Hybrid excitation motor fault-tolerant control method based on four-leg inverter

Abstract

The invention provides a hybrid excitation motor fault-tolerant control method, device and equipment based on a four-bridge-arm inverter and a storage medium, and the method comprises the steps: responding to a fault of a first bridge arm, disconnecting the first bridge arm, connecting a fourth bridge arm, and obtaining a position angle and dq-axis reference current of a motor rotor; performing Clarke inverse transformation and Park transformation based on the dq-axis reference current to obtain a zero-axis compensation current; generating a target voltage vector based on the dq-axis reference current and the zero-axis compensation current; determining a target sector corresponding to the target voltage vector in a pre-established three-dimensional vector SVPWM space; acquiring a plurality of control vectors based on the target sector; generating duty ratio data of each bridge arm switch tube based on a voltage balance principle in combination with a plurality of control vectors; and controlling each bridge arm switch tube based on the duty ratio data. Through the technical scheme of the invention, fault-tolerant operation after the bridge arm has a fault can be realized.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a fault-tolerant control method, device, equipment and storage medium for a hybrid excitation motor based on a four-bridge inverter. Background Technology

[0002] Hybrid excitation switched flux permanent magnet motors are widely used in industrial transmission, new energy vehicle drive and other fields. In related technologies, a three-phase bridge arm inverter architecture is often used to realize motor control. However, when a single-phase fault occurs in the stator winding or the three-phase bridge arm, the traditional three-phase topology cannot be quickly reconfigured and an emergency shutdown is required, which seriously affects the reliability of the system. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] In a first aspect, this application proposes a fault-tolerant control method for a hybrid excitation motor based on a four-arm inverter. The method includes: in response to a fault in the first arm, disconnecting the first arm and connecting the fourth arm, and acquiring the rotor position angle and dq-axis reference current; performing Clarke inverse transform and Park transform based on the dq-axis reference current to obtain a zero-axis compensation current; generating a target voltage vector based on the dq-axis reference current and the zero-axis compensation current; determining the target sector corresponding to the target voltage vector in a pre-established three-dimensional vector SVPWM space; acquiring multiple control vectors based on the target sector; generating duty cycle data for each arm switch based on the voltage balance principle and the multiple control vectors; and controlling each arm switch based on the duty cycle data.

[0005] In one implementation, the step of performing an inverse Clarke transform and a Park transform based on the dq-axis reference current to obtain a zero-axis compensation current includes: performing a Park transform on the dq-axis reference current to obtain... Shaft current; set the current of the first bridge arm to zero, and based on the... The zero-axis compensation current is obtained by performing an inverse Clarke transformation on the axis current.

[0006] In one implementation, the three-dimensional vector SVPWM space is pre-established through the following steps: determining 16 switch state vectors corresponding to the four bridge arms; obtaining the phase voltage corresponding to each switch state vector; and converting the phase voltage corresponding to each switch state vector into a Clarke transform. , The voltage component along the 0 axis; based on the voltage component corresponding to each of the aforementioned switch state vectors. , The voltage component along the 0 axis, in , Generate spatial vectors corresponding to each of the aforementioned switch states within a three-dimensional space. , The three-dimensional space is divided into multiple sectors by the various spatial vectors.

[0007] In one optional implementation, obtaining multiple control vectors based on the target sector includes: obtaining three non-zero vectors of the target sector boundary; selecting a target zero vector from the zero vectors corresponding to the fourth bridge arm; and using the three non-zero vectors and the target zero vector as the multiple control vectors.

[0008] In one optional implementation, the step of generating duty cycle data for each bridge arm switch based on the voltage balance principle and the multiple control vectors includes: establishing a voltage balance equation based on the voltage balance principle; and decomposing the voltage balance equation into... , The component equations of the 0 axis are obtained; the control vectors are substituted into the component equations to obtain the durations corresponding to each vector in the control vector group; the duty cycle data is obtained based on the durations corresponding to each vector in the control vector group and the switching cycle duration.

