Aviation matrix motor position signal redundancy detection method and redundancy detection system

Abstract

The invention discloses an aviation matrix motor position signal redundancy detection method and redundancy detection system, and belongs to the technical field of motor driving systems.When a position sensor does not fail, a signal containing position information is detected through the position sensor, the signal containing the position information is calculated, and the position information of the position sensor is calculated; obtaining a rotor mechanical angular velocity, a stator electrical angle and a rotor electrical angle; when the position sensor breaks down, a high-frequency signal is injected into the winding on one side, and the winding on the other side extracts position information to detect the position signal; according to the method, the redundancy detection of the position signal of the matrix motor is realized, the running torque ripple after the fault can be reduced, the position information of the stator and the rotor can be solved simultaneously by only one set of position observer, and the complexity of the algorithm is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor drive systems, and in particular relates to a redundant detection method and system for position signals of an aviation matrix motor. Background Art

[0002] The present invention belongs to the technical field of motor drive systems, and more specifically, relates to a redundant system and control method of a matrix motor position sensor for aviation.

[0003] Matrix torque motors (or matrix motors for short) operate based on the principle of magnetic field modulation. Their typical characteristics are that both the stator and rotor of the motor are equipped with armature windings and magnets (or excitation windings). Therefore, matrix motors have a richer magnetic source than conventional permanent magnet synchronous motors. The armature windings on the stator and rotor of the matrix motor interact with the permanent magnet (or excitation) magnetic fields on the stator and rotor, respectively, generating multiple magnetic field modulation effects, forming multiple torque components that are superimposed and output in phase on the same shaft. Due to the characteristics of multiple magnetic source redundancy and high torque density, matrix motors have been proven to have certain application value in the aviation field, such as low-speed, high-torque direct-drive actuation scenarios.

[0004] In a matrix motor control system, a resolver and its signal decoding and conditioning circuit, or a rotary encoder and its signal decoding and conditioning circuit, constitute the motor's position signal detection system. This position signal, through a programmed algorithm, can be used to determine the matrix motor's angle and rotational speed. This detection system continuously monitors the matrix motor's position signal during operation and feeds it back to the control system for closed-loop control, thereby completing vector control of the matrix motor and ensuring smooth operation. Because vibration-related failures are a common failure mode in aircraft motors, resolvers, rotary encoders, and their decoding and conditioning circuits are susceptible to certain failure rates under intense vibration. Once a failure occurs, the matrix motor control system loses angle and rotational speed information, causing the control system to malfunction and posing a safety hazard to both passengers and the aircraft.

[0005] The existing sensorless position signal estimation method for permanent magnet motors in low-speed scenarios is primarily the salient pole tracking method. A common implementation involves injecting high-frequency signals into the motor windings to stimulate the salient polarity of the armature, and extracting position information from the high-frequency feedback signals in the current or voltage signals. Since matrix motors have two sets of armature windings, stator and rotor, the existing salient pole tracking method is applied to matrix motors. Its main implementation involves injecting high-frequency signals into the stator and rotor windings of the matrix motor, respectively, and extracting the stator and rotor electrical angle information from the high-frequency feedback signals of the stator and rotor current signals. The main limitation of existing position signal estimation methods applied to matrix motors is that the simultaneous injection of high-frequency signals on both sides exacerbates the coupling effect in the voltage equation due to the mutual inductance of the stator and rotor armature windings, which increases the motor torque pulsation and thus affects the speed, hindering the smooth operation of the matrix motor. Summary of the Invention

[0006] Considering the limitations of existing position signal estimation methods when applied to matrix motors, the present invention provides an aviation matrix motor position signal redundancy detection method and redundancy detection system to achieve redundant detection of matrix motor position signals.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] In a first aspect, the present invention provides a method for detecting redundant position signals of an aviation matrix motor. When a position sensor is not faulty, a signal containing position information is detected by the position sensor, and the signal containing the position information is resolved to obtain a rotor mechanical angular velocity, a stator electrical angle, and a rotor electrical angle. When a position sensor fails, the position signal is detected using a position signal detection method in the absence of a position sensor. The position signal detection method in the absence of a position sensor comprises the following steps:

[0009] S1. Constructing the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the estimated high-frequency voltage in the rotating coordinate system;

[0010] S2. Based on the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system, inject a high-frequency square wave voltage signal into the coordinate axis of the stator or rotor estimated rotating coordinate system;

[0011] S3, obtaining the current response signal of the rotor or stator side stationary coordinate system of the matrix motor, recorded as current response signal A; when step S2 is injecting a high-frequency square wave voltage signal into the coordinate axis of the stator estimated rotating coordinate system, obtaining the current response signal of the rotor side stationary coordinate system; when step S2 is injecting a high-frequency square wave voltage signal into the coordinate axis of the rotor estimated rotating coordinate system, obtaining the current response signal of the stator side stationary coordinate system;

[0012] S4, extracting the high-frequency current variation in the current response signal A;

[0013] S5. Input the high-frequency current variation into a position observer to calculate a stator electrical angle estimation value, a rotor electrical angle estimation value, and a rotor mechanical speed estimation value.

[0014] Furthermore, the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system includes:

[0015] S1.1. Establish the fundamental wave stationary coordinate system of the stator, the actual fundamental wave rotating coordinate system of the stator, the estimated fundamental wave rotating coordinate system of the stator, the third harmonic stationary coordinate system of the stator, the actual third harmonic rotating coordinate system of the stator, and the estimated third harmonic rotating coordinate system of the stator; establish the fundamental wave stationary coordinate system of the rotor, the actual fundamental wave rotating coordinate system of the rotor, and the estimated fundamental wave rotating coordinate system of the rotor;

[0016] S1.2. Establish a mathematical model of the matrix motor in the actual rotating coordinate system based on the stator's fundamental wave actual rotating coordinate system, the stator's third harmonic actual rotating coordinate system, and the rotor's fundamental wave actual rotating coordinate system;

[0017] S1.3. Based on the assumptions and mathematical model, extract the high-frequency voltage in the actual rotating coordinate system of the matrix motor;

[0018] The assumptions are that the voltage drop term on the resistor and the rotation voltage term relative to the high-frequency current derivative term can be ignored, and the cross-magnetic saturation effect can be ignored;

[0019] S1.4. Transform the high-frequency voltage of the matrix motor in the actual rotating coordinate system to obtain the response equation of the high-frequency current in the actual rotating coordinate system relative to the high-frequency voltage in the actual rotating coordinate system:

[0020] S1.5. Transform the response equation of the high-frequency current in the actual rotating coordinate system relative to the high-frequency voltage in the actual rotating coordinate system using a transformation matrix to obtain the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system; wherein the transformation matrix includes a transformation matrix for transforming the actual rotating coordinate system to the stationary coordinate system and a transformation matrix for transforming the estimated rotating coordinate system to the actual rotating coordinate system;

[0021] S1.6. Simplify the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system.

[0022] 3. The method for detecting position signal redundancy of an aviation matrix motor according to claim 1, wherein the response equation of the high-frequency current of the matrix motor in the stationary coordinate system relative to the high-frequency voltage in the estimated rotating coordinate system constructed in step S1 is:

[0023]

[0024] Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 Shaft high-frequency current, i βsh1 Indicates the stator fundamental wave stationary β s1 Shaft high-frequency current, i αrh Indicates that the rotor fundamental wave is stationary α r Shaft high-frequency current, i βrh Indicates the rotor fundamental wave stationary β r Axis high frequency current, X ij (i=1,2,5,6,j=1,2,…,6) represents the element in the i-th row and j-th column of the inductive reactance matrix. represents the stator fundamental wave estimation Shaft high frequency voltage, represents the stator fundamental wave estimation Shaft high frequency voltage, represents the rotor fundamental wave estimation Shaft high frequency voltage, Indicates the rotor fundamental wave estimation axis High frequency voltage.

