Time division multiplexing driving control system and control method of double-N-phase matrix motor

Abstract

The invention discloses a time division multiplexing driving control system and method for a double-N-phase matrix motor, and belongs to the technical field of motor driving systems. The control system comprises a control upper computer, a system control module, an N-phase full-bridge inverter, a power device driving module, a stator bidirectional switch group, a rotor bidirectional switch group, a stator current sampling module and a rotor current sampling module. The upper computer is controlled to issue a state instruction and an operation instruction to the system control module, and the system control module executes a vector control algorithm based on the state instruction and the operation instruction and sends a pulse width modulation signal to the power device driving module; the N-phase full-bridge inverter is used for performing time-sharing control on a stator N-phase armature winding and a rotor N-phase armature winding of the double-N-phase matrix motor; and the power device driving module is used for providing gate voltage for the power device of the N-phase full-bridge inverter so as to complete switching-on or switching-off of the power device of the N-phase full-bridge inverter. The overall power-to-weight ratio of the system can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor drive systems, and in particular relates to a time-sharing multiplexing drive control system and a control method for a dual N-phase matrix motor. Background Art

[0002] The present invention belongs to the technical field of motor drive systems, and more specifically, relates to a time-sharing multiplexing drive control system and method for a dual N-phase matrix motor. A matrix motor is a permanent magnet synchronous motor that operates based on the principle of magnetic field modulation. Its typical structure is that armature windings are placed on both the stator and rotor of the motor, and magnets are embedded in the slots of the stator and rotor. Multiple magnetic field modulation effects occur between the multiple magnetic sources inside the matrix motor, generating multiple electromagnetic torque components distributed in a matrix, which are superimposed on the same rotating shaft for output. The matrix motor has multiple sets of armature windings and magnets. Even if some armature windings have short circuit or open circuit faults, or some magnets have demagnetization faults, it can still output electromagnetic torque. Therefore, the matrix motor has certain application potential in the fields of aviation electric propulsion and aviation electric actuation, such as application scenarios such as more electric aircraft and eVTOL. A dual-N-phase matrix motor features N-phase armature windings on both the stator and rotor. When used in aviation propulsion or electric actuation, dual-N-phase matrix motors typically operate in master-slave mode, with the stator armature winding serving as the master and the rotor armature winding as the slave, with the slave winding acting as a redundant backup for the master. During normal operation, the stator armature winding operates in master mode, generating torque. If a short circuit or open circuit occurs in the stator armature winding, power is removed and the rotor armature winding is activated, shifting to slave mode. The motor system continues to output torque normally through the rotor armature winding.

[0003] A dual-N-phase matrix motor has a set of N-phase armature windings on its stator and rotor, respectively. Based on the design principles of conventional matrix motor drive controllers, the drive controller requires two sets of N-phase full-bridge inverters as drive circuits. This increases the overall weight and volume of the motor system, restricting the system's power-to-weight ratio and hindering the maneuverability and flexibility of aircraft. Some existing literature proposes techniques for time-sharing multiplexing motor drive controllers to control multiple motors, such as a time-sharing multiplexing motor controller for multi-electric aircraft (publication number CN112260589A) and a multiplexing structure for a multi-platform motor controller (CN118900056A). Although the time-sharing multiplexing motor drive controller technology can theoretically be used to control the two sets of armature windings of a dual-N-phase matrix motor, the existing technology has certain defects and limitations, making it impossible to directly apply it to the control of dual-N-phase matrix motors or to solve the problem of limited system power-to-weight ratio. First, while some existing motor drive controller time-sharing multiplexing technologies can simultaneously control multiple motors with a single motor driver, in their smallest drive unit, the number of bridge arms in the full-bridge inverter still equals the number of phases of the driven armature windings (e.g., [CN118900056A]). This does not address the problem of reduced system power-to-weight ratio. Second, the multiplexing logic of existing motor drive controller time-sharing multiplexing technologies differs significantly from the multiplexing logic used in the master-slave mode of a dual-N-phase matrix motor system, making them incapable of direct application to dual-N-phase matrix motor systems. Summary of the Invention

[0004] The present invention provides a time-sharing multiplexing drive control system and control method for a dual N-phase matrix motor, which can effectively reduce the weight and volume of the motor system and improve the overall power-to-weight ratio of the system.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a time-sharing multiplexing drive control system for a dual N-phase matrix motor, comprising a control host computer, a system control module, an N-phase full-bridge inverter, a power device drive module, a stator bidirectional switch group, a rotor bidirectional switch group, a stator current sampling module, a rotor current sampling module, and a position and speed signal sampling module;

