TW201236356A - Driving controller of synchronous motor and the driving control method thereof - Google Patents

Abstract

A driving controller for a synchronous motor is disclosed. The driving controller includes a q-d axis transformation matrix, a speed control module, a current control module and a q-d inverse transformation matrix. The q-d axis transformation matrix transfers a set of armature current of the synchronous motor to a set of q-d axis current and a zero axis current according to the rotor position estimation of the synchronous motor. The speed control module outputs a set of q-d axis current command according to a speed feedback signal and a speed command signal. The current control module outputs a set of q-d axis voltage command according to the q-d axis current and the q-d axis current command and outputs a zero axis voltage command according to the zero axis current and a zero axis current command. The q-d inverse transformation matrix transfers the q-d voltage command and the zero voltage command to a set of voltage commands and outputs to the voltage commands to the motor driving module for controlling the armature voltage of the synchronous motor.

Description

201236356 VI. Description of the Invention: [Technical Field] The present invention relates to a drive controller for a synchronous motor, and more particularly to a drive controller capable of maintaining a neutral current of a synchronous motor at zero. [Prior Art] General mobile vehicles must consider all aspects of handling, stability, safety and economy, and the need for stability and safety is the first priority of design considerations. Electric vehicles are independently operated for individual in-wheel motors. In the case of a high-speed line, if the motor in the wheel is faulty, such as a phase failure, it will directly impact the user and take care of each person. Therefore, the South Stability Permanent Magnet Synchronous Motor Drive System is the focus of research and development for electric vehicles. The general three-phase inverter architecture uses a three-arm three-phase inverter for its power architecture. The power circuit is shown in the first figure. Three-arm three-phase inverter 17 voltage space vector pulse-width modulation (VS VP WM) ' by a complex power transistor switch 7. +, h h Tc are switched to each other to generate a required voltage vector to control the operation of the three-phase synchronous motor 11. This control technology is mature and its development has become stable. Only the use rate of electric dust can only be doubled that of DC link electric dust. It must be controlled by weak magnetic technology or advanced phase control to increase the speed of the motor. = Early phase winding or one arm power stage transistor failure, the system will not be able to construct? . To this end, domestic and foreign scholars have proposed several power architectures. , it can be circumvented early or after a power-level transistor failure, and there is a fault-tolerant inverter, as shown in the second figure, where the neutral point of the three-phase 4/36 201236356 synchronous motor 611 Sixth, the inverter 27 is in a single-phase or planting--"谷谷,[2, sub-group with three-phase faults, the neutral point of the two-phase disk ^-/ transistor failure, by the unstructured, the two switch type The three-phase inverter 27 allows the Ί to still form a loop and continue to operate: but the operating rate will be greatly reduced, making the system speed difficult to increase. The voltage also has four-arm three-phase _, its power circuit The three-phase synchronous motor is shown in the figure 2; the same as 45 3? 0-7 ” is obtained with a plurality of single-arm dual-power-class transistors rr, r-phase-drinking 77, Γ: controlled by four arms and two 4 a U 'Providing an unbalanced load caused by the hole phase 77 μη or 1 power hybrid crystal magic material = group or power level transistor and neutral point forming loop = so f early, 3 丨 can load and continue to run; Frame: 7^ step power 2 pulse width modulation one, control technology, == Μ 'largely increase the complexity and calculation time of software compilation. Μ mode flow will synchronize the synchronous motor under three-phase balanced operation, three-phase +, s - stable and fixed direction of the rotating magnetic field, providing 'Korean of the hairy running, ^ 怔 1,, the child's motive will work at ^ When the 4-phase winding fails, the permanent-magnet synchronous motor is changed and balanced. The rotating magnetic field is subjected to zero-phase sequence and negative phase sequence 、: periodic distortion, so that the motor has a fixed frequency sway. Force belt 2, it is proposed that the inverter architecture adopts fault-tolerant inverter for its fault: time strategy & good self-direct torque control method; when single-phase winding ^ constitutes ^ ^ ί barrier winding switch, and connected The switch of the neutral point is more error-prone. The estimated torque and the DC link current of the feedback are compared with each other. One: two is used to determine the switching signal of each arm output. Post-blocking control has the disadvantage of controlling complexity. Therefore, the motor is an urgent problem to be solved. 5/36 201236356 [Invention] The device provides the step-motor control to control the synchronous electric two; = the current side is reduced, the loss is lost, and the maintenance is two: == the current is zero'. In addition, the drive controller borrows By the detection: the effect of efficiency; according to different types of failures, not in the π pivot "the type of the obstacles and the roots of the electric current to maintain the fault ^ (four) slightly, in order to maintain the stability of the machine after the speed of the rotation is stable. Synchronous electric motor In order to achieve the above purpose, the telecontrol controller is applied to synchronous electric power: a technical means of driving is a kind of driving back edge circuit and a rotating speed back ''synchronous motor is coupled to the electric axis barrier conversion module, - The drive controller includes - AC-AC-vertical matrix inverse conversion mode, and: Ergu-current adjustment module and current feedback circuit and speed feedback 槿: straight = array conversion mode _ module and speed The adjustment module converts the motor of the synchronous motor to the synchronous motor==the above-mentioned parent straight-axis matrix converts the group-armature current of the group to the above-mentioned group and calculates the armature current of the armature current according to the synchronous motor Straight shaft current and - zero electric The flow, which is converted to the sum of the armature currents, is proportional to. The current of the current axis of the a and the mode of the current is connected to the speed feedback module, and the rotation is returned to the speed of the _speed feedback module. = 201236356 The difference from a speed command signal is converted to a set of cross-axis current commands. The current adjustment module is connected to the cross-axis matrix conversion module and the speed adjustment core group, and the current adjustment module is used to convert the difference between the parent straight-axis current feedback signal and the cross-axis current command signal into a group. The straight-axis voltage command signal is input, and the difference between the zero-axis current feedback signal and the zero-axis current command is converted into a zero-axis voltage command signal, wherein the zero-axis current command is zero. The cross-axis matrix inverse conversion module is configured to convert the cross-axis voltage command and the zero-axis voltage command into a set of first voltage commands by using a second matrix as a coordinate axis, and output a first voltage command to a motor drive. And a module for controlling the synchronous electric armature voltage such that the sum of the armature currents is maintained at zero, wherein the second matrix and the first matrix are opposite to each other. In order to achieve the above object, another technical means of the present invention is a driving control method for a synchronous motor, the method comprising the steps of: receiving a set of armature currents of the synchronous motor; estimating the armature according to a rotor angular position of the synchronous motor The current is converted into a set of straight-axis current and a zero-axis current through the first matrix as a coordinate axis; a set of cross-axis current commands are generated according to a comparison between a rotational speed feedback of the synchronous motor and a rotational speed command; The comparison with the cross-axis current command produces a set of cross-axis voltage commands and generates a zero-axis voltage command based on the comparison of the zero-axis current with a zero-axis current command; finally, the straight-axis voltage command and the zero-axis The voltage command is converted into a set of first voltage commands by using the second matrix as a coordinate axis, and is output to a motor drive module, and the motor drive module controls the armature voltage of the synchronous motor according to the first voltage command to make the sum of the currents of the electric field. Maintain zero. 7/36 201236356 For a detailed description of the technical means of the present invention, refer to the following embodiments, and refer to the accompanying drawings. [Embodiment] In order to clearly explain the principle of operation of the present invention and its efficiencies, a preferred embodiment will be described below. Spoon = test fourth figure, which is a block diagram of an embodiment of the present invention, as shown in the fourth, the synchronous control system 4GG includes a drive controller 41 () , Motivation, - Current feedback circuit 450 & - Transmission · 4 speed mouth wide, 43 door ~ Pen motorized boat module 470. The charm, the main return green group and the current feedback circuit 450 are respectively input to the synchronous connection 61, the drive controller 410 is coupled, the motor is η ” “the speed feedback module 430 'current feedback bud.”, m-face connection The relationship is formed—the closed loop control system rotational speed feedback module 430 is used to calculate the rotational speed of the motor 61 according to the _ result output, and the rotor position estimation signal and the rotor and a rotor position estimation signal are Lu Che is used to detect the position of the synchroelectric angle estimate; the current feedback feeds a set of armature currents. The armature current, and according to the detection junction drive controller 410, includes 2 adjustment modules 411, a group 413, a conversion module 419, which makes the orthogonal shaft moment 2415, a parent straight-axis matrix inversion circuit 450, and the rotational speed adjustment 7 The replacement module 413 is connected to the current feedback regulation module 415 and coupled to the rotation feedback module 430. The electrical conversion module is directly connected to the vertical matrix and the reverse module 411 and the orthogonal axis matrix are reversely converted to current. Adjust the die s 201236356 group 415 and the motor drive module 470. The cross-axis matrix conversion module 413 is configured to generate a set of cross-axis currents and a shaft-electricity melon according to the rotor angular position estimation, and generate a set of cross-axis currents and melons. And generating a set-straight-axis current command according to the speed feedback signal and the set speed command signal. And electricity, the adjustment module 415 is configured to generate a set of cross-axis voltage commands by the turbulence command according to the cross-axis current feedback and the scooping direct-drive command;

