Fault-tolerant driving control method for electrically excited DC synchronous motor for electric vehicle

Abstract

The application discloses a fault-tolerant driving control method for an electrically excited DC synchronous motor for an electric vehicle, and relates to the field of electrically excited DC synchronous motors. The electrically excited DC synchronous motor is controlled in a normal strategy before a fault occurs, and is switched to a fault driving mode after a fault occurs. The fault-tolerant control of the switching tube of the main power converter is considered in the fault driving mode, the reliability of the four-phase electrically excited DC synchronous motor in various environments is improved, and the method is suitable for application in the electric vehicle industry.

Description

TECHNICAL FIELD

[0001] The application relates to the field of electrically excited direct-current synchronous motors, in particular to a fault-tolerant driving control method for an electrically excited direct-current synchronous motor for an electric vehicle. BACKGROUND

[0002] The electrically excited direct-current synchronous motor is a new type of brushless direct-current motor developed on the basis of a switched reluctance motor, the stator of which is wound with an armature winding and an excitation winding, and the rotor of which is free of winding, and the motor has simple and reliable structure and flexible control. The four-phase electrically excited direct-current synchronous motor has the advantages of good fault-tolerance and suitability for severe working conditions, and the control is very flexible, so the motor has wide application prospects in the fields of electric vehicles and aviation.

[0003] At present, there are few studies on the fault-tolerant control strategy of the excitation fault of the four-phase electrically excited direct-current synchronous motor. The existing technology is blank in terms of the fault-tolerant control strategy of the electric control of the four-phase electrically excited direct-current synchronous motor, and the further fault-tolerant control of the main power converter in the case of excitation fault is still blank. In order to fill this gap, the application studies a fault-tolerant driving control method for an electrically excited direct-current synchronous motor for an electric vehicle. SUMMARY

[0004] The present application provides a fault-tolerant driving control method for an electrically excited direct-current synchronous motor for an electric vehicle, which can realize fault-tolerant control when the switch tube in the main power topology fails under excitation fault. The technical scheme of the application is as follows:

[0005] The electrically excited direct-current synchronous motor electric fault-tolerant control control strategy comprises a fault-tolerant topology, a four-phase electrically excited direct-current synchronous motor, a position sensor, a load, an energy storage capacitor C and a direct current power supply U dc ;

[0006] The positive electrode of the direct current power supply U dc is connected to the collector of the upper switch tube of each bridge arm in the fault-tolerant topology, and the negative electrode of the direct current power supply U dc is connected to the emitter of the lower switch tube of each bridge arm in the fault-tolerant topology.

[0007] The load is connected in parallel with the load energy storage capacitor and connected in parallel with the fault-tolerant topology, and the fault-tolerant topology is composed of an H-bridge converter and four electronic switches.

[0008] The four-phase electric excitation DC synchronous motor is characterized in that the structures of the four groups of H-bridge converters are the same, each H-bridge converter comprises a first bridge arm and a second bridge arm which are respectively formed by reversely connecting upper and lower switch tubes in series, and a diode is reversely connected in parallel with the lower switch tube in each of the two bridge arms; an electronic switch is connected between the positive terminal of the A-phase winding and the positive terminal of the C-phase winding, an electronic switch is connected between the negative terminal of the A-phase winding and the negative terminal of the C-phase winding, an electronic switch is connected between the positive terminal of the B-phase winding and the positive terminal of the D-phase winding, and an electronic switch is connected between the negative terminal of the B-phase winding and the negative terminal of the D-phase winding.

[0009] The four-phase electric excitation DC synchronous motor is characterized in that the three-phase armature windings comprise an A-phase winding, a B-phase winding, a C-phase winding and a D-phase winding, a first H-bridge converter is connected to the A-phase winding, a second H-bridge converter is connected to the B-phase winding, a third H-bridge converter is connected to the C-phase winding, and a fourth H-bridge converter is connected to the D-phase winding.

[0010] When the four-phase electric excitation DC synchronous motor is normally working, when the current sensor does not detect excitation failure, the four-phase electric excitation DC synchronous motor works in a normal strategy state, the controller controls the electronic switches K1, K2, K3 and K4 to be disconnected, and the conduction logic in the normal working state is adopted; when excitation failure of the four-phase electric excitation DC synchronous motor is detected, the excitation circuit is disconnected, and fault-tolerant control is performed in a fault-tolerant strategy.

[0011] The four-phase electric excitation DC synchronous motor has the following beneficial technical effects:

[0012] The application discloses a fault-tolerant driving control method of an electric excitation DC synchronous motor for an electric vehicle.

[0013] In addition, the four-phase electric excitation DC synchronous motor adopts H-bridge converters, which helps to separate the windings, avoids the problem of current gaps caused by changes in the midpoint potential, and makes the control strategy more flexible. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 FIG. 1 is a control structure diagram of the four-phase electric excitation DC synchronous motor.

