CN205023777U - Fault -tolerant motor vertical -lift system of duplex winding permanent magnetism - Google Patents

Abstract

The utility model discloses a fault -tolerant motor vertical -lift system of duplex winding permanent magnetism contains the three -phase winding of two sets of mutually independent symmetric distributions in the stator of the fault -tolerant motor of duplex winding permanent magnetism, all adopt the centralized tooth coiling mode that separates of armature winding. Fall the operating mode through the promotion operating mode to the system with the cable and establish mathematic model respectively, again according to the model establish and gather with given motor signal, realize the control to two kinds of operating modes in the motor through speed controller, current controller, voltage controller, brake unit, SVPWM and dc -to -ac converter respectively, increased open a way failure diagnosis and remaining communication function simultaneously, can whether have the winding to the system and open a way the trouble and diagnose and handle. The utility model discloses reliable and simple has high reliability, high power density and strong fault -tolerance, and the implementation system promotes and falls operating mode bilateral control with the cable well, and can realize the open a way fault -tolerant control of trouble to the system.

Description

A kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system

Technical field

The present invention relates to the field of electric machines control technology, particularly relate to a kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system.

Background technology

Growing along with how electric aircraft and helicopter, at present, researching and developing aviation machine drive system of new generation has become a hot subject in aviation field.Wherein, helicopter hoist is usually using hydraulic pressure or electric power as propulsive effort, by being wound around cable wire or hawser promotes or load falls in rope, convenient to use, in the public affairs such as rescue, medical aid, police law execution, fire control, especially there is remarkable performance.

Traditional hydraulic pressure helicopter hoist due to hydraulic oil seepage, dismounting inconvenience, the shortcoming such as speed governing is difficult progressively replace by electric helicopter winch, this be due to electric helicopter winch have easy for installation, use the advantages such as reliable, lightweight, volume is little, oil consumption is few.But the core of electric helicopter winch is motor driven systems, due to reasons such as device property change, aging of insulation and electromagnetic interference, motor driven systems inevitably generation systems fault, wherein motor winding open fault is particularly common.Therefore, for the electric drive vertical hoisting system of electric helicopter winch except meeting except specific function, also high reliability and strong fault tolerance must be possessed.

In recent years, the method improving motor driven systems reliability and fault-tolerance obtains certain development.Wherein, redundancy technology has that principle is simple, clear in structure, control are simple, high reliability, but because traditional remaining motor all adopts the magneto-electric machine of winding distribution coiling, therefore once there is magnetic Field Coupling impact by great for appearance short circuit current after short circuit in winding, thus motor driven systems cannot normally be worked.Switched reluctance machines is simple and reliable for structure and have intrinsic failure tolerance because of it, can overcome the drawback of traditional remaining electric machines control technology.But the shortcomings such as compared with magneto-electric machine, this motor exists that power density is lower, torque pulsation is comparatively large, noise is comparatively large and efficiency is low.

Fault tolerant permanent magnet machine system not only has that the volume of general magneto-electric machine is little, power density is high and the advantage such as torque pulsation is little, also there is the feature of Magnetic isolation, physical isolation, heat isolation, electrical isolation and suppression short circuit current, in conjunction with fault-tolerant control algorithm, whole electric machine control system can be made to possess stronger fault-tolerant ability and higher reliability.From 1996, professor B.C.Mecrow of Newscastle university of Britain proposes non-backup formula fault tolerant permanent magnet machine and control system thereof, and successively complete the six phase ends of the earth and four phase sextupole aviation fault tolerant permanent magnet machine systems, its fault tolerant control method is mainly taked to utilize magnetic linkage, related table between electric current and rotor-position carries out fault identification and faults-tolerant control by the mode of tabling look-up, this control is simple, easily realize digitalisation, but due to the fault-tolerant motor of different capacity grade, its magnetic linkage, relation between electric current and position is also different, its related table need be remeasured, therefore, the work capacity of early-stage preparations is larger, the transplantability of this control algorithm is not strong simultaneously.In addition, professor D.Howe etc. of Shefield university proposes the brushless fault-tolerant motor of modularization permanent-magnetism, and proposes the optimum torque control policy based on Hysteresis Current, but the analytic expression more complicated of the method, and need complicated successive ignition to calculate, thus make control algorithm too complicated.But still there is an obviously deficiency in current fault tolerant permanent magnet machine system and control method thereof: the every phase winding due to system adopts H bridge to drive, compared with making to drive with remaining motor, main power tube adds one times, reduce reliability and the power density of system, be unfavorable for structure optimization, and control algorithm is too complicated, realizing system reliability and fault-tolerance all needing improve further.

