Redundant control system and method of rotor position angle of aviation permanent magnet motor based on AD2S1210

Abstract

The present invention belongs to the field of aviation permanent magnet synchronous motor control system, and discloses an aviation permanent magnet motor rotor position angle redundant control system and method based on AD2S1210. The space vector control FOC algorithm unit generates six PWM waves to drive the three-phase bridge inverter module to turn on and off by collecting the armature current, rotor position angle and speed information of the permanent magnet synchronous motor using the speed and current double closed-loop control strategy, thereby controlling the permanent magnet synchronous motor to reach the target speed or torque; the AD2S1210 rotary transformer decoding chip is used to collect the rotor position angle information and speed information of the rotary transformer coaxially installed on the permanent magnet synchronous motor; and the rotor position angle information and speed information are decoded and sent to the position angle redundant control algorithm unit; the position angle redundant control algorithm unit is used to judge the received rotor position angle information and output the correct position angle signal to the space vector control FOC algorithm unit, and convert the received speed information and output it to the space vector control FOC algorithm unit.

Description

Technical Field

[0001] The present invention relates to the field of aviation permanent magnet synchronous motor control systems, and in particular to an aviation permanent magnet motor rotor position angle redundant control system and method based on AD2S1210. Background Art

[0002] With the development of aviation power electronics technology, the number and types of aviation airborne electrical equipment are increasing, and the performance is becoming more and more advanced. More and more electronic equipment will be compactly installed in aircraft equipment compartments, including receiving systems, transmitting systems, radar systems, control systems, etc. This makes the mutual interference within the aviation power system and equipment more and more serious, and the electromagnetic environment is becoming more and more complex. In order to ensure that airborne equipment works normally in a complex electromagnetic environment, in addition to electromagnetic compatibility (EMC) design, redundancy design is also essential.

[0003] Permanent magnet synchronous motors for aviation usually use rotary transformers as motor position sensors. The AD2S1210 rotary transformer decoding chip has been widely used in aviation motor control due to its high operating reliability. It can provide continuous position and speed signals without conversion lag, and can track the motor rotor position angle and speed in real time, thereby ensuring the control accuracy of the motor. In order to further avoid system operation disorder, shutdown and other faults caused by the loss of position angle caused by the complex electromagnetic environment on the aircraft, redundant position angle control is required to improve the reliability of system operation. The patent "Redundant control system and method for label-type permanent magnet synchronous motor" (patent number CN113726245A) proposes a method of using position-free control. After the motor position signal is lost, the current, voltage and other information of the sampling cycle before the fault occurs are used, combined with the motor winding parameters to estimate the position-free rotor position and provide it to the control system. However, it is highly dependent on the motor body parameters such as the motor winding resistance and inductance. The accuracy of the motor winding parameters will directly affect the control accuracy. In addition, it is not universal for different motors, and the engineering application cost is high. Summary of the invention

[0004] The purpose of the present invention is to adopt a redundant control method to estimate the motor rotor position angle and speed analysis based on the application characteristics of the AD2S1210 resolver decoding chip, such as high precision, no conversion lag, anti-noise capability, and allowable harmonic distortion. In view of the signal loss caused by short circuit, open circuit, sine / cosine input shearing fault and other signal loss provided by the resolver, and the resolver signal deterioration and signal tracking loss caused by the complex electromagnetic environment on the aircraft, the redundant control method is used to perform a backup estimation of the motor rotor position angle, automatically switch from the fault point to the backup rotor position angle, select the system to operate at a reduced rating or normally according to the fault type, and report and store the corresponding fault information. For the permanent magnet synchronous motor control system in aviation high-temperature pumps, cryogenic pumps and other systems, the redundant control method can fully ensure the reliability and safety of the system operation during the flight cycle.