System = 410 is used to output a 1-axis voltage command signal according to the zero-axis current feedback and a preset zero-axis current command. The pressure-changing two-car two-conversion module 4丨9 uses the straight-lined electric motor described by the blue--: the zero-axis voltage command signal is used as a coordinate conversion, and the hair is a °ρ々 signal, and the said Screen a to: - machine drive module 47 〇; motor drive module 47 〇:; 2 [叩 command control synchronous motor 6〗 彳 ^ zero, thereby reducing the copper loss correction, the ratio of the secret current . The electric figure of the electric motor is used to maintain the operation of the synchronous motor 6]. An electric diagram shows the electric operation function 531 and a transfer group 570. Next, please refer to the fifth A figure, which is the machine control system provided by the present invention - A control block diagram of an embodiment. The fifth A motivation control system, the modules included therein, and the utilization thereof, wherein the rotational speed feedback module 53 includes a rotational speed feedback power estimation and miscellaneous position detecting circuit 533; the motor driving mode-pulse width The modulation control unit 573 and a frequency conversion unit 571. The synchronous motor 61 can be a three-phase or six-phase permanent magnet synchronous motor as an example of a six-phase permanent magnet stepping electrical machine, as shown in g, which is a circuit diagram of the synchronous motor 61: phase windings are respectively abc Phase winding 611 and xyz phase winding, each of which is 9/36 201236356 = a neutral point W and two sets of three-phase motors with a difference of 30 degrees from each other: the phase current of each of the two sets of windings is 120 degrees out of phase . The frequency unit 57 has a circuit connection relationship with the synchronous motor 61. For example, the H-th power conversion unit 57 has twenty-four power switches, and the fresh-early-ear-arm dual-connected copper stepper 61, the synchronous motor 61 Z, = ', early yuan 571 can be regarded as six single-phase full-bridge inverter. Among them, and D is the equivalent stator side resistance and inductance of the synchronous motor 6!, and n ^ S, ev, and e. are the back electromotive voltages, respectively. Due to the electric_dynamic touch selected by the present invention, each phase-phase winding in the motor 61 is independently controlled, and the neutral point of the two sets of three-phase windings makes the current and harmonic components of the synchronous motor 61 fail. The second and the neutral point currents L and Ή are zero. The following two inventions balance the neutral point current to improve the performance of the synchronous motor 61. For example, the equivalent circuit diagram of the a-phase winding 6ia of the synchronous motor 61A and the inverter unit 571a connected to the arm is as shown in FIG. 5D. The left arm switching signal & and the right arm switching signal heart of the frequency conversion unit 5 71 a causes the voltage of the & phase winding group 61a to generate ί, Q, and uses these three voltage combinations to generate a voltage command v*. . The fifth E diagram is a block diagram of an embodiment of a pulse width modulation control unit of a synchronous motor control system provided by the present invention. The pulse width modulation control unit 573a is for controlling the duty cycle of the left arm switching signal heart and the right arm switching signal 乂2. The pulse width modulation control unit 573a can be a unipolar sinusoidal pulse width modulation control unit, including a digital signal processor (DSP) 5731 and a complex programmable logic device (CPLD). 5733, digital signal 10/36 201236356 processing unit 5731 according to the voltage command v: output pulse width modulation signal PWM Bu PWM2 and general-purpose input signal GPIO to composite programmable logic element 5731 to control the composite programmable logic element 5733 The duty cycle of the output voltage is high and low. In an embodiment, the block diagram of the logic gate included in the composite programmable logic element 5 7 3 3 is as shown in the fifth F diagram. For example, when the voltage command v: is greater than zero, the general output is The signal GPIO controls the path of the composite programmable logic element 5733 to turn the right arm switch signal & low. Referring again to FIG. 5A, the rotational feedback circuit 531 detects the rotational speed of the synchronous motor 61, and generates a back electromotive voltage, 9, a rotational speed estimation, and a magnetic pole position detecting circuit 533 according to the counter electromotive voltage e. , , , , \ generate a speed feedback and a rotor angular position estimate is that the drive controller 5 丨 0 will feedback the speed signal w „, and the preset speed command < comparison operation to obtain the speed error value Aw, The speed adjustment module 511 outputs a set of AC direct current commands 匕, 匕, ζ., /丄 according to the rotational speed error value Aw. wherein C and ζ are the a-phase and the 交 phase of the cross-axis current commands respectively, respectively, a phase and The direct-axis current command of the X-phase. In order to simplify the illustration and calculation, the direct-axis current command (=0. In the present embodiment, the rotational speed adjustment module 511 includes a rotational speed computing unit 5111 and a first torque computing unit 5113. The rotational speed computing unit 5111 converts the rotational speed error value into a torque command signal by a rotational speed adjustment function q: C. The first torque computing unit 5113 uses a torque calculation function -1-

