Fault identification and self-adaptive protection method for magnetic suspension high-speed permanent magnet synchronous motor

Abstract

The invention discloses a magnetic suspension high-speed permanent magnet synchronous motor fault identification and adaptive protection method, and relates to the technical field of motor fault identification, and the method comprises the steps: constructing a full-rank reference variable model; acquiring electrical parameters of the magnetic suspension high-speed permanent magnet synchronous motor; motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor are identified through a full-rank reference variable model, and real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor are obtained; compensation is carried out based on a magnetic suspension bearing control adjustment algorithm, and control errors, generated by motor parameter changes, on the magnetic suspension bearing are counteracted; and regulating and controlling a bearing-rotor dynamic system of the magnetic suspension high-speed permanent magnet synchronous motor based on the compensated control parameters. The method has the advantages that multiple parameter values such as motor stator resistance, inductance and rotor permanent magnet flux linkage amplitude can be accurately identified, magnetic suspension bearing controller algorithm compensation can be achieved, and the control difficulty of a magnetic suspension bearing is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor fault identification, and in particular to a magnetic suspension high-speed permanent magnet synchronous motor fault identification and adaptive protection method. Background Art

[0002] Magnetic bearings are a new type of high-performance bearing with no mechanical contact between the rotor and the stator. They have the advantages of high speed, high precision, low power consumption, low noise, long life, no lubrication, and no oil pollution. However, with the iteration and upgrading of products, the requirements for the stability and safety of the overall operation of the motor are getting higher and higher. With the changes in temperature, load and magnetic saturation, the stator resistance, inductance and rotor permanent magnet flux amplitude of the magnetic levitation permanent magnet synchronous motor will deviate from the design value at room temperature. For the stator winding, the increase in temperature will cause its resistance value to increase and the working efficiency to decrease; for the rotor permanent magnet, the increase in temperature will cause the rotor permanent magnet flux amplitude to decrease, and in severe cases, high-temperature demagnetization will occur. When the actual parameter values ​​of the motor change significantly relative to the design parameter values ​​at room temperature, it will have a great impact on the performance of the designed control system and may even make it unable to work. Summary of the invention

[0003] In order to solve the above technical problems, a method for fault identification and adaptive protection of a magnetic levitation high-speed permanent magnet synchronous motor is provided. The purpose of this technical solution is to overcome the problems such as large changes in parameters caused by motor temperature rise, affecting the performance of the control system and increasing the difficulty of magnetic levitation bearing control.

[0004] In order to achieve the above purpose, the technical solution adopted by the present invention is: A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor, comprising: Construct a full-rank reference variable model; Collecting electrical parameters of the magnetic suspension high-speed permanent magnet synchronous motor, wherein the electrical parameters include abc three-phase voltage, abc three-phase current, quadrature axis voltage, quadrature axis current, direct axis voltage and direct axis current; Based on the electrical parameters of the magnetic levitation high-speed permanent magnet synchronous motor, the motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor are identified through a full-rank reference variable model to obtain the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor, wherein the motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor include: quadrature-axis inductance, direct-axis inductance, stator winding resistance and rotor permanent magnet flux amplitude; Based on the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor, compensation is performed through the magnetic suspension bearing control adjustment algorithm to offset the control error of the magnetic suspension bearing caused by the change of motor parameters; The bearing-rotor dynamics system of the magnetically levitated high-speed permanent magnet synchronous motor is regulated based on the compensated control parameters.

[0005] Preferably, the step of constructing a full-rank reference variable model specifically includes: Construct the state equation of the magnetic levitation high-speed permanent magnet synchronous motor in the stator three-phase coordinate system; Construct the state equation of the magnetic suspension high-speed permanent magnet synchronous motor in the steady-state state on the rotating coordinate system of the direct-axis rotor; The reference adaptive system is designed using Popov hyperstable theory to make the motor parameters of the magnetically suspended high-speed permanent magnet synchronous motor converge to the true values ​​of the motor parameters; The state equation of the stator in the three-phase coordinate system is:

[0006] Among them, is the abc three-phase voltage of the magnetic suspension high-speed permanent magnet synchronous motor, is the abc three-phase current of the magnetic suspension high-speed permanent magnet synchronous motor, is the electrical angular velocity, is the rotor position angle of the motor, R is the stator winding resistance, For self-feeling; For mutual induction, is the rotor permanent magnet flux amplitude; The state equation of the direct-axis rotor rotating coordinate system is:

[0007] In the formula, The kth sampled direct-axis stator voltage, The kth sampled direct-axis stator current, The k-th sampled quadrature-axis stator voltage, The k-th sampled quadrature-axis stator current, is the direct-axis stator inductance, is the quadrature-axis stator inductance, The electrical angular velocity of the kth sample.

