TWI426699B - Driving controller of synchronous motor and the driving control method thereof - Google Patents

Description

Synchronous motor drive controller and drive control method

The present invention relates to a drive controller for a synchronous motor, and more particularly to a drive controller that can maintain a neutral current of a synchronous motor at zero.

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. At high speeds, if the in-wheel motor is faulty, such as an owing phase, it will directly impact the safety of the user and the passenger. Therefore, the high stability permanent magnet synchronous motor drive system is the focus of research and development of electric vehicles.

The general three-phase inverter architecture uses a three-arm three-phase inverter for its power architecture, and its power circuit is shown in the first figure. Three-arm three-phase inverter 17 voltage space vector pulse-width modulation (VSVPWM), with multiple power transistor switches Switching to each other produces a desired voltage vector to control the operation of the three-phase synchronous motor 11. This control technology is mature and its development has become stable, but its voltage usage can only reach the DC link voltage. In addition, the motor speed can be increased by weak field control or phase advance control.

When a single-phase winding or an arm-level power stage transistor fails, the system will not be able to form a loop to operate. To this end, domestic and foreign scholars have proposed several power architectures, which enable the system to continue to operate after a single-phase winding or an arm-powered transistor failure. Among them, there is a fault-tolerant frequency converter, as shown in the second figure, wherein the neutral point n of the three-phase synchronous motor 611 is connected to the double capacitors C ₁ , C ₂ and is matched with the three-phase inverter 27 for single-phase winding or one arm power. When the stage transistor fails, the structure of the three-switch type three-phase inverter 27 is formed by the unbroken arms and the neutral point n, so that the system can still form a loop and continue to operate; but the voltage utilization rate of this mode will be Will be greatly reduced, making the system speed difficult to increase.

There is also a four-arm three-phase inverter, the power circuit is as shown in the third figure; the neutral point n of the three-phase synchronous motor 31 is also taken out, supplemented by a plurality of single-arm dual powers of the four-arm three-phase inverter 37 Graded transistor Control, providing zero-phase current path caused by unbalanced load; when single-phase winding or one-arm power stage transistor fails, loop is formed by unbroken winding or power stage transistor and neutral point to synchronize three-phase The motor 31 can be loaded and continuously operated; however, the three-dimensional voltage space vector pulse width modulation (3D VSVPWM) control technology is often used in this architecture, and the control method is complicated, which greatly increases the complexity and calculation time of the software compilation.

In addition, in the three-phase balanced operation of the permanent magnet synchronous motor, the three-phase current will generate a stable and fixed direction of the rotating magnetic field, providing the torque of the smooth running of the motor. However, when the single-phase winding fails, the permanent-magnet synchronous motor will operate in an unbalanced situation, and its rotating magnetic field is affected by the zero-phase sequence and the negative phase sequence to generate periodic distortion, so that the motor has a fixed frequency of shaking.

To this end, it has been proposed that the inverter architecture adopts a fault-tolerant inverter as its power circuit, and its control strategy is improved from the direct torque control method; when the single-phase winding fails, the switch of the fault winding is disconnected and connected to the neutral point. The switch constitutes a loop, and the estimated torque and the DC link current are compared and adjusted by the feedback to determine the switching signal of each arm output.

Both of the above methods have the disadvantages of complicated control. Therefore, the control after the motor failure is still an urgent problem to be solved.

The object of the present invention is to provide a driving controller for a synchronous motor, which uses a current regulating module to adjust a zero-axis current according to a zero-axis current command to control the armature voltage of the synchronous motor, so that the current at the neutral point is zero, thereby reducing The loss of copper loss achieves the effect of maintaining the operating efficiency of the synchronous motor; in addition, the drive controller determines the type of fault by detecting the armature current and operates in different operating strategies according to different fault types to maintain the armature after the fault. The current maintains the armature current before the failure, thereby maintaining the stable operation speed of the synchronous motor.

In order to achieve the above object, a technical device of the present invention is a driving controller, which is applied to a synchronous motor, and the synchronous motor is coupled to a current feedback circuit and a rotational speed feedback module. The driving controller comprises a cross-axis matrix conversion module, a rotation speed adjustment module, a current adjustment module and an orthogonal-axis matrix inverse conversion module. The cross-axis matrix conversion module is coupled to the current feedback circuit and the speed feedback module; the speed adjustment module is coupled to the speed feedback module; the current adjustment module is coupled to the cross-axis matrix conversion module and the speed adjustment The module; the cross-axis matrix inverse conversion module is coupled to the current adjustment module and a motor drive module for controlling the synchronous motor.

