BLDCM两相短路的四步换相容错运行方法
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摘要
无刷直流电机运行过程中发生相短路,易引起二次故障,造成电机控制系统的功能丧失。针对无刷直流电机绕组两相短路故障情况,提出一种四步换相容错控制策略,确保电机故障后系统继续运行。通过在电机绕组设置电流检测元件,对三相电流进行检测,将连续两次检测值的差值作为特征量进行故障定位;根据定位结果,改变逆变桥功率管导通次序、导通时间,实现对电机两相短路情况下的容错控制,同时实现故障隔离。针对电机容错运行时转矩脉动较大的问题,采用H_PWM-L_ON调制方式并在换相时刻优化占空比,进行转矩脉动抑制。详细阐述电机两相短路容错控制策略的工作机理与换相过程,并对提出的四步换相容错控制策略进行仿真和实验,结果表明,电机容错运行时非故障相相电流峰值接近电机正常运行时的1.5倍,故障相相电流峰值接近电机正常运行时的1.25倍,转矩脉动增加20%,转速波动在5%以内。
The short-circuit fault of the brushless DC motor during operation may cause secondary failure, which gives rise to the function loss of the motor control system. Aiming at the two-phase shortcircuit in the windings of brushless DC motor, a four-step commutation fault-tolerant control strategy is proposed to ensure that the system continues to operate after the motor fault. The three-phase current is detected by the current detection element installed in the motor winding, and the difference between two consecutive detection values is used as the characteristic quantity for fault location. According to the positioning results, the inverter bridge power tube conduction sequence and on-time are changed to achieve fault-tolerant control of phase short-circuit motor, meanwhile achieve fault isolation. In order to solve the problem of large torque ripple in the fault-tolerant operation of motor, the H_PWM-L_ON modulation method is used to optimize the duty cycle at the commutation time, and the torque ripple is suppressed. The working mechanism and commutation process of two-phase short circuit fault-tolerant control strategy of motor are described in detail, the proposed four-step commutation fault-tolerant control strategy is simulated and tested, the experimental results show that the peak value of non-fault-phase current during fault-tolerant operation of motor is about 1.5 times of that during normal operation of motor, the peak value of the fault-phase current during fault-tolerant operation of motor is about 1.25 times of that during normal operation, the torque fluctuation increase 20% and the fluctuation of rotational speed is less than 5%.
The short-circuit fault of the brushless DC motor during operation may cause secondary failure, which gives rise to the function loss of the motor control system. Aiming at the two-phase shortcircuit in the windings of brushless DC motor, a four-step commutation fault-tolerant control strategy is proposed to ensure that the system continues to operate after the motor fault. The three-phase current is detected by the current detection element installed in the motor winding, and the difference between two consecutive detection values is used as the characteristic quantity for fault location. According to the positioning results, the inverter bridge power tube conduction sequence and on-time are changed to achieve fault-tolerant control of phase short-circuit motor, meanwhile achieve fault isolation. In order to solve the problem of large torque ripple in the fault-tolerant operation of motor, the H_PWM-L_ON modulation method is used to optimize the duty cycle at the commutation time, and the torque ripple is suppressed. The working mechanism and commutation process of two-phase short circuit fault-tolerant control strategy of motor are described in detail, the proposed four-step commutation fault-tolerant control strategy is simulated and tested, the experimental results show that the peak value of non-fault-phase current during fault-tolerant operation of motor is about 1.5 times of that during normal operation of motor, the peak value of the fault-phase current during fault-tolerant operation of motor is about 1.25 times of that during normal operation, the torque fluctuation increase 20% and the fluctuation of rotational speed is less than 5%.
引文
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[13]王强,王友仁,张子富,等.无刷直流电机驱动系统逆变器的开路故障诊断[J].中国电机工程学报,2013,33(24):114-120,17.Wang Qiang,Wang Youren,Zhang Zifu,et al.Adiagnosis method for inverter open-circuit faults of brushless DC motor driver systems[J].Proceedings of the CSEE,2013,33(24):114-120,17.
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[15]Yan Hao,Xu Yongxiang,Zou Jibin,et al.A novel opencircuit fault diagnosis method for voltage source inverters with single current sensor[J].IEEE Transactions on Power Electronics,2018,33(10):8775-8786.
[16]盛田田,王晓琳,顾聪,等.一种使用重叠换相法的无刷直流电机平均转矩控制[J].中国电机工程学报,2015,35(15):3939-3947.Sheng Tiantian,Wang Xiaolin,Gu Cong,et al.An average torque control method for brushless DCmotors using overlap commutation strategy[J].Proceedings of the CSEE,2015,35(15):3939-3947.