[0009] Secondly, this application proposes a fault-tolerant control device for a hybrid excitation motor based on a four-arm inverter. The device includes: a first processing module, configured to disconnect the first arm and connect the fourth arm in response to a fault in the first arm, and acquire the rotor position angle and dq-axis reference current; a second processing module, configured to perform Clarke inverse transform and Park transform based on the dq-axis reference current to obtain a zero-axis compensation current; a third processing module, configured to generate a target voltage vector based on the dq-axis reference current and the zero-axis compensation current; a fourth processing module, configured to determine the target sector corresponding to the target voltage vector in a pre-established three-dimensional vector SVPWM space; a fifth processing module, configured to acquire multiple control vectors based on the target sector; a sixth processing module, configured to generate duty cycle data of each arm switch based on the voltage balance principle and the multiple control vectors; and a seventh processing module, configured to control each arm switch based on the duty cycle data.

[0010] In one implementation, the second processing module is specifically used to: perform a Park transformation on the dq-axis reference current to obtain... Shaft current; set the current of the first bridge arm to zero, and based on the... The zero-axis compensation current is obtained by performing an inverse Clarke transformation on the axis current.

[0011] In one implementation, the device further includes an eighth processing module, configured to pre-establish a three-dimensional vector SVPWM space through the following steps: determining 16 switch state vectors corresponding to the four bridge arms; obtaining the phase voltage corresponding to each switch state vector; and converting the phase voltage corresponding to each switch state vector into a Clarke transform. , The voltage component along the 0 axis; based on the voltage component corresponding to each of the aforementioned switch state vectors. , The voltage component along the 0 axis, in , Generate spatial vectors corresponding to each of the aforementioned switch states within a three-dimensional space. , The three-dimensional space is divided into multiple sectors by the various spatial vectors.

[0012] In an optional implementation, the fifth processing module may be used to: obtain three non-zero vectors of the target sector boundary; select a target zero vector from the zero vectors corresponding to the fourth bridge arm; and use the three non-zero vectors and the target zero vector as the plurality of control vectors.

[0013] In one alternative implementation, the sixth processing module can be used to: establish a voltage balance equation based on the voltage balance principle; and decompose the voltage balance equation into... , The component equations of the 0 axis are obtained; the control vectors are substituted into the component equations to obtain the durations corresponding to each vector in the control vector group; the duty cycle data is obtained based on the durations corresponding to each vector in the control vector group and the switching cycle duration.

[0014] Thirdly, this application proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the fault-tolerant control method for a hybrid excitation motor based on a four-arm inverter as described in the first aspect.

[0015] Fourthly, this application proposes a storage medium storing instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect.

[0016] Fifthly, this application proposes a program product comprising at least one of a program and instructions, wherein when the program and instructions are executed by an electronic device, they implement the steps of the method described in the first aspect.