The 2KT torque command is converted to a set of cross-axis current commands C, ζ, . Its 11/36 201236356 medium fire r is the torque constant, as shown in equation (1). Κτ =

Where is the number of poles of the synchronous motor 61; L is the rotor flux equivalent to the stator side. The current feedback circuit 505 is configured to detect the frame current of the synchronous motor 61, and output a set of armature currents according to the detection result (, (, (, / λ., (. in the present embodiment) The current feedback circuit 550 may include a current detecting circuit and an analog-to-digital conversion unit. The mathematical mode of the six-phase coordinate system of the synchronous motor 61 is time-varying, and the six-phase time-varying physical quantity is simplified for the purpose of simplifying the analysis. Projected to the synchronous rotary coordinate system, as shown in the fifth G diagram, the synchronous rotary coordinate system 700 includes a cross-axis q-axis and a straight-axis d-axis, and the cross-axis q-axis and the straight-axis d-axis are 90 degrees apart. $ is the rotor angular position of the synchronous motor 61. Since the abc phase winding and the xyz phase winding are different by a motor angle of 30 degrees, the orthogonal axis matrix conversion module 513 is respectively operated by an abc phase conversion matrix function and an xyz phase conversion matrix function 7_. The pivot current feedback signal (, &, (, (, L, (the coordinate axis conversion, abc phase conversion matrix function 7_ displacement 30 degrees can get the xyz phase conversion matrix function. abc phase conversion matrix function 7: _ Equation (2). . cos^ r sin^ r

Cos(<9r-120°) cos(6>r + 120°) sin (must-120°) sin((9r+ 120°)

1 I 2 2 12/36 (2) 201236356

2 The linear axis matrix conversion module 513 estimates "the current L, 7'', (, (,, ·: with the transformation matrix function τ, Γ山山丄'1'' Φ, α Tf - according to the rotor angular position estimation For the group-parent direct-axis current /, z_, / "and a set of zero-axis currents, the relationship is as shown in equation C5), (4) ^ where the parent axis is / / il, L, / " respectively a The direct-axis electrical phase of the phase and the χ phase is the zero-axis current of the a-phase and the X-phase. 0« of the a-phase and the X-phase, Ζ〇Λ sub-i qa la L = TqdiSa h jOa - jc_ Iqx V Ζώ- = Tgd0x Z:v jQx _ u (3) (4) The drive controller 510 sets the current of the orthogonal axis ζ·, .

