A fault-tolerant control method for permanent magnet synchronous motor based on series winding topology

Abstract

The application is a kind of permanent magnet synchronous motor fault-tolerant control method based on series winding topology. The application relates to the field of motor control. According to the type of fault, the application selects a zero sequence current reference value. According to the selected zero sequence current reference value, the application injects a zero sequence current. According to the injected zero sequence current, the application realizes permanent magnet synchronous motor fault-tolerant control through quasi-proportional resonant control. Compared with the existing method, the series winding permanent magnet synchronous motor fault-tolerant control method of the application is simple and easy to implement. Without changing the motor model, modulation strategy and control framework, the application can realize the fault-tolerant control of the series winding permanent magnet synchronous motor driver by only updating the zero sequence current reference value. In addition, the application can suppress the third harmonic in the zero sequence current and improve the performance of the motor.

Description

Technical Field

[0001] This invention relates to the field of motor control, and is a fault-tolerant control method for permanent magnet synchronous motors based on series winding topology. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are being used in increasingly critical applications, making reliability a core indicator for evaluating system performance. However, the reliance on electronic components in drive technology increases the risk of motor drive failures. Multiphase motors, due to their inherent redundant control degrees of freedom, can withstand various faults. In contrast, traditional star-connected three-phase PMSMs lack a zero-sequence loop path and therefore lack fault tolerance. Open-winding PMSMs open the neutral point and employ a dual-inverter topology, connecting each phase winding to a separate inverter arm for individual phase control. In terms of performance, this topology improves DC bus voltage utilization. Regarding reliability, the multiple switching states of the dual inverter and the individual controllability of the motor windings provide more options for fault-tolerant system operation. However, dual inverters require six arms, doubling the number of electronic components and significantly increasing costs. Series-winding PMSMs, on the other hand, inherit the advantages of dual-inverter topologies, improving DC bus voltage utilization and offering good fault tolerance. They require only four arms, without a significant increase in the number of electronic components, resulting in lower costs. There is currently no method for fault-tolerant control of permanent magnet synchronous motors based on series winding topology. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a fault-tolerant control method for permanent magnet synchronous motors based on series winding topology. This invention ensures stable operation of the motor system after a fault occurs by changing the reference value of the zero-sequence current injection. This increases the fault tolerance of the motor system and makes safe and reliable operation of the motor possible.

[0004] This invention provides the following technical solutions:

[0005] A fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology, the method comprising the following steps:

[0006] Step 1: Select the zero-sequence current reference value according to the type of fault;

[0007] Step 2: Inject zero-sequence current according to the selected zero-sequence current reference value;

[0008] Step 3: Based on the injected zero-sequence current, perform quasi-proportional resonant control to achieve fault-tolerant control of the permanent magnet synchronous motor.

[0009] Preferably, step 1 specifically comprises:

[0010] Based on the type of fault, the current of the remaining healthy winding is obtained. Given an open-circuit fault in phase A winding, the magnetomotive force before the phase loss is:

[0011]

[0012] The magnetomotive force after phase loss is:

[0013]

[0014] If the magnetomotive force before and after the phase loss is equal, MMF F =MMF H The current in the healthy winding is obtained:

[0015]

[0016]

[0017] Preferably, step 2 specifically involves: under healthy conditions, the fundamental frequency phase current and the current in the αβ coordinate system satisfy the following equation:

[0018]

[0019]

[0020] The injected zero-sequence current is obtained using the Clarke inverse transform:

[0021]

[0022] Preferably, step 3 specifically comprises:

[0023] When phase A fails, to ensure that the synthesized magnetomotive force under the fault condition remains unchanged from that under the healthy condition, it is necessary to ensure i α and i β Unchanged, at this time, i A =0, thus the fundamental frequency zero-sequence current injected after the fault can be obtained. This current is fed into a quasi-proportional resonant controller with the fundamental frequency as the given current to obtain the required fundamental frequency zero-sequence voltage.

[0024] Preferably, when both phases B and C are faulty, the required fundamental frequency zero-sequence current to be injected is obtained:

[0025]

[0026]

[0027] Preferably, the series winding topology has 4 bridge arms and a total of 16 basic voltage vectors, divided into two groups: one group of basic voltage vectors in the αβ plane and the other group of basic voltage vectors on the γ axis. The basic voltage vectors in the αβ plane are used to synthesize the rotating magnetomotive force, and the basic voltage vectors on the γ axis are used to complete zero-sequence current control. When the motor experiences a phase loss or the driver switching transistor malfunctions, the concept of virtual health state is used to complete fault-tolerant control.