[0017] The fault-tolerant control method, device, equipment, and storage medium for a hybrid excitation motor based on a four-arm inverter provided in this application can, when a fault occurs in the first arm, first disconnect the faulty arm and connect the fourth arm, while simultaneously acquiring the motor rotor position angle and dq-axis reference current; then, based on the dq-axis reference current, obtain the zero-axis compensation current through Clarke inverse transform and Park transform, combine the two to generate a target voltage vector and determine its target sector in the three-dimensional vector SVPWM space; then, acquire multiple control vectors based on the target sector, calculate the duty cycle data of each arm switch through the voltage balance principle, and finally use the duty cycle data to control each arm switch. This enables fault-tolerant operation after an arm fault.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the equivalent circuit of a hybrid excitation switched flux permanent magnet motor in the dq rotating coordinate system provided in the embodiments of this application; Figure 2 This is a flowchart illustrating a fault-tolerant control method for a hybrid excitation motor based on a four-arm inverter, provided in an embodiment of this application. Figure 3 This is a schematic diagram of a three-dimensional SVPWM space vector provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a HEAFFSPMM fault-tolerant control system provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a hybrid excitation motor fault-tolerant control device based on a four-bridge arm inverter provided in an embodiment of this application; Figure 6 This is a schematic diagram of another fault-tolerant control device for a hybrid excitation motor based on a four-bridge inverter provided in this application embodiment; Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0021] Please see Figure 1 , Figure 1 This is a schematic diagram of the equivalent circuit of a hybrid excitation switched flux permanent magnet motor in the dq rotating coordinate system provided in an embodiment of this application. Figure 1 As shown, the following conditions are assumed: the stator and rotor core reluctance of the HESFPMM (Hybrid Excitation Switched Flux Permanent Magnet Motor) is ignored, and eddy current and hysteresis damage are neglected; the permanent magnet conductivity is zero and the permeability inside the permanent magnet is the same as that of air; the air gap magnetic field is sinusoidal; and the induced electromotive force waveform of the armature winding is sinusoidal during steady-state operation of the HESFPMM. The relationship between the DC excitation voltage and current of the HESFPMM and the armature d-axis voltage and current can be expressed by the mutual inductance between the armature winding and the DC excitation winding. The influence of the DC excitation winding on the d-axis flux linkage of the HESFPMM motor can also be represented by mutual inductance. The influence of the DC excitation winding needs to be considered in the calculation of the d-axis voltage and current. The q-axis equivalent circuit is basically the same as that of a permanent magnet synchronous motor, but due to the influence of the DC excitation winding on the d-axis flux linkage, the calculation of the q-axis current and voltage will also change with the change of the DC excitation winding current.

[0022] Based on the above analysis, under ideal conditions, a linear mathematical model of the HESFPMM motor is established, in which the flux linkage equation and voltage equation can be expressed as Equation (3.1) and Equation (3.2), respectively.

[0023]

[0024]

[0025] The output electromagnetic torque equation of HESFPMM is shown below.

[0026]

[0027] in: These are the voltage, current, and flux linkage of the HESFPMM on the d-axis and q-axis, respectively. These are magnetic fluxes generated by the DC excitation winding and the permanent magnet, respectively. These are the current and voltage flowing through the DC excitation winding, respectively. These are the armature winding resistance and the DC excitation winding resistance, respectively. These are the self-inductance of the DC excitation winding and the mutual inductance between the DC excitation winding and the armature winding, respectively. These are the motor's rotor angular velocity, number of poles, and electromagnetic torque.

[0028] The stator windings carry a three-phase symmetrical current. The motor rotates by the rotating magnetic field driving the rotor. In a synchronous motor, the rotating magnetic field is synchronized with the stator's magnetic field. Assuming the actual inductance of the motor windings is constant, the stator current can be expressed as follows:

[0029] in, , and These are the currents in the stator windings of phases A, B, and C, respectively. For the replication of three-phase current, Let be the angular frequency of the current.

[0030] The generated rotating flux can be represented as follows:

[0031] Introducing zero-axis current in Clarke transform Then the Clarke transform can be expressed as:

[0032] Finding the inverse matrix yields:

[0033] The transformation from rotation to rest (i.e., the Park transformation) can be expressed as:

[0034] Finding the inverse matrix yields:

[0035] Because the fourth bridge arm (i.e., the N-arm) is established in the topology and connected to the neutral point in the fault-tolerant system, it can be utilized in the two-phase motor control system. and Establishing a relationship can be represented as:

[0036] As can be seen from the above formula, it can be controlled And thus control .

[0037] From the inverse matrix of the Clarke transform and the inverse matrix of the Park transform, we can obtain:

[0038] Assuming the A-phase current is zero, and that the torque control of the permanent magnet motor is affected by the A-phase current interruption, the decoupled dq current differs from its normal operating state. Fault-tolerant control needs to ensure that the decoupled current has the same operating characteristics after the interruption as before, therefore it needs to have the same id and iq values ​​as before the fault. Thus, it should use... As compensation, at this time Therefore, it is not equal to zero.

[0039] Substitute into the above formula We can obtain:

[0040] The zero-axis voltage can be expressed as:

[0041] When a circuit fault occurs, as can be deduced above, there are two ways to compensate for the current: using zero-axis current or zero-axis voltage for compensation.

