CN117526782A - Multiphase permanent magnet synchronous motor fault-tolerant control method based on voltage amplitude limiting analysis - Google Patents

Multiphase permanent magnet synchronous motor fault-tolerant control method based on voltage amplitude limiting analysis Download PDF

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CN117526782A
CN117526782A CN202311534668.XA CN202311534668A CN117526782A CN 117526782 A CN117526782 A CN 117526782A CN 202311534668 A CN202311534668 A CN 202311534668A CN 117526782 A CN117526782 A CN 117526782A
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voltage
vector
phase
harmonic
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赵文祥
王化南
朱纪洪
陆旦宏
朱志莹
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Nanjing Institute of Technology
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Nanjing Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor

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

Abstract

The invention discloses a multiphase permanent magnet synchronous motor fault-tolerant control method based on voltage amplitude limiting analysis, which comprises the steps of selecting vector combinations in four quadrants of a fundamental wave plane under open circuit fault, and determining the equivalence of the vector combinations and carrier-based pulse width modulation (CPWM); determining the maximum value of the outputtable voltage of the fundamental wave plane and the harmonic plane according to the vector combination with CPWM equivalence; calculating the voltage output limiting values of four quadrants of the fundamental wave plane when harmonic suppression is considered; comparing the magnitude of the reference voltage vector amplitude of the fundamental wave plane with the magnitude of the voltage output limit value, and adjusting the reference voltage vector amplitude of the fundamental wave plane and the harmonic wave plane; and utilizing the reference voltage vectors of the adjusted fundamental wave plane and harmonic wave plane to act on the multiphase permanent magnet synchronous motor. The invention aims to improve the operation efficiency of a common modulation area when an open circuit fault occurs in a multiphase permanent magnet synchronous motor; and when the motor operates in the overmodulation region, the control error of the dq axis is reduced, and the control performance of the motor is ensured.

Description

Multiphase permanent magnet synchronous motor fault-tolerant control method based on voltage amplitude limiting analysis
Technical Field
The invention belongs to the field of fault-tolerant control of multiphase motors, and particularly relates to a fault-tolerant control method of a multiphase permanent magnet synchronous motor based on voltage amplitude limiting analysis.
Background
In recent years, multiphase motors have received much attention for their stronger fault tolerance and more degrees of control freedom than conventional three-phase motors. Therefore, in order to meet the increasingly high requirements on safety and reliability in the fields of aerospace and the like, the fault-tolerant control of the multiphase motor is particularly important. As one of the most common types of faults, most fault tolerant controls focus on open circuit fault tolerance of the motor.
The scholars at home and abroad have achieved a certain result on the fault-tolerant control method of the five-phase permanent magnet synchronous motor. Chinese patent (CN 110729935 a) discloses a control method for open-winding five-phase permanent magnet synchronous motor a-phase winding open-circuit, which regards a five-phase permanent magnet motor under one-phase open-circuit as a four-phase motor for control; however, the method changes the mathematical model of the motor before and after the fault, and increases the complexity of system control. Chinese patent (CN 110829926A) discloses a fault-tolerant control method and device for SVPWM of open-winding five-phase permanent magnet fault-tolerant motor, the method considers the space voltage vector reconstruction after fault from the voltage angle on the basis of not changing the topology structure of the original SVPWM driving control system, realizes the minimum reconstruction control system under different faults, not only can ensure that the motor driving system has good operation performance under normal and fault working conditions, but also simplifies the controller algorithm; however, the method does not analyze the bus voltage utilization rate, and reduces the modulation range. Chinese patent (CN 113271048A) discloses a unified fault-tolerant control method of a five-phase permanent magnet fault-tolerant motor, which essentially reveals a fault-tolerant mechanism, and the CPWM-based method effectively solves the problem that fault-tolerant control schemes corresponding to various novel basic control algorithms are variable and complicated; however, the method is not optimized for the overmodulation region, and the running performance of the motor in the overmodulation region cannot be ensured.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a fault-tolerant control method of a multiphase permanent magnet synchronous motor based on voltage amplitude limiting analysis, which solves the problems of poor static performance in a common modulation area and relatively larger dq axis error in an overmodulation area of the traditional fault-tolerant method, improves the operation efficiency in the common modulation area and ensures the control of the dq axis in the overmodulation area.
