Method for detecting redundancy of position signals of matrix motor for aviation and redundancy detection system

Abstract

The application discloses a kind of aviation matrix motor position signal redundancy detection method and redundancy detection system, belong to motor drive system technical field, when position sensor does not occur failure, the signal containing position information is detected by position sensor, and the signal containing position information is solved, obtains rotor mechanical angular velocity, stator electric angle and rotor electric angle;When position sensor appears failure, the position signal is detected by the method of injecting high-frequency signal in one side winding, and extracting position information in the other side winding;The application realizes the redundancy detection of matrix motor position signal, can reduce the torque ripple of operation after failure, and can only use a set of position observer to simultaneously solve the position information of stator and rotor, reduce the complexity of algorithm.

Description

Technical Field

[0001] This invention belongs to the field of motor drive system technology, specifically relating to a method and system for detecting redundancy in position signals of a matrix motor used in aviation. Background Technology

[0002] This invention belongs to the field of motor drive system technology, and more specifically, relates to a redundant system and control method for position sensors of a matrix motor for aviation.

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

[0004] In a matrix motor control system, a rotary transformer 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, processed by a program algorithm, can be used to calculate the matrix motor's angle and rotational speed information. This detection system continuously monitors the position signal during the matrix motor's operation, feeding it back to the control system for closed-loop control, thereby achieving vector control of the matrix motor and ensuring its stable operation. Since vibration-related faults are one of the main failure modes of aircraft motors, the rotary transformer, rotary encoder, and their decoding and conditioning circuits have a certain failure rate under strong vibration and impact. Once a fault occurs, the angle and rotational speed information in the matrix motor control system is lost, causing the control system to malfunction and posing a safety hazard to passengers and the aircraft.

[0005] Existing sensorless position signal estimation methods for permanent magnet motors in low-speed scenarios mainly rely on salient pole tracking. A common implementation involves injecting high-frequency signals into the motor windings to excite the salient pole of the armature, and then 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—applying existing salient pole tracking methods to matrix motors primarily involves injecting high-frequency signals into both the stator and rotor windings, and extracting the electrical angle information of the stator and rotor from the high-frequency feedback signals of the stator and rotor current signals. The limitations of existing position signal estimation methods applied to matrix motors are mainly manifested in the fact that simultaneously injecting high-frequency signals on both sides, due to the mutual inductance between the stator and rotor armature windings, intensifies the coupling effect in the voltage equation, leading to increased motor torque ripple, which in turn affects the speed and is detrimental to the smooth operation of the matrix motor. Summary of the Invention

[0006] Considering the limitations of existing position signal estimation methods applied to matrix motors, this invention provides a method and system for detecting position signal redundancy in aerospace matrix motors, enabling redundancy detection of matrix motor position signals.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a method for detecting redundancy in position signals of an aircraft matrix motor. When the position sensor is not faulty, the method detects signals containing position information using the position sensor and calculates the signals to obtain the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle. When the position sensor malfunctions, the method for detecting position signals without a position sensor is used to detect the position signals. The method for detecting position signals without a position sensor includes the following steps:

[0009] S1. Construct 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 estimated rotating coordinate system of the stator or rotor.

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

[0012] S4. Extract the high-frequency current change in the current response signal A;

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

[0014] Furthermore, the construction of 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 includes:

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

[0016] S1.2. Based on the fundamental actual rotating coordinate system of the stator, the third harmonic actual rotating coordinate system of the stator, and the fundamental actual rotating coordinate system of the rotor, establish a mathematical model of the matrix motor in the 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: the voltage drop across the resistor and the rotating voltage term relative to the high-frequency current derivative 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. 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 by the 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. The transformation matrix includes the transformation matrix from the actual rotating coordinate system to the stationary coordinate system and the transformation matrix from 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 stationary coordinate system of the matrix motor relative to the estimated high-frequency voltage in the rotating coordinate system.

[0022] 3. The method for detecting redundancy in position signals 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 estimated high-frequency voltage in the rotating coordinate system constructed in step S1 is:

[0023]

[0024] Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 High-frequency current of shaft, i βsh1 Indicates that the stator fundamental wave is at rest β s1 High-frequency current of shaft, i αrh Indicates that the rotor fundamental wave is stationary α r High-frequency current of shaft, i βrh Indicates the rotor fundamental wave is at rest β r High-frequency current of axis, 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 resistance matrix. Indicates stator fundamental frequency estimation Shaft high-frequency voltage, Indicates stator fundamental frequency estimation Shaft high-frequency voltage, Indicates rotor fundamental frequency 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 acquired and conditioned by a Hall current sensor or sampling resistor and its conditioning circuit to obtain the rotor side current response signal or the stator side phase current response signal; the rotor side current response signal is transformed into the rotor side stationary coordinate system current response signal through three-phase coordinate transformation; the stator side phase current response signal is transformed into the stator side stationary coordinate system current response signal.

[0027] Furthermore, step S4 includes:

[0028] From 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, the expressions for the high-frequency components of the stator and rotor side stationary coordinate system current response signals are as follows:

[0029]

[0030] Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 High-frequency current of shaft, i βsh1 Indicates that the stator fundamental wave is at rest β s1 High-frequency current of shaft, i αrh Indicates that the rotor fundamental wave is stationary α r High-frequency current of shaft, i βrh Indicates the rotor fundamental wave is at rest β rHigh-frequency current of the axis; 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 resistance matrix, U inj Let k be the amplitude of the injected high-frequency square wave voltage signal, and L be the discrete period number of the injected high-frequency square wave voltage signal. ds1 Represents the actual d-wave fundamental frequency of the matrix motor stator. s1 The self-inductance of the shaft, L qs1 This represents the actual q of the stator fundamental wave of the matrix motor. s1 The self-inductance of the shaft, L dr The actual d-wavelength of the matrix motor rotor fundamental frequency is represented by... r The self-inductance of the shaft, L qr This represents the actual q of the fundamental frequency of the matrix motor rotor. r The self-inductance of the axis; θ es The actual rotation axis d of the stator fundamental wave s1 With stator fundamental stationary axis α s1 The included angle between them is the actual electrical angle of the stator fundamental wave, M sr θ represents the mutual inductance between the stator and rotor windings of a matrix motor. er The actual rotating axis d of the rotor fundamental wave r With respect to the rotor fundamental stationary axis α r The included angle between them is the actual electrical angle of the rotor fundamental wave;