[0025] Furthermore, step S3 includes:

[0026] The rotor phase or stator phase current signal is collected and conditioned by a Hall current sensor or a sampling resistor and its conditioning circuit to obtain a rotor side current response signal or a stator side phase current response signal; the rotor side current response signal is transformed into a rotor side stationary coordinate system current response signal through three-phase coordinate transformation; and the stator side phase current response signal is transformed into a stator side stationary coordinate system current response signal.

[0027] Furthermore, step S4 includes:

[0028] According to the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system, the high-frequency part of the response signal of the stator and rotor side stationary coordinate system current can be expressed as follows:

[0029]

[0030] Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 Shaft high-frequency current, i βsh1 Indicates the stator fundamental wave stationary β s1 Shaft high-frequency current, i αrh Indicates that the rotor fundamental wave is stationary α r Shaft high-frequency current, i βrh Indicates the rotor fundamental wave stationary β rAxis high frequency current; X ij (i=1,2,5,6,j=1,2,…,6) represents the element in the i-th row and j-th column of the inductive reactance matrix, U inj is the amplitude of the injected high-frequency square wave voltage signal, k is the discrete cycle number of the injected high-frequency square wave voltage signal, L ds1 Indicates the actual fundamental wave of the matrix motor stator d s1 Shaft self-inductance, L qs1 Indicates the actual fundamental wave q of the matrix motor stator s1 Shaft self-inductance, L dr Indicates the actual fundamental wave of the matrix motor rotor d r Shaft self-inductance, L qr Indicates the actual fundamental wave q of the matrix motor rotor r Self-inductance of the axis; θ es is the actual rotation axis d of the stator fundamental wave s1 With the stator fundamental wave stationary axis α s1 The angle between them is the actual electrical angle of the stator fundamental wave, M sr represents the mutual inductance between the stator winding and the rotor winding of the matrix motor, θ er is the actual rotation axis of the rotor fundamental wave d r α with the rotor fundamental wave stationary axis r The angle between them is the actual electrical angle of the rotor fundamental wave;

[0031] Set the sub-electrical angle estimation error Δθ es and the rotor electrical angle estimation error Δθ er When it converges, it approaches 0 infinitely. At this time, the high-frequency part of the rotor side stationary coordinate system current response signal extracted and separated by the high-frequency filter is expressed as:

[0032]

[0033] in, Estimate the rotation axis for the rotor fundamental α with the rotor fundamental wave stationary axis r The angle between them is the estimated electrical angle of the rotor fundamental wave;

[0034] The high-frequency part of the rotor side stationary coordinate system current response signal is discretized by the forward difference method to obtain the high-frequency current variation:

[0035]

[0036] Among them, Δi αrh is a discrete period α r Change in high-frequency current of the shaft, Δi βrh is β in a discrete period rChange in high-frequency current of the shaft, T s is the discrete control period.

[0037] Furthermore, step S5 includes:

[0038] The high-frequency current variation in the current response signal A includes α r Axis current change and β r Change in high-frequency current of the shaft;

[0039] α r The high-frequency current variation of the shaft is multiplied by k1 when passing through the envelope extraction module to obtain the intermediate value A; β r The change of high-frequency current of the shaft Δi βrh When passing through the envelope extraction module, multiply by k1 to obtain an intermediate value B; the intermediate values ​​A and B are processed by an orthogonal phase-locked loop to output an intermediate value C; the result of integrating the intermediate value C is the estimated value of the rotor electrical angle; the orthogonal phase-locked loop includes two multipliers, a sine module, a cosine module and a PI module;

[0040] The intermediate value C is divided by the number of rotor pole pairs to obtain the estimated value of the rotor mechanical speed;

[0041] According to the actual rotor d when the matrix motor starts r The absolute mechanical position of the shaft and the actual rotor position when the motor starts r The absolute mechanical position of the shaft and the actual stator d s1 The electrical angle corresponding to the phase error between the absolute mechanical positions of the shafts is used to compensate the stator electrical angle estimate.

[0042] In a second aspect, the present invention provides an aviation matrix motor position signal redundancy detection system, comprising:

[0043] A position sensor is used to detect a signal containing position information and calculate the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle based on the position information signal;

[0044] The speed loop regulator has the error between the given mechanical speed and the estimated mechanical speed as input and the overall reference current as output;

[0045] The current divider has the overall reference current as input and the stator estimated current as output. Shaft reference current and rotor estimation Axis reference current;

[0046] The stator current loop regulator, whose input is the stator estimated Shaft current error and stator estimation Shaft current error, output is stator estimated Axis reference voltage and stator estimation Axis given reference voltage;

[0047] The rotor current loop regulator, whose input is the rotor estimated Shaft Current Error and Rotor Estimation Shaft current error, output is rotor estimation Axis given reference voltage and rotor estimation Axis given reference voltage;

[0048] A square wave generator is used to inject a square wave signal into the rotor or stator;

[0049] The stator inverse Park transform module, whose input is the estimated Axis and Estimates Given the reference voltage of the axis and the estimated value of the stator electrical angle, the output is α s1 Axis reference voltage and β s1 Axis reference voltage;

[0050] The rotor inverse Park transform module, whose input is the estimated Axis and Estimates Given the reference voltage of the shaft and the estimated value of the rotor electrical angle, the output is α r Axis reference voltage and β r Axis reference voltage;

[0051] The five-phase SVPWM module has the α s1 Axis and β s1 Axis reference voltage, output as five groups of modulation signals;

[0052] The three-phase SVPWM module, whose input is the α r Axis and β r Axis reference voltage, output as three sets of modulation signals;

[0053] A five-phase full-bridge inverter, configured to control the on and off of power devices in the bridge arms of the five-phase full-bridge inverter based on the five groups of modulation signals, so as to control the voltage of the stator winding of the matrix motor;

[0054] A three-phase full-bridge inverter, configured to control the on / off switching of power devices in the bridge arms of the five-phase full-bridge inverter based on the three groups of modulation signals, so as to control the voltage of the rotor winding of the matrix motor;

[0055] Stator current sampling module, used to collect five-phase stator current;

[0056] Rotor current sampling module, used to collect rotor three-phase current;

[0057] a stator Clarke transformation module, configured to transform the stator five-phase current from a five-phase coordinate system to a stator fundamental wave stationary coordinate system and a third harmonic stationary coordinate system;

[0058] A rotor Clarke transformation module, configured to transform the rotor three-phase current from a three-phase coordinate system to a fundamental wave stationary coordinate system of the rotor;

[0059] A stator Park transformation module is used to convert the fundamental wave stationary coordinate system and the third harmonic stationary coordinate system current of the stator into the fundamental wave estimated rotating coordinate system current and the third harmonic estimated rotating coordinate system current;

[0060] A rotor Park transformation module is used to convert the rotor's fundamental stationary coordinate system current into a fundamental estimated rotating coordinate system current;

[0061] A high-frequency filter is used to extract the high-frequency signal portion of the rotor fundamental wave stationary coordinate system current response signal;

[0062] A forward differentiator is used to separate the discrete periodic high-frequency current variation in the rotor fundamental wave stationary coordinate system current response signal;

[0063] A position observer is used to calculate a stator electrical angle estimation value, a rotor electrical angle estimation value and a rotor mechanical speed estimation value based on the high-frequency current variation.