The present invention achieves the above technical object by the following means.
A fault-tolerant control method of a multiphase permanent magnet synchronous motor based on voltage amplitude limiting analysis comprises the following steps:
establishing a vector selection principle by using a voltage vector diagram under open circuit fault;
based on CPWM equivalence, selecting vector combinations meeting the vector selection principle in four quadrants of a fundamental wave plane;
determining a maximum value of the fundamental plane outputtable voltage and a range of the harmonic plane outputtable voltage from the vector combination;
calculating output voltage limiting values of four quadrants of a fundamental wave plane when harmonic suppression is considered;
comparing the reference voltage vector amplitude of the fundamental wave plane with the output voltage limiting value, and adjusting the reference voltage vector amplitude of the fundamental wave plane and the harmonic wave plane; judging whether the reference voltage amplitude values of the adjusted fundamental wave plane and harmonic wave plane exceed the maximum value or not, and carrying out secondary adjustment;
and calculating a modulation wave according to the adjusted reference voltage vectors of the fundamental wave plane and the harmonic wave plane, calculating a phase duty ratio by using the modulation wave, and acting on the multiphase permanent magnet synchronous motor.
Further, the vector selection principle is as follows:
3 effective vectors are selected; at least 2 of the 3 effective vectors have components in the y-axis of the harmonic plane and their components must be of opposite polarity; the switching states of the 3 active vectors must be able to be arranged as centrosymmetric PWM waves.
Further, the vector combination satisfying the vector selection principle in the four quadrants of the fundamental wave plane is: in each quadrant, two fixed zero vectors are selected, combined with the 3 active vectors that have been selected.
Further, the boundary of the voltage output is determined by the vector combination, so that the maximum value of the fundamental plane outputtable voltage is obtained:
wherein M is the maximum value of the output voltage of the fundamental wave plane, U dc For the voltage of the bus bar,is the reference voltage vector angle.
Further, the components of the voltage vectors corresponding to the vector combinations in the harmonic plane in the y axis are analyzed, and the range of the voltage which can be output in the harmonic plane is determined as follows:
wherein u is y For voltage of y-axis, U dc For the voltage of the bus bar,is the reference voltage vector angle.
Further, output voltage limit values of four quadrants of a fundamental wave plane in consideration of harmonic suppression are calculated, specifically:
taking the first quadrant as an example, in combination with the selected vector combination and the corresponding CPWM wave-generating condition, according to the topological structure of the five-phase voltage source half-bridge inverter, the following relationship exists:
wherein u is B And u D Phase voltages of the B phase and the D phase, respectively;
according to the reduced-order decoupling matrix, the phase voltages can be transformed to a two-phase natural coordinate system:
wherein u is C And u E Voltages of C phase and E phase, respectively, and u α 、u β And u 0 Voltages of an alpha axis, a beta axis and a zero sequence respectively; then u B And u D Writing:
substituting (3) into (1) to obtain:
2.5×(0.8944u α +0.6158u β -0.1456u y )≤U dc (4)
and (3) making:
wherein u is ref A reference voltage vector that is the fundamental plane;
then, formula (4) is written as:
and (3) performing item shifting on the formula (6) to obtain:
similarly, the base plane output voltage limit values obtained for the other three quadrants when harmonic suppression is considered are:
further, comparing the reference voltage vector amplitude of the fundamental wave plane with the output voltage limit value, and adjusting the reference voltage vector amplitude of the fundamental wave plane and the harmonic wave plane, specifically:
comparison |u ref * I and u lim If the size of |u ref * I is less than or equal to u lim Then u is ref * And u y * As input to the CPWM, namely:
in the formula, |u ref * I is the reference voltage vector amplitude of the fundamental wave plane, u lim Is a limiting value of the output voltage of the time base plane in consideration of harmonic suppression, u ref * Reference voltage vector for fundamental plane, u y * Reference voltage vector for harmonic plane, u y ' denotes the reference voltage setpoint of the adjusted harmonic plane, u ref ' represents the adjusted reference voltage vector setpoint for the fundamental plane;
if |u ref * I is greater than u lim Then adjust u y * The value of (1) is such that u lim Become larger up to u lim Equal to |u ref * I (I); and u is y ' satisfy:
and the amplitude of the reference voltage vector of the adjusted fundamental wave plane is as follows:
in U dc For the voltage of the bus bar,is the reference voltage vector angle.