[0028] Preferably, the injected zero-sequence current can be obtained according to the Clarke inverse transform. In the A-phase open-circuit fault, after the Clarke inverse transform, i A =i α +i0, i when phase A is open A =0, to ensure i α Unchanged, at this time Similarly, when phases B and C fail, the injected zero-sequence currents are respectively:

[0029] A fault-tolerant control system for a permanent magnet synchronous motor based on a series winding topology, the system comprising:

[0030] The detection module performs zero-sequence current detection according to the type of fault.

[0031] A current injection module, which injects zero-sequence current based on the detected zero-sequence current;

[0032] The fault-tolerant control module performs quasi-proportional resonance control based on the injected zero-sequence current to achieve fault-tolerant control of the permanent magnet synchronous motor.

[0033] A computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement a fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology.

[0034] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement a fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology.

[0035] The present invention has the following beneficial effects:

[0036] Compared with the prior art, the present invention:

[0037] This invention proposes a fault-tolerant control method for permanent magnet synchronous motors based on a series winding topology. The fault-tolerant control method includes zero-sequence current detection, zero-sequence current injection, quasi-proportional resonant control, and 3D-SVPWM. The series winding topology has four bridge arms and a total of 16 basic voltage vectors, which can be divided into two groups: one group consists of basic voltage vectors in the αβ plane, and the other group consists of basic voltage vectors on the γ axis. The basic voltage vectors in the αβ plane are used to synthesize the rotating magnetomotive force, while the basic voltage vectors on the γ axis are used to complete zero-sequence current control. When a phase loss occurs in the motor or a fault occurs in the driver's switching transistor, the concept of a virtual health state is used to complete the fault-tolerant control. The idea of ​​the virtual health system is to treat the faulty series winding permanent magnet synchronous motor driver as a healthy driver with additional current constraints. When a phase winding fails, to achieve fault-tolerant control and ensure stable motor torque, it is necessary to ensure that the synthesized magnetomotive force remains unchanged, i.e., ii. α and i β The sequence remains unchanged. Therefore, zero-sequence current needs to be injected to achieve fault-tolerant control, specifically implemented using the Clarke inverse transform. Taking a phase A open-circuit fault as an example, after the Clarke inverse transform, we have i A =i α +i0, i when phase A is open A =0, to ensure i α Unchanged, at this time Similarly, when phases B and C fail, the injected zero-sequence currents are respectively:

[0038] Compared with existing methods, the fault-tolerant control method of the series-wound permanent magnet synchronous motor of the present invention is simple and easy to implement. Without changing the motor model, modulation strategy and control framework, fault-tolerant control of the series-wound permanent magnet synchronous motor driver can be achieved simply by updating the zero-sequence current reference value. It can also suppress the third harmonic in the zero-sequence current and improve motor performance. Attached Figure Description

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 The diagram shown is a topology circuit diagram of the series winding motor system of the present invention.

[0041] Figure 2 The diagram shown is a structural diagram of the series winding motor control system of the present invention.

[0042] Figure 3The flowchart shown is a diagram of the motor operation system of the present invention;

[0043] Figure 4 The diagram shows the current waveforms of windings B and C when an open circuit fault occurs in the A-phase winding of the motor according to the present invention.

[0044] Figure 5 The diagram shows the torque waveform when an open circuit fault occurs in the A-phase winding of the motor according to the present invention.

[0045] Figure 6 The diagram shows the speed waveform when an open circuit fault occurs in the A-phase winding of the motor according to the present invention. Detailed Implementation

[0046] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0047] The present invention will be described in detail below with reference to specific embodiments. Specific Implementation Example 1:

[0049] according to Figures 1 to 6 As shown, the specific optimized technical solution adopted by the present invention to solve the above-mentioned technical problems is: The present invention relates to a fault-tolerant control method for permanent magnet synchronous motors based on series winding topology.

[0050] A fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology, the method comprising the following steps:

[0051] Step 1: Select the zero-sequence current reference value according to the type of fault;

[0052] Step 2: Inject zero-sequence current according to the selected zero-sequence current reference value;

[0053] Step 3: Based on the injected zero-sequence current, perform quasi-proportional resonant control to achieve fault-tolerant control of the permanent magnet synchronous motor.

