; wherein,
the method for determining the fault-tolerant operating point P specifically comprises the following steps:
p point is the maximum torque operation point which can be output by the motor on the dq current plane after the fault and is I max Tangent point of circle to straight line of torque under corresponding fault, I max The center of the circle is the origin, so that the straight line passing through the point P and the origin and the torque straight lineVertically, then there are:
Figure BDA0003613808270000051
wherein k is 1 Is the slope of the torque line;
and (3) combining the formula (18) and the formula (19), and solving the coordinate of the point P as follows:
Figure BDA0003613808270000052
substituting the P point coordinate into the formulas (10) and (15) to respectively obtain the short-circuit circulating current effective value CC generated by the PMSM at the P point P And average electromagnetic torque
Figure BDA0003613808270000053
The method for determining the fault-tolerant operating point Q specifically comprises the following steps:
simultaneous equations (10) and (18), where i in equation (10) frms By CC lim Instead, the coordinates of point Q are solved:
Figure BDA0003613808270000054
wherein,
Figure BDA0003613808270000055
the effective value of short-circuit circulating current generated by PMSM at Q point is CC lim Substituting the coordinate of the point Q into a formula (15) to obtain the average electromagnetic torque of the PMSM at the point Q
Figure BDA0003613808270000056
The method for determining the fault-tolerant operating point T specifically comprises the following steps:
passing through point T and the center of short-circuit circular current circle (i) do ，i qo ) Straight line of (2) and corresponding turnThe moment straight line is vertical, then:
Figure BDA0003613808270000061
simultaneous equations (10) and (23), where i in equation (10) frms By CC lim Instead, the coordinates of the T point are solved as:
Figure BDA0003613808270000062
wherein,
Figure BDA0003613808270000063
the effective value of short-circuit circulating current generated by PMSM at T point is CC lim Substituting the coordinate of the point T into a formula (15) to obtain the average electromagnetic torque of the PMSM at the point T
Figure BDA0003613808270000064
Preferably, the fault-tolerant operating point after the fault is determined when the PMSM operates below the rated torque before the fault, at this time, the torque level before the fault can be maintained, and two types of fault-tolerant operating points exist according to the severity of the turn-to-turn short circuit fault, which specifically include:
the average electromagnetic torque produced by the PMSM after a fault may be the same as before the fault, noted
Figure BDA0003613808270000065
Respectively solving for the torque generated after representing the fault
Figure BDA0003613808270000066
The H point which simultaneously generates the minimum effective value of short-circuit circulation represents the torque generated after the fault
Figure BDA0003613808270000067
At the same time from max The limited R point of the circle; wherein,
the method for determining the fault-tolerant operating point H specifically comprises the following steps:
passing through point H and the center of short-circuit circular current circle (i) do ，i qo ) Straight line of (2) and average torque straight line
Figure BDA0003613808270000068
Vertical, simultaneous formula (15) and formula (26) below, wherein in formula (15)
Figure BDA0003613808270000069
By
Figure BDA00036138082700000610
Instead of this, the user can,
Figure BDA00036138082700000611
the coordinates of the solved point H are:
Figure BDA0003613808270000071
substituting the coordinates of the point H into a formula (10) to obtain the effective value CC of the short-circuit circulating current generated by the PMSM at the point H H ；
The method for determining the fault-tolerant operating point R specifically comprises the following steps:
simultaneous equations (15) and (18), wherein equation (15) is
Figure BDA0003613808270000072
By
Figure BDA0003613808270000073
Instead, the coordinates of the R point represented by the following formula (28) are solved:
Figure BDA0003613808270000074
wherein,
Figure BDA0003613808270000075
substituting the coordinate of the R point into a formula (10) to obtain an effective value CC of the short-circuit circulating current generated by the PMSM at the R point R 。
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
the fault-tolerant operating point determining method provided by the invention is suitable for a three-phase PMSM motor system driven by a three-phase inverter, and can be expanded and suitable for a multi-phase motor and a three-phase motor driving system with a complex inverter structure. The fault-tolerant operating point determined by the invention is based on the short-circuit circulating current model in the synchronous rotating coordinate system and the electromagnetic torque model in the fault state, can control the short-circuit circulating current not to exceed a preset limit value and simultaneously maximize the output torque (not to exceed the torque level before the fault), fully considers the influence of different operating torque levels of a motor before the fault and different insulation degradation levels between turns after the fault, and improves the reliability and the safety of a motor driving system.
