Fault-tolerant control method for single-phase open-circuit fault of five-phase hybrid stepping motor

Abstract

The invention provides a fault-tolerant control method for a single-phase open-circuit fault of a five-phase hybrid stepping motor, and relates to the technical field of motor control. Converting a five-phase voltage component of the five-phase hybrid stepping motor into a coordinate system, calculating a relation matrix between the five-phase voltage component under the coordinate system and the conduction state of each phase of bridge arm of the inverter based on the constructed relation matrix, and obtaining the amplitude and phase angle of a basic space voltage vector; determining the number of sectors in the coordinate system, selecting basic space voltage vectors in each sector, and integrating the basic space voltage vectors into reference voltage vectors; the action time of each basic space voltage vector in the reference voltage vector is obtained to divide the action range of each sector so as to determine the conduction state of a normal four-phase winding in each sector, the five-phase hybrid stepping motor is controlled according to the conduction state, the action time and direction of the voltage vector are dynamically adjusted, and the control of the five-phase hybrid stepping motor is realized. And the fluctuation of the rotating speed during a single-phase open-circuit fault is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a fault-tolerant control method for a single-phase circuit breaker fault of a five-phase hybrid stepping motor. Background Art

[0002] A five-phase hybrid stepper motor is a high-precision motor that combines the characteristics of permanent magnet and reactive stepper motors, featuring five independent drive windings. Compared to two-phase and three-phase hybrid stepper motors, five-phase hybrid stepper motors offer advantages such as a small step angle, high positioning accuracy, high torque, and wide operational tolerance. They are widely used in low-speed, high-precision applications. Five-phase hybrid stepper motors require a dedicated five-phase hybrid stepper motor controller to operate in conjunction with them. This controller is the core electronic device specifically designed to drive and control the motor. It precisely controls the current timing and amplitude of the five-phase windings to achieve high-resolution stepping, smooth operation, and precise positioning. Therefore, improving the control methods of the five-phase hybrid stepper motor controller can further enhance the control performance of the five-phase hybrid stepper motor.

[0003] During the operation of the five-phase hybrid stepper motor, single-phase circuit breaker fault is a common fault type. The structural diagram of the five-phase hybrid stepper motor when the single-phase circuit breaker fault occurs is as follows: Figure 1 As shown in the figure, a single-phase open circuit fault occurs when one of the five independent winding phases of a motor fails to receive power due to a disconnected circuit, poor contact, or a driver failure, resulting in an imbalanced magnetic field and abnormal operation. Specifically, when a five-phase hybrid stepper motor experiences a single-phase open circuit fault, if the control method remains unchanged, a healthy current will flow through the remaining four healthy phases, generating an elliptical magnetic field in the air gap. This magnetic field generates significant torque ripple between the rotor's permanent magnets, causing unstable motor operation and loud operating noise.

[0004] In order to solve the problem of large torque pulsation generated by a five-phase hybrid stepping motor when a single-phase fault occurs, the prior art proposes a low-torque pulsation five-phase hybrid stepping motor one-phase missing micro-step control method. First, the current values ​​of the remaining four phases that are normally operating after the phase is missing are measured, and the natural coordinate coefficient mathematical model of the remaining four phases that are normally operating is projected onto the electromechanical energy conversion matrix using the Clarke coordinate transformation matrix. 、 In the rectangular coordinate system and the z1z4 zero-sequence coordinate system; define the virtual stator current and virtual stator flux, and derive the symmetrical mathematical model based on these virtual variables; based on the virtual variables and their symmetrical mathematical model, construct 、 Closed-loop microstepping of the actual current using the axis virtual stator current and the z1 zero-sequence virtual current ultimately enables microstepping of a five-phase hybrid stepper motor with one phase missing, significantly reducing torque ripple after the loss of one phase and improving the reliability of the five-phase hybrid stepper motor's drive operation. However, the reliance on a PI controller to convert current and calculate the duty cycle from the output voltage signal results in high computational complexity. Furthermore, microstepping relies on a fixed number of subdivision steps and current waveforms, making it difficult to respond to sudden faults or load changes in real time, resulting in poor dynamic response capabilities. Furthermore, the current waveform of microstepping control is typically generated by a stepped subdivision signal, which has poor suppression of higher-order harmonics, leading to motor heating and vibration. Summary of the Invention

[0005] In order to solve the problem of speed fluctuation caused by single-phase circuit breaker fault in the existing five-phase hybrid stepping motor, the present invention proposes a fault-tolerant control method based on single-phase circuit breaker fault of the five-phase hybrid stepping motor, which converts the voltage component of the five-phase hybrid stepping motor into In the coordinate system, the calculation complexity is reduced; by controlling the conduction time of each phase winding and dynamically adjusting the action time and direction of the voltage vector, the speed fluctuation of the five-phase hybrid stepping motor during a single-phase circuit breaker fault is reduced, and the dynamic response capability is improved.