[17]李珍国,章松发,周生海,等.考虑转矩脉动最小化的无刷直流电机直接转矩控制系统[J].电工技术学报,2014,29(1):139-146.Li Zhenguo,Zhang Songfa,Zhou Shenghai,et al.Direct torque control of brushless DC motor considering torque ripple minimization[J].Transactions of China Electrotechical Society,2014,29(1):139-146.
[18]蔡志端,王培良,荀倩,等.永磁同步电机相电流测量误差分析与补偿[J].电工技术学报,2016,31(23):22-30.Cai Zhiduan,Wang Peiliang,Xun Qian,et al.Measurement error analysis and its compensation for phase current of permanent magnet synchronous motor[J].Transactions of China Electrotechical Society,2016,31(23):22-30.
[19]李辉,黄樟坚,廖兴林,等.一种抑制SiC MOSFET桥臂串扰的改进门极驱动设计[J].电工技术学报,2019,34(2):275-285.Li Hui,Huang Zhangjian,Liao Xinglin,et al.An improved SiC MOSFET gate driver design for crosstalk suppression in a phase-leg configuration[J].Transactions of China Electrotechical Society,2019,34(2):275-285.
[20]刘勇超,葛兴来,蒲俊楷,等.四开关三相逆变器全调制度范围内两种等效PWM算法[J].电工技术学报,2017,32(2):206-215,227.Liu Yongchao,Ge Xinglai,Pu Junkai,et al.Two types of equivalent PWM algorithms in the full modulation region for four-swith three-phase inverter[J].Transactions of China Electrotechical Society,2017,32(2):206-215,227.
[21]李红梅,姚宏洋,王萍.PMSM驱动系统位置传感器故障在线诊断与自适应容错控制[J].电工技术学报,2016,31(增刊2):228-235.Li Hongmei,Yao Hongyang,Wang Ping.Position sensor online fault diagnosis and adaptive fault-tolerant control of PMSM drive system[J].Transactions of China Electrotechical Society,2016,31(S2):228-235.
[2]张志文,赵健康,周腊吾,等.基于ILC算法和SVM调制的PMSM DTC控制[J].电力系统保护与控制,2017,45(19):63-70.Zhang Zhiwen,Zhao Jiankang,Zhou Lawu,et al.PMSM DTC based on ILC algorithm and SVMmodulation[J].Power System Protection and Control,2017,45(19):63-70.
[3]贺虎成,张玉峰,王永宾,等.新型三相容错逆变器研究[J].电力自动化设备,2015,35(5):89-93.He Hucheng,Zhang Yufeng,Wang Yongbin,et al.Fault-tolerant three-phase inverter[J].Electric Power Automation Equipment,2015,35(5):89-93.
[4]Ni Kai,Hu Yihua,Liu Yang,et al.Rotor-side converter reconfiguration using four-switch threephase topology in dfig-wt for fault-tolerant purpose[C]//2017 IEEE Transportation Electrification Conference and Expo,Asia-Pacific(ITEC Asia-Pacific),Harbin,China,2017:1-6.
[5]徐帅,张建忠.多电平电压源型逆变器的容错技术综述[J].电工技术学报,2015,30(21):39-50.Xu Shuai,Zhang Jianzhong.Overview of faulttolerant techniques for multilever voltage source inverters[J].Transactions of China Electrotechical Society,2015,30(21):39-50.
[6]刘勇超,葛兴来,冯晓云.两电平与三电平NPC逆变器单桥臂故障重构拓扑SVPWM算法比较研究[J].中国电机工程学报,2016,36(3):775-783.Liu Yongchao,Ge Xinglai,Feng Xiaoyun.Comparison study of SVPWM algorithms of the postfault reconfigured topologies for two-level and threelevel NPC inverters with failure of a leg[J].Proceedings of the CSEE,2016,36(3):775-783.
[7]Zhou Haisong,Yu Bin,Cheng Luming,et al.Research on a four-phase fault-tolerant PMSM used for EVs[C]//2014 17th International Conference on Electrical Machines and Systems,Hangzhou,China,2014:1187-1190.
[8]Zhang Li,Fan Ying,Lorenz R D,et al.Design and analysis of a new five-phase brushless hybridexcitation fault-tolerant motor for electric vehicles[J].IEEE Transactions on Industry Applications,2017,53(4):3428-3437.