[0042] The following describes, with reference to the accompanying drawings, a fault-tolerant control method and apparatus for a hybrid excitation motor based on a four-arm inverter, according to embodiments of this application.

[0043] It should be noted that the four bridge arms in this embodiment may include three-phase bridge arms A, B, and C, and an N-phase fault-tolerant bridge arm.

[0044] Figure 2 This is a flowchart illustrating a fault-tolerant control method for a hybrid excitation motor based on a four-arm inverter, provided in an embodiment of this application. Figure 2 As shown, the method may include, but is not limited to, the following steps: S201: In response to a fault in the first bridge arm, disconnect the first bridge arm and connect the fourth bridge arm, and obtain the position angle of the motor rotor and the reference current of the dq axis.

[0045] The first bridge arm can be any bridge arm in operation, and the fourth bridge arm can be any N bridge arms.

[0046] For example, in response to the detection of a fault in any of the bridge arms A, B, or C, the switch signal of the faulty bridge arm is cut off to disconnect it, and the switch signal of the fourth bridge arm is turned on to connect it. At the same time, the rotor position angle of the motor is acquired by the photoelectric encoder, and the dq axis reference current stored before the fault is called up.

[0047] S202: Based on the dq axis reference current, perform Clarke inverse transformation and Park transformation to obtain the zero axis compensation current.

[0048] For example, the Park transformation is performed on the dq-axis reference current to obtain... shaft current and The zero-axis compensation current is derived by using the Clarke inverse transform, taking into account the constraint that the fault phase current is zero.

[0049] S203: Generates the target voltage vector based on the dq-axis reference current and the zero-axis compensation current.

[0050] For example, the dq-axis reference current is first converted to... - The target current of the zero axis, together with the zero axis compensation current, constitutes - -0 axis target current; then, according to the HESFPMM voltage equation, - -0 axis target current converted to the corresponding , The target voltage component on the 0 axis, the target voltage component on the 0 axis, and the target voltage vector in three-dimensional space are combined to form the target voltage vector.

[0051] S204: Determine the target sector corresponding to the target voltage vector in the pre-established three-dimensional vector SVPWM (Space Vector Pulse Width Modulation) space.

[0052] For example, the target voltage vector is first extracted in - -0 in three-dimensional coordinate system axis, The target voltage vector is determined based on the 0-axis and 0-axis components; then, according to the pre-established correspondence rules between sectors and each axis component in the three-dimensional vector SVPWM space (e.g., component sign, magnitude relationship with surrounding basic vector components), the target voltage vector is determined. , The region where the zero component falls within the area enclosed by three adjacent non-zero basic vectors is the corresponding target sector.

[0053] In this embodiment of the application, the three-dimensional vector SVPWM space is pre-established through the following steps: Determine the 16 switch state vectors corresponding to the four bridge arms; obtain the phase voltage corresponding to each switch state vector; convert the phase voltage corresponding to each switch state vector into a value using Clarke transform. , Voltage components along the 0 axis; based on the voltage components corresponding to each switch state vector. , The voltage component along the 0 axis, in - -0 Generate spatial vectors corresponding to each switch state in the three-dimensional space. - The three-dimensional space is divided into multiple sectors by various spatial vectors.

[0054] For example, when determining the 16 switch state vectors corresponding to the four bridge arms, the on / off states of the switch transistors of the four bridge arms (three-phase bridge arms A, B, and C, and the fault-tolerant bridge arm N) are used as the basis. The lower transistor being on is defined as 0 and the upper transistor being on as 1. Each bridge arm has two states, and the four bridge arms form a total of 16 combinations of switch states, as shown in the table below:

[0055] As shown in Table 1, each combination corresponds to a unique switching state vector, named U0 to U15 according to the rules. When obtaining the phase voltage corresponding to each switching state vector, the voltage output logic of the four-arm inverter is referenced to determine the phase voltages UAN, UBN, and UCN of the three-phase arms A, B, and C to the motor neutral point (i.e., point N) under each switching combination. Usually, "1" represents the forward output voltage of the arm, "-1" represents the reverse output voltage, and "0" represents no voltage difference. The phase voltage corresponding to each switching state vector is converted to using Clarke transformation. , When dealing with the voltage components along the 0-axis, the UAN, UBN, and UCN values ​​of each vector are subjected to Clarke transform to calculate the vector's voltage at the 0-axis. Axis (corresponding to one phase in the stationary coordinate system of the stator winding), Axis (and) The voltage components on the other phase perpendicular to the axis and on the 0 axis (adapting to the zero-axis control requirements of the four-bridge arm) give each switch state vector three-dimensional spatial coordinates; based on the voltage components corresponding to each switch state vector... , 0-axis voltage component, in - After generating the corresponding spatial vectors in the -0 three-dimensional space, the entire three-dimensional space is divided into multiple sectors based on the distribution of the 16 vectors in the three-dimensional space. Each sector is bounded by three adjacent non-zero vectors and one zero vector, providing a basis for the subsequent decomposition and synthesis of the target voltage vector within the sector. For example, please refer to [link to example]. Figure 3 , Figure 3 This is a schematic diagram of a three-dimensional SVPWM space vector provided in an embodiment of this application.

[0056] For example, three adjacent non-zero vectors and one zero vector are selected from the target sector as empty box vectors.

[0057] S205: Obtain multiple control vectors based on the target sector.

[0058] For example, three adjacent non-zero vectors and one zero vector are selected from the target sector. These four vectors are then combined in the order of "non-zero vector-zero vector" to form a sequence containing the switching states of each vector. The control vector for the 0-axis component.

[0059] In one implementation, obtaining multiple control vectors based on a target sector may include the following steps: A1: Obtain the three non-zero vectors of the target sector boundary.

[0060] For example, based on the spatial division rules of the target sector (e.g., the positional relationship of vectors in the three-dimensional coordinate system, the positive and negative signs of their components, and their magnitude range), three non-zero vectors constituting the boundary of the sector are selected from 14 non-zero vectors (U1~U14). These three vectors must meet the condition that they can be combined and synthesized into the target vector through time scaling, and non-zero vectors related to the fourth bridge arm (N arm) are preferentially selected to adapt to the zero-axis compensation requirements.

[0061] A2: Select a target zero vector from the zero vectors corresponding to the fourth bridge arm.

[0062] It is understandable that, such as Figure 3 As shown, the four-arm inverter has two zero vectors: U0 (representing the switching state (0,0,0,0), N-arm state SN=0) and U15 (representing the switching state (1,1,1,1), N-arm state SN=1). Both are the zero vectors corresponding to the fourth arm (N-arm). A target zero vector can be selected based on the principle of minimizing switching losses. For example, the switching states of the three selected non-zero vectors can be compared. If most of the N-arms among the three non-zero vectors have SN=1 (such as U8~U14), then U15 (SN=1) should be selected first; if most have SN=0, then U0 (SN=0) should be selected first, in order to reduce the number of switching cycles and lower switching losses.

[0063] A3: Use the three non-zero vectors and the target zero vector as control vectors.

[0064] For example, the three non-zero vectors and one target zero vector selected above are combined in the order of "non-zero vector 1, non-zero vector 2, non-zero vector 3, zero vector" to form a control vector.

[0065] S206: Generate duty cycle matrix based on control vector.

[0066] For example, based on the voltage balance principle, the values ​​of each vector in the control vector are... Substituting the 0-axis component into the disassembled , The zero-axis voltage balance equation is used to solve for the working time of each control vector; then, each time is divided by the switching cycle to obtain the duty cycle, which is then arranged into a duty cycle matrix according to the control vector order.

[0067] In one implementation, the duty cycle matrix is ​​generated based on the control vector, including: B1: Establish voltage balance equations based on the principle of voltage balance.

[0068] For example, the voltage balance equation can be expressed as follows:

[0069] in, For the target voltage vector, For the switching cycle, , , These are three non-zero vectors selected from the target sector. The zero vector selected from the target sector. , , , These represent the working potential fields of each vector within one switching cycle, and , , , The sum equals .