[0007] The control host computer is used to send status instructions and operation instructions to the system control module, and receive operation information sent by the system control module;

[0008] The system control module executes a vector control algorithm based on the state instruction and the operation instruction, outputs a pulse width modulation signal to the power device drive module; and receives signals sent by the stator current sampling module, the rotor current sampling module, and the position and speed signal sampling module;

[0009] The power device driving module is used to provide a gate voltage to the power devices of the N-phase full-bridge inverter to complete the opening or closing of the power devices of the N-phase full-bridge inverter;

[0010] The N-phase full-bridge inverter is used to supply power to the stator N-phase armature winding or the rotor N-phase armature winding of the dual N-phase matrix motor in a time-sharing manner;

[0011] The N-phase full-bridge inverter is connected to the stator N-phase armature winding of the dual N-phase matrix motor through the stator bidirectional switch group, and is connected to the rotor N-phase armature winding of the dual N-phase matrix motor through the rotor bidirectional switch group.

[0012] Furthermore, the dual N-phase matrix motor is a matrix motor having independent stator N-phase armature windings and independent rotor N-phase armature windings, and the number of phases N is an integer that satisfies the principle of multiple magnetic field modulation.

[0013] Furthermore, the N-phase full-bridge inverter includes N power bridge arms, each power bridge arm includes an upper power tube and a lower power tube, the collector of the upper power tube is connected to the positive pole of the DC bus; the emitter of the upper power tube and the collector of the lower power tube of the power bridge arm are connected together through a wiring harness, and the connection point is the midpoint of the bridge arm. The N-phase full-bridge inverter has a total of N bridge arm midpoints; the emitter of the lower power tube of the power bridge arm is connected to the negative pole of the DC bus.

[0014] Furthermore, the N input ports of the stator bidirectional switch group are respectively connected to the midpoints of the N bridge arms of the N-phase full-bridge inverter, and the N output ports of the stator bidirectional switch group are respectively connected to the output ends of the N-phase armature windings of the stator of the dual N-phase matrix motor; the N input ports of the rotor bidirectional switch group are respectively connected to the midpoints of the N bridge arms of the N-phase full-bridge inverter, and the N output ports of the rotor bidirectional switch group are respectively connected to the output ends of the N-phase armature windings of the rotor of the dual N-phase matrix motor.

[0015] Furthermore, it also includes a temperature and vibration sensing module, which is used to collect temperature and vibration signals of the dual N-phase matrix motor and send them to the system control module.

[0016] Furthermore, the stator current sampling module is connected to the system control module via a stator current feedback signal contactor, and the rotor current sampling module is connected to the system control module via a rotor current feedback signal contactor.

[0017] In a second aspect, the present invention provides a time-sharing multiplexing drive control method for a dual N-phase matrix motor, based on the above-mentioned time-sharing multiplexing drive control system for a dual N-phase matrix motor.

[0018] When the dual N-phase matrix motor operates normally, the stator vector control algorithm is executed based on the motor operation command, stator current feedback signal, position feedback signal and speed feedback signal to control the switching state of the power devices of each bridge arm in the N-phase full-bridge inverter. The N-phase full-bridge inverter is used to feed power to the N-phase armature winding of the dual N-phase matrix motor stator, so that the dual N-phase matrix motor can output torque normally.

[0019] When a short circuit or open circuit fault occurs in the stator armature winding of the dual N-phase matrix motor, the bidirectional switch group between the stator N-phase armature winding and the N-phase full-bridge inverter is disconnected, and the bidirectional switch group between the rotor N-phase armature winding and the N-phase full-bridge inverter is closed. The rotor vector control algorithm is executed based on the motor operation command, rotor current feedback signal, position feedback signal and speed feedback signal to control the switching state of the power devices in each bridge arm of the N-phase full-bridge inverter. The N-phase full-bridge inverter is used to feed power to the rotor N-phase armature winding of the dual N-phase matrix motor so that the rotor N-phase armature winding continues to output torque normally.