The straight-line current command /. : , , 1'丨' and the error value, Λ·, :· ' ^ are the currents obtained by the parent-child operation, a set of preset zero-axis current commands C, (for comparison And the difference 氕, <. 纟, the preset zero-axis current command / / pay z. The power is reduced to ~ zero. The relationship can be expressed as equation (5) to (1〇). Δ/ ι 一— ι Δζ = i 一i V'· (P tjx Ai = / ~ / dx dx ljx Δ/ ~ l — I 〇« l〇〇lo〇

Ai Ov li), ~ l Ov (5) (6) (7) (8) (9) (10) 13/36 201236356 Current regulation module 515 includes AC vertical current adjustment unit 5 5a, 515x and zero-axis current adjustment unit 515a〇, 515x〇. The cross-axis current adjustment unit 515a sets the current error value Δ(/α, the cross-axis current adjustment function and the direct-axis current adjustment function G& respectively, and obtains the cross-axis adjustment voltage command <, the cross-axis current adjustment unit. 515x, the current error values Δζ: /α., Δζώ are respectively calculated by the cross-axis current adjustment function and the constant-axis current adjustment function 得到^. The cross-axis adjustment voltage command <, <. zero-axis current adjustment unit 515 aQ passes the current error value A t through the zero-axis current adjustment function G. The zero-axis adjustment voltage command is obtained after the operation. The zero-axis current adjustment unit 515x〇 passes the current error value A k through the zero-axis current adjustment function β (after the operation) The zero-axis adjustment voltage command < is obtained. In the present embodiment, the current adjustment function, ^ can be a proportional-integral control function, and the function is expressed as equations (11) through (16). G, - = k k. | itja (11) s Gda ~ ^pdc k ida (12) s G : -k k. + /tpr (13) Gj, two kpdx K (14) s G0a = ~~kP0a . k | ιΟα s (15) G0x = -k . k 1 /Ojc (16) 14/36 201236356 Operation function. 'Voltage compensation Group 517 includes a phase voltage compensating unit 517a abc and xyz with a voltage compensating unit 517x, which, abc phase voltage compensating unit 517 will cross the straight axis A regulated voltage command obtained after calculating the direct axis AC

The V voltage command v:;f, vl, xyz phase voltage compensating unit 517x calculates the cross-axis adjustment voltage command to obtain the cross-axis voltage command <the relationship is expressed as shown in equations (17) to (20). (17) (18) (19) (20)

a/ = z/ + w /' + w A cio (ia r daa da rm ϋ - w,.A乂v* = u + L, i, + w ?ic/.\ (μ r uxx ax rn, v * = u, - w L i where w, is the synchronous angular velocity of the synchronous motor 61, , , is the cross-axis mutual inductance under the synchronous rotary coordinate system. The zero-axis adjustment voltage command <, is equal to the zero-axis voltage command, ie, <; = VL, <. = ν ό,. The orthogonal axis matrix inverse conversion module 519 estimates 爻 according to the rotor angular position 一 with an abc inverse transformation matrix function and an xyz inverse transformation matrix function. C. will cross the straight axis voltage command < (Convert to voltage command <, v:, v:. and zero-axis voltage command < V*, V*, ν·, V*. Bean; Γ 1 '1 = (. .V r : /, 1 ^ qcJoa qdoa Τ, Γ;

The iJlIOX drive controller 510 outputs the voltage commands ν:, ν:, ν:, ν:, ν:, ν: to the pulse width modulation control unit 573, and the pulse width modulation control unit 573 according to the voltage command v:, v: , v:, V:, V:, v: control the switching period of the switching transistor in the frequency conversion unit 571. Thereby, the armature voltage of the synchronous motor 61 is controlled to maintain the zero-axis current of the synchronous motor 61 to zero, i.e., the currents L, /, 7:2 of the neutral point q, / seven are zero. 15/36 201236356 Next, the failure judgment and the post-fault control strategy of the synchronous motor 61 are considered. Please refer to FIG. 6A, which is a block diagram of an embodiment of a fault control module of the present invention. As shown in FIG. 5A, the fault control module 660 includes a current detecting unit 661 and a fault determining unit 663. The current detecting unit 661 sets a set of armature currents of the synchronous motor 61 (, /Λ, (., t, /v for sampling calculation, that is, detects the n-th armature current under a detection time ^^ t, ^, ^., (_, and each time the detected armature currents L, /, and t are integrated to obtain a set of detection current / wide 1, / wide r detect / wide 1, / _ , /zd_, the relationship is expressed as equations (21) to (26). (21)

r detect nTs i\dt detect c r detect j detect 1 ί 2i2dt nl's [J i, c" 1 nTs U: fine ί 1 ηί\ (22) (26) (24) (25)

(26) Where, = «1;, the failure judging unit 663 judges whether or not the synchronous motor 61 is normally operated based on the detected current/wide eet, /bdeleet, /wide, /xdeteet, f, /wide'. When the values of the detected currents /ad_, /bd_, /丨_, /Γ", //_, / wide 1' are not zero, the synchronous motor 61 operates in a normal state. When one of the current detecting signals/wide, /factory, /-, /-, /wide, is zero, it indicates that the synchronous motor 61 or the frequency converting unit 151 is disconnected, and the fault determining unit 663 is faulty. Judging factor ^ to 5 16/36 201236356 Judging the fault state of the abc phase winding and the xyz phase winding, the fault judgment factor can be expressed as equation (27).

