WO2016090956A1 - 一种开关磁阻电机位置传感器故障容错控制方法 - Google Patents

一种开关磁阻电机位置传感器故障容错控制方法 Download PDF

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WO2016090956A1
WO2016090956A1 PCT/CN2015/087607 CN2015087607W WO2016090956A1 WO 2016090956 A1 WO2016090956 A1 WO 2016090956A1 CN 2015087607 W CN2015087607 W CN 2015087607W WO 2016090956 A1 WO2016090956 A1 WO 2016090956A1
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edge pulse
position sensor
switched reluctance
reluctance motor
pulse
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French (fr)
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陈昊
韩国强
程鹤
王千龙
王青
王星
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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Priority to RU2016125327A priority Critical patent/RU2637492C1/ru
Priority to US15/533,878 priority patent/US9923496B2/en
Priority to AU2015361700A priority patent/AU2015361700B2/en
Publication of WO2016090956A1 publication Critical patent/WO2016090956A1/zh
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/092—Converters specially adapted for controlling reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/092—Converters specially adapted for controlling reluctance motors
    • H02P25/0925—Converters specially adapted for controlling reluctance motors wherein the converter comprises only one switch per phase
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/12—Monitoring commutation; Providing indication of commutation failure
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • the invention relates to a fault-tolerant control method for a position sensor of a switched reluctance motor, in particular to a fault-tolerant control of a position sensor of a plurality of phase numbers, a plurality of topologies, a rotary and a linear switched reluctance motor.
  • the position sensor that provides the rotor position signal for the calculation of the rotational speed of the switched reluctance motor system and the commutation of the motor will have a failure fault, resulting in loss of the pulse, the commutation of the motor fails, and it cannot operate normally. Therefore, it is very important to reconstruct the output signal of the position sensor of the switched reluctance motor system and implement fault-tolerant control of the position sensor.
  • the fault-tolerant control method of the traditional position sensor output signal reconstruction does not consider the variable speed and variable acceleration and deceleration conditions of the switched reluctance motor.
  • the reconstructed position sensor output signal has a large deviation under the variable speed and variable acceleration and deceleration conditions of the motor. The effect of fault tolerance control.
  • the object of the present invention is to provide a fault-tolerant control method for a position sensor of a switched reluctance motor with simple method, strong fault tolerance, high reliability and good effect before overcoming the deficiencies in the prior art.
  • the fourth edge pulse is the current edge pulse, in chronological order, the third edge pulse is early On the fourth edge pulse, the second edge pulse is earlier than the third edge pulse, the first edge pulse is earlier than the second edge pulse, and the interval between the first edge pulse and the second edge pulse is T 1
  • the interval between the second edge pulse and the third edge pulse is T 2
  • the interval between the third edge pulse and the fourth edge pulse is T 3 , by the formula:
  • the next edge pulse is reconstructed after the current edge pulse time interval T 4 to realize the fault of the switched reluctance motor position sensor. Fault tolerant operation.
  • the present invention is fault tolerant of a single position sensor and multiple position sensors for multiple phase numbers, multiple topologies, rotary and linear switched reluctance motors at uniform speed, uniform acceleration, uniform deceleration, variable acceleration and variable deceleration operation
  • the control is applicable.
  • four equally spaced or equal-angle continuous edge pulses of the position sensor output signal are detected in real time, and the fourth edge pulse is the current edge pulse, and the adjacent edges are detected in turn.
  • the interval between the two edge pulses thereby calculating the time interval between the next edge pulse immediately after the current edge pulse and the current edge pulse, if the switched reluctance motor position sensor fails, immediately after the current edge pulse
  • the secondary edge pulse is lost, and the next edge pulse is reconstructed after the time interval of the current edge pulse of the position sensor output signal, so that the switched reluctance motor system can be fault-tolerant in the case of position sensor failure, which improves the service life of the system.
  • the reconstructed position signal of the invention is accurate at the moment, the algorithm is simple to implement, and the output signal of the faulty position sensor is reconstructed by the output signal of the faultless position sensor, and the fault tolerance is strong and the reliability is high, thereby further improving the system reliability. Good application prospects.
  • FIG. 1 is a schematic view showing the installation of a three-phase 12/8 structure switched reluctance rotating electric machine position sensor
  • FIG. 2 is a schematic diagram of edge pulse detection and signal reconstruction of a three-phase 12/8 structure switched reluctance rotating machine position sensor output signal
  • FIG. 3 is a schematic view showing the installation of a four-phase 8/6 structure switched reluctance rotating electric machine position sensor
  • FIG. 4 is a schematic diagram of edge pulse detection and signal reconstruction of a four-phase 8/6 structure switched reluctance rotating machine position sensor output signal.
  • Figure 5 is a schematic view showing the installation of a three-phase 6/4 structure switch reluctance linear motor position sensor
  • Fig. 6 is a schematic diagram of edge pulse detection and signal reconstruction of the output signal of the three-phase 6/4 structure switched reluctance linear motor position sensor.
  • Embodiment 1 A schematic diagram of symmetric installation of three position sensors P, Q, and R of a three-phase 12/8 structure switched reluctance rotating machine as shown in FIG. 1 with an interval angle ⁇ of 60°.
  • the switched reluctance motor position sensor operates without failure, as shown in Figure 2, the four equal-angle continuous edge pulses Q, P, R, Q of the position sensor output signal are detected in real time, and the fourth edge pulse Q from the left is The current edge pulse, in chronological order, the third edge pulse R is earlier than the fourth edge pulse Q, the second edge pulse P is earlier than the third edge pulse R, and the first edge pulse Q is earlier than the second edge Pulse P, the interval between the first edge pulse Q and the second edge pulse P is T 1 , the interval between the second edge pulse P and the third edge pulse R is T 2 , and the third edge pulse R and The interval between the fourth edge pulse Q is T 3 , by the formula:
  • Embodiment 2 A schematic diagram of symmetric installation of two position sensors P and Q of a four-phase 8/6 structure switched reluctance rotating machine as shown in FIG. 3, the interval angle ⁇ is 75°.
  • the switched reluctance motor position sensor operates without failure, as shown in FIG.
  • the fourth edge pulse Q from the left is The current edge pulse, in chronological order, the third edge pulse P is earlier than the fourth edge pulse Q, the second edge pulse Q is earlier than the third edge pulse P, and the first edge pulse P is earlier than the second edge Pulse Q, the interval between the first edge pulse P and the second edge pulse Q is T 1 , the interval between the second edge pulse Q and the third edge pulse P is T 2 , and the third edge pulse P and The interval between the fourth edge pulse Q is T 3 , which is given by the formula:
  • Embodiment 3 A schematic diagram of symmetric installation of three position sensors P, Q, and R of a three-phase 6/4 structure switched reluctance linear motor as shown in FIG. 5, with an interval spacing x of 30 mm.
  • the switched reluctance motor position sensor operates without failure, as shown in Fig.
  • the four equally spaced continuous edge pulses Q, P, R, Q of the position sensor output signal are detected in real time, and the fourth edge pulse Q from the left is The current edge pulse, in chronological order, the third edge pulse R is earlier than the fourth edge pulse Q, the second edge pulse P is earlier than the third edge pulse R, and the first edge pulse Q is earlier than the second edge Pulse P, the interval between the first edge pulse Q and the second edge pulse P is T 1 , the interval between the second edge pulse P and the third edge pulse R is T 2 , and the third edge pulse R and The interval between the fourth edge pulse Q is T 3 , which is given by the formula:
  • the invention is applicable to a three-phase 6/4 structure with three position sensors and a three-phase 24/16 structure switched reluctance motor, and has four-phase 8/6 structure and four-phase 16/12 structure switch reluctance with four position sensors.
  • Motor, four-phase 8/6 structure with two position sensors, four-phase 16/12 structure switched reluctance motor, single position sensor for rotary and linear switched reluctance motors, and multiple position sensor fault-tolerant control are also applicable .

