CN115987165A - Open-circuit fault-tolerant control method for three-phase permanent magnet synchronous motor driving system - Google Patents

Open-circuit fault-tolerant control method for three-phase permanent magnet synchronous motor driving system Download PDF

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CN115987165A
CN115987165A CN202310058675.0A CN202310058675A CN115987165A CN 115987165 A CN115987165 A CN 115987165A CN 202310058675 A CN202310058675 A CN 202310058675A CN 115987165 A CN115987165 A CN 115987165A
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copper loss
fault
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reference value
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毛耀
张云
王学庆
陈兴龙
鲁琳琳
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Institute of Optics and Electronics of CAS
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Abstract

The invention discloses an open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor driving system, and relates to the field of synchronous motor fault-tolerant control. After a fault occurs, a fault-tolerant current reference value is optimized by introducing average copper loss of a current fundamental wave period to realize copper loss constraint, motor current commutation and torque ripple reduction. And finally, detecting whether the average copper loss of the motor exceeds a specified maximum copper loss threshold value by calculating the average copper loss to update the fault-tolerant reference current of the motor in real time, so that the fault-tolerant capability and the current tracking precision of the three-phase permanent magnet synchronous motor driving system are improved, and the torque ripple and the copper loss of fault-tolerant operation are reduced.

Description

一种三相永磁同步电机驱动系统开路故障容错控制方法A method for open-circuit fault-tolerant control of a three-phase permanent magnet synchronous motor drive system

技术领域Technical Field

本发明属于同步电机容错控制技术领域，具体为一种三相永磁同步电机驱动系统开路故障容错控制方法。The present invention belongs to the technical field of synchronous motor fault-tolerant control, and in particular relates to an open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor drive system.

背景技术Background Art

缺相故障和开关管开路故障是电机中常见的电气故障，当电机发生缺相故障和开关管开路故障后，电机并不会立即停机，但是电机会产生一系列的电机故障特征，例如转矩脉动、电机过热等，如果不进行故障后处理甚至会导致二次故障，最终导致电机驱动系统崩溃。Phase loss fault and switch tube open circuit fault are common electrical faults in motors. When a phase loss fault and a switch tube open circuit fault occur in a motor, the motor will not stop immediately, but the motor will produce a series of motor fault characteristics, such as torque pulsation, motor overheating, etc. If the fault is not post-processed, it may even cause a secondary fault, and eventually cause the motor drive system to crash.

为了提高电机容错控制性能，一些辅助电路设施被用于三相电机驱动系统中，通过改变电机驱动系统的拓扑结构使得电流流通路径增加来提高容错控制性能。同时，开绕组设施也被广泛使用，这使得电机的每相电流都能被独立控制，极大的增强了三相电机的容错控制性能。In order to improve the fault-tolerant control performance of the motor, some auxiliary circuit facilities are used in the three-phase motor drive system, which improves the fault-tolerant control performance by changing the topology of the motor drive system to increase the current flow path. At the same time, open winding facilities are also widely used, which enables each phase current of the motor to be controlled independently, greatly enhancing the fault-tolerant control performance of the three-phase motor.

为了减小转矩和磁链控制误差，现有研究通过分析电机故障后特征，建立了缺相故障后电机数学模型，并且提出了一种预测控制方法去控制故障后电机，这极大的提高了电机容错控制性能，减小了电机转矩输出和磁链控制误差。In order to reduce the torque and flux control errors, existing studies have established a mathematical model of the motor after a phase loss fault by analyzing the post-fault characteristics of the motor, and proposed a predictive control method to control the motor after the fault, which greatly improves the motor's fault-tolerant control performance and reduces the motor's torque output and flux control errors.

然而，现有技术仍然存在不足之处，第一，这些辅助电路设施和开绕组设施仍有可能发生故障并且增加了系统成本和复杂度，不利于方法的推广和使用；第二，目前的研究主要集中于缺相故障和开关管开路故障的某一种故障容错控制方法研究，并且这些方法并没有考虑到电机故障后铜损的因素，可能在使用上述容错控制方法会增大电机铜损，降低故障下电机运行效率。However, the existing technology still has shortcomings. First, these auxiliary circuit facilities and open winding facilities may still fail and increase system cost and complexity, which is not conducive to the promotion and use of the method; second, current research mainly focuses on a certain fault-tolerant control method for phase loss faults and switch tube open circuit faults, and these methods do not take into account the copper loss factor after the motor failure. The use of the above-mentioned fault-tolerant control method may increase the copper loss of the motor and reduce the motor operation efficiency under fault conditions.

发明内容Summary of the invention

(一)解决的技术问题1. Technical issues to be solved

针对现有技术的不足，本发明提供了一种三相永磁同步电机驱动系统开路故障容错控制方法，通过重构故障后电机驱动系统的参考电流来完成对缺相故障和开关管开路故障的容错控制。在缺相故障下，通过电机转矩指令和电机转矩公式确定缺相故障下的参考电流，再对一个电流基波周期的电机平均铜损进行求解，进而求解出新的考虑电流换向、电机铜损的参考电流，通过这种容错控制方法可以减小电机转矩脉动和电流跟踪误差，以及将电机平均铜损限制在目标值以下。对于开关管开路故障，在缺相故障的容错控制基础上，在正常运行时，电流参考值不变，在故障运行时，电机容错控制运行的电流参考值与缺相故障容错控制运行时的电流参考值相同。In view of the deficiencies of the prior art, the present invention provides a three-phase permanent magnet synchronous motor drive system open circuit fault fault-tolerant control method, which completes the fault-tolerant control of phase failure and switch tube open circuit failure by reconstructing the reference current of the motor drive system after the failure. Under the phase failure, the reference current under the phase failure is determined by the motor torque command and the motor torque formula, and then the average copper loss of the motor in a current fundamental cycle is solved, and then a new reference current considering current commutation and motor copper loss is solved. Through this fault-tolerant control method, the motor torque pulsation and current tracking error can be reduced, and the average copper loss of the motor can be limited to below the target value. For the open circuit failure of the switch tube, based on the fault-tolerant control of the phase failure, the current reference value remains unchanged during normal operation, and during fault operation, the current reference value of the motor fault-tolerant control operation is the same as the current reference value when the phase failure fault-tolerant control operation is performed.

