六相串联三相PMSM缺相容错型低转矩脉动直接转矩控制
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摘要
文中针对单相绕组开路故障下六相串联三相永磁同步电机(permanentmagnetsynchronousmotor,PMSM)串联系统,提出一种转矩、磁链精确控制的直接转矩控制策略。基于转矩、转矩角及定子磁链关系,采用变比例积分分离式PI分别在两个子空间计算一个控制周期内定子磁链增量;根据两台电机定子电压方程,计算出两个平面内电压矢量参考值;由零序平面电压方程计算得到零序平面电压;根据三个平面电压矢量计算健康相桥臂的占空比,实现两台电机的解耦控制,同时实现对两台电机转矩及磁链的精确控制。仿真与实验结果表明,所提占空比调制型直接转矩控制策略(duty cycle modulation direct torque control,DCM-DTC)能实现两台电机的解耦控制,系统故障切换前后可平稳运行,与传统直接转矩控制相比,转矩脉动与磁链幅值脉动大幅降低。
A direct torque control strategy with precise torque and flux control was proposed for the open-circuit fault in the drive system of six-phase permanent magnet synchronous motor(PMSM) and three-phase PMSM connected in series. Based on the relationship between torque, torque angle and the amplitude of stator flux, the stator flux increment in each digital cycle was established in two subspaces by variable proportional integral separation PI. Then, based on the stator voltage equations, the reference value of the voltage vector in two subspaces was calculated. The actual voltage of zero sequence plane was calculated by the voltage equation on zero sequence plane. In order to decouple the control of the two motors, and control the torque and flux simultaneously, the duty cycle of healthy phase was calculated according to the value of voltage on three planes. The simulation and experimental results show that the duty cycle modulation direct torque control(DCM-DTC) proposed can realize the decoupling control of the two motors, and the system can switch smoothly from fault-free condition to open-circuit fault condition. Compared with the traditional direct torque control, the torque ripple and flux amplitude ripple are greatly reduced.
A direct torque control strategy with precise torque and flux control was proposed for the open-circuit fault in the drive system of six-phase permanent magnet synchronous motor(PMSM) and three-phase PMSM connected in series. Based on the relationship between torque, torque angle and the amplitude of stator flux, the stator flux increment in each digital cycle was established in two subspaces by variable proportional integral separation PI. Then, based on the stator voltage equations, the reference value of the voltage vector in two subspaces was calculated. The actual voltage of zero sequence plane was calculated by the voltage equation on zero sequence plane. In order to decouple the control of the two motors, and control the torque and flux simultaneously, the duty cycle of healthy phase was calculated according to the value of voltage on three planes. The simulation and experimental results show that the duty cycle modulation direct torque control(DCM-DTC) proposed can realize the decoupling control of the two motors, and the system can switch smoothly from fault-free condition to open-circuit fault condition. Compared with the traditional direct torque control, the torque ripple and flux amplitude ripple are greatly reduced.
引文
[1]周长攀,杨贵杰,苏健勇,等.基于正常解耦变换的双三相永磁同步电机缺相容错控制策略[J].电工技术学报,2017,32(3):86-96.Zhou Changpan,Yang Guijie,Su Jianyong,et al.The control strategy for dual three-phase PMSM based on normal decoupling transformation under fault condition due to open phases[J].Transactions of China Electrotechnical Society,2017,32(3):86-96(in Chinese).
[2]Zhou Yangzhong,Lin Xiaogang,Cheng Ming.Afault-tolerant direct torque control for six-phase permanent magnet synchronous motor with arbitrary two opened phases based on modified variables[J].IEEE Transactions on Energy Conversion,2016,31(2):549-556.
[3]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,2018,33(3):2774-2784.
[4]Scarcella G,Scelba G,Pulvirenti M,et al.Fault-tolerant capability of deadbeat-direct torque and flux control for three-phase PMSM drives[J].IEEE Transactions on Industry Applications,2017,53(6):5496-5508.
[5]Levi E,Jones M,Vukosavic S N.A series-connected two-motor six-phase drive with induction and permanent magnet machines[J].IEEE Transactions on Energy Conversion,2006,21(1):121-129.
[6]Zhou Yangzhong,Chen Guangtuan.Predictive DTCstrategy with fault-tolerant function for six-phase and three-phase PMSM series-connected drive system[J].IEEE Transactions on Industrial Electronics,2018,65(11):9101-9112.
[7]郑晓钦,马伟明,王东,等.十五相感应电机不对称缺相容错运行控制[J].中国电机工程学报,2018,38(4):1212-1221.Zheng Xiaoqin,Ma Weiming,Wang Dong,et al.Faulttolerant control of fifteen-phase induction machine under asymmetrical fault condition[J].Proceedings of the CSEE,2018,38(4):1212-1221(in Chinese).
[8]Munim W N W A,Duran M J,Che H S,et al.A unified analysis of the fault tolerance capability in six-phase induction motor drives[J].IEEE Transactions on Power Electronics,2017,32(10):7824-7836.