The above-mentioned orthogonal axis matrix conversion module is configured to receive a set of armature currents of the synchronous motor, and convert the armature current into a set of intersections by using a first matrix as a coordinate axis according to a rotor angular position estimation of the synchronous motor. A shaft current and a zero-axis current, wherein the zero-axis current is proportional to the sum of the armature currents.

The 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 signal and a speed command signal outputted by the speed feedback module into a set of orthogonal shaft currents. command.

The current adjustment module is coupled to the cross-axis matrix conversion module and the rotation speed adjustment module, and the current adjustment module is configured to convert the difference between the cross-axis current feedback signal and the cross-axis current command signal into a set of cross-axis voltages. The command signal converts the difference between the zero-axis current feedback signal and the zero-axis current command 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 driving module. The motor driving module controls the armature voltage of the synchronous motor according to the first voltage command, so that the sum of the armature currents is maintained. zero.

For a detailed description of the technical means of the present invention, refer to the following embodiments, and refer to the accompanying drawings.

In order to clearly illustrate the principles of operation of the present invention and the achievable efficiencies thereof, a preferred embodiment will be described below.

Please refer to the fourth figure, which is a block diagram of an embodiment of a synchronous motor control system according to the present invention. As shown in the fourth figure, the synchronous motor control system 400 includes a drive controller 410 and a rotational speed feedback module. 430, a current feedback circuit 450 and a motor drive module 470. The speed feedback module 430 and the current feedback circuit 450 are respectively coupled to the synchronous motor 61. The drive controller 410 is coupled to the speed feedback module 430, the current feedback circuit 450, and the motor drive module 470. Group 470 is coupled to synchronous motor 61. A closed loop control system is formed via the above connection relationship.

The rotational speed feedback module 430 is configured to detect the rotational speed of the synchronous motor 61, and output a rotational speed feedback and a rotor position estimation signal according to the detection result, wherein the rotor position estimation signal corresponds to the rotor angular position estimation; The circuit 450 is configured to detect the armature current of the synchronous motor 61 and output a set of armature currents according to the detection result.

The drive controller 410 includes an AC-DC matrix conversion module 413, a rotation speed adjustment module 411, a current adjustment module 415, and an AC-DC matrix inverse conversion module 419. The AC-axis matrix conversion module 413 is coupled to the current. The feedback circuit 450 is coupled to the rotational speed feedback module 430. The current adjustment module 415 is coupled to the rotational speed adjustment module 411 and the orthogonal axis matrix conversion module 413, and the orthogonal axis matrix inverse conversion module 419. The current adjustment module 415 and the motor drive module 470 are coupled to each other.

The cross-axis matrix conversion module 413 is configured to generate a set of cross-axis current and a zero-axis current after the current feedback is converted as a coordinate according to the rotor angular position estimation; the rotation speed adjustment module 411 is configured to The speed feedback signal and a preset speed command signal generate a set of cross-axis current commands.

The current adjustment module 415 is configured to generate a set of cross-axis voltage commands according to the cross-axis current feedback and the cross-axis current command; and the driving controller 410 is configured to return a preset zero according to the zero-axis current. The axis current command signal outputs a zero axis voltage command signal.

The cross-axis matrix inverse conversion module 419 is configured to generate a set of first voltage command signals according to the coordinate voltage command signal and the zero-axis voltage command signal, and output the first voltage. The motor drive module 470 is configured to control the armature voltage of the synchronous motor 61 according to the first voltage command, so that the total armature current is zero, thereby reducing the loss of copper loss to maintain the synchronous motor 61. Operational efficiency.

Next, please refer to FIG. 5A, which is a control block diagram of an embodiment of a motor control system provided by the present invention. 5A shows the modules included in the motor control system 500 and the operational functions utilized therein, wherein the rotational feedback module 530 includes a rotational feedback circuit 531 and a rotational speed estimation and magnetic pole position detecting circuit 533; The motor drive module 570 includes a pulse width 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. In the embodiment, a six-phase permanent magnet synchronous motor is taken as an example. As shown in FIG. 5B, the Y wiring equivalent of the synchronous motor 61 is used. The circuit diagram includes two sets of three-phase windings, respectively abc phase winding 611 and xyz phase winding 613, each having a neutral point n ₁ , n ₂ , and two sets of three-phase windings differing from each other by a motor angle of 30 degrees, and two groups Each phase current in the winding differs by a phase of 120 degrees.