[0005] Technical solution 1:

[0006] An aviation permanent magnet synchronous motor rotor position angle redundant control system based on AD2S1210 resolver decoding chip, comprising: a space vector control FOC algorithm unit, a position angle redundant control algorithm unit, an AD2S1210 resolver decoding chip, a three-phase bridge inverter module, a permanent magnet synchronous motor, and a resolver;

[0007] The space vector control FOC algorithm unit generates six PWM waves to drive the three-phase bridge inverter module on and off by collecting the armature current, rotor position angle and speed information of the permanent magnet synchronous motor and adopts the speed and current double closed-loop control strategy, thereby controlling the permanent magnet synchronous motor to reach the target speed or torque;

[0008] The AD2S1210 resolver decoding chip is used to collect the rotor position angle information and speed information of the resolver coaxially mounted on the permanent magnet synchronous motor; and decode the rotor position angle information and speed information and send them to the position angle redundancy control algorithm unit;

[0009] The position angle redundancy control algorithm unit is used to judge the received rotor position angle information and output the correct position angle signal to the space vector control FOC algorithm unit, and convert the received speed information and output it to the space vector control FOC algorithm unit.

[0010] Furthermore, the space vector control FOC algorithm unit includes: a speed loop PI regulator, a current loop PI regulator, a PARK transformation module, a CLARKE transformation module, a PARK inverse transformation module, and a SVPWM generation module;

[0011] The speed loop PI regulator performs deviation calculation and PI algorithm adjustment based on the speed provided by the position angle redundant control algorithm unit and the given target speed, and obtains the q-axis given current iq value and provides it to the current loop PI regulator;

[0012] The current loop PI regulator performs deviation calculation and PI algorithm adjustment according to the given current iq value, the given current id value and the actual current iq value, the actual current id value, respectively, to obtain the q-axis voltage Uq value and the d-axis voltage Ud value and provide them to the PARK inverse transformation module;

[0013] The PARK inverse transformation module performs PARK inverse transformation calculation according to the d-axis voltage Ud value and the q-axis voltage Uq value, and obtains the values ​​of Uα and Uβ and provides them to the SVPWM generation module;

[0014] The SVPWM generation module generates six PWM waves according to Uα and Uβ and provides them to the three-phase bridge inverter module;

[0015] The CLARKE conversion module performs CLARKE conversion according to the three-phase armature currents ia, ib, ic of the permanent magnet synchronous motor to generate iα and iβ which are transmitted to the PARK conversion module;

[0016] The PARK transformation module performs PARK transformation according to iα and iβ to generate an actual current id value and an actual current iq value, which are transmitted to the current loop PI regulator.

[0017] Furthermore, the position angle redundant control algorithm unit is also used to collect the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and transmit it to the PARK inverse transformation module;

[0018] The PARK inverse transformation module is also used to perform PARK inverse transformation according to the q-axis voltage U'q value in the previous sampling period to generate Uα and Uβ.

[0019] Technical Solution 2

[0020] A method for redundant control of rotor position angle of an aviation permanent magnet synchronous motor based on an AD2S1210 resolver decoding chip, the method being used for the redundant control system of the rotor position angle, the method comprising the following steps:

[0021] Step 1: The position angle redundancy control algorithm unit periodically collects the permanent magnet synchronous motor direction signal DIR, speed signal Wm, rotor position angle signal Φ, tracking loss signal LOT, and resolver signal deterioration signal DOS provided by AD2S1210;

[0022] Step 2: The position angle redundant control algorithm unit calculates the rotor position angle electrical angle and the motor speed according to the motor rotor position angle signal Φ and the speed signal Wm;

[0023] Step 3: The position angle redundancy control algorithm unit determines whether the current position angle electrical angle is correct;

[0024] Step 4: If the current position angle electrical angle is correct, the rotor position angle electrical angle and the motor speed obtained in step 2 are provided to the space vector control FOC algorithm unit, and the process returns to step 1; if the current position angle electrical angle is incorrect, the selection signal abnormal flag is set, and the process goes to step 5;

[0025] Step 5: Real-time monitoring and tracking of lost signal LOT and resolver signal deterioration signal DOS;

[0026] If the tracking loss signal LOT and the resolver signal deterioration signal DOS are both valid, set the "resolver signal loss fault flag" and go to step 6;

[0027] If only one of the tracking loss signal LOT and the resolver signal deterioration signal DOS is valid, set the "tracking loss fault flag" to be valid or the "resolver signal deterioration fault flag" to be valid, and go to step 7;

[0028] If the tracking loss signal LOT and the resolver signal deterioration signal DOS are both invalid, return to step 1;