[0015] Figure 2is the converter topology conduction graph when the switch tube does not fail in the fault-tolerant topology of the four-phase electrically excited DC synchronous motor excitation fault of the application.

[0016] Figure 3 is the fault-tolerant control logic schematic diagram when the switch tube does not fail in the fault-tolerant topology of the four-phase electrically excited DC synchronous motor excitation fault of the application.

[0017] Figure 4 is the converter topology conduction graph when the switch tube S1 fails in the fault-tolerant topology of the four-phase electrically excited DC synchronous motor excitation fault of the application when the motor electrical angle is in the interval [90°, 180°).

[0018] Figure 5 is the fault-tolerant control logic schematic diagram when the switch tube S1 fails in the fault-tolerant topology of the four-phase electrically excited DC synchronous motor excitation fault of the application.

[0019] Figure 6 is the converter topology conduction graph when the switch tubes S13 and S14 fail in the fault-tolerant topology of the four-phase electrically excited DC synchronous motor excitation fault of the application when the motor electrical angle is in the interval [0°, 90°).

[0020] Figure 7 is the fault-tolerant control logic schematic diagram when the switch tubes S13 and S14 fail in the fault-tolerant topology of the four-phase electrically excited DC synchronous motor excitation fault of the application. DETAILED DESCRIPTION

[0021] The specific embodiments of the application will be further described below in conjunction with the accompanying drawings.

[0022] The application discloses a fault-tolerant driving control method for an electrically excited DC synchronous motor for an electric vehicle, characterized in that the electrically excited DC synchronous motor electric fault-tolerant control control strategy comprises a fault-tolerant topology, a four-phase electrically excited DC synchronous motor, a position sensor, a load, an energy storage capacitor C, a DC power supply U dc ;

[0023] The negative electrode of the DC power supply U dc is connected to the emitter of the lower switch tube of each bridge arm of the fault-tolerant topology. dc The negative electrode of the DC power supply U

[0024] The load is connected in parallel with the load energy storage capacitor and in parallel with the fault-tolerant topology, and the fault-tolerant topology is composed of an H-bridge converter and four electronic switches.

[0025] The four-phase electrically excited DC synchronous motor is characterized in that the four groups of H-bridge converters are of the same structure, each H-bridge converter comprises a first bridge arm and a second bridge arm which are respectively formed by reversely connecting upper and lower switch tubes in series, and a diode is reversely connected in parallel with the lower switch tube in each of the two bridge arms; meanwhile, an electronic switch is connected between the positive terminal of the A-phase winding and the positive terminal of the C-phase winding, and an electronic switch is connected between the negative terminal of the A-phase winding and the negative terminal of the C-phase winding; an electronic switch is connected between the positive terminal of the B-phase winding and the positive terminal of the D-phase winding, and an electronic switch is connected between the negative terminal of the B-phase winding and the negative terminal of the D-phase winding.

[0026] The four-phase electrically excited DC synchronous motor is characterized in that the three-phase armature windings comprise an A-phase winding, a B-phase winding, a C-phase winding and a D-phase winding, a first H-bridge converter is connected to the A-phase winding, a second H-bridge converter is connected to the B-phase winding, a third H-bridge converter is connected to the C-phase winding, and a fourth H-bridge converter is connected to the D-phase winding.

[0027] In combination with Figure 1 the structure, the working process of the four-phase electrically excited DC synchronous motor is introduced as follows:

[0028] When the four-phase electrically excited DC synchronous motor is normally working, when the current sensor does not detect a field fault, the four-phase electrically excited DC synchronous motor works in a normal strategy state, the controller controls the electronic switches K1, K2, K3 and K4 to be turned off, when the motor electrical angle is located in the interval [0°, 90°), S9, S2, S5, S14, S4, S11, S7 and S16 are controlled to be turned on; when the motor electrical angle is located in the interval [90°, 180°), S1, S10, S6, S13, S4, S11, S7 and S16 are controlled to be turned on; when the motor electrical angle is located in the interval [180°, 270°), S1, S10, S6, S13, S3, S12, S8 and S15 are controlled to be turned on; and when the motor electrical angle is located in the interval [270°, 360°], S9, S2, S5, S14, S3, S12, S8 and S15 are controlled to be turned on.

[0029] When the current sensor detects a field fault, the controller controls the field circuit to be turned off and switches to a fault-tolerant mode, when the four-phase electrically excited DC synchronous motor has a field fault and no switch tube fault occurs in the fault-tolerant topology, when the motor electrical angle is located in the interval [0°, 90°), the converter topology conduction graph and the fault-tolerant conduction logic are respectively as shown in Figure 2 and Figure 3

[0030] First, the electronic switches K1, K2, K3 and K4 are controlled to be turned off, when the motor electrical angle is located in the interval [0°, 90°), S5, S14, S7 and S16 are controlled to be turned on.