(二)技术方案(II) Technical solution

为实现以上目的，本发明通过以下技术方案予以实现：To achieve the above objectives, the present invention is implemented through the following technical solutions:

一种三相永磁同步电机驱动系统开路故障容错控制方法，包括：A three-phase permanent magnet synchronous motor drive system open circuit fault tolerance control method, comprising:

三相永磁同步电机驱动系统开路故障指的是缺相故障和开关管开路故障，基于缺相故障运行时dq轴电流表达式、表贴式永磁同步电机的转矩公式、电流抑制要求和电机转矩指令

Figure BDA0004060897630000021
得到缺相故障容错运行时的相电流参考值，再通过dq轴电流表达式坐标变换即可得到新的dq轴容错电流参考值，实现缺相故障容错运行的理论转矩最小脉动；The open circuit fault of the three-phase permanent magnet synchronous motor drive system refers to the phase loss fault and the switch tube open circuit fault. Based on the dq axis current expression when running with the phase loss fault, the torque formula of the surface-mounted permanent magnet synchronous motor, the current suppression requirements and the motor torque command
Figure BDA0004060897630000021
The phase current reference value during phase failure fault-tolerant operation is obtained, and then the new dq axis fault-tolerant current reference value can be obtained through the coordinate transformation of the dq axis current expression, so as to achieve the theoretical minimum torque pulsation during phase failure fault-tolerant operation;

考虑电流换向不能瞬间完成，通过计算最小电流换向所需时间来计算出电流换向所需角度，得到满足电流换向的电流参考值，代入相电流参考值中，得到新的缺相故障容错运行情况下考虑电流换向的相电流参考值；Considering that current commutation cannot be completed instantly, the required angle for current commutation is calculated by calculating the minimum time required for current commutation, and the current reference value that satisfies current commutation is obtained. Substituting it into the phase current reference value, a new phase current reference value considering current commutation is obtained under the condition of phase-failure fault-tolerant operation.

通过计算平均铜损功率和机械功率，得到铜损因子的表达式，铜损因子与平均铜损正相关，再利用转矩公式和铜损公式即可得到考虑铜损的相电流参考值，通过改变铜损因子改变相电流参考值进而改变平均铜损，将其与转矩指令

Figure BDA0004060897630000022
得到的缺相故障容错运行下的相电流参考值相结合，即可得到考虑铜损的缺相故障容错运行情况下的相电流参考值；By calculating the average copper loss power and mechanical power, the expression of the copper loss factor is obtained. The copper loss factor is positively correlated with the average copper loss. Then, the phase current reference value considering the copper loss can be obtained by using the torque formula and the copper loss formula. By changing the copper loss factor, the phase current reference value is changed, and then the average copper loss is changed. It is combined with the torque command.
Figure BDA0004060897630000022
The phase current reference value under the phase failure fault-tolerant operation condition with copper loss taken into consideration can be combined with the phase current reference value under the phase failure fault-tolerant operation condition with copper loss taken into consideration;

通过结合电流换向角，可得到考虑电流换向的铜损因子的表达式，将此表达式作为考虑铜损大小的缺相故障容错运行情况下的相电流参考值的初始值，那么该相电流参考值即成为考虑电流换向、铜损大小的缺相故障容错运行情况下的相电流参考值的初始值；By combining the current commutation angle, an expression of the copper loss factor considering the current commutation can be obtained. This expression is used as the initial value of the phase current reference value under the phase loss fault tolerance operation condition considering the copper loss size. Then, the phase current reference value becomes the initial value of the phase current reference value under the phase loss fault tolerance operation condition considering the current commutation and the copper loss size.

考虑到电机的铜损最大上限，因此引入一个PI控制器来计算最优铜损因子，该铜损因子的最大值即为考虑电流换向的铜损因子，当平均铜损超过其上限值，铜损因子将会减小以降低平均铜损，直至等于平均铜损上限，此时铜损因子即为最优铜损因子，将其带入到考虑电流换向、铜损大小的缺相故障容错运行情况下的相电流参考值中，即可得到最优的考虑电流换向、铜损大小的缺相故障容错运行情况下的相电流参考值；Considering the maximum upper limit of the motor's copper loss, a PI controller is introduced to calculate the optimal copper loss factor. The maximum value of the copper loss factor is the copper loss factor considering current commutation. When the average copper loss exceeds its upper limit, the copper loss factor will decrease to reduce the average copper loss until it is equal to the upper limit of the average copper loss. At this time, the copper loss factor is the optimal copper loss factor. Substituting it into the phase current reference value under the phase-fault-tolerant operation condition considering current commutation and copper loss size, the optimal phase current reference value under the phase-fault-tolerant operation condition considering current commutation and copper loss size can be obtained.

对于开关管开路故障，基于缺相故障容错运行时的相电流参考值，对开关管开路故障实施两模容错控制方法来实现容错控制。For the open-circuit fault of the switch tube, based on the phase current reference value during the phase-loss fault-tolerant operation, a two-mode fault-tolerant control method is implemented to realize fault-tolerant control.

进一步地，基于缺相故障运行时所述dq轴电流表达式、表贴式永磁同步电机的转矩公式具体为：

Figure BDA0004060897630000031
其中假设A相为缺相故障相，iB表示B相电流；id、iq分别表示为dq轴电流；Np表示电机极对数；Te表示电机转矩；ψf是永磁磁链幅值；θe表示电机转子的电角度位置信息。Furthermore, the dq axis current expression and the torque formula of the surface mounted permanent magnet synchronous motor during operation based on the phase failure are specifically as follows:
Figure BDA0004060897630000031
It is assumed that phase A is the phase with a phase-loss fault, i B represents the current of phase B; i d and i q represent the dq axis currents respectively; N p represents the number of motor pole pairs; Te represents the motor torque; ψ f is the permanent magnet flux amplitude; and θ e represents the electrical angle position information of the motor rotor.

进一步地，基于缺相故障运行时dq轴电流表达式、表贴式永磁同步电机的转矩公式、电流抑制要求和电机转矩指令

Figure BDA0004060897630000032
得到缺相故障容错运行时的相电流参考值具体为：
Figure BDA0004060897630000033
其中
Figure BDA00040608976300000316
为仅考虑电机转矩指令
Figure BDA0004060897630000034
得到的缺相故障容错运行时的相电流参考值；
Figure BDA0004060897630000035
为加入了电流抑制要求的缺相故障容错运行时的相电流参考值；Imax为电机电流的最大电流幅值。Furthermore, based on the dq axis current expression during phase failure operation, the torque formula of the surface-mounted permanent magnet synchronous motor, the current suppression requirements and the motor torque command
Figure BDA0004060897630000032
The phase current reference value obtained during phase failure fault tolerance operation is:
Figure BDA0004060897630000033
in
Figure BDA00040608976300000316
To consider only the motor torque command
Figure BDA0004060897630000034
The obtained phase current reference value during phase failure fault tolerance operation;
Figure BDA0004060897630000035
It is the phase current reference value during phase failure fault-tolerant operation with current suppression requirements added; I max is the maximum current amplitude of the motor current.