[0029] Step 6: Calculate the current cycle speed according to the previous cycle speed signal, estimate the current cycle position angle electrical angle, and provide the current cycle speed and the current cycle position angle electrical angle to the space vector control FOC algorithm unit;

[0030] The q-axis voltage closed loop in the space vector control FOC algorithm unit is disconnected, and the position angle redundant control algorithm unit collects the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and provides it to the Park inverse transformation module and maintains the U'q value constant;

[0031] Report the "resolver signal loss fault" to the upper computer and record the fault information to the storage chip for subsequent ground maintenance;

[0032] Repeat step 6 and wait for the device to be powered off or repaired;

[0033] Step 7: Calculate the current cycle speed based on the previous cycle speed signal, estimate the current cycle position angle electrical angle, and provide the current cycle speed and the current cycle position angle electrical angle to the space vector control FOC algorithm unit.

[0034] Further, the step seven also includes: if the effective duration T of any signal among the tracking loss signal LOT and the resolver signal deterioration signal DOS exceeds the time threshold t, the q-axis voltage closed-loop circuit in the space vector control FOC algorithm unit is disconnected, and the position angle redundancy control algorithm unit collects the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and provides it to the Park inverse transformation module and maintains the U'q value constant; reports "resolver signal deterioration" or "tracking loss" to the upper computer, and records the fault information to the storage chip for subsequent ground maintenance; repeats step seven and waits for the equipment to be powered off or repaired;

[0035] If the effective duration T does not exceed the time threshold t, return to step 1.

[0036] Further, in step 3, when any of the following conditions occurs, it is considered that the current position angle electrical angle is wrong;

[0037] a) ΔWm=|Wm-W'm|>k1;

[0038] b) DIR is 0 and the deviation Δθ=θ-θ′<0, and θ and θ′ are at the boundary of the non-electrical cycle;

[0039] c) DIR is 1 and the deviation Δθ=θ-θ′>0, and θ, θ′ are at the boundary of the non-electrical period;

[0040] d) Δ=|Δθ-Δθ'|>k2;

[0041] Among them, Wm——current motor speed signal;

[0042] W'm——motor speed signal of the previous sampling period;

[0043] ΔWm——absolute value of the deviation between the current speed and the speed in the previous sampling period;

[0044] θ——Current rotor position angle in electrical degrees;

[0045] θ'——The electrical angle of the rotor position in the previous sampling period;

[0046] Δθ——The electrical angle deviation between the current rotor position angle and the rotor position angle in the previous sampling period;

[0047] Δθ'——rotor position angle deviation in the previous sampling period and the previous two sampling periods;

[0048] Δt——sampling period duration;

[0049] P——number of rotor pole pairs.

[0050] Furthermore, Δθ'=W'm×Δt×P, k2=π / 3, k1=π / (3×Δt×P).

[0051] Furthermore, in step 2, the rotor position angle electrical angle calculation formula is as follows:

[0052]

[0053] The formula for calculating the motor speed is as follows:

[0054]

[0055] Where, N is the electrical cycle count of the rotary transformer;

[0056] P——number of motor pole pairs;

[0057] P'——the number of pole pairs of the rotary transformer;

[0058] Φ——Current rotor position angle signal;

[0059] Φ'——The rotor position angle signal of the previous sampling period.

[0060] Furthermore, in step 6 and step 7, the current period position angle electrical angle estimation value θe is calculated as follows:

[0061] θe=θ'+Δθ'=θ'+W'm×Δt×P.

[0062] The beneficial effect of the present invention is that the high-precision analysis capability of the AD2S1210 resolver decoding chip for the motor speed and rotor position angle can be fully utilized to realize redundant control of the interference of its position angle signal. When the signal provided by the resolver is short-circuited, open-circuited, and the sine / cosine input shearing fault occurs, the position angle redundancy control algorithm unit uses the information of the sampling cycle before the fault to estimate the backup rotor position angle electrical angle θe, and provides it to the control system, so that the motor can continue to operate normally or at a reduced rating without stopping; when the resolver signal deteriorates and the signal tracking is lost due to the complex electromagnetic environment on the machine, the position angle redundancy control algorithm unit uses the information of the sampling cycle before the fault occurs to estimate the backup rotor position angle electrical angle θe, and provides it to the control system, and when the resolver signal is restored, it is restored to the rotor position angle electrical angle θ calculated by the position angle signal Φ provided by the AD2S1210 resolver decoding chip, so that the system can operate normally.