[0008] Preferably, the reference adaptive system designed by using Popov hyperstable theory to make the motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor converge to the true values ​​of the motor parameters specifically includes: The reference adaptive system is equivalent to a multivariable nonlinear time-varying feedback system; The multivariable nonlinear time-varying feedback system includes a forward linear constant module and a nonlinear time-varying feedback module, wherein the forward linear constant module is:

[0009] in, e For comparison error, is the first-order derivative of e, Y is the output vector, , , , is the direct-axis stator current, is the quadrature-axis stator current, is the estimated value of the direct-axis stator current, is the estimated value of the quadrature-axis stator current, , , is the direct-axis stator inductance, is the quadrature axis stator inductance, R is the stator winding resistance, is the electrical angular velocity, , , , is the estimated value of the direct-axis stator inductance, is the estimated value of the quadrature-axis stator inductance, is the estimated value of stator winding resistance, is the electrical angular velocity, , , Direct axis stator voltage, Quadrature axis stator voltage, , is the rotor permanent magnet flux amplitude, is the estimated value of the rotor permanent magnet flux amplitude, , is the electrical angular velocity, D is the linear compensation matrix;

[0010] Let the nonlinear time-varying feedback module satisfy Popov's inequality; Right now , decomposed to get the first inequality, the first inequality is:

[0011] in, ; The first inequality is transformed into the second inequality, which is:

[0012] is the gain 1 of the nonlinear feedback, is the gain 2 of the nonlinear feedback, is the gain 3 of nonlinear feedback; The second inequality is decomposed into a third inequality group, which is:

[0013]

[0014] Based on the third inequality group, the adaptive law of the reference adaptive system can be obtained as:

[0015]

[0016]

[0017] in, is the proportional gain 1, is the proportional gain of 2.

[0018] Preferably, the magnetic bearing control adjustment algorithm is specifically: Obtain the normal variation range of motor parameters during the operation of the magnetic levitation high-speed permanent magnet synchronous motor; Within the normal variation range of motor parameters, a grid search method is used to generate several groups of motor parameter sample groups; Determine the optimal control and adjustment parameters for each set of motor parameter sample groups based on the control test; Establish a one-to-one mapping relationship between the motor parameter sample group and the corresponding optimal control adjustment parameter, and form all the motor parameter sample groups and the optimal control adjustment parameters into a magnetic bearing control adjustment database; The real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor are searched and matched in the magnetic levitation bearing control adjustment database to obtain the controller control and adjustment parameters corresponding to the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor.

[0019] Preferably, the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor are searched and matched in the magnetic suspension bearing control adjustment database to obtain the controller control adjustment parameters corresponding to the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor, specifically including: Obtain a motor parameter sample group in the magnetic suspension bearing control adjustment database, in which any motor parameter is greater than the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor and the motor parameter sample group with the closest comprehensive distance to the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor, and record it as the first motor parameter sample group; Obtain a motor parameter sample group in the magnetic suspension bearing control adjustment database, in which any motor parameter is less than the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor and the motor parameter sample group with the closest comprehensive distance to the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor, and record it as the second motor parameter sample group; Based on the first motor parameter sample group and the second motor parameter sample group, determining the controller control adjustment parameter through the control fitting formula; The calculation formula of the comprehensive distance is: In the formula, is the comprehensive distance, is the resistance value in the motor parameter sample group, is the quadrature axis inductance in the motor parameter sample group, is the direct-axis inductance in the motor parameter sample group, is the rotor permanent magnet flux amplitude in the motor parameter sample group.

[0020] Preferably, the regulation fitting formula is specifically:

[0021] In the formula, For the controller to adjust the tuning parameters, is the optimal control parameter corresponding to the second motor parameter sample group, is the optimal control parameter corresponding to the first motor parameter sample group, is the comprehensive distance between the second motor parameter sample group and the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor, is a comprehensive distance between the first motor parameter sample group and the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor; The controller control adjustment parameters at least include: a proportional adjustment coefficient, an integral time constant, a differential coefficient and an integral coefficient.