Drawings
Fig. 1 is a flowchart of a fault-tolerant operation method in a PMSM turn-to-turn short circuit fault state according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an equivalent circuit diagram of a PMSM stator turn-to-turn short circuit fault in a fault-tolerant operation method in a PMSM turn-to-turn short circuit fault state provided in an embodiment of the present specification;
fig. 3 is a schematic diagram of current space vectors of a synchronous rotating coordinate system in a fault-tolerant operation method in a PMSM turn-to-turn short circuit fault state according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a short-circuit ring current circle in a dq current plane in a fault-tolerant operation method under a PMSM turn-to-turn short-circuit fault state according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a PMSM torque line in a fault-tolerant operation method in a PMSM turn-to-turn short circuit fault state provided in an embodiment of the present disclosure;
FIG. 6 illustrates fault-tolerant operation in a PMSM turn-to-turn short circuit fault condition provided by embodiments of the present disclosureIn the method, PMSM is at T h ＝T N Time generation r f A schematic diagram of the fault-tolerant operating point P at 1.5 Ω turn-to-turn short-circuit fault (Δ 0.2);
fig. 7 illustrates a fault-tolerant operation method of PMSM in a short-circuit fault state between turns of PMSM according to an embodiment of the present disclosure h ＝T N Time generation r f A schematic diagram of the fault-tolerant operating point Q at 1.2 Ω turn-to-turn short-circuit fault (Δ 0.2);
fig. 8 is a diagram illustrating a fault-tolerant operation method of PMSM in a state of a PMSM turn-to-turn short circuit fault according to an embodiment of the present disclosure, where the PMSM is at T h ＝T N Time generation r f A schematic diagram of the fault-tolerant operating point T at 0.79 Ω turn-to-turn short-circuit fault (Δ 0.2);
fig. 9 is a diagram illustrating a fault-tolerant operation method of PMSM in a state of a PMSM turn-to-turn short circuit fault according to an embodiment of the present disclosure, where the PMSM is at T h ＝0.95T N Time generation r f A schematic diagram of the fault-tolerant operating point H at 10 Ω turn-to-turn short-circuit fault (Δ 0.2);
fig. 10 is a diagram illustrating a fault-tolerant operation method of PMSM in a short-circuit fault state between turns of PMSM according to an embodiment of the present disclosure h ＝0.95T N Time generation r f A schematic diagram of the fault-tolerant operating point R at 1.98 Ω turn-to-turn short-circuit fault (Δ 0.2).
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step are within the scope of the present application.
As stated previously, among many failure modes of a Permanent Magnet Synchronous Motor (PMSM) drive system, a stator winding turn-to-turn short circuit failure due to turn-to-turn insulation degradation is one of the most common failure modes. Turn-to-turn short circuit belongs to gradual fault, but when proper fault-tolerant control is not applied, the short-circuit circulating current of a fault loop can also rise in a short time, so that a motor is damaged, and the safety of a system and personnel is threatened.
In a typical motor drive application, the adverse effects of a fault can be eliminated by direct shutdown after a stator turn-to-turn short circuit fault is detected. However, in the situation with high safety requirement, the sudden stop of the motor driving system may cause serious accidents, so even if the motor has a stator turn-to-turn short circuit fault, the motor must be ensured to output torque, and at least the motor must be maintained to be capable of being stopped safely. At present, fault-tolerant control research on turn-to-turn short circuit faults of PMSM stators mainly focuses on a multi-phase motor and a three-phase motor driving system with a complex inverter structure, and a fault-tolerant control method or a fault-tolerant operation method of the fault-tolerant control method or the fault-tolerant operation method are not suitable for a traditional three-phase PMSM driving system. In addition, on the occasion with higher safety requirement, in order to ensure the output torque of the motor as much as possible, the influence of the severity of the turn-to-turn short circuit fault on the fault-tolerant operation point should be considered, so that the operation performance of the motor after the fault is maintained to the maximum extent, and the risk of system accidents is reduced.
The invention provides a fault-tolerant operation method under a PMSM turn-to-turn short circuit fault state, as shown in figure 1, the method comprises the following steps: firstly, establishing a short-circuit circulating current model and an electromagnetic torque model of the PMSM in a turn-to-turn short circuit fault state in a synchronous rotating coordinate system; and based on the short-circuit circulation model and the electromagnetic torque model, obtaining a plurality of fault-tolerant operating points on a dq current plane after the PMSM turn-to-turn short circuit fault by using the constraint conditions that the short-circuit circulation is controlled not to exceed a preset allowable value and the output torque is maximized under the condition that the output torque does not exceed the level before the fault.
In an actual situation, when the PMSM is monitored to have the turn-to-turn short circuit fault, the number of short circuit turns N of the PMSM in the turn-to-turn short circuit fault state is obtained based on voltage information, current information and rotating speed information of the PMSM in the turn-to-turn short circuit fault state f And a short-circuit point resistor r f ；
According to the number of short circuit turns N f And the short-circuit point resistance r f Current rotation speed information, current torque information and pre-established motor parameters of the PMSM under the turn-to-turn short circuit fault stateThe query table is used for selecting a corresponding fault-tolerant operating point from the plurality of types of fault-tolerant operating points;
and assigning d-axis current and q-axis current corresponding to the selected fault-tolerant operating point as reference currents to a current regulator, and controlling the PMSM in the turn-to-turn short circuit fault state to operate at the corresponding fault-tolerant operating point.
