Motor active fault-tolerant control method based on linear matrix inequality solution

Abstract

The invention relates to the technical field of motors, and relates to a motor active fault-tolerant control method based on linear matrix inequality solution, and the method comprises the steps: constructing a working characteristic model of an aviation synchronous motor with a nonlinear characteristic under a two-phase static coordinate system; constructing a fault operating characteristic model of the aviation synchronous motor when a stator winding open circuit fault and a sensor fault occur; constructing a main body program of the sliding-mode observer for simultaneously reconstructing the stator winding open-circuit fault and the sensor fault of the aviation synchronous motor, wherein the main body program comprises an observer gain matrix P; constructing a linear matrix inequality, and solving the observer gain matrix P; reconstructing a fault reconstruction program of the observer; constructing an active fault-tolerant control program; and performing sliding mode control on the aviation synchronous motor. According to the sliding mode control method, the fault-tolerant capability of the aviation motor in the case of stator winding open circuit faults and sensor faults is improved through sliding mode control.

Description

Technical Field

[0001] The present invention generally relates to the field of motor technology. More specifically, the present invention relates to a motor active fault-tolerant control method based on linear matrix inequality solution. Background Art

[0002] The basic working principle of aviation motors is essentially the same as that of motors used in other industries, but due to the different geographical environmental conditions during flight, their characteristics are also different from those of motors used in other industries. Aviation motors are usually small in size, light in weight, and have good economic performance.

[0003] Considering that aviation motors are often in complex working conditions such as high vibration and high power, the probability of internal stator winding short circuit fault, angular velocity sensor measurement distortion and other faults is high. The angular velocity sensor failure of the aviation motor may cause the deviation divergence of the observer state estimation, while the internal stator winding short circuit fault of the aviation motor may cause.

[0004] Based on this, how to quickly respond to and recover from internal stator winding short circuit faults and angular velocity sensor measurement distortion faults in aviation motors is an urgent problem to be solved in the field of motor technology. Summary of the invention

[0005] In order to solve the technical problem that the motor cannot output stably due to the internal stator winding open circuit fault of the above-mentioned aviation motor, the angular velocity sensor measurement distortion and other faults, the present invention proposes an active fault-tolerant control method of the motor based on solving linear matrix inequalities.

[0006] A motor active fault-tolerant control method based on linear matrix inequality solution includes: constructing a working characteristic model of an aviation synchronous motor with nonlinear characteristics in a two-phase stationary coordinate system; constructing a fault working characteristic model of the aviation synchronous motor when a stator winding short circuit fault and a sensor fault occur according to the working characteristic model; constructing a main program of a sliding mode observer that simultaneously reconstructs the aviation synchronous motor when a stator winding short circuit fault and a sensor fault occur, wherein the main program includes an observer gain matrix P ; Construct linear matrix inequality; after solving the observer gain matrix in the main program through linear matrix inequality, construct the fault reconstruction program of the sliding mode reconstruction observer according to the main program and the fault working characteristic model; construct an active fault-tolerant control program through the fault working characteristic model and the fault reconstruction program; construct an active fault-tolerant control program through the fault working characteristic model and the fault reconstruction program; perform sliding mode control on the aviation synchronous motor through the active fault-tolerant control program.

[0007] Preferably, the working characteristic model is: .

[0008] in, R It is expressed as the equivalent resistance of the stator end of the aviation synchronous motor. L Represents the equivalent inductance of the aviation synchronous stator end; ω represents the angular velocity of the aviation synchronous motor, Indicates the three currents of the aviation synchronous motor d - q The equivalent horizontal axis current under the model is: Indicates the three currents of the aviation synchronous motor d - q The equivalent longitudinal axis current under the model, u d Indicates that the voltage at the input of the aviation synchronous motor is d The equivalent voltage of the shaft, u q Indicates that the voltage at the input of the aviation synchronous motor is q The equivalent voltage of the shaft, Represents the flux correlation coefficient of aviation synchronous motor; p Indicates the number of pole pairs of the stator winding of the aviation synchronous motor. J Represents the rotor inertia of the aviation synchronous motor, T L Indicates the load torque of the aviation synchronous motor. y Represents the output value of the observer.

[0009] Preferably, the aviation synchronous motor fault operating characteristic model is: .

[0010] in Indicates the resistance change caused by the short circuit fault at the nail end of the synchronous motor; Indicates the difference between the measured value and the actual value of the motor angular velocity caused by a sensor accuracy degradation fault.

[0011] Preferably, the main program of the sliding mode observer is: .

