Fault-tolerant control method under modular bearingless electro-magnetic doubly salient motor fault

Abstract

The embodiment of the invention discloses a fault-tolerant control method for a modular bearingless doubly salient electro-magnetic motor under a fault, and relates to the field of fault-tolerant control of bearingless doubly salient electro-magnetic motors. According to the scheme, a three-phase full-bridge converter is adopted to control a switching tube, so that the three-phase full-bridge converter alternately operates in a single-phase bridge inverter circuit mode under the normal operation and fault working conditions of the switching tube, and fault tolerance of the switching tube in an annular direct-current winding control circuit is realized; under the working conditions of disconnection and excitation loss of the DC winding of the annular winding, the rotor suspension fault-tolerant control of the modularized bearingless electro-magnetic doubly salient motor is realized through the multiplexing of the armature winding. The method comprises a three-phase full-bridge converter control strategy for fault-tolerant control of the modular bearingless electro-magnetic doubly salient motor and an armature winding multiplexing control strategy for fault-tolerant control of the modular bearingless electro-magnetic doubly salient motor. And the fault-tolerant capability of the modularized bearingless electro-magnetic doubly salient motor is further improved.

Description

Technical Field

[0001] The present invention relates to the field of fault-tolerant control of bearingless electrically excited double-pole motors, and in particular to a fault-tolerant control method of a modular bearingless electrically excited double-pole motor under fault conditions. Background Art

[0002] With the advancement of science and technology, aircraft are gradually moving towards multi-electrification and full electrification. The power level of the starting generator motor used for the operation of aircraft turbofan engines is also gradually increasing. The current motor power level has increased from the original 100W to the current 1MW on the B787. The increase in power level has witnessed the development of motor technology. However, technological progress has also put forward further requirements for the fault tolerance of motors, and the fault tolerance control of motors has gradually received attention from scholars at home and abroad. The rotor structure of the traditional bearingless electrically excited double-pole motor is strong and reliable, but the stator side is embedded with multiple windings including armature windings, excitation windings and suspension windings. The windings are stacked on each other and there is an obvious coupling effect between them. If any winding fails, it will have a significant impact on other healthy windings and the internal magnetic field of the motor, causing suspension and electric / generating operation failures.

[0003] As a result, modular bearingless electrically excited double-salient-pole motors have been further developed, which have the advantage of greater reliability compared to traditional bearingless electrically excited double-salient-pole motors. However, modular bearingless electrically excited double-salient-pole motors still lack effective fault-tolerant control solutions. Therefore, how to achieve fault-tolerant control of modular bearingless electrically excited double-salient-pole motors under faults has become a topic that needs to be studied. Summary of the invention

[0004] An embodiment of the present invention provides a fault-tolerant control method for a modular bearingless electrically excited double-salient-pole motor under fault conditions, which can further improve the fault-tolerant capability of the modular bearingless electrically excited double-salient-pole motor.

[0005] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0006] A fault-tolerant control method for a modular bearingless electrically excited double-pole motor under fault conditions includes: a three-phase full-bridge converter control link and an armature winding multiplexing control link; wherein the control object is a ring-shaped DC winding of the modular bearingless electrically excited double-pole motor. During normal operation, an excitation current component I f and the suspension control current component I sx / sy The sum of the control currents forms the excitation magnetic potential and the suspension magnetic potential.

[0007] The three-phase full-bridge converter control link includes: when the bearingless electrically excited double-pole motor is operating normally, the three-phase full-bridge converter used to control the DC ring winding is operated as a single-phase bridge inverter circuit, wherein the three-phase full-bridge converter outputs a control current to the DC ring winding; specifically, when the bearingless electrically excited double-pole motor is operating normally, the three-phase full-bridge converter used to control the DC ring winding is operated as a single-phase bridge inverter circuit, and outputs a control current to the DC ring winding, whose amplitude is the excitation current component I f and the suspension control current component I sx / sy The sum (I sx ,I sy They are x-axis and y-axis suspension control current components respectively). When a switch tube failure occurs in the three-phase full-bridge converter used to control the DC ring winding, the three-phase full-bridge converter of the present invention replaces another set of switch tubes and operates as a single-phase bridge inverter circuit.