Summary of the invention

Technical matters to be solved by this invention is for defect involved in background technology, provides a kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system, simple, has that reliability is high, power density is high, the advantages such as operating mode double-direction control fall in riser cable.

The present invention is for solving the problems of the technologies described above by the following technical solutions:

A kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system, comprises the first to second control circuit, duplex winding fault tolerant permanent magnet machine, retarder and vertical-lift module;

Comprise two covers separate symmetrical three-phase windings a, b, c and x, y, z in the stator of described duplex winding fault tolerant permanent magnet machine, all adopt armature loop centralized every tooth winding method;

Described first control circuit is connected with winding a, b, c correspondence in duplex winding fault tolerant permanent magnet machine stator;

Described second control circuit is connected with the winding x, y, z correspondence in duplex winding fault tolerant permanent magnet machine stator;

The mouth of described duplex winding fault tolerant permanent magnet machine is connected with vertical-lift module by retarder.

As the further prioritization scheme of a kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system of the present invention, the centrifugal degree of rotor employing rotor diameter of described duplex winding fault tolerant permanent magnet machine is the permanent magnet magnet steel exocentric structure of 10mm.

As the further prioritization scheme of a kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system of the present invention, described vertical-lift module comprises reel, copper rope and mechanism loading;

Described copper rope one end is connected with reel, and the other end is connected with mechanism loading;

The rotating shaft of described reel is connected by the mouth of retarder with described duplex winding fault tolerant permanent magnet machine.

As the further prioritization scheme of a kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system of the present invention, described first control circuit and second control circuit all comprise rectifying circuit, braking circuit, three phase full bridge driving circuit, and described rectifying circuit, braking circuit, three phase full bridge driving circuit are connected successively;

Three phase full bridge driving circuit in described first control circuit is connected with winding a, b, c correspondence in duplex winding fault tolerant permanent magnet machine stator;

Three phase full bridge driving circuit in described second control circuit is connected with the winding x, y, z correspondence in duplex winding fault tolerant permanent magnet machine stator.

The present invention adopts above technical scheme compared with prior art, has following technique effect:

1. the invention provides a kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system, the symmetrical three-phase windings that two covers are separate is comprised in the stator of the duplex winding fault tolerant permanent magnet machine that it adopts, what adopt is that armature loop is centralized every tooth winding method, and the centrifugal degree of rotor diameter that rotor adopts is the permanent magnet magnet steel exocentric structure of 10mm, duplex winding fault tolerant permanent magnet machine has that Magnetic isolation, physical isolation, heat isolation, large reactance, cogging torque pulsation are little, the feature of high overload ability, can not there is unilateral magnetic force in failure conditions simultaneously.

2. the drive system of duplex winding fault tolerant permanent magnet machine vertical hoisting system have employed two cover three phase full bridge driving circuits, compare H-bridge drive circuit, this system not only can reduce the quantity of main power tube, reduces system cost, and can improve the reliability of system, power density and deceleration and stopping performance; Also there are two cover braking circuits simultaneously, rope can be realized and fall stable conditions operation.

The present invention is simple, there is high reliability, high power density and strong fault tolerance, system improving can be realized well and operating mode double-direction control falls in rope, and the faults-tolerant control to system open loop fault can be realized, be suitable for aerospace and the military scenario of high reliability and high performance requirements.