[0054] Compared with existing methods, the fault-tolerant control method of the series-wound permanent magnet synchronous motor of the present invention is simple and easy to implement. Without changing the motor model, modulation strategy and control framework, fault-tolerant control of the series-wound permanent magnet synchronous motor driver can be achieved simply by updating the zero-sequence current reference value. It can also suppress the third harmonic in the zero-sequence current and improve motor performance. Specific Implementation Example 2:

[0056] The only difference between Embodiment 2 and Embodiment 1 of this application is that:

[0057] Step 1 specifically involves:

[0058] Based on the type of fault, the current of the remaining healthy winding is obtained. Given an open-circuit fault in phase A winding, the magnetomotive force before the phase loss is:

[0059]

[0060] The magnetomotive force after phase loss is:

[0061]

[0062] If the magnetomotive force before and after the phase loss is equal, MMF F =MMF H The current in the healthy winding is obtained:

[0063]

[0064] Specific Implementation Example 3:

[0066] The only difference between Embodiment 3 and Embodiment 2 of this application is that:

[0067] Under healthy conditions, the fundamental frequency phase current and the current in the αβ coordinate system satisfy the following equation:

[0068]

[0069]

[0070] The injected zero-sequence current is obtained using the Clarke inverse transform:

[0071] Specific Implementation Example 4:

[0073] The only difference between Embodiment 4 and Embodiment 3 of this application is that:

[0074] Step 3 specifically involves:

[0075] When phase A fails, to ensure that the synthesized magnetomotive force under the fault condition remains unchanged from that under the healthy condition, it is necessary to ensure i α and i β Unchanged, at this time, i A =0, thus the fundamental frequency zero-sequence current injected after the fault can be obtained. This current is fed into a quasi-proportional resonant controller with the fundamental frequency as the given current to obtain the required fundamental frequency zero-sequence voltage. Specific Implementation Example 5:

[0077] The difference between Embodiment 5 and Embodiment 4 of the present invention lies only in:

[0078] When both phases B and C are faulty, the required fundamental frequency zero-sequence current to be injected is obtained:

[0079]

[0080] Specific Implementation Example Six:

[0082] The difference between Embodiment Six and Embodiment Five of the present invention lies only in:

[0083] The series winding topology has 4 bridge arms and a total of 16 basic voltage vectors, divided into two groups: one group of basic voltage vectors in the αβ plane and the other group of basic voltage vectors on the γ axis. The basic voltage vectors in the αβ plane are used to synthesize the rotating magnetomotive force, and the basic voltage vectors on the γ axis are used to complete zero-sequence current control. When the motor experiences a phase loss or the driver switching transistor malfunctions, the concept of virtual health state is used to complete fault-tolerant control. Specific Implementation Example 7:

[0085] The difference between Embodiment Seven and Embodiment Six of the present invention lies only in:

[0086] The injected zero-sequence current can be obtained using the Clarke inverse transform. In a phase A open-circuit fault, after the Clarke inverse transform, i... A =i α +i0, i when phase A is open A =0, to ensure i α Unchanged, at this time Similarly, when phases B and C fail, the injected zero-sequence currents are respectively: Specific Implementation Example 8:

[0088] The difference between Embodiment 8 and Embodiment 7 of the present invention lies only in:

[0089] This invention provides a fault-tolerant control system for a permanent magnet synchronous motor based on a series winding topology, the system comprising:

[0090] The detection module performs zero-sequence current detection according to the type of fault.

[0091] A current injection module, which injects zero-sequence current based on the detected zero-sequence current;

[0092] The fault-tolerant control module performs quasi-proportional resonance control based on the injected zero-sequence current to achieve fault-tolerant control of the permanent magnet synchronous motor. Specific Implementation Example Nine:

[0094] The difference between Embodiment Nine and Embodiment Eight of the present invention lies only in:

[0095] The present invention provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement a fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology.

[0096] The present invention mainly adopts the following technical solution:

[0097] This invention proposes a fault-tolerant control method for permanent magnet synchronous motors based on a series winding topology. The fault-tolerant control method includes zero-sequence current detection, zero-sequence current injection, quasi-proportional resonant control, and 3D-SVPWM. The series winding topology has four bridge arms and a total of 16 basic voltage vectors, which can be divided into two groups: one group of basic voltage vectors in the αβ plane and the other group of basic voltage vectors on the γ axis. The basic voltage vectors in the αβ plane are used to synthesize the rotating magnetomotive force, and the basic voltage vectors on the γ axis are used to complete zero-sequence current control. When the motor experiences a phase loss or the driver's switching transistor malfunctions, the concept of a virtual health state is used to complete the fault-tolerant control. The idea of ​​the virtual health system is to treat the faulty series winding permanent magnet synchronous motor driver as a healthy driver with additional current constraints. When a fault occurs, to achieve fault-tolerant control and ensure stable motor torque, it is necessary to ensure that the synthesized magnetomotive force remains unchanged, i.e., ii. α and i β The sequence remains unchanged. Therefore, a zero-sequence current needs to be injected to achieve fault-tolerant control. The injected zero-sequence current can be obtained according to the Clarke inverse transform. Taking a phase A open-circuit fault as an example, after the Clarke inverse transform, i A =i α +i0, i when phase A is open A =0, to ensure i α Unchanged, at this time Similarly, when phases B and C fail, the injected zero-sequence currents are respectively:

[0098] The specific principles and implementation steps are as follows:

[0099] Based on the type of fault, the current in the remaining healthy winding is obtained:

[0100] Taking a phase A winding open-circuit fault as an example, the magnetomotive force before the phase failure is:

[0101]

[0102] The magnetomotive force after phase loss is:

[0103]

[0104] If the magnetomotive force before and after the phase loss is equal, MMF F =MMF HThe current in the healthy winding can then be obtained:

[0105]

[0106]

[0107] The injected fundamental frequency zero-sequence current is obtained based on the type of fault. The specific method is as follows:

[0108] Under healthy conditions, the fundamental frequency phase current and the current in the αβ coordinate system satisfy the following equation:

[0109]

[0110]

[0111] The following equation is obtained using the Clarke inverse transform:

[0112]

[0113] Taking phase A as an example, when phase A fails, in order to ensure that the magnetomotive force synthesized under the fault condition remains unchanged from that under the healthy condition, it is necessary to ensure i α and i β Unchanged. At this time, i A =0, thus the fundamental frequency zero-sequence current injected after the fault can be obtained. This current is fed into a quasi-proportional resonant controller with the fundamental frequency as the given value to obtain the required fundamental frequency zero-sequence voltage. Similarly, when phases B and C are faulty, the corresponding required fundamental frequency zero-sequence current can be obtained.

[0114]

[0115] Compared with existing methods, the fault-tolerant control method of the series-wound permanent magnet synchronous motor of the present invention is simple and easy to implement. Without changing the motor model, modulation strategy and control framework, fault-tolerant control of the series-wound permanent magnet synchronous motor driver can be achieved simply by updating the zero-sequence current reference value. It can also suppress the third harmonic in the zero-sequence current and improve motor performance. Specific Implementation Example 10:

[0117] The only difference between Embodiment 10 and Embodiment 9 of the present invention is that:

[0118] The present invention provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology. Specific Implementation Example Eleven:

[0120] The only difference between Embodiment Eleven and Embodiment Ten of this invention is that:

[0121] Figure 1 The circuit diagram of the series winding motor system of the present invention shows that the windings of the three-phase permanent magnet synchronous motor are connected in series in sequence using four sets of bridge arms. This topology has a zero-sequence current flow path, which provides conditions for fault tolerance.

[0122] Figure 2 The system control block diagram of this invention includes zero-sequence current detection, zero-sequence current injection, quasi-proportional resonant control, and 3D-SVPWM. The series winding topology has four bridge arms and a total of 16 basic voltage vectors, which can be divided into two groups: one group of basic voltage vectors in the αβ plane and the other group of basic voltage vectors on the γ axis. The basic voltage vectors in the αβ plane are used to synthesize the rotating magnetomotive force, and the basic voltage vectors on the γ axis are used to complete zero-sequence current control. When the motor experiences a phase loss or the driver switching transistor malfunctions, the concept of a virtual health state is used to complete fault-tolerant control. The injected zero-sequence current can be obtained according to the Clarke inverse transform. Taking a phase A open circuit fault as an example, after the Clarke inverse transform, i... A =i α +i0, i when phase A is open A =0, to ensure i α Unchanged, at this time Similarly, when phases B and C fail, the injected zero-sequence currents are respectively:

[0123] The specific principles and implementation steps are as follows:

[0124] Based on the type of fault, the current in the remaining healthy winding is obtained:

[0125] Taking a phase A winding open-circuit fault as an example, the magnetomotive force before the phase failure is:

[0126]

[0127] The magnetomotive force after phase loss is:

[0128]

[0129] If the magnetomotive force before and after the phase loss is equal, MMF F =MMF H The current in the healthy winding can then be obtained:

[0130]

[0131]

[0132] The injected fundamental frequency zero-sequence current is obtained based on the type of fault. The specific method is as follows:

[0133] Under healthy conditions, the fundamental frequency phase current and the current in the αβ coordinate system satisfy the following equation:

[0134]

[0135]

[0136] The following equation is obtained using the Clarke inverse transform:

[0137]

[0138] Taking phase A as an example, when phase A fails, in order to ensure that the magnetomotive force synthesized under the fault condition remains unchanged from that under the healthy condition, it is necessary to ensure i α and i β Unchanged. At this time, i A =0, thus the fundamental frequency zero-sequence current injected after the fault can be obtained. This current is fed into a quasi-proportional resonant controller with the fundamental frequency as the given value to obtain the required fundamental frequency zero-sequence voltage. Similarly, when phases B and C are faulty, the corresponding required fundamental frequency zero-sequence current can be obtained.