[0031] ​When the motor electrical angle is in the interval [90°, 180°), control S1, S10, S7, S16 to be turned on.

[0032] When the motor electrical angle is in the interval [180°, 270°), control S1, S10, S3, S12 to be turned on.

[0033] When the motor electrical angle is in the interval [270°, 360°], control S5, S14, S3, S12 to be turned on.

[0034] When the motor electrical angle is in the interval [90°, 180°), control S1, S10, S7, S16 to be turned on. Figure 4 Figure 5 When the motor electrical angle is in the interval [90°, 180°), control S1, S10, S7, S16 to be turned on.

[0035] First, control electronic switches K1, K2, K3, K4 to be turned off, when the motor electrical angle is in the interval [0°, 90°), control S5, S14, S7, S16 to be turned on.

[0036] When the motor electrical angle is in the interval [90°, 180°), control S2, S9, S7, S16 to be turned on.

[0037] When the motor electrical angle is in the interval [180°, 270°), control S2, S9, S3, S12 to be turned on.

[0038] When the motor electrical angle is in the interval [270°, 360°], control S5, S14, S3, S12 to be turned on.

[0039] When the motor electrical angle is in the interval [90°, 180°), control S1, S10, S7, S16 to be turned on. Figure 6 Figure 7 When the motor electrical angle is in the interval [90°, 180°), control S1, S10, S7, S16 to be turned on.

[0040] First, control electronic switch K2 to be turned on, and K1, K3, K4 to be turned off, when the motor electrical angle is in the interval [0°, 90°), control S6, S9, S7, S16 to be turned on.

[0041] When the motor electrical angle is in the interval [90°, 180°), control S1, S10, S7, S16 to be turned on.

[0042] ​​When the motor electrical angle is in the interval [180°, 270°), control S1, S10, S3, S12 to be turned on.

[0043] When the motor electrical angle is in the interval [270°, 360°], control S6, S9, S3, S12 to be turned on.

[0044] When the four-phase electrically excited DC synchronous motor excitation fault and the three-tube open circuit and above open circuit (1-phase in AC and 1-phase in BD two-phase open circuit fault) of the switch tube in the fault-tolerant topology occur, (taking S13, S14; S15, S16 as an example, the rest is similar) the fault-tolerant conduction logic is as follows:

[0045] First, control the electronic switches K2 and K4 to be turned on, and K1 and K3 to be turned off, when the motor electrical angle is in the interval [0°, 90°), control S6, S9, S8, S11 to be turned on.

[0046] When the motor electrical angle is in the interval [90°, 180°), control S1, S10, S8, S11 to be turned on.

[0047] When the motor electrical angle is in the interval [180°, 270°), control S1, S10, S3, S12 to be turned on.

[0048] When the motor electrical angle is in the interval [270°, 360°], control S6, S9, S3, S12 to be turned on.

[0049] In the process of controlling the state of the switch tube and the electronic switch in the fault-tolerant topology, the controller performs PI regulation on the error between the actual speed and the given speed to obtain a given current, then performs PI regulation on the given current and the actual current of the four-phase winding to obtain a corresponding duty cycle signal, and performs AND operation with the fault-tolerant conduction logic to perform chopper control on the current of the four-phase armature winding to realize closed-loop control on the speed.

[0050] The above is only the preferred embodiment of the application, and the application is not limited to the above embodiments. It can be understood that other improvements and changes directly derived or thought of by those skilled in the art without departing from the spirit and concept of the application should be considered to be within the protection scope of the application.