[0020] Further, the following steps are included:

[0021] S1: Control the host computer to send motor operation instructions to the system control module;

[0022] S2: Close the stator bidirectional switch group, the stator current sampling module sends the collected stator current feedback signal to the system control module, and the position and speed signal sampling module sends the motor actual speed feedback value and stator electrical angle to the system control module;

[0023] S3: The system control module executes the stator vector control algorithm based on the motor operation command, stator current feedback signal, position feedback signal, and speed feedback signal to control the switching state of the power devices in each bridge arm of the N-phase full-bridge inverter. It feeds power to the N-phase armature winding of the dual N-phase matrix motor stator through the N-phase full-bridge inverter, so that the dual N-phase matrix motor can output torque normally.

[0024] S4: The system control module reads the stator current feedback signal, position feedback signal and speed feedback signal and feeds them back to the control host computer;

[0025] S5: The control host computer determines whether the motor's operating status is normal based on the received stator current feedback signal, position feedback signal, and speed feedback signal: if normal, jump to S3; otherwise, execute S6;

[0026] S6: Open the stator bidirectional switch group and the stator current feedback signal contactor, and close the rotor bidirectional switch group and the rotor current feedback signal contactor to enable the rotor N-phase armature winding and connect the feedback path between the rotor current feedback signal and the system control module;

[0027] S7: The system control module executes the rotor vector control algorithm based on the motor operation command, rotor current feedback signal, position feedback signal and speed feedback signal, controls the switching state of the power devices of each bridge arm in the N-phase full-bridge inverter, and feeds power to the N-phase armature winding of the dual N-phase matrix motor rotor through the N-phase full-bridge inverter, so that the rotor N-phase armature winding continues to output torque normally.

[0028] Furthermore, in step S1, the operation instruction is a motor reference speed or a motor reference position.

[0029] Furthermore, in the stator vector control algorithm and the rotor vector control algorithm, the control structure is a dual closed-loop control of speed and current or a triple closed-loop control of position, speed and current.

[0030] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0031] The time-sharing multiplexing system and method proposed in the present invention uses a single N-phase full-bridge inverter to time-share control the two N-phase armature windings of a dual-N-phase matrix motor. This system and method can be applied in the field of aerospace electric propulsion. The dual-N-phase matrix motor time-sharing multiplexing system operates in a master-slave mode. Under normal conditions, only the stator N-phase winding is activated. When a short circuit or open circuit fault occurs in the stator N-phase winding, the rotor N-phase winding is activated. The number of bridge arms in the full-bridge inverter of the entire system is only half the number of phases in the dual-N-phase matrix motor armature winding. Compared to a dual-N-phase matrix motor drive controller designed based on conventional principles and equipped with two N-phase full-bridge inverters, the present invention reduces the number of N-phase full-bridge inverters, which is equivalent to reducing the number of bridge arms by half, and thus reducing the number of power devices used by half. Therefore, the present invention can effectively reduce the weight and volume of the dual-N-phase matrix motor system, reduce the overall system cost, and improve the overall power-to-weight ratio of the system, which is conducive to the application of the dual-N-phase matrix motor system in the field of aerospace electric propulsion. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a system structure diagram of a time-sharing multiplexing drive control system for a dual N-phase matrix motor provided by an embodiment of the present invention;

[0033] Figure 2 This is a logic flow chart of a time-division multiplexing drive control method for a dual N-phase matrix motor provided by an embodiment of the present invention;

[0034] Figure 3 This is a structural block diagram of a stator vector control algorithm provided by an embodiment of the present invention;

[0035] Figure 4 This is a structural block diagram of a rotor vector control algorithm provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] This invention proposes a time-sharing multiplexing drive control system and method for a dual-N-phase matrix motor. In this system, the dual-N-phase matrix motor's drive controller is equipped with a single N-phase full-bridge inverter, controlled according to a specific time-sharing multiplexing logic. This allows the drive controller to time-share control of the dual-N-phase matrix motor's stator N-phase armature windings and rotor N-phase armature windings, thereby enabling the dual-N-phase matrix motor to operate in a master-slave mode. This proposed time-sharing multiplexing system and method can effectively reduce the weight and volume of the motor system, improving the overall power-to-weight ratio of the system.

[0041] A first aspect of the present invention is to provide a time-sharing multiplexing drive control system for a dual N-phase matrix motor.

[0042] See also Figure 1, which is a system structure diagram of a time-sharing multiplexing drive control system for a dual N-phase matrix motor provided by an embodiment of the present invention. The time-sharing multiplexing drive control system is composed of the following parts: a control host computer, a system control module, a DC bus, a power supply, an N-phase full-bridge inverter, a power device drive module, a stator bidirectional switch group, a rotor bidirectional switch group, a stator current feedback signal contactor, a rotor current feedback signal contactor, a dual N-phase matrix motor, a stator current sampling module, a rotor current sampling module, a position and speed signal sampling module, and other motor sensor equipment modules such as temperature and vibration.