[0022] Preferably, the control of the bearing-rotor dynamics system of the magnetically suspended high-speed permanent magnet synchronous motor based on the compensated control parameters specifically includes: The high-speed data acquisition and processing module obtains and processes the gap between the electromagnet and the rotor, the electromagnet current and the rotor speed output by the sensor in the magnetic bearing; The input current, input voltage, inter-board temperature, power amplifier capacitor voltage, electromagnet temperature, charge and discharge state feedback signal, driver IC state feedback signal and main and auxiliary relay state signal of the power amplifier in the magnetic bearing are acquired and processed according to the low-speed data acquisition and processing module; According to the fault diagnosis and protection module, the data output by the high-speed data acquisition and processing module and the low-speed data acquisition and processing module are obtained and fault diagnosis is performed, a fault diagnosis signal and a fault protection signal are output, and fault protection is performed on the magnetic bearing; According to the data communication module, the fault diagnosis signal and the fault protection signal are sent to the debugging software, and the debugging software is used to store data and display and analyze data, so as to realize real-time monitoring of the magnetic bearing and debug the magnetic bearing; The suspension control calculation module outputs a control signal when the fault protection is not triggered to perform suspension control on the magnetic bearing; The control signal includes a gap loop control algorithm and a current loop control algorithm; The gap ring control algorithm includes:

[0023] In the formula, is the total desired control current output by the gap loop, The desired control current required to control the spindle to suspend at the X-axis rotation center, The desired control current required to control the spindle to suspend at the Y-axis rotation center, is the bias current, is the proportional adjustment coefficient, is the differential coefficient, is the integration coefficient; The current loop control algorithm is:

[0024] In the formula, is the output duty cycle value, is the zero current, is the actual current detected, is the integration time constant.

[0025] Compared with the prior art, the present invention has the following beneficial effects: A system for magnetic bearing and motor fault identification and adaptive protection algorithm is established. By identifying the motor parameters, the detected changed parameter values ​​such as the stator resistance, inductance and rotor permanent magnet flux amplitude of the permanent magnet synchronous motor are transmitted to the magnetic bearing controller through the inverter. The magnetic bearing controller adopts algorithm compensation to offset the influence of the motor parameter changes on the magnetic bearing. Through this scheme, a set of full-rank reference variable models can be obtained and multiple parameter values ​​such as the motor stator resistance, inductance and rotor permanent magnet flux amplitude can be identified at the same time, so as to realize the algorithm compensation of the magnetic bearing controller, offset the influence of the motor parameter changes on the magnetic bearing, and reduce the control difficulty of the magnetic bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is the flow chart of the fault identification and adaptive protection method of the magnetically suspended high-speed permanent magnet synchronous motor proposed in this scheme; Figure 2 This is the block diagram of the magnetic levitation high-speed permanent magnet synchronous motor control system in this scheme; Figure 3 A flow chart of the method for adjusting the magnetic bearing control algorithm in this scheme; Figure 4 A flow chart of a method for obtaining controller control parameters corresponding to real-time motor parameters of a magnetically suspended high-speed permanent magnet synchronous motor in this solution; Figure 5 A flow chart of a method for regulating the bearing-rotor dynamics system of a magnetically suspended high-speed permanent magnet synchronous motor based on compensated control parameters in this scheme; Figure 6 This is the intelligent system block diagram of the controller in this solution; Figure 7It is a schematic diagram of the structure of the electronic device of the present invention; Figure 8 It is a schematic diagram of the computer-readable storage medium structure of the present invention. DETAILED DESCRIPTION

[0027] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0028] Reference Figure 1 As shown, a method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor comprises: Construct a full-rank reference variable model; Collect the electrical parameters of the magnetic suspension high-speed permanent magnet synchronous motor, including abc three-phase voltage, abc three-phase current, quadrature axis voltage, quadrature axis current, direct axis voltage and direct axis current; Based on the electrical parameters of the magnetic levitation high-speed permanent magnet synchronous motor, the motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor are identified through a full-rank reference variable model to obtain the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor. The motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor include: quadrature-axis inductance, direct-axis inductance, stator winding resistance and rotor permanent magnet flux amplitude; Based on the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor, compensation is performed through the magnetic suspension bearing control adjustment algorithm to offset the control error of the magnetic suspension bearing caused by the change of motor parameters; The bearing-rotor dynamics system of the magnetically levitated high-speed permanent magnet synchronous motor is regulated based on the compensated control parameters.

