CN-116995988-B - Control method of six-phase permanent magnet synchronous motor

CN116995988BCN 116995988 BCN116995988 BCN 116995988BCN-116995988-B

Abstract

The invention discloses a control method of a six-phase permanent magnet synchronous motor, which adopts two common three-phase permanent magnet synchronous frequency converters to be respectively connected with symmetrical stator windings of the six-phase permanent magnet synchronous motor, equivalently drives the two three-phase permanent magnet synchronous motors, and then cooperatively controls the two master-slave frequency converters to realize the power balance of the two equivalent three-phase permanent magnet synchronous motors, thus leading the six-phase permanent magnet synchronous motor to stably operate. Under the fault condition of one frequency converter, the other frequency converter can normally drive the motor, so that redundant control is realized, and the stability and reliability of the system are improved.

Inventors

PAN XIAODONG
ZHOU YIBO
PAN XUDONG

Assignees

武汉羿变电气有限公司

Dates

Publication Date: 20260508
Application Date: 20230714

Claims (7)

1. The control method of the six-phase permanent magnet synchronous motor is characterized by comprising the following steps of: Two frequency converters are utilized, one frequency converter is connected with a three-phase symmetrical stator winding A, B, C in a six-phase winding of the six-phase permanent magnet synchronous motor, and the other frequency converter is connected with the remaining three-phase symmetrical stator winding D, E, F of the six-phase winding; After the two frequency converters and the six-phase winding are connected, the two frequency converters are oriented by six-phase motor rotor flux linkage, then vector closed-loop control is adopted, one frequency converter controls the three-phase symmetrical stator winding A, B, C, the other frequency converter controls the three-phase symmetrical stator winding D, E, F, the six-phase permanent magnet synchronous motor is controlled according to two sets of three-phase permanent magnet synchronous motor superposition models, and the electromagnetic torque of the six-phase permanent magnet synchronous motor is the sum of electromagnetic torque vectors generated by the two sets of three-phase permanent magnet synchronous motors; the master machine and the slave machine respectively perform vector control according to target speed and output three-phase voltage to three-phase windings respectively connected, the master machine transmits the torque current of the master machine to the slave machine, the slave machine adopts PI loop control to perform negative feedback regulation according to the relation between the torque current of the master machine transmitted by the master machine and the feedback torque current acquired by sampling of the slave machine, the torque current of the master machine is used as an input given value of the PI loop, the feedback torque current of the slave machine is used as an input feedback value of the PI loop, and the output of the PI loop is used for compensating the target frequency, so that the operating frequency of the slave machine is regulated, the torque of the corresponding three-phase permanent magnet synchronous motor of the slave machine is changed, and the power balance of the master machine and the slave machine is realized.
2. The control method of a six-phase permanent magnet synchronous motor according to claim 1, wherein the master machine and the slave machine communicate with each other and also transmit fault information of two frequency converters; When the host fails, the host automatically exits the operation, fault information is transmitted to the slave, the slave closes the PI ring control, and the slave adopts the self operation frequency and the starting instruction to independently connect the three windings to continue the operation, thereby realizing the redundancy control.
3. The control method of a six-phase permanent magnet synchronous motor according to claim 1, wherein the voltage formulas of the six-phase permanent magnet synchronous motor are shown as formulas (1) to (4), the electromagnetic torque formulas of the six-phase permanent magnet synchronous motor are shown as formulas (5) to (6), and the total electromagnetic torque of the six-phase permanent magnet synchronous motor is shown as formula (7) under the condition that mutual inductance between windings of each phase on the six-phase motor is ignored: (1) (2) (3) (4) (5) (6) (7) Wherein ud1, uq1, d1、 Q1, id1 and iq1 are respectively d-axis voltage, q-axis voltage, d-axis flux linkage, q-axis flux linkage, d-axis current and q-axis current of the first set of three-phase permanent magnet synchronous motor, ud2, uq2, d2、 Q2, id2 and Iq2 are respectively d-axis voltage, q-axis voltage, d-axis flux linkage, q-axis flux linkage, d-axis current and q-axis current of the second set of three-phase permanent magnet synchronous motor, id1, iq1 and Id2, iq2 are obtained by sampling three-phase currents outputted by the two frequency converters and are respectively Ia1, ib1, ic1 and Ia2, ib2 and Ic2, and then excitation current and torque current are obtained by conversion, ω is the operating frequency of the six-phase permanent magnet synchronous motor, p is the pole pair number of the motor, and ld and Iq are respectively d-axis inductance and q-axis inductance of each three-phase symmetrical stator winding.
4. A control method of a six-phase permanent magnet synchronous motor according to claim 3, wherein the transformation includes Clark transformation and Park transformation among the excitation current and the torque current obtained through the transformation.
5. The method of claim 1, wherein the three-phase symmetric stator winding A, B, C is identical to the three-phase symmetric stator winding D, E, F.
6. The control method of the six-phase permanent magnet synchronous motor according to claim 1, wherein the two frequency converters are identical in structure and comprise 6 IGBTs, each 2 IGBTs are in one group, the C pole of one IGBT in each group is connected with the E pole of the other IGBT, and the E pole of the one IGBT is connected with the two ends of a direct current driving power supply between the C poles of the other IGBT.
7. A control method of a six-phase permanent magnet synchronous motor according to claim 6, characterized in that each winding is connected to the connection of two IGBTs in a set of IGBTs, respectively.