Further, judging whether the reference voltage amplitude of the adjusted fundamental wave plane and harmonic plane exceeds the maximum value, and performing secondary adjustment, specifically:
comparison |u ref ' I and M, if M is greater than or equal to |u ref ' I will beAnd
if M is smaller than |u ref ' i, then:
further, the modulated wave is calculated from the adjusted reference voltage vectors of the fundamental wave plane and the harmonic wave plane, specifically:
will u ref ' and u y ' transform to five-phase natural coordinate system:
wherein u is B 、u C 、u E And u D Phase voltages of B phase, C phase, D phase and E phase of five-phase voltage source half-bridge inverter respectively, u α ' and u β ' represents u ref ' components in the alpha and beta axes, C -1 A decoupling matrix for decreasing order;
calculating a modulated wave using the phase voltages:
where k= B, C, D, E, u max And u min Representing the maximum and minimum values of the phase voltages.
Further, a phase duty ratio is calculated using the modulated wave:
in the duty k Is the phase duty cycle.
The beneficial effects of the invention are as follows:
(1) In the invention, under the condition of open circuit fault, the multiphase motor works in a common modulation area, because CPWM strategy is adopted, reference voltage vectors of a fundamental wave plane and a harmonic wave plane can be synthesized simultaneously, and errors of three degrees of freedom of dqy can be controlled to be very small; therefore, the static performance of the motor is more excellent, and the running efficiency is improved.
(2) In the invention, under the condition of open circuit fault, the multiphase motor works in an overmodulation region, because a voltage limiting algorithm is introduced, the maximum value of the output voltage of a fundamental wave plane can be increased in an additional harmonic voltage injection mode during overmodulation, and the error between the output voltage vector of the fundamental wave plane and a reference voltage vector is reduced; therefore, the control error of the dq axis is reduced, thereby ensuring the control performance of the dq axis.
(3) The control method is easy to implement and is applicable to any one of control including vector control, direct torque control, and model predictive control. In addition, the motor is easy to popularize to multiphase motors with any phase number.
Drawings
FIG. 1 is a block diagram of fault-tolerant control of open-circuit faults of a five-phase permanent magnet synchronous motor according to the present invention;
fig. 2 (a) is a voltage vector diagram of a fundamental wave plane under an open circuit fault of the five-phase permanent magnet synchronous motor according to the present invention;
fig. 2 (b) is a voltage vector diagram of a harmonic plane of the five-phase permanent magnet synchronous motor under an open circuit fault;
FIG. 3 (a) is a diagram of the vector combination of the first quadrant and CPWM ripple condition of the present invention;
FIG. 3 (b) is a diagram of the CPWM ripple case of the vector combination II of the first quadrant of the present invention;
FIG. 4 shows the fundamental plane of the inventionFirst quadrant ofA three-dimensional map;
FIG. 5 is a graph showing the static performance test of the normal modulation region according to the present invention;
FIG. 6 is a graph showing the static performance of the overmodulation region of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a control block diagram of the proposed fault-tolerant control method for a five-phase permanent magnet synchronous motor. The invention discloses a fault-tolerant control method of a multiphase permanent magnet synchronous motor based on voltage amplitude limiting analysis, which comprises the following specific implementation steps:
and (1) establishing a vector selection principle by using a voltage vector diagram under the open circuit fault.
Taking a five-phase motor as an example, assuming that an open circuit fault occurs in an A phase of the motor, determining voltage vector diagrams of a fundamental wave plane and a harmonic wave plane provided by a five-phase voltage source inverter when the A phase is open circuit fault according to different switch states, as shown in fig. 2 (a) and (b);
step (1.2), based on the voltage vector diagram, establishing the following vector selection principle:
principle 1: 3 effective vectors are selected;
principle 2: at least 2 of the 3 effective vectors have components in the y-axis of the harmonic plane and their components must be of opposite polarity;
principle 3: the switching states of the 3 active vectors must be able to be arranged as centrosymmetric PWM waves.