[0029] This scheme establishes a system of magnetic bearing and motor fault identification and adaptive protection algorithm. By identifying the motor parameters, the detected changed parameter values ​​such as the stator resistance, inductance and rotor permanent magnet flux amplitude of the permanent magnet synchronous motor are transmitted to the magnetic bearing controller through the inverter. The magnetic bearing controller uses algorithm compensation to offset the impact of the motor parameter changes on the magnetic bearing.

[0030] Reference Figure 2As shown, the magnetic levitation high-speed permanent magnet synchronous motor to which the above method is applied includes: a stator and rotor of a permanent magnet synchronous motor and a stator and rotor of a magnetic suspension bearing. The permanent magnet synchronous motor inverter and the magnetic suspension bearing controller together constitute an integrated magnetic levitation high-speed permanent magnet synchronous motor control system. The permanent magnet synchronous motor inverter and the magnetic suspension bearing controller perform two-way communication. The inverter provides the required working power for the controller and has built-in power-off protection. When a system power supply fails, this function can ensure the bus voltage while allowing the high-speed motor to quickly decelerate and stop, so that the bearing quickly reaches a safe speed range to avoid damage caused by high-speed loss of floating of the bearing. By identifying the motor parameters, the detected changed permanent magnet synchronous motor stator resistance, inductance and rotor permanent magnet flux amplitude and other parameter values ​​are transmitted to the magnetic suspension bearing controller through the inverter. The magnetic suspension bearing controller uses algorithm compensation to offset the influence of the motor parameter changes on the magnetic suspension bearing.

[0031] Constructing a full-rank reference variable model specifically includes: Construct the state equation of the magnetic levitation high-speed permanent magnet synchronous motor in the stator three-phase coordinate system; Construct the state equation of the magnetic suspension high-speed permanent magnet synchronous motor in the steady-state state on the rotating coordinate system of the direct-axis rotor; The reference adaptive system is designed using Popov hyperstable theory to make the motor parameters of the magnetically suspended high-speed permanent magnet synchronous motor converge to the true values ​​of the motor parameters; The state equation of the stator in the three-phase coordinate system is:

[0032] Among them, in the formula, is the abc three-phase voltage of the magnetic suspension high-speed permanent magnet synchronous motor, is the abc three-phase current of the magnetic suspension high-speed permanent magnet synchronous motor, is the electrical angular velocity, is the rotor position angle of the motor, R is the stator winding resistance, For self-feeling; For mutual induction, is the rotor permanent magnet flux amplitude; The state equation of the direct-axis rotor rotating coordinate system is:

[0033] In the formula, The kth sampled direct-axis stator voltage, The kth sampled direct-axis stator current, The k-th sampled quadrature-axis stator voltage, The k-th sampled quadrature-axis stator current, is the direct-axis stator inductance, is the quadrature-axis stator inductance, The electrical angular velocity of the kth sample.

[0034] The reference adaptive system designed by using Popov hyperstable theory to make the motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor converge to the true value of the motor parameters specifically includes: The reference adaptive system is equivalent to a multivariable nonlinear time-varying feedback system; The multivariable nonlinear time-varying feedback system includes a forward linear constant module and a nonlinear time-varying feedback module, wherein the forward linear constant module is:

[0035] in, e For comparison error, is the first-order derivative of e, Y is the output vector, , , , is the direct-axis stator current, is the quadrature-axis stator current, is the estimated value of the direct-axis stator current, is the estimated value of the quadrature-axis stator current, , , is the direct-axis stator inductance, is the quadrature axis stator inductance, R is the stator winding resistance, is the electrical angular velocity, , , , is the estimated value of the direct-axis stator inductance, is the estimated value of the quadrature-axis stator inductance, is the estimated value of stator winding resistance, is the electrical angular velocity, , , Direct axis stator voltage, Quadrature axis stator voltage, , is the estimated value of the rotor permanent magnet flux amplitude, , D is the linear compensation matrix;

[0036] Let the nonlinear time-varying feedback module satisfy Popov's inequality; Right now , decomposed into the first inequality, the first inequality is:

[0037] in, ;

[0038] The first inequality is transformed into the second inequality, which is:

[0039] is the gain 1 of the nonlinear feedback, is the gain 2 of the nonlinear feedback, is the gain 3 of nonlinear feedback; The second inequality is decomposed into a third inequality group, which is:

[0040] Based on the third inequality group, the adaptive law of the reference adaptive system can be obtained as:

[0041]

[0042]

[0043] in, is the proportional gain 1, is the proportional gain of 2.