The following specifically describes the technical scheme of the present invention based on fig. 2 to 10, and first derives a short-circuit circulating current model under a stator turn-to-turn short-circuit fault in the technical scheme of the present invention, as shown in fig. 2, fig. 2 is a schematic diagram of an equivalent circuit diagram of a PMSM stator turn-to-turn short-circuit fault in a fault-tolerant operation method under a PMSM turn-to-turn short-circuit fault state provided by an embodiment of the present specification, and it is noted that a resistance is r under a motor health state s Then winding a h Resistance r of ah A winding a f Resistance r of af And b, c phase winding resistance r b And r c Respectively as follows:
Figure BDA0003613808270000091
the self inductance of the a phase is L under the healthy state of the motor a Winding a in turn-to-turn short circuit fault state h Self-inductance L of ah A winding a f Self-inductance L of af A winding a h And winding a f Mutual inductance M between ahaf ，λ pm Magnetic flux linkage, theta, generated for permanent magnets e Is an electrical angle between the q-axis and the a-phase of a synchronously rotating coordinate system (dq coordinate system) e For the electrical angular velocity of rotation of the rotor, inductance L f And the back emf vectors are respectively:
Figure BDA0003613808270000092
Figure BDA0003613808270000101
the inter-turn short circuit loop voltage equation according to fig. 2 can be expressed as:
Figure BDA0003613808270000102
wherein i af ＝i a -i f Is flowed through the winding a f The current of (a); r is af 、L af 、M ahaf And e af Refer to formulae (1), (2), and (3). The formula (4) is expressed as short-circuit circulating current i f For variable rearrangement, there are:
Figure BDA0003613808270000103
under the action of an ideal current regulator or an added negative-sequence current regulator, even under the condition of turn-to-turn short circuit, the three-phase current can be regarded as a three-phase balanced current and can be expressed by a current space vector as follows:
Figure BDA0003613808270000104
wherein, I s And δ respectively represent the magnitude and angle of the current space vector, as shown in fig. 3, fig. 3 is a schematic diagram of the current space vector of the synchronous rotating coordinate system in the fault-tolerant operation method in the PMSM inter-turn short circuit fault state provided by the embodiment of the present specification. I in the formula (6) a The short-circuit circulating current i can be obtained by substituting the equation (5) and solving the linear differential equation f Comprises the following steps:
Figure BDA0003613808270000105
wherein,
Figure BDA0003613808270000106
according to fig. 3, the expression of the current space vector in dq axis can be expressed by the transformation of synchronous rotating coordinate system:
Figure BDA0003613808270000107
substituting equation (9) into equations (7) and (8), the effective value of the short-circuiting circulating current can be found as:
Figure BDA0003613808270000111
wherein,
Figure BDA0003613808270000112
therefore, the characteristic of the constant short-circuit circulating current effective value on the dq current plane is a circle. By multiplying the radii of these circles by m, a short-circuit current circle (CC circle) can be obtained on the dq current plane. The short-circuit circulation circles have the same circle center and have the coordinates as follows:
Figure BDA0003613808270000113
from r af 、L f 、Z f And e af The related formula shows that the position of the circle center of the short-circuit circular current on the dq current plane is only related to the short-circuit turn ratio delta and is related to the insulation state r of the short-circuit point f Is irrelevant.
Taking the relevant motor parameters shown in table 1 as an example, the short-circuit circulating current circle and the center of the circle are shown in fig. 4. The numbers on the circle represent the radius of the circle and also represent the point (i) when the motor is operating on the circle d ，i q ) The effective value of the short-circuit circulating current generated.
TABLE 1 Combined simulation and test prototype parameters
Figure BDA0003613808270000114
The derivation of an electromagnetic torque model under the stator turn-to-turn short circuit fault is explained below, and after the turn-to-turn short circuit fault, the motor operating point (i) in a dq current plane is adjusted d ，i q ) The magnitude of the short-circuit circulating current can be controlled. Therefore, in order to obtain the maximum torque at the same operating point, it is necessary to analyze the electromagnetic torque in the fault state with (i) d ，i q ) And obtaining a model in the dq current plane.
Under a healthy state, the electromagnetic torque characteristic of the PMSM in a dq current plane is a straight line parallel to a d axis, and the calculation formula is as follows:
Figure BDA0003613808270000115
in the case of a turn-to-turn short circuit, the prior art literature indicates that the electromagnetic torque equation at this time is:
Figure BDA0003613808270000121
wherein n is p Is the number of pole pairs; i f I represents i f Can be obtained from equation (7). The first term on the right side of the equation (14) is an electromagnetic torque equation under a healthy state, and the second term is the torque direct-current component change caused by turn-to-turn short circuit fault
Figure BDA0003613808270000122
And the second harmonic ripple introduced
Figure BDA0003613808270000123
Substituting the formula (9) into the formulas (8) and (14), and finishing to obtain an average electromagnetic torque formula under the PMSM fault state:
Figure BDA0003613808270000124
wherein,
Figure BDA0003613808270000125
formula (15) is a formula containing i d And i q Of a binary linear equation of (a), thus, in i d Is an independent variable, i q For the dependent variable, equation (15) represents a straight line in the dq current plane, with a slope k:
Figure BDA0003613808270000126
the average electromagnetic Torque of the PMSM under the state of turn-to-turn short circuit fault is a straight line with the slope not being zero, according to a formula (14) and a formula (15), Torque straight lines (Torque lines) of the PMSM under the state of health and the state of turn-to-turn short circuit fault can be respectively drawn in a dq current plane, taking relevant motor parameters shown in table 1 as an example, the number of short circuit turns is 15 turns, and the short circuit resistance is r f Fig. 5 shows straight torque lines in a healthy state and a failed state when the motor rotation speed is 300r/min at 0. Wherein the dotted line and the implementation represent the torque in the healthy state and the inter-turn short circuit fault state, respectively, and the numerical value shown on the straight line is the torque value.