Claims

1. A fault-tolerant drive control method for an electrically excited DC synchronous motor for an electric vehicle, characterized by, Comprise fault-tolerant topology, four-phase electrically excited DC synchronous motor, position sensor, load, energy storage capacitor C, DC power supply U dc ; DC power supply U dc The collector of the upper switch tube of each bridge arm in the fault-tolerant topology is connected to the positive pole of the DC power supply U dc The emitter of the lower switch tube of each bridge arm in the fault-tolerant topology is connected to the negative pole of the DC power supply U The load is connected in parallel with the energy storage capacitor and in parallel with the fault-tolerant topology, and the fault-tolerant topology is composed of four H-bridge converters and four electronic switches K1, K2, K3 and K4. The four groups of H-bridge converters have the same structure, each group of H-bridge converter includes a first bridge arm and a second bridge arm which are respectively composed of series connection of upper and lower switch tubes, and the upper and lower switch tubes in the two bridge arms are reversely connected in parallel with a diode; meanwhile, an electronic switch K1 is connected between the positive terminal of the A-phase winding and the positive terminal of the C-phase winding, and an electronic switch K2 is connected between the negative terminal of the A-phase winding and the negative terminal of the C-phase winding; an electronic switch K3 is connected between the positive terminal of the B-phase winding and the positive terminal of the D-phase winding, and an electronic switch K4 is connected between the negative terminal of the B-phase winding and the negative terminal of the D-phase winding. The four-phase armature windings include an A-phase winding, a B-phase winding, a C-phase winding and a D-phase winding, the first H-bridge converter is connected with the A-phase winding, the second H-bridge converter is connected with the B-phase winding, the third H-bridge converter is connected with the C-phase winding, and the fourth H-bridge converter is connected with the D-phase winding. Each group of H-bridge converter includes four switch tubes, wherein: The switch tubes S1, S2, S9 and S10 of the first H-bridge converter control the on-off of the positive and negative terminals of the A-phase winding respectively; The switch tubes S3, S4, S11 and S12 of the second H-bridge converter control the on-off of the positive and negative terminals of the B-phase winding respectively; The switch tubes S5, S6, S13 and S14 of the third H-bridge converter control the on-off of the positive and negative terminals of the C-phase winding respectively; The switch tubes S7, S8, S15 and S16 of the fourth H-bridge converter control the on-off of the positive and negative terminals of the D-phase winding respectively; When the four-phase electric excitation DC synchronous motor excitation is normal, the controller controls the electronic switch K1, K2, K3, K4 to be opened, when the motor electric angle is located in interval, control S9, S2, S5, S14, S4, S11, S7, S16 to be conducted; the motor electric angle is located in interval, control S1, S10, S6, S13, S4, S11, S7, S16 to be conducted; the motor electric angle is located in interval, control S1, S10, S6, S13, S3, S12, S8, S15 to be conducted; the motor electric angle is located in interval, control S9, S2, S5, S14, S3, S12, S8, S15 to be conducted; When the four-phase electrically excited DC synchronous motor is excited with a fault and the switch tubes in the fault-tolerant topology do not have a fault, the fault-tolerant conduction logic is as follows: First, control the electronic switch K1, K2, K3, K4 to be off, when the motor electric angle is in the interval, control S5, S14, S7, S16 to be on; The motor electrical angle is located In the interval, control S1, S10, S7, S16 are turned on; The motor electrical angle is located in interval, control S1, S10, S3, S12 to be on; the motor electrical angle is located in interval, control S5, S14, S3, S12 to be on; When the four-phase electrically excited DC synchronous motor is excited with a fault and the switch tubes in the fault-tolerant topology have a single-tube fault, the fault-tolerant conduction logic is as follows, when S1 has a fault, the current of the AC winding in the inductance rising area flows in the opposite direction: First, control the electronic switch K1, K2, K3, K4 to be off, when the motor electric angle is in the interval, control S5, S14, S7, S16 to be on; The motor electrical angle is located When the interval time, control S2, S9, S7, S16 are on; The motor electrical angle is located In the interval, control S2, S9, S3, S12 are turned on; The motor electrical angle is located When the interval time, control S5, S14, S3, S12 conduction; When the four-phase electrically excited DC synchronous motor is excited with a fault and the switch tubes in the fault-tolerant topology have a three-tube or more open circuit fault, the fault-tolerant conduction logic is as follows, when one phase in AC and one phase in BD have a two-phase open circuit fault, i.e. S13, S14, S15 and S16 have a two-phase open circuit fault: First, control the electronic switch K2 to be on, K1, K3, K4 to be off, when the motor electric angle is in the interval of 0-90°, control S6, S9, S7, S16 to be on; S6, S9, S7, S16 to be on; The motor electrical angle is located When the interval time, control S1, S10, S7, S16 conduction; The motor electrical angle is located In the interval, control S1, S10, S3, S12 are turned on; The motor electrical angle is located When the interval time, control S6, S9, S3, S12 are turned on; In the process of controlling the states of the switch tubes and the electronic switches in the fault-tolerant topology, the error between the actual speed and the given speed is subjected to PI regulation to obtain a given current, and then the given current and the actual current of the four-phase winding are subjected to PI regulation to obtain a corresponding duty cycle signal, and the duty cycle signal is subjected to AND operation with the fault-tolerant conduction logic to perform chopper control on the current of the four-phase armature winding and realize closed-loop control on the speed. First, control electronic switches K2 and K4 to be turned on, and K1 and K3 to be turned off. When the motor's electrical angle is at... When the interval is reached, control switches S6, S9, S8, and S11 are turned on; The motor electrical angle is located When the interval is, control S1, S10, S8, S11 is turned on; The motor electrical angle is located When the interval is, control S1, S10, S3, S12 is turned on; The motor electrical angle is located When the interval time, control S6, S9, S3, S12 on.

2. The fault-tolerant drive control method of an electrically excited synchronous DC motor for an electric vehicle according to claim 1, characterized by, ​

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