进一步地，所述电流换向最小所需时间具体为：

Figure BDA00040608976300000317
其中Tct为最小换向所需时间；Ls为电机定子电感；Udc为直流母线电压。Furthermore, the minimum time required for current commutation is specifically:
Figure BDA00040608976300000317
Where Tct is the minimum commutation time; Ls is the motor stator inductance; Udc is the DC bus voltage.

进一步地，所述电流换向角具体为：θc＝ωeTct；其中θc为电流换向角；ωe是电机的电角速度。Furthermore, the current commutation angle is specifically: θ c =ω e T ct ; wherein θ c is the current commutation angle; ω e is the electrical angular velocity of the motor.

进一步地，所述的考虑电流换向的相电流参考值具体为：

Figure BDA0004060897630000036
Furthermore, the phase current reference value considering current commutation is specifically:
Figure BDA0004060897630000036

其中

Figure BDA0004060897630000037
为考虑电流换向的相电流参考值；
Figure BDA0004060897630000038
为满足电流换向的电流参考值；
Figure BDA0004060897630000039
Figure BDA00040608976300000318
Figure BDA00040608976300000310
Figure BDA00040608976300000311
为相电流参考值在考虑电流换向后所增加的电流转折点。in
Figure BDA0004060897630000037
is the phase current reference value considering current commutation;
Figure BDA0004060897630000038
To meet the current reference value for current commutation;
Figure BDA0004060897630000039
Figure BDA00040608976300000318
Figure BDA00040608976300000310
Figure BDA00040608976300000311
It is the current turning point at which the phase current reference value increases after taking current commutation into account.

进一步地，通过平均铜损功率和机械功率，得到铜损因子的表达式，具体为：

Figure BDA00040608976300000312
其中Pcu、PTe分别为平均铜损功率和机械功率；Rs为电机定子电阻；n为电机转速；RCu为铜损因子。Furthermore, by averaging the copper loss power and mechanical power, the expression of the copper loss factor is obtained, which is:
Figure BDA00040608976300000312
Where P cu and P Te are the average copper loss power and mechanical power respectively; R s is the stator resistance of the motor; n is the motor speed; R Cu is the copper loss factor.

进一步地，所述的考虑铜损、电流换向的缺相故障容错运行情况下的相电流参考值，具体为：

Figure BDA00040608976300000313
其中
Figure BDA00040608976300000314
为考虑铜损的相电流参考值；
Figure BDA00040608976300000315
为考虑铜损、电流换向的缺相故障容错运行情况下的相电流参考值。Furthermore, the phase current reference value in the phase failure fault-tolerant operation condition considering copper loss and current commutation is specifically:
Figure BDA00040608976300000313
in
Figure BDA00040608976300000314
is the phase current reference value considering copper loss;
Figure BDA00040608976300000315
It is the phase current reference value under the phase failure fault tolerant operation condition taking into account copper loss and current commutation.

进一步地，所述的缺相故障容错运行下的平均铜损具体为：

Figure BDA0004060897630000041
其中
Figure BDA0004060897630000042
Figure BDA00040608976300000413
Figure BDA0004060897630000043
Figure BDA00040608976300000414
Figure BDA0004060897630000044
Figure BDA00040608976300000415
Figure BDA0004060897630000045
Figure BDA00040608976300000416
分别为考虑铜损后相电流参考值的转折点。Furthermore, the average copper loss under the phase failure fault tolerance operation is specifically:
Figure BDA0004060897630000041
in
Figure BDA0004060897630000042
Figure BDA00040608976300000413
Figure BDA0004060897630000043
Figure BDA00040608976300000414
Figure BDA0004060897630000044
Figure BDA00040608976300000415
Figure BDA0004060897630000045
Figure BDA00040608976300000416
They are the turning points of the phase current reference value after considering copper loss.

进一步地，所述的铜损因子初始值具体为：

Figure BDA0004060897630000046
其中Ccu_in表示为铜损因子初始值；Furthermore, the initial value of the copper loss factor is specifically:
Figure BDA0004060897630000046
Where C cu_in represents the initial value of the copper loss factor;

在缺相故障容错控制运行时，引入一个PI控制器来计算最优铜损因子，该铜损因子的最大值即为考虑电流换向的铜损因子，当平均铜损超过其上限值，铜损因子将会减小以降低平均铜损，直至等于平均铜损上限，此时铜损因子即为最优铜损因子；During the operation of phase-failure fault-tolerant control, a PI controller is introduced to calculate the optimal copper loss factor. The maximum value of the copper loss factor is the copper loss factor considering current commutation. When the average copper loss exceeds its upper limit, the copper loss factor will decrease to reduce the average copper loss until it is equal to the upper limit of the average copper loss. At this time, the copper loss factor is the optimal copper loss factor.

所述的开关管开路故障两模容错控制方法；假设发生了A相上管故障，在正常运行模态，电流参考值不变，在故障运行模态，电流参考值与缺相故障容错电流参考值相等，具体为：

Figure BDA0004060897630000047
其中
Figure BDA0004060897630000048
分别为开关管开路故障容错运行时的dq轴参考电流；sinθe>0表示电机处于正常运行；sinθe<0表示电机处于故障容错运行；The two-mode fault-tolerant control method for the open-circuit fault of the switch tube described; assuming that a fault occurs on the A-phase upper tube, in the normal operation mode, the current reference value remains unchanged, and in the fault operation mode, the current reference value is equal to the fault-tolerant current reference value of the phase loss fault, specifically:
Figure BDA0004060897630000047
in
Figure BDA0004060897630000048
are the dq axis reference currents during the fault-tolerant operation of the switch tube open circuit respectively; sinθ e >0 indicates that the motor is in normal operation; sinθ e <0 indicates that the motor is in fault-tolerant operation;

对于开关管故障而言：在容错运行时，平均铜损不会超过其阈值，因此最优铜损因子等于铜损因子初始值。For switch tube failure: in fault-tolerant operation, the average copper loss will not exceed its threshold, so the optimal copper loss factor is equal to the initial value of the copper loss factor.

本发明原理在于：一方面，提供了一种三相永磁同步电机驱动系统开路故障容错控制方法，包括：The principle of the present invention is as follows: On the one hand, a method for open-circuit fault-tolerant control of a three-phase permanent magnet synchronous motor drive system is provided, comprising:

缺相故障后dq轴电流表达式：

Figure BDA0004060897630000049
假设A相发生缺相故障，因此A相电流为0，B相电流与A相电流互为相反数。The expression of dq axis current after phase failure is:
Figure BDA0004060897630000049
Assume that a phase failure occurs in phase A, so the current of phase A is 0, and the current of phase B is the inverse of the current of phase A.

