六相永磁容错电机及其控制系统的设计和研究
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摘要
近年来,随着多电/全电飞机和混合/纯电动汽车的发展,对系统安全可靠性提出了很高的要求。希望即使电机驱动系统发生故障后,系统还能可靠地完成任务。因此设计一套具有容错功能的电机本体及其控制系统日益成为国内外的研究热点。在工程上容错技术指当系统一个或多个关键部件出现故障时,系统能够将发生故障的部件从系统中隔离开,并采取相应措施维持其规定功能,在可接受的性能指标变化下,继续稳定可靠运行。本文致力于研究和设计具有高可靠性的永磁容错电机(FTPMM)及其控制系统,保证系统出现一相及多相故障时,电机仍可输出规定功率,同时转速不变,实现电机驱动系统的强容错控制。
本文详细分析了永磁容错电机的结构形式及特点,通过绕组单层集中隔齿绕制的方式实现了各绕组间的磁隔离、物理隔离及热隔离;采用H桥的供电方式实现了绕组间的电气隔离;利用增大槽口漏感达到抑制短路电流目的。研究了定子槽数与转子磁极对数的配合对绕组系数、齿槽脉动转矩、径向不平衡磁拉力以及功率管选取的影响。采用离心磁钢设计方案,提高空载反电势波形的正弦度,降低齿槽脉动转矩,便于实现高性能的电机控制。
具备抑制短路电流能力是永磁容错电机与一般永磁无刷电机的主要区别,因此对电枢绕组的电感分析及其解析式求取成了永磁容错电机设计的主要问题之一。通过分析电机内的磁力线分布得出绕组自感由激磁感、谐波漏感、槽口漏感和槽内漏感组成。建立了电机磁阻网络,研究了不同电感组成分量之间的比例关系,并引入槽口磁压降参数和槽口计算厚度参数,推导出了具有高精度的非线性绕组自感及其组成分量的解析式。
利用解析法对转子磁钢离心式的永磁容错电机进行电磁场分析,考虑槽口对气隙磁密的影响,得到了气隙处径向磁密和切向磁密的解析式,以此为基础,分别推导出空载反电势和齿槽脉动转矩的解析式,便于电机优化设计,并对其进行磁场有限元分析验证。
依据航空用电力作动器的转矩及其动态响应要求,直接求出永磁容错电机的定子内径和轴向有效长度,推导了永磁容错电机的电磁参数设计的解析式。针对永磁容错电机的特点,以抑制短路电流和高输出性能(空载反电势波形正弦度高、齿槽脉动转矩小)为优化目标,建立了永磁容错电机的优化设计准则。设计并制造了一台航空用750W六相十极永磁容错电机的原理样机和一台7.5kW的工程样机,通过发电试验、磁隔离试验以及绕组短路试验验证电机设计合理性和正确性。
建立了六相十极永磁容错电机的数学模型及其MATLAB系统仿真模型,并对电机驱动系统的正常态及故障态的电磁转矩进行分析。根据功率守恒原理,对各相绕组进行单独控制,提出了基于电流直接控制法的容错控制策略,无需具体的故障诊断类型信息和软件算法切换,通过补偿故障相的平均电磁转矩,实现了具备强容错性能的永磁容错电机及其控制系统,即当电机或变换器出现一相、两相甚至三相故障时,系统可以分别输出100%、80%及60%的额定功率,而输出转速不变。通过系统的多相组合故障试验对基于电流直接控制算法的容错系统进行了验证。
电流直接控制的容错系统具备简单可靠的优点,但系统在故障态存在一定的周期脉动转矩,因此适合用于电机负载对转矩脉动不敏感的一般场合,特别是高速大惯量场合。为了将容错系统应用到高性能要求的驱动系统(如伺服驱动系统),本文利用相量叠加法,分析了不同故障态下电机输出脉动转矩的规律,提出了最优电流控制策略,通过补偿故障相的平均转矩和抵消故障态的脉动转矩,实现故障态下转矩脉动最小化控制,从而使电机驱动系统实现强容错的基础上,提高故障态的输出性能。MATLAB仿真和试验验证了该容错控制方案的有效性。
为了体现本论文所提出的电机设计方案以及容错控制方案工程应用价值,本文针对航空用某机型的电力作动器,设计了一套7.5kW/9000rpm六相永磁容错电机及其控制系统的工程样机,并通过发电试验、短路能力测试试验以及单相故障态试验证明该工程样机达到预期的容错性能。
With the development of more electric aircraft and hybrid electric vehicles, the reliability and security of these systems are highly demanded in recent years. Hoping a system can still work reliable when the motor drive system encounter some failures. Therefore, the research of fault tolerant permanent magnet motor and its control system has become the focus research area all over the world. The words fault tolerant in engineering means that the whole system can not only operate stable and reliable under an acceptable performance by isolating the failure components from the system, but also take appropriate measures to maintain the function of its provisions when one or more key components failure. The main purpose of this thesis is to study and design a highly reliable fault-tolerant permanent magnet motor and its control system. The motor can output required power with little speed changes and minimize output torque ripple when one or more phases failures of the motor. Thus, the strong fault-tolerant ability of a motor drive system can be achieved.