[0063] This redundancy control method can effectively reduce the risk of motor shutdown caused by abnormal analysis of resolver signals in the motor control system. At the same time, it fully utilizes the application advantages of the AD2S1210 resolver decoding chip, such as high analysis accuracy, no conversion lag, noise immunity, and allowable harmonic distortion. The redundant control algorithm is more concise and effective, and there is no need to add additional position angle correction algorithms. In addition, there is no need to add additional hardware circuits due to positionless control, which can effectively control the size and weight of airborne equipment. This redundant control method can fully ensure the reliability and safety of system operation during the flight cycle, and its application in the aviation and aerospace fields is of great significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is the schematic diagram of the redundant control system of the rotor position angle of the aviation permanent magnet motor;

[0065] Figure 2 It is the program flow chart of the position angle redundant control algorithm unit. DETAILED DESCRIPTION

[0066] This section is an embodiment of the present invention, which is used to explain and illustrate the technical solution of the present invention.

[0067] A rotor position angle redundant control system for an aviation permanent magnet synchronous motor based on an AD2S1210 resolver decoder chip. Based on an FOC control algorithm, the speed register and position register of the AD2S1210 resolver decoder chip provide real-time speed and rotor position angle to a space vector control FOC algorithm unit. When the position angle redundant control algorithm unit detects that an error occurs in the motor rotor position angle signal, the speed value of the previous sampling cycle is used to calculate the rotor position angle signal instead and provide it to the space vector control FOC algorithm unit. In addition, if it is detected that the monitoring signal provided by the AD2S1210 chip loses the resolver signal, the current Uq value is no longer used, and the U'q value calculated in the previous sampling cycle is used to provide it to the PARK inverse transformation module in the space vector control FOC algorithm unit, so that the motor runs at a constant speed. If it is detected that the monitoring signal provided by the AD2S1210 chip is only the resolver signal deterioration or signal tracking loss, after the fault is restored, the position angle signal provided by the AD2S1210 resolver decoder chip is restored to enable the system to operate normally.

[0068] The redundant control system of rotor position angle of aviation permanent magnet motor is mainly composed of space vector control FOC algorithm unit, position angle redundant control algorithm unit, AD2S1210 resolver decoding chip, three-phase bridge inverter module, permanent magnet synchronous motor and resolver.

[0069] Among them, the space vector control FOC algorithm unit collects the armature current, rotor position angle and speed information of the permanent magnet synchronous motor and adopts the speed and current double closed-loop control strategy to generate six PWM waves to drive the three-phase bridge inverter module on and off, thereby controlling the permanent magnet synchronous motor to reach the target speed or torque; it mainly includes the following modules:

[0070] Speed ​​loop PI regulator: The input end is connected to the position angle redundant control unit, and the deviation is calculated and PI algorithm is adjusted based on the actual speed provided by it and the given target speed, and the q-axis given current iq value is obtained and provided to the current loop PI regulator;

[0071] Current loop PI regulator: The input end is connected to the speed loop PI regulator, and the deviation is calculated and the PI algorithm is adjusted according to the given current iq value and the given current id value provided by it, and the q-axis voltage Uq value and the d-axis voltage Ud value are obtained and provided to the PARK inverse transformation module;

[0072] PARK inverse transformation module: The input end is connected to the current loop PI regulator and the position angle redundant control unit. According to the d-axis voltage Ud value and the q-axis voltage Uq value or the q-axis voltage U'q value of the previous sampling cycle, the PARK inverse transformation calculation is performed to obtain the values ​​of Uα and Uβ and provide them to the SVPWM generation module;

[0073] SVPWM generation module: The input end is connected to the PARK inverse conversion module, and generates PWM1 to PWM6 according to the values ​​of Uα and Uβ and provides them to the three-phase bridge inverter module;

[0074] The CLARKE conversion module performs CLARKE conversion according to the three-phase armature currents ia, ib, ic of the permanent magnet synchronous motor to generate iα and iβ which are transmitted to the PARK conversion module;

[0075] The PARK transformation module performs PARK transformation according to iα and iβ to generate the actual current id value and the actual current iq value, which are transmitted to the current loop PI regulator.