[0044] Permanent magnet synchronous motor parameter identification technology uses identification algorithm model reference adaptive system has been widely used. However, when the identification algorithm is based on a reference variable model with insufficient rank, relying only on a set of sampled input / output states cannot guarantee that the identification result converges correctly to the actual value. For the permanent magnet synchronous motor state equation, its state equation contains four parameters to be identified, such as the AC and DC axis inductance, stator winding resistance and rotor permanent magnet flux amplitude, and the rank of the state equation is 2. Therefore, relative to the four parameters to be identified, the steady-state state equation is a reference model with insufficient rank.

[0045] The core of permanent magnet synchronous motor parameter identification technology is to obtain a set of full-rank reference variable models, which can simultaneously identify the actual values ​​of parameters such as stator winding resistance, rotor permanent magnet flux amplitude and inductance. Therefore, Popov super-stable theory is used to design the model reference adaptive system in this scheme.

[0046] Reference Figure 3 As shown, the magnetic bearing control adjustment algorithm is specifically as follows: Obtain the normal variation range of motor parameters during the operation of the magnetic levitation high-speed permanent magnet synchronous motor; Within the normal variation range of motor parameters, a grid search method is used to generate several groups of motor parameter sample groups; Determine the optimal control and adjustment parameters for each set of motor parameter sample groups based on the control test; Establish a one-to-one mapping relationship between the motor parameter sample group and the corresponding optimal control adjustment parameter, and form all the motor parameter sample groups and the optimal control adjustment parameters into a magnetic bearing control adjustment database; The real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor are searched and matched in the magnetic levitation bearing control adjustment database to obtain the controller control and adjustment parameters corresponding to the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor.

[0047] Reference Figure 4 As shown, the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor are searched and matched in the magnetic suspension bearing control adjustment database, and the controller control adjustment parameters corresponding to the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor are obtained, which specifically include: Obtain a motor parameter sample group in the magnetic suspension bearing control adjustment database, in which any motor parameter is greater than the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor and the motor parameter sample group with the closest comprehensive distance to the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor, and record it as the first motor parameter sample group; Obtain a motor parameter sample group in the magnetic suspension bearing control adjustment database, in which any motor parameter is less than the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor and the motor parameter sample group with the closest comprehensive distance to the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor, and record it as the second motor parameter sample group; Based on the first motor parameter sample group and the second motor parameter sample group, determining the controller control adjustment parameter through the control fitting formula; The calculation formula of comprehensive distance is:

[0048] In the formula, is the comprehensive distance, is the resistance value in the motor parameter sample group, is the quadrature axis inductance in the motor parameter sample group, is the direct-axis inductance in the motor parameter sample group, is the rotor permanent magnet flux amplitude in the motor parameter sample group.

[0049] The specific regulation fitting formula is:

[0050] In the formula, For the controller to adjust the tuning parameters, is the optimal control parameter corresponding to the second motor parameter sample group, is the optimal control parameter corresponding to the first motor parameter sample group, is the comprehensive distance between the second motor parameter sample group and the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor, is a comprehensive distance between the first motor parameter sample group and the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor; The controller control adjustment parameters include at least: proportional adjustment coefficient, integral time constant, differential coefficient and integral coefficient.

[0051] In this scheme, a linear fitting database is used to control the PID control parameters of the bearing-rotor dynamics system under different motor states. By constructing a magnetic bearing control adjustment database and collecting the actual motor parameter states for retrieval and matching, a first motor parameter sample group and a second motor parameter sample group that are compatible with the actual motor parameter states are obtained. The linear fitting method is used to adjust the controller control parameters, which can realize the adjustment of the controller control parameters under any motor parameter state.

