Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof

Abstract

The invention discloses a steering suspension integrated five-phase permanent magnet fault-tolerant actuator and a two-phase open-circuit fault-tolerant direct torque control method thereof. The method comprises the following steps: establishing a linear and rotary two-degree-of-freedom single-air-gap actuator model; deducing a fault-tolerant transformation matrix for transforming variables on a two-phase static coordinate system to an alpha-beta coordinate system under a two-phase open-circuit fault; designing a stator flux linkage and a torque observer on the alpha-beta coordinate system based on an improved integrator, and converting the stator flux linkage and the torque observer to a coordinate system based on stator flux linkage orientation; subtracting the stator flux linkage amplitude and the torque instruction from the observed stator flux linkage and the observed torque respectively, and obtaining a voltage instruction through a PI controller; adopting a fault-tolerant transformation matrix to transform the voltage instruction into a natural coordinate system, and sending the voltage instruction to a voltage source inverter to control the actuator to operate at high performance. According to the invention, the integrated driving of vehicle steering and suspension is realized, the dynamic performance is improved, and more importantly, the reliability of a steering suspension system is enhanced.

Description

technical field [0001] The invention relates to a linear rotation two-degree-of-freedom five-phase permanent magnet fault-tolerant actuator and a two-phase open-circuit fault-tolerant direct torque control method, which are suitable for the application occasion of the steering suspension integrated system and belong to the technical field of special motors. Background technique [0002] With the development of modern industrial drive systems, on the one hand, the degree of system integration has increased, and on the other hand, the precision requirements for drive control have continued to increase. Therefore, two-degree-of-freedom drives have attracted attention in automotive steering and suspension integration systems. There are many problems in realizing two-dimensional drive of two single-degree-of-freedom motors through mechanical transmission combination mechanism, such as low control accuracy and large system volume. The two-degree-of-freedom motor avoids the interme...

AI Technical Summary

Problems solved by technology

The actuator can realize the decoupling of the rotating magnetic field and the traveling wave magnetic field in a single air gap, and then output torque and thrust, and overcome the shortcomings of the existing linear rotating two-degree-of-freedom permanent magnet motor with low fault tolerance and large torque ripple. , effectively reduce the amount of permanent magnets, reduce torque ripple, reduce magnetic flux leakage between poles, improve motor fault tolerance performance, and improve motor reliability

Images