CN107332486B - Maximum torque current ratio MTPA fault-tolerant control method of five-phase permanent magnet motor considering reluctance torque - Google Patents
Maximum torque current ratio MTPA fault-tolerant control method of five-phase permanent magnet motor considering reluctance torque Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/025—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a power interruption
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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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
- 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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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Abstract
The invention discloses a maximum torque current ratio MTPA fault-tolerant control method of a five-phase permanent magnet motor considering reluctance torque, which comprises the steps of detecting the rotating speed of the motor, and setting the rotating speed omega* rWith feedback speed omegarComparing, obtaining a given q-axis given current i by using a PI controller* q(ii) a The sampled phase current is subjected to reduced order matrix transformation to obtain d-q-3 axis feedback current idm，iqm，i3m(ii) a Calculating d-q axis voltage u in fault statedm，uqm(ii) a The obtained d-q axis voltage udm，uqmAnd current idm，iqmAnd a rotational speed omegarInputting the current into a maximum torque-to-current ratio fault-tolerant (FT-MTPA) module, and obtaining d-axis given current i during fault-tolerant operation of the motor by using a virtual signal injection method* d(ii) a Comparing the given current of the d-q-3 axis with the feedback current, obtaining the given voltage of the d-q-3 axis through a PI controller, obtaining the phase voltage under a natural coordinate system through a reduced order matrix, inputting the phase voltage into a CPWM module to obtain a switching signal of each phase, and controlling the motor through an inverter to realize the FT-MTPA control of the five-phase permanent magnet motor.
Description
Technical Field
The invention relates to the technical field of multi-phase motor fault-tolerant control, in particular to a maximum torque-current ratio MTPA fault-tolerant control method of a five-phase permanent magnet motor considering reluctance torque.
Background
The embedded permanent magnet motor has the characteristics of high torque density, high efficiency, high reliability and the like, and is more and more widely applied to the fields of electric automobile traction, aerospace and marine cruise systems. Meanwhile, for some occasions with higher reliability requirements, such as aircrafts, electric automobiles and the like, a stable and reliable motor driving system is particularly important. Therefore, a highly reliable fault-tolerant control method of the fault-tolerant permanent magnet motor is receiving wide attention.
In recent years, researchers at home and abroad have conducted intensive studies on maximum torque to current ratio (MTPA) control of an interior permanent magnet synchronous motor and fault-tolerant control of a multi-phase motor, and have achieved a lot of results.
At present, a commonly used high-performance maximum torque-current ratio control algorithm is a method based on high-frequency signal injection, but the existing research of the method mainly focuses on the application of the motor in a normal running state, and MTPA control in a motor fault state cannot be realized.
Research on fault-tolerant control algorithms for multiphase motors has mainly focused on how to obtain optimal fault-tolerant currents in the fault state of the motor. The existing fault-tolerant current calculation method mainly comprises the steps of solving fault-tolerant current from the angles of constant instantaneous power, instantaneous torque and flux linkage by combining two common optimization conditions that the minimum copper consumption and the copper consumption are equal and through nonlinear optimization tools such as a Lagrange multiplier method and the like; starting from a mathematical model in a motor fault state, solving fault-tolerant current by using a reduced-order matrix; an intelligent algorithm is also used to find the fault tolerant current. However, these fault tolerant current calculation methods are generally based on idThe control algorithm of 0 is suitable for a surface-mounted permanent magnet motor, and for the motor with the embedded permanent magnet, the reluctance torque of the embedded permanent magnet motor is not fully utilized to improve the output torque performance of the motor during fault-tolerant operation.
Disclosure of Invention
Aiming at the defect that the traditional fault-tolerant control is difficult to utilize reluctance torque and the current situation that the existing MTPA cannot realize fault operation, the invention provides a reluctance torque-considered MTPA fault-tolerant control method for the maximum torque-current ratio of a five-phase permanent magnet motor.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a maximum torque current ratio MTPA fault-tolerant control method for a five-phase permanent magnet motor considering reluctance torque comprises the following steps:
And 3, obtaining d-q axis voltage u under the fault through matrix transformation by utilizing the duty ratio of the residual normal phase output voltage, the bus voltage and the counter potential of the fault phase obtained in the CPWM module according to the obtained fault phase informationdm，uqm。
Step 4, obtaining d-q axis voltage udm，uqmAnd current idm，iqmAnd a rotational speed omegarInputting the input signal into a maximum torque-to-current ratio fault-tolerant module (FT-MTPA), and obtaining d-axis current of the five-phase permanent magnet motor by using a virtual signal injection method, wherein the output quantity of the FT-MTPA is given by dAxial current i* d。
Step 6, utilizing reduced order conversion to convert the given d-q-3 axis voltage component u* d，u* q，u* 3Given phase voltage u converted to five-phase natural coordinate system* a，u* b，u* c，u* d，u* e. The obtained given phase voltage u* a，u* b，u* c，u* d，u* eAnd inputting the signals into a CPWM module to obtain switching signals of all phases. And inputting the obtained switching signal into an inverter to control the motor, thereby realizing the fault-tolerant control of the maximum torque-current ratio of the five-phase permanent magnet motor.