[0006] In order to achieve the above technical effects, the technical solutions of the present invention are as follows: The present invention provides a fault-tolerant control method for a single-phase circuit breaker fault in a five-phase hybrid stepping motor, wherein the five-phase hybrid stepping motor is connected to a five-phase bridge arm of an inverter, comprising the following steps: S1. Construct the coordinate transformation matrix of the five-phase hybrid stepper motor under the single-phase circuit breaker fault, and convert the five-phase voltage components of the five-phase hybrid stepper motor into In the coordinate system; S2. Construct the relationship matrix between the phase voltage of the normal four-phase winding and the conduction state of the power devices of each phase bridge arm of the inverter under the single-phase circuit breaker fault of the five-phase hybrid stepper motor, and combine it with the coordinate transformation matrix to obtain The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter; S3. Utilization The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter is used to calculate the amplitude and phase angle of the basic space voltage vector; S4. Confirm The number of sectors in the coordinate system is calculated using the three-vector synthesis method. Three adjacent basic space voltage vectors are selected in each sector of the coordinate system and integrated into a reference voltage vector; S5. Obtain the action time of each basic space voltage vector in the reference voltage vector, based on the action time, The effective range of each sector is divided in the coordinate system, and the conduction state of the normal four-phase winding in each sector under a single-phase circuit breaker fault of the five-phase hybrid stepper motor is determined. The five-phase hybrid stepper motor is controlled according to the conduction state.

[0007] In this technical solution, the five-phase voltage components of the five-phase hybrid stepping motor are converted to In the coordinate system, based on the constructed relationship matrix, calculate The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter is obtained to obtain the amplitude and phase angle of the basic space voltage vector; then determine The number of sectors in the coordinate system is determined by selecting basic space voltage vectors in each sector and integrating them into a reference voltage vector. The action time of each basic space voltage vector in the reference voltage vector is obtained to divide the action range of each sector, so as to determine the conduction state of the normal four-phase winding in each sector. The five-phase hybrid stepping motor is controlled according to the conduction state, and the action time and direction of the voltage vector are dynamically adjusted to reduce the fluctuation of the speed during a single-phase circuit breaker fault.

[0008] Preferably, the coordinate transformation in S1 is Clarke coordinate transformation.

[0009] Preferably, the Clarke coordinate transformation matrix of the five-phase hybrid stepping motor constructed in step S1 under a single-phase circuit breaker fault is The expression is:

[0010] in, Indicates the spatial electrical angle difference between the axes of two adjacent phase windings.

[0011] Preferably, the expression of the relationship matrix between the phase voltages of the normal four-phase windings and the conduction states of the power devices of each phase bridge arm of the inverter under the single-phase circuit breaker fault of the five-phase hybrid stepping motor in step S2 is:

[0012] Among them, the five-phase windings of the five-phase hybrid stepper motor are A-phase winding, B-phase winding, C-phase winding, D-phase winding and E-phase winding. If phase A fails, Indicates the normal phase voltage of the four-phase windings B~E, Indicates the DC bus voltage, Indicates the conduction state of the power devices of the four-phase bridge arm B~E, Indicates that the power device of the C-phase bridge arm is disconnected. Indicates that the power device of the C-phase bridge arm is turned on. It represents the electromotive force of phase A winding.

[0013] Preferably, the Clarke coordinate transformation matrix is ​​combined to obtain The relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is as follows: The relationship matrix between the phase voltage of the normal four-phase winding under the single-phase circuit breaker fault of the five-phase hybrid stepper motor and the conduction state of the power devices of each phase bridge arm of the inverter is multiplied by the Clarke coordinate transformation matrix on the left. ,get The relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is expressed as:

[0014] in, Indicates voltage at The component on the axis, Indicates voltage at The component on the axis, represents the y-axis component of the voltage, Represents the zero-sequence component of voltage.