Accompanying drawing explanation

Fig. 1 is the topological structure of duplex winding fault tolerant permanent magnet machine vertical hoisting system;

Fig. 2 is duplex winding fault tolerant permanent magnet machine constructional drawing;

Fig. 3 is the control block diagram that duplex winding fault tolerant permanent magnet machine drives vertical hoisting system.

In figure, 1-stator, 2-rotor, 3-permanent magnet.

Detailed description of the invention

Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

As shown in Figure 1, the invention discloses a kind of duplex winding fault tolerant permanent magnet machine vertical hoisting system, it comprises the first to the second rectifying circuit, the first to the second braking circuit, the first to the second three phase full bridge driving circuit, duplex winding fault tolerant permanent magnet machine, retarder, reel, copper rope and mechanism loading;

Described first rectifying circuit, the first braking circuit, the first three phase full bridge driving circuit are connected successively;

Described second rectifying circuit, the second braking circuit, the second three phase full bridge driving circuit are connected successively;

First three phase full bridge driving circuit, the second three phase full bridge driving circuit are all connected with duplex winding fault tolerant permanent magnet machine;

The mouth of duplex winding fault tolerant permanent magnet machine is connected by the rotating shaft of retarder with described reel, and described copper rope one end is connected with reel, and the other end is connected with mechanism loading.

No matter system is operated in and promotes operating mode or rope and fall operating mode when breaking down, and within its specified year, can be provided by any a set of normal redundant system, ensure system worked well.In Fig. 1, T1, R1 are the braking circuit of winding a, b, c, and T2, R2 are the braking circuit of winding x, y, z.

As shown in Figure 2, be duplex winding fault tolerant permanent magnet machine of the present invention.Comprise two covers separate symmetrical three-phase windings a, b, c and x, y, z in its stator, all adopt armature loop centralized every tooth winding method; And the centrifugal degree of rotor diameter that rotor adopts is the permanent magnet magnet steel exocentric structure of 10mm, duplex winding fault tolerant permanent magnet machine has that Magnetic isolation, physical isolation, heat isolation, large reactance, cogging torque pulsation are little, the feature of high overload ability, unilateral magnetic force can not be there is in failure conditions simultaneously, in Fig. 2, o and Rn is respectively the center of circle and the radius of rotor magnetic steel inner arc; O ' and Rw is respectively the center of circle and the radius of rotor magnetic steel outer arc; H is the centrifugal degree of rotor magnetic steel external diameter, is the distance of the rotor magnetic steel inner arc center of circle to the rotor magnetic steel outer arc center of circle.

Described first three phase full bridge driving circuit is connected with winding a, b, c correspondence in duplex winding fault tolerant permanent magnet machine stator; Described second three phase full bridge driving circuit is connected with the winding x, y, z correspondence in duplex winding fault tolerant permanent magnet machine stator.

As shown in Figure 3, be the detailed description of the invention of the control method of duplex winding fault tolerant permanent magnet machine vertical hoisting system of the present invention, its concrete implementation step is:

Step 1), gather current i respective in duplex winding fault tolerant permanent magnet machine double winding (winding a, b, c and winding x, y, z) by Hall element _a, i _b, i _cand i _x, i _y, i _z, respective actual current value i under then it being obtained d-q system of axes respectively by abc/dq changer _d1, i _q1and i _d2, i _q2;

Step 2), detected by position signal and collect the rotor-position signal θ of duplex winding fault tolerant permanent magnet machine, and differential is carried out to rotor-position signal obtain speed signal rotor mechanical angular velocity omega _r;

Step 3), for duplex winding fault tolerant permanent magnet machine vertical hoisting system, set up the math modeling of system when promoting operating mode, voltage and the flux linkage equations of its motor winding a, b, c set up respectively under three phase coordinate systems and winding x, y, z are:

$\left\{\begin{array}{c}{V}_{abc}=R_s^{\′}{i}_{abc}+{\mathrm{p\ψ}}_{abc}\\ V_{xyz}=R_s^{\′}{i}_{xyz}+{\mathrm{p\ψ}}_{xyz}\\ {\mathrm{\ψ}}_{abc}=L_{11}^{\′}{i}_{abc}+{\mathrm{\ψ}}_{fabc}\\ {\mathrm{\ψ}}_{xyz}=L_{22}^{\′}{i}_{xyz}+{\mathrm{\ψ}}_{fxyz}\end{array}\right.$

