CN-122001275-A - IRC-DOB-based symmetrical six-phase permanent magnet synchronous motor turn-to-turn short circuit fault tolerance control method

CN122001275ACN 122001275 ACN122001275 ACN 122001275ACN-122001275-A

Abstract

A symmetric six-phase permanent magnet synchronous motor turn-to-turn short circuit fault-tolerant control method based on IRC-DOB belongs to the field of permanent magnet synchronous motor fault-tolerant control. S1, establishing a voltage equation and a short circuit equation of a symmetrical six-phase permanent magnet synchronous motor under turn-to-turn short circuit fault through vector space decoupling transformation - - - S2, a symmetrical six-phase permanent magnet synchronous motor turn-to-turn short circuit fault circuit model based on a coordinate system - - - The method comprises the steps of (1) deducing a torque expression after turn-to-turn short circuit fault of a symmetrical six-phase permanent magnet synchronous motor based on the influence of a coordinate system current and a short circuit current on the torque, S3 deducing a current compensation value expression required for inhibiting the torque pulsation after the fault based on the influence of a current control quantity after the turn-to-turn short circuit fault on the torque after the fault, S4, inhibiting the torque pulsation after the turn-to-turn short circuit fault by adopting a fault tolerance control method based on an improved repetitive control observer. After the turn-to-turn short circuit fault, the invention can realize the turn-to-turn short circuit torque pulsation suppression of the symmetrical six-phase permanent magnet synchronous motor.

Inventors

HU JIANHUI
LI WENDUO
HE CHUN
WEI FANGRUI
Ran Xiaohe
ZHAO MENG
WANG JIAN

Assignees

哈尔滨工业大学

Dates

Publication Date: 20260508
Application Date: 20260129

Claims (7)