[0064] Furthermore, the position observer includes an envelope extraction module, an orthogonal phase-locked loop, an integration module, a pole logarithm conversion module and a stator-rotor electrical angle phase error compensation module;

[0065] The envelope extraction module is used to extract the envelope containing the angle phase information from the high-frequency current variation;

[0066] The input end of the orthogonal phase-locked loop is connected to the output end of the envelope extraction module, and is used to obtain the intermediate value C based on the high-frequency current variation after the envelope is extracted;

[0067] An integration module is used to integrate the intermediate value C to obtain an estimated value of the rotor electrical angle;

[0068] The input end of the pole pair number conversion module is connected to the output end of the orthogonal phase-locked loop, and is used to divide the intermediate value C by the number of rotor pole pairs to obtain an estimated value of the rotor mechanical speed;

[0069] The stator-rotor electrical angle phase error compensation module is used to compensate the actual rotor angle when the matrix motor is started. r The absolute mechanical position of the shaft, the actual rotor position at start-up r The absolute mechanical position of the shaft and the actual stator d s1 The stator electrical angle estimate is compensated by the electrical angle corresponding to the phase error between the absolute mechanical positions of the shafts.

[0070] Furthermore, the orthogonal phase-locked loop includes a first multiplier, a second multiplier, a sine module, a cosine module and a PI module;

[0071] An input end of the first multiplier is connected to an output end of the envelope extraction module and an output end of the sine module, and an input end of the sine module is connected to an output end of the integration module;

[0072] The input end of the second multiplier is connected to the output end of the envelope extraction module and the output end of the cosine module, and the input end of the cosine module is connected to the output end of the integration module;

[0073] The output of the first multiplier is connected to the input of the PI module after performing a subtraction with the output of the second multiplier. The output of the PI module is connected to the input of the integration module.

[0074] Furthermore, the stator-rotor electrical angle phase error compensation module has a built-in phase error compensation table, which is:

[0075]

[0076] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0077] The main limitation of existing position signal estimation methods applied to matrix motors is that the simultaneous injection of high-frequency signals on both sides exacerbates the coupling effect in the voltage equation due to the mutual inductance of the stator and rotor armature windings, increasing motor torque ripple and, in turn, affecting speed, hindering the smooth operation of the matrix motor. The present invention injects high-frequency current into only one armature winding of the matrix motor and simultaneously extracts position information of the matrix motor's stator and rotor from the current feedback signal of the armature winding on the other side. This achieves redundant detection of the matrix motor's position signal, enabling aviation matrix motor systems to continuously detect position signals even when a position sensor fails, ensuring fault-tolerant operation of the system and protecting the safety of the aircraft and its occupants. Since the position detection method adopted by the present invention only injects high-frequency current into one side of the armature winding, it avoids the high-frequency coupling of the windings on both sides caused by mutual inductance when high-frequency signals are injected into both sides. It can reduce the phase current harmonics during operation after a fault, and thus suppress the torque pulsation during operation after a fault. The present invention can use only one set of position observers to simultaneously calculate the position information of the stator and rotor, reducing the complexity of the algorithm. This is conducive to the simultaneous deployment of multiple other algorithms in the matrix motor system, such as fault-tolerant control algorithms for winding short circuit or open circuit, and for power device short circuit or open circuit.

[0078] In addition, the present invention compensates the stator electrical angle estimation value through the two-dimensional table built into the stator-rotor electrical angle phase error compensation module, which can further improve the estimation accuracy of the stator electrical angle and thus improve the steady-state performance of the position detection system. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 A schematic flow chart of a sensorless position signal detection method for an aviation matrix motor provided by an embodiment of the present invention;

[0080] Figure 2 A spatial position distribution diagram of the estimated axis and actual axis system of a five-phase stator of a matrix motor provided by an embodiment of the present invention;

[0081] Figure 3 A spatial position distribution diagram of the estimated axis and actual axis system of a three-phase rotor of a matrix motor provided by an embodiment of the present invention;

[0082] Figure 4 A schematic structural diagram of a position observer for calculating the rotor electrical angle, stator electrical angle, and rotor mechanical speed provided by an embodiment of the present invention;

[0083] Figure 5 A schematic diagram of the structure of a redundant detection system for position signals of a matrix motor for aviation provided by an embodiment of the present invention;

[0084] Figure 6 A speed waveform diagram of a matrix motor position signal redundancy detection system provided by an embodiment of the present invention, in which the estimated angle and speed are used as feedback values ​​to participate in a vector control closed loop after a position sensor failure occurs under normal operation;

[0085] Figure 7 Waveform diagrams of given load and electromagnetic torque of the matrix motor position signal redundancy detection system before and after a position sensor failure provided by an embodiment of the present invention;

[0086] Figure 8 Waveform diagram of actual rotor electrical angle value, estimated rotor electrical angle value and rotor electrical angle estimation error of the matrix motor position signal redundancy detection system provided by an embodiment of the present invention;

[0087] Figure 9 Waveform diagrams of the actual stator electrical angle value, the estimated stator electrical angle value, and the stator electrical angle estimation error of the matrix motor position signal redundancy detection system provided by an embodiment of the present invention;

[0088] Figure 10 The rotor three-phase current waveform diagram of the matrix motor position signal redundancy detection system provided by the embodiment of the present invention before and after the position sensor fails;

[0089] Figure 11 The stator five-phase current waveform diagram of the matrix motor position signal redundancy detection system provided by the embodiment of the present invention before and after the position sensor fails; DETAILED DESCRIPTION

[0090] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0091] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described are only 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 ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0092] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be another element centered thereon. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be another element centered thereon at the same time. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. used herein indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0093] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0094] The core concept of the sensorless motor position signal detection method proposed in this paper is to leverage the dual-armature nature of matrix motors. By treating one side of the matrix motor's stator armature and rotor armature as a resolver, a high-frequency square-wave voltage signal is injected into that armature. The position information of both the matrix motor's stator and rotor is simultaneously extracted from the current feedback signal of the other armature, enabling redundant detection of the matrix motor's position signal. This method enables continuous detection of the matrix motor's stator and rotor angular position signals and rotational speed even if the system's original resolver and its signal decoding and conditioning circuitry, or the rotary encoder and its signal decoding and conditioning circuitry, fails, ensuring uninterrupted, fault-tolerant operation.

[0095] A first aspect of the present invention is to provide a method for detecting position signals of an aviation matrix motor without a position sensor.

[0096] See also Figure 1 , which is a flow chart of a sensorless position signal detection method for an aviation matrix motor provided by an embodiment of the present invention, specifically comprising the following steps:

[0097] S101: Constructing a response equation of the high-frequency current of the matrix motor in a stationary coordinate system relative to the estimated high-frequency voltage in a rotating coordinate system.

[0098] In this embodiment, the matrix motor has a five-phase stator winding and a three-phase rotor winding. In other embodiments, the number of stator phases m and rotor phases n of the matrix motor can be integers that satisfy the principle of multiple magnetic field modulation. Matrix motors with different numbers of stator and rotor phases that utilize the same sensorless position signal detection method as the present invention are also within the scope of the present invention. For example, some possible combinations of m and n include: m = 5, n = 3; m = 3, n = 2; m = 7, n = 3; m = 7, n = 5, etc.