A detailed analysis of fault-tolerant permanent magnet motor structure and characteristics is established in this thesis. The magnetic isolation, physical isolation and thermal isolation between phases are realized by making each winding wounded around every other tooth of the FTPMM, and every winding is controlled by corresponding H-bridge inverter, which leads to electrical isolation between phases. Design a large harmonic leakage inductance and slot leakage inductance to inhibit the short-circuit current. A 12 slots 10 poles magnet FTPMM structure is identified after studying the winding factor, cogging torque ripple, radial magnetic pull and the selection of power devices effect which produced by the selection of the number of stator slots and rotor poles. In order to achieve a high-performance control of the system, a centrifugal magnetic steel structure is proposed in this thesis to obtain a low sine distortion rate of fundamental back-EMF waveform and reduce the cogging torque ripple value.
The main difference between the general permanent magnet brushless motor and the FTPMM is whether it has the ability to inhibit the short-circuit current. Therefore, the analysis of the armature winding inductance and its analytic expression has become one of the major tasks of FTPMM design. By analyzing magnetic line distribution inside the motor, it is found that the winding inductance composed of magnetizing inductance, harmonic leakage inductance and slot leakage inductance. In this thesis, motor reluctance network is established and the relationship between different inductance proportional is obtained, also introduce both slot magnet voltage parameter and the calculated parameter of slot thickness, on the basis of these mentioned above, the precision analytic expression of nonlinear winding inductance and its components is achieved .
Using the analytical method to analyze the electromagnetic field of the FTPMM with centrifugal rotor magnet and taking the effect on flux density produce by the slot into consideration to get the analytic expression of the radial flux density and tangential flux density of air gap. The analytic expression of no-load back-EMF and the cogging torque ripple has been derived respectively based on these mentioned above. The analytic expression is obtained to facilitate optimal design of the motor, also has been verified by magnetic field finite element analysis.
According to the requirements of the load torque and dynamic response of electric actuator of the aircraft, this thesis not only calculate the effective length of stator's diameter and axial of FTPMM directly, but also derive the electromagnetic design analytic expression of FTPMM. An optimal design-criteria of FTPMM is proposed on the basis of the characteristics of FTPMM to inhibit short-circuit current and get high output performance (low sine no-load back-EMF distortion and the cogging torque ripple) as the optimization objective. A 750W 10 phase 6 poles fault tolerant permanent magnet principle prototype and a 7.5kW engineering prototype motor is built for aviation. The design of the motor is correct and reasonable through the generation test, magnetic isolation test and winding short circuit test respectively.
Mathematical model and Matlab/Simulation model of the 10 phase 6 poles FTPMM are proposed in this thesis, also analyze the electromagnetic torque under normal state and fault state of motor drive system. A current direct control strategy is proposed based on the power conservation principle. The strategy is to control each phase winding separately and do not need the hardware identification signals or switching the software algorithm. The FTPMM and its control system achieved strong fault tolerance ability by compensating the average electromagnetic torque of the fault phase. The strong fault tolerance means that when one phase, two phases or three phases of motor or converter failure, the motor system can still output 100%,80% or 60% rated power respectively without speed changes. Multi-phase fault combination test have been taken to verify the fault tolerance ability of FTPMM system based on the current direct control strategy.
The fault tolerant system which based on the current direct control strategy has lots of advantages like simple and reliable. But there is periodic pulsation when the system under fault state, as a result, the current direct control strategy can only applied to the situation that torque ripple is not sensitive, especially high speed and large inertia situation. In order to overcome this disadvantage, the torque pulsation of different fault states is analyzed using the vector method, and an optimal current control strategy is proposed to minimize the torque ripple under the fault state by compensating the average electromagnetic torque of fault phase and offsetting the torque ripple of fault state, the proposed strategy could not only achieve with strong fault tolerance but also improve the output performance under the fault state of the system. The simulation based on Matlab and experiments have been taken to verify its correctness.