[0070] B2: Decompose the voltage balance equation into , The component equations of the 0 axis.

[0071] For example, The component equations of the axis can be expressed as:

[0072] in, For the target voltage vector in Components on the axis, For the switching cycle, , , The three non-zero vectors selected from the target sector are in Components on the axis, The zero vector selected from the target sector Components on the axis, , , , These represent the operating duration of each component within one switching cycle, and , , , The sum equals . The component equations for the 0-axis and the zero-axis can be found above. The component equations of the axis are not detailed here.

[0073] B3: Substitute the control vectors into the component equations to obtain the duration of each vector in the control vector group.

[0074] For example, the control vector , Substituting the 0-axis component into the corresponding component equations and combining them with the constraints, we obtain a system of equations. By solving this system of linear equations, we can obtain the operating time of each control vector.

[0075] B4: Obtain the duty cycle matrix based on the duration of each vector in the control vector group and the duration of the switching cycle.

[0076] For example, the working time of each control vector is divided by the switching period T to obtain the corresponding duty cycle.

[0077] S207: Controls each bridge arm switch based on the duty cycle matrix.

[0078] Based on the duty cycle of each vector in the duty cycle matrix and the corresponding switching state, the conduction duration and switching sequence of the four bridge arm switches A, B, C, and N in each switching cycle are determined, driving the inverter to output a voltage that meets the target, thereby achieving fault-tolerant control of the motor.

[0079] By implementing the embodiments of this application, when a fault occurs in the first bridge arm, the faulty bridge arm can be disconnected and the fourth bridge arm connected, while simultaneously acquiring the motor rotor position angle and the dq-axis reference current. Subsequently, based on the dq-axis reference current, a zero-axis compensation current is obtained through Clarke inverse transform and Park transform. These two transformations are then combined to generate a target voltage vector and determine its target sector in the three-dimensional vector SVPWM space. Multiple control vectors are then acquired based on the target sector, and the duty cycle data of each bridge arm switch is calculated using the voltage balance principle. Finally, this duty cycle data is used to control each bridge arm switch. This enables fault-tolerant operation after a bridge arm fault.

[0080] As an example, please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a HEAFFSPMM fault-tolerant control system provided in an embodiment of this application. Figure 4 As shown, the actual position angle of the motor rotor can be obtained by detecting the photoelectric encoder signal. The current Hall effect sensor is used to collect the stator current of the three-phase windings. The actual rotor position angle can be calculated to obtain the actual operating speed of the motor. The output three-phase stator current is transformed into two-phase dq current through a rotating coordinate transformation. Use the output of the speed controller as Given, and The controller output is and These are the components of the space voltage vector along the dq axis; the SVPWM modulation module finally outputs six drive signals to the inverter bridge. After power amplification, the drive signals control the switching transistors to drive the HESFPMM, thus realizing the dual closed-loop control of speed and current of the HESFPMM as a whole. Assuming a single-phase fault occurs in the A-phase armature winding, the A-phase bridge arm disconnects, and the N-phase bridge arm connects to replace the A-phase bridge arm. The N, B, and C phases form a fault-tolerant three-phase half-bridge circuit, modulating the compensated SVPWM control strategy.

[0081] Please see Figure 5 , Figure 5 This is a schematic diagram of a fault-tolerant control device for a hybrid excitation motor based on a four-arm inverter, provided in an embodiment of this application. Figure 5 As shown, the device 500 includes: a first processing module 501, used to disconnect the first bridge arm and connect the fourth bridge arm in response to a fault in the first bridge arm, and to acquire the position angle of the motor rotor and the dq-axis reference current; a second processing module 502, used to perform Clarke inverse transformation and Park transformation based on the dq-axis reference current to obtain the zero-axis compensation current; a third processing module 503, used to generate a target voltage vector based on the dq-axis reference current and the zero-axis compensation current; a fourth processing module 504, used to determine the target sector corresponding to the target voltage vector in a pre-established three-dimensional vector SVPWM space; a fifth processing module 505, used to acquire multiple control vectors based on the target sector; a sixth processing module 506, used to generate duty cycle data of each bridge arm switch based on the voltage balance principle and multiple control vectors; and a seventh processing module 507, used to control each bridge arm switch based on the duty cycle data.