[0015] Preferably, the calculation is After the relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is obtained, it also includes the use of feedforward compensation to eliminate the influence of the electromotive force of the phase A winding.

[0016] Preferably, after using feedforward compensation to eliminate the influence of the electromotive force of phase A winding, The expression of the relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is: .

[0017] Preferably, the basic space voltage vector is calculated Amplitude and phase angle The expression is:

[0018]

[0019] in, Indicates voltage at The component on the axis, Indicates voltage at Components on the axis; The basic space voltage vector middle, The expression is:

[0020] in, xIndicates the serial number of the basic space voltage vector, which is a decimal number and is equal to the voltage vector of each phase winding. The binary number corresponding to the conduction state .

[0021] Preferably, the number of sectors is M, and three adjacent basic space voltage vectors are selected in each sector and integrated into a reference voltage vector, which is expressed as:

[0022] in, Indicates the scope of action of the sector where the reference voltage vector is located; , , Respectively represent the amplitudes of three adjacent basic space voltage vectors that constitute the reference voltage vector; , , Respectively represent the phase angles of three adjacent basic space voltage vectors that constitute the reference voltage vector; , , Respectively represent the action time of the three adjacent basic space voltage vectors that make up the reference voltage vector, is the reference voltage vector exist The component on the axis, is the reference voltage vector exist Components on the axis; The reference voltage vector include Components on the axis and Component on the axis , the expression is:

[0023] in, is the magnitude of the reference voltage vector, is the phase angle of the reference voltage vector.

[0024] Preferably, the process of determining the conduction state of the normal four-phase winding in each sector of the five-phase hybrid stepping motor under a single-phase circuit breaker fault is as follows: Get the action time of three adjacent basic space voltage vectors in the reference voltage vector 、 、 , calculate the action time of three adjacent basic space voltage vectors 、 、 Reference voltage vector phase angle greater than 0 , as the scope of action of the sector where the reference voltage vector is located; Based on the action range of the sector where the reference voltage vector is located, the action time of the three adjacent basic space voltage vectors in each sector is determined 、 、 ; The action time of the three adjacent basic space voltage vectors in each sector is 、 、 In the basic space voltage vector 、 、 , determine the normal four-phase winding conduction state; Among them, in the basic space voltage vector Action time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is:

[0025] In the basic space voltage vector Action time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is:

[0026] In the basic space voltage vector Action time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is: .

[0027] Compared with the prior art, the beneficial effects of the technical solution of the present invention are: The present invention proposes a fault-tolerant control method for a single-phase circuit breaker fault of a five-phase hybrid stepping motor, which converts the five-phase voltage components of the five-phase hybrid stepping motor into In the coordinate system, based on the constructed relationship matrix, calculate The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter is obtained to obtain the amplitude and phase angle of the basic space voltage vector, which reduces the calculation complexity; then determine The number of sectors in the coordinate system is determined. The basic space voltage vector is selected in each sector and integrated into a reference voltage vector. The action time of each basic space voltage vector in the reference voltage vector is obtained. The voltage component of the y-axis is ignored during the calculation to avoid introducing higher harmonics and enhance the ability to suppress higher harmonics. The action range of each sector is divided to determine the conduction state of the normal four-phase winding in each sector. The five-phase hybrid stepping motor is controlled according to the conduction state, and the action time and direction of the voltage vector are dynamically adjusted to reduce the fluctuation of the speed during a single-phase circuit breaker fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram showing the structure of the five-phase hybrid stepping motor proposed by the present invention when a single-phase circuit breaker fault occurs; Figure 2 A schematic flow chart showing a fault-tolerant control method for a single-phase circuit breaker fault in a five-phase hybrid stepping motor proposed by the present invention; Figure 3 Indicates that the basic space voltage vectors proposed by the present invention are Schematic diagram of distribution in the coordinate system; Figure 4 A schematic diagram showing the distribution of each basic space voltage vector proposed in the present invention on the y-axis; Figure 5 A time diagram showing the switching states of each sector proposed by the present invention; Figure 6 The NFV-SVPWM phase current waveform diagram under normal operating conditions proposed by the present invention is shown; Figure 7 The NFV-SVPWM phase current waveform diagram under a single-phase circuit breaker fault proposed by the present invention is shown; Figure 8 The figure shows the NFV-SVPWM speed waveform under normal operating conditions proposed by the present invention; Figure 9 The NFV-SVPWM speed waveform diagram under a single-phase circuit breaker fault proposed by the present invention is shown; Figure 10 A diagram showing the phase current waveform of the fault-tolerant operation under a single-phase circuit breaker fault proposed by the present invention; Figure 11 It shows the speed waveform under the single-phase circuit breaker fault proposed by the present invention. DETAILED DESCRIPTION