[0031] Setting the sub-electric angle estimation error Δθ es And rotor electrical angle estimation error Δθ er If it converges and approaches 0 infinitely, then... At this time, the high-frequency component of the rotor-side stationary coordinate system current response signal extracted and separated by the high-frequency filter is represented as follows:

[0032]

[0033] in, Estimating the rotation axis for the rotor fundamental wave With respect to the rotor fundamental stationary axis α r The included angle between them is the estimated electrical angle of the rotor fundamental wave;

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

[0035]

[0036] Where, Δi αrh α within a discrete period r The high-frequency current change of the shaft, Δi βrh β within a discrete period rThe high-frequency current change of the shaft, T s For discrete control cycles.

[0037] Furthermore, step S5 includes:

[0038] The high-frequency current changes in the current response signal A include α r The change in current along the shaft and β r The change in high-frequency current of the shaft;

[0039] α r The high-frequency current change of the shaft is multiplied by k1 when it passes through the envelope extraction module to obtain the intermediate value A; β r High-frequency current change Δi of the shaft βrh When the envelope extraction module is used, the intermediate value B is obtained by multiplying by k1; the intermediate value A and the intermediate value B are processed by the quadrature phase-locked loop to output the intermediate value C; the result of integrating the intermediate value C is the rotor electrical angle estimate; the quadrature 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 rotor mechanical speed.

[0041] Based on the actual rotor d during matrix motor startup r The absolute mechanical position of the shaft and the actual rotor position d when the motor starts. r The absolute mechanical position of the shaft and the actual d of the stator s1 The electrical angle corresponding to the phase error between the absolute mechanical positions of the shaft is used to compensate for the estimated value of the stator electrical angle.

[0042] Secondly, the present invention provides a position signal redundancy detection system for an aircraft matrix motor, comprising:

[0043] Position sensors are used to detect signals containing position information and to calculate the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle based on the position information signals.

[0044] The speed loop regulator takes the error between the given mechanical speed and the estimated mechanical speed as input and outputs the overall reference current.

[0045] A current distributor whose input is the overall reference current and whose output is the stator estimate. Shaft reference current and rotor estimation Shaft reference current;

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

[0047] The rotor current loop regulator, whose input is the rotor estimate Shaft current error and rotor estimation Shaft current error, output as rotor estimate Shaft reference voltage and rotor estimation Shaft reference voltage;

[0048] A square wave generator is used to inject square wave signals into the rotor or stator.

[0049] The stator inverse Park transform module, whose input is the aforementioned estimate. Axis and estimation Given the reference voltage of the shaft and the estimated stator electrical angle, the output is α. s1 Shaft reference voltage and β s1 Shaft reference voltage;

[0050] The rotor inverse Park transformation module, whose input is the aforementioned estimate Axis and estimation Given the shaft's reference voltage and the estimated rotor electrical angle, the output is α. r Shaft reference voltage and β r Shaft reference voltage;

[0051] The five-phase SVPWM module has the input α. s1 axis and β s1 The axis reference voltage outputs five sets of modulated signals.

[0052] The three-phase SVPWM module has the input α. r axis and β r The axis reference voltage outputs three sets of modulated signals.

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

[0054] A three-phase full-bridge inverter is used to control the switching on and off of power devices in the arm of a five-phase full-bridge inverter based on the three sets of modulation signals, so as to control the voltage of the rotor winding of a matrix motor.

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

[0056] The rotor current sampling module is used to collect the three-phase rotor current.

[0057] The stator Clarke transformation module is used to transform the stator five-phase current from the five-phase coordinate system to the stator's fundamental stationary coordinate system and third harmonic stationary coordinate system.

[0058] The rotor Clarke transformation module is used to transform the rotor three-phase current from the three-phase coordinate system to the rotor's fundamental stationary coordinate system;

[0059] The stator Park transformation module is used to convert the stator's fundamental stationary coordinate system current and third harmonic stationary coordinate system current into the fundamental estimated rotating coordinate system current and the third harmonic estimated rotating coordinate system current.

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

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

[0062] A forward differential is used to separate discrete periodic high-frequency current variations in the rotor's fundamental stationary coordinate system current response signal.

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

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

[0065] The envelope extraction module is used to extract the envelope containing angular phase information in the high-frequency current change.

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

[0067] The integration module is used to integrate the intermediate value C to obtain the rotor electrical angle estimate.

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

[0069] The stator and rotor electrical angle phase error compensation module is used to compensate for the actual rotor angle during matrix motor startup. r The absolute mechanical position of the shaft, and the actual rotor position at startup. r The absolute mechanical position of the shaft and the actual d of the stator s1 The electrical angle corresponding to the phase error between the absolute mechanical positions of the shaft is used to compensate for the estimated value of the stator electrical angle.

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

[0071] The input of the first multiplier is connected to the output of the envelope extraction module and the output of the sine module, and the input of the sine module is connected to the output of the integration module.

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

[0073] The output of the first multiplier is subtracted from the output of the second multiplier and then connected to the input of the PI module. The output of the PI module is connected to the input of the integrator module.