[0099] See also Figure 2 (a) is a spatial position distribution diagram of the estimated axis and actual axis system of a five-phase stator of a matrix motor provided by an embodiment of the present invention. s1 -β s1 is the fundamental wave stationary coordinate system of the five-phase stator of the matrix motor, d s1 -q s1 is the actual rotating coordinate system of the fundamental wave of the five-phase stator of the matrix motor, is the fundamental wave estimated rotating coordinate system of the five-phase stator of the matrix motor, and the actual rotating axis of the stator fundamental wave is d s1 With the stator fundamental wave stationary axis α s1 The angle between them is the actual electrical angle θ of the stator fundamental wave es , stator fundamental wave estimated rotation axis With the stator fundamental wave stationary axis α s1 The angle between them is the estimated electrical angle of the stator fundamental wave The angle Δθ between the actual stator fundamental wave rotating coordinate system and the estimated fundamental wave rotating coordinate system es is the stator electrical angle estimation error.

[0100] See also Figure 2 (b), α s3 -β s3 is the third harmonic stationary coordinate system of the five-phase stator of the matrix motor, d s3 -q s3 is the actual rotating coordinate system of the third harmonic of the five-phase stator of the matrix motor, The third harmonic estimated rotating coordinate system of the five-phase stator of the matrix motor, the actual rotating axis d s3 With the third harmonic stationary axis α s3 The angle between them is the actual electrical angle θ of the stator third harmonices3 , the third harmonic estimates the rotation axis With the third harmonic stationary axis α s3 The angle between them is the estimated electrical angle of the stator third harmonic The angle Δθ between the third harmonic actual rotating coordinate system and the third harmonic estimated rotating coordinate system es3 is the stator third harmonic spatial electrical angle estimation error.

[0101] See also Figure 3 , is a spatial position distribution diagram of the estimated axis and actual axis system of a three-phase rotor of a matrix motor provided by an embodiment of the present invention. r -β r is the fundamental wave stationary coordinate system of the three-phase rotor of the matrix motor, d r -q r is the actual rotating coordinate system of the fundamental wave of the three-phase rotor of the matrix motor, is the fundamental wave estimated rotating coordinate system of the three-phase rotor of the matrix motor, and the actual rotating axis of the rotor fundamental wave d r α with the rotor fundamental wave stationary axis r The angle between them is the actual electrical angle θ of the rotor fundamental wave er , rotor fundamental wave estimation rotation axis α with the rotor fundamental wave stationary axis r The angle between them is the estimated electrical angle of the rotor fundamental wave The angle Δθ between the actual rotating coordinate system of the rotor fundamental wave and the estimated rotating coordinate system of the fundamental wave er is the rotor electrical angle estimation error.

[0102] The fundamental wave actual rotating coordinate system of the stator, the third harmonic actual rotating coordinate system of the stator and the fundamental wave actual rotating coordinate system of the rotor can be collectively referred to as the actual rotating coordinate system of the matrix motor.

[0103] Establish the equivalent circuit diagram of the matrix motor, and then establish the mathematical model of the matrix motor in the actual rotating coordinate system through circuit theorems such as Ohm's law, Kirchhoff's current law, and Kirchhoff's voltage law. The expression of the mathematical model of the matrix motor in the actual rotating coordinate system is as follows:

[0104]

[0105] Among them, the parameter u ds1 Indicates the actual stator fundamental wave d s1 Shaft voltage, u qs1 Indicates the actual stator fundamental wave q s1 Shaft voltage, u ds3 Indicates the actual stator third harmonic d s3 Shaft voltage, u qs3 Indicates the actual stator third harmonic q s3 Shaft voltage, udr Indicates the actual rotor fundamental wave d r Shaft voltage, u qr Indicates the actual rotor fundamental wave q r Shaft voltage; parameter i ds1 、i qs1 ,i ds3 、i qs3 、i dr and i qr Respectively represent the current of the six actual axes of the matrix motor; parameter ψ ds1 , ψ qs1 , ψ ds3 , ψ qs3 , ψ dr and ψ qr They represent the magnetic flux of the six actual axes of the matrix motor respectively; the parameter L ds1 、L qs1 、L ds3 、L qs3 、L dr and L qr Respectively represent the self-inductance of the six actual axes of the matrix motor; parameter M sr Represents the mutual inductance between the stator winding and the rotor winding of the matrix motor; parameter R s and R r Respectively represent the phase resistance of the matrix motor stator and rotor; parameter ω es and ω er Respectively represent the electrical angular velocity of the matrix motor stator and rotor; parameter ψ ms1 , ψ ms3 and ψ mr They represent the stator flux fundamental wave amplitude, stator flux third harmonic amplitude and rotor flux fundamental wave amplitude of the matrix motor respectively;

[0106] The method proposed in this invention requires injecting a high-frequency voltage into the windings of the matrix motor, resulting in a corresponding high-frequency current. Before deriving the response equation for the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system (hereinafter referred to as the "response equation"), we first make the following two assumptions:

[0107] 1) The injected high-frequency voltage frequency is much higher than the fundamental frequency, so the derivative of the high-frequency current in the mathematical model of the actual rotating coordinate system of the matrix motor is Much larger than other items;

[0108] 2) Since the matrix motor has a high torque density and a large number of pole pairs, when the matrix motor operates within the maximum load operating point, the degree of flux saturation is small, and the inductance change caused by flux saturation is small.

[0109] The assumptions made based on the two conditions are: the voltage drop term on the resistor and the rotation voltage term relative to the high-frequency current derivative term can be ignored, and the cross-magnetic saturation effect can be ignored.

[0110] Based on the above conditions and assumptions, the high-frequency voltage in the actual rotating coordinate system of the matrix motor can be expressed as:

[0111]

[0112] Among them, the parameter u dsh1 Indicates the actual stator fundamental wave d s1 Shaft high frequency voltage, u qsh1 Indicates the actual stator fundamental wave q s1 Shaft high frequency voltage, u dsh3 Indicates the actual stator third harmonic d s3 Shaft high frequency voltage, u qsh3 Indicates the actual stator third harmonic q s3 Shaft high frequency voltage, u drh Indicates the actual rotor fundamental wave d r Shaft high frequency voltage, u qrh Indicates the actual rotor fundamental wave q r Shaft high frequency voltage; parameter i dsh1 、i qsh1 ,i dsh3 、i qsh3 、i drh and i qrh Respectively represent the high-frequency currents of the six actual axes of the matrix motor;

[0113] By transforming the high-frequency voltage of the matrix motor in the actual rotating coordinate system, the response equation of the high-frequency current in the actual rotating coordinate system relative to the high-frequency voltage in the actual rotating coordinate system can be obtained:

[0114]

[0115] The transformation equation from the actual rotating coordinate system of the matrix motor to the stationary coordinate system can be expressed as:

[0116]

[0117] Among them, the parameter i αsh1 Indicates that the stator fundamental wave is stationary α s1 Shaft high-frequency current, i βsh1 Indicates the stator fundamental wave stationary β s1 Shaft high-frequency current, i αsh3 represents the stator third harmonic stationary α s3 Shaft high-frequency current, i βsh3 represents the stator third harmonic stationary β s3 Shaft high-frequency current, i αrhIndicates that the rotor fundamental wave is stationary α r Shaft high-frequency current, i βrh Indicates the rotor fundamental wave stationary β r Shaft high frequency current. T dq-αβ It is the transformation matrix from the actual rotating coordinate system to the stationary coordinate system.

[0118] The transformation equation from the matrix motor estimated rotating coordinate system to the actual rotating coordinate system can be expressed as:

[0119]

[0120] Among them, the parameters represents the stator fundamental wave estimation Shaft high frequency voltage, represents the stator fundamental wave estimation Shaft high frequency voltage, represents the stator third harmonic estimation Shaft high frequency voltage, represents the stator third harmonic estimation Shaft high frequency voltage, represents the rotor fundamental wave estimation Shaft high frequency voltage, Indicates the rotor fundamental wave estimation axis High frequency voltage. The transformation matrix from the estimated rotated coordinate system to the actual rotated coordinate system.