[0029] The accompanying drawings are for illustrative purposes only and are not to be construed as limiting the present application; In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the actual size; It is understandable to those skilled in the art that descriptions of certain well-known contents may be omitted in the drawings.

[0030] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0031] The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting the present application. Example 1 This embodiment proposes a fault-tolerant control method for a five-phase hybrid stepping motor with a single-phase circuit breaker fault. The flow chart is shown in FIG. Figure 2 As shown, the following steps are included: S1. Construct the coordinate transformation matrix of the five-phase hybrid stepper motor under the single-phase circuit breaker fault, and convert the five-phase voltage components of the five-phase hybrid stepper motor into In the coordinate system; S2. Construct the relationship matrix between the phase voltage of the normal four-phase winding and the conduction state of the power devices of each phase bridge arm of the inverter under the single-phase circuit breaker fault of the five-phase hybrid stepper motor, and combine it with the coordinate transformation matrix to obtain The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter; S3. Utilization The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter is used to calculate the amplitude and phase angle of the basic space voltage vector; S4. Confirm The number of sectors in the coordinate system is calculated using the three-vector synthesis method. Three adjacent basic space voltage vectors are selected in each sector of the coordinate system and integrated into a reference voltage vector; S5. Obtain the action time of each basic space voltage vector in the reference voltage vector, based on the action time, The effective range of each sector is divided in the coordinate system, and the conduction state of the normal four-phase winding in each sector under a single-phase circuit breaker fault of the five-phase hybrid stepper motor is determined. The five-phase hybrid stepper motor is controlled according to the conduction state.

[0032] In this embodiment, the five-phase voltage components of the five-phase hybrid stepping motor are converted to In the coordinate system, based on the constructed relationship matrix, calculate The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter is obtained to obtain the amplitude and phase angle of the basic space voltage vector; then determine The number of sectors in the coordinate system is determined by selecting basic space voltage vectors in each sector and integrating them into a reference voltage vector. The action time of each basic space voltage vector in the reference voltage vector is obtained to divide the action range of each sector, so as to determine the conduction state of the normal four-phase winding in each sector. The five-phase hybrid stepping motor is controlled according to the conduction state, and the action time and direction of the voltage vector are dynamically adjusted to reduce the fluctuation of the speed during a single-phase circuit breaker fault.

[0033] Example 2 In this embodiment, the coordinate transformation is the Clarke coordinate transformation; In this embodiment, the Clarke coordinate transformation matrix of the five-phase hybrid stepping motor under single-phase circuit breaker fault is constructed as follows: The expression is: (1) in, Indicates the spatial electrical angle difference between the axes of two adjacent phase windings.

[0034] In this embodiment, the relationship matrix between the phase voltages of the normal four-phase windings and the conduction states of the power devices of each phase bridge arm of the inverter under a single-phase circuit breaker fault of the five-phase hybrid stepping motor is expressed as follows: (2) Among them, the five-phase windings of the five-phase hybrid stepper motor are A-phase winding, B-phase winding, C-phase winding, D-phase winding and E-phase winding. If phase A fails, Indicates the normal phase voltage of the four-phase windings B~E, Indicates the DC bus voltage, Indicates the conduction state of the power devices of the four-phase bridge arm B~E, Indicates that the power device of the C-phase bridge arm is disconnected. Indicates that the power device of the C-phase bridge arm is turned on. It represents the electromotive force of phase A winding.