缺相故障后电机转矩表达式：

Figure BDA00040608976300000410
The motor torque expression after a phase failure is:
Figure BDA00040608976300000410

通过电机转矩指令获得故障容错运行的相电流参考值：

Figure BDA00040608976300000411
Figure BDA00040608976300000412
其中同时考虑了电机所能承受电流的最大幅值并能达到理论上的电机缺相故障运行时最小转矩脉动；但并未考虑电流换向，电流跟踪精度差，有负转矩输出。Obtain the phase current reference value for fault-tolerant operation through the motor torque command:
Figure BDA00040608976300000411
Figure BDA00040608976300000412
It takes into account the maximum amplitude of the current that the motor can withstand and can achieve the theoretical minimum torque ripple when the motor is running with a phase failure; however, it does not take into account current commutation, the current tracking accuracy is poor, and there is negative torque output.

考虑电流换向最小时间：

Figure BDA0004060897630000051
Consider the minimum current commutation time:
Figure BDA0004060897630000051

考虑电流换向最小角度：θc＝ωeTct。Consider the minimum current commutation angle: θ c =ω e T ct .

考虑电流换向的相电流参考值：

Figure BDA0004060897630000052
Figure BDA0004060897630000053
通过考虑电流换向因素，电机缺相故障容错运行的电流跟踪精度能得到极大的提升，并改善了转矩输出性能，但未考虑电机铜损，降低电机效率。Phase current reference values considering current commutation:
Figure BDA0004060897630000052
Figure BDA0004060897630000053
By considering the current commutation factor, the current tracking accuracy of the motor's phase failure fault-tolerant operation can be greatly improved, and the torque output performance is improved, but the motor copper loss is not considered, which reduces the motor efficiency.

电机平均铜损功率和机械功率：

Figure BDA0004060897630000054
Average copper loss power and mechanical power of the motor:
Figure BDA0004060897630000054

电机铜损因子：

Figure BDA0004060897630000055
Motor copper loss factor:
Figure BDA0004060897630000055

只考虑铜损的相电流参考值：

Figure BDA0004060897630000056
Phase current reference value considering only copper loss:
Figure BDA0004060897630000056

考虑铜损、电流换向的缺相故障容错运行情况下的相电流参考值：

Figure BDA0004060897630000057
通过调整铜损因子大小，可以实现电流换向和调整电机平均铜损大小。Phase current reference value in phase failure fault-tolerant operation considering copper loss and current commutation:
Figure BDA0004060897630000057
By adjusting the copper loss factor, current commutation can be achieved and the average copper loss of the motor can be adjusted.

缺相故障容错运行下的平均铜损：Average copper loss under phase failure tolerance operation:

Figure BDA0004060897630000058
Figure BDA0004060897630000058

铜损因子初始值：

Figure BDA0004060897630000059
通过将铜损因子初始值代入相电流参考值中，电流换向能够被实现。Initial value of copper loss factor:
Figure BDA0004060897630000059
By substituting the initial value of the copper loss factor into the phase current reference value, current commutation can be achieved.

最优铜损因子求解：铜损因子初始值作为铜损因子的最大值，当求解出的平均铜损小于规定值，则最优铜损因子等于铜损因子初始值；当求解出的平均铜损大于规定值，铜损因子应当被减小。为了求解最优铜损因子：引入一个PI控制器对最优铜损因子进行求解，其输出最大值为铜损因子初始值。当平均铜损小于规定值，则PI控制器输出铜损因子初始值作为最优值，当求解出的平均铜损大于规定值，PI控制器输出铜损因子逐渐减小，直至平均铜损等于规定值。Solution of the optimal copper loss factor: The initial value of the copper loss factor is taken as the maximum value of the copper loss factor. When the solved average copper loss is less than the specified value, the optimal copper loss factor is equal to the initial value of the copper loss factor; when the solved average copper loss is greater than the specified value, the copper loss factor should be reduced. In order to solve the optimal copper loss factor: introduce a PI controller to solve the optimal copper loss factor, and its output maximum value is the initial value of the copper loss factor. When the average copper loss is less than the specified value, the PI controller outputs the initial value of the copper loss factor as the optimal value. When the solved average copper loss is greater than the specified value, the PI controller outputs the copper loss factor gradually decreasing until the average copper loss is equal to the specified value.

开关管开路故障两模容错控制：

Figure BDA0004060897630000061
假设发生了A相上管故障，在正常运行模态，电流参考值不变。在故障运行模态，电流参考值与缺相故障容错电流参考值相等。Two-mode fault-tolerant control for open-circuit fault of switch tube:
Figure BDA0004060897630000061
Assuming that a phase A upper tube fault occurs, in the normal operation mode, the current reference value remains unchanged. In the fault operation mode, the current reference value is equal to the phase failure fault tolerance current reference value.

本发明具有以下有益效果：The present invention has the following beneficial effects:

提出的电流参考值重构的三相永磁同步电机驱动系统开路故障容错控制方法，仅通过更改电机驱动系统的电流参考值即可完成容错控制，在正常运行情况下的电机驱动控制系统的控制框架仍能用于故障容错运行。提出的故障容错控制方法没有使用任何辅助电路设施，降低了经济成本。提出的故障容错控制方法可以减小由于电流换向不能立即完成所带来的电流跟踪误差；通过引入铜损因子可以约束电机故障容错运行时的铜损，可以使得电机故障容错运行不会超过所设定的最大铜损上限。通过引入PI控制器实时优化电机容错控制时的参考电流提高了电机容错运行的稳定性。采用所优化后的故障容错参考电流，可以满足电流换向的要求，使得电流跟踪误差减小，消除负转矩，同时使得电机的铜损和电机输出转矩达到一个良好的平衡。The proposed open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor drive system with current reference value reconstruction can complete fault-tolerant control by only changing the current reference value of the motor drive system. The control framework of the motor drive control system under normal operation can still be used for fault-tolerant operation. The proposed fault-tolerant control method does not use any auxiliary circuit facilities, which reduces the economic cost. The proposed fault-tolerant control method can reduce the current tracking error caused by the inability to immediately complete the current commutation; by introducing the copper loss factor, the copper loss of the motor during fault-tolerant operation can be constrained, so that the motor fault-tolerant operation will not exceed the set maximum copper loss upper limit. The stability of the motor fault-tolerant operation is improved by introducing a PI controller to optimize the reference current during the motor fault-tolerant control in real time. The optimized fault-tolerant reference current can meet the requirements of current commutation, reduce the current tracking error, eliminate negative torque, and achieve a good balance between the motor copper loss and the motor output torque.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1是所采用的三相电机驱动控制系统示意图。FIG1 is a schematic diagram of the three-phase motor drive control system used.