[0052] Reference Figure 5 As shown, the bearing-rotor dynamics system of the magnetically suspended high-speed permanent magnet synchronous motor is regulated based on the compensated control parameters, specifically including: The high-speed data acquisition and processing module obtains and processes the gap between the electromagnet and the rotor, the electromagnet current and the rotor speed output by the sensor in the magnetic bearing; The input current, input voltage, inter-board temperature, power amplifier capacitor voltage, electromagnet temperature, charge and discharge state feedback signal, driver IC state feedback signal and main and auxiliary relay state signal of the power amplifier in the magnetic bearing are acquired and processed according to the low-speed data acquisition and processing module; According to the fault diagnosis and protection module, the data output by the high-speed data acquisition and processing module and the low-speed data acquisition and processing module are obtained and fault diagnosis is performed, a fault diagnosis signal and a fault protection signal are output, and fault protection is performed on the magnetic bearing; According to the data communication module, the fault diagnosis signal and the fault protection signal are sent to the debugging software, and the debugging software is used to store data and display and analyze data, so as to realize real-time monitoring of the magnetic bearing and debug the magnetic bearing; The suspension control calculation module outputs a control signal when the fault protection is not triggered to perform suspension control on the magnetic bearing; The control signal includes a gap loop control algorithm and a current loop control algorithm; The gap loop control algorithm includes:

[0053] In the formula, is the total desired control current output by the gap loop, The desired control current required to control the spindle to suspend at the X-axis rotation center, The desired control current required to control the spindle to suspend at the Y-axis rotation center, is the bias current, is the proportional adjustment coefficient, is the differential coefficient, is the integration coefficient; The current loop control algorithm is:

[0054] In the formula, is the output duty cycle value, is the zero current, is the actual current detected, is the integration time constant.

[0055] The controller is designed for a standard 5-DOF magnetic bearing system. The system includes two radial bearings and one axial bearing. Each set of radial bearings needs to control the movement of two dimensions. The core of the control is to output control commands after calculating the feedback position and current signals. The control commands amplify the signals through the switch drive circuit and input them into the current driver, thereby controlling the magnetic bearing coil current to ensure stable operation of the bearing. The controller intelligent system block diagram is as follows Figure 6 As shown, it mainly includes a gap loop, a current loop and a feedforward link. When the fault diagnosis and protection module does not output a fault protection signal, the suspension control calculation module obtains the data output by the high-speed data acquisition and processing module, and applies the control algorithm composed of the gap loop and the current loop to calculate, outputs a PWM control signal, and performs suspension control on the magnetic bearing according to the PWM control signal. The system includes a high-speed data acquisition and processing module, a low-speed data acquisition and processing module, a fault diagnosis and protection module, a data communication module, a suspension control calculation module, and a magnetic bearing control method.

[0056] Furthermore, the method according to the embodiment of the present application can also be performed by Figure 7 The electronic device architecture shown in FIG. Figure 7 As shown, the electronic device 500 may include a bus 501, one or more CPUs 502, a read-only memory (ROM) 503, a random access memory (RAM) 504, a communication port 505 connected to a network, an input / output component 506, a hard disk 507, etc. The storage device in the electronic device 500, such as the ROM 503 or the hard disk 507, may store a magnetic suspension high-speed permanent magnet synchronous motor fault identification and adaptive protection method provided in the present application. The electronic device 500 may also include a user interface 508. Of course, Figure 7 The architecture shown is only exemplary and can be omitted according to actual needs when implementing different devices. Figure 7 One or more components of an electronic device are shown.

[0057] Figure 8 Schematic diagram of a computer-readable storage medium structure provided by an embodiment of the present application. Figure 8As shown, a computer-readable storage medium 600 according to an embodiment of the present application is shown. Computer-readable instructions are stored on the computer-readable storage medium 600. When the computer-readable instructions are executed by the processor, a magnetic suspension high-speed permanent magnet synchronous motor fault identification and adaptive protection method according to an embodiment of the present application described with reference to the above figures can be executed. The storage medium 600 includes, but is not limited to, for example, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc.

[0058] To sum up, the advantages of the present invention are: it can realize accurate identification of multiple parameter values ​​such as motor stator resistance, inductance and rotor permanent magnet flux amplitude, and can realize magnetic levitation bearing controller algorithm compensation, offset the impact of motor parameter changes on the magnetic levitation bearing, and reduce the control difficulty of the magnetic levitation bearing.

[0059] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor, characterized in that: include: Construct a full-rank reference variable model; Collecting electrical parameters of the magnetic suspension high-speed permanent magnet synchronous motor, wherein the electrical parameters include abc three-phase voltage, abc three-phase current, quadrature axis voltage, quadrature axis current, direct axis voltage and direct axis current; Based on the electrical parameters of the magnetic levitation high-speed permanent magnet synchronous motor, the motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor are identified through a full-rank reference variable model to obtain the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor, wherein the motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor include: quadrature-axis inductance, direct-axis inductance, stator winding resistance and rotor permanent magnet flux amplitude; Based on the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor, compensation is performed through the magnetic suspension bearing control adjustment algorithm to offset the control error of the magnetic suspension bearing caused by the change of motor parameters; The bearing-rotor dynamics system of the magnetically levitated high-speed permanent magnet synchronous motor is regulated based on the compensated control parameters.