The method of fault tolerant operation on the dq current plane after a PMSM turn-to-turn short circuit fault is explained below, with the motor typically operating in a maximum torque to current ratio (MTPA) controlled manner when in a healthy state. As can be seen from fig. 5, when the motor is operated on MTPA (q-axis), the torque at the same operating point decreases after a turn-to-turn short fault.
The motor operating point should be at the maximum phase current I whether in a healthy state or in a turn-to-turn short circuit fault state max Within the determined current limit circle (18). Simultaneously, the motor operates in the second quadrant of the dq current plane.
Figure BDA0003613808270000127
In addition, a short-circuiting ring current circle (called CC) is determined by the allowable value of the short-circuiting ring current in the dq current plane lim Circle), fault-tolerant operating point should be at CC lim Inside the circle. CC on dq Current plane lim Radius of circle with r f The decrease is reduced and the selectable operating point in the dq current plane is also reduced.
The fault-tolerant operating point for a stator turn-to-turn short circuit fault is determined, on the one hand, depending on the severity of the fault, and on the other hand, reference should also be made to the pre-fault torque level, so that the fault-tolerant operating point is determined for pre-fault PMSM operation at and below rated torque.
A fault tolerant method of operation with the motor operating at rated torque before fault is described below, where in a healthy state the PMSM operates at q-axis maximum current I in the MTPA mode max To generate a rated torque T N (i.e. T) h ＝T N ). After the inter-turn short circuit occurs, the torque is reduced due to the fault, therefore, when T h ＝T N When, after the fault is at I max Can maintain T without existence N Fault tolerant operating point. With r f Decrease of (2), increase of severity of failure, CC lim The radius of the circle decreases. According to CC lim Relative circle of I max Position of circle, r can be f The fault tolerant operating points in the process of reducing to zero are divided into three categories, which are labeled P, Q and T, respectively. Wherein point P represents the post-failure cause I max The maximum torque that can be output by the limitation of the circle; point Q represents due to I max Circle sum CC lim The maximum torque that can be output by the limitation of the circle; point P represents due to CC lim The circle limits the maximum torque that can be output.
The method for determining the fault-tolerant operating point P comprises the following steps: turn-to-turn short circuit usually starts at r f Higher early failure compared to I max Circle, at this time CC lim The radius of the circle is large, and the maximum torque which can be output by the PMSM after the fault is I max The limit of the circle. Therefore, the maximum torque operation point that the motor is likely to output after the failure is I max The point of tangency of the circle with the straight line of the torque at the corresponding fault, which is noted as P (i) dP ，i qP ) Corresponding torque is
Figure BDA0003613808270000131
I at point P frms (denoted as CC P ) Not exceeding CC lim (CC lim ＝I max 25A), i.e. the point of tangency P is CC lim Within the circle, the fault-back motor can be operated at point P to achieve maximum torque output.
Since P is I max Tangent point of circle and corresponding torque line, I max The center of the circle is the origin, so the straight line passing through the point P and the origin is perpendicular to the torque straight line, and then:
Figure BDA0003613808270000132
where k is the slope of the torque line, and with reference to equation (17), coupled equations (18) and (19), the coordinate of point P can be solved as:
Figure BDA0003613808270000133
the coordinates of the P point are brought into the formulas (10) and (15) to respectively obtain CC P And
Figure BDA0003613808270000134
the fault tolerance of the operating point P can be illustrated by fig. 6, in which the motor parameters are referred to table 1.