[0043] The control host computer is used to issue status instructions and operation instructions to the system control module, and monitor the operating status of the system. The status instructions contain information about the mode (master mode, slave mode) and state in which the dual N-phase matrix motor system is operating, adjust the input of the system control module, adjust the overall operating state of the system, and then control other modules of the system; the state includes motor speed, position and current;

[0044] The system control module is used to receive status instructions issued by the control host computer and receive operating information, which includes stator current feedback signals, rotor current feedback signals, position / speed feedback signals, and temperature, vibration and other signals. By integrating the status instructions and various feedback signals, the system control module performs calculations, executes the vector control algorithm, and sends a PWM signal (pulse width modulation signal) to the power device driver module. At the same time, after the system control module collects the above-mentioned feedback signals, it then provides signal feedback to the control host computer so that the control host computer can grasp the operating status of the system;

[0045] The DC bus is used to provide a stable DC voltage to the N-phase full-bridge inverter. In this embodiment, the DC bus is composed of two copper bars, one of which is a positive copper bar and the other is a negative copper bar;

[0046] The power supply is used to provide a stable DC voltage to the DC bus;

[0047] The N-phase full-bridge inverter consists of N power bridge arms, each of which consists of an upper and lower power transistor. In this embodiment, the power transistors are insulated gate bipolar transistors (IGBTs). The collector of the upper power transistor in the power bridge arm is connected to the positive copper busbar of the DC busbar. The emitter of the upper power transistor and the collector of the lower power transistor in the power bridge arm are connected together by a wiring harness. This connection point is the bridge arm midpoint. The N-phase full-bridge inverter has a total of N bridge arm midpoints. The emitter of the lower power transistor in the power bridge arm is connected to the negative copper busbar of the DC busbar. In other embodiments, a metal oxide semiconductor field effect transistor (MOSFET) or a silicon carbide semiconductor power device (SiC) may be used as a power tube. When the MOSFET or SiC is used as the power tube, the drain of the power tube on each power bridge arm is connected to the positive copper bus of the DC bus; the source of the upper power tube and the drain of the lower power tube of the power bridge arm are connected together through a wiring harness, and the connection point is the midpoint of the bridge arm; the source of the lower power tube of the power bridge arm is connected to the negative copper bus of the DC bus;

[0048] In this embodiment, the power device driver module is used to provide a gate voltage to the IGBT of the N-phase full-bridge inverter to complete the opening and closing of the power devices of the N-phase full-bridge inverter. In other embodiments, the power device driver module is used to provide a gate voltage to the MOSFET or SiC of the N-phase full-bridge inverter to complete the opening and closing of the power devices of the N-phase full-bridge inverter;

[0049] The dual-N-phase matrix motor is a matrix motor having N-phase stator armature windings and N-phase rotor armature windings. The number of phases N can be an integer that satisfies the principle of multiple magnetic field modulation. For example, feasible values ​​of N include 3 and 5. The stator and rotor armature windings of the dual-N-phase matrix motor both adopt a Y-type connection. The stator N-phase armature winding has N output terminals, and the rotor N-phase armature winding has N output terminals.

[0050] The stator bidirectional switch group is composed of N first bidirectional switches, which can be AC ​​contactors, relays, or two anti-parallel thyristors. The stator bidirectional switch group has N input ports on the left side and N output ports on the right side. The N input ports are respectively connected to the midpoints of the N bridge arms of the N-phase full-bridge inverter, and the N output ports are respectively connected to the output terminals of the N-phase armature windings of the dual N-phase matrix motor stator.

[0051] The rotor bidirectional switch group is composed of N second bidirectional switches, which can be AC ​​contactors, relays, or two anti-parallel thyristors. The rotor bidirectional switch group has N input ports on the left side and N output ports on the right side. The N input ports are respectively connected to the midpoints of the N bridge arms of the N-phase full-bridge inverter, and the N output ports are respectively connected to the output terminals of the N-phase armature windings of the dual N-phase matrix motor rotor.