And (2) selecting vector combinations in four quadrants of the fundamental plane based on CPWM (Carrier based pulse Width modulation) equivalence.
Selecting all vectors satisfying the vector selection principle established in the step (1) in each quadrantCombining the amounts; because CPWM can generate 5 different switch states under open circuit fault, besides 3 effective vectors, 2 zero vectors are selected, and 2 zero vectors are fixed and are u 0 And u 15 . As shown in fig. 3 (a) and (b), the dashed line is a vector combination composed of the selected vectors, and the CPWM wave-generating condition corresponding to the vector combination;
and (3) determining the maximum value of the outputtable voltage of the fundamental wave plane according to the vector combination with CPWM equivalence.
Determining the boundary of the voltage output according to the vector combination obtained in the step (2), as indicated by a dash-dot line in fig. 3 (a) and (b), so as to obtain the maximum value of the outputtable voltage of the fundamental wave plane:
wherein u is lim A clipping value for the base plane outputtable voltage when harmonic suppression is considered; m is the maximum value of the outputtable voltage of the fundamental wave plane; u (U) dc Is the bus voltage;is the reference voltage vector angle.
And (4) determining the range of the voltage which can be output by the harmonic plane according to the voltage vector corresponding to the vector combination with CPWM equivalent in the harmonic plane.
According to the voltage vector corresponding to the vector combination in the harmonic plane obtained in the step (2), analyzing the component of the voltage vector in the y axis, and determining the range of the voltage which can be output by the harmonic plane:
wherein u is y Is the voltage on the y-axis.
And (5) calculating the voltage output limit values of four quadrants of the fundamental wave plane when harmonic suppression is considered.
Taking the first quadrant as an example, in combination with the selected vector combination and the corresponding CPWM wave-generating condition, according to the topological structure of the five-phase voltage source half-bridge inverter, the following relationship exists:
wherein u is B And u D The phase voltages of the B phase and the D phase, respectively.
According to the reduced decoupling matrix, the phase voltages can be transformed to a two-phase natural coordinate system:
wherein u is C And u E Voltages of C phase and E phase, respectively, and u α 、u β And u 0 Voltages of alpha axis, beta axis and zero sequence respectively. Then u B And u D Can be written as:
substituting (5) into (3) can obtain:
2.5×(0.8944u α +0.6158u β -0.1456u y )≤U dc (6)
and the following steps:
wherein u is ref Is the reference voltage vector of the fundamental plane.
Then, equation (6) can be written as:
the term of (8) can be obtained:
similarly, the limiting value of the base plane output voltage when harmonic suppression is considered in the other three quadrants is obtained as follows:
and (6) determining factors influencing the voltage limiting value according to the fundamental wave plane output voltage limiting value expression.
It can be seen from equations (9) and (10) that the factor affecting the fundamental plane voltage limit value has u y Andwill u y And->As an independent variable, u lim Drawing a binary function as a dependent variable>FIG. 4 shows a three-dimensional representation of the first quadrant of the fundamental plane +.>Is a three-dimensional graphic of (c). It can be seen that in the first quadrant, at the reference voltage vector angle +.>When unchanged, u lim Will follow u y Is increased by an increase in (a); similarly, other quadrants u can be determined by visual analysis y And->In particular how the voltage limiting value is affected.
And (7) comparing the reference voltage vector amplitude of the fundamental wave plane with the output voltage limiting value, and adjusting the reference voltage vector amplitude of the fundamental wave plane and the harmonic wave plane.
Step (7.1), see FIG. 1, of obtaining the reference voltage vector u of the fundamental and harmonic planes by three PI controllers ref * And u y *；
Step (7.2), calculating u ref * Angle of (2)Judging the quadrant in which the sensor is positioned;
step (7.3) of calculating the maximum value M of the fundamental plane output voltage according to the formula (1) and calculating the voltage clipping straight u according to the formulas (9) and (10) lim ；
Step (7.4), comparing |u ref * I and u lim If the size of |u ref * I is less than or equal to u lim Then u is ref * And u y * As input to the CPWM, namely:
wherein u is y 'represents the adjusted harmonic plane's reference voltage setpoint; u (u) ref ' represents the adjusted reference voltage vector setpoint for the fundamental plane.