[0076] In addition, the connection relationship of other modules in the redundant control system of the rotor position angle of the aviation permanent magnet motor is as follows:

[0077] AD2S1210 resolver decoding chip: The input end is connected to the resolver to realize the calculation of the motor rotor position angle signal collected by the resolver, and obtain the motor direction signal DIR, the motor mechanical angular velocity signal Wm, the motor rotor position angle signal Φ, the tracking loss signal LOT, and the resolver signal deterioration signal DOS, which are provided to the position angle redundancy control algorithm unit;

[0078] Position angle redundant control algorithm unit: The input end is connected to the AD2S1210 resolver decoding chip and the space vector control FOC algorithm unit, mainly realizing the current position angle signal error judgment and processing output, speed n conversion, the previous cycle q-axis voltage value judgment and output, fault information recording and reporting functions. Its output end is respectively connected to the space vector control FOC algorithm unit to provide it with the motor speed n, rotor position angle electrical angle θ and q-axis voltage.

[0079] A method for redundant control of rotor position angle of an aviation permanent magnet motor based on AD2S1210 comprises the following steps:

[0080] Step 1: The position angle redundant control algorithm unit periodically collects information such as the motor direction signal DIR, the motor speed signal Wm, the motor rotor position angle signal Φ, the tracking loss signal LOT, and the resolver signal deterioration signal DOS provided by AD2S1210.

[0081] Step 2: The position angle redundant control algorithm unit calculates the rotor position angle electrical angle according to the motor rotor position angle signal Φ and the motor speed signal Wm. Motor speed

[0082] Where, N is the electrical cycle count of the rotary transformer;

[0083] P——number of motor pole pairs;

[0084] P'——the number of pole pairs of the rotary transformer;

[0085] Φ——Current rotor position angle signal;

[0086] Φ'——The rotor position angle signal of the previous sampling period;

[0087] Step 3: When the position angle redundancy control algorithm unit determines that any of the following conditions occurs, the current position angle signal is considered to be an error signal:

[0088] a) Deviation ΔWm=|Wm-W'm|>k1;

[0089] b) DIR is 0 (forward) and the deviation Δθ=θ-θ′<0, and θ and θ′ are at the boundary of the non-electrical cycle;

[0090] c) DIR is 1 (reversal) and the deviation Δθ=θ-θ′>0, and θ, θ′ are at the boundary of the non-electrical period;

[0091] d) Deviation Δ=|Δθ-Δθ'|>k2;

[0092] in,

[0093] Wm——current motor speed signal;

[0094] W'm——motor speed signal of the previous sampling period;

[0095] ΔWm——absolute value of the deviation between the current speed and the speed in the previous sampling period;

[0096] θ——Current rotor position angle in electrical degrees;

[0097] θ'——The electrical angle of the rotor position in the previous sampling period;

[0098] Δθ——The current rotor position angle and the rotor position angle deviation in the previous sampling period;

[0099] Δθ'——rotor position angle deviation in the previous and previous two sampling cycles;

[0100] Δt——sampling period duration;

[0101] P——rotor pole pairs;

[0102] Furthermore, Δθ'=W'm×Δt×P, k2=π / 3, k1=π / (3×Δt×P)

[0103] The current position angle estimate calculated from the previous speed is:

[0104] θe=θ'+Δθ'=θ'+W'm×Δt×P.

[0105] Step 4: When the position angle redundant control algorithm unit determines that the current position angle signal is correct, the speed n and electrical angle θ are provided to the space vector control FOC algorithm unit, and the process returns to step 1; when the position angle redundant control algorithm unit determines that the current position angle signal is incorrect, the resolver position signal abnormal flag is set, and the process goes to step 5.

[0106] Step 5: Real-time monitoring and tracking of the lost signal LOT and the resolver signal deterioration signal DOS. If both the DOS and LOT signals are valid, set the "resolver signal lost fault flag", calculate the speed n according to the speed signal W'm of the previous cycle, and calculate the current position angle estimate θe=θ'+Δθ'=θ'+W'm×Δt×P; and provide the above two signals to the space vector control FOC algorithm unit, and disconnect the q-axis voltage closed-loop circuit in the space vector control FOC algorithm unit, and the position angle redundant control algorithm unit collects the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and provides it to the Park inverse transformation module, and the U'q value provided to the Park inverse transformation module is fixed. At the same time, report the "resolver signal loss fault" to the upper computer through communication, and record the fault information to the storage chip for subsequent ground maintenance, waiting for the equipment to be powered off or repaired.