[0121] Through the transformation matrix T dq-αβ and The response equation of the high-frequency current in the actual rotating coordinate system relative to the high-frequency voltage in the actual rotating coordinate system is transformed, and the derivation process is as follows:

[0122]

[0123] Finally, the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system is obtained as follows:

[0124]

[0125] Among them, X ij (i=1,2,…,6,j=1,2,…,6) represents the element in the i-th row and j-th column of the inductive reactance matrix, and its expression is as follows:

[0126]

[0127] X 13 =0,X 14 =0,

[0128]

[0129] X 23 =0,X 24 =0,

[0130]

[0131] X 31 =0,X 32 =0,

[0132]

[0133] X 35 =0,X 36 =0,

[0134] X 41 =0,X 42 =0,

[0135]

[0136] X 45 =0,X 46 =0,

[0137]

[0138] X 53 =0,X 54 =0,

[0139]

[0140] X 63 =0,X 64 =0,

[0141]

[0142] From the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system, it can be seen that the high-frequency response current of the stator's third harmonic has no coupling relationship with the high-frequency response current of the stator fundamental wave and the rotor fundamental wave, and the corresponding inductive reactance matrix element is 0. Therefore, the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system can be simplified to:

[0143]

[0144] At this point, the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system is completed.

[0145] S102: Based on the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system, a high-frequency square wave voltage signal is injected into the stator side armature winding. The specific operation method is to inject a high-frequency square wave voltage signal into the coordinate axis of the stator estimated rotating coordinate system.

[0146] In this embodiment, a high-frequency square wave voltage signal is injected into the stator side armature winding. In other embodiments, a high-frequency voltage signal can also be injected into the rotor side armature winding. In the other embodiments, the order and logic of the step flow are the same as those of this embodiment, except that the position of the expression of the injected square wave in the expression matrix of the high-frequency square wave voltage signal has changed, and the position of the subsequent high-frequency current variation extracted in the expression matrix of the response signal of the stator and rotor side stationary coordinate system current has changed. The coordinate axis of the stator estimated rotating coordinate system specifically refers to the stator estimated rotating coordinate system. Axis, the expression of the high-frequency square wave voltage signal is as follows:

[0147]

[0148] Where k is the discrete cycle number of the injected high-frequency square wave voltage signal, U inj The amplitude of the injected high-frequency square wave voltage signal is denoted by ∑ ...

[0149] S103: Acquire a current response signal of a stationary coordinate system on the rotor (or stator) side of the matrix motor.

[0150] In this embodiment, a high-frequency voltage signal is injected into the stator-side armature winding to obtain a current response signal in the rotor-side stationary coordinate system. In other embodiments, a high-frequency voltage signal may also be injected into the rotor-side armature winding to obtain a stator-side current response signal. The method for obtaining the stationary coordinate system current response signal described in this embodiment is to first collect the rotor phase current signal using a Hall current sensor and its conditioning circuit. In other embodiments, the rotor phase current signal may also be collected using a sampling resistor and its conditioning circuit. The rotor phase current signal is then transformed into a rotor-side stationary coordinate system current response signal through three-phase coordinate transformation.

[0151] S104: extracting the high-frequency current variation in the stationary coordinate system current response signal on the rotor (or stator) side of the separation matrix motor.

[0152] Estimate the rotating coordinate system of the stator After the high-frequency square wave voltage signal is injected into the shaft, the rotor-side stationary coordinate system current signal contains both a baseband signal and a high-frequency signal. The frequency of the baseband signal is proportional to the rotational speed, and the formula for calculating the baseband signal frequency is f = np / 60, where n is the mechanical speed of the motor and p is the number of pole pairs. The frequency of the high-frequency signal is equal to the frequency of the injected square wave. Since the frequency of the injected square wave is much greater than the baseband signal, the frequency of the high-frequency signal is also much greater than the baseband signal. The high-frequency signal portion of the current response signal is extracted using a high-frequency filter.

[0153] According to the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system, the high-frequency part of the response signal of the stator and rotor side stationary coordinate system current can be expressed as follows:

[0154]

[0155] Set the sub-electrical angle estimation error Δθ es and the rotor electrical angle estimation error Δθ er When it converges, it approaches 0 infinitely. At this time, the high-frequency part of the rotor side stationary coordinate system current response signal extracted and separated by the high-frequency filter can be expressed as:

[0156]

[0157] Because the actual motor control system is a discrete control system, the high-frequency part of the rotor side stationary coordinate system current response signal is discretized by the forward difference method to obtain the high-frequency current change:

[0158]

[0159] where Δi αrh is a discrete period α r Change in high-frequency current of the shaft, Δi βrh is β in a discrete period r Change in high-frequency current of the shaft, T s is a discrete control cycle. Separation of the high-frequency current variation within a discrete cycle can be achieved by taking the difference between the current values ​​at two consecutive sampling moments in the discrete control system. This completes the extraction and separation of the high-frequency current variation from the rotor-side stationary coordinate system current response signal of the matrix motor. The high-frequency current variation of the stationary coordinate axis contains information about the rotor's electrical angle.

[0160] S105: Input the high-frequency current variation into the position observer to calculate the stator electrical angle estimation value, the rotor electrical angle estimation value, and the rotor mechanical speed estimation value.

[0161] See also Figure 4 , is a position observer provided by an embodiment of the present invention, wherein the stator electrical angle estimation value, the rotor electrical angle estimation value and the rotor mechanical speed estimation value are solved by the position observer. The input of the position observer is α r The change of high-frequency current of the shaft Δi αrh and β r The change of high-frequency current of the shaft Δi βrh The envelope extraction module is used to extract the envelope containing the angle phase information from the high-frequency current variation. The envelope extraction module is a symbolic function, and its expression is:

[0162]

[0163] Where k1 is the extraction coefficient, and the output of the envelope extraction module is equal to its input multiplied by the extraction coefficient k1;

[0164] α r The change of high-frequency current of the shaft Δi αrh When passing through the envelope extraction module, multiply by k1 to obtain the intermediate value A; β r The change of high-frequency current of the shaft Δi βrh When passing through the envelope extraction module, it is multiplied by k1 to obtain the intermediate value B. The intermediate values ​​A and B are processed by the orthogonal phase-locked loop, which includes two multipliers, a sine module, a cosine module, and a PI module. The output of the orthogonal phase-locked loop PI module is the intermediate value C. The intermediate value C is integrated by the integration module to obtain the rotor electrical angle estimate.

[0165] Estimated rotor electrical angle The cosine value of the intermediate value B is multiplied by the second multiplier, and then the rotor electrical angle estimation value is subtracted. The result of multiplying the sine value of K and the intermediate value A through the first multiplier is used as the input of the PI module. p K is the proportional coefficient of the PI control module in the orthogonal phase-locked loop, i is the integral coefficient of the PI module in the orthogonal phase-locked loop, and s is the Laplace operator. The output of the pole pair conversion module is equal to the intermediate value C divided by the number of rotor pole pairs. The stator-rotor electrical angle phase error compensation module includes a two-dimensional table. The first dimension of the table records the actual rotor d when the matrix motor starts. r The absolute mechanical position of the shaft, the second dimension is the actual rotor d at startup r The absolute mechanical position of the shaft and the actual stator d s1The electrical angle corresponding to the phase error between the absolute mechanical positions of the two shafts is used to compensate the estimated stator electrical angle. This error is determined by the electromagnetic structure and inductance waveform of the matrix motor. Test data is entered into a table beforehand. Table 1 shows the phase error compensation module table for the matrix motor with five-phase, 10-slot stators and three-phase, 12-slot rotors provided in this embodiment.