图2是本发明一种永磁同步电机驱动系统开路故障容错控制方法流程图。FIG2 is a flow chart of an open-circuit fault-tolerant control method for a permanent magnet synchronous motor drive system according to the present invention.

图3是基于转矩指令

Figure BDA0004060897630000062
得到的缺相故障容错运行时的相电流参考值图。Figure 3 is based on the torque command
Figure BDA0004060897630000062
The obtained phase current reference value diagram during phase loss fault tolerance operation.

图4是缺相故障容错运行时使用考虑电流换向的相电流参考值图。FIG. 4 is a diagram of phase current reference values using current commutation considerations during phase failure fault tolerance operation.

图5是缺相故障容错运行时使用不同铜损因子的相电流参考值的容错性能图。FIG5 is a fault tolerance performance diagram of phase current reference values using different copper loss factors during phase failure fault tolerance operation.

图6是开关管开路故障运行时两模容错控制方法的容错性能图。FIG6 is a fault-tolerant performance diagram of the two-mode fault-tolerant control method when the switch tube is operating at an open circuit fault.

具体实施方式DETAILED DESCRIPTION

下面将结合说明书附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通人员在没有做出创造性劳动前提下所获得的的所有其他实施例，都属于本发明的保护范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings of the specification. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work are within the scope of protection of the present invention.

如图1所示，为本实施例涉及一种三相永磁同步电机驱动系统，包括：电流指令发生单元、参考电压生成单元、信号产生单元、功率驱动单元、电流检测变换单元、位置速度检测单元，其中：电流指令发生单元根据转矩指令

Figure BDA0004060897630000071
得到参考电流
Figure BDA0004060897630000072
参考电压生成单元根据参考电流
Figure BDA0004060897630000073
和反馈的id、iq计算得到电压指令
Figure BDA0004060897630000074
信号产生单元根据参考电压
Figure BDA0004060897630000075
Figure BDA0004060897630000076
进行调制得到驱动信号；功率驱动单元根据驱动信号驱动电机运行；电流检测变换单元对电流信号进行采集并进行坐标变换；位置速度检测单元用于获取电机的位置信息θ和转速信息ωe。As shown in FIG1 , this embodiment relates to a three-phase permanent magnet synchronous motor drive system, including: a current command generating unit, a reference voltage generating unit, a signal generating unit, a power driving unit, a current detection conversion unit, and a position speed detection unit, wherein: the current command generating unit generates a current command according to the torque command.
Figure BDA0004060897630000071
Get the reference current
Figure BDA0004060897630000072
The reference voltage generating unit generates a reference current according to the reference current
Figure BDA0004060897630000073
The voltage command is calculated by the feedback i d and i q
Figure BDA0004060897630000074
The signal generating unit is based on the reference voltage
Figure BDA0004060897630000075
Figure BDA0004060897630000076
Modulation is performed to obtain a driving signal; the power driving unit drives the motor to operate according to the driving signal; the current detection conversion unit collects the current signal and performs coordinate transformation; the position and speed detection unit is used to obtain the position information θ and the speed information ω e of the motor.

如图2所示，为本实施例基于上述系统的三相永磁同步电机驱动系统开路故障容错控制方法，具体包括：As shown in FIG2 , the open-circuit fault-tolerant control method of the three-phase permanent magnet synchronous motor drive system based on the above system in this embodiment specifically includes:

S1：假设在A相发生了缺相故障，在故障容错运行下，基于转矩指令

Figure BDA0004060897630000077
得到故障容错运行的相电流参考值：
Figure BDA0004060897630000078
S1: Assume that a phase failure occurs in phase A. In fault-tolerant operation, based on the torque command
Figure BDA0004060897630000077
Get the phase current reference value for fault-tolerant operation:
Figure BDA0004060897630000078

如图3所示，基于转矩指令

Figure BDA0004060897630000079
得到的缺相故障容错运行时的相电流参考值在电流换向时，电流需要立即完成换向，因此将会增大电机的电流跟踪误差，并恶化电机的转矩输出性能。As shown in Figure 3, based on the torque command
Figure BDA0004060897630000079
The obtained phase current reference value during phase failure fault-tolerant operation requires that the current be commutated immediately during current commutation, which will increase the current tracking error of the motor and deteriorate the torque output performance of the motor.

S2：基于转矩指令

Figure BDA00040608976300000710
得到的故障容错运行的相电流参考值为了达到理论最小转矩脉动，必须使得电机在容错控制运行时的电流在换向时能瞬间换向，然而实际的电机系统是不能完成的。因此在电机容错控制运行时，换向角度是必须考虑的。通过求解换向时间：
Figure BDA00040608976300000711
换向角度也能被求解：θc＝ωeTct。通过求解出的换向角度，考虑电流换向时的容错控制运行参考电流能够被求解：
Figure BDA00040608976300000712
Figure BDA00040608976300000713
通过考虑电流换向因素，电机缺相故障容错运行的电流跟踪精度能得到极大的提升，并改善了转矩输出性能，但未考虑电机铜损，降低电机效率。S2: Based on torque command
Figure BDA00040608976300000710
In order to achieve the theoretical minimum torque ripple, the phase current reference value obtained for fault-tolerant operation must be able to instantly commutate the current of the motor during fault-tolerant control operation. However, this cannot be achieved in the actual motor system. Therefore, the commutation angle must be considered when the motor is running under fault-tolerant control. By solving the commutation time:
Figure BDA00040608976300000711
The commutation angle can also be solved: θ c =ω e T ct . By solving the commutation angle, the reference current for fault-tolerant control operation considering current commutation can be solved:
Figure BDA00040608976300000712
Figure BDA00040608976300000713
By considering the current commutation factor, the current tracking accuracy of the motor's phase failure fault-tolerant operation can be greatly improved, and the torque output performance is improved, but the motor copper loss is not considered, which reduces the motor efficiency.

如图4所示：与基于转矩指令

Figure BDA00040608976300000714
得到的缺相故障容错运行时的相电流参考值相比，缺相故障容错运行时使用考虑电流换向的相电流参考值的电流换向时间延长，电机开始换向角度被提前。As shown in Figure 4: Based on the torque command
Figure BDA00040608976300000714
Compared with the phase current reference value obtained during phase loss fault tolerant operation, the current commutation time of the phase current reference value considering current commutation during phase loss fault tolerant operation is prolonged, and the motor start commutation angle is advanced.