[9]Chen Qian,Liu Guohai,Xu Dezhi,et al.Decoupling control of five-phase fault-tolerant permanent magnet motor by radial basis function neural network inverse[C]//IEEE International Magetics Conference,Dublin,Ireland,2017:1-2.
[10]Chen Yong,Song Jinlong,Zhang Jianjian,et al.Design and analysis of six-phase fault-tolerant PMSMfor electric vehicle[C]//2016 Prognostics and System Health Management Conference,Chengdu,China,2016:1-6.
[11]李小庆,朱景伟,孙军浩,等.双绕组永磁容错电机矢量控制系统研究[J].电工技术学报,2016,31(5):26-34.Li Xiaoqing,Zhu Jingwei,Sun Junhao,et al.Study on the vector control system for dual winding faulttolerant permanent magnet motors[J].Transactions of China Electrotechical Society,2016,31(5):26-34.
[12]Wu Fan,Zheng Ping,Jahns T M.Six-phase faulttolerant permanent magnet motor drives with reduced switch counts:Topology comparesons and hardware demonstration[C]//IEEE Transportation Electrification Conference and Expo,Dearborn,MI,USA,2015:1-6.
[13]王强,王友仁,张子富,等.无刷直流电机驱动系统逆变器的开路故障诊断[J].中国电机工程学报,2013,33(24):114-120,17.Wang Qiang,Wang Youren,Zhang Zifu,et al.Adiagnosis method for inverter open-circuit faults of brushless DC motor driver systems[J].Proceedings of the CSEE,2013,33(24):114-120,17.
[14]付朝阳,刘景林,张晓旭.双余度永磁无刷直流电机匝间短路故障诊断[J].电工技术学报,2014,29(1):104-109.Fu Chaoyang,Liu Jinglin,Zhang Xiaoxu.Research on Inter-turns short circuit fault diagnosis of dual redundancy permanent magnet brushless DC motor[J].Transactions of China Electrotechical Society,2014,29(1):104-109.
[15]Yan Hao,Xu Yongxiang,Zou Jibin,et al.A novel opencircuit fault diagnosis method for voltage source inverters with single current sensor[J].IEEE Transactions on Power Electronics,2018,33(10):8775-8786.
[16]盛田田,王晓琳,顾聪,等.一种使用重叠换相法的无刷直流电机平均转矩控制[J].中国电机工程学报,2015,35(15):3939-3947.Sheng Tiantian,Wang Xiaolin,Gu Cong,et al.An average torque control method for brushless DCmotors using overlap commutation strategy[J].Proceedings of the CSEE,2015,35(15):3939-3947.
[17]李珍国,章松发,周生海,等.考虑转矩脉动最小化的无刷直流电机直接转矩控制系统[J].电工技术学报,2014,29(1):139-146.Li Zhenguo,Zhang Songfa,Zhou Shenghai,et al.Direct torque control of brushless DC motor considering torque ripple minimization[J].Transactions of China Electrotechical Society,2014,29(1):139-146.
[18]蔡志端,王培良,荀倩,等.永磁同步电机相电流测量误差分析与补偿[J].电工技术学报,2016,31(23):22-30.Cai Zhiduan,Wang Peiliang,Xun Qian,et al.Measurement error analysis and its compensation for phase current of permanent magnet synchronous motor[J].Transactions of China Electrotechical Society,2016,31(23):22-30.
[19]李辉,黄樟坚,廖兴林,等.一种抑制SiC MOSFET桥臂串扰的改进门极驱动设计[J].电工技术学报,2019,34(2):275-285.Li Hui,Huang Zhangjian,Liao Xinglin,et al.An improved SiC MOSFET gate driver design for crosstalk suppression in a phase-leg configuration[J].Transactions of China Electrotechical Society,2019,34(2):275-285.
[20]刘勇超,葛兴来,蒲俊楷,等.四开关三相逆变器全调制度范围内两种等效PWM算法[J].电工技术学报,2017,32(2):206-215,227.Liu Yongchao,Ge Xinglai,Pu Junkai,et al.Two types of equivalent PWM algorithms in the full modulation region for four-swith three-phase inverter[J].Transactions of China Electrotechical Society,2017,32(2):206-215,227.
[21]李红梅,姚宏洋,王萍.PMSM驱动系统位置传感器故障在线诊断与自适应容错控制[J].电工技术学报,2016,31(增刊2):228-235.Li Hongmei,Yao Hongyang,Wang Ping.Position sensor online fault diagnosis and adaptive fault-tolerant control of PMSM drive system[J].Transactions of China Electrotechical Society,2016,31(S2):228-235.