The method for determining the fault-tolerant operating point Q comprises the following steps: CC (component C) lim Radius of circle with r f When CC decreases P Over CC lim When the motor is in the fault-tolerant state, the motor can not continuously operate at the point P in a fault-tolerant mode, and the maximum torque which can be output at the moment is subjected to CC lim Circle and I max The common limitation of circles. In this case, the fault tolerance of the motor can be controlled at CC lim Circle and I max The intersection of the circles is denoted as Q (i) dQ ，i qQ ) Corresponding torque is
Figure BDA0003613808270000135
Because the Q point is positioned at CC lim On the circle, the short-circuit circulating current generated when the motor operates at the Q point is CC lim . United type (10) and (18) in which i in the formula (10) frms By CC lim Instead, the coordinates of point Q can be solved:
Figure BDA0003613808270000141
wherein,
Figure BDA0003613808270000142
the coordinate of the Q point is brought into formula (15), and the coordinate is obtained
Figure BDA0003613808270000143
The fault tolerance performance of operating point Q can be illustrated by fig. 7, in which the motor parameters are referenced in table 1. When r is equal to r under the same motor running condition and the same number of short circuit turns f When the P point is reduced to 1.2 omega, the P point is at CC lim Outside the circle, i.e. CC P >CC lim . At the moment, fault-tolerant control is carried out on the fault motor at the point Q so as to output the maximum torque
Figure BDA0003613808270000144
The short-circuit circulating current generated at the Q point is limited to CC lim ＝25A。
The method for determining the fault-tolerant operating point T comprises the following steps: when r is f Further decrease, point Q follows CC lim Radius reduction along I max The circle moves downward. In this process, a torque component i is generated due to the current q And continues to decrease, resulting in a continuing decrease in motor output torque. CC (challenge collapsar) lim Radius of circle with r f Decrease and continue to shrink as CC lim Circle and I max When the circles do not have intersection points, the short-circuit circulating current is still larger than CC even if the current vector angle is increased to 180 DEG lim 。
CC lim Tangent point of circle and corresponding torque line under fault along with CC lim The decrease in radius moves downward, so that when the tangent point falls on I max When in the circle, the motor is operated atAt the tangent point, the effect of restraining the short-circuit circulation current from exceeding CC can be realized lim Under the premise of maximizing the torque output, the maximum torque which can be output at the moment is subjected to CC lim The limitation of a circle. The tangent point is recorded as T (i) dT ，i qT ) Corresponding torque is
Figure BDA0003613808270000145
Since T is CC lim Tangent point of circle and corresponding torque line, CC lim The center of the circle is (i) do ，i qo ) So that the points T and (i) are passed do ，i qo ) Is perpendicular to the torque line, then:
Figure BDA0003613808270000146
united bodies (10) and (23) wherein i in formula (10) frms By CC lim Instead, the coordinates of point T can be solved as:
Figure BDA0003613808270000147
wherein,
Figure BDA0003613808270000151
bringing the coordinates of the T points into formula (15) to obtain the sum
Figure BDA0003613808270000152
The fault tolerance performance of operating point T can be illustrated by fig. 8, in which the motor parameters are referenced in table 1. When r is equal to r under the same motor running condition and the same number of short circuit turns f When the output voltage is reduced to 0.79 omega, the fault-tolerant control of the fault motor is carried out at the T point to output the maximum torque
Figure BDA0003613808270000153
Figure BDA0003613808270000154
Meanwhile, the short-circuit circulating current generated at the point T is limited to CC lim 。
At r f In the process of further reducing to zero, the motor is always controlled to operate at the T point by fault tolerance so as to maximize the output torque and ensure the operation performance of the system after the fault as much as possible.
The following describes a fault-tolerant operation method in the case where the motor operation torque before the fault is lower than the rated torque.
In a healthy state, the PMSM operates in a MTPA mode with q axis lower than I max Somewhere when the motor running torque is below the rated torque (i.e. T) h <T N ) After a turn-to-turn short circuit, without severe level of insulation degradation (i.e., r) f Higher), can be obtained by reaction at I max Injecting higher current into the motor within the circle enables maintaining the pre-fault torque level while minimizing short circuit circulating currents. The torque straight line having the same torque value after the fault and before the fault is recorded as
Figure BDA0003613808270000155
Namely, it is
Figure BDA0003613808270000156
At the same operating point (i) after a fault d ，i q ) The torque of the upper output is reduced and follows r f The amount of decrease in torque of (1) is increased, and thus, the torque is linearly decreased
Figure BDA0003613808270000157
Position in dq current plane with r f Is lowered and is raised. Therefore, the torque can be maintained
Figure BDA0003613808270000158
And at the same time the operating point at which short-circuiting circulating currents are minimized is also changed. At T h <T N In the case of a torque straight line
Figure BDA0003613808270000159
There are two types of fault tolerant operationAt this point, the pre-fault torque level may be maintained while minimizing short-circuit circulating currents, noted as points H and R, respectively.
