机电作动器中永磁容错电机设计与控制系统研究
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摘要
机电作动器作为飞行控制系统中的主要执行机构，必须具有很强的可靠性和容错性。本文以减小机电作动器的体积、提高机电作动器的容错性和可靠性为目标，设计具有容错性和高可靠性的永磁容错电机，研究了永磁容错电机无位置传感器检测技术和基于矩阵变换器的矢量控制技术。论文主要研究内容和结论如下：
第一，根据飞行器中机电作动器对作动器体积和可靠性需求，提出了直驱型机电作动器和容错电机的结构方案及相应的电机尺寸。并在此基础上，优化电机定子内径使电机工作时铜耗最小，利用磁通管法推导了定子齿尖漏电感解析式，分析了电机槽齿尺寸对齿尖漏感的影响，结合有限元方法优化了电机齿槽结构尺寸。对所设计的电机容错性能进行了仿真分析，结果表明该电机具有很强的磁隔离和故障隔离能力，能够满足直驱型机电作动器需求。
第二，针对永磁容错电机齿槽结构复杂的特点，将永磁容错电机气隙磁场分为定子绕组产生气隙磁场和永磁体产生气隙磁场两部分。利用许克变换求出电机不规则气隙区域与矩形区域的对应关系。将永磁体磁场等效为线圈电流磁场，分别得到了定子绕组和永磁体气隙磁场，利用有限元验证了结果的有效性。将定子绕组气隙磁场和永磁体气隙磁场相叠加，得到了永磁容错电机气隙磁场，计算了永磁容错电机齿槽转矩和电磁转矩。
第三，分析了永磁容错电机饱和凸极效应，将电机绕组磁链等效为定子电流产生的磁链和转子磁极等效电流产生的磁链两部分，建立了考虑饱和凸极效应的永磁容错电机非线性数学模型。提出了一种基于高频电压注入的转子位置检测方法，仿真结果表明，注入的高频电压信号对电机运行性能影响较小，设计的转子位置观测器能较准确地估计转子位置。通过给电机施加电压脉冲矢量实现了转子初始位置检测，仿真结果表明，无论电机正常运行还是处于故障状态，转子初始位置检测算法都能较好地检测出转子初始位置。
第四，在介绍矩阵变换器工作原理的基础上，将矩阵变换器等效成虚拟整流和虚拟逆变两个环节，设计了基于电压补偿的矩阵变换器控制策略。分析了PI电流环和最速电流环优缺点，设计了基于次速电流环的矩阵变换器控制系统。研究了基于矩阵变换器的永磁容错电机矢量控制系统，仿真分析了系统动态性能，仿真结果表明基于矩阵变换器的永磁容错电机矢量控制系统具有较好的动态响应性能，能够较好地跟踪转速和负载转矩变化，具有较好的抗负载变化能力。
第五，设计了基于矩阵变换器的永磁容错电机无位置传感器矢量控制系统，仿真分析了该控制系统在正常工作状态下和短路及开路故障情况下的动态性能。仿真结果表明，该系统正常工作时能够很好地跟踪系统输入，且具有较好的动态响应性能；当电机发生单相短路和开路故障时，系统仍能继续工作，满足直驱型机电作动器容错性要求。
As the major actuating mechanism of an aircraft, electromechanical actuators havehigh requirements for reliability and fault tolerant. In this dissertation, a fault tolerantpermanent magnet motor is proposed to minimize the size and to improve the faulttolerant and reliability of the electromechanical actuators. A sensorless rotor positionestimation method for the fault tolerant permanent magnet motor is presented, and avector control system for the fault tolerant permanent magnet motor based on matrixconverter is studied. The main contents and contributions are as follows.
1. According to the requirements of the reliability, fault tolerant and size of theelectromechanical actuator on an aircraft, the direct drive electromechanical actuator isproposed, and the structure and size of the fault tolerant motor are investigated. On thisbasis, the internal diameter of the stator is optimized to minimize copper loss. Ananalytic expression of the tooth tip leakage inductance is derived using the flux tubeapproach, and some slot and tooth parameters which have remarkable influences on thetooth tip leakage inductance are found, and they are optimized by the finite elementmethod. The fault tolerance of the motor is simulated using the finite element method,and the results show that the motor has a perfect property in the magnetic isolation andfault tolerant, and it meets the fault tolerant requirements on the direct driveelectromechanical actuator.