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

[0075]

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

[0077] The limitations of existing position signal estimation methods applied to matrix motors are mainly manifested in the fact that simultaneously injecting 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, leading to increased motor torque ripple and consequently affecting the speed, which is detrimental to the smooth operation of the matrix motor. This invention injects high-frequency current into only one armature winding of the matrix motor and simultaneously extracts the position information of the stator and rotor from the current feedback signal of the other armature winding. This achieves redundant detection of the matrix motor's position signal, enabling the aircraft matrix motor system to continue detecting the position signal even when the position sensor fails, ensuring fault-tolerant system operation and protecting the safety of the aircraft and its occupants. Because the position detection method used in this invention injects high-frequency current into only one side of the armature winding, it avoids the high-frequency coupling of the two windings caused by mutual inductance when high-frequency signals are injected into both sides. This reduces the phase current harmonics during operation after a fault, thereby suppressing the torque pulsation during operation after a fault. This invention can simultaneously calculate the position information of the stator and rotor using only one set of position observers, reducing the complexity of the algorithm. This is beneficial for deploying multiple other algorithms in the matrix motor system at the same time, such as fault-tolerant control algorithms for short circuits or open circuits in the windings and for short circuits or open circuits in the power devices.

[0078] In addition, the present invention compensates for the estimated value of the electrical angle on the stator side by using a two-dimensional table built into the stator and 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. Attached Figure Description

[0079] Figure 1 A flowchart illustrating a sensorless position signal detection method for an aircraft matrix motor, provided in an embodiment of the present invention;

[0080] Figure 2 This invention provides a spatial position distribution diagram of the estimated shaft and actual shaft system of a five-phase stator of a matrix motor, as provided in an embodiment of the invention.

[0081] Figure 3 This invention provides a spatial distribution diagram of the estimated shaft and actual shaft system of a three-phase rotor of a matrix motor, as shown in the embodiment of the invention.

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

[0083] Figure 5 This is a schematic diagram of a position signal redundancy detection system for an aircraft matrix motor, provided in an embodiment of the present invention.

[0084] Figure 6 The matrix motor position signal redundancy detection system provided in this embodiment of the invention, after a position sensor failure occurs under normal operating conditions, uses estimated angle and rotational speed as feedback values ​​to participate in the speed waveform diagram of the vector control closed loop;

[0085] Figure 7 The given load and electromagnetic torque waveforms of the matrix motor position signal redundancy detection system provided in this embodiment of the invention before and after a position sensor failure.

[0086] Figure 8 The waveforms of the actual rotor electrical angle, the estimated rotor electrical angle, and the rotor electrical angle estimation error of the matrix motor position signal redundancy detection system provided in the embodiments of the present invention are shown.

[0087] Figure 9 The waveforms of the actual stator electrical angle, the estimated stator electrical angle, and the stator electrical angle estimation error of the matrix motor position signal redundancy detection system provided in the embodiments of the present invention are shown.

[0088] Figure 10 The rotor three-phase current waveforms of the matrix motor position signal redundancy detection system provided in this embodiment of the invention before and after a position sensor failure;

[0089] Figure 11 The stator five-phase current waveforms of the matrix motor position signal redundancy detection system provided in this embodiment of the invention before and after a position sensor failure; Detailed Implementation

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

[0091] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0092] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or may be interposed with another element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or may be interposed with another element. The terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., used herein to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0093] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the 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 idea of ​​the sensorless position signal detection method for motors proposed in this invention is to utilize the inherent characteristic of matrix motors having two sets of armatures. One side of the stator armature and rotor armature of the matrix motor is treated as a resolver. A high-frequency square wave voltage signal is injected into this side armature, and the position information of the stator and rotor of the matrix motor is simultaneously extracted from the current feedback signal of the other side armature, achieving redundant detection of the matrix motor position signal. The proposed method can continuously detect the angular position signals and rotational speed of the matrix motor stator and rotor even when the original resolver and its signal decoding and conditioning circuit, or the rotary encoder and its signal decoding and conditioning circuit, fails, achieving uninterrupted fault-tolerant operation.

[0095] The first aspect of the present invention is to provide a method for detecting the position signal of an aircraft matrix motor when there is no position sensor.

[0096] SeeFigure 1 The above is a flowchart illustrating a sensorless position signal detection method for an aircraft matrix motor according to an embodiment of the present invention, which specifically includes the following steps:

[0097] S101: Construct 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.

[0098] In this embodiment, the matrix motor has a stator with five-phase windings and a rotor with three-phase windings. In some other embodiments, the stator phase number m and rotor phase number n of the matrix motor can be integers that satisfy the principle of multiple magnetic field modulation. Matrix motors with different stator and rotor phase combinations, using the same sensorless position signal detection method as this invention, are also within the scope of protection of this invention. For example, some feasible 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 Figure 2 (a) is a spatial distribution diagram of the estimated axis and actual axis system of a five-phase stator of a matrix motor provided in an embodiment of the present invention. Wherein, α s1 -β s1 Let d be the fundamental stationary coordinate system of the five-phase stator of the matrix motor. s1 -q s1 This is the fundamental rotating coordinate system of the five-phase stator of the matrix motor. For the fundamental wave estimation of the five-phase stator of the matrix motor, the rotating coordinate system is given, and the actual rotation axis d of the stator fundamental wave is given. s1 With stator fundamental stationary axis α s1 The included angle between them is the actual electrical angle θ of the stator fundamental wave. es Stator fundamental wave estimation of rotation axis With stator fundamental stationary axis α s1 The included angle between them is the estimated electrical angle of the stator fundamental wave. The angle Δθ between the actual rotating coordinate system and the estimated rotating coordinate system of the stator fundamental wave es This represents the stator electrical angle estimation error.