Further, the derivation method of the reduced matrix in the step 2 is to reconstruct the new matrix after removing the elements corresponding to the fault in the original matrix under the condition of one-phase open circuit fault on the basis of ensuring that the circular track of the motor flux linkage before and after the fault on the plane α - β is unchanged.
Taking the open circuit fault of phase a as an example:
when an open circuit fault occurs to the phase A, the matrix after the corresponding element A is removed is as follows:
wherein δ in the above formula is 2 π/5.
The new clarke matrix obtained above is a new matrix obtained by removing the relevant elements of the phase a, because the third row is not orthogonal to the other rows, the third row can be removed, and the matrix is reconstructed according to the principle of ensuring that the circular trajectory of the motor flux linkage before and after the fault is unchanged in the plane α - β, so as to obtain a reduced clarke transformation matrix when the phase a is open-circuited:
the reduced-order park transformation matrix when the single-phase of the five-phase permanent magnet motor has open-circuit fault is as follows:
further, the specific implementation steps of the FT-MTPA module in step 4 are as follows:
step 4.1, the obtained d-q axis voltage udm，uqmAnd current idm，iqmAnd a rotational speed omegarObtaining the filtered d-q axis voltage u through a low-pass filterd，uqAnd current id，iqAnd a rotational speed omegam。
Step 4.2, filtering the d-q axis current id，iqCalculating to obtain the amplitude I of the currentmAnd current phase angle β:
step 4.3, inject high frequency signal △β into current phase angle β, utilize current amplitude ImAnd the d-q axis current i containing high frequency components is calculated by the current phase angle β + △β containing high frequency signalsh d，ih q。
Δβ＝Asin(ωht)
Step 4.4, according to the d-q axis voltage u obtained after filteringd，uqCurrent id，iqRotational speed ωmD-q axis current i containing high frequency component obtained in step 4.3h d，ih qAnd d-axis inductance L of five-phase permanent magnet motordTo calculate the electromagnetic torque T of a five-phase permanent magnet machine with high frequency componentsh eAnd giving a Taylor expansion expression:
step 4.5, the torque T containing high frequency componenth ePassing through a center frequency of ωhBand pass filter extraction of
Component of the signal extracted by the band-pass filter with sin (ω) in phaseht) multiplication:
step 4.6, the signal obtained by the multiplication is passed through a low-pass filter to extract the DC quantity therein
Is obtained in proportion to
Using a PI controller or a pure integral controller to integrate the d-axis current i* d。
Further, in step 3, the duty ratio and the number of the rest normal phase output voltage obtained in the CPWM module are utilizedCalculating d-q axis voltage u by line voltage and counter potential of fault phasedm，uqmThe method comprises the following steps:
further, the given cubic space current component i in step 53The determination can be carried out according to two optimization conditions of minimum copper consumption and equal copper consumption:
copper consumption minimum principle:
copper consumption equality principle:
the invention has the following beneficial effects:
1. the invention combines the MTPA algorithm of virtual signal injection with the fault-tolerant algorithm using the reduced matrix, solves the defect that the traditional fault-tolerant control is difficult to utilize the reluctance torque, overcomes the defect that the existing MTPA can not realize the fault operation, and realizes the MTPA control under the fault-tolerant operation state of the embedded five-phase permanent magnet synchronous motor. The reluctance torque component can be fully utilized when the embedded five-phase permanent magnet synchronous motor operates in fault tolerance, the output torque performance of the motor in a fault state is improved, the fault tolerance operation efficiency of the motor is improved, the speed regulation range of the motor during fault tolerance operation is widened, and the embedded five-phase permanent magnet synchronous motor can be better suitable for application fields such as electric automobiles and the like which need high reliability and wide speed regulation range.