[0166] Table 1

[0167]

[0168] After each start of the matrix motor, the phase error is an error value in the phase error compensation module table. The stator electrical angle estimate is equal to the rotor electrical angle estimate plus the error value. The output of the position observer is the rotor mechanical speed estimate. m, stator electrical angle estimation and the estimated rotor electrical angle

[0169] Note: In this embodiment, the matrix motor position signal redundancy detection method and system are used as a redundancy for the position sensor. Position detection is performed only when the position sensor fails. Every time an aircraft takes off and the matrix motor is first started, after ground maintenance, the position sensor is considered normal. When the matrix motor is started, the position sensor records the actual rotor position. r The absolute mechanical position of the shaft, according to the electromagnetic structure of the matrix motor in this embodiment, the actual rotor d r There are 10 absolute mechanical positions of the shaft, which is equal to the number of rotor pole pairs.

[0170] A second aspect of the present invention is to provide a matrix motor position signal redundancy detection system for aviation.

[0171] Reference Figure 5 , is a schematic diagram of a redundant detection system for position signals of a matrix motor for aviation provided by an embodiment of the present invention, wherein both the stator and the rotor are based on i d = 0 dual closed-loop vector control method, the rotor adopts conventional three-phase pulse width modulation strategy, and the stator adopts five-phase pulse width modulation strategy to eliminate the third harmonic, so there is no need to adjust the third harmonic current and third harmonic voltage of the stator. Figure 5, the parameters with superscript * indicate that they are given reference values. When the system is normal and the position sensor is not faulty, the position sensor detects the signal containing the position information, and the rotor mechanical angular velocity, stator electrical angle and rotor electrical angle are obtained through the position signal solution program; when the position sensor fails, the position signal is detected by the position signal detection method without a position sensor provided in this embodiment, as redundancy of the position sensor. The structural block diagram shows the system status when the position sensor fails. At this time, the matrix motor angular position signal and speed signal are both estimated values. Therefore, in the parameters of the block diagram, the current feedback values ​​calculated by the estimated value of the angular position signal are all estimated values. The aviation matrix motor position signal redundancy detection system includes:

[0172] The position sensor is used to detect the signal containing the position information and obtain the rotor mechanical angular velocity, stator electrical angle and rotor electrical angle through the position signal solution program;

[0173] Speed ​​loop regulator, whose input is the given mechanical speed ω m * and mechanical speed estimate The error is the overall reference current output The structure of the speed loop regulator is a PI controller;

[0174] Current divider, whose input is the overall reference current The output is the stator estimate Axis reference current and rotor estimation Axis reference current The expression of the current divider is as follows:

[0175]

[0176] where k T is the current distribution coefficient;

[0177] The stator current loop regulator, whose input is the stator estimated Shaft current error and stator estimation Shaft current error, output is stator estimated Axis given reference voltage and stator estimation Axis given reference voltage The structure of the stator current loop regulator is a PI controller;

[0178] The rotor current loop regulator, whose input is the rotor estimated Shaft Current Error and Rotor Estimation Shaft current error, output is rotor estimation Axis given reference voltage and rotor estimation Axis given reference voltage The structure of the rotor current loop regulator is a PI controller;

[0179] The square wave generator can output a square wave signal, and its amplitude and frequency can be adjusted. In the embodiment of the present invention, the square wave signal generated by the square wave generator is injected into the stator estimation axis;

[0180] The stator inverse Park transform module, whose input is the estimated Axis and Estimates The given reference voltage of the axis and the estimated value of the stator electrical angle The output is α s1 Axis reference voltage u αs1 * and β s1 Axis reference voltage u βs1 * ;

[0181] The rotor inverse Park transform module, whose input is the estimated Axis and Estimates The given reference voltage of the shaft and the estimated value of the rotor electrical angle The output is α r Axis reference voltage u αr * and β r Axis reference voltage u βr * ;

[0182] The five-phase SVPWM module is a five-phase space vector pulse width modulation (SVPWM) module, whose input is the α s1 Axis and β s1 Axis reference voltage, output as five groups of modulation signals;

[0183] The three-phase SVPWM module, whose input is the α r Axis and β r Axis reference voltage, output as three groups of modulation signals

[0184] A five-phase full-bridge inverter, whose input signal is the five groups of modulation signals, controls the opening and closing of the power devices in the bridge arms of the five-phase full-bridge inverter by changes in the modulation signals, thereby controlling the voltage of the stator winding of the matrix motor;

[0185] A three-phase full-bridge inverter, whose input signal is the three groups of modulation signals, controls the opening and closing of the power devices in the bridge arms of the five-phase full-bridge inverter by changes in the modulation signals, thereby controlling the voltage of the rotor winding of the matrix motor;

[0186] In the embodiment of the present invention, the matrix motor has a structure in which the stator has a five-phase winding and 10 slots, the rotor has a three-phase winding and 12 slots, and the slots of the stator and rotor are both embedded with magnetic steel;

[0187] The stator current sampling module, in the embodiment of the present invention, uses a Hall current sensor and its conditioning circuit or a sampling resistor and its conditioning circuit to collect the five-phase stator current;

[0188] The rotor current sampling module, in an embodiment of the present invention, uses a Hall current sensor and its conditioning circuit or a sampling resistor and its conditioning circuit to collect the rotor three-phase current;

[0189] Stator Clarke transformation module, used to convert the collected stator current from the five-phase coordinate system to the stator's fundamental wave stationary coordinate system and third harmonic stationary coordinate system;

[0190] The rotor Clarke transformation module is used to convert the collected rotor current from the three-phase coordinate system to the rotor's fundamental wave stationary coordinate system;

[0191] A stator Park transformation module is used to convert the fundamental wave stationary coordinate system and the third harmonic stationary coordinate system current of the stator into the fundamental wave estimated rotating coordinate system current and the third harmonic estimated rotating coordinate system current;

[0192] A rotor Park transformation module is used to convert the rotor's fundamental stationary coordinate system current into a fundamental estimated rotating coordinate system current;

[0193] A high-frequency filter is used to extract the high-frequency signal portion of the rotor fundamental wave stationary coordinate system current response signal;

[0194] A forward differentiator is used to separate the discrete periodic high-frequency current variation in the rotor fundamental wave stationary coordinate system current response signal;

[0195] Position observer, its internal structure is as follows Figure 4 As shown, it is used to solve the stator electrical angle estimation value Estimated rotor electrical angle and the estimated rotor mechanical speed

[0196] Reference Figure 6 Figure 2 shows the speed waveform of the matrix motor position signal redundancy detection system provided by an embodiment of the present invention, which uses the estimated angle and speed as feedback values ​​for the vector control closed loop after a position sensor failure occurs during normal operation. It can be seen that after the position sensor failure occurs, the estimated speed closely tracks the set speed, and the error between the estimated and actual speeds is small.

[0197] Reference Figure 7Figure 3 shows the waveforms of the given load and electromagnetic torque of the matrix motor position signal redundancy detection system provided by an embodiment of the present invention before and after a position sensor failure. As can be seen, after the position sensor fails and the estimated value is used as feedback in the closed-loop, the electromagnetic torque closely tracks the given load, with minimal torque fluctuation.

[0198] Reference Figure 8 Figure 3 shows the actual rotor electrical angle value, estimated rotor electrical angle value, and rotor electrical angle estimation error waveforms for the matrix motor position signal redundancy detection system provided by an embodiment of the present invention. It can be seen that the rotor electrical angle estimation is highly accurate, with an estimation error within 0.1 rad.