[0008] In the armature winding reuse control link, it includes: when the DC ring winding has a circuit break fault, causing the bearingless electrically excited double-pole motor to lose its magnetism, the armature winding simultaneously assumes the excitation and suspension functions. Specifically, when the DC ring winding has a circuit break fault, causing the modular bearingless electrically excited double-pole motor to lose its magnetism, the armature winding simultaneously assumes the excitation and suspension functions, by passing an excitation current component I f and the suspension control current component I sx / sy The sum of the control currents is used to realize the demagnetization fault-tolerant control of the modular bearingless electrically excited double-pole motor.

[0009] In this embodiment, in the three-phase full-bridge converter control link, the amplitude of the control current output to the DC ring winding is the excitation current component I f and the suspension control current component I sx / sy The sum of, where I sx ,I sy They are the x-axis and y-axis suspension control current components respectively. When a switch tube failure occurs in the three-phase full-bridge converter, the three-phase full-bridge converter is replaced with another set of switch tube capacitors and operates as a single-phase bridge inverter circuit.

[0010] The armature winding multiplexing control link includes: introducing an excitation current component I with an amplitude of f and the suspension control current component I sx / sy The sum of the control currents can be used to achieve the demagnetization fault-tolerant control of the modular bearingless electrically excited double-pole motor. Figure 2As shown, the three-phase full-bridge converter includes: 6 switch tubes T1, T2, T3, T4, T5 and T6, T1, T3 and T5 are distributed in the upper bridge arm, and T2, T4 and T6 are distributed in the lower bridge arm; when the three-phase full-bridge converter is operating normally, T1, T4 and T5 are in the on state, and T2, T3 and T6 are in the off state, so as to output the control current of the annular DC winding of the modular bearingless electrically excited double-pole motor. When any switch tube among T1, T4 and T5 fails, the three-phase full-bridge converter switches to T2, T3 and T6 to operate, thereby replacing T1, T4 and T5 and operating as the control circuit of the annular DC winding.

[0011] In this embodiment, a three-phase four-bridge-arm converter is used as a fault-tolerant drive circuit for the armature winding of a modular bearingless electrically excited double-pole motor; when the modular bearingless electrically excited double-pole motor operates normally, the three-phase four-bridge-arm converter outputs a three-phase current; when a short-circuit fault occurs in the DC ring winding of the modular bearingless electrically excited double-pole motor, it will cause a demagnetization fault of the modular bearingless electrically excited double-pole motor, and the armature winding of the modular bearingless electrically excited double-pole motor outputs an armature current with a ring-shaped DC winding control current component through the three-phase four-bridge-arm converter.

[0012] The modular bearingless electrically excited double-pole motor uses two sets of three-phase full-bridge converters to drive four DC ring windings. Among them, the three-phase full-bridge converters that control the DC ring windings of the upper and lower modules have a total of six switching tubes, namely S11, S14, S13, S16, S15 and S12, and the three-phase full-bridge converters that control the DC ring windings of the left and right modules have a total of six switching tubes, namely S21, S24, S23, S26, S25 and S22.

[0013] The fault-tolerant control method of a modular bearingless electrically excited double salient pole motor under fault provided by the embodiment of the present invention adopts a three-phase full-bridge converter to control the switch tube, so that the three-phase full-bridge converter operates alternately in the form of a single-phase bridge inverter circuit under normal operation and fault conditions of the switch tube, thereby realizing fault-tolerant control of the switch tube in the annular DC winding control circuit; under the condition of the annular winding DC winding being disconnected and demagnetized, the armature winding is reused to realize the rotor suspension fault-tolerant control of the modular bearingless electrically excited double salient pole motor. The method includes a three-phase full-bridge converter control strategy for fault-tolerant control of a modular bearingless electrically excited double salient pole motor, and an armature winding reuse control strategy for fault-tolerant control of a modular bearingless electrically excited double salient pole motor. The fault-tolerant control method of a modular bearingless electrically excited double salient pole motor under fault of the present invention realizes the fault-tolerant operation of the modular bearingless electrically excited double salient pole motor under demagnetization fault and annular DC winding switch tube fault conditions, thereby further improving the operating reliability of the modular bearingless electrically excited double salient pole motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A fault-tolerant control block diagram of a modular bearingless electrically excited double-salient-pole motor provided in an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of the structure of a modular bearingless electrically excited double-salient-pole motor provided in an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of a topological structure of a three-phase full-bridge converter for fault-tolerant control of a ring-shaped DC winding control circuit of a modular bearingless electrically excited doubly salient motor provided by an embodiment of the present invention;

