CN115102465B - Control method, device and equipment of six-phase permanent magnet motor and storage medium - Google Patents
Control method, device and equipment of six-phase permanent magnet motor and storage medium Download PDFInfo
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- CN115102465B CN115102465B CN202211007069.8A CN202211007069A CN115102465B CN 115102465 B CN115102465 B CN 115102465B CN 202211007069 A CN202211007069 A CN 202211007069A CN 115102465 B CN115102465 B CN 115102465B
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
Abstract
The application discloses a control method, a control device, control equipment and a storage medium of a six-phase permanent magnet motor, relates to the technical field of motor control, and can improve the power assisting efficiency of the motor when a motor phase fails. The specific scheme comprises the following steps: detecting whether a fault phase exists in six phases of the six-phase permanent magnet motor; if a fault phase exists in six phases of the six-phase permanent magnet motor, acquiring a target phase of each residual phase, a current amplitude of each residual phase and an angular speed of the six-phase permanent magnet motor aiming at residual phases except the fault phase in the six phases; determining current excitation of each residual phase according to the current amplitude, the target phase and the angular velocity of each residual phase; each current excitation is applied to the corresponding remaining phase to operate each remaining phase.
Description
Technical Field
The present disclosure relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a six-phase permanent magnet motor.
Background
As a Steering system with high performance requirements, a redundant Electric Power Steering (EPS) of a vehicle is characterized by redundant control of an Electric motor.
At present, a redundant control scheme of the motor is to use two three-phase motors, and when one three-phase motor fails, the other three-phase motor is used for providing 50% of assistance for EPS of a vehicle, but the method has the problem of low assistance efficiency.
Disclosure of Invention
The application provides a control method, a control device, control equipment and a storage medium of a six-phase permanent magnet motor, which can improve the power assisting efficiency of the motor when the motor phase fails.
In order to achieve the purpose, the technical scheme is as follows:
in a first aspect of the embodiments of the present application, a method for controlling a six-phase permanent magnet motor is provided, where the method includes:
detecting whether a fault phase exists in six phases of the six-phase permanent magnet motor;
if a fault phase exists in six phases of the six-phase permanent magnet motor, acquiring a target phase of each residual phase, a current amplitude of each residual phase and an angular speed of the six-phase permanent magnet motor aiming at residual phases except the fault phase in the six phases;
determining current excitation of each residual phase according to the current amplitude, the target phase and the angular velocity of each residual phase;
each current excitation is applied to the corresponding remaining phase to operate each remaining phase.
In one embodiment, obtaining the phase of each remaining phase comprises:
acquiring a flux linkage relation between a phase permanent magnet flux linkage of each remaining phase and a motor mechanical angle parameter of the six-phase permanent magnet motor;
acquiring an excitation relation between current excitation of each residual phase and phase parameters of each residual phase;
and obtaining the target phase of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameter of the motor and the winding state parameter of each residual phase.
In one embodiment, obtaining the target phase for each of the remaining phases based on the flux linkage relationship, the excitation relationship, the mechanical angle parameter of the motor, and the winding state parameter for each of the remaining phases comprises:
determining a target relation between the electromagnetic torque of the six-phase permanent magnet motor and the phase parameters of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameters of the motor and the winding state parameters of each residual phase;
and obtaining the target phase of each residual phase according to the target relation.
In one embodiment, determining a target phase for each remaining phase based on the target relationship comprises:
determining a first relation between a stable torque in the electromagnetic torque and the phase parameters of the residual phases and a second relation between a fluctuating torque in the electromagnetic torque and the phase parameters of the residual phases from the target relation;
and obtaining the target phase of each residual phase according to the first relation and the second relation.
In one embodiment, deriving the target phase for each remaining phase based on the first relationship and the second relationship comprises:
determining a first constraint relation with respect to the phase parameters of the respective remaining phases when the value of the steady torque is maximum in the first relation;
determining that a second constraint relationship with respect to the phase parameters of the respective remaining phases is obtained when the value of the ripple torque in the second relationship is zero;
and calculating the optimal solution of the first constraint relation and the second constraint relation to obtain the target phase of each residual phase.
In one embodiment, after a failed phase of six phases of a six-phase permanent magnet machine, the method further comprises:
carrying out isolation processing on the fault phase, and determining the vector sum of phase currents of all the remaining phases;
obtaining the current amplitude of each remaining phase and the angular velocity of the six-phase permanent magnet motor, comprising:
and if the vector sum is zero, acquiring the current amplitude of each residual phase and the angular speed of the six-phase permanent magnet motor.