S3：通过引入铜损和机械功率：

Figure BDA0004060897630000081
电机铜损因子能够被表示：
Figure BDA0004060897630000082
再通过转矩公式：
Figure BDA0004060897630000083
和坐标变换公式：
Figure BDA0004060897630000084
即可求解出只考虑铜损的相电流参考值：
Figure BDA0004060897630000085
从式中可以看出通过改变铜损因子就可以改变电机铜损，因此为了减小铜损
Figure BDA0004060897630000086
也应该被选为相电流参考值并且应尽可能的小。因此
Figure BDA0004060897630000087
与
Figure BDA0004060897630000088
相比绝对值小的应当被优先考虑为参考值。故考虑铜损、电流换向的缺相故障容错运行情况下的相电流参考值便可以被表示出来：
Figure BDA0004060897630000089
通过调整铜损因子大小，可以实现电流换向和调整电机平均铜损大小。S3: By introducing copper loss and mechanical power:
Figure BDA0004060897630000081
The motor copper loss factor can be expressed as:
Figure BDA0004060897630000082
Then through the torque formula:
Figure BDA0004060897630000083
And the coordinate transformation formula:
Figure BDA0004060897630000084
The phase current reference value considering only copper loss can be solved:
Figure BDA0004060897630000085
It can be seen from the formula that the motor copper loss can be changed by changing the copper loss factor. Therefore, in order to reduce the copper loss
Figure BDA0004060897630000086
should also be selected as the phase current reference value and should be as small as possible.
Figure BDA0004060897630000087
and
Figure BDA0004060897630000088
The smaller absolute value should be given priority as the reference value. Therefore, the phase current reference value under the phase failure fault tolerance operation considering copper loss and current commutation can be expressed as:
Figure BDA0004060897630000089
By adjusting the copper loss factor, current commutation can be achieved and the average copper loss of the motor can be adjusted.

如图5所示：通过改变铜损因子，电机故障容错运行时的相电流参考值被改变，与此同时，通过改变铜损因子电流换向也能够被完成。通过改变铜损因子，电机的平均铜损能够改变，当铜损因子越小时，电机的平均铜损也就越小。As shown in Figure 5: By changing the copper loss factor, the phase current reference value during the fault tolerance operation of the motor is changed. At the same time, by changing the copper loss factor, the current commutation can also be completed. By changing the copper loss factor, the average copper loss of the motor can be changed. When the copper loss factor is smaller, the average copper loss of the motor is also smaller.

S4：通过计算一个电流基波周期的平均铜损：S4: By calculating the average copper loss of one current fundamental cycle:

Figure BDA00040608976300000810
再引入一个PI控制器求解最优的铜损因子。将电机铜损的上限作为PI控制器的参考值，并且将能满足电流换向的铜损因子初始值：
Figure BDA00040608976300000811
作为PI控制器输出的最大值。当平均铜损小于规定值，则PI控制器输出铜损因子初始值作为最优值，当求解出的平均铜损大于规定值，PI控制器输出铜损因子逐渐减小，直至平均铜损等于规定值。
Figure BDA00040608976300000810
A PI controller is introduced to solve the optimal copper loss factor. The upper limit of the motor copper loss is used as the reference value of the PI controller, and the initial value of the copper loss factor that can satisfy the current commutation is:
Figure BDA00040608976300000811
As the maximum value of the PI controller output. When the average copper loss is less than the specified value, the PI controller outputs the initial value of the copper loss factor as the optimal value. When the average copper loss is greater than the specified value, the PI controller outputs the copper loss factor gradually decreasing until the average copper loss is equal to the specified value.

S5：将得到的最优铜损因子带入到

Figure BDA00040608976300000812
即可得到缺相故障下运行的最优容错控制相电流参考值。S5: Substitute the obtained optimal copper loss factor into
Figure BDA00040608976300000812
The optimal fault-tolerant control phase current reference value under phase failure can be obtained.

S6：将得到缺相故障下运行的最优容错控制相电流参考值经过坐标变换即可得到缺相故障下运行的最优容错控制dq轴电流参考值，将最优容错控制dq轴电流参考值代入控制系统中即可完成容错控制运行。S6: The optimal fault-tolerant control phase current reference value under the phase failure condition is subjected to coordinate transformation to obtain the optimal fault-tolerant control dq axis current reference value under the phase failure condition. The optimal fault-tolerant control dq axis current reference value is substituted into the control system to complete the fault-tolerant control operation.

对于开关管开路故障，采取两模容错控制方法：

Figure BDA0004060897630000091
假设发生了A相上管故障，在正常运行模态，电流参考值不变。在故障运行模态，电流参考值与缺相故障容错电流参考值相等，通过将得到的dq轴电流参考值代入控制系统中即可完成容错控制运行。For the open circuit failure of the switch tube, a two-mode fault-tolerant control method is adopted:
Figure BDA0004060897630000091
Assuming that a phase A upper tube fault occurs, in the normal operation mode, the current reference value remains unchanged. In the fault operation mode, the current reference value is equal to the phase failure fault tolerance current reference value. By substituting the obtained dq axis current reference value into the control system, the fault tolerance control operation can be completed.

如图6所示，开关管开路故障的电流参考值仅在故障运行时被改变，通过这种容错控制方法，剩余的健康开关管被充分的利用去控制电机。As shown in FIG6 , the current reference value of the open-circuit fault of the switch tube is changed only during the fault operation. Through this fault-tolerant control method, the remaining healthy switch tubes are fully utilized to control the motor.

在上述步骤中，电机故障容错运行时的转矩脉动、电流跟踪精度以及电机铜损因素均在所提出的故障容错控制被考虑，提出的三相永磁同步电机驱动系统的开路故障容错控制方法能够有效的减小故障容错运行时的电机转矩脉动、电流跟踪精度误差以及电机平均铜损，提高了系统的安全性以及可靠性。In the above steps, the torque pulsation, current tracking accuracy and motor copper loss factors during the fault-tolerant operation of the motor are all taken into consideration in the proposed fault-tolerant control. The proposed open-circuit fault-tolerant control method for the three-phase permanent magnet synchronous motor drive system can effectively reduce the motor torque pulsation, current tracking accuracy error and motor average copper loss during fault-tolerant operation, thereby improving the safety and reliability of the system.