2. The MTPA algorithm adopted by the invention is a virtual signal injection method, and compared with the MTPA algorithm of the traditional signal injection, the iron consumption and the copper consumption of the motor cannot be increased; the fault-tolerant method adopted by the invention is a fault-tolerant control algorithm utilizing a reduced matrix, and compared with other methods for solving the fault-tolerant current from the angles of constant instantaneous power, instantaneous torque and flux linkage and through nonlinear optimization tools such as a Lagrange multiplier method, the fault-tolerant current solving method is simple to operate, does not need to pass through a complex nonlinear optimization process, and can realize the online solution of the fault-tolerant current.
3. The PWM modulation mode adopted by the invention is carrier-based pulse width modulation CPWM, and compared with a current hysteresis modulation method used in the traditional fault-tolerant algorithm, the CPWM has a fixed modulation period and can be used for realizing the magnetic field directional control in a fault state.
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FIG. 1: adopting a FT-MTPA fault-tolerant control block diagram realized by virtual signal injection and a reduced-order matrix; (a) a main block diagram of maximum torque-current ratio fault-tolerant control of the five-phase permanent magnet motor based on CPWM; (b) adopting virtual signal injection to realize an algorithm block diagram of maximum torque-current ratio fault-tolerant control;
FIG. 2: the current waveform of the five-phase permanent magnet synchronous motor during fault-tolerant operation; (a) obtaining current waveforms under the condition of equal copper consumption; (b) obtaining a current waveform under the condition of minimum copper consumption;
FIG. 3: d-axis current of the five-phase permanent magnet synchronous motor during fault-tolerant operation;
FIG. 4: speed waveform of fault-tolerant operation of the five-phase permanent magnet synchronous motor; (b) a torque waveform;
FIG. 5: adopting a high-frequency signal injection and reduced-order matrix to realize an FT-MTPA fault-tolerant control block diagram;
FIG. 6: and the high-frequency signal injection realizes the algorithm block diagram of the maximum torque-current ratio fault-tolerant control.
Detailed Description
Detailed description of the preferred embodiment 1
The reconstruction principle of the reduced matrix is to ensure that the circular track of the motor flux linkage in the α - β plane is unchanged before and after a fault.
Taking the open circuit fault of phase a as an example:
when an open circuit fault occurs to the phase A, the matrix after the corresponding element A is removed is as follows:
wherein δ in the above formula is 2 π/5.
The new clarke matrix obtained above is a new matrix obtained by removing relevant elements of the phase a, because the third row is not orthogonal to other rows, the third row can be removed, and the matrix is reconstructed according to the principle that the circular trajectory of the motor flux linkage before and after the guarantee fault on the plane α - β does not change, so as to obtain a reduced clarke transformation matrix when the phase a open circuit fault occurs:
the reduced-order park transformation matrix when the single-phase of the five-phase permanent magnet motor has open-circuit fault is as follows:
and 3, obtaining d-q axis voltage u under the fault through matrix transformation by utilizing the duty ratio of the output voltage of the residual normal phase, the bus voltage and the back electromotive force of the fault phase obtained in the CPWM module according to the obtained fault phase informationdm，uqm。
Wherein, the d-q axis voltage u is calculated by utilizing the duty ratio of the residual normal phase output voltage obtained in the CPWM module, the bus voltage and the counter potential of the fault phasedm，uqmThe method comprises the following steps:
step 4, obtaining d-q axis voltage udm，uqmAnd current idm，iqmAnd a rotational speed omegarInputting the input signal into a maximum torque-to-current ratio fault-tolerant module (FT-MTPA), and obtaining d-axis current of the five-phase permanent magnet motor by using a virtual signal injection method, wherein the output quantity of the FT-MTPA is given d-axis current i* d。
As shown in fig. 1(b), the specific steps of FT-MTPA control using the dummy signal injection method are as follows:
step 4.1, the obtained d-q axis voltage udm，uqmAnd current idm，iqmAnd a rotational speed omegarObtaining the filtered d-q axis voltage u through a low-pass filterd，uqAnd current id，iqAnd a rotational speed omegam。
Step 4.2, filtering the d-q axis current id，iqCalculating to obtain the amplitude I of the currentmAnd current phase angle β:
step 4.3, inject high frequency signal △β into current phase angle β, utilize current amplitude ImAnd the d-q axis current i containing high frequency components is calculated by the current phase angle β + △β containing high frequency signalsh d，ih q。
Δβ＝Asin(ωht)
Step 4.4, according to the d-q axis voltage u obtained after filteringd，uqCurrent id，iqRotational speed ωmD-q axis current i containing high frequency component obtained in step 4.3h d，ih qAnd d-axis inductance L of five-phase permanent magnet motordTo calculate the electromagnetic torque T of a five-phase permanent magnet machine with high frequency componentsh eAnd giving a Taylor expansion expression:
step 4.5, the torque T containing high frequency componenth ePassing through a center frequency of ωhBand pass filter extraction of
Component of the signal extracted by the band-pass filter with sin (ω) in phaseht) multiplication:
step 4.6, passing the multiplied signal through a low-pass filterExtracting DC component therein
Is obtained in proportion to
Using a PI controller or a pure integral controller to integrate the d-axis current i* d。
Wherein a cubic space current component i is given3The determination can be carried out according to two optimization conditions of minimum copper consumption and equal copper consumption:
copper consumption minimum principle:
copper consumption equality principle:
as shown in phase currents in fault tolerant operation of fig. 2: FIG. 2(a) is a phase current waveform under the principle of equal copper consumption, the current amplitudes of the remaining normal phases are equal, and the maximum torque output capability of the motor can be improved under the condition that the power level of the device is constant; fig. 2(b) shows the current waveform under the principle of minimum copper loss, and the current amplitudes of the remaining normal phases are different, at this time, the total copper loss of the motor is minimum.
Step 6, utilizing reduced order conversion to convert the given d-q-3 axis voltage component u* d，u* q，u* 3Given phase voltage u converted to five-phase natural coordinate system* a，u* b，u* c，u* d，u* e. The obtained given phase voltage u* a，u* b，u* c，u* d，u* eAnd inputting the signals into a CPWM module to obtain switching signals of all phases. And inputting the obtained switching signal into an inverter to control the motor, thereby realizing the fault-tolerant control of the maximum torque-current ratio of the five-phase permanent magnet motor.
As shown in fig. 3, a d-axis current waveform of the five-phase permanent magnet synchronous motor during open-circuit fault-tolerant operation of the phase a is given, and it can be seen from the graph that the d-axis current is finally stabilized near a theoretical value of the d-axis current, so that the correctness of the FT-MTPA algorithm is also verified, and finally the d-axis current can be stabilized near a maximum torque point.
And FIG. 4 shows the rotating speed and torque waveforms of the five-phase embedded permanent magnet synchronous motor during the open-circuit fault-tolerant operation of the phase A. As can be seen from fig. 4(a) which is a rotation speed waveform diagram, the rotation speed is constant when the motor operates in fault tolerance; fig. 4(b) is a torque waveform diagram, which shows that the average value of the output torque is kept unchanged during the fault-tolerant operation of the motor, and the fault-tolerant operation requirement of the motor is met.
Specific example 2
The specific embodiment 2 mainly introduces the fault-tolerant control of the maximum torque-to-current ratio based on the high-frequency signal injection and the reduced-order matrix, and the control block diagram is shown in fig. 2. Compared with the specific embodiment 1, the FT-MTPA algorithm of the specific embodiment 2 adopts a high-frequency signal injection method, and the high-frequency signal injection does not need specific parameters of the motor, but increases the copper and iron loss of the system compared with the virtual signal injection. The following detailed description of this embodiment will be made with reference to fig. 5 and 6.