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

[0101] See Figure 3 This is a spatial distribution diagram of the estimated and actual shaft positions of a three-phase rotor of a matrix motor, provided by an embodiment of the present invention. Wherein, α r -β r Let d be the fundamental stationary coordinate system of the three-phase rotor of the matrix motor. r -q r Let be the fundamental rotating coordinate system of the three-phase rotor of the matrix motor. For the fundamental wave estimation of the three-phase rotor of the matrix motor, the rotating coordinate system is given, and the actual rotation axis d of the rotor fundamental wave is given. r With respect to the rotor fundamental stationary axis α r The included angle between them is the actual electrical angle θ of the rotor fundamental wave. er Rotor fundamental wave estimation of rotating axis With respect to the rotor fundamental stationary axis α r The included angle between them is the estimated electrical angle of the rotor fundamental wave. The angle Δθ between the actual rotating coordinate system and the estimated rotating coordinate system of the fundamental wave of the rotor er This represents the rotor electrical angle estimation error.

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

[0103] An equivalent circuit diagram of the matrix motor is established. Then, a mathematical model of the matrix motor in the actual rotating coordinate system is established using 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] Wherein, parameter u ds1 Indicates the actual d of the stator fundamental wave s1 Axis voltage, u qs1 Indicates the actual q of the stator fundamental wave s1 Axis voltage, u ds3 Indicates the actual d of the third harmonic of the stator. s3 Axis voltage, u qs3 Indicates the actual q of the third harmonic of the stator. s3 Axis voltage, udr Indicates the actual d-wavelength of the rotor fundamental wave r Axis voltage, u qr Indicates the actual q of the rotor fundamental wave r Shaft voltage; parameter i ds1 i qs1 i ds3 i qs3 i dr and i qr These represent the currents of the six actual axes of the matrix motor; parameter ψ ds1 ψ qs1 , ψ ds3 ψ qs3 ψ dr and ψ qr These represent the flux linkages of the six actual axes of the matrix motor; parameter L ds1 L qs1 L ds3 L qs3 L dr and L qr These represent the self-inductance of the six actual axes of the matrix motor; parameter M sr Represents the mutual inductance between the stator and rotor windings of a matrix motor; parameter R s and R r These represent the phase resistances of the stator and rotor of the matrix motor, respectively; parameter ω es and ω er These represent the electric angular velocities of the stator and rotor of the matrix motor, respectively; parameter ψ ms1 ψ ms3 and ψ mr These represent the fundamental amplitude of the stator flux linkage, the third harmonic amplitude of the stator flux linkage, and the fundamental amplitude of the rotor flux linkage, respectively.

[0106] The method proposed in this invention requires injecting high-frequency voltage into the windings of the matrix motor, thus resulting in a corresponding high-frequency current in the windings. Before deriving the response equation (hereinafter referred to as 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, the following two assumptions are made:

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

[0108] 2) Due to the high torque density and large number of pole pairs of the matrix motor, when the matrix motor operates within the highest load operating point, the magnetic flux saturation is small, and the change in inductance caused by magnetic flux saturation is small.

[0109] Based on the two conditions mentioned above, the following assumptions are made: the voltage drop across the resistor and the rotating voltage term can be ignored relative to the high-frequency current derivative term, and the cross-magnetic saturation effect can be ignored.

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

[0111]

[0112] Wherein, parameter u dsh1 Indicates the actual d of the stator fundamental wave s1 Shaft high-frequency voltage, u qsh1 Indicates the actual q of the stator fundamental wave s1 Shaft high-frequency voltage, u dsh3 Indicates the actual d of the third harmonic of the stator. s3 Shaft high-frequency voltage, u qsh3 Indicates the actual q of the third harmonic of the stator. s3 Shaft high-frequency voltage, u drh Indicates the actual d-wavelength of the rotor fundamental wave r Shaft high-frequency voltage, u qrh Indicates the actual q of the rotor fundamental wave r Shaft high-frequency voltage; parameter i dsh1 i qsh1 i dsh3 i qsh3 i drh and i qrh These 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 to the stationary coordinate system of the matrix motor can be expressed as:

[0116]

[0117] Wherein, parameter i αsh1 Indicates that the stator fundamental wave is stationary α s1 High-frequency current of shaft, i βsh1 Indicates that the stator fundamental wave is at rest β s1 High-frequency current of shaft, i αsh3 Indicates the third harmonic stationary α of the stator s3 High-frequency current of shaft, i βsh3 Indicates the third harmonic rest β of the stator s3 High-frequency current of shaft, i αrhIndicates that the rotor fundamental wave is stationary α r High-frequency current of shaft, i βrh Indicates the rotor fundamental wave is at rest β r Shaft high-frequency current. T dq-αβ This is the transformation matrix for transforming the actual rotating coordinate system to the stationary coordinate system.

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

[0119]

[0120] Among them, parameters Indicates stator fundamental frequency estimation Shaft high-frequency voltage, Indicates stator fundamental frequency estimation Shaft high-frequency voltage, Stator third harmonic estimation Shaft high-frequency voltage, Stator third harmonic estimation Shaft high-frequency voltage, Indicates rotor fundamental frequency estimation Shaft high-frequency voltage, Indicates the rotor fundamental wave estimation axis High frequency voltage. To estimate the transformation matrix from the rotating coordinate system to the actual rotating coordinate system.

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

[0122]

[0123] The final 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 is 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 resistance 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 stationary coordinate system of the matrix motor 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 third harmonic is not coupled with the high-frequency response currents of the stator fundamental and rotor fundamental waves, and its corresponding inductive reactance matrix element is 0. Therefore, 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 can be simplified to:

[0143]

[0144] At this point, 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 has been 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 armature winding on the stator side. Specifically, the high-frequency square wave voltage signal is injected into the coordinate axes of the estimated rotating coordinate system of the stator.