In one embodiment, detecting whether a faulted phase is present in six phases of a six-phase permanent magnet machine comprises:
periodically acquiring phase current or phase voltage of each phase in the six-phase permanent magnet motor;
and determining whether a fault phase exists in six phases of the six-phase permanent magnet motor according to the phase current change condition or the voltage value of the phase voltage.
In a second aspect of the embodiments of the present application, there is provided a control apparatus for a six-phase permanent magnet motor, the apparatus including:
the detection module is used for detecting whether a fault phase exists in six phases of the six-phase permanent magnet motor;
the acquisition module is used for acquiring a target phase of each residual phase, a current amplitude of each residual phase and an angular speed of the six-phase permanent magnet motor aiming at the residual phases except the fault phase in the six phases if the fault phase exists in the six phases of the six-phase permanent magnet motor;
the determining module is used for determining current excitation of each residual phase according to the current amplitude, the target phase and the angular velocity of each residual phase;
and the control module is used for applying each current excitation to the corresponding residual phase so as to operate each residual phase.
In a third aspect of the embodiments of the present application, an electronic device is provided, and includes a memory and a processor, where the memory stores a computer program, and the computer program is executed by the processor to implement the method for controlling a six-phase permanent magnet motor in the first aspect of the embodiments of the present application.
In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, where a computer program is stored, and when the computer program is executed by a processor, the method for controlling a six-phase permanent magnet motor in the first aspect of the embodiments of the present application is implemented.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
according to the control method of the six-phase permanent magnet motor, whether a fault phase exists in six phases of the six-phase permanent magnet motor or not is detected, if the fault phase exists in the six phases of the six-phase permanent magnet motor, a target phase of each residual phase, a current amplitude of each residual phase and an angular velocity of the six-phase permanent magnet motor are obtained for the residual phases except the fault phase in the six phases, then current excitation of each residual phase is determined according to the current amplitude, the target phase and the angular velocity of each residual phase, and finally each current excitation acts on the corresponding residual phase to enable each residual phase to operate. According to the control method of the six-phase permanent magnet motor, when a fault phase exists in the six phases, the residual phases can be operated by recalculating current excitation of each residual phase. Compared with the method that six phases are divided into two three-phase motors, when a fault phase exists in one three-phase motor, the other three-phase motor is used, and the method can improve the power assisting efficiency of the motor.
Drawings
Fig. 1 is a flowchart of a control method for a six-phase permanent magnet motor according to an embodiment of the present disclosure;
fig. 2 is a six-phase current vector diagram of a six-phase permanent magnet motor according to an embodiment of the present disclosure;
fig. 3 is a control schematic diagram of a six-phase permanent magnet motor according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a complete control process of a six-phase permanent magnet motor according to an embodiment of the present application;
fig. 5 is a structural diagram of a control device of a six-phase permanent magnet motor according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present disclosure, "a plurality" means two or more unless otherwise specified.
In addition, the use of "based on" or "according to" means open and inclusive, as a process, step, calculation, or other action that is "based on" or "according to" one or more conditions or values may, in practice, be based on additional conditions or exceeded values.
As a Steering system with high performance requirements, a redundant Electric Power Steering (EPS) of a vehicle is most obviously characterized by redundant control of a motor.
At present, a redundant control scheme of the motor is to use two three-phase motors, and when one three-phase motor fails, the other three-phase motor is used for providing 50% of assistance for EPS of a vehicle, but the method has the problem of low assistance efficiency.
In order to solve the above problem, an embodiment of the present application provides a control method for a six-phase permanent magnet motor, where whether a faulty phase exists in six phases of the six-phase permanent magnet motor is detected, and if the faulty phase exists in the six phases of the six-phase permanent magnet motor, a target phase of each remaining phase, a current amplitude of each remaining phase, and an angular velocity of the six-phase permanent magnet motor are obtained for remaining phases other than the faulty phase among the six phases, then current excitations of each remaining phase are determined according to the current amplitude, the target phase, and the angular velocity of each remaining phase, and finally each current excitation is applied to a corresponding remaining phase, so that each remaining phase operates. According to the control method of the six-phase permanent magnet motor, when a fault phase exists in the six phases, the residual phases can be operated by recalculating current excitation of each residual phase. Compared with the method that six phases are divided into two three-phase motors, when a fault phase exists in one three-phase motor, the other three-phase motor is used, and the method can improve the power assisting efficiency of the motor.