And 3, obtaining α - β shaft voltage u under the fault through matrix transformation by utilizing the duty ratio of the output voltage of the residual normal phase, the bus voltage and the back electromotive force of the fault phase obtained in the CPWM module according to the obtained fault phase informationα，uβ:
The α - β axis currents i can also be obtained by using a reduced order matrixα，iβ。
Step 4, obtaining α - β axis voltage uα，uβAnd current iα，iβAnd a rotational speed omegarThe output quantity of the five-phase permanent magnet motor is a given d-axis current i* d. As shown in fig. 6, the specific steps are as follows:
step 4.1, utilizing the input shaft voltage u of α - βα，uβAnd current iα，iβCalculating the amplitude | psi of stator flux linkages|：
ψα＝∫(uα-Riα)dt
ψβ＝∫(uβ-Riβ)dt
Step 4.2, stator current amplitude | isI and stator flux linkage amplitude | ψsThe I respectively passes through the passband with frequency omegahBPF of band-pass filter to separate omegahThe extracted signals are multiplied, pass through a low pass filter LPF and finally are sent into an integrator, and the output of the integrator is given d-axis current i* d。
Step 6, obtaining the d-q-3 axis voltage component u* d，u* q，u* 3The voltages u × α and u × β of α - β axes are obtained through reduced matrix transformation, the obtained voltages u × α and u × β of α - β axes are input into a signal injection module for high-frequency signal injection, and the injection method is as follows:
the input of the signal injection module is α - β shaft voltage set value uα，uβThe output is u* αh，u* βhThe specific operation is as follows:
θ＝Asin(ωht)
where θ is the high frequency signal to be injected, A is the amplitude of the signal, ωhIs the frequency of the injected signal. It is emphasized that the frequency of the injection signal needs to consider the switching frequency of the inverter and the fundamental frequency of the electrical angular velocity of the motor, such as W r/min, the pole pair number P, and the fundamental frequency is WP/60Hz, and through experiments, the frequency of the injection signal is selected to be 2-3 times of the fundamental frequency, that is, WP/30-WP/20 Hz, and the amplitude a of the injection signal is selected to be 3-8 degrees. Through the operation, the high-frequency signal can be successfully injected into the voltage space vector.
Step 6, utilizing reduced order conversion to convert α - β axis voltage u containing high frequency signals* αh，u* βhGiven phase voltage u converted to five-phase natural coordinate system* a，u* b，u* c，u* d，u* e. The obtained given phase voltage u* a，u* b，u* c，u* d，u* eAnd inputting the signals into a CPWM module to obtain switching signals of all phases. And inputting the obtained switching signal into an inverter to control the motor, thereby realizing the fault-tolerant control of the maximum torque-current ratio of the five-phase permanent magnet motor.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (3)
1. A maximum torque current ratio MTPA fault-tolerant control method for a five-phase permanent magnet motor considering reluctance torque is characterized by comprising the following steps:
step 1, detecting the rotating speed of a five-phase permanent magnet motor as the speed feedback omega of the motorrWill give a rotational speed ω* rWith feedback speed omegarThe rotation speed error e of the motor is obtained through comparisonrUsing PI controller according to the error e of rotation speedrCalculating to obtain q-axis current of the five-phase permanent magnet motor, wherein the output quantity of the PI controller is given q-axis current i* q；
Step 2, sampling each phase current i of the five-phase permanent magnet motor by using a current sensora，ib，ic，id，ieDetermining the fault phase of the five-phase permanent magnet motor according to the sampled current of each phase; selecting a reduced matrix corresponding to the single-phase open circuit according to the determined fault phase, and performing matrix transformation on the phase current of the five-phase permanent magnet motor obtained by sampling by using the selected reduced matrix to obtain d-q-3 axis current i fed back by the five-phase permanent magnet motor in faultdm，iqm，i3m；
And 3, obtaining d-q axis voltage u under the fault through matrix transformation by utilizing the duty ratio of the residual normal phase output voltage, the bus voltage and the counter potential of the fault phase obtained in the CPWM module according to the obtained fault phase informationdm，uqm；
Step 4, obtaining d-q axis voltage udm，uqmAnd current idm，iqmAnd a rotational speed omegarThe output quantity of the FT-MTPA module is given as d-axis current i* d；
Step 5, respectively setting the given d-q-3 axis current i* d，i* q，i* 3With feedback d-q-3 axis current idm，iqm，i3mCompared with the prior art, the d-q-3 axis current error e is obtainedid，eiq，ei3Adopting a PI controller to obtain d-q-3 axis current error eid，eiq，ei3The voltage of a d-q-3 shaft of the five-phase permanent magnet motor is obtained through calculation, and the output quantities of the three PI controllers are respectively the voltage component u of the d-q-3 shaft given by the five-phase permanent magnet motor* d，u* q，u* 3；