[0012] in, Indicates the three currents of the aviation synchronous motor d - q The estimated value of the equivalent transverse axis current under the model, Indicates the three currents of the aviation synchronous motor d - q The estimated value of the equivalent longitudinal axis current under the model, represents the estimated value of the angular velocity of the aviation synchronous motor, K is the matrix of observer gain coefficients, and the dimension of the matrix is ​​3×1. ey represents the error between the actual output of the angular velocity sensor and the estimated output of the observer, e y satisfy: , represents the estimated value of the observer output, represents the control input of the sliding mode observer, and satisfy: , , P represents the observer gain matrix, the observer gain matrix P is a positive definite matrix, γ ( t ) represents the adaptive law, γ 0 indicates the adaptive law constant.

[0013] Preferably, the linear matrix inequality is: , .

[0014] in, I is the identity matrix, C is the system output matrix.

[0015] Preferably, the fault reconstruction program is: .

[0016] in For the matrix The generalized inverse of .

[0017] Preferably, the active fault-tolerant control program is: .

[0018] in, Indicates the motor's expected angular velocity command, Represents the first-order derivative of the motor's desired angular velocity command, Represents the second-order derivative of the motor's desired angular velocity command, s 1 indicates active fault-tolerant sliding mode control input, λ 1 represents the first constant of the preset size, λ 2 represents a second constant of a preset size, and λ 1>0, λ 2>0, sgn() represents the sign function.

[0019] Preferably, performing sliding mode control on the aviation synchronous motor through the active fault-tolerant control program includes: collecting the output angular velocity and parameters of the aviation synchronous motor, wherein the parameters of the aviation synchronous motor include the stator winding resistance, the fixed winding mutual inductance, the number of motor pole pairs, the motor moment of inertia, the motor flux coefficient, and the desired angular velocity instruction of the motor; inputting the output angular velocity and parameters of the aviation synchronous motor into the active fault-tolerant control program to obtain an active fault-tolerant sliding mode control input; and performing sliding mode control on the aviation synchronous motor according to the active fault-tolerant sliding mode control input.

[0020] The beneficial effects of the present invention are: The present invention constructs a fault characteristic model of the performance of an aviation synchronous motor under dynamic conditions when a stator winding short circuit fault and a sensor fault (sensor accuracy reduction) occur, as well as a fault reconstruction program of an active fault-tolerant sliding mode observer for identifying the resistance change caused by the stator winding short circuit fault and the difference estimate between the measured value and the actual value of the motor angular velocity caused by the sensor fault, and constructs an active fault-tolerant control program for sliding mode control of the aviation synchronous motor based on the fault characteristic model and the fault reconstruction program, thereby improving the fault tolerance of the aviation motor when facing a stator winding short circuit fault and a sensor fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein: Figure 1 is a flowchart schematically illustrating a method for active fault-tolerant control of a motor based on solving linear matrix inequalities according to an embodiment of the present invention; Figure 2 is a schematic diagram showing a stator winding short circuit fault and reconstruction waveform according to an embodiment of the present invention; Figure 3 is a schematic diagram showing an input voltage waveform of an active fault-tolerant control of a motor according to an embodiment of the present invention; Figure 4 is a diagram schematically showing a three-phase current response waveform of a stator winding according to an embodiment of the present invention; Figure 5 is a diagram schematically showing an angular velocity response waveform according to an embodiment of the present invention; Figure 6 Schematically shows an experimental waveform diagram of angular velocity response of a synchronous motor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0023] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0024] Step S1: constructing a working characteristic model of an aviation synchronous motor with nonlinear characteristics in a two-phase stationary coordinate system.

[0025] It should be noted that the working characteristic model describes the working characteristics of the aviation synchronous motor, that is, the working characteristic model describes the performance of the aviation synchronous motor under dynamic working conditions.

[0026] In one embodiment, the operating characteristic model is: ; in, R It is expressed as the equivalent resistance of the stator end of the aviation synchronous motor. L Represents the equivalent inductance of the aviation synchronous stator end; ω represents the angular velocity of the aviation synchronous motor, Indicates the three currents of the aviation synchronous motor d - q The equivalent horizontal axis current under the model is: Indicates the three currents of the aviation synchronous motor d - q The equivalent longitudinal axis current under the model, u d Indicates that the voltage at the input of the aviation synchronous motor is d The equivalent voltage of the shaft, u q Indicates that the voltage at the input of the aviation synchronous motor is q The equivalent voltage of the shaft, Represents the flux correlation coefficient of aviation synchronous motor; p Indicates the number of pole pairs of the stator winding of the aviation synchronous motor. J Represents the rotor inertia of the aviation synchronous motor, T L Indicates the load torque of the aviation synchronous motor. y Represents the output value of the observer.