[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 these other embodiments, the order and logic of the steps are the same as in 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 changes, and the position of the subsequently extracted high-frequency current change in the expression matrix of the response signals of the stator and rotor-side stationary coordinate system currents changes. The coordinate axes of the stator estimated rotating coordinate system specifically refer to the coordinate axes of the stator estimated rotating coordinate system. The expression for the high-frequency square wave voltage signal is as follows:

[0147]

[0148] Where k is the discrete period number of the injected high-frequency square wave voltage signal, U inj The amplitude of the injected high-frequency square wave voltage signal is given. The frequency of the injected square wave is less than or equal to the pulse width modulation frequency, which can be taken as half of the pulse width modulation frequency in this embodiment. Since no high-frequency square wave voltage signal is injected into other axes, the voltage value injected into other axes can be represented as 0.

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

[0150] In this embodiment, a high-frequency voltage signal is injected into the stator-side armature winding to obtain the current response signal in the rotor-side stationary coordinate system. In other embodiments, a high-frequency voltage signal can also be injected into the rotor-side armature winding to obtain the stator-side current response signal. The method for obtaining the stationary coordinate system current response signal in this embodiment involves first acquiring the rotor phase current signal using a Hall current sensor and its conditioning circuit. In other embodiments, the rotor phase current signal can also be acquired 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: Extract the high-frequency current change in the current response signal of the rotor (or stator) side stationary coordinate system of the split matrix motor.

[0152] Estimating the rotating coordinate system to the stator After the high-frequency square wave voltage signal is injected into the shaft, the rotor-side stationary coordinate system current signal simultaneously contains both a fundamental frequency signal and a high-frequency signal. The frequency of the fundamental frequency signal is proportional to the rotational speed, and the formula for calculating the fundamental frequency signal frequency is f = np / 60, where n is the motor's mechanical speed 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 that of the fundamental frequency signal, the frequency of the high-frequency signal is also much greater than that of the fundamental frequency signal. A high-frequency filter is used to extract the high-frequency signal portion from the current response signal.

[0153] From 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, the expressions for the high-frequency components of the stator and rotor side stationary coordinate system current response signals are as follows:

[0154]

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

[0156]

[0157] Since the actual motor control system is a discrete control system, the high-frequency component of the rotor-side stationary coordinate system current response signal can be discretized using the forward difference method to obtain the high-frequency current change.

[0158]

[0159] Where Δi αrh α within a discrete period r The high-frequency current change of the shaft, Δi βrh β within a discrete period r The high-frequency current change of the shaft, T s This is the discrete control cycle. The separation of high-frequency current changes within the discrete cycle can be obtained by subtracting the current values ​​at two consecutive sampling moments in the discrete control system. This completes the extraction and separation of high-frequency current changes from the rotor-side stationary coordinate system current response signal of the matrix motor. The high-frequency current changes along the stationary coordinate axis contain the rotor's electrical angle position information.

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

[0161] SeeFigure 4 This invention provides a position observer, which calculates the stator electrical angle estimate, rotor electrical angle estimate, and rotor mechanical speed estimate. The input to the position observer is α. r High-frequency current change Δi of the shaft αrh and β r High-frequency current change Δi of the shaft βrh The envelope extraction module is used to extract the envelope containing angular phase information from high-frequency current changes. The envelope extraction module is a sign 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 High-frequency current change Δi of the shaft αrh When extracting the envelope, multiply by k1 to obtain the intermediate value A; β r High-frequency current change Δi of the shaft βrh The intermediate value B is obtained by multiplying by k1 during the envelope extraction module. Intermediate values ​​A and B are then processed by a quadrature phase-locked loop (PLL), which includes two multipliers, a sine wave module, a cosine wave module, and a PI module. The output of the PI module of the PLL is the intermediate value C. The result of integrating intermediate value C is the rotor electrical angle estimate.

[0165] Rotor electrical angle estimation value The result of multiplying the cosine value and the intermediate value B by the second multiplier, and then subtracting the estimated rotor electrical angle value. The result of multiplying the sine value of K by the intermediate value A using the first multiplier is used as the input to the PI module. p K is the proportional coefficient of the PI control module in the quadrature phase-locked loop. i represents the integral coefficient of the PI module in the quadrature phase-locked loop, and s is the Laplace operator. The output of the pole pair transformation module is equal to the intermediate value C divided by the number of rotor pole pairs. The stator and rotor electrical angle phase error compensation module includes a two-dimensional table; the first dimension of the table records the actual rotor d during matrix motor startup. r The absolute mechanical position of the shaft, the second dimension is the actual rotor position d at startup. r The absolute mechanical position of the shaft and the actual d of the stator s1The electrical angle corresponding to the phase error between the absolute mechanical positions of the shafts is used to compensate for the estimated stator electrical angle based on this phase error electrical angle. This error is determined by the electromagnetic structure and inductance waveform of the matrix motor. The test data is recorded in advance and entered into a table, as shown in Table 1, which is the phase error compensation module table for the five-phase 10-slot stator and three-phase 12-slot rotor matrix motor provided in this embodiment.

[0166] Table 1

[0167]

[0168] After each start-up of the matrix motor, the phase error is a specific error value from the phase error compensation module table. The estimated stator electrical angle equals the estimated rotor electrical angle plus this error value. The output of the position observer is the estimated rotor mechanical speed. m, estimated stator electrical angle And rotor electrical angle estimation value

[0169] Note: In this embodiment, the matrix motor position signal redundancy detection method and system serve as redundancy for the position sensor, and position detection is only performed when the position sensor malfunctions. Each time the aircraft takes off and the matrix motor starts for the first time, after ground crew preparation, the position sensor is considered normal. When the matrix motor starts, the actual rotor position is recorded by the position sensor. r The absolute mechanical position of the shaft, based on the electromagnetic structure of the matrix motor in this embodiment, is the actual d of the rotor. r The shaft has 10 absolute mechanical positions, which is equal to the number of rotor pole pairs.