The execution main body of the control method of the six-phase permanent magnet motor provided in the embodiment of the present application may be an electronic device, specifically, the electronic device may be a control chip or a micro control unit, and the like.
Based on the execution main body, the embodiment of the application provides a control method of a six-phase permanent magnet motor. As shown in fig. 1, the method comprises the steps of:
Optionally, in the operation process of the six-phase permanent magnet motor, the phase current of each phase in the six-phase permanent magnet motor is periodically acquired, and whether each phase has a fault is determined according to the change trend of the phase current of each phase. Or, the phase voltage of each phase in the six-phase permanent magnet motor can be periodically acquired, and then whether a fault phase exists in the six phases of the six-phase permanent magnet motor is determined according to the voltage value of the phase voltage.
And 102, if a fault phase exists in six phases of the six-phase permanent magnet motor, acquiring a target phase of each residual phase, a current amplitude of each residual phase and an angular speed of the six-phase permanent magnet motor aiming at residual phases except the fault phase in the six phases.
And 103, determining the current excitation of each residual phase according to the current amplitude, the target phase and the angular velocity of each residual phase.
It should be noted that, when there is a fault phase in the six phases, the current excitation of each remaining phase needs to be determined again. The determination of the current excitation requires the current amplitude of each remaining phase, the target phase of each remaining phase and the angular velocity of the motor. The current amplitude of each remaining phase may be a corresponding current amplitude before the fault, or a current amplitude input again, which is not specifically limited in this application. The angular velocity may be obtained by acquiring a current angular velocity. Thus, it is determined how the current excitation of each remaining phase is primarily to achieve the target phase for each remaining phase.
According to the control method of the six-phase permanent magnet motor, whether a fault phase exists in six phases of the six-phase permanent magnet motor or not is detected, if the fault phase exists in the six phases of the six-phase permanent magnet motor, a target phase of each residual phase, a current amplitude of each residual phase and an angular velocity of the six-phase permanent magnet motor are obtained for the residual phases except the fault phase in the six phases, then current excitation of each residual phase is determined according to the current amplitude, the target phase and the angular velocity of each residual phase, and finally each current excitation acts on the corresponding residual phase to enable each residual phase to operate. According to the control method of the six-phase permanent magnet motor, when a fault phase exists in the six phases, the residual phases can be operated by recalculating current excitation of each residual phase. Compared with the method that six phases are divided into two three-phase motors, when a fault phase exists in one three-phase motor, the other three-phase motor is used, and the method can improve the power assisting efficiency of the motor.
The application provides a control method of a six-phase permanent magnet motor, and particularly aims at a high-safety motor control application scene. Aiming at the condition that one phase of drive possibly occurs in the six-phase motor drive of the semi-redundant EPS has a fault, a control method which can utilize the residual phases of the motor to continue outputting and can ensure that a large torque value is output is designed, the semi-redundant EPS system can still keep large assistance under the condition that relevant faults occur, and the vehicle is still in a relatively controllable state under the complex working condition. Based on a traditional semi-redundant EPS system, the control method of the six-phase permanent magnet motor provided by the application regards the six-phase motor as a whole, and when one-phase failure occurs, the failure-free phase in the three-phase winding at the failure side is reasonably utilized to participate in control, so that the power assisting capability and the reliability of the semi-redundant steering system are improved.
Optionally, the process of obtaining the phase of each remaining phase in step 102 may be: and acquiring a flux linkage relation between the phase permanent magnet flux linkage of each residual phase and the mechanical angle parameter of the motor of the six-phase permanent magnet motor, acquiring an excitation relation between current excitation of each residual phase and the phase parameter of each residual phase, and acquiring a target phase of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameter of the motor and the winding state parameter of each residual phase.
The flux linkage relationship between the phase permanent magnet flux linkage and the mechanical angle parameter of the six-phase permanent magnet motor can be represented by formula (1).
Wherein the content of the first and second substances,
、
、
、
、
、
respectively represent the permanent magnetic flux linkage of each phase,
is a permanent magnet flux linkage of a six-phase permanent magnet motor.
The excitation relationship between the current excitation and the phase parameters of each of the remaining phases may be as shown in equation (2).