[9]Zhang Li,Fan Ying,Cui Ronghua,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,2018,67(2):910-919.
[10]刘自程,郑泽东,彭凌,等.船舶电力推进中十五相感应电机同轴运行及容错控制策略[J].电工技术学报,2014,29(03):65-74.Liu Zicheng,Zheng Zedong,Peng Ling,et al.Fixed joint double fifteen-phase induction motor control and fault-tolerant control in ship propulsion system[J].Transactions of China Electrotechnical Society,2014,29(3):65-74(in Chinese).
[11]蒋雪峰,黄文新,郝振洋,等.双绕组永磁容错电机的余度电驱动系统[J].电工技术学报,2015,30(6):22-29.Jiang Xuefeng,Huang Wenxin,Hao Zhenyang,et al.Redundant control system of dual-winding faulttolerant permanent magnet motor[J].Transactions of China Electrotechnical Society,2015,30(6):22-29(in Chinese).
[12]耿乙文,鲍宇,王昊,等.六相感应电机直接转矩及容错控制[J].中国电机工程学报,2016,36(21):5947-5956.Geng Yiwen,Bao Yu,Wang Hao,et al.Direct torque and fault tolerant control for six-phase induction motor[J].Proceedings of the CSEE,2016,36(21):5947-5956(in Chinese).
[13]Wang Wei,Zhang Jinghao,Cheng Ming,et al.Faulttolerant control of dual three-phase permanent-magnet synchronous machine drives under open-phase faults[J].IEEE Transactions on Power Electronics,2017,32(3):2052-2063.
[14]Nguyen N K,Meinguet F,Semail E,et al.Fault-tolerant operation of an open-end winding five-phase PMSM drive with short-circuit inverter fault[J].IEEE Transactions on Industrial Electronics,2016,63(1):595-605.
[15]Wang Xueqing,Wang Zheng,Cheng Ming,et al.Remedial strategies of T-NPC three-level asymmetric six-phase PMSM drives based on SVM-DTC[J].IEEETransactions on Industrial Electronics,2017,64(9):6841-6853.
[16]Wang Zheng,Wang Xueqing,Cheng Ming,et al.Comprehensive investigation on remedial operation of switch faults for dual three-phase PMSM drives fed by T-3L inverters[J].IEEE Transactions on Industrial Electronics,2018,65(6):4574-4587.
[17]Wang Zheng,Wang Yibo,Chen Jian,et al.Fault-tolerant control of NPC three-level inverters-fed double-statorwinding PMSM drives based on vector space decomposition[J].IEEE Transactions on Industrial Electronics,2017,64(11):8446-8458.
[18]Zhao Wenxiang,Wu Biyu,Chen Qian,et al.Fault-tolerant direct thrust force control for a dual inverter fed open-end winding linear Vernier permanent-magnet motor using improved SVPWM[J].IEEE Transactions on Industrial Electronics,2018,65(9):7458-7467.
[19]鲁晓彤.非对称六相永磁同步电机串联解耦控制方法研究[D].哈尔滨:哈尔滨工业大学,2016.Lu Xiaotong.Research on asymmetrical six-phase permanent magnet synchronous motor series-connected decoupling control method[D].Harbin:Harbin Institute of Technology,2016(in Chinese).
[20]周扬忠,胡育文,田蕉.永磁同步电机控制系统中变比例系数转矩调节器设计研究[J].中国电机工程学报,2004,24(9):204-208.Zhou Yangzhong,Hu Yuwen,Tian Jiao.Research of torque controller with variable proportion in permanent magnet synchronous motor drive[J].Proceedings of the CSEE,2004,24(9):204-208(in Chinese).
[21]陈光团,周扬忠.六相串联三相双永磁同步电机预测型直接转矩控制研究[J].中国电机工程学报,2018,38(15):4526-4536.Chen Guangtuan,Zhou Yangzhong.Research on a predictive direct torque control for the drive control system of six-phase PMSM and three-phase PMSM in series[J].Proceedings of the CSEE,2018,38(15):4526-4536(in Chinese).
[2]Zhou Yangzhong,Lin Xiaogang,Cheng Ming.Afault-tolerant direct torque control for six-phase permanent magnet synchronous motor with arbitrary two opened phases based on modified variables[J].IEEE Transactions on Energy Conversion,2016,31(2):549-556.
[3]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,2018,33(3):2774-2784.
[4]Scarcella G,Scelba G,Pulvirenti M,et al.Fault-tolerant capability of deadbeat-direct torque and flux control for three-phase PMSM drives[J].IEEE Transactions on Industry Applications,2017,53(6):5496-5508.
[5]Levi E,Jones M,Vukosavic S N.A series-connected two-motor six-phase drive with induction and permanent magnet machines[J].IEEE Transactions on Energy Conversion,2006,21(1):121-129.