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Control Of Linear Motors (AREA)

Abstract

一种开关磁阻电机位置传感器故障容错控制方法，当开关磁阻电机位置传感器无故障运行时，实时检测位置传感器输出信号的四个等间距或等角度连续边沿脉冲，第四个边沿脉冲为当前边沿脉冲，依次检测到各相邻两个边沿脉冲间隔时间（T1，T2，T3），由此计算出紧接着当前边沿脉冲之后的下次边沿脉冲与当前边沿脉冲之间的时间间隔（T4），若开关磁阻电机位置传感器发生故障，紧接着当前边沿脉冲之后的下次边沿脉冲丢失，就在位置传感器输出信号当前边沿脉冲时刻间隔该时间间隔（T4）后，重构下次边沿脉冲。可用于多种相数、多种拓扑结构、旋转式和直线式开关磁阻电机单个及多个位置传感器故障时的边沿脉冲丢失后重构。

Description

一种开关磁阻电机位置传感器故障容错控制方法 技术领域
本发明涉及一种开关磁阻电机位置传感器故障容错控制方法，尤其是适用于多种相数、多种拓扑结构、旋转式和直线式开关磁阻电机位置传感器故障容错控制。
背景技术
由于灰尘、碰撞等原因，为开关磁阻电机系统转速计算和电机换相提供转子位置信号依据的位置传感器会发生失效故障，导致沿脉冲的丢失，电机换相失败，不能正常运转。因此对开关磁阻电机系统位置传感器输出信号重构，实施位置传感器故障容错控制十分重要。传统的位置传感器输出信号重构的容错控制方法没有考虑开关磁阻电机变转速、变加减速工况，重构的位置传感器输出信号在电机变转速、变加减速工况下偏差较大，影响容错控制的效果。
发明内容
技术问题：本发明的目的是克服已有技术中的不足之前，提供一种方法简单、容错能力强、可靠性高、效果好的开关磁阻电机位置传感器故障容错控制方法。
技术方案：本发明的开关磁阻电机位置传感器故障容错控制方法：
当开关磁阻电机位置传感器无故障运行时，实时检测位置传感器输出信号的四个等间距或等角度连续边沿脉冲，第四个边沿脉冲为当前边沿脉冲，按时间顺序，第三个边沿脉冲早于第四个边沿脉冲，第二个边沿脉冲早于第三个边沿脉冲，第一个边沿脉冲早于第二个边沿脉冲，第一个边沿脉冲与第二个边沿脉冲的间隔时间为T1，第二个边沿脉冲与第三个边沿脉冲的间隔时间为T2，第三个边沿脉冲与第四个边沿脉冲的间隔时间为T3，由公式：
Figure PCTCN2015087607-appb-000001
Figure PCTCN2015087607-appb-000002
Figure PCTCN2015087607-appb-000003
C＝-T2T3(T2+T3)       (4)
计算出紧接着当前边沿脉冲之后的下次边沿脉冲与当前边沿脉冲之间的时间间隔为T4；
若开关磁阻电机位置传感器发生故障，紧接着当前边沿脉冲之后的下次边沿脉冲丢失，就在当前边沿脉冲时刻时间间隔T4后，重构下次边沿脉冲，实现开关磁阻电机位置 传感器故障容错运行。
有益效果：本发明对多种相数、多种拓扑结构、旋转式和直线式开关磁阻电机匀速、匀加速、匀减速、变加速和变减速运行时单个位置传感器及多个位置传感器故障容错控制适用，当开关磁阻电机位置传感器无故障运行时，通过实时检测位置传感器输出信号的四个等间距或等角度连续边沿脉冲，第四个边沿脉冲为当前边沿脉冲，依次检测到各相邻两个边沿脉冲间隔时间，由此计算出紧接着当前边沿脉冲之后的下次边沿脉冲与当前边沿脉冲之间的时间间隔，若开关磁阻电机位置传感器发生故障，紧接着当前边沿脉冲之后的下次边沿脉冲丢失，就在位置传感器输出信号当前边沿脉冲时刻间隔该时间间隔后，重构下次边沿脉冲，使得开关磁阻电机系统能够在位置传感器故障情况下容错运行，提高了系统的使用寿命。本发明重构的位置信号时刻准确，算法实现简单，用无故障的位置传感器的输出信号重构发生故障的位置传感器的输出信号，容错能力强、可靠性高，进一步提高了系统可靠性，具有良好的应用前景。
附图说明
图1是三相12/8结构开关磁阻旋转电机位置传感器安装示意图；
图2是三相12/8结构开关磁阻旋转电机位置传感器输出信号边沿脉冲检测及信号重构示意图；
图3是四相8/6结构开关磁阻旋转电机位置传感器安装示意图；
图4是四相8/6结构开关磁阻旋转电机位置传感器输出信号边沿脉冲检测及信号重构示意图。
图5是三相6/4结构开关磁阻直线电机位置传感器安装示意图；