A 7.5kW 10 phase 6 poles fault tolerant permanent magnet prototype motor is built for aviation on a certain plane model to reflect the engineering application value of the motor design and fault tolerant control scheme proposed in the thesis. The design of the motor is correct and reasonable through the generation test, winding short circuit test and single-phase fault state test respectively. These tests show that the prototype and control strategy can achieve desired fault tolerance ability.
本文详细分析了永磁容错电机的结构形式及特点,通过绕组单层集中隔齿绕制的方式实现了各绕组间的磁隔离、物理隔离及热隔离;采用H桥的供电方式实现了绕组间的电气隔离;利用增大槽口漏感达到抑制短路电流目的。研究了定子槽数与转子磁极对数的配合对绕组系数、齿槽脉动转矩、径向不平衡磁拉力以及功率管选取的影响。采用离心磁钢设计方案,提高空载反电势波形的正弦度,降低齿槽脉动转矩,便于实现高性能的电机控制。
具备抑制短路电流能力是永磁容错电机与一般永磁无刷电机的主要区别,因此对电枢绕组的电感分析及其解析式求取成了永磁容错电机设计的主要问题之一。通过分析电机内的磁力线分布得出绕组自感由激磁感、谐波漏感、槽口漏感和槽内漏感组成。建立了电机磁阻网络,研究了不同电感组成分量之间的比例关系,并引入槽口磁压降参数和槽口计算厚度参数,推导出了具有高精度的非线性绕组自感及其组成分量的解析式。
利用解析法对转子磁钢离心式的永磁容错电机进行电磁场分析,考虑槽口对气隙磁密的影响,得到了气隙处径向磁密和切向磁密的解析式,以此为基础,分别推导出空载反电势和齿槽脉动转矩的解析式,便于电机优化设计,并对其进行磁场有限元分析验证。
依据航空用电力作动器的转矩及其动态响应要求,直接求出永磁容错电机的定子内径和轴向有效长度,推导了永磁容错电机的电磁参数设计的解析式。针对永磁容错电机的特点,以抑制短路电流和高输出性能(空载反电势波形正弦度高、齿槽脉动转矩小)为优化目标,建立了永磁容错电机的优化设计准则。设计并制造了一台航空用750W六相十极永磁容错电机的原理样机和一台7.5kW的工程样机,通过发电试验、磁隔离试验以及绕组短路试验验证电机设计合理性和正确性。
建立了六相十极永磁容错电机的数学模型及其MATLAB系统仿真模型,并对电机驱动系统的正常态及故障态的电磁转矩进行分析。根据功率守恒原理,对各相绕组进行单独控制,提出了基于电流直接控制法的容错控制策略,无需具体的故障诊断类型信息和软件算法切换,通过补偿故障相的平均电磁转矩,实现了具备强容错性能的永磁容错电机及其控制系统,即当电机或变换器出现一相、两相甚至三相故障时,系统可以分别输出100%、80%及60%的额定功率,而输出转速不变。通过系统的多相组合故障试验对基于电流直接控制算法的容错系统进行了验证。
电流直接控制的容错系统具备简单可靠的优点,但系统在故障态存在一定的周期脉动转矩,因此适合用于电机负载对转矩脉动不敏感的一般场合,特别是高速大惯量场合。为了将容错系统应用到高性能要求的驱动系统(如伺服驱动系统),本文利用相量叠加法,分析了不同故障态下电机输出脉动转矩的规律,提出了最优电流控制策略,通过补偿故障相的平均转矩和抵消故障态的脉动转矩,实现故障态下转矩脉动最小化控制,从而使电机驱动系统实现强容错的基础上,提高故障态的输出性能。MATLAB仿真和试验验证了该容错控制方案的有效性。
为了体现本论文所提出的电机设计方案以及容错控制方案工程应用价值,本文针对航空用某机型的电力作动器,设计了一套7.5kW/9000rpm六相永磁容错电机及其控制系统的工程样机,并通过发电试验、短路能力测试试验以及单相故障态试验证明该工程样机达到预期的容错性能。
With the development of more electric aircraft and hybrid electric vehicles, the reliability and security of these systems are highly demanded in recent years. Hoping a system can still work reliable when the motor drive system encounter some failures. Therefore, the research of fault tolerant permanent magnet motor and its control system has become the focus research area all over the world. The words fault tolerant in engineering means that the whole system can not only operate stable and reliable under an acceptable performance by isolating the failure components from the system, but also take appropriate measures to maintain the function of its provisions when one or more key components failure. The main purpose of this thesis is to study and design a highly reliable fault-tolerant permanent magnet motor and its control system. The motor can output required power with little speed changes and minimize output torque ripple when one or more phases failures of the motor. Thus, the strong fault-tolerant ability of a motor drive system can be achieved.