2. A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor according to claim 1, characterized in that: The constructing of a full-rank reference variable model specifically includes: Construct the state equation of the magnetic levitation high-speed permanent magnet synchronous motor in the stator three-phase coordinate system; Construct the state equation of the magnetic suspension high-speed permanent magnet synchronous motor in the steady-state state on the rotating coordinate system of the direct-axis rotor; The reference adaptive system is designed using Popov hyperstable theory to make the motor parameters of the magnetically suspended high-speed permanent magnet synchronous motor converge to the true values ​​of the motor parameters; The state equation of the stator in the three-phase coordinate system is: Among them, in the formula, is the abc three-phase voltage of the magnetic suspension high-speed permanent magnet synchronous motor, is the abc three-phase current of the magnetic suspension high-speed permanent magnet synchronous motor, is the electrical angular velocity, is the rotor position angle of the motor, R is the stator winding resistance, For self-feeling; For mutual induction, is the rotor permanent magnet flux amplitude; the state equation of the direct-axis rotor rotating coordinate system is: In the formula, The kth sampled direct-axis stator voltage, The kth sampled direct-axis stator current, The k-th sampled quadrature-axis stator voltage, The k-th sampled quadrature-axis stator current, is the direct-axis stator inductance, is the quadrature-axis stator inductance, The electrical angular velocity of the kth sample.

3. A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor according to claim 2, characterized in that: The reference adaptive system designed by using Popov hyperstable theory to make the motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor converge to the true values ​​of the motor parameters specifically includes: The reference adaptive system is equivalent to a multivariable nonlinear time-varying feedback system; The multivariable nonlinear time-varying feedback system includes a forward linear constant module and a nonlinear time-varying feedback module, wherein the forward linear constant module is: in, e For comparison error, is the first-order derivative of e, Y is the output vector, , , , is the direct-axis stator current, is the quadrature-axis stator current, is the estimated value of the direct-axis stator current, is the estimated value of the quadrature-axis stator current, , , is the direct-axis stator inductance, is the quadrature axis stator inductance, R is the stator winding resistance, is the electrical angular velocity, , , , is the estimated value of the direct-axis stator inductance, is the estimated value of the quadrature-axis stator inductance, is the estimated value of stator winding resistance, is the electrical angular velocity, , , Direct axis stator voltage, Quadrature axis stator voltage, , is the estimated value of the rotor permanent magnet flux amplitude, , D is the linear compensation matrix; let the nonlinear time-varying feedback module satisfy the Popov inequality; that is , decomposed into the first inequality, the first inequality is: in, , is the estimated value of the quadrature-axis stator current, , , is the direct-axis stator inductance, is the quadrature axis stator inductance, R is the stator winding resistance, is the electrical angular velocity, , , is the estimated value of the direct-axis stator inductance, is the estimated value of the quadrature-axis stator inductance, is the estimated value of stator winding resistance, is the electrical angular velocity, , , , Direct axis stator voltage, Quadrature axis stator voltage, , is the rotor permanent magnet flux amplitude, is the estimated value of the rotor permanent magnet flux amplitude, , is the electrical angular velocity, is the gain of nonlinear feedback. The first inequality is transformed into the second inequality, which is: in, ; The first inequality is transformed into the second inequality, which is: is the gain 1 of the nonlinear feedback, is the gain 2 of the nonlinear feedback, is the gain 3 of nonlinear feedback; The second inequality is decomposed into a third inequality group, which is: Based on the third inequality group, the adaptive law of the reference adaptive system can be obtained as: in, is the proportional gain 1, is the proportional gain of 2.

4. A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor according to claim 3, characterized in that: The magnetic bearing control adjustment algorithm is specifically as follows: Obtain the normal variation range of motor parameters during the operation of the magnetic levitation high-speed permanent magnet synchronous motor; Within the normal variation range of motor parameters, a grid search method is used to generate several groups of motor parameter sample groups; Determine the optimal control and adjustment parameters for each set of motor parameter sample groups based on the control test; Establish a one-to-one mapping relationship between the motor parameter sample group and the corresponding optimal control adjustment parameter, and form all the motor parameter sample groups and the optimal control adjustment parameters into a magnetic bearing control adjustment database; The real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor are searched and matched in the magnetic levitation bearing control adjustment database to obtain the controller control and adjustment parameters corresponding to the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor.