Wherein, V _abc=[V _av _bv _c] ^tand ψ _abc=[ψ _aψ _bψ _c] ^tbe respectively phase voltage and the stator magnetic linkage of winding a, b, c, р is differentiating operator, i _abc=[i _ai _bi _c] ^tfor the phase current of winding a, b, c, R ' _s=diag [R _sr _sr _s] ^tfor stator resistance, V _xyz=[V _xv _yv _z] ^tfor the phase voltage of winding x, y, z, ψ _xyz=[ψ _xψ _yψ _z] ^tfor the stator magnetic linkage of winding x, y, z, i _xyz=[i _xi _yi _z] ^tfor the phase current of winding x, y, z, L ' ₁₁, L ' ₂₂be respectively the stator inductance of winding a, b, c and winding x, y, z, ψ _fabc, ψ _fxyzbe respectively the permanent magnet flux linkage of winding a, b, c and winding x, y, z;

After carrying out coordinate transform according to power conservation, the voltage equation of the d-q axle under its rotating coordinate system is:

$\left\{\begin{array}{c}{U}_{d1}=R_s{i}_{d1}+{\mathrm{p\ψ}}_{d1}-{\mathrm{\ω}}_e{\mathrm{\ψ}}_{q1}\\ U_{q1}=R_s{i}_{q1}+{\mathrm{p\ψ}}_{q1}+{\mathrm{\ω}}_e{\mathrm{\ψ}}_{d1}\\ {\mathrm{\ψ}}_{d1}=L_{d11}{i}_{d1}+{\mathrm{\ψ}}_f\\ {\mathrm{\ψ}}_{q1}=L_{q11}{i}_{q1}\end{array}\right.$

$\left\{\begin{array}{c}{U}_{d2}=R_s{i}_{d2}+{\mathrm{p\ψ}}_{d2}-{\mathrm{\ω}}_e{\mathrm{\ψ}}_{q2}\\ U_{q2}=R_s{i}_{q2}+{\mathrm{p\ψ}}_{q2}+{\mathrm{\ω}}_e{\mathrm{\ψ}}_{d2}\\ {\mathrm{\ψ}}_{d2}=L_{d22}{i}_{d2}+{\mathrm{\ψ}}_f\\ {\mathrm{\ψ}}_{q2}=L_{q22}{i}_{q2}\end{array}\right.$

Wherein, ω _efor rotor angular rate, ω _e=P _nω _r, ω _rfor rotor mechanical cireular frequency, P _nfor motor number of pole-pairs, U _d1, U _q1be respectively the d-q shaft voltage of winding a, b, c, U _d2, U _q2be respectively the d-q shaft voltage of winding x, y, z, R _sfor stator resistance, р is differentiating operator, L _d11, L _q11be respectively the d-q axle inductance of winding a, b, c, L _d22, L _q22be respectively the d-q axle inductance of winding x, y, z, ψ _d1, ψ _q1and ψ _d2, ψ _q2be respectively the d-q axle stator magnetic linkage of winding a, b, c and winding x, y, z, ψ _ffor permanent magnet flux linkage;

Step 4), when duplex winding fault tolerant permanent magnet machine vertical hoisting system operates in lifting operating mode, motor is in motor-operated running state, lifting power is provided, reduce motor output speeds by retarder and increase output torque, large load load is promoted again, the electromagnetic torque T of its winding a, b, c and winding x, y, z through reel and copper rope _e1and T _e2equation is:

$T_{e1}=\frac{3}{2}{P}_n\[{\mathrm{\ψ}}_f{i}_{q1}+(L_{d11}-L_{q11})i_{d1}{i}_{q1}\]$

$T_{e2}=\frac{3}{2}{P}_n\[{\mathrm{\ψ}}_f{i}_{q2}+(L_{d22}-L_{q22})i_{d2}{i}_{q2}\]$

