A fault-tolerant method for a dual Y-shift 0° dual-redundant motor

Abstract

A fault-tolerant method for a dual-Y-shift 0° dual-redundant motor is disclosed, relating to the field of fault-tolerant motors. This invention addresses the problem that after a fault occurs in a dual-Y-shift 0° dual-redundant electric winch, the faulty winding needs to be located first and then disconnected, resulting in a lengthy fault-tolerant process. The fault-tolerant method for a dual-Y-shift 0° dual-redundant motor described in this invention decouples the motor and obtains the d- and q-axis voltage setpoints for both windings. These setpoints, along with current feedback values, are input to a d- and q-axis voltage disturbance observer to obtain estimated d- and q-axis voltage disturbances for both windings. The estimated voltage disturbance of the faulty winding is then superimposed onto the d- and q-axis voltage setpoints of the non-faulty winding, thus achieving fault-tolerant operation of the dual-Y-shift 0° dual-redundant motor.

Description

Technical Field

[0001] This invention belongs to the field of servo control technology, and in particular relates to a fault-tolerant method for motors. Background Technology

[0002] As the core electric actuation system for helicopters in rescue, transportation, and anti-submarine warfare, electric winches need to meet the requirements of high power, small size, and high reliability.

[0003] Traditional single-redundant electric winches lack hardware backup and fault tolerance capabilities, and cannot meet the high power density and high reliability requirements of fields such as aerospace.

[0004] The main structure of a dual-Y-shift 0° dual-redundant electric winch motor can be designed using the same principles as a single-redundant motor, simplifying the design process. However, the strong coupling between the two windings of the dual-Y-shift 0° dual-redundant motor increases the control complexity. If a fault occurs in the dual-Y-shift 0° dual-redundant electric winch, the faulty winding must first be located and then disconnected, resulting in a lengthy fault tolerance process. Summary of the Invention

[0005] This invention addresses the problem that when a double Y-shift 0° double-redundant electric winch malfunctions, it is necessary to first locate the faulty winding and then cut it off, resulting in a long fault tolerance process. A fault self-tolerance method for a double Y-shift 0° double-redundant motor is provided.

[0006] A fault-tolerant method for a dual-Y-shift 0° dual-redundancy motor is as follows:

[0007] Decoupling control is performed on a dual Y-shift 0° dual-redundant motor to obtain the x-axis voltage setpoint for both windings, x = d, q.

[0008] The x-axis voltage setpoint and current feedback values ​​of the two windings are input to the x-axis voltage disturbance observer to obtain the x-axis voltage disturbance estimate of the two windings.

[0009] The voltage disturbance estimate of the faulty winding is superimposed on the x-axis voltage setpoint of the non-faulty winding to achieve fault self-tolerance of the dual Y-shift 0° dual-redundancy motor.

[0010] Furthermore, the method described above for decoupling control of a dual Y-shift 0° dual-redundant motor to obtain the x-axis voltage setpoint for the two sets of windings includes:

[0011] The x-axis voltage setpoint for the two sets of windings is obtained using the following formula:

[0012]

[0013] Among them, u x1* and u x2 * These are the voltage setpoints along the x-axis for the two sets of windings, u. x1 and u x2 These are the x-axis voltage feedback values ​​for the two sets of windings, L xx For the mutual inductance along the x-axis of the two sets of windings, L x Let R be the x-axis self-inductance, R be the phase resistance of the motor, and i be the x-axis self-inductance. x1 and i x2 These are the x-axis current feedback values ​​for the two sets of windings, respectively.

[0014] Furthermore, the method described above for inputting the x-axis voltage setpoint and current feedback value of the two sets of windings to the x-axis voltage disturbance observer to obtain the x-axis voltage disturbance estimate of the two sets of windings includes:

[0015] The x-axis voltage disturbance observer obtains the estimated x-axis voltage disturbance value through the following formula:

[0016]

[0017] in, for The first derivative, i x1 and i x2 These are the x-axis current feedback values ​​for the two sets of windings, respectively. and These are the estimated x-axis current values ​​for the two windings, f x1 and f x2 These are the x-axis voltage disturbance feedback values ​​for the two sets of windings, respectively. and These are the estimated x-axis voltage disturbance values ​​for the two sets of windings, respectively.

[0018]

[0019]

[0020] R is the phase resistance of the motor, u x1 * and u x2 * These are the voltage setpoints along the x-axis for the two sets of windings, L. xx For the mutual inductance along the x-axis of the two sets of windings, L x K is the x-axis self-inductance, k1 is the current estimation feedback parameter, and k2 is the voltage disturbance estimation feedback parameter.