2. For the complex slot configuration of the fault tolerant permanent magnet motor,the air gap magnetic field distribution is divided into two parts: the magnetic fielddistribution produced by the current through the armature windings, and the magneticfields produced by the permanent magnets of the motor. The slotted structure of thefault tolerant permanent magnet motor is transformed to a simpler geometrical domainutilizing the Schwarz-Christoffel transform, and the magnetic field distributiongenerated by the current through the armature windings is then analyzed. The magneticfields of the permanent magnets are represented by the magnetic fields generated by anumber of line currents, and the magnetic field distribution produced by the permanentmagnet is analyzed. The accuracy of the results is validated by the finite elementmethod. Summing up the two parts of the magnetic fields, the cogging torque andelectromagnetic torque are calculated as well.
3. The magnetic saturation saliency effect is analyzed, and the total flux linkage ofa winding is separated into the flux linkages produced by the stator current and by therotor permanent magnet. The nonlinear mathematical model of the fault tolerantpermanent magnet motor is established. An estimation method for the rotor position ofthe fault tolerant permanent magnet motor, which is based on the high frequencyvoltage signal injection method, is presented. The simulation results show that the high frequency voltage signals have little effect on normal operation of the motor, and themethod can accurately estimate the position the rotor. The initial rotor position of thefault tolerant permanent magnet motor is estimated by injecting a voltage pulse vector.The simulation results indicate that the proposed approach is able to detect the initialposition of the rotor.
4. By introducing the principle of the matrix converter, the matrix converter isequivalent to the combination of a virtual rectification and a virtual converter, and thecontrol strategy of the matrix converter based on voltage compensation is proposed.Based on the analysis of the advantages and disadvantages of the PI current loop and thetime-optimal current loop, a control system for the matrix converter based on asub-optimal current loop is designed. The vector control system for the fault tolerantpermanent magnet motor based on the matrix converter is studied, and the simulationresults show that the system holds good dynamic response performance and adaptationcapability.
5. Based on the matrix converter, a sensorless vector controller for the faulttolerant permanent magnet motor is designed, and the dynamic performance of thecontrolled system is simulated for the cases when the motor is on the normal state andthe fault state. The results show that the controlled system can accurately track theinputs when the motor is normal, and the system can still work when short circuit oropen circuit faults occurs in the motor, and the designed system well meets the faulttolerant requirements for the direct drive electromechanical actuator.
第一，根据飞行器中机电作动器对作动器体积和可靠性需求，提出了直驱型机电作动器和容错电机的结构方案及相应的电机尺寸。并在此基础上，优化电机定子内径使电机工作时铜耗最小，利用磁通管法推导了定子齿尖漏电感解析式，分析了电机槽齿尺寸对齿尖漏感的影响，结合有限元方法优化了电机齿槽结构尺寸。对所设计的电机容错性能进行了仿真分析，结果表明该电机具有很强的磁隔离和故障隔离能力，能够满足直驱型机电作动器需求。
第二，针对永磁容错电机齿槽结构复杂的特点，将永磁容错电机气隙磁场分为定子绕组产生气隙磁场和永磁体产生气隙磁场两部分。利用许克变换求出电机不规则气隙区域与矩形区域的对应关系。将永磁体磁场等效为线圈电流磁场，分别得到了定子绕组和永磁体气隙磁场，利用有限元验证了结果的有效性。将定子绕组气隙磁场和永磁体气隙磁场相叠加，得到了永磁容错电机气隙磁场，计算了永磁容错电机齿槽转矩和电磁转矩。
第三，分析了永磁容错电机饱和凸极效应，将电机绕组磁链等效为定子电流产生的磁链和转子磁极等效电流产生的磁链两部分，建立了考虑饱和凸极效应的永磁容错电机非线性数学模型。提出了一种基于高频电压注入的转子位置检测方法，仿真结果表明，注入的高频电压信号对电机运行性能影响较小，设计的转子位置观测器能较准确地估计转子位置。通过给电机施加电压脉冲矢量实现了转子初始位置检测，仿真结果表明，无论电机正常运行还是处于故障状态，转子初始位置检测算法都能较好地检测出转子初始位置。
第四，在介绍矩阵变换器工作原理的基础上，将矩阵变换器等效成虚拟整流和虚拟逆变两个环节，设计了基于电压补偿的矩阵变换器控制策略。分析了PI电流环和最速电流环优缺点，设计了基于次速电流环的矩阵变换器控制系统。研究了基于矩阵变换器的永磁容错电机矢量控制系统，仿真分析了系统动态性能，仿真结果表明基于矩阵变换器的永磁容错电机矢量控制系统具有较好的动态响应性能，能够较好地跟踪转速和负载转矩变化，具有较好的抗负载变化能力。
第五，设计了基于矩阵变换器的永磁容错电机无位置传感器矢量控制系统，仿真分析了该控制系统在正常工作状态下和短路及开路故障情况下的动态性能。仿真结果表明，该系统正常工作时能够很好地跟踪系统输入，且具有较好的动态响应性能；当电机发生单相短路和开路故障时，系统仍能继续工作，满足直驱型机电作动器容错性要求。
As the major actuating mechanism of an aircraft, electromechanical actuators havehigh requirements for reliability and fault tolerant. In this dissertation, a fault tolerantpermanent magnet motor is proposed to minimize the size and to improve the faulttolerant and reliability of the electromechanical actuators. A sensorless rotor positionestimation method for the fault tolerant permanent magnet motor is presented, and avector control system for the fault tolerant permanent magnet motor based on matrixconverter is studied. The main contents and contributions are as follows.