[0018] Figure 4 A schematic diagram of the winding connection of a three-phase full-bridge converter for fault-tolerant control of a DC ring winding control circuit of a modular bearingless electrically excited double-pole motor provided by an embodiment of the present invention;

[0019] Figure 5 A schematic diagram of the working principle of a three-phase full-bridge converter for fault-tolerant control of a DC ring winding of a modular bearingless electrically excited doubly salient motor provided by an embodiment of the present invention;

[0020] Figure 6 A topological structure diagram of a three-phase four-bridge-arm converter for a modular bearingless electrically excited double-salient-pole motor with demagnetization fault provided by an embodiment of the present invention (taking module 1 as an example);

[0021] Figure 7 Schematic diagram of a modular bearingless electrically excited double-salient-pole motor experimental platform provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention will be described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention. It can be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "one", "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used here may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as generally understood by those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0023] The embodiment of the present invention provides a fault-tolerant control method for a modular bearingless electrically excited double-salient-pole motor under fault conditions. Figure 1 The block diagram of fault-tolerant control of modular bearingless electrically excited doubly salient motor is shown in the figure. Figure 1 The left side of the middle is a high-voltage DC busbar, which can be connected to the starting power supply and DC load. When the modular bearingless electrically excited double-salient-pole motor is operated as a motor, the three-phase four-bridge-arm converter is controlled to output three-phase current to the armature winding. When the modular bearingless electrically excited double-salient-pole motor is operated as a generator, the modular bearingless electrically excited double-salient-pole motor generates electricity through the three-phase four-bridge-arm converter.

[0024] The topological structure of the modular bearingless electric excitation double salient pole motor in this embodiment includes: rotor core, stator core, armature winding and annular DC winding; the rotor core and stator core are both salient pole structures; the stator core is evenly divided into 4 stator modules including: M1, M2, M3 and M4, and each stator module has the same shape; the armature winding is wound on the stator pole of the stator core, and the annular DC winding is wound on the middle yoke of each stator module. Figure 2 Taking the 24 / 16-pole modular bearingless electrically excited double-salient pole motor shown in the figure as an example, both the stator and the rotor are salient pole structures, and each stator pole is wound with an armature winding (the armature windings in the M1 module are marked as CM1-①, AM1-①, BM1-①, CM1-②, AM1-②, BM1-② in a clockwise direction, the armature windings in the M2 module are marked as CM2-①, AM2-①, BM2-①, CM2-②, AM2-②, BM2-② in a clockwise direction, and the armature windings in the M3 module are marked as CM1-①, AM2-①, BM2-①, CM2-②, AM2-②, BM2-② in a clockwise direction). The armature windings in the M4 module are marked as CM3-①, AM3-①, BM3-①, CM3-②, AM3-②, and BM3-② in a clockwise direction. In order to balance the back electromotive force, the armature windings with the same phase in relative space are connected in series to form four sets of three-phase armature windings (such as AM1-① and AM3-① are connected in series to form AM1M3-① windings, AM1-② and AM3-② are connected in series to form AM1M3-② windings, and B M2-② With B M4-② Series connection B M2M4-② Windings), each connected to an independent power converter to achieve four-channel motoring and generating operation, or parallel operation (the modular three-phase armature windings in the figure are connected in series). Each module has an independent annular DC winding wound on the stator yoke, and the annular DC winding is output with an amplitude of the excitation current component I through the three-phase full-bridge converter on the right side of the figure. f and the suspension control current component I sx / sy The sum of the control current, where I sx ,I sy They are the x-axis and y-axis suspension control current components respectively.

[0025] like Figure 3 The three-phase full-bridge converter for fault-tolerant control of a modular bearingless electrically excited double-salient-pole motor of the present invention is shown in FIG. The circuit topology consists of a DC power supply E, 6 switch tubes (T1, T2, T3, T4, T5, T6), and two windings W1 and W2. W1 and W2 are connected to a ring-shaped DC winding. The specific connection method is shown in FIG. Figure 4 .