[0082] In one implementation, the second processing module 502 is specifically used to: perform a Park transformation on the dq-axis reference current to obtain... Shaft current; set the current of the first bridge arm to zero, and based on The zero-axis compensation current is obtained by performing an inverse Clarke transformation on the axis current.

[0083] In one implementation, the above apparatus further includes an eighth processing module. For example, please refer to [link to example]. Figure 6 , Figure 6 This is a schematic diagram of another fault-tolerant control device for a hybrid excitation motor based on a four-arm inverter provided in this application embodiment. Figure 6As shown, the device 600 also includes an eighth processing module 608, used to pre-establish a three-dimensional vector SVPWM space through the following steps: determining 16 switching state vectors corresponding to the four bridge arms; obtaining the phase voltage corresponding to each switching state vector; and converting the phase voltage corresponding to each switching state vector into a Clarke transform. , Voltage components along the 0 axis; based on the voltage components corresponding to each switch state vector. , The voltage component along the 0 axis, in , Generate spatial vectors corresponding to each switch state in three-dimensional space. , The three-dimensional space is divided into multiple sectors by various spatial vectors. Figure 6 Modules 601-607 in Figure 5 Modules 501 to 507 in the series have the same structure and function.

[0084] In an alternative implementation, the fifth processing module 605 can be used to: obtain three non-zero vectors of the target sector boundary; select a target zero vector from the zero vectors corresponding to the fourth bridge arm; and use the three non-zero vectors and the target zero vector as multiple control vectors.

[0085] In an alternative implementation, the sixth processing module 606 can be used to: establish a voltage balance equation based on the voltage balance principle; and decompose the voltage balance equation into... , The component equations of the 0 axis are obtained; the control vectors are substituted into the component equations to obtain the duration of each vector in the control vector group; the duty cycle data is obtained based on the duration of each vector in the control vector group and the switching cycle duration.

[0086] The apparatus of this application embodiment can, when a fault occurs in the first bridge arm, first disconnect the faulty bridge arm and connect the fourth bridge arm, while simultaneously acquiring the motor rotor position angle and the dq-axis reference current; then, based on the dq-axis reference current, a zero-axis compensation current is obtained through Clarke inverse transform and Park transform, and the two are combined to generate a target voltage vector and determine its target sector in the three-dimensional vector SVPWM space; then, multiple control vectors are acquired based on the target sector, and the duty cycle data of each bridge arm switch is calculated through the voltage balance principle, and finally, the duty cycle data is used to control each bridge arm switch. This enables fault-tolerant operation after a bridge arm fault.

[0087] It should be noted that the foregoing explanation of the embodiment of the fault-tolerant control method for a hybrid excitation motor based on a four-arm inverter also applies to the fault-tolerant control device for a hybrid excitation motor based on a four-arm inverter in this embodiment, and will not be repeated here.

[0088] To implement the above embodiments, this application also proposes an electronic device. Please see [link to relevant documentation]. Figure 7 , Figure 7 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 7 As shown, the electronic device 700 includes: a processor 701 and a memory 702 communicatively connected to the processor 701; the memory 702 stores computer execution instructions; the processor 701 executes the computer execution instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0089] To implement the above embodiments, this application also proposes a storage medium storing instructions that, when executed on an electronic device, cause the electronic device to perform the methods provided in the foregoing embodiments.

[0090] To implement the above embodiments, this application also proposes a program product, including at least one of a program and instructions, wherein when the program and instructions are executed by an electronic device, they implement the steps of the method provided in the foregoing embodiments.

[0091] It should be noted that the acquisition, transmission, storage, use, and processing of data in this application comply with the relevant provisions of national laws and regulations and do not violate public order and good morals.

[0092] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0093] It is worth noting that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the applicant has used or necessarily used the solution.