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

[0171] Reference Figure 5 This is a schematic diagram of a position signal redundancy detection system for an aviation matrix motor provided in an embodiment of the present invention. Both the stator and rotor adopt i-based... d The dual closed-loop vector control method with =0 employs a conventional three-phase pulse width modulation strategy for the rotor and a five-phase pulse width modulation strategy to eliminate the third harmonic for the stator. Therefore, it is not necessary to adjust the third harmonic current and voltage of the stator. Figure 5In this diagram, parameters marked with a superscript * indicate that they are given reference values. When the system is functioning normally and the position sensor is not faulty, the position sensor detects signals containing position information, and the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle are obtained through a position signal calculation program. When the position sensor malfunctions, the position signal is detected using the position signal detection method provided in this embodiment when there is no position sensor, serving as redundancy for the position sensor. The structural block diagram illustrates the system situation when the position sensor malfunctions. At this time, both the matrix motor angular position signal and speed signal are estimated values. Therefore, in the parameters of the block diagram, the current feedback values ​​calculated from the estimated angular position signals are all estimated values. The aforementioned aviation matrix motor position signal redundancy detection system includes:

[0172] A position sensor is used to detect signals containing position information and to obtain the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle through a position signal calculation program.

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

[0174] Current distributor, whose input is the overall reference current. The output is the stator estimate. Shaft reference current and rotor estimation Shaft reference current The expression for the current distributor is as follows:

[0175]

[0176] Where k T This is the current distribution coefficient;

[0177] The stator current loop regulator, whose input is the stator estimate Shaft current error and stator estimation Shaft current error, output as stator estimate Shaft reference voltage Stator estimation Shaft reference voltage The stator current loop regulator is a PI controller.

[0178] The rotor current loop regulator, whose input is the rotor estimate Shaft current error and rotor estimation Shaft current error, output as rotor estimate Shaft reference voltage and rotor estimation Shaft reference voltage The rotor current loop regulator is a PI controller.

[0179] A square wave generator can output a square wave signal, the amplitude of which and its frequency are adjustable. In this embodiment of the 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 aforementioned estimate. Axis and estimation The given reference voltage of the shaft and the estimated stator electrical angle. The output is α s1 Shaft reference voltage u αs1 * and β s1 Shaft reference voltage u βs1 * ;

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

[0182] The five-phase SVPWM module, also known as the five-phase space vector pulse width modulation (SVPWM) module, has the input α as its input. s1 axis and β s1 The axis reference voltage outputs five sets of modulated signals.

[0183] The three-phase SVPWM module has the input α. r axis and β r Shaft reference voltage, output is three sets of modulation signals

[0184] The five-phase full-bridge inverter has five sets of modulation signals as its input signals. The switching on and off of the power devices in the bridge arm of the five-phase full-bridge inverter is controlled by the changes in the modulation signals, so as to control the voltage of the stator winding of the matrix motor.

[0185] The three-phase full-bridge inverter has three sets of modulation signals as input signals. The changes in the modulation signals control the switching on and off of the power devices in the bridge arm of the five-phase full-bridge inverter, thereby controlling the voltage of the matrix motor rotor winding.

[0186] In an embodiment of the present invention, the matrix motor has a stator with five-phase windings and 10 slots, and a rotor with three-phase windings and 12 slots, with magnets embedded in both the stator and rotor slots.

[0187] In this embodiment of the invention, the stator current sampling module 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] In this embodiment of the invention, the rotor current sampling module 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] The stator Clarke transformation module is used to transform the acquired stator current from the five-phase coordinate system to the stator's fundamental stationary coordinate system and third harmonic stationary coordinate system;

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

[0191] The stator Park transformation module is used to convert the stator's fundamental stationary coordinate system current and third harmonic stationary coordinate system current into the fundamental estimated rotating coordinate system current and the third harmonic estimated rotating coordinate system current.

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

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

[0194] A forward differential is used to separate discrete periodic high-frequency current variations in the rotor's fundamental stationary coordinate system current response signal.

[0195] The position observer, its internal structure is as follows Figure 4 As shown, this is used to calculate the estimated stator electrical angle. Rotor electrical angle estimation value And rotor mechanical speed estimate

[0196] Reference Figure 6 The diagram shows the speed waveform of the matrix motor position signal redundancy detection system provided in this embodiment of the invention, which, under normal operating conditions, uses estimated angle and speed as feedback values ​​to participate in the vector control closed loop after a position sensor failure. It can be seen that after a position sensor failure, the estimated speed can follow the given speed well, and the error between the estimated speed and the actual speed is small.

[0197] Reference Figure 7The figures show the given load and electromagnetic torque waveforms of the matrix motor position signal redundancy detection system provided in this embodiment of the invention before and after a position sensor failure. It can be seen that when a position sensor failure occurs, and the estimated value is used as feedback in the closed loop, the electromagnetic torque can follow the given load well, with minimal torque fluctuation.

[0198] Reference Figure 8 The figures show the actual rotor electrical angle, estimated rotor electrical angle, and rotor electrical angle estimation error waveforms of the matrix motor position signal redundancy detection system provided in this embodiment of the invention. It can be seen that the rotor electrical angle estimation accuracy is high, with an estimation error within 0.1 rad.

[0199] Reference Figure 9 The figures show the actual stator electrical angle value, the estimated stator electrical angle value, and the stator electrical angle estimation error waveform of the matrix motor position signal redundancy detection system provided in this embodiment of the invention. It can be seen that the stator electrical angle estimation accuracy is high, with an estimation error within 0.1 rad.

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

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

[0202] The term "constituting of" in describing a combination should include the identified elements, components, parts, or steps, as well as other elements, components, parts, or steps that do not substantially affect the essential novel features of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, parts, or steps herein also contemplates embodiments that are essentially composed of such elements, components, parts, or steps. The use of the term "may" herein is intended to indicate that any described attribute included by "may" is optional.

