五相永磁同步电机磁链改进型容错直接转矩控制
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摘要
针对五相永磁同步电机驱动系统中开路故障导致转矩脉动大且动态性能差的问题,提出一种磁链改进型容错直接转矩控制策略。该策略基于故障前后磁动势不变原则,推导故障状态下的推广克拉克(Clarke)变换矩阵,建立五相永磁同步电机故障时的数学模型。在此基础上,设计一个系数修正定子磁链,使其与正常运行时一致。根据铜损最小原则,优化定子容错电流,同时采用基于零序电压谐波注入式脉宽调制技术,实现了电机转矩和定子磁链的准确控制。实验结果表明,该容错DTC策略能提高电机开路故障情况下转矩的稳态和动态性能,实现五相永磁同步电机的无扰运行。
To solve the torque fluctuations and deteriorated dynamic performance resulted from open-circuit fault, a fault-tolerant direct torque control(DTC) strategy based on modified stator flux was proposed for five-phase permanent magnet synchronous motor(PMSM) in this paper. Firstly, an extended Clarke transformation matrix was derived according to the constant rotating magnetic motive forces(MMFs) both in healthy and fault operations, and then the mathematical model of five-phase PMSM with fault was built. On this basis, a coefficient was introduced to modify stator flux. Secondly, the fault-tolerant currents were optimized according to the minimum copper loss criterion. Meanwhile, the zero-sequence voltage harmonic injection of carrier-based pulse width modulation was adopted in the fault-tolerant DTC strategy to achieve the accurate control of torque and stator flux. The experimental results demonstrate that the fault-tolerant DTC strategy can offer good steady-state and dynamic performance, and achieve the disturbance free operation.
To solve the torque fluctuations and deteriorated dynamic performance resulted from open-circuit fault, a fault-tolerant direct torque control(DTC) strategy based on modified stator flux was proposed for five-phase permanent magnet synchronous motor(PMSM) in this paper. Firstly, an extended Clarke transformation matrix was derived according to the constant rotating magnetic motive forces(MMFs) both in healthy and fault operations, and then the mathematical model of five-phase PMSM with fault was built. On this basis, a coefficient was introduced to modify stator flux. Secondly, the fault-tolerant currents were optimized according to the minimum copper loss criterion. Meanwhile, the zero-sequence voltage harmonic injection of carrier-based pulse width modulation was adopted in the fault-tolerant DTC strategy to achieve the accurate control of torque and stator flux. The experimental results demonstrate that the fault-tolerant DTC strategy can offer good steady-state and dynamic performance, and achieve the disturbance free operation.
引文
[1]Mohammadpour A,Sadeghi S,Parsa L.A generalized fault-tolerant control strategy for five-phase PM motor drives considering star,pentagon,and pentacle connections of stator windings[J].IEEE Transactions on Industrial Electronics,2014,61(1):63-75.
[2]Duran M J,Barrero F.Recent advances in the design,modeling,and control of multiphase machines-part II[J].IEEE Transactions on Industrial Electronics,2015,63(1):459-468.
[3]Scuiller F.Magnet shape optimization to reduce pulsating torque for a five-phase permanent-magnet low-speed machine[J].IEEE Transactions on Magnetics,2014,50(4):1-9.
[4]Zheng L,Fletcher J E,Williams B W,et al.A novel direct torque control scheme for a sensorless five-phase induction motor drive[J].IEEE Transactions on Industrial Electronics,2011,58(2):503-513.
[5]Asadi E,Ribeiro R,Khamesee M B,et al.Analysis,prototyping,and experimental characterization of an adaptive hybrid electromagnetic damper for automotive suspension systems[J].IEEE Transactions on Vehicular Technology,2017,66(5):3703-3713.
[6]Ozkop E,Okumus H I.Direct torque control of induction motor using space vector modulation(SVM-DTC)[C]//2008 12th International Middle-East Power System Conference.International Middle-East:IEEE,2014:368-372.
[7]Yu F,Zhang X,Qiao M,et al.The direct torque control of multiphase permanent magnet synchronous motor based on low harmonic space vector PWM[C]//IEEEInternational Conference on Industrial Technology.IEEE,2008:1-5.
[8]刘国海,赵万祥,周华伟,等.基于零序电压谐波注入式脉宽调制的五相永磁电机直接转矩控制[J].中国电机工程学报,2017,37(5):1516-1525.Liu Guohai,Zhao Wanxiang,Zhou Huawei,et al.Direct torque control of five-phase permanent magnet motor based on zero-sequence voltage harmonic injection pulse width modulation[J].Proceedings of the CSEE,2017,37(5):1516-1525(in Chinese).