(27) where / = less, ζ. The failure judging unit 663 judges the failure states of the abc phase winding and the xyz phase winding based on the value of the failure judging factor A, . Table 1 Double winding fault judgment phase winding fault judgment KKK winding operation status 0 0 0 phase winding normal operation 0 0 1 C phase winding fault 0 1 0 b phase winding fault 1 0 0 a phase winding fault 1 1 0 α, 6 phase winding Fault, phase winding stops operation 0 1 1 6、c phase winding fault, ok phase winding stops operation 1 0 1 i?, e phase winding fault, phase winding stops operation 1 1 1 phase winding stops operation x_yz phase winding fault judgment K ky k: Winding operation 0 0 0 x_yz phase winding normal operation 0 0 1 z phase winding fault 0 1 0 phaseless winding fault 1 0 0 X phase winding fault 1 1 0 X, less phase winding fault, phase winding stop operation 0 1 1 less, 2 only & and ancient t P chapter, x_yz only: 3⁄4 more and 4 pavilion ih 13⁄4 fF 1 0 1 λ:, z phase winding fault, x_yz phase winding stops operation 1 1 1 x_yz phase winding stops working

The fault judging unit 663 classifies the fault types into five categories according to various combinations of the fault judging factors, and if the fault types other than the five categories, the synchronizing motor 61 cannot operate. The fault judging unit 663 further outputs the operation strategy according to different fault senses. The (four) skip signal is related to the post-series control strategy, and the relationship between the fault control strategy and the fault type is as shown in Table 2.

Phase winding β «phase _ group is controlled after y phase fault _ phase winding uses ^ phase fault control, ^2 phase group uses Z phase fault control phase fault

18/36 201236356 z-phase fault phase winding using 6-phase fault control, x_yz phase winding group using z-phase fault control C-phase fault X-phase fault a6c phase winding using c-phase fault control, x_yz phase winding using y-phase fault After the control is less 'phase fault phase winding using c-phase fault control, xyz phase winding using y-phase fault control z-phase fault β6c phase winding using C-phase fault control, xyz phase winding using Z-phase fault control fourth category ( A single-phase winding has a two-phase disconnection fault, and the single-winding operation is only visible. The xyz phase winding is in normal condition. The X-phase & y-only fault Me-phase winding is normal, and the X_V2 phase winding has a two-phase disconnection fault. The phase-winding three-phase mode is used to independently operate the J-phase and z-phase faults. The Me-phase winding is normal, the xyz phase winding has a two-phase disconnection fault, and the phase winding three-phase mode is used to independently operate the two-phase and the X-phase fault. The a6c phase winding is normal, xjz phase The two-phase disconnection fault occurs in the winding, and the phase winding is used to independently operate the phase winding. The operating condition is normal, the a-phase and the b-phase fault X_>, the 2-phase winding is normal, (the 30C phase winding occurs two) Disconnection fault, use Λ>·2 phase winding three-phase mode independent operation b phase and c phase fault xyz phase winding normal, phase winding two-phase disconnection fault, use X less 'Z phase winding three-phase mode independent operation c phase And the α phase fault x_yz phase winding is normal, the phase winding has a two-phase disconnection fault, and the sand-phase phase winding three-phase mode is used to independently operate the fifth category (single group winding can not operate, single-phase winding has single-phase disconnection fault, two Independent operation) Only @ multi and xyz phase winding operation status α phase failure can not operate phase winding use α phase fault control 6 phase fault can not operate ak phase winding use 6 phase fault control c phase fault can not operate phase winding use c After the phase failure, the phase winding C70C is controlled and the operating phase X phase fault cannot be operated. The xyz phase winding uses the X phase fault and the control _y phase fault cannot be operated. The x_yz phase winding uses the γ phase fault control 19/36 201236356 I 2 The group uses a 2-phase fault to control the synchronous motor fault after the fault and the current armature current: a vector diagram of the example. As the second, 'when the phase a winding is called or & In order to make the I phase armatures_control, the two-phase armatures that are not faulted: >2,_machine angle' then the armature current after the fault~ fine armature, or 30 degrees behind the motor angle : and the peak will be (4) (four), hold, the electric tank r, will exceed the rated power , times, ' 曰 make the unbroken b, e phase windings burned. Therefore, f wants the mine current command signal to make the armature after the fault Current d" Armature current before maintenance failure 7 > / 〇1 Test Figure 6 is a block diagram of an embodiment of a drive controller after a synchronous motor failure. As shown in the sixth C diagram, when the single-phase disconnection occurs in the coffee phase winding, and the red xyz phase winding is operating f, for example, & phase, , :/〇, ' and 61a is said to be early, then the drive control The un-faulted b-phase winding and the c-phase winding are switched to be controlled by the speed regulation module 6 and the current regulation module 615 to adjust the current command after the fault, and the unfaulted xyz phase winding can be driven by the aforementioned drive controller 51. 〇 control. In the present embodiment, the speed adjustment module 611 and the current adjustment module 615 perform control only after the barrier is disabled. In actual implementation, the speed adjustment module 611 can be integrated in the same module as the 5th rotation group 511. The current regulation module 615 can be integrated in the same module as the current regulation module 515.

The rotational speed adjusting module, the group 611 includes a rotational speed computing unit 6ηι and a second torque S 20/36 201236356 computing unit 6113, wherein the first torque computing unit 5113 and the second torque computing unit 6113 are both coupled to the rotational speed computing unit 6111. . The rotational speed computing unit 6111 converts the rotational speed error value Aw into a faulty torque command signal 以 by the rotational speed adjustment function: the post-fault torque command signal Γ: as shown in equation (28).乂 ί (28)

e 2 ) "7 w v J

Here, the number of poles of the synchronous motor 61 is the rotor flux linkage of the synchronous motor 61, and /= is the current peak command. The torque command of the unbroken xyz phase winding: C is as shown in equation (29).