The circuit connection relationship between the inverter unit 571 and the synchronous motor 61 can be as shown in the fifth C diagram. The frequency conversion unit 571 has twenty-four power switches, and the synchronous motor 61 is connected by a single-pole double-arm type using twelve arms. The synchronous motor 61 and the frequency conversion unit 571 can be regarded as six single-phase full-bridge inverters. Where R _s and L _s are the equivalent stator side resistances and inductances of the synchronous motor 61, respectively, and e _a , e _b , e _c , e _x , e _y , and e _z are respectively back electromotive voltages.

Due to the choice of a motor driving module 570 according to the present invention, taken independently controls each of the phase windings of the synchronous motor 61, the neutral point of the two three-phase windings n _1, n ₂ separation, the synchronous motor 61 after the fault current and harmonic The components cannot be coupled to the neutral points n ₁ , n ₂ , that is, the neutral point currents i _n1 , i _{n 2 are} not zero. How the present invention balances the neutral point currents i _n1 , i _{n 2} to improve the operational performance of the synchronous motor 61 will be described below.

For example, an equivalent circuit diagram of the a-phase winding 61a in the synchronous motor 61 and the inverter unit 571a connecting the both arms thereof is as shown in FIG. 5D. The left arm switching signal S _{a 1} and the right arm switching signal S _{a 2 of the} frequency conversion unit 571a enable the voltage v _{a of the} a-phase winding 61 _a to generate v _dc , - v _dc , 0, and use these three voltage combinations to generate a voltage command. .

Please refer to FIG. 5E, which is a block diagram of an embodiment of a pulse width modulation control unit of a synchronous motor control system according to the present invention. PWM control unit 573a for controlling the switch signal of the left arm right arm switch signal S _a S _a duty cycle of ₁ and _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, the digital signal processing unit 5731 is based on a voltage command The pulse width modulation signals PWM1, PWM2 and the general-purpose output signal GPIO to the composite programmable logic element 5731 are output to control the duty cycle and the level of the output voltage of the composite programmable logic element 5733. In an embodiment, the block diagram of the logic gate included in the composite programmable logic element 5733 is as shown in the fifth F diagram, for example, when the voltage command Is greater than zero, by a general purpose output port into a control signal GPIO complex programmable logic element 5733 switches the path of the right arm signal S _{a 2} low.

Referring again to FIG. 5A, the speed feedback circuit 531 detects the rotor speed of the synchronous motor 61, and generates a counter electromotive voltage e _af , e _bf , e _cf according to the detection result, and the rotational speed estimation and magnetic pole position detecting circuit 533 According to the counter electromotive voltages e _af , e _bf , e _{cf ,} a rotational speed feedback w _m and a rotor angular position estimation are generated. .

The drive controller 510 sends the speed feedback signal w _m and the preset speed command The comparison operation obtains the rotational speed error value Δ w , and the rotational speed adjustment module 511 outputs a set of orthogonal linear current commands according to the rotational speed error value Δ w . among them The cross-axis current commands for phase a and phase x, respectively. They are the direct current commands of phase a and phase x, respectively. In order to simplify the illustration and calculation, the straight axis current command .

In this 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 Δ w into a torque command by a rotational speed adjustment function G _{s .} Signal . The first torque operation unit 5113 uses a torque operation function Torque command Convert to a set of cross-axis current commands . Where K _T is the torque constant as shown in equation (1).

Where N _p is the number of poles of the synchronous motor 61, and λ' _m is equivalent to the rotor flux on the stator side.

The current feedback circuit 550 is configured to detect the armature current of the synchronous motor 61, and output a set of armature currents i _a , i _b , i _c , i _x , i _y , i _z according to the detection result. In this embodiment, the current feedback circuit 550 can include a current detecting circuit and an analog-to-digital conversion unit.

Since the mathematical mode of the six-phase coordinate system of the synchronous motor 61 is time-varying, in order to simplify the analysis, the six-phase time-varying physical quantity is projected to the synchronous rotary coordinate system, and the coordinate system is as shown in the fifth G diagram, and the synchronous rotary coordinate system 700 includes The quadrature axis q-axis and the straight axis d-axis, the quadrature axis q-axis and the straight axis d-axis are 90 degrees apart, and θ _r is the rotor angular position of the synchronous motor 61.

Since the abc phase winding and the xyz phase winding are different from each other by a 30 degree motor angle, the orthogonal axis matrix conversion module 513 respectively _supplies the armature current feedback signal i _a with an abc phase conversion matrix function T _qdoa and an xyz phase conversion matrix function T _qdox . i _b , i _c , i _x , i _y , i _{z are} coordinate axis transformation, and the abc phase conversion matrix function T _{qdoa is} shifted by 30 degrees to obtain the xyz phase transformation matrix function T _qdox . The abc phase conversion matrix function T _{qdoa is} as shown in equation (2).