[0203] Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The use of "a" or "an" to describe an element, component, part, or step does not imply the exclusion of other elements, components, parts, or steps.

[0204] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this teaching should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

Claims

1. A method for detecting redundancy in position signals of a matrix motor used in aviation, characterized in that, When the position sensor is functioning correctly, it detects signals containing position information and calculates these signals to obtain the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle. When the position sensor malfunctions, it detects the position signal using a method for detecting position signals without a position sensor. This method includes the following steps: S1. Construct 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; 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 estimated rotating coordinate system of the stator or rotor. S3. Obtain the current response signal of the rotor or stator side stationary coordinate system of the matrix motor, denoted as current response signal A; when step S2 is to inject a high-frequency square wave voltage signal into the coordinate axis of the stator estimated rotating coordinate system, obtain the current response signal of the rotor side stationary coordinate system; when step S2 is to inject a high-frequency square wave voltage signal into the coordinate axis of the rotor estimated rotating coordinate system, obtain the current response signal of the stator side stationary coordinate system. S4. Extract the high-frequency current change in the current response signal A; S5. Input the high-frequency current change into the position observer to calculate the stator electrical angle estimate, rotor electrical angle estimate, and rotor mechanical speed estimate. Step S4 includes: From 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, the expressions for the high-frequency components of the stator and rotor side stationary coordinate system current response signals are as follows: Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 High-frequency current of shaft, i βsh1 Indicates that the stator fundamental wave is at rest β s1 High-frequency current of shaft, i αrh Indicates that the rotor fundamental wave is stationary α r High-frequency current of shaft, i βrh Indicates the rotor fundamental wave is at rest β r High-frequency current of the axis; 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 resistance matrix, U inj Let k be the amplitude of the injected high-frequency square wave voltage signal, and L be the discrete period number of the injected high-frequency square wave voltage signal. ds1 Represents the actual d-wave fundamental frequency of the matrix motor stator. s1 The self-inductance of the shaft, L qs1 This represents the actual q of the stator fundamental wave of the matrix motor. s1 The self-inductance of the shaft, L dr The actual d-wavelength of the matrix motor rotor fundamental frequency is represented by... r The self-inductance of the shaft, L qr This represents the actual q of the fundamental frequency of the matrix motor rotor. r The self-inductance of the axis; θ es The actual rotation axis d of the stator fundamental wave s1 With stator fundamental stationary axis α s1 The included angle between them is the actual electrical angle of the stator fundamental wave, M sr θ represents the mutual inductance between the stator and rotor windings of a matrix motor. er The actual rotating axis d of the rotor fundamental wave r With respect to the rotor fundamental stationary axis α r The included angle between them is the actual electrical angle of the rotor fundamental wave; Setting the sub-electric angle estimation error Δθ es And rotor electrical angle estimation error Δθ er If it converges and approaches 0 infinitely, then... θ er The high-frequency component of the rotor-side stationary coordinate system current response signal extracted and separated by the high-frequency filter is represented as follows: Where, θˆ er Estimate the rotation axis dˆ for the rotor fundamental wave r With respect to the rotor fundamental stationary axis α r The included angle between them is the estimated electrical angle of the rotor fundamental wave; The high-frequency component of the rotor-side stationary coordinate system current response signal is discretized using the forward difference method to obtain the high-frequency current change: Where, Δi αrh α within a discrete period r The high-frequency current change of the shaft, Δi βrh β within a discrete period r The high-frequency current change of the shaft, T s For discrete control cycles; Step S5 includes: The high-frequency current changes in the current response signal A include α r The change in current along the shaft and β r The change in high-frequency current of the shaft; α r The high-frequency current change of the shaft is multiplied by k1 when it passes through the envelope extraction module to obtain the intermediate value A; β r High-frequency current change Δi of the shaft βrh When the envelope extraction module is used, the intermediate value B is obtained by multiplying by k1; the intermediate value A and the intermediate value B are processed by the quadrature phase-locked loop to output the intermediate value C; the result of integrating the intermediate value C is the rotor electrical angle estimate; the quadrature 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 rotor mechanical speed. Based on the actual rotor d during matrix motor startup r The absolute mechanical position of the shaft and the actual rotor position d when the motor starts. r The absolute mechanical position of the shaft and the actual d of the stator s1 The electrical angle corresponding to the phase error between the absolute mechanical positions of the shaft is used to compensate for the estimated value of the stator electrical angle.

2. The method for detecting redundancy in position signals 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 constructed matrix motor relative to the estimated high-frequency voltage in the rotating coordinate system includes: S1.1 Establish the fundamental stationary coordinate system, the fundamental actual rotating coordinate system, the fundamental estimated rotating coordinate system, the third harmonic stationary coordinate system, the third harmonic actual rotating coordinate system, and the third harmonic estimated rotating coordinate system of the stator; establish the fundamental stationary coordinate system, the fundamental actual rotating coordinate system, and the fundamental estimated rotating coordinate system of the rotor. S1.

2. Based on the fundamental actual rotating coordinate system of the stator, the third harmonic actual rotating coordinate system of the stator, and the fundamental actual rotating coordinate system of the rotor, establish a mathematical model of the matrix motor in the 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: the voltage drop across the resistor and the rotating voltage term relative to the high-frequency current derivative 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. 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 by the 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. The transformation matrix includes the transformation matrix from the actual rotating coordinate system to the stationary coordinate system and the transformation matrix from the estimated rotating coordinate system to the actual rotating coordinate system. S1.6 Simplify 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.