[0139]

[0140] Figure 3 This is a flowchart of motor operation. Fault diagnosis is performed on the motor, and the zero-sequence current reference value is changed based on the diagnosis results. Simultaneously, the resonant frequency of the quasi-proportional resonant controller is also changed.

[0141] Figure 4 This is a waveform diagram of the current in windings B and C when an open circuit fault occurs in the A-phase winding of the motor.

[0142] Figure 5 This is the torque waveform diagram when an open circuit fault occurs in the A-phase winding of the motor.

[0143] Figure 6 This is a waveform diagram of the motor speed when an open circuit fault occurs in the A-phase winding of the motor.

[0144] As can be seen from the simulation waveforms above, the fault-tolerant control method for permanent magnet synchronous motors based on series winding topology of this invention can continue to operate under a three-phase motor phase loss fault, while maintaining stable torque and no significant fluctuations in speed.

[0145] Compared with existing methods, the fault-tolerant control method of the series-wound permanent magnet synchronous motor of the present invention is simple and easy to implement. Without changing the motor model, modulation strategy and control framework, fault-tolerant control of the series-wound permanent magnet synchronous motor driver can be achieved simply by updating the zero-sequence current reference value. It can also suppress the third harmonic in the zero-sequence current and improve motor performance.

[0146] The above description is merely a preferred embodiment of a fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology. The scope of protection for this method is not limited to the above embodiments; all technical solutions falling within this conceptual framework are within the scope of protection of this invention. It should be noted that for those skilled in the art, any improvements and variations made without departing from the principles of this invention should also be considered within the scope of protection of this invention.

Claims

1. A fault-tolerant control method for a permanent magnet synchronous motor based on a series winding topology, characterized by: The method includes the following steps: Step 1: Select the zero-sequence current reference value according to the type of fault; Step 1 specifically involves: Based on the type of fault, the current of the remaining healthy winding is obtained. Given an open-circuit fault in phase A winding, the magnetomotive force before the phase loss is: The magnetomotive force after phase loss is: Make the magnetomotive force before and after the phase break equal. The current in the healthy winding is obtained: ； Step 2: Inject zero-sequence current according to the selected zero-sequence current reference value; Step 2 specifically involves: Under healthy conditions, the fundamental frequency phase current and The current in the coordinate system satisfies the following equation: The injected zero-sequence current is obtained using the Clarke inverse transform: ； Step 3: Based on the injected zero-sequence current, perform quasi-proportional resonant control to achieve fault-tolerant control of the permanent magnet synchronous motor; Step 3 specifically involves: When phase A fails, to ensure that the synthesized magnetomotive force under the fault condition remains unchanged from that under the healthy condition, it is necessary to ensure that and Unchanged, at this time, Thus, the fundamental frequency zero-sequence current injected after the fault can be obtained. This current is fed into a quasi-proportional resonant controller with a resonant frequency of fundamental frequency to obtain the fundamental frequency zero-sequence voltage to be injected. When a phase B fault occurs, the corresponding fundamental frequency zero-sequence current that needs to be injected is obtained: When a C-phase fault occurs, the corresponding fundamental frequency zero-sequence current that needs to be injected is obtained: ； The series winding topology has four bridge arms, totaling 16 basic voltage vectors, divided into two groups, one of which is... The fundamental voltage vector in the plane, the other set is The fundamental voltage vector on the axis; The fundamental voltage vector in the plane is used to synthesize the rotating magnetomotive force. The basic voltage vector on the axis is used to complete zero-sequence current control; when the motor experiences a phase loss or the driver switching transistor malfunctions, the concept of virtual health state is used to complete fault-tolerant control.

2. A fault-tolerant control system for a permanent magnet synchronous motor based on a series winding topology, wherein the system operates based on the method of claim 1, characterized in that: The system includes: The detection module performs zero-sequence current detection according to the type of fault. A current injection module, which injects zero-sequence current based on the detected zero-sequence current; The fault-tolerant control module performs quasi-proportional resonance control based on the injected zero-sequence current to achieve fault-tolerant control of the permanent magnet synchronous motor.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method of claim 1.

4. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: The processor implements the method of claim 1 when executing the computer program.

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