[0027] Step S2: constructing a fault operating characteristic model of the aviation synchronous motor when a stator winding short circuit fault and a sensor fault occur according to the operating characteristic model.

[0028] It should be noted that the fault operating characteristic model is based on the operating characteristic model and describes the performance of the aviation synchronous motor under dynamic conditions when a stator winding short circuit fault and a sensor fault occur.

[0029] In one embodiment, the fault operating characteristic model of the aviation synchronous motor is: .

[0030] in Indicates the resistance change caused by the short circuit fault at the nail end of the synchronous motor; Indicates the difference between the measured value and the actual value of the motor angular velocity caused by a sensor accuracy degradation fault.

[0031] Step S3: constructing a main program of a sliding mode observer for simultaneous reconstruction of the stator winding open circuit fault and sensor fault of the aviation synchronous motor, wherein the main program includes an observer gain matrix P .

[0032] It should be noted that the main program of the sliding mode observer describes how to use the sliding mode control theory to estimate the motor state (such as current and speed), and dynamically adjust the behavior of the estimator through the gain matrix (K) and the adaptive law to ensure that the system can stably and accurately monitor the motor state and diagnose faults in the presence of uncertainties and disturbances.

[0033] In one embodiment, the main program of the sliding mode observer is: .

[0034] in, Indicates the three currents of the aviation synchronous motor d - q The estimated value of the equivalent transverse axis current under the model, Indicates the three currents of the aviation synchronous motor d - q The estimated value of the equivalent longitudinal axis current under the model, represents the estimated value of the angular velocity of the aviation synchronous motor, K is the matrix of observer gain coefficients, and the dimension of the matrix is ​​3×1. e y represents the error between the actual output of the angular velocity sensor and the estimated output of the observer, e y satisfy: , represents the estimated value of the observer output, represents the control input of the sliding mode observer, and satisfy: , ,P represents the observer gain matrix, the observer gain matrix P is a positive definite matrix, γ ( t ) represents the adaptive law, γ 0 indicates the adaptive law constant.

[0035] Step S4: Construct linear matrix inequality.

[0036] It should be noted that the observer gain matrix is ​​a key matrix for state observer design. It controls the convergence speed of the estimation process and the stability of the system by adjusting the feedback of the state estimation error. Through the observer gain matrix, the observer can effectively estimate the system state, especially when the system state cannot be directly measured.

[0037] In one embodiment, the linear matrix inequality is: , .

[0038] in, I is the identity matrix, C is the system output matrix.

[0039] Step S5: After solving the observer gain matrix in the main program through linear matrix inequality, a fault reconstruction program of the sliding mode reconstruction observer is constructed according to the main program and the fault operating characteristic model.

[0040] It should be noted that the fault reconstruction program of the sliding mode reconstruction observer is used for fault diagnosis and fault-tolerant control. In the prior art, the sliding mode reconstruction observer is used to deal with nonlinear, strong interference and model uncertainty systems. The sliding mode reconstruction observer is also used to reconstruct the fault state when a system fault occurs, thereby realizing fault detection and estimation.

[0041] In one embodiment, the fault reconstruction procedure is: .

[0042] in For the matrix The generalized inverse of .

[0043] Step S6: construct an active fault-tolerant control program through the fault operating characteristic model and the fault reconstruction program.

[0044] It should be noted that in sliding mode control, a sliding surface is usually designed, and the control input (in the present invention, the active fault-tolerant sliding mode control input s1) To adjust the state of the system to ensure that the system can quickly return to the sliding mode surface when a fault occurs, thereby restoring the stability of the system. The active fault-tolerant control program of the present invention determines the input to the sliding mode control through the parameters of the aircraft motor, the expected output (usually the angular velocity) and the actual output (usually the angular velocity).

[0045] In one embodiment, the active fault-tolerant control program is: .

[0046] in, Indicates the motor's expected angular velocity command, Represents the first-order derivative of the motor's desired angular velocity command, Represents the second-order derivative of the motor's desired angular velocity command, s 1 indicates active fault-tolerant sliding mode control input, λ 1 represents the first constant of the preset size, λ 2 represents a second constant of a preset size, and λ 1>0, λ 2>0, sgn() represents the sign function.

[0047] Step S7: Perform sliding mode control on the aviation synchronous motor through the active fault-tolerant control program.