[9]高宏伟,杨贵杰,刘剑.基于调制函数的五相电压源逆变器SVPWM算法[J].电机与控制学报,2014,18(2):56-61.Gao Hongwei,Yang Guijie,Liu Jian.SVPWM algorithm for five-phase voltage source inverter based on modulation functions[J].Electric Machines and Control,2014,18(2):56-61(in Chinese).
[10]Grandi G,Loncarski J.Simplified implementation of optimised carrier-based PWM in three-level inverters[J].Electronics Letters,2014,50(8):631-633.
[11]Hang L,Li B,Zhang M,et al.Equivalence of SVM and carrier-based PWM in three-phase/wire/level vienna rectifier and capability of unbalanced-load control[J].IEEE Transactions on Industrial Electronics,2014,61(1):20-28.
[12]Bermudez M,Gonzalez-Prieto I,Barrero F,et al.Openphase fault-tolerant direct torque control technique for five-phase induction motor drives[J].IEEE Transactions on Industrial Electronics,2017,PP(99):1-1.
[13]Bermudez M,Gonzalez-Prieto I,Barrero F,et al.An experimental assessment of open-phase fault-tolerant virtual vector based direct torque control in five-phase induction motor drives[J].IEEE Transactions on Power Electronics,2017,PP(99):1-1.
[14]周扬忠,程明,陈小剑.基于虚拟变量的六相永磁同步电机缺一相容错型直接转矩控制[J].中国电机工程学报,2015,35(19):5050-5058.Zhou Yangzhong,Cheng Ming,Chen Xiaojian.Atolerated fault direct torque control for six-phase permanent magnet synchronous motor with one opened phase based on fictitious variables[J].Proceedings of the CSEE,2015,35(19):5050-5058(in Chinese).
[15]Zhang L,Fan Y,Cui R,et al.Fault-tolerant direct torque control of five-phase FTFSCW-IPM motor based on analogous three-phase SVPWM for electric vehicle applications[J].IEEE Transactions on Vehicular Technology,2017,PP(99):1-1.
[16]欧阳红林,周马山,童调生.多相永磁同步电动机不对称运行的矢量控制[J].中国电机工程学报,2004,24(7):145-150.Ouyang Honglin,Zhou Mashan,Tong Diaosheng.Vector control of multi-phase permanent magnet synchronous motor with asymmetric structure[J].Proceedings of the CSEE,2004,24(7):145-150(in Chinese).
[17]Fu J R,Lipo T A.Disturbance free operation of a multiphase current regulated motor drive with an opened phase[C]//Conference Record of the Industry Applications Society Meeting.IEEE,1994:637-644.
[18]Guzman H,Duran M J,Barrero F,et al.Comparative study of predictive and resonant controllers in faulttolerant five-phase induction motor drives[J].IEEETransactions on Industrial Electronics,2016,63(1):606-617.
[19]高宏伟,杨贵杰,刘剑.五相永磁同步电机容错控制策略[J].电机与控制学报,2014,18(6):61-65.Gao Hongwei,Yang Guijie,Liu Jian.Fault-tolerant control strategy for five-phase permanent magnet synchronous motor[J].Electric Machines and Control,2014,18(6):61-65(in Chinese).
[20]章玮,陈伯建,张平.双三相永磁同步电机谐波电流抑制技术[J].电机与控制学报,2015,19(1):23-28.Zhang Wei,Chen Bojian,Zhang Ping.Techniques to restrain harmonics of dual three-phase permanent magnet synchronous motor[J].Electric Machines and Control,2015,19(1):23-28(in Chinese).
[21]史涔溦,邱建琪,金孟加,等.永磁同步电动机直接转矩控制方法的比较研究[J].中国电机工程学报,2005,25(16):141-146.Shi Cenwei,Qiu Jianqi,Jin Mengjia,et al.Study on the performance of direct torque control methods for permanent magnet synchronous machines[J].Proceedings of the CSEE,2005,25(16):141-146(in Chinese).
[2]Duran M J,Barrero F.Recent advances in the design,modeling,and control of multiphase machines-part II[J].IEEE Transactions on Industrial Electronics,2015,63(1):459-468.
[3]Scuiller F.Magnet shape optimization to reduce pulsating torque for a five-phase permanent-magnet low-speed machine[J].IEEE Transactions on Magnetics,2014,50(4):1-9.
[4]Zheng L,Fletcher J E,Williams B W,et al.A novel direct torque control scheme for a sensorless five-phase induction motor drive[J].IEEE Transactions on Industrial Electronics,2011,58(2):503-513.
[5]Asadi E,Ribeiro R,Khamesee M B,et al.Analysis,prototyping,and experimental characterization of an adaptive hybrid electromagnetic damper for automotive suspension systems[J].IEEE Transactions on Vehicular Technology,2017,66(5):3703-3713.