Step 6, utilizing reduced order conversion to convert the given d-q-3 axis voltage component u* d，u* q，u* 3Given phase voltage u converted to five-phase natural coordinate system* a，u* b，u* c，u* d，u* e(ii) a The obtained given phase voltage u* a，u* b，u* c，u* d，u* eInputting the signals into a CPWM module to obtain switching signals of each phase; inputting the obtained switching signal into an inverter to control the motor, and realizing the fault-tolerant control of the maximum torque-current ratio of the five-phase permanent magnet motor;
under the condition of one-phase open circuit fault, reconstructing a new matrix from which elements corresponding to the fault in the original matrix are removed on the basis of ensuring that the circular track of the motor flux linkage before and after the fault on the plane of α - β is unchanged;
when an open circuit fault occurs to the phase A, the matrix after the corresponding element A is removed is as follows:
wherein, delta in the formula is 2 pi/5;
the obtained new clarke matrix is a new matrix obtained by removing relevant elements of the phase A, the third row is removed, and the matrix is reconstructed according to the principle of ensuring that the circular locus of the motor flux linkage before and after the fault is unchanged in the plane of α - β, so that the reduced clarke transformation matrix when the phase A is in open circuit fault is obtained:
the reduced-order park transformation matrix when the single-phase of the five-phase permanent magnet motor has open-circuit fault is as follows:
the specific implementation steps of the FT-MTPA module in the step 4 are as follows:
step 4.1, the obtained d-q axis voltage udm，uqmAnd current idm，iqmAnd a rotational speed omegarObtaining the filtered d-q axis voltage u through a low-pass filterd，uqAnd current id，iqAnd a rotational speed omegam；
Step 4.2, filtering the d-q axis current id，iqCalculating to obtain the amplitude I of the currentmAnd current phase angle β:
step 4.3, inject high frequency signal △β into current phase angle β, utilize current amplitude ImAnd the d-q axis current i containing high frequency components is calculated by the current phase angle β + △β containing high frequency signalsh d，ih q；
Δβ＝A sin(ωht)
Step 4.4, according to the d-q axis voltage u obtained after filteringd，uqCurrent id，iqRotational speed ωmD-q axis current i containing high frequency component obtained in step 4.3h d，ih qAnd d-axis inductance L of five-phase permanent magnet motordTo calculate the electromagnetic torque T of a five-phase permanent magnet machine with high frequency componentsh eAnd giving a Taylor expansion expression:
step 4.5, the torque T containing high frequency componenth ePassing through a center frequency of ωhBand pass filter extraction of
Component of the signal extracted by the band-pass filter with sin (ω) in phaseht) multiplication:
step 4.6, the signal obtained by the multiplication is passed through a low-pass filter to extract the DC quantity therein
Is obtained in proportion to
Using a PI controller or a pure integral controller to integrate the d-axis current i* d。
2. The MTPA fault-tolerant control method for the maximum torque-to-current ratio of the five-phase permanent magnet motor considering the reluctance torque as claimed in claim 1, wherein the step 3 utilizes the duty ratio of the residual normal phase output voltage and the bus obtained from the CPWM moduleCalculating d-q axis voltage u from the voltage and back electromotive force of the fault phasedm，uqmThe method comprises the following steps:
3. the MTPA fault-tolerant control method for the maximum torque current ratio of the five-phase permanent magnet motor considering the reluctance torque as claimed in claim 1, wherein the third-space current component is given in the step 5
The determination can be carried out according to two optimization conditions of minimum copper consumption and equal copper consumption:
copper consumption minimum principle:
copper consumption equality principle:
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| CN106788026B (en) * | 2016-11-25 | 2019-02-05 | 江苏大学 | A kind of space vector signal injection permanent magnet synchronous motor maximum torque per ampere control method |
| CN109347386B (en) * | 2018-09-18 | 2021-06-22 | 江苏大学 | SVPWM-based five-phase permanent magnet motor maximum torque current ratio fault-tolerant control method |
| US11646618B2 (en) | 2018-10-31 | 2023-05-09 | Optiphase Drive Systems, Inc. | Electric machine with permanent magnet rotor |
| CN110429889B (en) * | 2019-08-07 | 2021-06-22 | 北京航空航天大学 | Amplitude-adjustable square wave injection maximum torque current ratio motor control method |
| CN113141139B (en) * | 2021-03-31 | 2022-09-30 | 山东大学 | Five-closed-loop control method and system for double three-phase permanent magnet motor |
| CN113346814B (en) * | 2021-06-11 | 2022-09-02 | 中国科学院深圳先进技术研究院 | Motor control method, device, terminal and storage medium |
| CN114337436B (en) * | 2021-11-23 | 2024-10-22 | 潍柴动力股份有限公司 | Method and device for calculating torque of permanent magnet synchronous motor, storage medium and vehicle-mounted computer |
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