Te

(29) In actual implementation, the speed adjustment module 611 switches the post-fault torque command Γ according to the control strategy after the failure to the second torque operation unit 6113, and outputs the un-faulted torque command < A torque computing unit 5113. The second torque computing unit 6113 converts a torque signal Γ: into a current peak command / 〗 by a torque operation function, a torque constant 夂V, and a heart (30) (31). = (30)

KT τ 2 2 1,1 (31) The drive controller 610 further includes a b-phase current command control unit 612b and a c-phase current command control unit 612c, a b-phase current command control unit 612b and a c-phase current command control early element 612c respectively. After the nose function cos (<9r -150°) and cos(9)+150°), the current peak command /;;7 is calculated to obtain 21/36 201236356 to the fault current command z·', γ.

C current regulation module 615 white red, 匕栝-b phase current regulation single c phase current adjustment unit 615c 兀 615b and one

After the /W shoulder fault, the electric 4 zone electric, the ζ· Mai electric W fault current error value c is obtained after the slave transport and a c phase electric lc, b phase current regulating unit 615b and d... weeks ago 疋 6l5c respectively The current and current error values <", △, , and number 6弋 are used to adjust the voltage command < and the current adjustment function & and the current are respectively the b-phase lightning current adjustment function, and the electric copper is generated. IL. The week is the function and the c-direction function, whose money is shown as shown in the figure. "_ is called integral control s

Gb^Gc= kpk + xb L (32) The enthalpy is the current regulation proportional control of the abc phase winding. The phoenix wood knife controls the gain, and s is the integral operation function. The drive controller 610 also includes an electromotive force estimation electromotive force estimation axis (4) -:. After the fault 1 _; ==: adjust the voltage command after the obstacle

•t »· 丨 * A (33) (34) v b-u b+eb

% «· /V

Vc=w'c+ec 22/36 201236356 Eight is the estimated value of the potential, Yuanyi, (4) the opposite polarity of the motor 2, and the estimated potential of the force potential K can be fed back via the speed Estimate the value of the second ~ get, the machine 61 of the rotor flux linkage 疋; calculated. 'And for synchronous electric b ' to make V a, V'b

The above description only shows the failure of the a-phase winding 6]a, and the domain should be able to push the control of other fault states. Through the art collar, the current command after the fault in the same fault state /, :, : can be ^, , 2, and the voltage after the fault in different fault states /, A, <, <. The relationship is organized as shown in Table 3. Current command signal and voltage command signal after fault -___ phase table Μ 23/36 201236356 If the output power of the abc phase winding is /, the output power of the XyZ phase winding is /^, then the overall output power of the abc phase winding and the xyZ phase winding ^. , as shown in equation (35). Under the positive operation, the abc phase winding output power and the XyZ phase winding wheel power share the overall output power equally, and the households can be expressed as equations (36) and (37), respectively.

(36) (37) When the single-phase disconnection fault occurs in the abc phase winding, the xyz phase winding is normal. To make the current after the fault maintain the armature current before the fault, the output power of the abc phase winding needs to be changed. & times, as shown in equations (38) and (39) P〇bc=: U3P, ota! (38) (39) At this time, the second two-phase operation of the overall output power, such as (40) Show.

Plial -Pabc + P^. =2(1 + ^)^ = 〇.7887^〇/ (40) From equation (4〇), a single-phase disconnection fault occurs in the abc phase winding or a single phase occurs in the xyz phase winding. After the disconnection fault, the overall wheel power ^^ drops 24/36 201236356, which becomes 0.7887 times of the overall output power /^" when the fault occurs. When the abc phase winding has a single-phase disconnection fault and the xyz phase winding occurs The disconnection line, to make the armature current after the fault / wide, ", / 〃,, / fw 〃, / f "", / production maintenance power before the fault zone L ' / Λ, 4, /χ, z, ., /丨 size' needs to make the output power of the abc phase winding and the xyz phase winding ^ and / become the original ^ λ / 3 times, as shown in equations (41) and (42). PabcZ -^ ρ iS 10,01 (41) Ρ'γ:: -1 corpse 2λ/3, 〇, al (42) The total output power 2 of the two-phase operation after the fault is as shown in equation (4 3).