图6是三相6/4结构开关磁阻直线电机位置传感器输出信号边沿脉冲检测及信号重构示意图。
具体实施方式
下面结合附图对本发明的实施例作进一步的描述：
实施例一：如图1所示的三相12/8结构开关磁阻旋转电机三个位置传感器P、Q、R对称安装示意图，间隔角度α为60°。当开关磁阻电机位置传感器无故障运行时，如图2所示，实时检测位置传感器输出信号的四个等角度连续边沿脉冲Q、P、R、Q，从左起第四个边沿脉冲Q为当前边沿脉冲，按时间顺序，第三个边沿脉冲R早于第四个边沿脉冲Q，第二个边沿脉冲P早于第三个边沿脉冲R，第一个边沿脉冲Q早于第二个边沿脉冲P，第一个边沿脉冲Q与第二个边沿脉冲P的间隔时间为T1，第二个边沿脉冲P与第三个边沿脉冲R的间隔时间为T2，第三个边沿脉冲R与第四个边沿脉冲Q的间隔时间为 T3，由公式：
Figure PCTCN2015087607-appb-000004
Figure PCTCN2015087607-appb-000005
Figure PCTCN2015087607-appb-000006
C＝-T2T3(T2+T3)       (4)
计算出紧接着当前边沿脉冲Q之后的下次边沿脉冲P与当前边沿脉冲Q之间的时间间隔为T4；若开关磁阻电机位置传感器发生故障，紧接着当前边沿脉冲Q之后的下次边沿脉冲P丢失，就在当前边沿脉冲Q时刻时间间隔T4后，重构下次边沿脉冲P，实现开关磁阻旋转电机位置传感器故障容错运行。
实施例二：如图3所示的四相8/6结构开关磁阻旋转电机两个位置传感器P、Q对称安装示意图，间隔角度β为75°。当开关磁阻电机位置传感器无故障运行时，如图4所示，实时检测位置传感器输出信号的四个等角度连续边沿脉冲P、Q、P、Q，从左起第四个边沿脉冲Q为当前边沿脉冲，按时间顺序，第三个边沿脉冲P早于第四个边沿脉冲Q，第二个边沿脉冲Q早于第三个边沿脉冲P，第一个边沿脉冲P早于第二个边沿脉冲Q，第一个边沿脉冲P与第二个边沿脉冲Q的间隔时间为T1，第二个边沿脉冲Q与第三个边沿脉冲P的间隔时间为T2，第三个边沿脉冲P与第四个边沿脉冲Q的间隔时间为T3，由公式：
Figure PCTCN2015087607-appb-000007
Figure PCTCN2015087607-appb-000008
Figure PCTCN2015087607-appb-000009
C＝-T2T3(T2+T3)        (4)
计算出紧接着当前边沿脉冲Q之后的下次边沿脉冲P与当前边沿脉冲Q之间的时间间隔为T4；若开关磁阻电机位置传感器发生故障，紧接着当前边沿脉冲Q之后的下次边沿脉 冲P丢失，就在当前边沿脉冲Q时刻时间间隔T4后，重构下次边沿脉冲P，实现开关磁阻旋转电机位置传感器故障容错运行。
实施例三：如图5所示的三相6/4结构开关磁阻直线电机三个位置传感器P、Q、R对称安装示意图，间隔间距x为30mm。当开关磁阻电机位置传感器无故障运行时，如图6所示，实时检测位置传感器输出信号的四个等间距连续边沿脉冲Q、P、R、Q，从左起第四个边沿脉冲Q为当前边沿脉冲，按时间顺序，第三个边沿脉冲R早于第四个边沿脉冲Q，第二个边沿脉冲P早于第三个边沿脉冲R，第一个边沿脉冲Q早于第二个边沿脉冲P，第一个边沿脉冲Q与第二个边沿脉冲P的间隔时间为T1，第二个边沿脉冲P与第三个边沿脉冲R的间隔时间为T2，第三个边沿脉冲R与第四个边沿脉冲Q的间隔时间为T3，由公式：
Figure PCTCN2015087607-appb-000010
Figure PCTCN2015087607-appb-000011
Figure PCTCN2015087607-appb-000012
C＝-T2T3(T2+T3)       (4)
计算出紧接着当前边沿脉冲Q之后的下次边沿脉冲P与当前边沿脉冲Q之间的时间间隔为T4；若开关磁阻电机位置传感器发生故障，紧接着当前边沿脉冲Q之后的下次边沿脉冲P丢失，就在当前边沿脉冲Q时刻时间间隔T4后，重构下次边沿脉冲P，实现开关磁阻直线电机位置传感器故障容错运行。
本发明对有三只位置传感器的三相6/4结构、三相24/16结构开关磁阻电机适用，对有四只位置传感器的四相8/6结构、四相16/12结构开关磁阻电机，有两只位置传感器的四相8/6结构、四相16/12结构开关磁阻电机，旋转式和直线式开关磁阻电机等的单个位置传感器及多个位置传感器故障容错控制也适用。