[0199] Reference Figure 9 Figure 3 shows the actual stator electrical angle value, estimated stator electrical angle value, and stator electrical angle estimation error waveforms for the matrix motor position signal redundancy detection system provided by an embodiment of the present invention. It can be seen that the stator electrical angle estimation is highly accurate, with an estimation error within 0.1 rad.

[0200] Reference Figure 10 Figure 2 shows the rotor three-phase current waveforms of the matrix motor position signal redundancy detection system provided by the present invention before and after a position sensor failure. It can be seen that after the failure occurs and the estimated value is used as feedback in the closed loop, the rotor phase current distortion is minimal and the harmonic content is low.

[0201] Reference Figure 11 Figure 2 shows the five-phase stator current waveforms of the matrix motor position signal redundancy detection system provided by the present invention before and after a position sensor failure. It can be seen that after the failure occurs and the estimated value is used as feedback in the closed-loop, the stator phase current distortion is minimal and the harmonic content is low.

[0202] The term "consisting of" when describing a combination should include the identified elements, ingredients, components, or steps as well as other elements, ingredients, components, or steps that do not materially affect the basic novel characteristic of the combination. The use of the terms "comprising" or "including" to describe a combination of elements, ingredients, components, or steps herein also contemplates embodiments consisting essentially of these elements, ingredients, components, or steps. The use of the term "may" herein is intended to indicate that any of the attributes described as "may" be optional.

[0203] Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0204] It should be understood that the above description is for illustrative purposes only and is not intended to be limiting. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the preceding claims and the full scope of equivalents to which such claims are entitled. For the purpose of completeness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein from the preceding claims is not a disclaimer of such subject matter, nor should it be considered that the applicants did not consider such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A method for detecting redundant position signals of matrix motors for aviation, characterized in that: When the position sensor is not faulty, a signal containing position information is detected by the position sensor, and the signal containing position information is resolved to obtain the rotor mechanical angular velocity, the stator electrical angle, and the rotor electrical angle. When the position sensor is faulty, the position signal is detected using a position signal detection method when there is no position sensor, and the position signal detection method when there is no position sensor includes the following steps: S1. Constructing the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system; S2. Based on the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system, inject a high-frequency square wave voltage signal into the coordinate axis of the stator or rotor estimated rotating coordinate system; S3, obtaining the current response signal of the rotor or stator side stationary coordinate system of the matrix motor, recorded as current response signal A; when step S2 is injecting a high-frequency square wave voltage signal into the coordinate axis of the stator estimated rotating coordinate system, obtaining the current response signal of the rotor side stationary coordinate system; when step S2 is injecting a high-frequency square wave voltage signal into the coordinate axis of the rotor estimated rotating coordinate system, obtaining the current response signal of the stator side stationary coordinate system; S4, extracting the high-frequency current variation in the current response signal A; S5. Input the high-frequency current variation into a position observer to calculate a stator electrical angle estimation value, a rotor electrical angle estimation value, and a rotor mechanical speed estimation value.

2. The method for detecting position signal redundancy of an aviation matrix motor according to claim 1, characterized in that: The response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system includes: S1.

1. Establish the fundamental wave stationary coordinate system of the stator, the actual fundamental wave rotating coordinate system of the stator, the estimated fundamental wave rotating coordinate system of the stator, the third harmonic stationary coordinate system of the stator, the actual third harmonic rotating coordinate system of the stator, and the estimated third harmonic rotating coordinate system of the stator; establish the fundamental wave stationary coordinate system of the rotor, the actual fundamental wave rotating coordinate system of the rotor, and the estimated fundamental wave rotating coordinate system of the rotor; S1.

2. Establish a mathematical model of the matrix motor in the actual rotating coordinate system based on the stator's fundamental wave actual rotating coordinate system, the stator's third harmonic actual rotating coordinate system, and the rotor's fundamental wave actual rotating coordinate system; S1.

3. Based on the assumptions and mathematical model, extract the high-frequency voltage in the actual rotating coordinate system of the matrix motor; The assumptions are that the voltage drop term on the resistor and the rotation voltage term relative to the high-frequency current derivative term can be ignored, and the cross-magnetic saturation effect can be ignored; S1.

4. Transform the high-frequency voltage of the matrix motor in the actual rotating coordinate system to obtain the response equation of the high-frequency current in the actual rotating coordinate system relative to the high-frequency voltage in the actual rotating coordinate system: S1.

5. Transform the response equation of the high-frequency current in the actual rotating coordinate system relative to the high-frequency voltage in the actual rotating coordinate system using a transformation matrix to obtain the response equation of the high-frequency current in the stationary coordinate system of the matrix motor relative to the high-frequency voltage in the estimated rotating coordinate system; wherein the transformation matrix includes a transformation matrix for transforming the actual rotating coordinate system to the stationary coordinate system and a transformation matrix for transforming the estimated rotating coordinate system to the actual rotating coordinate system; S1.

6. Simplify the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system.

3. The method for detecting position signal redundancy of an aviation matrix motor according to claim 1, wherein: The response equation of the high-frequency current of the matrix motor in the stationary coordinate system constructed in step S1 relative to the high-frequency voltage in the estimated rotating coordinate system is: Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 Shaft high-frequency current, i βsh1 Indicates the stator fundamental wave stationary β s1 Shaft high-frequency current, i αrh Indicates that the rotor fundamental wave is stationary α r Shaft high-frequency current, i βrh Indicates the rotor fundamental wave stationary β r Axis high frequency current, X ij (i=1,2,5,6,j=1,2,…,6) represents the element in the i-th row and j-th column of the inductive reactance matrix. represents the stator fundamental wave estimation Shaft high frequency voltage, represents the stator fundamental wave estimation Shaft high frequency voltage, represents the rotor fundamental wave estimation Shaft high frequency voltage, Indicates the rotor fundamental wave estimation axis High frequency voltage.

4. The method for detecting position signal redundancy of an aviation matrix motor according to claim 1, wherein: The step S3 comprises: The rotor phase or stator phase current signal is collected and conditioned by a Hall current sensor or a sampling resistor and its conditioning circuit to obtain a rotor side current response signal or a stator side phase current response signal; the rotor side current response signal is transformed into a rotor side stationary coordinate system current response signal through three-phase coordinate transformation; and the stator side phase current response signal is transformed into a stator side stationary coordinate system current response signal.