[0048] In one embodiment, performing sliding mode control on an aviation synchronous motor through the active fault-tolerant control program includes: collecting the output angular velocity and parameters of the aviation synchronous motor, wherein the parameters of the aviation synchronous motor include the stator winding resistance, the constant winding mutual inductance, the number of motor pole pairs, the motor moment of inertia, the motor flux coefficient, and the desired angular velocity instruction of the motor; inputting the output angular velocity and parameters of the aviation synchronous motor into the active fault-tolerant control program to obtain an active fault-tolerant sliding mode control input; and performing sliding mode control on the aviation synchronous motor according to the active fault-tolerant sliding mode control input.

[0049] The inventors used a typical aviation synchronous motor embodiment to perform simulation verification. In this embodiment, the stator winding resistance R is 0.975Ω, the stator winding mutual inductance L 5.845mH, motor pole pair number p =4, the motor moment of inertia J 0.0015 kg · m 2 , motor flux coefficient When a phase winding short circuit fault occurs in the synchronous motor, the resistance change value caused by the short circuit is 0.5Ω, and the fault occurs at 0.08s when the motor is working stably. At the same time, it is assumed that the motor angular velocity sensor has a measurement noise fault at 0.1s. The command speed of the aviation synchronous motor is set to 500 rpm. Based on the basic parameters of the motor and the possible fault types, the observer gain parameter calculation scheme proposed in the present invention is used to obtain the observer gain parameter: , , , , According to the obtained observer gain parameters, the aviation synchronous motor fault reconstruction sliding mode observer is constructed, and based on this, fault simulation is carried out to obtain the following Figure 2 The simulation results are shown.

[0050] like Figure 2 As shown, there is no fault inside the aviation synchronous motor, and the motor fault reconstruction conclusion appears before 0.02s. The main reason is that the state estimation deviation of the motor observer has not yet stabilized, resulting in a reconstruction error of the motor stator winding short circuit fault. Between 0.02s and 0.08s, the motor fault reconstruction result is 0, indicating that there is no fault inside the synchronous motor, which is consistent with the actual working conditions. After 0.08s, a stator winding short circuit fault occurs inside the motor. The fault reconstruction result can track the command value in a short time, and the fault reconstruction accuracy is relatively high, indicating that the sliding mode reconstruction observer design proposed in the present invention can quickly obtain accurate fault reconstruction conclusions, providing a basis for the integrated active fault-tolerant control effect.

[0051] Based on the conclusion of aviation synchronous motor fault reconstruction, an integrated active fault-tolerant control input is designed to obtain the synchronous motor input voltage waveform for multiple motor fault tolerance. Figure 3 In addition, based on the active fault-tolerant control input of the aviation synchronous motor, the three-phase current waveform of the motor stator winding can be obtained as shown in Figure 4 Analysis Figure 3 The simulation results shown show that when a stator winding short circuit fault occurs inside the motor at 0.08s, the motor input voltage changes immediately to cope with the change caused by the fault. Figure 4 From the three-phase current waveform of the stator winding shown in the figure, it can be found that under the action of the motor active fault-tolerant control input voltage, the three-phase current of the stator winding can quickly stabilize after a short change to generate a constant magnetic field to make the synchronous motor run at the specified speed. In addition, under the action of active fault-tolerant control input, the speed response waveform of the aviation synchronous motor is as follows: Figure 5 As shown. Figure 5From the simulation results shown, it can be found that under the action of the motor active fault-tolerant control input, the motor speed can quickly return to the command value after a short reduction, and the adjustment time is less than 0.1s. This shows that the motor active fault-tolerant control scheme with integrated fault reconstruction proposed by the present invention can achieve effective fault-tolerant control effect within a limited time.

[0052] In order to further verify the effectiveness of the integrated active fault-tolerant control scheme proposed by the present invention that integrates the fault reconstruction conclusion, based on the above-mentioned simulation case study, the active fault-tolerant control experimental conclusion of the aviation synchronous motor is given. Under the active fault-tolerant control input that integrates the fault reconstruction conclusion, the experimental waveform of the aviation synchronous motor output speed is as follows: Figure 6 shown.