Wherein the content of the first and second substances,
representing the magnitude of the phase current,
Which is representative of the angular velocity of the motor,
representing the target phase of the remaining phase.
Specifically, the process of obtaining the target phase of each remaining phase according to the flux linkage relationship, the excitation relationship, the mechanical angle parameter of the motor, and the winding state parameter of each remaining phase may be:
and determining a target relation between the electromagnetic torque of the six-phase permanent magnet motor and the phase parameters of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameters of the motor and the winding state parameters of each residual phase, and then obtaining the target phase of each residual phase according to the target relation.
Specifically, the electromagnetic torque may be as shown in equation (3).
Wherein
Which is representative of the electromagnetic torque at the output,
representing the state of the winding, when an open-phase fault occurs in phase a,
corresponding to 0, the remaining healthy phases are 1.
Represents the permanent magnetic flux linkage of each phase,
representing the mechanical angle of the motor.
In a specific implementation process, the target relation between the electromagnetic torque of the six-phase permanent magnet motor and the phase parameters of the remaining phases is obtained by substituting the formula (1) and the formula (2) into the formula (3).
In one embodiment, the process of obtaining the target phase of each remaining phase according to the target relationship may be:
and determining a first relation between the stable torque in the electromagnetic torque and the phase parameters of the residual phases and a second relation between the fluctuating torque in the electromagnetic torque and the phase parameters of the residual phases from the target relation, and then obtaining the target phase of each residual phase according to the first relation and the second relation.
For example, the target relationship may be split into a first relationship between a stable torque in the electromagnetic torque and the phase parameter of each remaining phase and a second relationship between a fluctuating torque in the electromagnetic torque and the phase parameter of each remaining phase, and the second relationship may be split into two second relationships. Wherein, one first relation and two second relations after splitting are shown as formula (4).
Optionally, the process of obtaining the target phase of each remaining phase according to the first relationship and the second relationship may be: and finally, performing optimal solution calculation on the first constraint relation and the second constraint relation to obtain the target phase of each residual phase.
It should be noted that, according to the maximum stable torque value and the zero fluctuation torque value, the first constraint relationship and the second constraint relationship may be obtained, specifically, the first constraint relationship and the second constraint relationship are shown in formula (5), where the first formula in formula (5) is the first constraint relationship, and the second formula and the third formula in formula (5) are the second constraint relationship.
And (4) carrying out optimal solution calculation on the formula (5) by using an Optimization Tool in an MATLAB Tool to obtain the target phase of each residual phase.
For example, the current excitation of each six phases is shown as equation (6), and after the fault, taking the first phase fault in the six phases as an example, the finally calculated current excitation of the remaining phases is shown as equation (7).
As shown in fig. 2, the present application also provides a six-phase current vector diagram for a six-phase permanent magnet machine. Wherein the solid line represents the current vector diagram without any fault, six-phase symmetrical and 60 ° apart, respectively. For example, when the phase a fails and is isolated, the control method is switched to the control method for the six-phase permanent magnet motor provided in the embodiment of the present application, and the current vector diagram is shown by a dotted line, in the control scheme of the present application, an included angle between the phase B and the original phase a is 44.5 °, the phase C is 90 ° apart from the phase B, the phase D is 44.5 ° apart from the phase C, the phase E is 44.5 ° apart from the phase D, and the phase F is 90 ° apart from the phase E. If other phases are in fault, the current vectors of the remaining phases can be obtained according to the calculated target phases of the remaining phases.
Optionally, after the step 102, if there is a failed phase in six phases of the six-phase permanent magnet motor, the method further includes: and (3) carrying out isolation processing on the fault phase, determining the vector sum of the phase current of each residual phase, and acquiring the current amplitude of each residual phase and the angular speed of the six-phase permanent magnet motor when the vector sum is zero.
As shown in fig. 3, an embodiment of the present application further provides a control schematic diagram of a six-phase permanent magnet motor. The six-phase permanent magnet motor power supply mainly comprises a main control chip (comprising an ADC (analog-to-digital converter) module, a PWM (pulse-width modulation) module, an interruption module and a DIO (digital-to-analog) module), a power module, a current amplifier module, a six-phase driving circuit, an open-phase module, a six-phase symmetric permanent magnet motor and the like. And the cross mark represents measures after the A phase is disconnected, and the measures comprise closing the A phase PWM output, closing an A phase MOS tube in the phase-disconnected module through a DIO module, stopping sampling of the A phase current and the like.