Claims (1)

  1. 一种开关磁阻电机位置传感器故障容错控制方法，其特征在于：
    当开关磁阻电机位置传感器无故障运行时，实时检测位置传感器输出信号的四个等间距或等角度连续边沿脉冲，第四个边沿脉冲为当前边沿脉冲，按时间顺序，第三个边沿脉冲早于第四个边沿脉冲，第二个边沿脉冲早于第三个边沿脉冲，第一个边沿脉冲早于第二个边沿脉冲，第一个边沿脉冲与第二个边沿脉冲的间隔时间为T1，第二个边沿脉冲与第三个边沿脉冲的间隔时间为T2，第三个边沿脉冲与第四个边沿脉冲的间隔时间为T3，由公式：
    Figure PCTCN2015087607-appb-100001
    Figure PCTCN2015087607-appb-100002
    Figure PCTCN2015087607-appb-100003
    C＝-T2T3(T2+T3)          (4)
    计算出紧接着当前边沿脉冲之后的下次边沿脉冲与当前边沿脉冲之间的时间间隔为T4；
    若开关磁阻电机位置传感器发生故障，紧接着当前边沿脉冲之后的下次边沿脉冲丢失，就在当前边沿脉冲时刻时间间隔T4后，重构下次边沿脉冲，实现开关磁阻电机位置传感器故障容错运行。
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