Fault tolerant operating point H: at T h <T N For r in the case of f Higher early turn-to-turn short, straight torque line
Figure BDA00036138082700001510
Does not rise completely to I max Outside the circle. Thus, when the motor is operating in a torque line
Figure BDA00036138082700001511
At the tangent point of the corresponding short-circuiting ring current circle, the level of the torque output before the fault can be maintained and the minimum short-circuiting ring current can be generated. If the tangent point also falls within I max Within the circle, it is referred to as a fault tolerant operating point that maintains the pre-torque output fault level while minimizing short circuit circulating currents, and is designated as point H (i) dH ，i qH ). Due to r f Relatively high, short-circuit circulating current generated at H, denoted as CC H Is less than CC lim 。
Because H is a torque straight line
Figure BDA00036138082700001512
The tangent point of the short-circuit circulation circle and the center of the short-circuit circulation circle are (i) do ，i qo ) So that points H and (i) are passed do ，i qo ) Straight line of (2) and torque straight line
Figure BDA00036138082700001513
Vertically, then there are:
Figure BDA00036138082700001514
united type (15) and (26) in the formula (15)
Figure BDA00036138082700001515
By
Figure BDA00036138082700001516
Instead, the coordinates of point H can be solved as:
Figure BDA0003613808270000161
wherein A is 1 And A 2 Refer to formula (16). The coordinates of the H point are brought into the formula (10), and the CC can be obtained H 。
The fault tolerance performance of operating point H can be illustrated by fig. 9, in which the motor parameters are referenced in table 1. The PMSM runs at the A (0, 23.75A) point in a healthy state, and the running torque is T h ＝95％×T N The rotation speed is 36.55N · m, which is the rated rotation speed. When 60-turn short-circuit fault (delta 0.2) occurs, r f When the motor speed is 10 Ω, the operating torque of the motor at point a decreases (point a in the figure is located on the torque straight line)
Figure BDA0003613808270000162
Below). However, at this time point H is at I max Within the circle, by controlling the motor fault tolerance at H, the same torque level as before the fault can be output while minimizing short circuit circulating currents. Short-circuit circulating current CC at point H H Is 4.3A and less than the predetermined CC lim 。
The method for determining the fault-tolerant operating point R comprises the following steps: with r f Reduction of torque, straight line
Figure BDA0003613808270000163
Rises, point H begins to move out of I max Circle, at which point the motor will not continue fault tolerant operation at point H. However, the torque line
Figure BDA0003613808270000164
Has not yet fully risen to I max Out of circle, thus operating the motor in a torque line
Figure BDA0003613808270000165
At I max The torque can still be output at any point on the circle
Figure BDA0003613808270000166
And at this time, passes through the torque straight line
Figure BDA0003613808270000167
And I max Short-circuit circular current circle at the intersection of circles, compared to straight line passing through torque
Figure BDA0003613808270000168
At I max The short-circuit circulating current circle at other points in the circle has smaller radius and lower short-circuit circulating current. Therefore, the intersection point is the fault-tolerant operating point at this time and is marked as a point R (i) dR ，i qR ). Likewise, due to r f Still relatively high, short-circuit circulating current, denoted CC, is generated at R R Will also be less than CC lim 。
Because the point R is a torque straight line
Figure BDA0003613808270000169
And I max Intersection of circles, conjunctive (15) and (18), wherein in formula (15)
Figure BDA00036138082700001610
By
Figure BDA00036138082700001611
Instead, the coordinates of the R point can be solved as:
Figure BDA00036138082700001612
wherein,
Figure BDA00036138082700001613
the coordinate of the R point is brought into formula (10), and CC can be obtained R 。
The fault tolerance performance of operating point R can be illustrated by fig. 10, in which the motor parameters are referenced in table 1. When r is equal to r under the same motor running condition and the same number of short circuit turns f ReduceBy 1.98 Ω, point H has moved to I max Outside the circle. At this time, the fault tolerance of the motor is controlled to the R point, and the torque level before the fault is maintained
Figure BDA0003613808270000171
While limiting the phase current injected into the motor to not exceed I max . As shown, point R is at CC lim Within the circle, i.e. CC R <CC lim 。
When the motor is operating at a healthy operating torque below the rated torque, the motor may be operated at fault tolerant control points H and R at the initial stage of the turn-to-turn short circuit fault to maintain the pre-fault torque level while minimizing short circuit circulating currents. As the insulation further degrades, r f Further reduced, final torque straight line
Figure BDA0003613808270000172
Is raised to I max Out of circle, at this time, the motor can be fault-tolerant operated at point P to output maximum torque in a fault state, or further fault-tolerant operated at point Q and point T to limit short-circuit circulation to CC lim While maximizing torque output.
When the running torque of the motor is rated torque in a healthy state, the motor is in a state of I max The circle limit, after failure, cannot output the same torque as before failure, and the fault-tolerant operating point is only P, Q and T.
In an actual situation, when the PMSM is monitored to have the turn-to-turn short circuit fault, the number of short circuit turns N of the PMSM in the turn-to-turn short circuit fault state is obtained based on voltage information, current information and rotating speed information of the PMSM in the turn-to-turn short circuit fault state f And a short-circuit point resistor r f ；
According to the number of short circuit turns N f And the short-circuit point resistance r f Selecting corresponding fault-tolerant operating points from the plurality of fault-tolerant operating points according to current rotating speed information and current torque information of the PMSM in a turn-to-turn short circuit fault state and a pre-established motor parameter lookup table;
and assigning d-axis current and q-axis current corresponding to the selected fault-tolerant operating point as reference currents to a current regulator, and controlling the PMSM in the turn-to-turn short circuit fault state to operate at the corresponding fault-tolerant operating point.