In the actual operation process of the system, only one MCU in the controller is used as a main control module, under the normal condition, 6 paths of PWM output by the MCU respectively control two three-phase motor driving modules to form a six-phase motor driving module, and output PWM signals are converted into high-voltage signals from low-voltage signals through the motor driving module to drive the six-phase driving bridge module so as to drive the six-phase symmetric permanent magnet motor to operate.
In the running process of the motor, the PWM signal generates interruption, the phase current of the motor is collected through a current sampling module (mainly comprising a resistance sampling module and an ADC (analog to digital converter) conversion module) in the interruption, a position signal sampling module collects the position of a motor rotor, the actual alternating-direct axis current of the motor is calculated to participate in the calculation and control of a current loop, and finally the control of the six-phase permanent magnet motor is completed. It should be noted that, in the case of no fault, the open-phase module is always in the conducting state, and the normal control of the six-phase permanent magnet motor is not affected. In the control process, the six-phase permanent magnet motor is regarded as a whole to be controlled, and the following current signals separated by 60 degrees are respectively introduced to complete the drive control of the six-phase permanent magnet motor.
It should be noted that the process of performing the isolation treatment on the isolated phase may be: and disconnecting the PWM output module from the driving module and disconnecting the driving module from the fault phase.
In an actual process, when one-phase fault occurs in the six-phase permanent magnet motor, the main control module immediately judges the type of the fault and immediately closes a control path corresponding to the fault, wherein the control path comprises a PWM output path corresponding to the fault, a phase failure path corresponding to the fault and a current sampling path corresponding to the fault. After a fault phase control loop and a sampling loop are closed, a control algorithm is immediately changed from six-phase symmetric control to five-phase control, the output capacity of a motor is reduced due to phase loss because the motor adopts five-phase output control, if the output torque of the motor after phase loss is kept unchanged and the pulsation is small, the amplitude of current excitation in a motor winding needs to be increased, but in practical application, in order to avoid cost increase caused by over-design of the motor and the capacity of a controller thereof, derated operation is not lost to be more economic selection under the condition of ensuring system function and safety.
According to the control method of the six-phase permanent magnet motor, the output torque after fault tolerance can be greatly improved without increasing any hardware cost, the non-fault phase on the fault side is reasonably utilized, the best use of the matter is realized, and the waste of hardware resources is avoided, meanwhile, the control method of the six-phase permanent magnet motor can improve the output torque to 0.809 times from 0.5 times of the original scheme under the condition of phase failure, and the total improvement is 61.8%.
As shown in fig. 4, the present application further provides a schematic diagram of a complete control process of a six-phase permanent magnet motor, in the process of starting execution, firstly, initializing configuration of each module, secondly, enabling PWM interruption related to motor control, and after entering the PWM interruption, sequentially obtaining signals such as a current signal, a motor rotor position, and the like; then resolving the signal, taking the signal as a feedback signal of a motor control algorithm to finish the operation of the motor control algorithm and outputting a PWM control signal to drive the motor to rotate; during the period, faults related to motor phase failure need to be periodically detected, if the faults are detected, the output of a fault phase PWM signal is immediately turned off, a corresponding fault phase MOS in the phase failure module is turned off by using a DIO module, zero current diagnosis is carried out on fault phase current, and finally the control method of the six-phase permanent magnet motor provided by the embodiment of the application is switched. If the fault does not occur, the system normally operates and keeps full power-assisted output.
As shown in fig. 5, an embodiment of the present application further provides a control apparatus for a six-phase permanent magnet motor, where the apparatus includes:
the detection module 11 is used for detecting whether a fault phase exists in six phases of the six-phase permanent magnet motor;
the obtaining module 12 is configured to, if a fault phase exists in six phases of the six-phase permanent magnet motor, obtain, for remaining phases of the six phases except the fault phase, a target phase of each remaining phase, a current amplitude of each remaining phase, and an angular velocity of the six-phase permanent magnet motor;
the determining module 13 is used for determining the current excitation of each residual phase according to the current amplitude, the target phase and the angular velocity of each residual phase;
and a control module 14 for applying each current excitation to the corresponding remaining phase to operate each remaining phase.