[0107] Step 6: If only one of the DOS and LOT signals is valid when it is monitored in real time, that is, "deterioration of the resolver signal" or "tracking loss" occurs, then the "resolver signal deterioration fault flag" is set to be valid or the "tracking loss fault flag" is set to be valid, and the speed n is calculated according to the previous speed signal W'm, and the current position angle estimation value θe=θ'+Δθ'=θ'+W'm×Δt×P is calculated; and the above two signals are provided to the space vector control FOC algorithm unit. When the fault is restored, it is restored to the rotor position angle electrical angle θ calculated by the position angle signal Φ provided by the AD2S1210 resolver decoding chip, so that the system can operate normally. If the duration of this type of fault exceeds t=k×Δt (k=1,2,3......), the q-axis voltage closed loop in the space vector control FOC algorithm unit is disconnected, and the position angle redundant control algorithm unit collects the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and provides it to the Park inverse transformation module, and the U'q value provided to the Park inverse transformation module is fixed, so that the system continues to operate in the current operating state. At the same time, the "deterioration of the resolver signal" or "loss of tracking" is reported to the upper computer through communication, and the fault information is recorded in the storage chip for subsequent ground maintenance, waiting for the equipment to be powered off or repaired.

[0108] Example

[0109] like Figure 1 As shown in the figure, the redundant control system of the rotor position angle of the aviation permanent magnet motor is mainly composed of the space vector control FOC algorithm unit, the redundant control algorithm unit of the position angle and the AD2S1210 resolver decoding chip. The AD2S1210 resolver decoding chip provides the motor direction signal DIR, the tracking loss signal LOT, the signal deterioration signal DOS, the motor mechanical angular velocity signal Wm, and the motor rotor position angle signal Φ to the redundant control algorithm unit of the position angle. The main functions of the redundant control algorithm unit of the position angle are as follows:

[0110] a) Convert the motor speed signal n and provide it to the space vector control FOC algorithm unit for speed closed-loop control;

[0111] b) Collect the q-axis voltage vector U'q calculated in the previous sampling period;

[0112] c) The backup position angle θe is calculated and switched based on the information provided by the AD2S1210 resolver decoding chip, and then provided to the space vector control FOC algorithm unit for Park transform and Park inverse transform.

[0113] like Figure 1 , Figure 2 As shown, the specific implementation method of the motor rotor position angle redundant control method is as follows:

[0114] 1. The position angle redundancy control algorithm unit periodically collects the motor direction signal DIR, tracking loss signal LOT, signal deterioration signal DOS, motor mechanical angular velocity signal Wm, and motor rotor position angle signal Φ provided by the AD2S1210 resolver decoding chip;

[0115] 2. Position Angle Redundancy Control Algorithm Unit Calculation

[0116] 3. The position angle redundant control algorithm unit calculates ΔWm=|Wm-W'm|, Δθ=θ-θ', Δ=|Δθ-Δθ'|, and determines in turn whether ΔWm is greater than a fixed value k1, whether DIR is forward and the deviation Δθ is less than 0 or whether DIR is reverse and the deviation Δθ is greater than 0, and whether the deviation Δ is greater than a fixed value k2. If the conditions are met, the abnormal flag of the resolver position signal is set, otherwise, the calculated speed n and electrical angle θ are provided to the space vector control FOC algorithm unit.