1. The inter-turn short circuit fault-tolerant control method of the symmetrical six-phase permanent magnet synchronous motor based on IRC-DOB is characterized by comprising the following steps: S1, establishing a voltage equation and a short circuit equation of a symmetrical six-phase permanent magnet synchronous motor based on turn-to-turn short circuit fault through vector space decoupling transformation - - - A symmetrical six-phase permanent magnet synchronous motor turn-to-turn short circuit fault circuit model of a coordinate system; S2, based on the step S1, based on - - - The influence of the coordinate system current and the short-circuit current on the torque is deduced, and a torque expression after turn-to-turn short-circuit fault of the symmetrical six-phase permanent magnet synchronous motor is deduced; S3, on the basis of the step S2, deducing a current compensation value expression required for inhibiting the torque pulsation after the fault based on the influence of the current control quantity after the turn-to-turn short circuit fault on the torque after the fault; S4, on the basis of the step S3, a fault-tolerant control method based on an improved repetitive control observer is adopted to restrain torque pulsation after turn-to-turn short circuit fault.
2. The method for fault tolerance control of turn-to-turn short circuits of a symmetrical six-phase permanent magnet synchronous motor according to claim 1, wherein in step S1, the establishment - - - The symmetrical six-phase permanent magnet synchronous motor turn-to-turn short circuit fault circuit model of the coordinate system comprises the following processes: in a natural coordinate system, the voltage equation and the short circuit equation of the symmetrical six-phase permanent magnet synchronous motor under the turn-to-turn short circuit fault are as follows: in the formula, Wherein, the Is a voltage matrix comprising natural coordinate system phase voltages and short circuit loop voltages; is a current matrix comprising phase currents and short-circuit currents; is a flux linkage matrix comprising phase flux linkage and short circuit flux linkage; Is a natural coordinate system permanent magnetic flux linkage; Flux linkage for short-circuited turns; 、 Respectively a resistance parameter matrix and an inductance parameter matrix; by means of the decoupling in the vector space, mapping phase voltages to - - - Subspace of coordinate system, deduce different fault phases - - - Voltage equation of coordinate system: Wherein, the 、、、 Respectively is - - - An axis voltage; Is a phase resistance; 、、、 Respectively is - - - Shaft current; 、、、 Respectively is - - - Shaft inductance; Is the electrical angular velocity; is a permanent magnet flux linkage; 、、 And Counter-potential generated by cutting magnetic induction lines for the short circuit ring respectively - - - Projection of a coordinate system; Wherein, the 、、、 Respectively short-circuit current is at - - - Projection of a coordinate system; Wherein, the Is the short circuit turns ratio; Is short-circuit current; is the short circuit current amplitude; is the initial phase of the short circuit current; Is an electrical angle; Depending on the phase position of the fault, when the fault occurs in A, B, C, D, E, F phases, Respectively take 0, 、、、、 ; Is that Is a direct current offset component of (2); Is that Is a direct current offset component of (2); Is that Is a pulsating component of (a); Is that Is a pulsating component of (a); is an electrical frequency, and thus according to The expression is given in the form of a table, Is also an electrical frequency.
3. The fault-tolerant control method for the inter-turn short circuit of the symmetrical six-phase permanent magnet synchronous motor according to claim 2, wherein in the step S2, the derived torque expression after the inter-turn short circuit of the symmetrical six-phase permanent magnet synchronous motor is as follows: Wherein, the Representing the electromagnetic torque of the symmetrical six-phase permanent magnet synchronous motor under turn-to-turn short circuit fault; A direct current component representing torque under fault conditions; A ripple component representing torque under fault conditions; Representing the pole pair number.
4. The method for fault tolerance control of turn-to-turn short circuit of a symmetrical six-phase permanent magnet synchronous motor according to claim 3, wherein in step S3, the current compensation value expression required for suppressing the torque ripple after the fault is derived, and the process is as follows: based on the torque expression after the turn-to-turn short circuit fault of the symmetrical six-phase permanent magnet synchronous motor deduced in the step S2, respectively matching And Compensating to make the torque after the fault equal to the torque in health; And The compensation values of (2) are as follows: Wherein, the And Respectively is And Is used for the compensation value of (a).
5. The fault-tolerant control method for the turn-to-turn short circuit of the symmetrical six-phase permanent magnet synchronous motor according to claim 4, wherein in the step S4, the fault-tolerant control method based on the improved repetitive control observer is adopted to inhibit torque pulsation after the turn-to-turn short circuit fault, and the implementation process is as follows: s41 obtaining a short-circuit current containing a short-circuit turns ratio by improving a repetitive control observer Subspace voltage disturbance state information; and S42, designing a compensator according to the output of the observer, and obtaining a current compensation value required by suppressing torque pulsation after faults, thereby achieving the turn-to-turn short circuit torque pulsation suppression of the symmetrical six-phase permanent magnet synchronous motor.
6. The method for fault tolerance control of inter-turn short circuit of symmetrical six-phase permanent magnet synchronous motor according to claim 5, wherein step S41 is specifically: for inter-turn short circuit fault Fundamental frequency characteristics of subspace voltage perturbation to A subspace current actual measurement value, Subspace voltage reference as input to an improved repetitive control observer to The subspace voltage disturbance is used as the state quantity of the observer, and a disturbance observer based on an improved repetitive control principle is designed: Wherein, the Is a computable quantity; Unknown disturbance for the desired observation; And Respectively is Time of day A current observation and an unknown disturbance observation; sampling time; representing the number of sampling points in each electrical cycle; 、 And In order for the parameters of the observers to be chosen, + =1 And 1 2; A zero phase low pass filter; is a dynamic corrector; The first-order zero-phase low-pass filter is designed, and the expression is as follows: Wherein, the 、 The smoothing factors are respectively the smoothing factors, Is complex plane complex variable; the dynamic corrector is designed based on perfect tracking theory as follows: 。
7. The method for fault tolerance control of inter-turn short circuit of symmetrical six-phase permanent magnet synchronous motor according to claim 6, wherein the step S42 is specifically: Designing a compensator based on the observer output, the compensator being composed of To the point of The transfer function of (2) is as follows: Wherein, the Is the electrical angular frequency; in the designed compensator, the short-circuit current is used for compensating the current Observations of subspace projection To short-circuit current at - Observations of subspace projection And The expression is: Obtaining short-circuit current - Observations of subspace projection And Then, the alternating current component is obtained by filtering by a second-order generalized integrator And Thereby obtaining a current compensation value required for suppressing the turn-to-turn short circuit fault; And finally, the torque pulsation generated by turn-to-turn short circuit faults of the symmetrical six-phase permanent magnet synchronous motor is restrained through current compensation.