=Pabc +

0.57735 corpse (43) loial

It can be seen from equation (43) that the overall output power after the occurrence of a single-phase disconnection fault in the abc phase winding and the single-phase disconnection fault of the xyz phase winding becomes 0.57735 times the overall output power of the un-fault/^& In summary, the technical means of the drive controller used in the synchronous motor control system provided by the present invention has been described, and the zero-axis current adjustment unit is used to control the zero-axis current to zero to reduce copper loss. The drive controller is used to judge the type of fault and perform different post-fault control according to different fault types to achieve stable speed and safe operation. 25/36 201236356 The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, that is, the simple equivalent change made by the scope of the invention and the description of the invention. And modifications are still within the scope of the invention patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a circuit diagram of an embodiment of a conventional three-phase inverter; FIG. 2 is a circuit diagram of an embodiment of a conventional three-phase inverter; FIG. 4 is a block diagram of an embodiment of a synchronous motor control system of the present invention; FIG. 5A is a control block diagram of an embodiment of a synchronous motor control system of the present invention; An equivalent circuit diagram of an embodiment of a synchronous motor of the synchronous motor control system of the present invention; FIG. 5C is a circuit diagram of an embodiment of a frequency conversion unit of the synchronous motor control system of the present invention; An equivalent circuit diagram of an embodiment of a phase winding of a synchronous motor and its frequency conversion unit; FIG. 5E is a block diagram of an embodiment of a pulse width modulation control unit of the synchronous motor control system of the present invention; Block diagram of a composite programmable logic component of the synchronous motor control system of the present invention; fifth G diagram: synchronous rotary coordinate system of the synchronous motor control system of the present invention · ~ ~ Figure of the coordinates of the embodiment, Figure 6A: Block diagram of one of the modules of the fault control of the synchronous motor control system of the present invention 201236356 module; Figure 6B: the fault and failure of the synchronous motor of the present invention A vector diagram of the previous operational current; and a sixth C diagram: a block diagram of an embodiment of the drive controller after the failure of the synchronous motor of the present invention. [Description of main component symbols] 11, 21, 31: Three-phase synchronous motor φ Π, 27, 37: three-arm three-phase inverter 400, 500: synchronous motor control system 410, 510, 610: drive controllers 411, 511, 611: rotational speed adjustment module 5111, 6111: rotational speed computing unit 5113: first torque computing unit 6113: second torque computing unit 612b: b-phase current command control unit φ 612c: c-phase current command control unit 413, 513: Cross-axis matrix conversion module 415, 515, 615: current regulation module 515a, 515x: cross-axis current adjustment unit 515a, 515x: zero-axis current adjustment unit 615b: b-phase current adjustment unit 615c: c-phase current adjustment unit 517: voltage compensation module 517a: abc phase voltage compensation unit 517x: xyz phase voltage compensation unit • 27/36 201236356 419, 519: orthogonal axis matrix inverse conversion module 430, 530: speed feedback module 531: speed feedback Circuit 533: rotational speed estimation and magnetic pole position detecting circuit 450, 550: current feedback circuit 470, 570: motor drive module 571, 571a: frequency conversion unit 573, 573a: pulse width modulation control unit 5731 · digital signal Unit 5733: composite programmable logic element 660: fault control module 661: current detecting unit 663: fault judging unit 618b, 618c: electromotive force estimating unit 61: synchronous motor 611: abc phase winding 613: xyz phase winding a Phase winding: 61a 700: synchronous rotary coordinate system C, CCCC7: power transistor switch η, q: neutral point c, c2: capacitance: equivalent stator side resistance I: equivalent stator side inductance 28/36 201236356 A , A, A, A, A, e„,., e,,,,\: Back EMF voltage t: Left arm switching signal X: _· Right arm switching signal PWM1, PWM2: Pulse width modulation signal GPIO: General-purpose input and output signals KL, - νΛ.: Voltage V:, V:, V:, V:, V:, V:: Voltage command

w„, ··Speed feedback is: rotor angular position estimation Θ,: rotor position CC, ζ., C.: cross-axis current command (: straight-axis current command G,: speed adjustment function <: turn Moment command

2ΚΤ 2Κ'Τ Torque calculation function q-axis: axis d-axis: direct car by: abc phase conversion matrix function: xyz phase conversion matrix function CL, (, v, L: cross-axis current feedback signal 29/36 201236356 tC: Zero-axis current feedback signal △ς, Δ/^,: current error value, ζ, ζο: zero-axis current command: cross-axis current adjustment function: straight-axis current adjustment function GQ; I, G.,: Zero-axis current adjustment function heart, 4, <, <: cross-axis adjustment voltage command signal <,: zero-axis adjustment voltage command signal <, <, 4, <: cross-axis voltage command signal %: synchronization Synchronous angular velocity of the motor <,: zero-axis voltage command signal: abc reverse conversion matrix function

^ delect : xyz reverse conversion matrix function:, v:, V:, V:, v:: voltage command signal • current measurement signal "detect r detect r detect r detect t, heart, heart, 屹, 夂,, Under: fault judgment factor / wide ", /fw": operating current after fault Γ:: torque command signal after fault <, < : current command signal after fault cos (6»r -150 °), cos (乂+150°): Operation function: Adjust voltage command signal after fault G0, Ge: Current adjustment function 30/36 201236356 v'$, V:: Voltage command signal after fault, 弋: Estimated value of synchronous motor

31/36

Claims (1)