The orthogonal axis matrix conversion module 513 estimates the rotor angular position The armature currents i _a , i _b , i _c , i _x , i _y , i _z are converted into a set of orthogonal axis currents i _qa , i _da , i _qx , i _dx and one by a transformation matrix function T _qd0x , T _qd0a Group zero axis currents i _{0 a} , i _{0 x} . The relationship is as shown in equations (3) and (4). Where i _qa and i _qx are the intersection currents of the a-phase and the x-phase, respectively, i _da and i _dx are the direct-axis currents of the a-phase and the x-phase, respectively, and i _{0 a} and i _{0 x} are the a-phase and the x-phase, respectively. Zero axis current.

The drive controller 510 and the intersecting-axis currents i _qa , i _da , i _qx , i _dx and the intersecting-axis current command Performing a comparison operation to obtain current error values Δ i _qa , Δ i _da , Δ i _qx , Δ i _dx , and the zero-axis currents i _{0 a} , i _{0 x} and a set of preset zero-axis current commands After the comparison operation to obtain a current error value _{Δ i 0 a, Δ i 0} x. Among them, the preset zero-axis current command Zero, ie Zero. The relationship can be expressed as in the formulas (5) to (10).

The current regulation module 515 includes cross-axis current adjustment units 515a, 515x and zero-axis current adjustment units 515a ₀ , 515x ₀ . The cross-axis current adjustment unit 515a calculates the current error values Δ i _qa and Δ i _da by the cross-axis current adjustment function G _qa and the linear-axis current adjustment function G _da , respectively, to obtain a cross-axis adjustment voltage command. . The cross-axis current adjustment unit 515x calculates the current error values Δ i _qx and Δ i _dx by the cross-axis current adjustment function G _{q x} and the constant-axis current adjustment function G _dx , respectively, to obtain an orthogonal-axis adjustment voltage command. . The zero-axis current adjustment unit 515a ₀ obtains the zero-axis adjustment voltage command after the current error value Δ i _{0 a} is calculated by the zero-axis current adjustment function G _{0 a} . The zero-axis current adjustment unit 515x ₀ obtains the zero-axis adjustment voltage command after the current error value Δ i _{0 x} is calculated by the zero-axis current adjustment function G _{0 x} . In the present embodiment, the current adjustment functions G _qa , G _da , G _qx , G _dx , G _{0 a} , G _{0 x} may employ a proportional-integral control function, and the functions are expressed as equations (11) to (16).

Where k _pqa , k _pda , k _pqx , k _pdx , k _{p 0 a} , k _{p 0 x} are proportional control gains, k _iqa , k _ida , k _iqx , k _idx , k _{i 0 a} , k _{i 0 x} Integral control gain. S is an integral operation function.

The voltage compensation module 517 includes an abc phase voltage compensation unit 517a and an xyz phase voltage compensation unit 517x, wherein the abc phase voltage compensation unit 517a will adjust the voltage command to the orthogonal axis. After the operation, the straight-axis voltage command is obtained. , xyz phase voltage compensation unit 517x will adjust the voltage command to the straight axis After the operation, the straight-axis voltage command is obtained. . The relationship is expressed as shown in the equations (17) to (20).

Wherein, w _r is the synchronization of the angular velocity of the synchronous motor _{61, L daa, L qaa, L} dxx, L qxx mutual inductance of the direct axis in the cross-synchronous rotation coordinate system. Zero axis adjustment voltage command Equal to the zero-axis voltage command, ie .

The orthogonal axis matrix inverse conversion module 519 estimates the rotor angular position Conversion matrix function with an abc inverse And an xyz inverse conversion matrix function Straight axis voltage command And zero axis voltage commands Convert to voltage command . among them , .

Drive controller 510 will voltage command Output to pulse width modulation control unit 573, pulse width modulation control unit 573 according to voltage command The switching period of the switching transistor in the inverter unit 571 is controlled. Thereby, the armature voltage of the synchronous motor 61 is controlled to maintain the zero-axis current of the synchronous motor 61 to zero, that is, the currents i _{n 1} , i _{n 2 of the} neutral points n ₁ and n ₂ are zero.

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 performs sampling calculation on a set of armature currents i _a , i _b , i _c , i _x , i _y , i _{z of the} synchronous motor 61, that is, at a detecting time T _s , detecting n times of armature currents i _a , i _b , i _c , i _x , i _y , i _z , and the armature currents i _a , i _b , i _c , i _x , i _y , A set of detection currents is obtained after i _z integration , the relationship is expressed as equations (21) to (26).