Description

IRC-DOB-based symmetrical six-phase permanent magnet synchronous motor turn-to-turn short circuit fault tolerance control method Technical Field The invention belongs to the field of fault-tolerant control of permanent magnet synchronous motors, and particularly relates to a symmetrical six-phase permanent magnet synchronous motor turn-to-turn short circuit fault-tolerant control method based on IRC-DOB. Background For aviation electric propulsion systems, it is important that the permanent magnet synchronous motor remain safely running for a short period of time after a fault occurs. The turn-to-turn short circuit fault is one of the most common faults of the permanent magnet synchronous motor. After turn-to-turn short circuit fault occurs, the permanent magnet synchronous motor winding is unbalanced, so that the motor generates torque pulsation. If left uncontrolled, the overall system tends to develop towards an unstable and uncontrollable hazard. The common three-phase permanent magnet synchronous motor has low winding redundancy, and is not beneficial to fault-tolerant operation after faults. The symmetrical six-phase permanent magnet synchronous motor is provided with two independent three-phase windings, has simple structure and high redundancy, and provides the lowest magnetic coupling between the two three-phase windings, so that the symmetrical six-phase permanent magnet synchronous motor has great attraction in a fault-tolerant control system. Meanwhile, research has shown that after turn-to-turn short circuit fault occurs, the short circuit current is specific to the six-phase permanent magnet synchronous motor-Projection in subspace, and-Spatial projection has a higher signal-to-noise ratio than spatial projection. In theory, the symmetrical six-phase permanent magnet synchronous motor can obtain fault information such as a short circuit turns ratio, short circuit current and the like more accurately. In addition, current loop control of permanent magnet synchronous motors is currently most commonly PI control. In the prior fault-tolerant control method, the product of the short-circuit turns ratio and the short-circuit current is obtained through the implicit winding asymmetry information in the zero-sequence voltage, and then the torque ripple restraining requirement is calculated-A current compensation value. Although the fault-tolerant control methods can achieve satisfactory torque ripple suppression effects, the acquisition of zero sequence voltage requires the extraction of a midpoint of a motor winding, the addition of a voltage sensor and the construction of an additional resistance balance network, and the application of the fault-tolerant control methods is limited by additional hardware cost. The symmetric six-phase permanent magnet synchronous motor turn-to-turn short circuit dynamic model is different from the conventional three-phase permanent magnet synchronous motor. The conventional torque ripple suppression method after turn-to-turn short circuit fault is not suitable for symmetrical six-phase permanent magnet synchronous motors. And these fault tolerant methods require additional hardware, limiting the application of these methods. Therefore, the method has important significance for the research on torque pulsation inhibition after turn-to-turn short circuit fault of the symmetrical six-phase permanent magnet synchronous motor. Disclosure of Invention The invention aims to provide an inter-turn short circuit fault-tolerant control method of a symmetrical six-phase permanent magnet synchronous motor based on IRC-DOB, aiming at the problems that the conventional method for suppressing torque pulsation after inter-turn short circuit fault is not suitable for the symmetrical six-phase permanent magnet synchronous motor and additional hardware is required for the fault-tolerant methods. The invention builds a symmetrical six-phase permanent magnet synchronous motor inter-turn short circuit dynamic model, analyzes the torque change after inter-turn short circuit fault, and provides a current compensation value required by torque pulsation inhibition after inter-turn short circuit fault of the symmetrical six-phase permanent magnet synchronous motor based on IRC-DOB. After the turn-to-turn short circuit fault, realizing symmetrical six-phase permanent magnet synchronous motor inter-turn short circuit torque ripple suppression. IRC-DOB, represents a disturbance observer designed based on the improved repetitive control principle. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The inter-turn short circuit fault tolerance control method of the symmetrical six-phase permanent magnet synchronous motor based on IRC-DOB comprises the following steps: S1, establishing a voltage equation and a short circuit equation of a symmetrical six-phase permanent magnet synchronous motor based on turn-to-turn short circuit fault through vector spac