[0026] like Figure 4A schematic diagram of the winding connection of a three-phase full-bridge converter for fault-tolerant control of a modular bearingless electrically excited double-salient-pole motor according to the present invention is shown.

[0027] The DC ring windings on the relative stator modules share a three-phase full-bridge converter. The modular bearingless electrically excited double-pole motor uses a total of two sets of three-phase full-bridge converters to drive four DC ring windings. In the figure, the three-phase full-bridge converter that controls the DC ring windings of the upper and lower modules has a total of six switch tubes, namely S11, S14, S13, S16, S15, and S12. DCM1 and DCM3 are the DC ring windings of the upper and lower modules respectively. Similarly, the three-phase full-bridge converter that controls the DC ring windings of the left and right modules has a total of six switch tubes, namely S21, S24, S23, S26, S25, and S22. DCM2 and DCM4 are the DC ring windings of the left and right modules respectively.

[0028] like Figure 5 A schematic diagram of the working principle of the three-phase full-bridge converter for fault-tolerant control of the DC ring winding of a modular bearingless electrically excited double-pole motor of the present invention is shown.

[0029] by Figure 2 Taking DCM1 and DCM3 as examples, when the modular bearingless electrically excited double-salient-pole motor operates normally, Figure 4 The three switch tubes S14, S13, and S12 in the circuit work in the switch state, outputting the control current of DCM1 and DCM3. The control current amplitude is the excitation current component I f and the suspension control current component I sx / sy The sum of the above mentioned S14, S13, and S12 realizes the suspension and excitation of the modular bearingless electrically excited double-pole motor. Similarly, when the modular bearingless electrically excited double-pole motor operates normally, the three switch tubes S24, S23, and S22 work in the switch state and output the control current of DCM2 and DCM4. When any of the above-mentioned switch tubes S14, S13, and S12 fails, it is changed to S11, S16, and S15 working in the switch state, while S14, S13, and S12 work in the off state, to realize the fault-tolerant control of the control circuit of the DC ring winding. At this time, the direction of the control current on the DC ring winding is opposite to that in normal operation. Similarly, when any of the above-mentioned switch tubes S24, S23, and S22 fails, it is changed to S21, S26, and S25 working in the switch state, while S24, S23, and S22 work in the off state.

[0030] like Figure 6The topological structure of the three-phase four-bridge-arm converter for modular bearingless electric excitation double-salient-pole motor demagnetization fault tolerance of the present invention is shown (taking module 1 as an example). The circuit topology in the figure uses a total of 8 switch tubes, among which the upper bridge arm is S13, S33, S35, and S37, the lower bridge arm is S34, S36, S32, and S38, and TR is a bidirectional trigger diode. M1M3-① , B M1M3-① , C M1M3-① They are the three-phase armature windings on module 1 (taking the series connection of the armature windings of the relative modules as an example). In normal operation, the three-phase four-bridge-arm converter operates as the control circuit of the armature winding. When the annular DC winding of the modular bearingless electrically excited double-pole motor fails to open, causing the modular bearingless electrically excited double-pole motor to enter the demagnetization condition, the armature winding also operates as the excitation suspension winding. At this time, the output of the three-phase four-bridge-arm converter carries the excitation current component I f and the suspension control current component I sx / sy The control current makes the rotor stably suspended.