The fault-tolerant operating point determining method provided by the invention is suitable for a three-phase PMSM motor system driven by a three-phase inverter, and can be expanded and suitable for a multi-phase motor and a three-phase motor driving system with a complex inverter structure. The fault-tolerant operating point determined by the technical scheme of the invention can control the short-circuit circulation not to exceed a preset limit value and simultaneously maximize the output torque (not to exceed the torque level before the fault) based on the short-circuit circulation model in the synchronous rotating coordinate system and the electromagnetic torque model in the fault state, thereby fully considering the influence of different operating torque levels of the motor before the fault and different insulation degradation levels between turns after the fault and improving the reliability and safety of the motor driving system.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (6)

1. A fault-tolerant operation method under a PMSM turn-to-turn short circuit fault state is characterized by comprising the following steps:
establishing a short-circuit circulating current model and an electromagnetic torque model of the PMSM in a turn-to-turn short circuit fault state in a synchronous rotating coordinate system;
based on the short-circuit circulating current model and the electromagnetic torque model, a plurality of types of fault-tolerant operating points on a dq current plane after the PMSM turn-to-turn short circuit fault are obtained by using constraint conditions of controlling the short-circuit circulating current not to exceed a preset allowable value and maximizing the output torque under the condition that the output torque does not exceed the level before the fault;
obtaining turn-to-turn short circuit fault based on voltage information, current information and rotating speed information of PMSM under turn-to-turn short circuit fault stateNumber of short circuit turns N f And a short-circuit point resistor r f ；
According to the number of short circuit turns N f And the short-circuit point resistance r f And selecting corresponding fault-tolerant operating points from the plurality of fault-tolerant operating points according to the current rotating speed information and the current torque information of the PMSM in the turn-to-turn short circuit fault state and a pre-established motor parameter lookup table.
2. The fault-tolerant operation method under the PMSM turn-to-turn short circuit fault state according to claim 1, wherein the method for establishing the short-circuit circulating current model specifically comprises:
recording the resistance of the PMSM under a healthy state as r s The number of turns of each phase is Ns, and the number of turns of the A-phase short circuit is N f Turn-to-turn short circuit fault of (1), recording delta as N f /N s The phase A is divided into healthy part windings a h And a failed partial winding a f A winding a h Resistance r of ah A winding a f Resistance r of af And b phase winding resistance r b C-phase winding resistance r c Respectively as follows:
Figure FDA0003613808260000011
recording the self-inductance of a phase of the PMSM as L in a healthy state a Winding a in turn-to-turn short circuit fault state h Is L from the self-inductance ah A winding a f Is L from the self-inductance af A winding a h And winding a f Mutual inductance between them is
Figure FDA0003613808260000012
λ pm Magnetic flux linkage, theta, generated for permanent magnets e For the electrical angle between the q-axis and the a-phase of the synchronously rotating coordinate system, ω e For the rotor rotational electrical angular velocity, the back electromotive force vector is [ e ] a ,e b ,e c ,e af ] T Then, there are:
Figure FDA0003613808260000013
Figure FDA0003613808260000021
according to an equation of the turn-to-turn short circuit loop voltage:
Figure FDA0003613808260000022
wherein i af ＝i a -i f Is flowed through the winding a f The current of (a);
the formula (4) is expressed as short-circuit circulating current i f For variable rearrangement, there are:
Figure FDA0003613808260000023
expressed with the aid of a current space vector as:
Figure FDA0003613808260000024
wherein, I s And δ represents the magnitude and angle of the current space vector, respectively; i in the formula (6) a The linear differential equation is introduced into the equation (5) and solved in the equation (5) to obtain the short-circuit circulating current i f Comprises the following steps:
Figure FDA0003613808260000025
wherein,
Figure FDA0003613808260000026
the expression of the current space vector on the dq axis is:
Figure FDA0003613808260000027
taking equation (9) into equations (7) and (8), the effective value of the short-circuit circulating current is found to be:
Figure FDA0003613808260000031
wherein,
Figure FDA0003613808260000032
the characteristic of the constant short-circuit circulating current effective value on the dq current plane is a circle which is called as a short-circuit circulating current circle according to the formula (10);
solving the center coordinates of the short-circuit ring current circle by using the following formula (12):
Figure FDA0003613808260000033
3. the fault-tolerant operation method in a PMSM turn-to-turn short circuit fault state according to claim 2, wherein for a surface mounted PMSM, the method of establishing the electromagnetic torque model specifically comprises:
solving the electromagnetic torque characteristic of the PMSM in a dq current plane in a healthy state into a straight line parallel to a d axis by using the following formula (13),
Figure FDA0003613808260000034
solving the electromagnetic torque formula T in turn-to-turn short circuit by using the following formula (14) f ：
Figure FDA0003613808260000035
Wherein n is p Is the number of pole pairs; i f I represents i f The amplitude of (c) can be obtained by the formula (7); the first term on the right side of the equation (14) is an electromagnetic torque equation in a healthy state, and the second term is a torque direct-current component change quantity caused by turn-to-turn short circuit fault and an introduced second harmonic component;
substituting the formula (9) into the formulas (8) and (14) to obtain the average electromagnetic torque of the PMSM under the fault state
Figure FDA0003613808260000036
Formula (15):
Figure FDA0003613808260000037
wherein,
Figure FDA0003613808260000038
formula (15) is a formula containing i d And i q Of a binary linear equation of (a), thus, in i d Is an independent variable, i q In the case of a dependent variable, equation (15) represents a straight line in the dq current plane, and the slope k of the straight line is solved using equation (17):
Figure FDA0003613808260000041
4. the method of fault-tolerant operation in a PMSM turn-to-turn short circuit fault state of claim 3, wherein said solving for a number of classes of fault-tolerant operation points on a dq current plane after said PMSM turn-to-turn short circuit fault specifically comprises:
under the healthy state and the turn-to-turn short circuit fault state, the operation point of the motor needs to be at the maximum phase current I max Determining that the current limit circle represented by formula (18); simultaneously, operating in a second quadrant of the dq current plane in an motoring state;
Figure FDA0003613808260000042
in dq current plane, with short-circuit circulating current allowable value CC lim The determined short-circuit circulating current circle is CC lim Circular, fault-tolerant operating point not in CC lim Outside the circle;
the PMSM output torque is reduced due to the turn-to-turn short circuit fault, and fault-tolerant operation points are determined under the two conditions that the PMSM runs at the rated torque and is lower than the rated torque before the PMSM fault.