[0052] The stator current sampling module is used to collect the stator phase current and feed it back to the system control module in the form of a stator current feedback signal. The stator current sampling module can be a Hall current sensor and its conditioning circuit, or a sampling resistor and its conditioning circuit;

[0053] The stator current feedback signal contactor is a bidirectional switch, which can be an AC contactor, a relay or two reverse-parallel thyristors. The bidirectional switch used by the stator current feedback signal contactor is used to conduct weak current signals, and its current / voltage level is much smaller than the bidirectional switches used by the stator bidirectional switch group and the rotor bidirectional switch group. The input end of the stator current feedback signal contactor is connected to the stator current sampling module, and the output end is connected to the system control module. When the stator current feedback signal contactor is closed, the stator current feedback signal collected by the stator current sampling module can be sent to the system control module;

[0054] The rotor current sampling module is used to collect the rotor phase current and feed it back to the system control module in the form of a rotor current feedback signal. The rotor current sampling module can be a Hall current sensor and its conditioning circuit, or a sampling resistor and its conditioning circuit;

[0055] The rotor current feedback signal contactor is a bidirectional switch, which can be an AC contactor, a relay or two reverse-parallel thyristors. The bidirectional switch used by the rotor current feedback signal contactor is used to conduct weak current signals, and its current / voltage level is much smaller than the bidirectional switches used by the stator bidirectional switch group and the rotor bidirectional switch group. The input end of the rotor current feedback signal contactor is connected to the rotor current sampling module, and the output end is connected to the system control module. When the rotor current feedback signal contactor is closed, the rotor current feedback signal collected by the rotor current sampling module can be sent to the system control module;

[0056] The position and speed signal sampling module is used to collect the angular position and angular velocity of the dual N-phase matrix motor and send them to the system control module in the form of position / speed feedback signals. The position and speed signal sampling module can be any one of a resolver and its decoding circuit, a photoelectric encoder and its decoding circuit, and a magnetic encoder and its decoding circuit.

[0057] The temperature, vibration and other motor sensor modules are used to collect temperature, vibration and other signals of the motor system and send them to the system control module.

[0058] A second aspect of the present invention is to provide a time-division multiplexing drive control method for a dual N-phase matrix motor.

[0059] See also Figure 2 , which is a logic flow chart of a time-sharing multiplexing drive control method for a dual N-phase matrix motor provided by an embodiment of the present invention, comprising the following steps:

[0060] Step S1: Control the host computer to send a motor operation instruction to the system control module.

[0061] The motor operation instruction issued by the control host computer includes the motor reference speed or the motor reference position.

[0062] Step S2: close the stator bidirectional switch group, close the stator current feedback signal contactor, open the rotor bidirectional switch group, and open the rotor current feedback signal contactor.

[0063] In this embodiment, the dual N-phase matrix motor operates in master-slave mode, with the stator armature winding serving as the master winding and the rotor armature winding as the slave winding, with the slave winding serving as a redundant backup for the master winding. During normal operation, the stator armature winding operates in master mode, generating torque. If a short circuit or open circuit occurs in the stator armature winding, its power supply is cut off, and the rotor armature winding is activated, switching to slave mode, allowing the motor system to continue outputting torque normally. When the dual N-phase matrix motor system begins operation, the stator bidirectional switch group is closed, and the N-phase full-bridge inverter feeds power to the stator N-phase armature winding. After the stator current feedback signal contactor is closed, the stator current feedback signal is fed into the system control module, providing the basis for executing the stator vector control algorithm. At this point, the system operates in master mode.

[0064] Step S3: The system control module executes the stator vector control algorithm.

[0065] See also Figure 3 , is a structural block diagram of a stator vector control algorithm provided by an embodiment of the present invention. In the stator vector control algorithm, the motor operation instruction ω issued by the control host computer is m * The reference speed of the motor is the control structure, which uses a dual closed-loop control of speed and current. Applications for this command method and control structure include scenarios such as avionics propulsion. In other embodiments, the motor operation command issued by the host computer can be the reference position of the motor, and the control structure can be a triple closed-loop control of position, speed, and current.