[0031] The main point of this embodiment is that the research object is a modular bearingless electrically excited double-pole motor, which has the advantages of high reliability, flexible winding arrangement, and low coupling between windings compared to traditional bearingless electrically excited double-pole motors. This embodiment performs fault-tolerant control on modular bearingless electrically excited double-pole motors, further improving the operating reliability of modular bearingless electrically excited double-pole motors. And the control concept of this embodiment is simple and easy to implement. For example, you can use Figure 7 The schematic diagram of the modular bearingless electrically excited double salient pole motor experimental platform of the present invention is shown for testing. This embodiment achieves fault tolerance in two ways: using a three-phase full-bridge converter to control the switch tube so that the three-phase full-bridge converter operates alternately in the form of a single-phase bridge inverter circuit under normal operation and fault conditions of the switch tube, thereby achieving fault tolerance of the switch tube in the annular DC winding control circuit; when the annular winding DC winding is broken and demagnetized, the armature winding is reused to achieve modular bearingless electrically excited double salient pole motor rotor suspension fault tolerance control. The method includes a three-phase full-bridge converter control strategy for modular bearingless electrically excited double salient pole motor fault tolerance control and an armature winding reuse control strategy for modular bearingless electrically excited double salient pole motor fault tolerance control. The fault-tolerant control method of the modular bearingless electrically excited double-pole motor under fault conditions of the present invention realizes the fault-tolerant operation of the modular bearingless electrically excited double-pole motor under demagnetization faults and annular DC winding switch tube fault conditions. The method has strong reliability, easy operation, and convenient deployment, which further improves the operating reliability of the modular bearingless electrically excited double-pole motor and provides a reference for the further development of the fault-tolerant control of the modular bearingless electrically excited double-pole motor.

[0032] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A fault-tolerant control method for a modular bearingless electrically excited doubly salient motor under fault conditions, characterized in that: include: Three-phase full-bridge converter control link and armature winding multiplexing control link; In the control link of the three-phase full-bridge converter, it includes: when the bearingless electrically excited double-salient-pole motor is operating normally, the three-phase full-bridge converter for controlling the DC ring winding is operated as a single-phase bridge inverter circuit, wherein the three-phase full-bridge converter outputs a control current to the DC ring winding; In the armature winding reuse control link, it includes: when a DC ring winding has a circuit breaker fault causing the bearingless electrically excited double-pole motor to lose magnetism, the armature winding simultaneously assumes the excitation and suspension functions.

2. The method according to claim 1, characterized in that In the three-phase full-bridge converter control link, the amplitude of the control current output to the DC ring winding is the excitation current component I f and the suspension control current component I sx / sy The sum of, where I sx ,I sy They are the x-axis and y-axis suspension control current components respectively.

3. The method according to claim 2, characterized in that When a switch tube failure occurs in the three-phase full-bridge converter, the three-phase full-bridge converter is replaced with another set of switch tube capacitors and operates as a single-phase bridge inverter circuit.

4. The method according to claim 1, characterized in that The armature winding multiplexing control link includes: introducing an excitation current component I with an amplitude of f and the suspension control current component I sx / sy The sum of the control current.

5. The method according to claim 1, characterized in that The three-phase full-bridge converter includes: 6 switching tubes T1, T2, T3, T4, T5 and T6, T1, T3 and T5 are distributed in the upper bridge arm, and T2, T4 and T6 are distributed in the lower bridge arm; when the three-phase full-bridge converter is operating normally, T1, T4 and T5 are in the on state, and T2, T3 and T6 are in the off state, thereby outputting the control current of the annular DC winding of the modular bearingless electrically excited double-pole motor.

6. The method according to claim 5, characterized in that Also includes: When any switch tube among T1, T4 and T5 fails, the three-phase full-bridge converter switches to T2, T3 and T6 to operate, thereby replacing T1, T4 and T5 and operating as a control circuit of the ring DC winding.

7. The method according to claim 1, characterized in that A three-phase four-bridge-arm converter is used as an armature winding fault-tolerant drive circuit of a modular bearingless electrically excited double-salient-pole motor; when the modular bearingless electrically excited double-salient-pole motor operates normally, the three-phase four-bridge-arm converter outputs a three-phase current; When a circuit breaker fault occurs in the DC annular winding of the modular bearingless electrically excited double-pole motor, the armature winding of the modular bearingless electrically excited double-pole motor outputs an armature current with an annular DC winding control current component through the three-phase four-bridge-arm converter.

8. The method according to claim 1 or 7, characterized in that: The modular bearingless electrically excited double-pole motor uses two sets of three-phase full-bridge converters to drive four DC ring windings. Among them, the three-phase full-bridge converters that control the DC ring windings of the upper and lower modules have a total of six switching tubes, namely S11, S14, S13, S16, S15 and S12, and the three-phase full-bridge converters that control the DC ring windings of the left and right modules have a total of six switching tubes, namely S21, S24, S23, S26, S25 and S22.

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