[6]Ozkop E,Okumus H I.Direct torque control of induction motor using space vector modulation(SVM-DTC)[C]//2008 12th International Middle-East Power System Conference.International Middle-East:IEEE,2014:368-372.
[7]Yu F,Zhang X,Qiao M,et al.The direct torque control of multiphase permanent magnet synchronous motor based on low harmonic space vector PWM[C]//IEEEInternational Conference on Industrial Technology.IEEE,2008:1-5.
[8]刘国海,赵万祥,周华伟,等.基于零序电压谐波注入式脉宽调制的五相永磁电机直接转矩控制[J].中国电机工程学报,2017,37(5):1516-1525.Liu Guohai,Zhao Wanxiang,Zhou Huawei,et al.Direct torque control of five-phase permanent magnet motor based on zero-sequence voltage harmonic injection pulse width modulation[J].Proceedings of the CSEE,2017,37(5):1516-1525(in Chinese).
[9]高宏伟,杨贵杰,刘剑.基于调制函数的五相电压源逆变器SVPWM算法[J].电机与控制学报,2014,18(2):56-61.Gao Hongwei,Yang Guijie,Liu Jian.SVPWM algorithm for five-phase voltage source inverter based on modulation functions[J].Electric Machines and Control,2014,18(2):56-61(in Chinese).
[10]Grandi G,Loncarski J.Simplified implementation of optimised carrier-based PWM in three-level inverters[J].Electronics Letters,2014,50(8):631-633.
[11]Hang L,Li B,Zhang M,et al.Equivalence of SVM and carrier-based PWM in three-phase/wire/level vienna rectifier and capability of unbalanced-load control[J].IEEE Transactions on Industrial Electronics,2014,61(1):20-28.
[12]Bermudez M,Gonzalez-Prieto I,Barrero F,et al.Openphase fault-tolerant direct torque control technique for five-phase induction motor drives[J].IEEE Transactions on Industrial Electronics,2017,PP(99):1-1.
[13]Bermudez M,Gonzalez-Prieto I,Barrero F,et al.An experimental assessment of open-phase fault-tolerant virtual vector based direct torque control in five-phase induction motor drives[J].IEEE Transactions on Power Electronics,2017,PP(99):1-1.
[14]周扬忠,程明,陈小剑.基于虚拟变量的六相永磁同步电机缺一相容错型直接转矩控制[J].中国电机工程学报,2015,35(19):5050-5058.Zhou Yangzhong,Cheng Ming,Chen Xiaojian.Atolerated fault direct torque control for six-phase permanent magnet synchronous motor with one opened phase based on fictitious variables[J].Proceedings of the CSEE,2015,35(19):5050-5058(in Chinese).
[15]Zhang L,Fan Y,Cui R,et al.Fault-tolerant direct torque control of five-phase FTFSCW-IPM motor based on analogous three-phase SVPWM for electric vehicle applications[J].IEEE Transactions on Vehicular Technology,2017,PP(99):1-1.
[16]欧阳红林,周马山,童调生.多相永磁同步电动机不对称运行的矢量控制[J].中国电机工程学报,2004,24(7):145-150.Ouyang Honglin,Zhou Mashan,Tong Diaosheng.Vector control of multi-phase permanent magnet synchronous motor with asymmetric structure[J].Proceedings of the CSEE,2004,24(7):145-150(in Chinese).
[17]Fu J R,Lipo T A.Disturbance free operation of a multiphase current regulated motor drive with an opened phase[C]//Conference Record of the Industry Applications Society Meeting.IEEE,1994:637-644.
[18]Guzman H,Duran M J,Barrero F,et al.Comparative study of predictive and resonant controllers in faulttolerant five-phase induction motor drives[J].IEEETransactions on Industrial Electronics,2016,63(1):606-617.
[19]高宏伟,杨贵杰,刘剑.五相永磁同步电机容错控制策略[J].电机与控制学报,2014,18(6):61-65.Gao Hongwei,Yang Guijie,Liu Jian.Fault-tolerant control strategy for five-phase permanent magnet synchronous motor[J].Electric Machines and Control,2014,18(6):61-65(in Chinese).
[20]章玮,陈伯建,张平.双三相永磁同步电机谐波电流抑制技术[J].电机与控制学报,2015,19(1):23-28.Zhang Wei,Chen Bojian,Zhang Ping.Techniques to restrain harmonics of dual three-phase permanent magnet synchronous motor[J].Electric Machines and Control,2015,19(1):23-28(in Chinese).
[21]史涔溦,邱建琪,金孟加,等.永磁同步电动机直接转矩控制方法的比较研究[J].中国电机工程学报,2005,25(16):141-146.Shi Cenwei,Qiu Jianqi,Jin Mengjia,et al.Study on the performance of direct torque control methods for permanent magnet synchronous machines[J].Proceedings of the CSEE,2005,25(16):141-146(in Chinese).