3. The method for detecting redundancy in position signals 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 estimated high-frequency voltage in the rotating coordinate system, constructed in step S1, is as follows: Among them, i αsh1 Indicates that the stator fundamental wave is stationary α s1 High-frequency current of shaft, i βsh1 Indicates that the stator fundamental wave is at rest β s1 High-frequency current of shaft, i αrh Indicates that the rotor fundamental wave is stationary α r High-frequency current of shaft, i βrh Indicates the rotor fundamental wave is at rest β r High-frequency current of axis, 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 resistance matrix, uˆ dsh1 The stator fundamental frequency estimation dˆ s1 Shaft high-frequency voltage, uˆ qsh1 The stator fundamental frequency estimation qˆ s1 Shaft high-frequency voltage, uˆ drh Indicates the rotor fundamental frequency estimation dˆ r Shaft high-frequency voltage, uˆ qrh The rotor fundamental wave estimation axis qˆ r High frequency voltage.

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

5. An aircraft matrix motor position signal redundancy detection system, used to implement the method of claim 1, characterized in that, include: Position sensors are used to detect signals containing position information and to calculate the rotor mechanical angular velocity, stator electrical angle, and rotor electrical angle based on the position information signals. The speed loop regulator takes the error between the given mechanical speed and the estimated mechanical speed as input and outputs the overall reference current. A current distributor whose input is the overall reference current and whose output is the stator estimate qˆ s1 Shaft reference current and rotor estimation qˆ r Shaft reference current; The stator current loop regulator, whose input is the stator estimate dˆ s1 Shaft current error and stator estimation qˆ s1 Shaft current error, output as stator estimate dˆ s1 Shaft given reference voltage and stator estimate qˆ s1 Shaft reference voltage; The rotor current loop regulator takes the rotor estimate dˆ as its input. r Shaft current error and rotor estimation qˆ r Shaft current error, output as rotor estimate dˆ r Shaft given reference voltage and rotor estimate qˆ r Shaft reference voltage; A square wave generator is used to inject square wave signals into the rotor or stator. The stator inverse Park transform module takes the estimated dˆ as its input. s1 Axis and estimated qˆ s1 Given the reference voltage of the shaft and the estimated stator electrical angle, the output is α. s1 Shaft reference voltage and β s1 Shaft reference voltage; The rotor inverse Park transform module takes the estimated dˆ as its input. r Axis and estimated qˆ r Given the shaft's reference voltage and the estimated rotor electrical angle, the output is α. r Shaft reference voltage and β r Shaft reference voltage; The five-phase SVPWM module has the input α. s1 axis and β s1 The axis reference voltage outputs five sets of modulated signals. The three-phase SVPWM module has the input α. r axis and β r The axis reference voltage outputs three sets of modulated signals. A five-phase full-bridge inverter is used to control the switching on and off of power devices in the bridge arms of the five-phase full-bridge inverter based on the five sets of modulation signals, so as to control the voltage of the stator winding of the matrix motor. A three-phase full-bridge inverter is used to control the switching on and off of power devices in the arm of a five-phase full-bridge inverter based on the three sets of modulation signals, so as to control the voltage of the rotor winding of a matrix motor. Stator current sampling module, used to collect five-phase stator current; The rotor current sampling module is used to collect the three-phase rotor current. The stator Clarke transformation module is used to transform the stator five-phase current from the five-phase coordinate system to the stator's fundamental stationary coordinate system and third harmonic stationary coordinate system. The rotor Clarke transformation module is used to transform the rotor three-phase current from the three-phase coordinate system to the rotor's fundamental stationary coordinate system; The stator Park transformation module is used to convert the stator's fundamental stationary coordinate system current and third harmonic stationary coordinate system current into the fundamental estimated rotating coordinate system current and the third harmonic estimated rotating coordinate system current. The rotor Park transformation module is used to convert the rotor's fundamental stationary coordinate system current into the fundamental estimated rotating coordinate system current; A high-frequency filter is used to extract the high-frequency signal component from the rotor fundamental stationary coordinate system current response signal; A forward differential is used to separate discrete periodic high-frequency current variations in the rotor's fundamental stationary coordinate system current response signal. A position observer is used to calculate the stator electrical angle estimate, rotor electrical angle estimate, and rotor mechanical speed estimate based on the high-frequency current change.

6. The position signal redundancy detection system for an aircraft matrix motor according to claim 5, characterized in that, The position observer includes an envelope extraction module, an orthogonal phase-locked loop, an integration module, a pole pair transformation module, and a stator and rotor electrical angle phase error compensation module. The envelope extraction module is used to extract the envelope containing angular phase information in the high-frequency current change. The input terminal of the quadrature phase-locked loop is connected to the output terminal of the envelope extraction module, and is used to obtain the intermediate value C based on the high-frequency current change after extracting the envelope; The integration module is used to integrate the intermediate value C to obtain the rotor electrical angle estimate. The input of the pole pair transformation module is connected to the output of the quadrature phase-locked loop, and is used to divide the intermediate value C by the number of rotor pole pairs to obtain the estimated value of rotor mechanical speed. The stator and rotor electrical angle phase error compensation module is used to compensate for the actual rotor angle during matrix motor startup. r The absolute mechanical position of the shaft, and the actual rotor position at startup. r The absolute mechanical position of the shaft and the actual d of the stator s1 The electrical angle corresponding to the phase error between the absolute mechanical positions of the shaft is used to compensate for the estimated value of the stator electrical angle.

7. The position signal redundancy detection system for an aircraft matrix motor according to claim 6, 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; The input of the first multiplier is connected to the output of the envelope extraction module and the output of the sine module, and the input of the sine module is connected to the output of the integration module. The input of the second multiplier is connected to the output of the envelope extraction module and the output of the cosine module, and the input of the cosine module is connected to the output of the integration module. The output of the first multiplier is subtracted from the output of the second multiplier and then connected to the input of the PI module. The output of the PI module is connected to the input of the integrator module.

8. The position signal redundancy detection system for an aircraft matrix motor according to claim 6, characterized in that, The stator and rotor electrical angle phase error compensation module has a built-in phase error compensation table, which is as follows: 。

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