Description

Control method of six-phase permanent magnet synchronous motor Technical Field The invention relates to the technical field of motor control, in particular to a method for rapidly extracting dynamic characteristic parameters of a MOSFET device. Background Six-phase motors are increasingly widely used mainly because of the advantages of high reliability, high unit power density, redundant design and the like, and are increasingly used in some special requirement occasions, particularly in the fields of aerospace, ships and automobiles. According to different driving control modes, the six-phase permanent magnet synchronous motor control system can be divided into a redundancy permanent magnet synchronous motor control system and a fault-tolerant permanent magnet synchronous motor control system, wherein the redundancy permanent magnet synchronous motor system is formed by superposing two three-phase permanent magnet synchronous motors equivalent to the six-phase permanent magnet synchronous motor by adopting the thought of the three-phase permanent magnet synchronous motor control system under the condition of neglecting mutual inductance among stator windings. The fault-tolerant permanent magnet synchronous motor system takes each phase winding as a basic unit and adopts a driving mode of an H-bridge inversion unit. The invention is designed on a control model of a redundant permanent magnet synchronous motor system. In the existing redundancy permanent magnet synchronous motor system control model, a six-phase motor control system adopts one frequency converter to drive a six-phase motor, and one frequency converter is connected with a six-phase stator winding for control. If a certain part of the frequency converter is damaged, the frequency converter can be stopped, and the motor can not operate, so that the situation with high requirements on redundancy and reliability is at risk. Disclosure of Invention In order to solve the technical problems, the invention provides a control strategy, wherein two sets of common three-phase permanent magnet synchronous frequency converters are respectively connected with two three-phase symmetrical stator windings of a six-phase motor, and then the two three-phase permanent magnet synchronous frequency converters are cooperatively controlled to realize the drive control of the six-phase permanent magnet synchronous motor. If one frequency converter fails, the other frequency converter can continuously drive the six-phase motor to work normally under the condition of no shutdown, so that the motor redundancy control is realized, and the system reliability is improved. The invention discloses a control method of a six-phase permanent magnet synchronous motor, which comprises the following steps: Two frequency converters are utilized, one frequency converter is connected with a three-phase symmetrical stator winding A, B, C in a six-phase winding of the six-phase permanent magnet synchronous motor, and the other frequency converter is connected with the remaining three-phase symmetrical stator winding D, E, F of the six-phase winding; After the two frequency converters and the six-phase winding are connected, the two frequency converters are oriented by six-phase motor rotor flux linkage, then vector closed-loop control is adopted, one frequency converter controls the three-phase symmetrical stator winding A, B, C, the other frequency converter controls the three-phase symmetrical stator winding D, E, F, the six-phase permanent magnet synchronous motor is controlled according to two sets of three-phase permanent magnet synchronous motor superposition models, and the electromagnetic torque of the six-phase permanent magnet synchronous motor is the sum of electromagnetic torque vectors generated by the two sets of three-phase permanent magnet synchronous motors; the master machine and the slave machine respectively perform vector control according to target speed and output three-phase voltage to three-phase windings respectively connected, the master machine transmits the torque current of the master machine to the slave machine, the slave machine adopts PI loop control to perform negative feedback regulation according to the relation between the torque current of the master machine transmitted by the master machine and the feedback torque current acquired by sampling of the slave machine, the torque current of the master machine is used as an input given value of the PI loop, the feedback torque current of the slave machine is used as an input feedback value of the PI loop, and the output of the PI loop is used for compensating the target frequency, so that the operating frequency of the slave machine is regulated, the torque of the corresponding three-phase permanent magnet synchronous motor of the slave machine is changed, and the power balance of the master machine and the slave machine is realized. In the control method of the six-phase permanent magnet synchronous m