5. The PMSM fault-tolerant operation method in turn-to-turn short circuit fault state according to claim 4, wherein a fault-tolerant operation point after a fault is determined when the PMSM operates under a rated torque condition before the fault, at which time a torque level before the fault cannot be maintained, and three types of fault-tolerant operation points exist according to a severity of turn-to-turn short circuit fault, specifically comprising:
respectively solving represents the fault followed by I max The point P of the maximum torque output by the limitation of the circle represents the point I max Circle sum CC lim The Q point of the maximum torque that can be output by the limitation of the circle represents CC lim The T point of the maximum torque that can be output by the limitation of the circle; wherein,
the method for determining the fault-tolerant operating point P specifically comprises the following steps:
the P point is the maximum torque operation point which can be output by the motor in the dq current plane after the fault and is I max Tangent point of circle to straight line of torque under corresponding fault, I max The center of the circle is the origin, so the straight line passing through the point P and the origin is perpendicular to the torque straight line, and then:
Figure FDA0003613808260000043
wherein k is 1 Is the slope of the torque line;
and (3) combining the formula (18) and the formula (19), and solving the coordinate of the point P as follows:
Figure FDA0003613808260000044
substituting the P point coordinate into the formulas (10) and (15) to respectively obtain the short-circuit circulating current effective value CC generated by the PMSM at the P point P And average electromagnetic torque
Figure FDA0003613808260000045
The method for determining the fault-tolerant operating point Q specifically comprises the following steps:
simultaneous equations (10) and (18), where i in equation (10) frms By CC lim Instead, the coordinates of point Q are solved:
Figure FDA0003613808260000051
wherein,
Figure FDA0003613808260000052
the effective value of short-circuit circulating current generated by PMSM at Q point is CC lim Substituting the coordinate of the point Q into a formula (15) to obtain the average electromagnetic torque of the PMSM at the point Q
Figure FDA0003613808260000053
The method for determining the fault-tolerant operating point T specifically comprises the following steps:
passing through point T and the center of short-circuit circular current circle (i) do ，i qo ) Is perpendicular to the corresponding torque line, then:
Figure FDA0003613808260000054
simultaneous equations (10) and (23), where i in equation (10) frms By CC lim Instead, the coordinates of the T point are solved as:
Figure FDA0003613808260000055
wherein,
Figure FDA0003613808260000056
the effective value of short-circuit circulating current generated by PMSM at T point is CC lim Substituting the coordinate of the point T into a formula (15) to obtain the average electromagnetic torque of the PMSM at the point T
Figure FDA0003613808260000057
6. The PMSM fault-tolerant operation method in turn-to-turn short circuit fault state of claim 5, wherein a fault-tolerant operation point after a fault is determined when the PMSM runs below a rated torque before the fault, at which time a torque level before the fault can be maintained, and according to a severity of the turn-to-turn short circuit fault, there are two types of fault-tolerant operation points, specifically comprising:
the average electromagnetic torque produced by the PMSM after a fault may be the same as before the fault, noted
Figure FDA0003613808260000061
Respectively solving for the torque generated after representing the fault
Figure FDA0003613808260000062
The H point which simultaneously generates the minimum effective value of short-circuit circulation represents the torque generated after the fault
Figure FDA0003613808260000063
At the same time from max The limited R point of the circle; wherein,
the method for determining the fault-tolerant operating point H specifically comprises the following steps:
passing through point H and the center of short-circuit circular current circle (i) do ，i qo ) Straight line of (2) and average torque straight line
Figure FDA0003613808260000064
Vertical, simultaneous formula (15) and formula (26) below, wherein in formula (15)
Figure FDA0003613808260000065
By
Figure FDA0003613808260000066
Instead of this, the user can,
Figure FDA0003613808260000067
the coordinates of the solved point H are:
Figure FDA0003613808260000068
substituting the coordinates of the point H into a formula (10) to obtain the effective value CC of the short-circuit circulating current generated by the PMSM at the point H H ；
The method for determining the fault-tolerant operating point R specifically comprises the following steps:
simultaneous equations (15) and (18), wherein in equation (15)
Figure FDA0003613808260000069
By
Figure FDA00036138082600000610
Instead, the coordinates of the R point represented by the following formula (28) are solved:
Figure FDA00036138082600000611
wherein,
Figure FDA00036138082600000612
substituting the coordinate of the R point into a formula (10) to obtain an effective value CC of the short-circuit circulating current generated by the PMSM at the R point R 。
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