5. A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor according to claim 4, characterized in that: The real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor are searched and matched in the magnetic suspension bearing control adjustment database to obtain the controller control adjustment parameters corresponding to the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor, which specifically include: Obtain a motor parameter sample group in the magnetic suspension bearing control adjustment database, in which any motor parameter is greater than the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor and the motor parameter sample group with the closest comprehensive distance to the real-time motor parameter of the magnetic suspension high-speed permanent magnet synchronous motor, and record it as the first motor parameter sample group; Obtain a motor parameter sample group in the magnetic bearing control adjustment database, in which any motor parameter is less than the real-time motor parameter of the magnetic levitation high-speed permanent magnet synchronous motor and the motor parameter sample group whose comprehensive distance to the real-time motor parameter of the magnetic levitation high-speed permanent magnet synchronous motor is closest, and record it as the second motor parameter sample group; Based on the first motor parameter sample group and the second motor parameter sample group, determining the controller control adjustment parameter through the control fitting formula; The calculation formula of the comprehensive distance is: In the formula, is the comprehensive distance, is the resistance value in the motor parameter sample group, is the quadrature axis inductance in the motor parameter sample group, is the direct-axis inductance in the motor parameter sample group, is the rotor permanent magnet flux amplitude in the motor parameter sample group.

6. A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor according to claim 5, characterized in that: The regulation fitting formula is specifically: In the formula, For the controller to adjust the tuning parameters, is the optimal control parameter corresponding to the second motor parameter sample group, is the optimal control parameter corresponding to the first motor parameter sample group, is the comprehensive distance between the second motor parameter sample group and the real-time motor parameters of the magnetic levitation high-speed permanent magnet synchronous motor, is a comprehensive distance between the first motor parameter sample group and the real-time motor parameters of the magnetic suspension high-speed permanent magnet synchronous motor; The controller control adjustment parameters at least include: a proportional adjustment coefficient, an integral time constant, a differential coefficient and an integral coefficient.

7. A method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor according to claim 6, characterized in that: The bearing-rotor dynamics system of the magnetically suspended high-speed permanent magnet synchronous motor is regulated based on the compensated control parameters and specifically includes: The high-speed data acquisition and processing module obtains and processes the gap between the electromagnet and the rotor, the electromagnet current and the rotor speed output by the sensor in the magnetic bearing; The input current, input voltage, inter-board temperature, power amplifier capacitor voltage, electromagnet temperature, charge and discharge state feedback signal, driver IC state feedback signal and main and auxiliary relay state signal of the power amplifier in the magnetic bearing are acquired and processed according to the low-speed data acquisition and processing module; According to the fault diagnosis and protection module, the data output by the high-speed data acquisition and processing module and the low-speed data acquisition and processing module are obtained and fault diagnosis is performed, a fault diagnosis signal and a fault protection signal are output, and fault protection is performed on the magnetic bearing; The fault diagnosis signal and the fault protection signal are sent to the debugging software according to the data communication module, and the debugging software is used to store data and display and analyze data, so as to realize real-time monitoring of the magnetic bearing and debug the magnetic bearing; The suspension control calculation module outputs a control signal when the fault protection is not triggered to perform suspension control on the magnetic bearing; The control signal includes a gap loop control algorithm and a current loop control algorithm; The gap ring control algorithm includes: In the formula, is the total desired control current output by the gap loop, The desired control current required to control the spindle to suspend at the X-axis rotation center, The desired control current required to control the spindle to suspend at the Y-axis rotation center, is the bias current, is the proportional adjustment coefficient, is the differential coefficient, is the integral coefficient; the current loop control algorithm is: In the formula, is the output duty cycle value, is the zero current, is the actual current detected, is the integration time constant.

8. An electronic device, characterized in that: include: at least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a magnetic levitation high-speed permanent magnet synchronous motor fault identification and adaptive protection method as described in any one of claims 1-7.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, a method for fault identification and adaptive protection of a magnetically suspended high-speed permanent magnet synchronous motor according to any one of claims 1 to 7 is implemented.

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