[0021] To minimize the impact of faults on the motor control system, fault tolerance needs to be achieved more quickly upon fault occurrence. Therefore, this invention proposes a decoupling control system with fault suppression capabilities. Furthermore, it proposes a fault tolerance method based on fault voltage observation and compensation. By real-time observation of the fault disturbance voltage and compensation for it, fault self-tolerance can be achieved instantaneously without fault location, avoiding the impact of the diagnostic process on the speed of fault tolerance and ensuring stable system operation under fault conditions. This invention is applicable to open-circuit faults in any phase winding, simplifying the fault tolerance process and meeting high reliability requirements. Both drive units and the inverter in this invention use independent power supplies, enabling hardware redundancy backup after a fault. Attached Figure Description

[0022] Figure 1 A schematic diagram of the motor body of a double Y-shift 0° double-redundant electric winch;

[0023] Figure 2 The q-axis current loop for a dual Y-shift 0° dual-redundancy electric winch;

[0024] Figure 3 A real-time observer of the q-axis voltage disturbance of the winding, where s is the differential operator;

[0025] Figure 4 This is a fault self-tolerance block diagram based on a real-time disturbance voltage observer;

[0026] Figure 5 Based on the fault self-tolerance strategy, when the first set of windings has an open circuit fault in phase A bridge arm, the current trajectory diagrams of each winding are shown, where (a) represents the current trajectory of the first set of windings, (b) represents the current trajectory of the second set of windings, and (c) represents the current and trajectory of the two sets of windings.

[0027] Figure 6 This is a schematic diagram of the overall structure of a double Y-shift 0° double-redundant electric winch. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0029] like Figure 1As shown, the two redundant windings of the dual Y-shift 0° dual redundant motor share a stator. The same phase windings of the two windings are distributed in the same stator slot, and the electrical angles are exactly the same. There is magnetic coupling between the two windings. Therefore, its flux linkage and voltage equations are:

[0030]

[0031]

[0032] Among them, L dd For the mutual inductance along the d-axis of the two sets of windings, L qq For the q-axis mutual inductance of the two sets of windings, L d For d-axis self-inductance, L q ψ is the q-axis self-inductance, p is the differential sign, w is the electric angular velocity of the motor, and ψ f For permanent magnet flux linkage, u d1 and u d2 These are the d-axis voltage feedback values ​​for the two sets of windings, u q1 and u q2 These are the q-axis voltage feedback values ​​for the two sets of windings, i d1 and i d2 These are the d-axis current feedback values ​​for the two sets of windings, i q1 and i q2 These are the q-axis current feedback values ​​for the two sets of windings, ψ d1 and ψ d2 The d-axis flux linkages of the two windings are respectively, ψ q1 and ψ q2 The q-axis flux linkages of the two windings are respectively, ψ f R is the permanent magnet flux linkage, and R is the phase resistance.

[0033] The current state equations for the two windings are derived from the voltage equation:

[0034]

[0035]

[0036] From the state equation of the dual-Y-shift 0° dual-redundant current motor, it can be seen that the current of each winding is affected by the voltage of both windings simultaneously. The equivalent q-axis current loop model is as follows: Figure 2 In a dual-Y-shift 0° dual-redundant motor, the current loops of the two windings are cross-coupled. This coupling will cause distortion in both windings after a dual-redundant open-circuit fault.

[0037] The fault self-tolerance method for a dual Y-shift 0° dual-redundancy motor described in this embodiment is as follows:

[0038] Decoupling control is performed on a dual Y-shift 0° dual-redundant motor to obtain the d-axis and q-axis voltage setpoints for the two sets of windings:

[0039]

[0040] As can be seen from the following formula:

[0041]

[0042]

[0043] When the decoupled voltage is used as the current loop reference, the current loop of the dual-redundant motor is decoupled, meaning that the current of the first winding is only affected by the output u of the PI regulator of the first winding. d1 ,u q1 Controlled, the current of the second winding is only affected by the output u of the PI regulator of the first winding. d2 ,u q2 Control enables the decoupling of the system.

[0044] Furthermore, when an open-circuit fault occurs in the system, the current loop PI regulator will adjust the difference between the fault-induced current command and the actual current. Since the actual current of the faulty winding cannot follow the current command, the integral part of the PI regulator will play a dominant role in the current runaway region of the faulty phase, while the proportional regulation part can be ignored. Additionally, due to the coupling of the dual-redundant motor, the current of the other winding also cannot follow the command during a fault. The actual voltages of the two windings after the fault are:

[0045]

[0046]

[0047] Among them, u d1-OCF u q1-OCF These are the actual dq-axis voltages of a winding after the fault, u d2-OCF u q2-OCF These are the actual dq-axis voltages of the other winding after the fault, Δu d1 , Δu q1 , Δu d2 , Δu q2 These represent the voltage disturbances caused by open-circuit faults to each phase winding, Δi d1 , Δi q1 , Δi d2 , Δi q2 These represent the current distortion of the winding current after an open-circuit fault, K. p Here is the bandwidth parameter for PI control. In the fault region, the PI regulator output exhibits integral action; therefore, the PI regulator output plays a dominant role, and the voltage drop across the resistance caused by current distortion can be ignored. In the non-fault winding, due to voltage clamping, there is no voltage disturbance caused by the fault. From the above equation, we can obtain:

[0048]

[0049] As can be seen from the above formula, when the decoupling control proposed in this embodiment is adopted, when an open-circuit fault occurs, the current of the non-faulty winding will automatically compensate for the current distortion generated by the faulty winding, while the coupling degree of the dual-redundant motor is relatively high. It is close to 1.