And (8) judging whether the amplitude values of the adjusted fundamental wave plane and harmonic plane reference voltages exceed the maximum value, and performing secondary adjustment.
Step (8.1), if |u ref * I is greater than u lim Then adjust u y * The value of (c) is such that u lim Become larger up to u lim Equal to |u ref * I (I); and u is y ' the following formula is required to be satisfied:
then the magnitude of the adjusted reference voltage vector is:
step (8.2), comparing |u ref ' I and M, if M is greater than or equal to |u ref ' the values of formula (12) and formula (13) are used as CPWM inputs; if M is smaller than |u ref ' the following formula is performed:
and (9) calculating a modulation wave according to the adjusted reference voltage vectors of the fundamental wave plane and the harmonic wave plane.
Step (9.1), u is ref ' and u y ' transform to five-phase natural coordinate system:
wherein u is α ' and u β ' stands for u ref ' components in the alpha and beta axes, C -1 Is a reduced order decoupling matrix in equation (4).
Step (9.2) of calculating a modulated wave using the phase voltage:
where k= B, C, D, E, u max And u min Representing the maximum and minimum values of the phase voltages.
And (10) calculating the phase duty ratio by using the modulation wave and acting on the multiphase permanent magnet synchronous motor.
Calculating the duty cycle of each phase, and applying a reference voltage to the motor by using a voltage source inverter:
in the duty k Is the phase duty cycle.
Fig. 5 is a graph showing the static performance of the conventional method and the method according to the present invention when the five-phase motor is operated in the normal modulation region, and it can be found that the current distortion rate of the method according to the present invention is slightly reduced compared with the conventional method, the error of the harmonic current is smaller, and the error of the dq axis is almost identical. Fig. 6 is a graph showing a static performance experiment comparing a conventional method of operating a five-phase motor in an overmodulation region with a method proposed by the present invention, and it can be seen that the method proposed by the present invention reduces the error of the dq axis by injecting harmonics. Although the current distortion rate slightly increases, the control performance of the dq axis is ensured.
The above embodiments are only for illustrating the design concept and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, to obtain a fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis. Therefore, all equivalent changes or modifications according to the principles and design ideas of the present invention are within the scope of the present invention.

Claims (10)

1. A fault-tolerant control method of a multiphase permanent magnet synchronous motor based on voltage amplitude limiting analysis is characterized by comprising the following steps of:
establishing a vector selection principle by using a voltage vector diagram under open circuit fault;
based on CPWM equivalence, selecting vector combinations meeting the vector selection principle in four quadrants of a fundamental wave plane;
determining a maximum value of the fundamental plane outputtable voltage and a range of the harmonic plane outputtable voltage from the vector combination;
calculating output voltage limiting values of four quadrants of a fundamental wave plane when harmonic suppression is considered;
comparing the reference voltage vector amplitude of the fundamental wave plane with the output voltage limiting value, and adjusting the reference voltage vector amplitude of the fundamental wave plane and the harmonic wave plane; judging whether the reference voltage amplitude values of the adjusted fundamental wave plane and harmonic wave plane exceed the maximum value or not, and carrying out secondary adjustment;
and calculating a modulation wave according to the adjusted reference voltage vectors of the fundamental wave plane and the harmonic wave plane, calculating a phase duty ratio by using the modulation wave, and acting on the multiphase permanent magnet synchronous motor.
2. The fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 1, wherein the vector selection principle is as follows:
3 effective vectors are selected; at least 2 of the 3 effective vectors have components in the y-axis of the harmonic plane and their components must be of opposite polarity; the switching states of the 3 active vectors must be able to be arranged as centrosymmetric PWM waves.
3. The fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 2, wherein the selecting vector combinations satisfying the vector selection principle in four quadrants of a fundamental plane is: in each quadrant, two fixed zero vectors are selected, combined with the 3 active vectors that have been selected.
4. The fault-tolerant control method of a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 2, wherein the boundary of the voltage output is determined by the vector combination, thereby obtaining the maximum value of the outputtable voltage of the fundamental wave plane:
wherein M is the maximum value of the output voltage of the fundamental wave plane, U dc For the voltage of the bus bar,is the reference voltage vector angle.