In one embodiment, the obtaining module 12 is specifically configured to:
acquiring a flux linkage relation between a phase permanent magnet flux linkage of each remaining phase and a motor mechanical angle parameter of the six-phase permanent magnet motor;
acquiring an excitation relation between current excitation of each residual phase and phase parameters of each residual phase;
and obtaining the target phase of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameter of the motor and the winding state parameter of each residual phase.
In one embodiment, the obtaining module 12 is specifically configured to:
determining a target relation between the electromagnetic torque of the six-phase permanent magnet motor and the phase parameters of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameters of the motor and the winding state parameters of each residual phase;
and obtaining the target phase of each residual phase according to the target relation.
In one embodiment, the obtaining module 12 is specifically configured to:
determining a first relation between a stable torque in the electromagnetic torque and the phase parameters of the residual phases and a second relation between a fluctuating torque in the electromagnetic torque and the phase parameters of the residual phases from the target relation;
and obtaining the target phase of each residual phase according to the first relation and the second relation.
In one embodiment, the obtaining module 12 is specifically configured to:
determining a first constraint relation with respect to the phase parameters of the respective remaining phases when the value of the steady torque is maximum in the first relation;
determining that a second constraint relationship with respect to the phase parameters of the respective remaining phases is obtained when the value of the ripple torque in the second relationship is zero;
and performing optimal solution calculation on the first constraint relation and the second constraint relation to obtain the target phase of each residual phase.
In one embodiment, the apparatus further comprises: and the processing module 15 is used for carrying out isolation processing on the fault phase. The determining module 13 is further configured to determine a vector sum of phase currents of the remaining phases.
The obtaining module 12 is specifically configured to obtain the current amplitude of each remaining phase and the angular velocity of the six-phase permanent magnet motor if the vector sum is zero.
In one embodiment, the obtaining module 12 is further configured to periodically obtain phase currents or phase voltages of each phase in the six-phase permanent magnet motor; the determining module 13 is further configured to determine whether a faulty phase exists in six phases of the six-phase permanent magnet motor according to the phase current change condition or the voltage value of the phase voltage.
The control device for a six-phase permanent magnet motor provided in this embodiment may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
For specific limitations of the control device of the six-phase permanent magnet motor, reference may be made to the above limitations of the control method of the six-phase permanent magnet motor, which are not described herein again. All or part of each module in the control device of the six-phase permanent magnet motor can be realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the server, and can also be stored in a memory in the server in a software form, so that the processor can call and execute operations corresponding to the modules.
In another embodiment of the present application, there is also provided a computer apparatus, including a memory and a processor, where the memory stores a computer program, and the computer program is executed by the processor to implement the steps of the control method for a six-phase permanent magnet motor according to an embodiment of the present application.
In another embodiment of the present application, there is also provided a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, realizes the steps of the control method of a six-phase permanent magnet motor according to an embodiment of the present application.
In another embodiment of the present application, a computer program product is also provided, where the computer program product includes computer instructions that, when run on a control apparatus for a six-phase permanent magnet motor, cause the control apparatus for the six-phase permanent magnet motor to perform the steps performed by the method for controlling a six-phase permanent magnet motor in the method flow shown in the above-mentioned method embodiment.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The processes or functions according to the embodiments of the present application are generated in whole or in part when the computer-executable instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A method of controlling a six-phase permanent magnet machine, the method comprising:
detecting whether a fault phase exists in six phases of the six-phase permanent magnet motor;
if the fault phase exists in six phases of the six-phase permanent magnet motor, acquiring a target phase of each residual phase, a current amplitude of each residual phase and an angular velocity of the six-phase permanent magnet motor aiming at residual phases except the fault phase in the six phases;
determining current excitation of each of the remaining phases based on the current amplitude, the target phase, and the angular velocity of each of the remaining phases;
applying each of said current excitations to a corresponding remaining phase to cause each of said remaining phases to operate;
wherein the obtaining of the target phase of each of the remaining phases comprises:
acquiring a flux linkage relation between the phase permanent magnet flux linkage of each residual phase and a motor mechanical angle parameter of the six-phase permanent magnet motor;
obtaining an excitation relation between the current excitation of each residual phase and the phase parameter of each residual phase;
and obtaining the target phase of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameter of the motor and the winding state parameter of each residual phase.