Where t ₂ - t ₁ = nT _s , the fault judging unit 663 is based on the detected current It is judged whether or not the synchronous motor 61 is operating normally. When the detected current When the values are not zero, the synchronous motor 61 operates in a normal state. When the current detection signal Wherein when a is zero, the synchronous motor 61 or the inverter unit 151 is disconnected, the fault determination unit 663 determines a failure factor to a k _j to determine a fault condition abc and xyz-phase winding phase windings, failure judgment factor k _j may be Expressed as in equation (27).

Where j = a , b , c , x , y , z. The fault judging unit 663 judges the fault state of the abc phase winding and the xyz phase winding according to the value of the fault judging factor k _j , as shown in Table 1.

The failure judging unit 663 classifies the fault types into five categories according to various combinations of the fault judging factors k _j . If the fault types other than the five categories are, the synchronous motor 61 cannot operate. The fault judging unit 663 further outputs the operation strategy signal according to different fault types, and the operation strategy signal is related to the control strategy after the fault, and the relationship between the control strategy and the fault type after the fault is as shown in Table 2.

Please refer to FIG. 6B, which is a vector diagram of an embodiment of the armature current after the failure of the synchronous motor and the fault before the fault of the present invention. As shown in FIG. 6B, for example, when the frequency conversion unit 571a of the a-phase winding 61a or the a phase fails, since the synchronous motor 61 after the failure makes the armature current i _b of each phase in the abc phase winding, i _c independent control, so that the two-phase armature currents i _b and i _c that are not faulted are different by 60 degrees motor angle, then the armature current after the fault It will lead or fall behind the 30 degree motor angle than the armature currents i _b and i _c before the fault, and the peak will become the fault before the fault. Double to maintain the original output power. However, the armature current after the fault Will exceed the rated current Times may cause the unbroken b and c phase windings to burn out. Therefore, it is necessary to adjust the current command signal to make the armature current after the fault. Maintaining armature current before the fault i _b, i _c.

Please refer to FIG. 6C, which is a block diagram of an embodiment of a drive controller after a synchronous motor failure of the present invention. As shown in FIG. C, when a single-phase disconnection fault occurs in the abc phase winding and the xyz phase winding is normally operated, for example, when the a-phase winding 61a fails, the drive controller 610 turns the unfaulted b-phase winding and the c-phase. The windings are switched to be controlled by the speed regulation module 611 and the current regulation module 615 to adjust the current command after the fault, and the unfaulted xyz phase windings can be controlled by the aforementioned drive controller 510.

In this embodiment, the speed adjustment module 611 and the current adjustment module 615 perform control only after the barrier is fixed. In actual implementation, the speed adjustment module 611 can be integrated with the speed adjustment module 511 in the same module. The current regulation module 615 can be integrated in the same module as the current regulation module 515.

The rotational speed adjustment module 611 includes a rotational speed computing unit 6111 and a second torque computing unit 6113. 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 Δ w into a post-fault torque command signal by the rotational speed adjustment function G _s , after the fault torque command signal As shown in equation (28).

Where N _p is the number of poles of the synchronous motor 61, To synchronize the rotor flux linkage of the motor 61, For current peak command. Torque command for the unbroken xyz phase winding As shown in equation (29).

In actual implementation, the speed adjustment module 611 sets the fault torque command according to the control strategy after the fault. Switching the output to the second torque computing unit 6113, and the unbroken torque command The output is output to the first torque operation unit 5113. Wherein, the second torque computing unit 6113 uses a torque operation function Torque command signal after failure Convert to a current peak command The torque constants K ' _T and K _{T are} as shown in equations (30) and (31).

The drive controller 610 further includes a b-phase current command control unit 612b and a c-phase current command control unit 612c, and the b-phase current command control unit 612b and the c-phase current command control unit 612c respectively use an operation function cos(θ _r -150 ^o ) And cos(θ _r +150 ^o ) will current peak command After the operation, the current command after the fault is obtained. .

The current regulation module 615 includes a b-phase current adjustment unit 615b and a c-phase current adjustment unit 615c. Drive controller 610 will fault current command Armature current after failure After the comparison operation, the current error value after the fault is obtained. , the b-phase current adjustment unit 615b and the c-phase current adjustment unit 615c respectively use the current adjustment functions G _b , G _c to calculate the current error value Convert to fault after adjusting voltage command and .

The current adjustment functions G _b and G _c are a b-phase current adjustment function and a c-direction current adjustment function, respectively, and the current adjustment functions G _b and G _c all adopt a proportional-integral control function, and the function is expressed as shown in the equation (32).