[0035] Specifically, after a single-phase fault occurs in a five-phase hybrid stepper motor, the relationship between the phase voltage of the motor's normal four-phase winding and the conduction state of the power devices in each phase arm of the inverter is expressed as follows: (3) in, It is the voltage between the neutral point N and the negative pole of the inverter DC power supply, and its expression is: (4) Among them, based on the expression: , The expression is converted to: (5) Based on the above expression, the relationship between the phase voltage of the normal four-phase winding of the motor and the conduction state of the power devices of each phase bridge arm of the inverter is converted to: (6) In this embodiment, the Clarke coordinate transformation matrix is ​​combined to obtain The relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is as follows: The relationship matrix between the phase voltage of the normal four-phase winding under the single-phase circuit breaker fault of the five-phase hybrid stepper motor and the conduction state of the power devices of each phase bridge arm of the inverter is multiplied by the Clarke coordinate transformation matrix on the left. ,get The relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is expressed as: (7) in, Indicates voltage at The component on the axis, Indicates voltage at The component on the axis, represents the y-axis component of the voltage, Represents the zero-sequence component of voltage.

[0036] Specifically, multiplying Equation (6) by Equation (1) on the left yields Equation (7).

[0037] In this embodiment, after using feedforward compensation to eliminate the influence of the A-phase winding electromotive force, The expression of the relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is: . (8) In this embodiment, the basic space voltage vector is calculated Amplitude and phase angle The expression is:

[0038]

[0039] in, Indicates voltage at The component on the axis, Indicates voltage at Components on the axis; The basic space voltage vector middle, The expression is:

[0040] in, x Indicates the serial number of the basic space voltage vector, which is a decimal number and is equal to the voltage vector of each phase winding. The binary number corresponding to the conduction state .

[0041] Specifically, if ,but , , ,in, , , , the amplitude and phase angle of other basic space voltage vectors, the amplitude and polarity of the basic space voltage vector on the y-axis are shown in Table 1: Table 1

[0042] Specifically, each basic space voltage vector is The distribution diagram in the coordinate system is as follows Figure 3 As shown, the distribution diagram of each basic space voltage vector in the y-axis is as follows Figure 4 shown.

[0043] In this embodiment, the number of sectors is M=10. Three adjacent basic space voltage vectors are selected in each sector and integrated into a reference voltage vector. The expression is:

[0044] in, Indicates the scope of action of the sector where the reference voltage vector is located; , , Respectively represent the amplitudes of three adjacent basic space voltage vectors that constitute the reference voltage vector; , , Respectively represent the phase angles of three adjacent basic space voltage vectors that constitute the reference voltage vector; , , Respectively represent the action time of the three adjacent basic space voltage vectors that make up the reference voltage vector, is the reference voltage vector exist The component on the axis, is the reference voltage vector exist Components on the axis; The reference voltage vector include Component on the axis and Component on the axis , the expression is:

[0045] in, is the magnitude of the reference voltage vector, is the phase angle of the reference voltage vector.

[0046] Specifically, the calculation expression of the amplitude of the basic space voltage vector on the y-axis is:

[0047] The calculation expression of the phase angle of the basic space voltage vector on the y-axis is:

[0048] Specifically, in the first sector, select 、 、 The reference voltage vector in the first sector is composed of axis, The component expressions on the a-axis and y-axis are:

[0049] in, is the action time of the reference voltage vector, 、 、 They are the basic space voltage vectors 、 、 The action time, 、 、 The reference voltage vector is axis, The components on the axis and the y axis, 、 They are the basic space voltage vectors 、 The component on the y-axis; Based on the reference voltage vector axis, The component expressions on the axis and y axis are as follows: 、 、 The action time is expressed as:

[0050] neglect To avoid the introduction of high-order harmonics and enhance the ability to suppress high-order harmonics, 、 、 The expression is:

[0051] In this embodiment, the process of determining the conduction state of the normal four-phase winding in each sector of the five-phase hybrid stepping motor under a single-phase circuit breaker fault is as follows: Get the action time of three adjacent basic space voltage vectors in the reference voltage vector 、 、

[0052] , calculate the action time of three adjacent basic space voltage vectors 、 、 Reference voltage vector phase angle greater than 0 , as the scope of action of the sector where the reference voltage vector is located; Based on the action range of the sector where the reference voltage vector is located, the action time of the three adjacent basic space voltage vectors in each sector is determined 、 、 ; The action time of the three adjacent basic space voltage vectors in each sector is 、 、 In the basic space voltage vector 、 、 , determine the normal four-phase winding conduction state; Among them, in the basic space voltage vector Effect time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is:

[0053] In the basic space voltage vector Effect time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is:

[0054] In the basic space voltage vector Effect time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is: .