5. The fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 1, wherein the component of the voltage vector corresponding to the vector combination in the harmonic plane in the y axis is analyzed, and the range of the voltage which can be output in the harmonic plane is determined as follows:
wherein u is y For voltage of y-axis, U dc For the voltage of the bus bar,is the reference voltage vector angle.
6. The fault-tolerant control method for the multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 1, wherein output voltage limiting values of four quadrants of a fundamental wave plane when harmonic suppression is considered are calculated, specifically:
taking the first quadrant as an example, in combination with the selected vector combination and the corresponding CPWM wave-generating condition, according to the topological structure of the five-phase voltage source half-bridge inverter, the following relationship exists:
wherein u is B And u D Phase voltages of the B phase and the D phase, respectively;
according to the reduced-order decoupling matrix, the phase voltages can be transformed to a two-phase natural coordinate system:
wherein u is C And u E Voltages of C phase and E phase, respectively, and u α 、u β And u 0 Voltages of an alpha axis, a beta axis and a zero sequence respectively;
then u B And u D Writing:
substituting (3) into (1) to obtain:
2.5×(0.8944u α +0.6158u β -0.1456u y )≤U dc (4)
and (3) making:
wherein u is ref A reference voltage vector that is the fundamental plane;
then, formula (4) is written as:
and (3) performing item shifting on the formula (6) to obtain:
similarly, the base plane output voltage limit values obtained for the other three quadrants when harmonic suppression is considered are:
7. the fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 1, wherein the reference voltage vector amplitude of a fundamental wave plane is compared with the output voltage limiting value, and the reference voltage vector amplitude of the fundamental wave plane and the harmonic wave plane is adjusted, specifically:
comparison |u ref * I and u lim If the size of |u ref * I is less than or equal to u lim Then u is ref * And u y * As input to the CPWM, namely:
in the formula, |u ref * I is the reference voltage vector amplitude of the fundamental wave plane, u lim Is a limiting value of the output voltage of the time base plane in consideration of harmonic suppression, u ref * Reference voltage vector for fundamental plane, u y * Reference voltage vector for harmonic plane, u y ' denotes the reference voltage setpoint of the adjusted harmonic plane, u ref ' represents the adjusted reference voltage vector setpoint for the fundamental plane;
if |u ref * I is greater than u lim Then adjust u y * The value of (1) is such that u lim Become larger up to u lim Equal to |u ref * I (I); and u is y ' satisfy:
and the amplitude of the reference voltage vector of the adjusted fundamental wave plane is as follows:
in U dc For the voltage of the bus bar,is the reference voltage vector angle.
8. The fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 7, wherein the method is characterized in that it judges whether the reference voltage amplitude values of the adjusted fundamental wave plane and harmonic wave plane exceed the maximum value and carries out secondary adjustment, and specifically comprises:
comparison |u ref ' I and M, if M is greater than or equal to |u ref ' I will beAndas input to the CPWM;
if M is smaller than |u ref ' i, then:
9. the fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 8, wherein the modulated wave is calculated from the adjusted reference voltage vectors of the fundamental wave plane and the harmonic wave plane, specifically:
will u ref ' and u y ' transform to five-phase natural coordinate system:
[u B ,u C ,u D ,u E ] T ＝C -1 [u α ',u β ',u y ',0] T
wherein u is B 、u C 、u E And u D Phase voltages of B phase, C phase, D phase and E phase of five-phase voltage source half-bridge inverter respectively, u α ' and u β ' represents u ref ' components in the alpha and beta axes, C -1 A decoupling matrix for decreasing order;
calculating a modulated wave using the phase voltages:
where k= B, C, D, E, u max And u min Representative phaseMaximum and minimum values of voltage.
10. The fault-tolerant control method for a multiphase permanent magnet synchronous motor based on voltage limiting analysis according to claim 9, wherein the phase duty ratio is calculated using the modulated wave:
in the duty k Is the phase duty cycle.
CN202311534668.XA 2023-11-17 2023-11-17 Multiphase permanent magnet synchronous motor fault-tolerant control method based on voltage amplitude limiting analysis Pending CN117526782A (en)

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