2. The control method of claim 1, wherein said deriving a target phase for each of said remaining phases based on said flux linkage relationship, said excitation relationship, said motor mechanical angle parameter, and a winding state parameter for each of said remaining phases comprises:
determining a target relation between the electromagnetic torque of the six-phase permanent magnet motor and the phase parameters of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameters of the motor and the winding state parameters of each residual phase;
and obtaining the target phase of each residual phase according to the target relation.
3. The control method of claim 2, wherein said deriving a target phase for each of said remaining phases based on said target relationship comprises:
determining a first relation between a stable torque in the electromagnetic torque and a phase parameter of each of the remaining phases and a second relation between a fluctuating torque in the electromagnetic torque and a phase parameter of each of the remaining phases from the target relation;
and obtaining the target phase of each residual phase according to the first relation and the second relation.
4. The control method according to claim 3, wherein said deriving a target phase for each of the remaining phases based on the first relationship and the second relationship comprises:
determining a first constraint relationship for phase parameters of each of the remaining phases when the value of the stabilizing torque in the first relationship is maximum;
determining that a second constraint relationship is obtained for the phase parameter of each of the remaining phases when the value of the ripple torque in the second relationship is zero;
and calculating the optimal solution of the first constraint relation and the second constraint relation to obtain the target phase of each residual phase.
5. The control method according to any one of claims 1-4, wherein if the faulty phase is present in six phases of the six-phase permanent magnet motor, the method further comprises:
carrying out isolation processing on the fault phase, and determining the vector sum of the phase current of each residual phase;
the obtaining of the current amplitude of each of the remaining phases and the angular velocity of the six-phase permanent magnet motor includes:
and if the vector sum is zero, acquiring the current amplitude of each residual phase and the angular speed of the six-phase permanent magnet motor.
6. The control method according to any one of claims 1 to 4, wherein the detecting whether a faulty phase exists in six phases of the six-phase permanent magnet motor includes:
periodically acquiring phase current or phase voltage of each phase in the six-phase permanent magnet motor;
and determining whether the fault phase exists in six phases of the six-phase permanent magnet motor or not according to the phase current change condition or the voltage value of the phase voltage.
7. A control apparatus for a six-phase permanent magnet motor, the apparatus comprising:
the detection module is used for detecting whether a fault phase exists in six phases of the six-phase permanent magnet motor;
the acquisition module is used for acquiring a target phase of each residual phase, a current amplitude of each residual phase and an angular velocity of the six-phase permanent magnet motor aiming at residual phases except for the fault phase in the six phases if the fault phase exists in the six phases of the six-phase permanent magnet motor;
a determination module for determining a current excitation of each of the remaining phases based on the current amplitude, the target phase, and the angular velocity of each of the remaining phases;
a control module for applying each of said current excitations to a corresponding remaining phase to cause each of said remaining phases to operate;
the acquisition module is specifically configured to acquire a flux linkage relationship between a phase permanent magnet flux linkage of each remaining phase and a motor mechanical angle parameter of the six-phase permanent magnet motor;
acquiring an excitation relation between current excitation of each residual phase and phase parameters of each residual phase;
and obtaining the target phase of each residual phase according to the flux linkage relation, the excitation relation, the mechanical angle parameter of the motor and the winding state parameter of each residual phase.
8. An electronic device, comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, implements the method of controlling a six-phase permanent magnet machine according to any one of claims 1 to 6.
9. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, implements the method of controlling a six-phase permanent magnet machine according to any one of claims 1 to 6.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108282127A (en) * | 2017-12-14 | 2018-07-13 | 中国矿业大学 | The fault tolerant control method and device of polyphase machine |
| CN109842336A (en) * | 2019-01-15 | 2019-06-04 | 江苏大学 | A kind of fault-tolerant Direct Torque Control of five phase magneto one phase short circuit |
| CN111597737A (en) * | 2020-04-02 | 2020-08-28 | 天津大学 | Method for reducing two-phase open-circuit fault torque fluctuation of five-phase permanent magnet synchronous motor |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108282127A (en) * | 2017-12-14 | 2018-07-13 | 中国矿业大学 | The fault tolerant control method and device of polyphase machine |
| CN109842336A (en) * | 2019-01-15 | 2019-06-04 | 江苏大学 | A kind of fault-tolerant Direct Torque Control of five phase magneto one phase short circuit |
| CN111597737A (en) * | 2020-04-02 | 2020-08-28 | 天津大学 | Method for reducing two-phase open-circuit fault torque fluctuation of five-phase permanent magnet synchronous motor |
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