A detailed analysis of fault-tolerant permanent magnet motor structure and characteristics is established in this thesis. The magnetic isolation, physical isolation and thermal isolation between phases are realized by making each winding wounded around every other tooth of the FTPMM, and every winding is controlled by corresponding H-bridge inverter, which leads to electrical isolation between phases. Design a large harmonic leakage inductance and slot leakage inductance to inhibit the short-circuit current. A 12 slots 10 poles magnet FTPMM structure is identified after studying the winding factor, cogging torque ripple, radial magnetic pull and the selection of power devices effect which produced by the selection of the number of stator slots and rotor poles. In order to achieve a high-performance control of the system, a centrifugal magnetic steel structure is proposed in this thesis to obtain a low sine distortion rate of fundamental back-EMF waveform and reduce the cogging torque ripple value.
The main difference between the general permanent magnet brushless motor and the FTPMM is whether it has the ability to inhibit the short-circuit current. Therefore, the analysis of the armature winding inductance and its analytic expression has become one of the major tasks of FTPMM design. By analyzing magnetic line distribution inside the motor, it is found that the winding inductance composed of magnetizing inductance, harmonic leakage inductance and slot leakage inductance. In this thesis, motor reluctance network is established and the relationship between different inductance proportional is obtained, also introduce both slot magnet voltage parameter and the calculated parameter of slot thickness, on the basis of these mentioned above, the precision analytic expression of nonlinear winding inductance and its components is achieved .
Using the analytical method to analyze the electromagnetic field of the FTPMM with centrifugal rotor magnet and taking the effect on flux density produce by the slot into consideration to get the analytic expression of the radial flux density and tangential flux density of air gap. The analytic expression of no-load back-EMF and the cogging torque ripple has been derived respectively based on these mentioned above. The analytic expression is obtained to facilitate optimal design of the motor, also has been verified by magnetic field finite element analysis.
According to the requirements of the load torque and dynamic response of electric actuator of the aircraft, this thesis not only calculate the effective length of stator's diameter and axial of FTPMM directly, but also derive the electromagnetic design analytic expression of FTPMM. An optimal design-criteria of FTPMM is proposed on the basis of the characteristics of FTPMM to inhibit short-circuit current and get high output performance (low sine no-load back-EMF distortion and the cogging torque ripple) as the optimization objective. A 750W 10 phase 6 poles fault tolerant permanent magnet principle prototype and a 7.5kW engineering prototype motor is built for aviation. The design of the motor is correct and reasonable through the generation test, magnetic isolation test and winding short circuit test respectively.
Mathematical model and Matlab/Simulation model of the 10 phase 6 poles FTPMM are proposed in this thesis, also analyze the electromagnetic torque under normal state and fault state of motor drive system. A current direct control strategy is proposed based on the power conservation principle. The strategy is to control each phase winding separately and do not need the hardware identification signals or switching the software algorithm. The FTPMM and its control system achieved strong fault tolerance ability by compensating the average electromagnetic torque of the fault phase. The strong fault tolerance means that when one phase, two phases or three phases of motor or converter failure, the motor system can still output 100%,80% or 60% rated power respectively without speed changes. Multi-phase fault combination test have been taken to verify the fault tolerance ability of FTPMM system based on the current direct control strategy.
The fault tolerant system which based on the current direct control strategy has lots of advantages like simple and reliable. But there is periodic pulsation when the system under fault state, as a result, the current direct control strategy can only applied to the situation that torque ripple is not sensitive, especially high speed and large inertia situation. In order to overcome this disadvantage, the torque pulsation of different fault states is analyzed using the vector method, and an optimal current control strategy is proposed to minimize the torque ripple under the fault state by compensating the average electromagnetic torque of fault phase and offsetting the torque ripple of fault state, the proposed strategy could not only achieve with strong fault tolerance but also improve the output performance under the fault state of the system. The simulation based on Matlab and experiments have been taken to verify its correctness.
A 7.5kW 10 phase 6 poles fault tolerant permanent magnet prototype motor is built for aviation on a certain plane model to reflect the engineering application value of the motor design and fault tolerant control scheme proposed in the thesis. The design of the motor is correct and reasonable through the generation test, winding short circuit test and single-phase fault state test respectively. These tests show that the prototype and control strategy can achieve desired fault tolerance ability.
引文
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