1. According to the requirements of the reliability, fault tolerant and size of theelectromechanical actuator on an aircraft, the direct drive electromechanical actuator isproposed, and the structure and size of the fault tolerant motor are investigated. On thisbasis, the internal diameter of the stator is optimized to minimize copper loss. Ananalytic expression of the tooth tip leakage inductance is derived using the flux tubeapproach, and some slot and tooth parameters which have remarkable influences on thetooth tip leakage inductance are found, and they are optimized by the finite elementmethod. The fault tolerance of the motor is simulated using the finite element method,and the results show that the motor has a perfect property in the magnetic isolation andfault tolerant, and it meets the fault tolerant requirements on the direct driveelectromechanical actuator.
2. For the complex slot configuration of the fault tolerant permanent magnet motor,the air gap magnetic field distribution is divided into two parts: the magnetic fielddistribution produced by the current through the armature windings, and the magneticfields produced by the permanent magnets of the motor. The slotted structure of thefault tolerant permanent magnet motor is transformed to a simpler geometrical domainutilizing the Schwarz-Christoffel transform, and the magnetic field distributiongenerated by the current through the armature windings is then analyzed. The magneticfields of the permanent magnets are represented by the magnetic fields generated by anumber of line currents, and the magnetic field distribution produced by the permanentmagnet is analyzed. The accuracy of the results is validated by the finite elementmethod. Summing up the two parts of the magnetic fields, the cogging torque andelectromagnetic torque are calculated as well.
3. The magnetic saturation saliency effect is analyzed, and the total flux linkage ofa winding is separated into the flux linkages produced by the stator current and by therotor permanent magnet. The nonlinear mathematical model of the fault tolerantpermanent magnet motor is established. An estimation method for the rotor position ofthe fault tolerant permanent magnet motor, which is based on the high frequencyvoltage signal injection method, is presented. The simulation results show that the high frequency voltage signals have little effect on normal operation of the motor, and themethod can accurately estimate the position the rotor. The initial rotor position of thefault tolerant permanent magnet motor is estimated by injecting a voltage pulse vector.The simulation results indicate that the proposed approach is able to detect the initialposition of the rotor.
4. By introducing the principle of the matrix converter, the matrix converter isequivalent to the combination of a virtual rectification and a virtual converter, and thecontrol strategy of the matrix converter based on voltage compensation is proposed.Based on the analysis of the advantages and disadvantages of the PI current loop and thetime-optimal current loop, a control system for the matrix converter based on asub-optimal current loop is designed. The vector control system for the fault tolerantpermanent magnet motor based on the matrix converter is studied, and the simulationresults show that the system holds good dynamic response performance and adaptationcapability.
5. Based on the matrix converter, a sensorless vector controller for the faulttolerant permanent magnet motor is designed, and the dynamic performance of thecontrolled system is simulated for the cases when the motor is on the normal state andthe fault state. The results show that the controlled system can accurately track theinputs when the motor is normal, and the system can still work when short circuit oropen circuit faults occurs in the motor, and the designed system well meets the faulttolerant requirements for the direct drive electromechanical actuator.
引文
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