[0053] In the description of this specification, "plurality" or "several" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0054] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

Claims

1. A motor active fault-tolerant control method based on linear matrix inequality solution, characterized in that: include: Construct a working characteristic model of an aviation synchronous motor with nonlinear characteristics in a two-phase stationary coordinate system; construct a fault working characteristic model of an aviation synchronous motor when a stator winding short circuit fault and a sensor fault occur based on the working characteristic model; The main program of the sliding mode observer for simultaneous reconstruction of the stator winding open circuit fault and sensor fault of the aviation synchronous motor is constructed, wherein the main program includes the observer gain matrix P ; Construct linear matrix inequalities; After solving the observer gain matrix in the main program through linear matrix inequality, a fault reconstruction program of the sliding mode reconstruction observer is constructed according to the main program and the fault working characteristic model; an active fault-tolerant control program is constructed through the fault working characteristic model and the fault reconstruction program; The active fault-tolerant control program is used to perform sliding mode control on the aviation synchronous motor.

2. The method for active fault-tolerant control of a motor based on linear matrix inequality solution according to claim 1, characterized in that: The working characteristic model is: ； in, R It is expressed as the equivalent resistance of the stator end of the aviation synchronous motor. L Represents the equivalent inductance of the aviation synchronous stator end; ω represents the angular velocity of the aviation synchronous motor, Indicates the three currents of the aviation synchronous motor d - q The equivalent horizontal axis current under the model is: Indicates the three currents of the aviation synchronous motor d - q The equivalent longitudinal axis current under the model, u d Indicates that the voltage at the input of the aviation synchronous motor is d The equivalent voltage of the shaft, u q Indicates that the voltage at the input of the aviation synchronous motor is q The equivalent voltage of the shaft, Represents the flux correlation coefficient of aviation synchronous motor; p Indicates the number of pole pairs of the stator winding of the aviation synchronous motor. J Represents the rotor inertia of the aviation synchronous motor, T L Indicates the load torque of the aviation synchronous motor. y Represents the output value of the observer.

3. The method for active fault-tolerant control of a motor based on linear matrix inequality solution according to claim 2, characterized in that: The fault working characteristic model of the aviation synchronous motor is: ； in Indicates the resistance change caused by the short circuit fault at the nail end of the synchronous motor; Indicates the difference between the measured value and the actual value of the motor angular velocity caused by a sensor accuracy degradation fault.

4. The method for active fault-tolerant control of a motor based on linear matrix inequality solution according to claim 3, characterized in that: The main program of the sliding mode observer is: ； in, Indicates the three currents of the aviation synchronous motor d - q The estimated value of the equivalent transverse axis current under the model, Indicates the three currents of the aviation synchronous motor d - q The estimated value of the equivalent longitudinal axis current under the model, represents the estimated value of the angular velocity of the aviation synchronous motor, K is the matrix of observer gain coefficients, and the dimension of the matrix is ​​3×1. e y represents the error between the actual output of the angular velocity sensor and the estimated output of the observer, e y satisfy: , represents the estimated value of the observer output, represents the control input of the sliding mode observer, and satisfy: , , P represents the observer gain matrix, the observer gain matrix P is a positive definite matrix, γ ( t ) represents the adaptive law, γ 0 indicates the adaptive law constant.

5. The method for active fault-tolerant control of a motor based on linear matrix inequality solution according to claim 4, characterized in that: The linear matrix inequality is: ， ； in, I is the identity matrix, C is the system output matrix.

6. The method for active fault-tolerant control of a motor based on linear matrix inequality solution according to claim 5, characterized in that: The fault reconstruction procedure is: ； in For the matrix The generalized inverse of .

7. The method for active fault-tolerant control of a motor based on solving linear matrix inequality according to claim 6, characterized in that: The active fault-tolerant control program is: ； in, Indicates the motor's expected angular velocity command, Represents the first-order derivative of the motor's desired angular velocity command, Represents the second-order derivative of the motor's desired angular velocity command, s 1 indicates active fault-tolerant sliding mode control input, λ 1 represents the first constant of the preset size, It represents the estimated value of the resistance change caused by the short circuit fault at the nail end of the synchronous motor. λ 2 represents a second constant of a preset size, and λ 1>0, λ 2>0, sgn() represents the sign function.

8. The method for active fault-tolerant control of a motor based on solving linear matrix inequality according to claim 7, characterized in that: The sliding mode control of the aviation synchronous motor by the active fault-tolerant control program includes: Collecting the output angular velocity and parameters of the aviation synchronous motor, wherein the parameters of the aviation synchronous motor include the stator winding resistance, the fixed winding mutual inductance, the number of motor pole pairs, the motor moment of inertia, the motor flux coefficient, and the desired angular velocity command of the motor; Inputting the output angular velocity and parameters of the aviation synchronous motor into the active fault-tolerant control program to obtain an active fault-tolerant sliding mode control input; Sliding mode control of aviation synchronous motor is performed based on active fault-tolerant sliding mode control input.

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