Because fault-tolerant motor permanent magnet is surface-mount type, L _d11≈ L _q11, L _d22≈ L _q22, total electromagnetic torque T of motor _eabbreviation is:

$T_e=T_{e1}+T_{e2}=\frac{3}{2}{P}_n{\mathrm{\ψ}}_f(i_{q1}+i_{q2})$

The equation of motion of system cloud gray model when promoting operating mode is:

$T_e-T_L-{\mathrm{B\ω}}_r=J\frac{{\mathrm{d\ω}}_r}{dt}$

Wherein, T _lfor load torque, unit Nm; J is electric machine rotation inertia, units/kg m ²; B is viscous friction coefficient;

Step 5), when duplex winding fault tolerant permanent magnet machine vertical hoisting system operate in rope operating mode is fallen and time, motor is in resistance braking running state, and motor provides braking force, proof load uniform descent, and the equation of motion of system when operating mode falls in rope is:

$T_{\mathrm{\ω}}-T_e-{\mathrm{B\ω}}_r=J\frac{{\mathrm{d\ω}}_r}{dt}$

Wherein, T _ωfor torque falls in outside rope, T _efor total electromagnetic torque of motor, unit Nm; J is electric machine rotation inertia, units/kg m ²; B is viscous friction coefficient;

Step 6), because rope falls in process, can pumping voltage be produced, the braking circuit of its system will carry out work, to make the normal and stable operation of system, need ensure conservation energy, the unnecessary electric energy conversion that process of being fallen by rope produces is that thermal energy consumption is fallen, its electric energy W _fwith heat energy W _rexpression formula is:

$\left\{\begin{array}{c}{W}_f=\frac{1}{2}{\mathrm{CU}}_{dc}^2\\ W_R=\frac{U_{dc}^2}{R_L}\·D\end{array}\right.$

Wherein, U _dcfor bus voltage, R _lfor the braking resistor (R on braking circuit ₁or R ₂), C is the chemical capacitor at bus two ends, and the rule expression formula that arranges of its braking circuit dutycycle D is:

$D=\left\{\begin{array}{cc}0,& (U_{dc}\≤U_{dc}^{*})\\ K_p(U_{dc}-U_{dc}^{*}),& (U_{dc}>U_{dc}^{*})\end{array}\right.$

Wherein, K _pfor proportional control coefficient, U _dc* be given bus brake voltage threshold values;

For its braking circuit Controlling model, work as U _dc>U _dc ^*time, according to principle of conservation of energy, the thermal energy consumption being braking resistor unnecessary electric energy conversion is fallen, and obtains its braking circuit Controlling model to be:

$\frac{1}{2}C{(U_{dc}-U_{dc}^{*})}^2=\frac{U_{dc}^2}{R_L}\·D$

Step 7), by open-circuit trouble diagnosing and remaining communication function, whether there is open fault to control system carry out diagnosing and process, according to open fault diagnostic method, if diagnose out generation open fault, then excise a set of winding (winding a of fault case, b, c or winding x, y, z), send breakdown signal by remaining communication function to normal a set of winding simultaneously, increase the horsepower output of normal a set of winding, 50% power making it export before fault exports the power of 100% after becoming fault, the concrete steps of wherein said open fault diagnostic method are:

Step 7.1), by the current i collected _a, i _b, i _c, i _x, i _y, i _zsubstitute into the current diagnostic value I that the process of each phase current diagnostic equation obtains each phase respectively _g ^detect, its each phase current diagnostic equation is:

$I_g^{\det ect}=\frac{1}{{\mathrm{nT}}_s}{\∫}_{t_1}^{t_2}\left|i_g\right|dt$

Wherein, t ₂-t ₁=nTs, Ts are the sampling period, and n is the sampling period number of experience, g=a, b, c, x, y, z;

Step 7.2), will process each phase current diagnostic value obtained, the process of substitution open fault diagnostic equation obtains the representative value whether each phase winding occurs opening a way, and its open fault diagnostic equation is:

$K_g=\left\{\begin{array}{cc}0,& I_g^{\det ect}=0and{\mathrm{\ω}}_r\≠0\\ 1,& otherwise\end{array}\right.$

Wherein, K _gfor whether each phase winding occurs the representative value of open circuit, its value is that open circuit appears in 0 expression, is that 1 expression is normal;

Step 7.3), according to the representative value processing each phase winding of obtaining and whether occur opening a way, substitute into the representative value should excising which cover winding when open fault process equation obtains open fault state, its open fault process equation is:

$S_1=\left\{\begin{array}{cc}0,& K_a=0or{K}_b=0or{K}_c=0\\ 1,& otherwise\end{array}\right.$

$S_2=\left\{\begin{array}{cc}0,& K_x=0or{K}_y=0or{K}_z=0\\ 1,& otherwise\end{array}\right.$

Wherein, S ₁for the representative value of this set of winding of winding a, b, c whether should be excised, S ₂for whether excising the representative value of this set of winding of winding x, y, z, its value is that 0 expression should be excised, and is that 1 expression is not excised;

Step 8), adopt the hot spare remaining faults-tolerant control strategy based on rotating speed, electric current, voltage double-direction control (electrodynamic braking), in lifting operating mode, duplex winding fault-tolerant motor Negotiation speed controller carries out speeds control, carries out Torque Control by current controller; And fall owing to there being pumping voltage will to be controlled voltage by voltage controller and brake unit again on the basis promoting operating conditions simultaneously in operating mode at rope, thus realize load uniform descent; When the system is normal, each self-corresponding remaining of motor double winding works simultaneously, often overlaps the power that winding exports 50% separately; When certain a set of winding et out of order of system, diagnosed by open fault diagnostic method, first will a set of winding of et out of order be diagnosed out to excise from system, next utilizes remaining communication function to be delivered to by this breakdown signal in normal a set of winding, and then change the state of a control of normal a set of winding, increase its horsepower output, make it export the power of 100%, and then ensure that system output power is constant, realize faults-tolerant control.

Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.

Above-described detailed description of the invention; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only the specific embodiment of the present invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (4)

1. a duplex winding fault tolerant permanent magnet machine vertical hoisting system, is characterized in that, comprises the first to second control circuit, duplex winding fault tolerant permanent magnet machine, retarder and vertical-lift module;

Comprise two covers separate symmetrical three-phase windings a, b, c and x, y, z in the stator of described duplex winding fault tolerant permanent magnet machine, all adopt armature loop centralized every tooth winding method;

Described first control circuit is connected with winding a, b, c correspondence in duplex winding fault tolerant permanent magnet machine stator;

Described second control circuit is connected with the winding x, y, z correspondence in duplex winding fault tolerant permanent magnet machine stator;

The mouth of described duplex winding fault tolerant permanent magnet machine is connected with vertical-lift module by retarder.

2. duplex winding fault tolerant permanent magnet machine vertical hoisting system according to claim 1, is characterized in that, the centrifugal degree of rotor employing rotor diameter of described duplex winding fault tolerant permanent magnet machine is the permanent magnet magnet steel exocentric structure of 10mm.

3. duplex winding fault tolerant permanent magnet machine vertical hoisting system according to claim 1, is characterized in that, described vertical-lift module comprises reel, copper rope and mechanism loading;

Described copper rope one end is connected with reel, and the other end is connected with mechanism loading;

The rotating shaft of described reel is connected by the mouth of retarder with described duplex winding fault tolerant permanent magnet machine.

4. duplex winding fault tolerant permanent magnet machine vertical hoisting system according to claim 1, it is characterized in that, described first control circuit and second control circuit all comprise rectifying circuit, braking circuit, three phase full bridge driving circuit, and described rectifying circuit, braking circuit, three phase full bridge driving circuit are connected successively;

Three phase full bridge driving circuit in described first control circuit is connected with winding a, b, c correspondence in duplex winding fault tolerant permanent magnet machine stator;

Three phase full bridge driving circuit in described second control circuit is connected with the winding x, y, z correspondence in duplex winding fault tolerant permanent magnet machine stator.