Where k _pk and k _ik are respectively the current regulation proportional control gain set integral control gain of the abc phase winding, and S is an integral operation function.

The drive controller 610 further includes an electromotive force estimating unit 618b, 618c, and the electromotive force estimating unit 618b, 618c adjusts the voltage command after the fault After the compensation operation, the voltage command after the fault is obtained. . Voltage command signal after fault Adjust voltage command signal after failure The relationship is expressed by equations (33) and (34).

among them Respectively shall estimate the potential, by the electromotive force estimation unit 618b, 618c with the estimate of the motor back electromotive force e _b 2 a, e _c obtained should estimate the potential Estimated value via speed feedback And the rotor flux linkage of the synchronous motor 61 Calculated.

The above description only shows the failure of the a-phase winding 61a, and those skilled in the art should be able to push the control of other fault states. Through the above calculation, the fault current command can be obtained under different fault conditions. And voltage commands after failure in different fault conditions . The relationship is organized as shown in Table 3.

If the output power of the abc phase winding is P _abc and the output power of the xyz phase winding is P _xyz , the overall output power P _{total of} the abc phase winding and the xyz phase winding is as shown in equation (35).

P _total = P _abc + P _xyz (35)

Under normal operation, the output power of the abc phase winding and the output power of the xyz phase winding share the overall output power equally, and P _abc and P _xyz can be expressed as equations (36) and (37), respectively.

When the single-phase disconnection fault occurs in the abc phase winding, the xyz phase winding is normal. If the current after the fault is maintained, the abc phase winding output power P _{abc needs} to be changed to the original. Times, as shown in equations (38) and (39).

At this time, the second output of the fault is the relative output power of the three-phase operation. As shown in formula (40).

It can be known from equation (40) that the overall output power of the abc phase winding occurs after a single-phase disconnection fault or a single-phase disconnection fault occurs in the xyz phase winding. When it falls, it becomes 0.7887 times of the total output power P _total at the time of failure. When a single-phase disconnection fault occurs in the abc phase winding and a single-phase disconnection occurs in the xyz phase winding, if the armature current after the fault is to be made To maintain the armature currents i _a , i _b , i _c , i _x , i _y , i _z before the fault, the output powers P _abc and P _{xyz of} the abc phase winding and the xyz phase winding must be changed to the original Times, as shown in equations (41) and (42).

The second output of the two-phase operation As shown in equation (43).

It can be known from equation (43) that the single-phase disconnection fault occurs in the abc phase winding and the overall output power after the single-phase disconnection fault occurs in the xyz phase winding. 0.57735 times becomes not failed overall output power of P _total.

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.

The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are all It is still within the scope of the invention patent.

11, 21, 31. . . Three-phase synchronous motor

17, 27, 37. . . Three-arm three-phase inverter

400, 500. . . Synchronous motor control system

410, 510, 610. . . Drive controller

411, 511, 611. . . Speed adjustment module

5111, 6111. . . Speed calculation unit

5113. . . First torque computing unit

6113. . . Second torque computing unit

612b. . . Phase b current command control unit

612c. . . Phase c current command control unit

413, 513. . . Cross-axis matrix conversion module

415, 515, 615. . . Current regulation module

515a, 515x. . . Straight shaft current adjustment unit

515a ₀ , 515x ₀ . . . Zero-axis current adjustment unit

615b. . . Phase b current regulation unit

615c. . . Phase c current regulation unit

517. . . Voltage compensation module

517a. . . Abc phase voltage compensation unit

517x. . . Xyz phase voltage compensation unit

419, 519. . . Cross-axis matrix inverse conversion module

430, 530. . . Speed feedback module

531. . . Speed feedback circuit

533. . . Speed estimation and magnetic pole position detection 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 processing unit

5733. . . Composite programmable logic component

660. . . Fault control module

661. . . Current detection unit

663. . . Fault judging unit

618b, 618c. . . Electromotive force estimation unit

61. . . Synchronous motor

611. . . Abc phase winding

613. . . Xyz phase winding

61a. . . Phase a winding

700. . . Synchronous rotary coordinate system

. . . Power transistor switch

n, n ₁ , n ₂ . . . Neutral point

C ₁ , C ₂ . . . capacitance

R _s . . . Equivalent stator side resistance

L _s . . . Equivalent stator side inductance

e _a , e _b , e _c , e _x , e _y , e _z , e _af , e _bf , e _cf . . . Back electromotive voltage