[0066] The motor reference speed ω m * and the actual motor speed feedback value ωm The actual motor speed feedback value ω is input into the first PI controller. m The output of the first PI controller is the stator q-axis reference current i qs * The stator q-axis reference current i qs * The stator q-axis current feedback value i output by the stator Park transformation module qs The result is input into the second PI controller, and the output of the second PI controller is the stator q-axis voltage reference value u qs * In this embodiment, the id=0 control method is adopted, so the stator d-axis reference current i ds * is 0, the stator d-axis reference current i ds * The stator d-axis current feedback value i output by the stator Park transformation module ds The result is input into the third PI controller, and the output of the third PI controller is the stator d-axis voltage reference value u ds * The stator d-axis voltage reference value u ds * and stator q-axis voltage reference value u qs * Input to the stator anti-Park transformation module, the output of the stator anti-Park transformation module is the stator α axis reference voltage u αs * and stator β axis reference voltage u βs * The input of the stator anti-Park transformation module is u ds * and u qs * In addition, there is the stator electrical angle θ obtained by the position and speed signal sampling module es The calculation principle of the stator anti-Park transformation module is:

[0067]

[0068] The stator α-axis reference voltage u αs * and stator β axis reference voltage u βs *Input the N-phase SVPWM (space vector pulse width modulation) module. The N-phase SVPWM module calculates the PWM signal, which controls the switching state of the power devices in each bridge arm of the N-phase full-bridge inverter through the power device driver module, thereby feeding power to the N-phase armature winding of the dual N-phase matrix motor stator, so that the dual N-phase matrix motor can output torque normally. The position and speed signal sampling module collects the actual speed feedback value ω of the motor. m and stator electrical angle θ es The stator current sampling module collects the phase current i of the stator N-phase armature winding. s1 、i s2 ,…,i sN , the phase current i of the stator N-phase armature winding s1 、i s2 ,…,i sN Input stator Clarke transformation module, the stator Clarke transformation module output is the stator α axis current i αs and the stator β-axis current i βs , the calculation principle of the stator Clarke transformation module is:

[0069] Wherein, λ = 2π / N.

[0070] The stator α-axis current i αs and the stator β-axis current i βs Input stator Park transformation module, the input of stator Park transformation module also includes stator electrical angle θ es The output of the stator Park transformation module is the stator q-axis current feedback value i qs and stator d-axis current feedback value i ds The calculation principle of the stator Park transformation module is:

[0071]

[0072] The above is the entire content of the stator vector control algorithm.

[0073] Step S4: The system control module reads the stator current feedback signal and the position / speed feedback signal and feeds them back to the control host computer.

[0074] The specific method of feeding back the stator current feedback signal and the position / speed feedback signal to the control host computer can be through the CAN communication protocol, the SPI communication protocol or the SCI communication protocol.

[0075] Step S5: The host computer is controlled to determine whether the operating state of the motor is normal according to the feedback signal.

[0076] The control host computer determines whether the motor is faulty by integrating and analyzing the feedback signal. If the control host computer determines that the motor is operating normally, the process returns to step S3; if the control host computer determines that the motor is operating abnormally, the process proceeds to step S6.

[0077] Step S6: close the rotor bidirectional switch group, close the rotor current feedback signal contactor, open the stator bidirectional switch group, and open the stator current feedback signal contactor.

[0078] At this time, the stator N-phase armature winding of the dual N-phase matrix motor fails. By disconnecting the stator bidirectional switch group and the stator current feedback signal contactor, the power supply and feedback loop of the stator N-phase armature winding are cut off; by closing the rotor bidirectional switch group and the rotor current feedback signal contactor, the rotor N-phase armature winding is enabled, and the feedback path between the rotor current feedback signal and the system control module is connected. The rotor N-phase armature winding can continue to output torque normally to ensure the normal operation of the motor system. The working state of the dual N-phase matrix motor is switched from master mode to slave mode.

[0079] Step S7: The system control module executes the rotor vector control algorithm.

[0080] See also Figure 4 , is a block diagram of a rotor vector control algorithm provided by an embodiment of the present invention. The structure, steps, and calculation logic of the rotor vector control algorithm are identical to those of the stator vector control algorithm, with the only difference being the naming of the intermediate parameters and modules.