[0055] Specifically, in order to 、 、 Non-negative, the expression is:

[0056] It can be calculated only when hour, 、 、 is non-negative, so the range of the first sector is , the remaining sectors are calculated according to the above calculation method. The sector division range and the basic space voltage vector selected for each sector are shown in Table 2: Table 2

[0057] The action time of the basic space voltage vector selected by the reference voltage vector of each sector is shown in Table 3: Table 3

[0058] Specifically, the switching sequence of each sector is shown in Table 4, and the switching state time diagram of each sector is shown in Figure 5 As shown: Table 4

[0059] Example 3 In this embodiment, given a five-phase hybrid stepper motor speed of 1 rad / s, the NFV-SVPWM phase current waveforms under normal operating conditions and single-phase circuit breaker fault are compared. The NFV-SVPWM phase current waveform under normal operating conditions is as follows: Figure 6 As shown, the NFV-SVPWM phase current waveform under single-phase circuit breaker fault is as follows: Figure 7 shown.

[0060] In this embodiment, given a five-phase hybrid stepper motor speed of 1 rad / s, the NFV-SVPWM speed waveforms under normal operating conditions and single-phase circuit breaker fault are compared. The NFV-SVPWM speed waveform under normal operating conditions is as follows: Figure 8 As shown, the NFV-SVPWM speed waveform under single-phase circuit breaker fault is as follows: Figure 9 shown.

[0061] In this embodiment, the speed of the five-phase hybrid stepping motor is given by 1 rad / s, and the fault-tolerant operation phase current waveform and the speed waveform under a single-phase circuit breaker fault are used as a control group to reflect the effect of the method proposed by the present invention. The fault-tolerant operation phase current waveform under a single-phase circuit breaker fault is as follows: Figure 10 As shown, the speed waveform under single-phase circuit breaker fault is as follows Figure 11 shown.

[0062] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A fault-tolerant control method for a single-phase circuit breaker fault in a five-phase hybrid stepping motor, wherein the five-phase hybrid stepping motor is connected to a five-phase bridge arm of an inverter, characterized in that: The following steps are involved: S1. Construct the coordinate transformation matrix of the five-phase hybrid stepper motor under the single-phase circuit breaker fault, and convert the five-phase voltage components of the five-phase hybrid stepper motor into In the coordinate system; S2. Construct the relationship matrix between the phase voltage of the normal four-phase winding and the conduction state of the power devices of each phase bridge arm of the inverter under the single-phase circuit breaker fault of the five-phase hybrid stepper motor, and combine it with the coordinate transformation matrix to obtain The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter; S3. Utilization The relationship matrix between the five-phase voltage components in the coordinate system and the conduction state of each phase bridge arm of the inverter is used to calculate the amplitude and phase angle of the basic space voltage vector; S4. Confirm The number of sectors in the coordinate system is calculated using the three-vector synthesis method. Three adjacent basic space voltage vectors are selected in each sector of the coordinate system and integrated into a reference voltage vector; S5. Obtain the action time of each basic space voltage vector in the reference voltage vector, based on the action time, The effective range of each sector is divided in the coordinate system, and the conduction state of the normal four-phase winding in each sector under a single-phase circuit breaker fault of the five-phase hybrid stepper motor is determined. The five-phase hybrid stepper motor is controlled according to the conduction state.

2. The fault-tolerant control method for a five-phase hybrid stepping motor with a single-phase circuit breaker fault according to claim 1, characterized in that: The coordinate transformation described in S1 is Clarke coordinate transformation.

3. The fault-tolerant control method for a five-phase hybrid stepping motor with a single-phase circuit breaker fault according to claim 1, characterized in that: The Clarke coordinate transformation matrix of the five-phase hybrid stepper motor constructed in step S1 under the single-phase circuit breaker fault The expression is: in, Indicates the spatial electrical angle difference between the axes of two adjacent phase windings.