Claims (10)

1.一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于，包括：1. A three-phase permanent magnet synchronous motor drive system open circuit fault tolerance control method, characterized in that it includes: 三相永磁同步电机驱动系统开路故障指的是缺相故障和开关管开路故障，基于缺相故障运行时dq轴电流表达式、表贴式永磁同步电机的转矩公式、电流抑制要求和电机转矩指令
Figure FDA0004060897620000011
得到缺相故障容错运行时的相电流参考值，再通过dq轴电流表达式坐标变换即可得到新的dq轴容错电流参考值，实现缺相故障容错运行的理论转矩最小脉动；The open circuit fault of the three-phase permanent magnet synchronous motor drive system refers to the phase loss fault and the switch tube open circuit fault. Based on the dq axis current expression when running with the phase loss fault, the torque formula of the surface-mounted permanent magnet synchronous motor, the current suppression requirements and the motor torque command
Figure FDA0004060897620000011
The phase current reference value during phase failure fault-tolerant operation is obtained, and then the new dq axis fault-tolerant current reference value can be obtained through the coordinate transformation of the dq axis current expression, so as to achieve the theoretical minimum torque pulsation during phase failure fault-tolerant operation; 考虑电流换向不能瞬间完成，通过计算最小电流换向所需时间来计算出电流换向所需角度，得到满足电流换向的电流参考值，代入相电流参考值中，得到新的缺相故障容错运行情况下考虑电流换向的相电流参考值；Considering that current commutation cannot be completed instantly, the required angle for current commutation is calculated by calculating the minimum time required for current commutation, and the current reference value that satisfies current commutation is obtained. Substituting it into the phase current reference value, a new phase current reference value considering current commutation is obtained under the condition of phase-failure fault-tolerant operation. 通过计算平均铜损功率和机械功率，得到铜损因子的表达式，铜损因子与平均铜损正相关，再利用转矩公式和铜损公式即可得到考虑铜损的相电流参考值，通过改变铜损因子改变相电流参考值进而改变平均铜损，将其与转矩指令
Figure FDA0004060897620000012
得到的缺相故障容错运行下的相电流参考值相结合，即可得到考虑铜损的缺相故障容错运行情况下的相电流参考值；By calculating the average copper loss power and mechanical power, the expression of the copper loss factor is obtained. The copper loss factor is positively correlated with the average copper loss. Then, the phase current reference value considering the copper loss can be obtained by using the torque formula and the copper loss formula. By changing the copper loss factor, the phase current reference value is changed, and then the average copper loss is changed. It is combined with the torque command.
Figure FDA0004060897620000012
The phase current reference value under the phase failure fault-tolerant operation condition with copper loss taken into consideration can be combined with the phase current reference value under the phase failure fault-tolerant operation condition with copper loss taken into consideration; 通过结合电流换向角，可得到考虑电流换向的铜损因子的表达式，将此表达式作为考虑铜损大小的缺相故障容错运行情况下的相电流参考值的初始值，那么该相电流参考值即成为考虑电流换向、铜损大小的缺相故障容错运行情况下的相电流参考值的初始值；By combining the current commutation angle, an expression of the copper loss factor considering the current commutation can be obtained. This expression is used as the initial value of the phase current reference value under the phase loss fault tolerance operation condition considering the copper loss size. Then, the phase current reference value becomes the initial value of the phase current reference value under the phase loss fault tolerance operation condition considering the current commutation and the copper loss size. 考虑到电机的铜损最大上限，因此引入一个PI控制器来计算最优铜损因子，该铜损因子的最大值即为考虑电流换向的铜损因子，当平均铜损超过其上限值，铜损因子将会减小以降低平均铜损，直至等于平均铜损上限，此时铜损因子即为最优铜损因子，将其带入到考虑电流换向、铜损大小的缺相故障容错运行情况下的相电流参考值中，即可得到最优的考虑电流换向、铜损大小的缺相故障容错运行情况下的相电流参考值；Considering the maximum upper limit of the motor's copper loss, a PI controller is introduced to calculate the optimal copper loss factor. The maximum value of the copper loss factor is the copper loss factor considering current commutation. When the average copper loss exceeds its upper limit, the copper loss factor will decrease to reduce the average copper loss until it is equal to the upper limit of the average copper loss. At this time, the copper loss factor is the optimal copper loss factor. Substituting it into the phase current reference value under the phase-fault-tolerant operation condition considering current commutation and copper loss size, the optimal phase current reference value under the phase-fault-tolerant operation condition considering current commutation and copper loss size can be obtained. 对于开关管开路故障，基于缺相故障容错运行时的相电流参考值，对开关管开路故障实施两模容错控制方法来实现容错控制。For the open-circuit fault of the switch tube, based on the phase current reference value during the phase-loss fault-tolerant operation, a two-mode fault-tolerant control method is implemented to realize fault-tolerant control. 2.根据权利要求1所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：基于缺相故障运行时所述dq轴电流表达式、表贴式永磁同步电机的转矩公式具体为：2. According to the open circuit fault tolerance control method of a three-phase permanent magnet synchronous motor drive system according to claim 1, it is characterized in that: based on the dq axis current expression and the torque formula of the surface mounted permanent magnet synchronous motor during the phase failure operation, the specific formula is:
Figure FDA0004060897620000013
其中假设A相为缺相故障相，iB表示B相电流；id、iq分别表示为dq轴电流；Np表示电机极对数；Te表示电机转矩；ψf是永磁磁链幅值；θe表示电机转子的电角度位置信息。
Figure FDA0004060897620000013
It is assumed that phase A is the phase with a phase-loss fault, i B represents the current of phase B; i d and i q represent the dq axis currents respectively; N p represents the number of motor pole pairs; Te represents the motor torque; ψ f is the permanent magnet flux amplitude; and θ e represents the electrical angle position information of the motor rotor. 3.根据权利要求2所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：基于缺相故障运行时dq轴电流表达式、表贴式永磁同步电机的转矩公式、电流抑制要求和电机转矩指令
Figure FDA0004060897620000021
得到缺相故障容错运行时的相电流参考值具体为：
Figure FDA0004060897620000022
其中
Figure FDA0004060897620000023
为仅考虑电机转矩指令
Figure FDA0004060897620000024
得到的缺相故障容错运行时的相电流参考值；
Figure FDA0004060897620000025
为加入了电流抑制要求的缺相故障容错运行时的相电流参考值；Imax为电机电流的最大电流幅值。3. A three-phase permanent magnet synchronous motor drive system open circuit fault tolerance control method according to claim 2, characterized in that: based on the dq axis current expression during phase failure operation, the torque formula of the surface mounted permanent magnet synchronous motor, the current suppression requirement and the motor torque instruction
Figure FDA0004060897620000021
The phase current reference value obtained during phase failure fault tolerance operation is:
Figure FDA0004060897620000022
in
Figure FDA0004060897620000023