5. The method for detecting position signal redundancy of an aviation matrix motor according to claim 1, wherein: The step S4 comprises: According to the response equation of the high-frequency current in the matrix motor's stationary coordinate system relative to the estimated high-frequency voltage in the rotating coordinate system, the high-frequency part of the response signal of the stator and rotor side stationary coordinate system current can be expressed as follows: Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 Shaft high-frequency current, i βsh1 Indicates the stator fundamental wave stationary β s1 Shaft high-frequency current, i αrh Indicates that the rotor fundamental wave is stationary α r Shaft high-frequency current, i βrh Indicates the rotor fundamental wave stationary β r Axis high frequency current; X ij (i=1,2,5,6,j=1,2,…,6) represents the element in the i-th row and j-th column of the inductive reactance matrix, U inj is the amplitude of the injected high-frequency square wave voltage signal, k is the discrete cycle number of the injected high-frequency square wave voltage signal, L ds1 Indicates the actual fundamental wave of the matrix motor stator d s1 Shaft self-inductance, L qs1 Indicates the actual fundamental wave q of the matrix motor stator s1 Shaft self-inductance, L dr Indicates the actual fundamental wave d of the matrix motor rotor r Shaft self-inductance, L qr Indicates the actual fundamental wave q of the matrix motor rotor r Self-inductance of the axis; θ es is the actual rotation axis d of the stator fundamental wave s1 With the stator fundamental wave stationary axis α s1 The angle between them is the actual electrical angle of the stator fundamental wave, M sr represents the mutual inductance between the stator winding and the rotor winding of the matrix motor, θ er is the actual rotation axis of the rotor fundamental wave d r α with the rotor fundamental wave stationary axis r The angle between them is the actual electrical angle of the rotor fundamental wave; Set the sub-electrical angle estimation error Δθ es and the rotor electrical angle estimation error Δθ er When it converges, it approaches 0 infinitely. At this time, the high-frequency part of the rotor side stationary coordinate system current response signal extracted and separated by the high-frequency filter is expressed as: in, Estimate the rotation axis for the rotor fundamental α with the rotor fundamental wave stationary axis r The angle between them is the estimated electrical angle of the rotor fundamental wave; The high-frequency part of the rotor side stationary coordinate system current response signal is discretized by the forward difference method to obtain the high-frequency current variation: Among them, Δi αrh is a discrete period α r Change in high-frequency current of the shaft, Δi βrh is β in a discrete period r Change in high-frequency current of the shaft, T s is the discrete control period.

6. The method for detecting position signal redundancy of a matrix motor for aviation according to claim 1, characterized in that: The step S5 comprises: The high-frequency current variation in the current response signal A includes α r Axis current change and β r Change in high-frequency current of the shaft; α r The high-frequency current variation of the shaft is multiplied by k1 when it passes through the envelope extraction module to obtain the intermediate value A; β r The change of high-frequency current of the shaft Δi βrh When passing through the envelope extraction module, multiply by k1 to obtain an intermediate value B; the intermediate values ​​A and B are processed by an orthogonal phase-locked loop to output an intermediate value C; the result of integrating the intermediate value C is the estimated value of the rotor electrical angle; the orthogonal phase-locked loop includes two multipliers, a sine module, a cosine module and a PI module; The intermediate value C is divided by the number of rotor pole pairs to obtain the estimated value of the rotor mechanical speed; According to the actual rotor d when the matrix motor starts r The absolute mechanical position of the shaft and the actual rotor position when the motor starts r The absolute mechanical position of the shaft and the actual stator d s1 The electrical angle corresponding to the phase error between the absolute mechanical positions of the shafts is used to compensate the stator electrical angle estimate.

7. The matrix motor position signal redundancy detection system for aviation is characterized by: include: A position sensor is used to detect a signal containing position information and calculate the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle based on the position information signal; The speed loop regulator has the error between the given mechanical speed and the estimated mechanical speed as input and the overall reference current as output; The current divider has the overall reference current as input and the stator estimated current as output. Shaft reference current and rotor estimation Axis reference current; The stator current loop regulator, whose input is the stator estimated Shaft current error and stator estimation Shaft current error, output is stator estimated Axis reference voltage and stator estimation Axis given reference voltage; The rotor current loop regulator, whose input is the rotor estimated Shaft Current Error and Rotor Estimation Shaft current error, output is rotor estimation Shaft reference voltage and rotor estimation Axis given reference voltage; A square wave generator is used to inject a square wave signal into the rotor or stator; The stator inverse Park transform module, whose input is the estimated Axis and Estimates Given the reference voltage of the axis and the estimated value of the stator electrical angle, the output is α s1 Axis reference voltage and β s1 Axis reference voltage; The rotor inverse Park transform module, whose input is the estimated Axis and Estimates Given the reference voltage of the shaft and the estimated value of the rotor electrical angle, the output is α r Axis reference voltage and β r Axis reference voltage; The five-phase SVPWM module has the α s1 Axis and β s1 Axis reference voltage, output as five groups of modulation signals; The three-phase SVPWM module, whose input is the α r Axis and β r Axis reference voltage, output as three sets of modulation signals; A five-phase full-bridge inverter, configured to control the on and off of power devices in the bridge arms of the five-phase full-bridge inverter based on the five groups of modulation signals, so as to control the voltage of the stator winding of the matrix motor; A three-phase full-bridge inverter, configured to control the on / off switching of power devices in the bridge arms of the five-phase full-bridge inverter based on the three groups of modulation signals, so as to control the voltage of the rotor winding of the matrix motor; Stator current sampling module, used to collect five-phase stator current; Rotor current sampling module, used to collect rotor three-phase current; A stator Clarke transformation module, configured to transform the stator five-phase current from a five-phase coordinate system to a stator fundamental wave stationary coordinate system and a third harmonic stationary coordinate system; A rotor Clarke transformation module, configured to transform the rotor three-phase current from a three-phase coordinate system to a fundamental wave stationary coordinate system of the rotor; A stator Park transformation module is used to convert the fundamental wave stationary coordinate system and the third harmonic stationary coordinate system current of the stator into the fundamental wave estimated rotating coordinate system current and the third harmonic estimated rotating coordinate system current; A rotor Park transformation module is used to convert the rotor's fundamental stationary coordinate system current into a fundamental estimated rotating coordinate system current; A high-frequency filter is used to extract the high-frequency signal portion of the rotor fundamental wave stationary coordinate system current response signal; A forward differentiator is used to separate the discrete periodic high-frequency current variation in the rotor fundamental wave stationary coordinate system current response signal; A position observer is used to calculate a stator electrical angle estimation value, a rotor electrical angle estimation value and a rotor mechanical speed estimation value based on the high-frequency current variation.

8. The aviation matrix motor position signal redundancy detection system according to claim 7, characterized in that: The position observer includes an envelope extraction module, an orthogonal phase-locked loop, an integration module, a pole logarithm conversion module and a stator-rotor electrical angle phase error compensation module; The envelope extraction module is used to extract the envelope containing the angle phase information from the high-frequency current variation; The input end of the orthogonal phase-locked loop is connected to the output end of the envelope extraction module, and is used to obtain the intermediate value C based on the high-frequency current variation after the envelope is extracted; An integration module is used to integrate the intermediate value C to obtain an estimated value of the rotor electrical angle; The input end of the pole pair number conversion module is connected to the output end of the orthogonal phase-locked loop, and is used to divide the intermediate value C by the number of rotor pole pairs to obtain an estimated value of the rotor mechanical speed; The stator-rotor electrical angle phase error compensation module is used to compensate the actual rotor angle when the matrix motor is started. r The absolute mechanical position of the shaft, the actual rotor position at start-up r The absolute mechanical position of the shaft and the actual stator d s1 The stator electrical angle estimate is compensated by the electrical angle corresponding to the phase error between the absolute mechanical positions of the shafts.

9. The aviation matrix motor position signal redundancy detection system according to claim 8, characterized in that: The orthogonal phase-locked loop includes a first multiplier, a second multiplier, a sine module, a cosine module and a PI module; An input end of the first multiplier is connected to an output end of the envelope extraction module and an output end of the sine module, and an input end of the sine module is connected to an output end of the integration module; The input end of the second multiplier is connected to the output end of the envelope extraction module and the output end of the cosine module, and the input end of the cosine module is connected to the output end of the integration module; The output of the first multiplier is connected to the input of the PI module after performing a subtraction with the output of the second multiplier. The output of the PI module is connected to the input of the integration module.

10. The aviation matrix motor position signal redundancy detection system according to claim 8, characterized in that: The stator-rotor electrical angle phase error compensation module has a built-in phase error compensation table, which is:

Images