201236356 VII. Patent application scope: 1. A drive controller is applied to a synchronous motor, which is a single-pole dual-synchronous motor. The drive controller is coupled to a current feedback circuit and a speed feedback The module, the current feedback circuit and the speed feedback module are respectively coupled to the synchronous motor, and the driving controller comprises: a cross-axis matrix conversion module for feeding back a rotor of the module output according to the rotation speed The angular position estimation converts a set of armature currents outputted by the current feedback circuit into a set of orthogonal axis currents and a zero axis current by using a first matrix as a coordinate axis, wherein the sum of the zero axis currents and the set of frame currents is In proportion, a speed adjustment module is coupled to the speed feedback module, and the speed adjustment module is configured to convert the difference between a speed feedback and a speed command outputted by the speed feedback module into a set of straight lines. The current adjustment module is coupled to the orthogonal axis matrix conversion module and the rotation speed adjustment module, and the current adjustment module is configured to cross the straight axis current with the set of straight axes The difference of the current command is converted into a set of cross-axis voltage commands, and the difference between the zero-axis current and the zero-axis current command is converted into a zero-axis voltage command, wherein the zero-axis current command is zero; The anti-conversion module is coupled to the current adjustment module, and the cross-axis matrix inverse conversion module is configured to convert the set of cross-axis voltage commands and the zero-axis voltage command into a set of first a voltage command, and outputting the set of first voltage commands to a motor drive module, wherein the motor drive module controls a set of electrical voltages of the synchronous motor according to the set of first voltage commands to maintain a sum of the armature currents of the set Zero, wherein the second matrix and the first matrix are opposite to each other. The drive controller of claim 1, wherein the current regulation module comprises a cross-axis current adjustment unit and a zero-axis current adjustment unit, wherein the cross-axis current adjustment unit An AC-DC current adjustment function converts the difference between the set of cross-axis currents and the set of cross-axis current commands into the set of cross-axis voltage commands, the zero-axis current adjustment unit uses a zero-axis current adjustment function to The difference of the zero-axis current command is converted to the zero-axis voltage. 3. The drive controller of claim 1, wherein the speed adjustment module comprises a rotational speed computing unit and a first torque computing unit, the first torque computing unit coupled to the rotational speed computing a unit, the rotational speed computing unit converts the difference between the rotational speed feedback and the rotational speed command into a torque command by a rotational speed torque conversion function, and the first torque computing unit rotates with a torque to current conversion function The moment command is converted to a straight-axis current command. 4. The drive controller of claim 3, further comprising a fault control module, the fault control module comprising a current detecting unit and a fault determining unit, wherein the current adjusting unit is coupled to the fault a determining unit, the current detecting unit is configured to perform sampling calculation on the set of armature currents, and output a detecting current, the fault determining unit determines a fault type of the synchronous motor according to the detected current, and outputs an operation according to the fault type Strategy signal. 5. The driving controller of claim 4, wherein the speed adjustment module further comprises a second torque computing unit coupled to the rotational speed computing unit, the rotational speed adjusting module according to the operational strategy signal The rotational speed computing unit is controlled to output the torque command to the first torque computing unit or the second torque computing unit. 6. The drive controller of claim 5, wherein when the operation strategy signal is a fault control signal, the rotation speed calculation unit outputs the torque command to the second torque calculation unit, the Two Torque Operation 33/36 201236356 The unit converts this torque command into a post-fault current command. 7. The drive controller of claim 6, wherein the current adjustment module converts the difference between the current command after the fault and the armature current after the fault into a set of second voltage commands, and outputs To the motor drive module, the motor drive module controls the armature voltage of the synchronous motor according to the set of second voltage commands, so that the armature current that is not turned off after the synchronous motor fails maintains the armature current before the fault. 8. A driving control method for a synchronous motor, comprising: receiving a set of armature currents of the 'synchronous motor; estimating a set of electroforming currents by using a first matrix as a coordinate axis according to a rotor angular position of the synchronous motor a set of straight-axis current and a zero-axis current, wherein the zero-axis current is proportional to the sum of the set of armature currents; and a set of intersecting axes is generated according to a comparison between a rotational speed feedback of the synchronous motor and a rotational speed command a current command; a comparison result of the set of intersecting axis currents and the cross-axis current command is converted into a set of cross-axis voltage commands by an AC-axis current adjustment function, and the comparison result of the zero-axis current and the zero-axis current command is a zero-axis current adjustment function is converted to a zero-axis voltage command, wherein the zero-axis current command is zero; and the set of cross-axis voltage commands and the zero-axis voltage command are converted into a set of coordinates by a second matrix The first voltage command is output to a motor drive module, and the motor drive module controls the power of the synchronous motor according to the set of first voltage commands Voltage, so that the sum of the armature current remains at zero. 9. The driving control method according to claim 8, wherein the step of generating the set of orthogonal axis current commands according to the comparison result of the rotational speed and the rotational speed command comprises: feeding back the rotational speed command according to the rotational speed The result of the comparison produces a 34/36 201236356 moment command; and I〇.!! port: ί is converted to the set of straight-wheel current commands. : The control material mentioned in the 9th item of the patent includes: according to the method; the sample is calculated after the wheel-detection current; and the signal is slightly. U emotions are set to 1, and according to the production-operation strategy u: Please turn the torque command into a fault after the drive control nickname of the synchronous motor described in item 10. Xuan 卩 卩 电流 电流 电流 电流 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 12. 果 果^Command 'and output to the motor synchronous motor, two: control - single-pole dual-arm module for the primary-synchronous motor, the speed feedback sub-position, to a rotor-two motor of a rotor speed and a turn The transfer feedback and a rotor angular position estimate a current feedback circuit, the coupling circuit is used to detect the second power = the motivation 'the current feedback output the armature current; the set of armature currents And the "drive controller" is coupled to the circuit, the drive control ^ special ^ return group and the current feedback command to obtain a set of axis command data, the speed feedback and a speed conversion module to the group = H2 is converted into a set of AC regulation modules by a straight-axis current of a straight-axis matrix and a coordinate axis of the machine as a coordinate axis, and the drive controller is connected to the group by the current command of the straight-axis current. The difference of the current 201236356 is converted into a set of straight-axis voltage commands, and the difference between the zero-axis current and the zero-axis current command is converted into a zero-axis voltage command, wherein the zero-axis current command is zero, the drive controller Inverted matrix conversion mode Converting the set of direct axis voltage commands and the zero axis voltage command into a set of first voltage commands; a motor drive module coupled to the drive controller, the motor drive module including a pulse width adjustment control unit and a The frequency conversion unit is coupled to the frequency conversion unit, and the vine width adjustment control unit adjusts a switching duty cycle of the frequency conversion unit according to the first voltage command to control an electrode voltage of the synchronous motor to make the synchronous motor The sum of the electrode currents is zero. 36/36