[0081] The motor reference speed ω m * and the actual motor speed feedback value ω m The actual speed feedback value of the motor is ω m The output of the fourth PI controller is the rotor q-axis reference current i qr * The rotor q-axis reference current i qr * The rotor q-axis current feedback value i output by the rotor Park conversion module qr The result is input into the fifth PI controller, and the output of the fifth PI controller is the rotor q-axis voltage reference value u qr * In this embodiment, the id=0 control method is adopted, so the rotor d-axis reference current i dr * is 0, the rotor d-axis reference current i dr *The rotor d-axis current feedback value i output by the rotor Park conversion module dr The result is input into the sixth PI controller, and the output of the sixth PI controller is the rotor d-axis voltage reference value u dr * The rotor d-axis voltage reference value u dr * and the rotor q-axis voltage reference value u qr * The input is sent to the rotor anti-Park conversion module, and the output of the rotor anti-Park conversion module is the rotor α axis reference voltage u αr * and rotor β axis reference voltage u βr * The input of the rotor inverse Park transformation module is u dr * and u qr * In addition, the rotor electrical angle θ is obtained by the position and speed signal sampling module er The calculation principle of the rotor inverse Park transformation module is:

[0082]

[0083] The rotor α axis reference voltage u αr * and rotor β axis reference voltage u βr * Input the N-phase SVPWM (space vector pulse width modulation) module. The N-phase SVPWM module calculates the PWM signal, which controls the switching state of the power devices in each bridge arm of the N-phase full-bridge inverter through the power device driver module, thereby feeding power to the N-phase armature winding of the rotor of the dual N-phase matrix motor, so that the dual N-phase matrix motor can output torque normally. The position and speed signal sampling module collects the actual speed feedback value ω of the motor. m and rotor electrical angle θ er The rotor current sampling module collects the phase current i of the rotor N-phase armature winding. r1 、i r2 ,…,i rN , the phase current i of the rotor N-phase armature winding r1 、i r2 ,…,i rN Input rotor Clarke transformation module, the rotor Clarke transformation module output is the rotor α axis current i αr and the rotor β-axis current i βr , the calculation principle of the rotor Clarke transformation module is:

[0084] Where λ = 2π / N .

[0085] The rotor α-axis current i αr and the rotor β-axis current i βr Input the rotor Park conversion module, the rotor Park conversion module also has the rotor electrical angle θ as input er The output of the rotor Park conversion module is the rotor q-axis current feedback value i qr and the rotor d-axis current feedback value i dr The calculation principle of the rotor Park transformation module is:

[0086]

[0087] The above is the entire content of the rotor vector control algorithm.

[0088] The above are all the steps of the time-sharing multiplexing drive control method of the dual N-phase matrix motor.

[0089] 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.

[0090] 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.

[0091] 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 time-division multiplexing drive control system for a dual N-phase matrix motor, characterized in that: It includes a control host computer, a system control module, an N-phase full-bridge inverter, a power device drive module, a stator bidirectional switch group, a rotor bidirectional switch group, a stator current sampling module, a rotor current sampling module, and a position and speed signal sampling module; The control host computer is used to send status instructions and operation instructions to the system control module, and receive operation information sent by the system control module; The system control module executes a vector control algorithm based on the state instruction and the operation instruction, outputs a pulse width modulation signal to the power device drive module; and receives signals sent by the stator current sampling module, the rotor current sampling module, and the position and speed signal sampling module; The power device driving module is used to provide gate voltage to the power devices of the N-phase full-bridge inverter to complete the opening or closing of the power devices of the N-phase full-bridge inverter; The N-phase full-bridge inverter is used to supply power to the stator N-phase armature winding or the rotor N-phase armature winding of the dual N-phase matrix motor in a time-sharing manner; The N-phase full-bridge inverter is connected to the stator N-phase armature winding of the dual N-phase matrix motor through the stator bidirectional switch group, and is connected to the rotor N-phase armature winding of the dual N-phase matrix motor through the rotor bidirectional switch group.

2. A time-division multiplexing drive control system for a dual N-phase matrix motor according to claim 1, characterized in that: The dual N-phase matrix motor is a matrix motor having independent stator N-phase armature windings and independent rotor N-phase armature windings, and the number of phases N is an integer that satisfies the principle of multiple magnetic field modulation.

3. The time-division multiplexing drive control system of a dual N-phase matrix motor according to claim 1, characterized in that: The N-phase full-bridge inverter includes N power bridge arms, each power bridge arm includes an upper power tube and a lower power tube, the collector of the upper power tube is connected to the positive pole of the DC bus; the emitter of the upper power tube and the collector of the lower power tube of the power bridge arm are connected together through a wiring harness, and the connection point is the midpoint of the bridge arm. The N-phase full-bridge inverter has a total of N bridge arm midpoints; the emitter of the lower power tube of the power bridge arm is connected to the negative pole of the DC bus.