[6]Zhou Yangzhong,Chen Guangtuan.Predictive DTCstrategy with fault-tolerant function for six-phase and three-phase PMSM series-connected drive system[J].IEEE Transactions on Industrial Electronics,2018,65(11):9101-9112.
[7]郑晓钦,马伟明,王东,等.十五相感应电机不对称缺相容错运行控制[J].中国电机工程学报,2018,38(4):1212-1221.Zheng Xiaoqin,Ma Weiming,Wang Dong,et al.Faulttolerant control of fifteen-phase induction machine under asymmetrical fault condition[J].Proceedings of the CSEE,2018,38(4):1212-1221(in Chinese).
[8]Munim W N W A,Duran M J,Che H S,et al.A unified analysis of the fault tolerance capability in six-phase induction motor drives[J].IEEE Transactions on Power Electronics,2017,32(10):7824-7836.
[9]Zhang Li,Fan Ying,Cui Ronghua,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,2018,67(2):910-919.
[10]刘自程,郑泽东,彭凌,等.船舶电力推进中十五相感应电机同轴运行及容错控制策略[J].电工技术学报,2014,29(03):65-74.Liu Zicheng,Zheng Zedong,Peng Ling,et al.Fixed joint double fifteen-phase induction motor control and fault-tolerant control in ship propulsion system[J].Transactions of China Electrotechnical Society,2014,29(3):65-74(in Chinese).
[11]蒋雪峰,黄文新,郝振洋,等.双绕组永磁容错电机的余度电驱动系统[J].电工技术学报,2015,30(6):22-29.Jiang Xuefeng,Huang Wenxin,Hao Zhenyang,et al.Redundant control system of dual-winding faulttolerant permanent magnet motor[J].Transactions of China Electrotechnical Society,2015,30(6):22-29(in Chinese).
[12]耿乙文,鲍宇,王昊,等.六相感应电机直接转矩及容错控制[J].中国电机工程学报,2016,36(21):5947-5956.Geng Yiwen,Bao Yu,Wang Hao,et al.Direct torque and fault tolerant control for six-phase induction motor[J].Proceedings of the CSEE,2016,36(21):5947-5956(in Chinese).
[13]Wang Wei,Zhang Jinghao,Cheng Ming,et al.Faulttolerant control of dual three-phase permanent-magnet synchronous machine drives under open-phase faults[J].IEEE Transactions on Power Electronics,2017,32(3):2052-2063.
[14]Nguyen N K,Meinguet F,Semail E,et al.Fault-tolerant operation of an open-end winding five-phase PMSM drive with short-circuit inverter fault[J].IEEE Transactions on Industrial Electronics,2016,63(1):595-605.
[15]Wang Xueqing,Wang Zheng,Cheng Ming,et al.Remedial strategies of T-NPC three-level asymmetric six-phase PMSM drives based on SVM-DTC[J].IEEETransactions on Industrial Electronics,2017,64(9):6841-6853.
[16]Wang Zheng,Wang Xueqing,Cheng Ming,et al.Comprehensive investigation on remedial operation of switch faults for dual three-phase PMSM drives fed by T-3L inverters[J].IEEE Transactions on Industrial Electronics,2018,65(6):4574-4587.
[17]Wang Zheng,Wang Yibo,Chen Jian,et al.Fault-tolerant control of NPC three-level inverters-fed double-statorwinding PMSM drives based on vector space decomposition[J].IEEE Transactions on Industrial Electronics,2017,64(11):8446-8458.
[18]Zhao Wenxiang,Wu Biyu,Chen Qian,et al.Fault-tolerant direct thrust force control for a dual inverter fed open-end winding linear Vernier permanent-magnet motor using improved SVPWM[J].IEEE Transactions on Industrial Electronics,2018,65(9):7458-7467.
[19]鲁晓彤.非对称六相永磁同步电机串联解耦控制方法研究[D].哈尔滨:哈尔滨工业大学,2016.Lu Xiaotong.Research on asymmetrical six-phase permanent magnet synchronous motor series-connected decoupling control method[D].Harbin:Harbin Institute of Technology,2016(in Chinese).
[20]周扬忠,胡育文,田蕉.永磁同步电机控制系统中变比例系数转矩调节器设计研究[J].中国电机工程学报,2004,24(9):204-208.Zhou Yangzhong,Hu Yuwen,Tian Jiao.Research of torque controller with variable proportion in permanent magnet synchronous motor drive[J].Proceedings of the CSEE,2004,24(9):204-208(in Chinese).
[21]陈光团,周扬忠.六相串联三相双永磁同步电机预测型直接转矩控制研究[J].中国电机工程学报,2018,38(15):4526-4536.Chen Guangtuan,Zhou Yangzhong.Research on a predictive direct torque control for the drive control system of six-phase PMSM and three-phase PMSM in series[J].Proceedings of the CSEE,2018,38(15):4526-4536(in Chinese).