4. The fault-tolerant control method for a five-phase hybrid stepping motor with a single-phase circuit breaker fault according to claim 1, characterized in that: The expression of the relationship matrix between the phase voltages of the normal four-phase windings and the conduction states of the power devices of each phase bridge arm of the inverter under the single-phase circuit breaker fault of the five-phase hybrid stepping motor in step S2 is: Among them, the five-phase windings of the five-phase hybrid stepper motor are A-phase winding, B-phase winding, C-phase winding, D-phase winding and E-phase winding. If phase A fails, Indicates the normal phase voltage of the four-phase windings B~E, Indicates the DC bus voltage, Indicates the conduction state of the power devices of the four-phase bridge arm B~E, Indicates that the power device of the C-phase bridge arm is disconnected. Indicates that the power device of the C-phase bridge arm is turned on. It represents the electromotive force of phase A winding.

5. The fault-tolerant control method for a five-phase hybrid stepping motor with a single-phase circuit breaker fault according to claim 4, characterized in that: The combined Clarke coordinate transformation matrix gives The relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is as follows: The relationship matrix between the phase voltage of the normal four-phase winding under the single-phase circuit breaker fault of the five-phase hybrid stepper motor and the conduction state of the power devices of each phase bridge arm of the inverter is multiplied by the Clarke coordinate transformation matrix on the left. ,get The relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is expressed as: in, Indicates voltage at The component on the axis, Indicates voltage at The component on the axis, represents the y-axis component of the voltage, Represents the zero-sequence component of voltage.

6. The fault-tolerant control method for a five-phase hybrid stepping motor with a single-phase circuit breaker fault according to claim 5, characterized in that: Calculated After the relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is obtained, it also includes the use of feedforward compensation to eliminate the influence of the electromotive force of the phase A winding.

7. The fault-tolerant control method for a single-phase circuit breaker fault of a five-phase hybrid stepping motor according to claim 6, characterized in that: After using feedforward compensation to eliminate the influence of the A-phase winding electromotive force, The expression of the relationship matrix between the voltage in the coordinate system and the conduction state of each phase bridge arm of the inverter is: 。 8. The fault-tolerant control method for a five-phase hybrid stepping motor with a single-phase circuit breaker fault according to claim 7, characterized in that: Calculate the basic space voltage vector Amplitude and phase angle The expression is: in, Indicates voltage at The component on the axis, Indicates voltage at Components on the axis; The basic space voltage vector middle, The expression is: in, x Indicates the serial number of the basic space voltage vector, which is a decimal number and is equal to the voltage vector of each phase winding. The binary number corresponding to the conduction state .

9. The fault-tolerant control method based on a single-phase circuit breaker fault of a five-phase hybrid stepping motor according to claim 8, characterized in that: The number of sectors is M. In each sector, three adjacent basic space voltage vectors are selected and integrated into a reference voltage vector. The expression is: in, Indicates the scope of action of the sector where the reference voltage vector is located; , , Respectively represent the amplitudes of three adjacent basic space voltage vectors that constitute the reference voltage vector; , , Respectively represent the phase angles of three adjacent basic space voltage vectors that constitute the reference voltage vector; , , Respectively represent the action time of the three adjacent basic space voltage vectors that make up the reference voltage vector, is the reference voltage vector exist The component on the axis, is the reference voltage vector exist Components on the axis; The reference voltage vector include Component on the axis and Component on the axis , the expression is: in, is the magnitude of the reference voltage vector, is the phase angle of the reference voltage vector.

10. The fault-tolerant control method based on a single-phase circuit breaker fault of a five-phase hybrid stepping motor according to claim 9, characterized in that: The process of determining the conduction state of the normal four-phase winding in each sector of the five-phase hybrid stepping motor under a single-phase circuit breaker fault is as follows: Get the action time of three adjacent basic space voltage vectors in the reference voltage vector 、 、 , calculate the action time of three adjacent basic space voltage vectors 、 、 Reference voltage vector phase angle greater than 0 , as the scope of action of the sector where the reference voltage vector is located; Based on the action range of the sector where the reference voltage vector is located, the action time of the three adjacent basic space voltage vectors in each sector is determined 、 、 ; The action time of the three adjacent basic space voltage vectors in each sector is 、 、 In the basic space voltage vector 、 、 , determine the normal four-phase winding conduction state; Among them, in the basic space voltage vector Effect time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is: In the basic space voltage vector Effect time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is: In the basic space voltage vector Effect time In the figure, the binary number is composed of the different conduction states of the power devices of the normal four-phase bridge arm. Equal to the fundamental space voltage vector Decimal serial number , the expression is: 。

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