[0050] To further compensate for the current distortion caused by the fault, this implementation combines a real-time voltage disturbance observer, such as... Figure 3 Fault tolerance is achieved by observing voltage disturbances in each winding and reapplying these disturbances to the non-faulty windings. Figure 4 Specifically, the x-axis voltage setpoint and current feedback value of the two sets of windings are input to the x-axis voltage disturbance observer to obtain the x-axis voltage disturbance estimate of the two sets of windings.

[0051] The x-axis voltage disturbance observer obtains the estimated x-axis voltage disturbance value through the following formula:

[0052]

[0053] in, for The first derivative, i x1 and i x2 These are the x-axis current feedback values ​​for the two sets of windings, respectively. and These are the estimated x-axis current values ​​for the two windings, f x1 and f x2 These are the x-axis voltage disturbance feedback values ​​for the two sets of windings, respectively. and These are the estimated x-axis voltage disturbance values ​​for the two sets of windings, respectively.

[0054]

[0055]

[0056] R is the phase resistance of the motor, u x1 * and u x2 * These are the voltage setpoints along the x-axis for the two sets of windings, L. xx For the mutual inductance along the x-axis of the two sets of windings, L x K is the x-axis self-inductance, k1 is the current estimation feedback parameter, and k2 is the voltage disturbance estimation feedback parameter.

[0057] The voltage disturbance estimate of the faulty winding is superimposed on the x-axis voltage setpoint of the non-faulty winding to achieve fault self-tolerance of the dual Y-shift 0° dual-redundancy motor.

[0058] After adopting the fault-tolerance strategy described in this embodiment, when an open-circuit fault occurs in one set of windings of the motor, the current in the other set of windings will automatically compensate for the current distortion of the faulty winding, ensuring the overall output current stability of the dual-redundant motor. Figure 5 .

[0059] This invention enables decoupling control during normal motor operation. When a fault occurs, the decoupling control can mitigate the impact of fault winding current distortion on the total output current of the motor, thus achieving both decoupling control and fault self-tolerance.

[0060] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A fault-tolerant method for a dual-Y-shift 0° dual-redundancy motor, characterized in that, Decoupling control was performed on a dual Y-shift 0° dual-redundant motor to obtain the x-axis voltage setpoint for both sets of windings. , The x-axis voltage setpoint and current feedback values ​​of the two windings are input to the x-axis voltage disturbance observer to obtain the x-axis voltage disturbance estimate of the two windings. The voltage disturbance estimate of the faulty winding is superimposed on the x-axis voltage setpoint of the non-faulty winding to achieve fault self-tolerance of the dual Y-shift 0° dual-redundancy motor. The method for decoupling control of a dual Y-shift 0° dual-redundant motor to obtain the x-axis voltage setpoint for the two sets of windings includes: The x-axis voltage setpoint for the two sets of windings is obtained using the following formula: ， in, and These are the voltage setpoints along the x-axis for the two sets of windings, respectively. and These are the x-axis voltage feedback values ​​for the two sets of windings, respectively. For the mutual inductance along the x-axis of the two sets of windings, The self-inductance along the x-axis, This is the phase resistance of the motor. and These are the x-axis current feedback values ​​for the two sets of windings, respectively. The method of inputting the x-axis voltage setpoint and current feedback value of the two sets of windings to the x-axis voltage disturbance observer to obtain the x-axis voltage disturbance estimate of the two sets of windings includes: The x-axis voltage disturbance observer obtains the estimated x-axis voltage disturbance value through the following formula: ， in, , , for The first derivative, and These are the x-axis current feedback values ​​for the two sets of windings, respectively. and These are the estimated x-axis current values ​​for the two sets of windings, respectively. and These are the x-axis voltage disturbance feedback values ​​for the two sets of windings, respectively. and These are the estimated x-axis voltage disturbance values ​​for the two sets of windings, respectively. ， ， ， ， ， This is the phase resistance of the motor. and These are the voltage setpoints along the x-axis for the two sets of windings, respectively. For the mutual inductance along the x-axis of the two sets of windings, The self-inductance along the x-axis, For current estimation feedback parameters, Feedback parameters are used to estimate voltage disturbances.

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