4. A time-division multiplexing drive control system for a dual N-phase matrix motor according to claim 1 or 3, characterized in that: The N input ports of the stator bidirectional switch group are respectively connected to the midpoints of the N bridge arms of the N-phase full-bridge inverter, and the N output ports of the stator bidirectional switch group are respectively connected to the output ends of the N-phase armature windings of the stator of the dual N-phase matrix motor; The N input ports of the rotor bidirectional switch group are respectively connected to the midpoints of the N bridge arms of the N-phase full-bridge inverter, and the N output ports of the rotor bidirectional switch group are respectively connected to the output ends of the N-phase armature windings of the dual N-phase matrix motor rotor.

5. The time-division multiplexing drive control system of a dual N-phase matrix motor according to claim 1, characterized in that: It also includes a temperature and vibration sensing module, which is used to collect temperature and vibration signals of the dual N-phase matrix motor and send them to the system control module.

6. The time-division multiplexing drive control system of a dual N-phase matrix motor according to claim 1, characterized in that: The stator current sampling module is connected to the system control module via a stator current feedback signal contactor, and the rotor current sampling module is connected to the system control module via a rotor current feedback signal contactor.

7. A time-division multiplexing drive control method for a dual N-phase matrix motor, based on a time-division multiplexing drive control system for a dual N-phase matrix motor according to any one of claims 1 to 6, characterized in that: When the dual N-phase matrix motor operates normally, the stator vector control algorithm is executed based on the motor operation command, stator current feedback signal, position feedback signal and speed feedback signal to control the switching state of the power devices of each bridge arm in the N-phase full-bridge inverter. The N-phase full-bridge inverter is used to feed power to the N-phase armature winding of the dual N-phase matrix motor stator, so that the dual N-phase matrix motor can output torque normally. When a short circuit or open circuit fault occurs in the stator armature winding of the dual N-phase matrix motor, the bidirectional switch group between the stator N-phase armature winding and the N-phase full-bridge inverter is disconnected, and the bidirectional switch group between the rotor N-phase armature winding and the N-phase full-bridge inverter is closed. The rotor vector control algorithm is executed based on the motor operation command, rotor current feedback signal, position feedback signal and speed feedback signal to control the switching state of the power devices in each bridge arm of the N-phase full-bridge inverter. The N-phase full-bridge inverter is used to feed power to the rotor N-phase armature winding of the dual N-phase matrix motor so that the rotor N-phase armature winding continues to output torque normally.

8. The time-division multiplexing drive control method of a dual N-phase matrix motor according to claim 7, characterized in that: The following steps are involved: S1: Control the host computer to send motor operation instructions to the system control module; S2: Close the stator bidirectional switch group, the stator current sampling module sends the collected stator current feedback signal to the system control module, and the position and speed signal sampling module sends the motor actual speed feedback value and stator electrical angle to the system control module; S3: The system control module executes the stator vector control algorithm based on the motor operation command, stator current feedback signal, position feedback signal, and speed feedback signal to control the switching state of the power devices in each bridge arm of the N-phase full-bridge inverter. It feeds power to the N-phase armature winding of the dual N-phase matrix motor stator through the N-phase full-bridge inverter, so that the dual N-phase matrix motor can output torque normally. S4: The system control module reads the stator current feedback signal, position feedback signal and speed feedback signal and feeds them back to the control host computer; S5: The control host computer determines whether the motor's operating status is normal based on the received stator current feedback signal, position feedback signal, and speed feedback signal: if normal, jump to S3; otherwise, execute S6; S6: Open the stator bidirectional switch group and the stator current feedback signal contactor, and close the rotor bidirectional switch group and the rotor current feedback signal contactor to enable the rotor N-phase armature winding and connect the feedback path between the rotor current feedback signal and the system control module; S7: The system control module executes the rotor vector control algorithm based on the motor operation command, rotor current feedback signal, position feedback signal and speed feedback signal, controls the switching state of the power devices of each bridge arm in the N-phase full-bridge inverter, and feeds power to the N-phase armature winding of the dual N-phase matrix motor rotor through the N-phase full-bridge inverter, so that the rotor N-phase armature winding continues to output torque normally.

9. The time-division multiplexing drive control method of a dual N-phase matrix motor according to claim 7, characterized in that: In step S1, the operation instruction is a motor reference speed or a motor reference position.

10. A time-division multiplexing drive control method for a dual N-phase matrix motor according to claim 8 or 9, characterized in that: In the stator vector control algorithm and the rotor vector control algorithm, the control structure is a double closed-loop control of speed and current or a triple closed-loop control of position, speed and current.

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