[0117] 4. According to the abnormal sign of the resolver position signal, the tracking loss signal LOT and the signal deterioration signal DOS are judged. The specific implementation is as follows:

[0118] 1) The tracking loss signal LOT and the signal deterioration signal DOS are both valid, and the "resolver signal loss fault flag" is set. The speed n and the current position angle estimation value θe=Φ'+W'm×Δt×P are calculated according to W'm and provided to the space vector control FOC algorithm unit, and the q-axis voltage closed loop in the space vector control FOC algorithm unit is controlled to be disconnected, and a fixed value U'q is provided to the Park inverse transformation module;

[0119] 2) If only the DOS signal is valid and the LOT is invalid, set the "resolver signal deterioration fault flag"; if only the LOT signal is valid and the DOS is invalid, set the "tracking loss fault flag", then calculate the speed n and the current position angle estimation value θe=Φ'+W'm×Δt×P according to W'm and provide them to the space vector control FOC algorithm unit. If the fault duration exceeds the fixed time t, the q-axis voltage closed loop in the space vector control FOC algorithm unit is still controlled to be disconnected, and a fixed value U'q is provided to the Park inverse transformation module. Report the fault information through the communication bus and record it in the storage chip.

Claims

1. A method for redundant control of rotor position angle of aviation permanent magnet synchronous motor based on AD2S1210 resolver decoding chip, characterized in that: The method is used for a rotor position angle redundant control system of an aviation permanent magnet synchronous motor, the system comprising: a space vector control FOC algorithm unit, a position angle redundant control algorithm unit, an AD2S1210 resolver decoding chip, a three-phase bridge inverter module, a permanent magnet synchronous motor, and a resolver; The space vector control FOC algorithm unit collects the armature current, rotor position angle and speed information of the permanent magnet synchronous motor and adopts the speed and current double closed-loop control strategy to generate six PWM waves to drive the three-phase bridge inverter module on and off, thereby controlling the permanent magnet synchronous motor to reach the target speed or torque; The AD2S1210 resolver decoding chip is used to collect the rotor position angle information and speed information of the resolver coaxially mounted on the permanent magnet synchronous motor; and decode the rotor position angle information and speed information and send them to the position angle redundancy control algorithm unit; The position angle redundancy control algorithm unit is used to judge the received rotor position angle information and output the correct position angle signal to the space vector control FOC algorithm unit, and convert the received speed information and output it to the space vector control FOC algorithm unit; The method comprises the following steps: Step 1: The position angle redundancy control algorithm unit periodically collects the permanent magnet synchronous motor direction signal DIR, speed signal Wm, rotor position angle signal Φ, tracking loss signal LOT, and resolver signal deterioration signal DOS provided by AD2S1210; Step 2: The position angle redundant control algorithm unit calculates the rotor position angle electrical angle and the motor speed according to the motor rotor position angle signal Φ and the speed signal Wm; The calculation formula of the rotor position angle electrical angle is as follows: Wherein, N is the electrical cycle count of the rotary transformer; P is the number of motor pole pairs; P' is the number of rotary transformer pole pairs; Φ is the current rotor position angle signal; Φ' is the rotor position angle signal of the previous sampling cycle; Step 3: The position angle redundancy control algorithm unit determines whether the current position angle electrical angle is correct; when any of the following conditions occurs, the current position angle electrical angle is considered to be wrong; a) ΔWm=|Wm-W'm|>k1; b) DIR is 0 and the deviation Δθ=θ-θ′<0, and θ and θ′ are at the boundary of the non-electrical cycle; c) DIR is 1 and the deviation Δθ=θ-θ′>0, and θ, θ′ are at the boundary of the non-electrical period; d) Δ=|Δθ-Δθ'|>k2; Wherein, Wm is the current motor speed signal; W'm is the motor speed signal of the previous sampling cycle; ΔWm is the absolute value of the deviation between the current speed and the speed of the previous sampling cycle; θ is the electrical angle of the current rotor position angle; θ' is the electrical angle of the rotor position angle of the previous sampling cycle; Δθ is the electrical angle deviation between the current rotor position angle and the rotor position angle of the previous sampling cycle; Δθ' is the rotor position angle deviation between the previous sampling cycle and the previous two sampling cycles; Δt is the duration of the sampling cycle; k1 = π / (3×Δt×P); k2 = π / 3; Step 4: If the current position angle electrical angle is correct, the rotor position angle electrical angle and the motor speed obtained in step 2 are provided to the space vector control FOC algorithm unit, and the process returns to step 1; if the current position angle electrical angle is incorrect, the resolver signal abnormal flag is set, and the process goes to step 5; Step 5: Real-time monitoring and tracking of lost signal LOT and resolver signal deterioration signal DOS; If the tracking loss signal LOT and the resolver signal deterioration signal DOS are both valid, set the "resolver signal loss fault flag" and go to step 6; If only one of the tracking loss signal LOT and the resolver signal deterioration signal DOS is valid, set the "tracking loss fault flag" to be valid or set the "resolver signal deterioration fault flag" to be valid, and go to step 7; If the tracking loss signal LOT and the resolver signal deterioration signal DOS are both invalid, return to step 1; Step 6: Calculate the current cycle speed according to the previous cycle speed signal, estimate the current cycle position angle electrical angle, and provide the current cycle speed and the current cycle position angle electrical angle to the space vector control FOC algorithm unit; The q-axis voltage closed loop in the space vector control FOC algorithm unit is disconnected, and the position angle redundant control algorithm unit collects the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and provides it to the Park inverse transformation module and maintains the U'q value constant; Report "resolver signal loss fault" to the upper computer and record the fault information to the storage chip for subsequent ground maintenance; Repeat step 6 and wait for the device to be powered off or repaired; Step 7: Calculate the current cycle speed based on the previous cycle speed signal, estimate the current cycle position angle electrical angle, and provide the current cycle speed and the current cycle position angle electrical angle to the space vector control FOC algorithm unit.