S _{a 1} . . . Left arm switch signal

S _{a 2} . . . Right arm switch signal

PWM1, PWM2. . . Pulse width modulation signal

GPIO. . . General purpose input signal

v _a , v _dc , - v _dc . . . Voltage

. . . Voltage command

w _m . . . Speed feedback

. . . Rotor angular position estimation

θ _r . . . Rotor angular position

. . . Straight axis current command

. . . Straight axis current command

G _s . . . Speed adjustment function

. . . Torque command

. . . Torque calculation function

i _a , i _b , i _c , i _x , i _y , i _z . . . Armature current

Q-axis. . . Cross axis

D-axis. . . Straight axis

T _qdoa . . . Abc phase conversion matrix function

T _qdox . . . Xyz phase conversion matrix function

i _qa , i _da , i _qx , i _dx . . . Straight axis current feedback signal

i _{0 a} , i _{0 x} . . . Zero-axis current feedback signal

Δ i _qa , Δ i _da , Δ i _qx , Δ i _dx . . . Current error value

. . . Zero axis current command

G _qa, G _qx. . . Cross-axis current adjustment function

G _da, G _dx. . . Straight axis current regulation function

G _{0 a} , G _{0 x} . . . Zero-axis current regulation function

. . . Straight axis adjustment voltage command signal

. . . Zero axis adjustment voltage command signal

. . . Straight axis voltage command signal

W _r . . . Synchronous angular velocity of synchronous motor

. . . Zero-axis voltage command signal

. . . Abc reverse conversion matrix function

. . . Xyz inverse conversion matrix function

. . . Voltage command signal

. . . Current detection signal

k _a , k _b , k _c , k _x , k _y , k _z . . . Fault judgment factor

. . . Operating current after failure

. . . Torque command signal after failure

. . . Current command signal after fault

Cos(θ _r -150 ^o ), cos(θ _r +150 ^o ). . . Arithmetic function

. . . Adjust voltage command signal after fault

G _b , G _c . . . Current regulation function

. . . Voltage command signal after failure

. . . Estimated value of the potential of the synchronous motor

First: a circuit diagram of an embodiment of a conventional three-phase inverter;

Second figure: a circuit diagram of an embodiment of a conventional three-phase inverter;

The third figure: a circuit diagram of a practical implementation of a conventional three-phase inverter;

Fourth: a block diagram of an embodiment of a synchronous motor control system of the present invention;

Figure 5A is a control block diagram of an embodiment of the synchronous motor control system of the present invention;

Figure 5B is an equivalent circuit diagram of an embodiment of a synchronous motor of the synchronous motor control system of the present invention;

Figure 5C is a circuit diagram of an embodiment of a frequency conversion unit of the synchronous motor control system of the present invention;

Figure 5D is an equivalent circuit diagram of an embodiment of the a-phase winding of the synchronous motor of the present invention and its frequency conversion unit;

Figure 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;

Figure F is a block diagram of a composite programmable logic element of the synchronous motor control system of the present invention;

Fifth G diagram: a coordinate diagram of an embodiment of a synchronous rotary coordinate system of the synchronous motor control system of the present invention;

Figure 6A is a block diagram showing an embodiment of a fault control module of the synchronous motor control system of the present invention;

Figure 6B: a vector diagram of the operating current of the synchronous motor of the present invention after failure and before the fault; and

Figure 6C is a block diagram of an embodiment of a drive controller after a synchronous motor failure of the present invention.

400. . . Motor control system

61. . . Synchronous motor

410. . . Drive controller

411. . . Speed adjustment module

413. . . Cross-axis matrix conversion module

415. . . Current regulation module

419. . . Cross-axis matrix inverse conversion module

430. . . Speed feedback module

450. . . Current feedback circuit

470. . . Motor drive module

Claims (12)