[0094] In the description of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0095] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0097] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0099] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0100] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0101] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0102] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A fault-tolerant control method for a hybrid excitation motor based on a four-arm inverter, characterized in that, include: In response to a fault in the first bridge arm, the first bridge arm is disconnected and the fourth bridge arm is connected, and the position angle of the motor rotor and the reference current of the dq axis are obtained; Based on the dq-axis reference current, Clarke inverse transform and Park transform are performed to obtain the zero-axis compensation current; A target voltage vector is generated based on the dq-axis reference current and the zero-axis compensation current; Determine the target sector corresponding to the target voltage vector in the pre-established three-dimensional vector SVPWM space; Multiple control vectors are obtained based on the target sector; The duty cycle data of each bridge arm switch is generated based on the voltage balance principle and the multiple control vectors. The switching transistors of each bridge arm are controlled based on the duty cycle data.

2. The method according to claim 1, characterized in that, The process of obtaining the zero-axis compensation current by performing Clarke inverse transform and Park transform based on the dq-axis reference current includes: Perform a Park transformation on the dq-axis reference current to obtain shaft current; Set the current of the first bridge arm to zero, and based on the... The zero-axis compensation current is obtained by performing an inverse Clarke transformation on the axis current.

3. The method according to claim 1, characterized in that, The three-dimensional vector SVPWM space is pre-established through the following steps: Determine the 16 switch state vectors corresponding to the four bridge arms; Obtain the phase voltage corresponding to each switch state vector; The phase voltage corresponding to each of the switching state vectors is converted using the Clarke transform. , Voltage components along the 0 axis; Based on each of the aforementioned switch state vectors , The voltage component along the 0 axis, in , Generate spatial vectors corresponding to each of the aforementioned switch states within a three-dimensional space. , The three-dimensional space is divided into multiple sectors by the various spatial vectors.

4. The method according to claim 3, characterized in that, The acquisition of multiple control vectors based on the target sector includes: Obtain the three non-zero vectors of the target sector boundary; Select a target zero vector from the zero vectors corresponding to the fourth bridge arm; The three non-zero vectors and the target zero vector are used as the plurality of control vectors.

5. The method according to claim 3, characterized in that, The process of generating duty cycle data for each bridge arm switch based on the voltage balance principle and multiple control vectors includes: Establish a voltage balance equation based on the voltage balance principle: The voltage balance equation is decomposed into , The component equations of the 0 axis; Substitute the control vector into the component equation to obtain the duration corresponding to each vector in the control vector group; The duty cycle data is obtained based on the duration of each vector in the control vector group and the duration of the switching cycle.

6. A fault-tolerant control device for a hybrid excitation motor based on a four-bridge inverter, characterized in that, include: The first processing module is used to disconnect the first bridge arm and connect the fourth bridge arm in response to a fault in the first bridge arm, and to obtain the position angle of the motor rotor and the reference current of the dq axis. The second processing module is used to perform Clarke inverse transformation and Park transformation based on the dq axis reference current to obtain the zero axis compensation current. The third processing module is used to generate a target voltage vector based on the dq-axis reference current and the zero-axis compensation current. The fourth processing module is used to determine the target sector corresponding to the target voltage vector in the pre-established three-dimensional vector SVPWM space; The fifth processing module is used to acquire multiple control vectors based on the target sector; The sixth processing module is used to generate duty cycle data for each bridge arm switch based on the voltage balance principle and the multiple control vectors. The seventh processing module is used to control each of the bridge arm switches based on the duty cycle data.

7. The apparatus according to claim 6, characterized in that, The second processing module is specifically used for: Perform a Park transformation on the dq-axis reference current to obtain shaft current; Set the current of the first bridge arm to zero, and based on the... The zero-axis compensation current is obtained by performing an inverse Clarke transformation on the axis current.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 5.

9. A storage medium storing instructions, characterized in that, When the instructions are executed on an electronic device, the electronic device causes the electronic device to perform the method of any one of claims 1 to 5.

10. A program product comprising at least one of a program and instructions, characterized in that, When at least one of the program or instructions is executed by an electronic device, it implements the steps of the method according to any one of claims 1 to 5.

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