2. The rotor position angle redundant control method according to claim 1, characterized in that: The space vector control FOC algorithm unit includes: speed loop PI regulator, current loop PI regulator, PARK transformation module, CLARKE transformation module, PARK inverse transformation module, SVPWM generation module; The speed loop PI regulator performs deviation calculation and PI algorithm adjustment based on the speed provided by the position angle redundant control algorithm unit and the given target speed, and obtains the q-axis given current iq value and provides it to the current loop PI regulator; The current loop PI regulator performs deviation calculation and PI algorithm adjustment according to the given current iq value, the given current id value and the actual current iq value, the actual current id value, respectively, to obtain the q-axis voltage Uq value and the d-axis voltage Ud value and provide them to the PARK inverse transformation module; The PARK inverse transformation module performs PARK inverse transformation calculation according to the d-axis voltage Ud value and the q-axis voltage Uq value, and obtains the values ​​of Uα and Uβ and provides them to the SVPWM generation module; The SVPWM generation module generates six PWM waves according to Uα and Uβ and provides them to the three-phase bridge inverter module; The CLARKE conversion module performs CLARKE conversion according to the three-phase armature currents ia, ib, ic of the permanent magnet synchronous motor to generate iα and iβ which are transmitted to the PARK conversion module; The PARK transformation module performs PARK transformation according to iα and iβ to generate an actual current id value and an actual current iq value, which are transmitted to the current loop PI regulator.

3. The rotor position angle redundant control method according to claim 2, characterized in that: The position angle redundant control algorithm unit is also used to collect the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and transmit it to the PARK inverse transformation module; The PARK inverse transformation module is also used to perform PARK inverse transformation according to the q-axis voltage U'q value in the previous sampling period to generate Uα and Uβ.

4. The rotor position angle redundant control method according to claim 3, characterized in that: The step seven also includes: if the effective duration T of any signal of the tracking loss signal LOT and the resolver signal deterioration signal DOS exceeds the time threshold t, the q-axis voltage closed-loop circuit in the space vector control FOC algorithm unit is disconnected, and the position angle redundancy control algorithm unit collects the q-axis voltage U'q value of the previous cycle output by the current loop PI regulator and provides it to the Park inverse transformation module and maintains the U'q value constant; reports "resolver signal deterioration" or "tracking loss" to the upper computer, and records the fault information to the storage chip for subsequent ground maintenance; repeats the cycle of step seven and waits for the equipment to be powered off or repaired; If the effective duration T does not exceed the time threshold t, return to step 1.

5. The rotor position angle redundant control method according to claim 4, characterized in that: Δθ'=W'm×Δt×P.

6. The rotor position angle redundant control method according to claim 5, characterized in that: In the step 2, The calculation formula of motor tachometer n is as follows:

7. The rotor position angle redundant control method according to claim 6, characterized in that: In step 6 and step 7, the current period position angle electrical angle estimation value θe is calculated as follows: θe=θ'+Δθ'=θ'+W'm×Δt×P.

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