A drive controller is applied to a synchronous motor, which is a single-pole dual-synchronous motor, and the drive controller is coupled to a current feedback circuit and a speed feedback module, and the current feedback circuit and The speed feedback module is respectively coupled to the synchronous motor, and the driving controller comprises: an orthogonal axis matrix conversion module, configured to estimate a current feedback circuit according to a rotor angular position output of the speed feedback module output The output armature current is converted into a set of cross-axis current and a zero-axis current by a first matrix as a coordinate axis, wherein the zero-axis current is proportional to the sum of the armature currents; a speed adjustment module, coupled Connected to the speed feedback module, 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 cross-axis current commands; a current adjustment module And coupled to the cross-axis matrix conversion module and the rotation speed adjustment module, the current adjustment module is configured to convert the difference between the set of cross-axis currents and the set of cross-axis current commands into a set of cross-axis voltage commands And converting the difference between the zero-axis current and the zero-axis current command into a zero-axis voltage command, wherein the zero-axis current command is zero; and an orthogonal-axis matrix inverse conversion module is coupled to the current adjustment module, The cross-axis matrix inverse conversion module is configured to convert the set of orthogonal axis voltage commands and the zero-axis voltage command into a set of first voltage commands by using a second matrix as a coordinate axis, and output the set of first voltage commands to a motor a driving module, the motor driving module controls a set of armature voltages of the synchronous motor according to the set of first voltage commands, so that the sum of the armature currents of the group is maintained at zero, wherein the second matrix and the first matrix are mutually Inverse matrix. The drive controller of claim 1, wherein the current adjustment module comprises a cross-axis current adjustment unit and a zero-axis current adjustment unit, wherein the cross-axis current adjustment unit has a cross-axis current adjustment function Converting the difference between the set of straight-axis currents and the set of cross-axis current commands to the set of cross-axis voltage commands, the zero-axis current adjustment unit commanding the zero-axis current with the zero-axis current with a zero-axis current adjustment function The difference is converted to the zero-axis voltage. The driving controller of claim 1, wherein the speed adjusting module comprises a rotational speed computing unit and a first torque computing unit, wherein the first torque computing unit is coupled to the rotational speed computing 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 converts the torque command by a torque to current conversion function For a straight axis current command. 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 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 the fault type of the synchronous motor according to the detected current, and outputs a running strategy signal according to the fault type. . The drive controller of claim 4, wherein the speed adjustment module further includes a second torque calculation unit coupled to the rotation speed calculation unit, and the rotation speed adjustment module controls the operation according to the operation strategy signal. The rotational speed computing unit outputs the torque command to the first torque computing unit or the second torque computing unit. 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 operation unit, the second rotation Moment operation The unit converts the torque command into a post-fault current command. The driving controller of claim 6, wherein the current regulating 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 the same 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 cut off after the synchronous motor fails maintains the armature current before the fault. A driving control method for a synchronous motor, comprising: receiving a set of armature currents of the synchronous motor; and estimating, according to a rotor angular position of the synchronous motor, converting the set of armature currents into a set of intersections by using a first matrix as a coordinate axis A shaft current and a zero-axis current, wherein the zero-axis current is proportional to a sum of the armature currents; 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 result of the set of quadrature 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 zero-axis current is compared with a zero-axis current command by a zero-axis current. The 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 first voltage commands by using a second matrix as a coordinate axis, And outputting to a motor drive module, the motor drive module controls the armature voltage of the synchronous motor according to the set of first voltage commands, so that the armature The sum of the stream remains at zero. The driving control method for a synchronous motor according to claim 8, wherein the step of generating the set of the orthogonal axis current command according to the comparison result of the rotational speed feedback with the rotational speed command comprises: feeding back the rotational speed according to the rotational speed The comparison result of the command produces a turn a moment command; and converting the torque command into the set of cross-axis current commands. The driving control method for the synchronous motor according to claim 9 further includes: outputting a detection current after sampling the armature current; and determining a fault type according to the detected current, and generating the fault type according to the detected current A running strategy signal. The driving control method for the synchronous motor according to claim 10, further comprising: converting the torque command into a fault current command according to the operation strategy signal; and the current command after the fault and the power after the fault The comparison result of the pivot current is converted into a set of second voltage commands and output to the motor drive module. A synchronous motor control system for controlling a single-pole, two-armed synchronous motor, the synchronous motor control system comprising: a rotational speed feedback module coupled to the synchronous motor, the rotational speed feedback module for detecting a rotor rotational speed and a rotor position of the synchronous motor are outputted with a rotational speed feedback and a rotor angular position estimate; a current feedback circuit coupled to the synchronous motor, the current feedback circuit is configured to detect the synchronization a set of armature currents of the motor, and outputting the set of armature currents; a drive controller coupled to the speed feedback module and the current feedback circuit, the drive controller is based on the speed feedback and a speed command Obtaining a set of intersecting current commands, and converting the set of armature currents into coordinate axes and a zero-axis current by a cross-axis matrix conversion module, wherein the driving controller is controlled by a current regulating module Directing the set of straight axis current commands with the set of straight axes The difference in current 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 to a zero-axis voltage command, wherein the zero-axis current command is zero, the drive controller An off-axis inverse matrix conversion module converts the set of straight-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 includes a pulse width adjustment control unit and a frequency conversion unit, the pulse width adjustment control unit is coupled to the frequency conversion unit, and the pulse width adjustment control unit adjusts a switching duty cycle of the frequency conversion unit according to the first voltage command to control the synchronous motor The armature voltage causes the sum of the armature currents of the synchronous motor to be zero.