To consider only the motor torque command
Figure FDA0004060897620000024
The obtained phase current reference value during phase failure fault tolerance operation;
Figure FDA0004060897620000025
It is the phase current reference value during phase failure fault-tolerant operation with current suppression requirements added; I max is the maximum current amplitude of the motor current. 4.据权利要求3所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：所述电流换向最小所需时间具体为：
Figure FDA0004060897620000026
其中Tct为最小换向所需时间；Ls为电机定子电感；Udc为直流母线电压。4. The open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor drive system according to claim 3, characterized in that: the minimum time required for current commutation is specifically:
Figure FDA0004060897620000026
Where Tct is the minimum commutation time; Ls is the motor stator inductance; Udc is the DC bus voltage. 5.根据权利要求4所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：所述电流换向角具体为：θc＝ωeTct；其中θc为电流换向角；ωe是电机的电角速度。5. The open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor drive system according to claim 4, characterized in that: the current commutation angle is specifically: θ c =ω e T ct ; wherein θ c is the current commutation angle; ω e is the electrical angular velocity of the motor. 6.根据权利要求5所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：所述的考虑电流换向的相电流参考值具体为：
Figure FDA0004060897620000027
Figure FDA0004060897620000028
其中
Figure FDA0004060897620000029
为考虑电流换向的相电流参考值；
Figure FDA00040608976200000210
为满足电流换向的电流参考值；
Figure FDA00040608976200000211
为相电流参考值在考虑电流换向后所增加的电力转折点。6. The open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor drive system according to claim 5, characterized in that: the phase current reference value considering current commutation is specifically:
Figure FDA0004060897620000027
Figure FDA0004060897620000028
in
Figure FDA0004060897620000029
is the phase current reference value considering current commutation;
Figure FDA00040608976200000210
To meet the current reference value for current commutation;
Figure FDA00040608976200000211
It is the power turning point that the phase current reference value increases after taking into account the current commutation. 7.根据权利要求6所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：通过平均铜损功率和机械功率，得到铜损因子的表达式，具体为：
Figure FDA00040608976200000212
其中Pcu、PTe分别为平均铜损功率和机械功率；Rs为电机定子电阻；n为电机转速；RCu为铜损因子。7. The open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor drive system according to claim 6, characterized in that: the expression of the copper loss factor is obtained by averaging the copper loss power and the mechanical power, specifically:
Figure FDA00040608976200000212
Where P cu and P Te are the average copper loss power and mechanical power respectively; R s is the stator resistance of the motor; n is the motor speed; R Cu is the copper loss factor. 8.根据权利要求7所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：所述的考虑铜损、电流换向的缺相故障容错运行情况下的相电流参考值，具体为：
Figure FDA0004060897620000031
其中
Figure FDA0004060897620000032
为考虑铜损的相电流参考值；
Figure FDA0004060897620000033
为考虑铜损、电流换向的缺相故障容错运行情况下的相电流参考值。8. The open circuit fault tolerance control method for a three-phase permanent magnet synchronous motor drive system according to claim 7, characterized in that: the phase current reference value under the phase failure tolerance operation condition considering copper loss and current commutation is specifically:
Figure FDA0004060897620000031
in
Figure FDA0004060897620000032
is the phase current reference value considering copper loss;
Figure FDA0004060897620000033
It is the phase current reference value under the phase failure fault tolerant operation condition taking into account copper loss and current commutation. 9.根据权利要求8所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：所述的缺相故障容错运行下的平均铜损具体为：
Figure FDA0004060897620000034
其中
Figure FDA0004060897620000035
Figure FDA0004060897620000036
分别为考虑铜损后相电流参考值的转折点。9. The open circuit fault tolerance control method for a three-phase permanent magnet synchronous motor drive system according to claim 8, characterized in that the average copper loss under the phase loss fault tolerance operation is specifically:
Figure FDA0004060897620000034
in
Figure FDA0004060897620000035
Figure FDA0004060897620000036
They are the turning points of the phase current reference value after considering copper loss. 10.根据权利要求9所述的一种三相永磁同步电机驱动系统开路故障容错控制方法，其特征在于：所述的铜损因子初始值具体为：
Figure FDA0004060897620000037
其中Ccu_in表示为铜损因子初始值；10. The open-circuit fault-tolerant control method for a three-phase permanent magnet synchronous motor drive system according to claim 9, characterized in that: the initial value of the copper loss factor is specifically:
Figure FDA0004060897620000037
Where C cu_in represents the initial value of the copper loss factor; 在缺相故障容错控制运行时，引入一个PI控制器来计算最优铜损因子，该铜损因子的最大值即为考虑电流换向的铜损因子，当平均铜损超过其上限值，铜损因子将会减小以降低平均铜损，直至等于平均铜损上限，此时铜损因子即为最优铜损因子；During the operation of phase-failure fault-tolerant control, a PI controller is introduced to calculate the optimal copper loss factor. The maximum value of the copper loss factor is the copper loss factor considering current commutation. When the average copper loss exceeds its upper limit, the copper loss factor will decrease to reduce the average copper loss until it is equal to the upper limit of the average copper loss. At this time, the copper loss factor is the optimal copper loss factor. 所述的开关管开路故障两模容错控制方法；假设发生了A相上管故障，在正常运行模态，电流参考值不变，在故障运行模态，电流参考值与缺相故障容错电流参考值相等，具体为：
Figure FDA0004060897620000038
其中
Figure FDA0004060897620000039
分别为开关管开路故障容错运行时的dq轴参考电流；sinθe>0表示电机处于正常运行；sinθe<0表示电机处于故障容错运行；The two-mode fault-tolerant control method for the open-circuit fault of the switch tube described; assuming that a fault occurs on the A-phase upper tube, in the normal operation mode, the current reference value remains unchanged, and in the fault operation mode, the current reference value is equal to the fault-tolerant current reference value of the phase loss fault, specifically:
Figure FDA0004060897620000038
in
Figure FDA0004060897620000039
are the dq axis reference currents during the fault-tolerant operation of the switch tube open circuit respectively; sinθ e >0 indicates that the motor is in normal operation; sinθ e <0 indicates that the motor is in fault-tolerant operation; 对于开关管故障而言：在容错运行时，平均铜损不会超过其阈值，因此最优铜损因子等于铜损因子初始值。For switch tube failure: in fault-tolerant operation, the average copper loss will not exceed its threshold, so the optimal copper loss factor is equal to the initial value of the copper loss factor.
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