阅读说明：本技术 开绕组五相永磁同步电机a相断路容错控制svpwm生成方法 (Open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control SVPWM generation method ) 是由 陈益广 刘波 于 2019-10-29 设计创作，主要内容包括：本发明公开了一种开绕组五相永磁同步电机A相断路容错控制SVPWM生成方法。由转子同步旋转坐标系的直、交轴电流控制器达到对定子基波平面αβ轴电流控制；由具有频率自适应比例谐振特性z轴电流控制器对谐波平面电流控制；零序电流控制器对零序电流抑制。四个电流控制器的输出,经过矩阵运算得到相互解耦的一组电压矢量指令,然后采用SVPWM调制的方式,选择相应的空间电压矢量并合理分配它们的作用时间,生成五相全桥逆变器控制信号,达到四相健康绕组电流幅值相等、谐波电流小且零序电流近似为0,产生圆形旋转磁动势的控制效果。解决了传统滞环容错系统中,功率器件开关频率不可控难题,提高了直流电压利用率,实现了一相绕组断路故障容错,系统可靠性提高。(The invention discloses an open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control SVPWM generation method. The direct and alternating axis current controller of the rotor synchronous rotation coordinate system controls the alpha beta axis current of the stator fundamental wave plane; controlling the harmonic plane current by a z-axis current controller with frequency self-adaptive proportional resonance characteristics; the zero sequence current controller inhibits the zero sequence current. The outputs of the four current controllers are subjected to matrix operation to obtain a group of voltage vector instructions which are mutually decoupled, then corresponding space voltage vectors are selected and the action time of the space voltage vectors is reasonably distributed in an SVPWM (space vector pulse width modulation) mode to generate a five-phase full-bridge inverter control signal, so that the four-phase healthy winding control signal has the advantages of equal current amplitude, small harmonic current and zero-sequence current approximate to 0, and the control effect of circular rotating magnetomotive force is achieved. The problem that the switching frequency of a power device is uncontrollable in a traditional hysteresis fault-tolerant system is solved, the utilization rate of direct-current voltage is improved, the fault tolerance of the open circuit of one-phase winding is realized, and the reliability of the system is improved.)

1. A method for generating open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control SVPWM is characterized by comprising the following steps:

the position relations of a stator two-phase static alpha beta coordinate system of the open-winding five-phase permanent magnet synchronous motor, a real shaft and an imaginary shaft of a fundamental wave complex plane and an A-phase winding axis with an open-circuit fault are as follows: an alpha axis and a beta axis of a stator two-phase static alpha beta coordinate system of the open-winding five-phase permanent magnet synchronous motor are respectively superposed with a real axis and an imaginary axis of a complex plane of fundamental waves, and the alpha axis of the stator two-phase static alpha beta coordinate system is superposed with an axis of an A-phase winding with a broken circuit fault;

stator third harmonic two-phase static alpha of open-winding five-phase permanent magnet synchronous motor₃β₃The position relation between the coordinate system and the real axis and the imaginary axis of the third harmonic complex plane is as follows: stator third harmonic two-phase static alpha of open-winding five-phase permanent magnet synchronous motor₃β₃Alpha of the coordinate system₃Axis and beta₃The axes are respectively superposed with the real axis and the imaginary axis of the third harmonic complex plane, and the alpha axis₃The axes coincide and will be beta₃The axis is named as the z-axis;

when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault, four voltage instructions are given according to an A-phase open circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor, and the method comprises the following steps: fundamental wave complex plane two-phase static alpha beta coordinate system alpha axis voltage instruction

Alpha-axis voltage command of fundamental complex plane two-phase stationary alpha beta coordinate system

Wherein, U^*As fundamental space voltage vector command U^*Theta is the fundamental space voltage vector command U on the fundamental complex plane^*In the space electrical angle with the alpha axis as the fundamental wave space voltage vector command U^*When the counter-clockwise rotation is started from the alpha axis position, the fundamental wave space voltage vector instruction U^*The space electrical angle theta between the alpha axis and the alpha axis is increased from 0;

the fundamental wave complex plane is divided into 12 sectors in parallel, and the space of each sector occupies an angle of 30 degrees, and the division is as follows: 0-30 degrees is the sector I, 30-60 degrees is the sector II, 60-90 degrees is the sector III, 90-120 degrees is the sector IV, 120-150 degrees is the sector V, 150-180 degrees is the sector VI, 180-210 degrees is the sector VII, 210-240 degrees is the sector VIII, 240-270 degrees is the sector IX, 270-300 degrees is the sector 10, 300-330 degrees is the sector XI, 330-360 degrees is the sector XII;

when fundamental wave space voltage vector instruction U^*In one of 12 sectors, for generating fundamental wave space voltage vector command U^*Selecting 5 space voltage vectors corresponding to the sector to synthesize, and distributing the action time of the 5 space voltage vectors corresponding to the sector in each control period according to four voltage instructions given by an A-phase open-circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor, thereby generating two SVPWM pulse control signals of the five-phase full-bridge inverter to realize the same-phase permanent magnet of the open-winding five-phase permanent magnetThe phase A open circuit fault-tolerant control of the step motor achieves the effects that the residual healthy B, C, D and E four-phase open winding current amplitude values are equal, the zero-sequence current is approximately 0, and the four-phase open winding current jointly generates circular rotary fundamental wave magnetomotive force control in a steady state;

when fundamental wave space voltage vector instruction U^*For generating fundamental wave space voltage vector command U no matter which one of 12 sectors^*When 5 space voltage vectors corresponding to the sector are selected for synthesis, U must be selected_0-15And U_15-0These 2 space voltage vectors;

the DC bus voltage of two sets of five-phase full-bridge inverters of the open-winding five-phase permanent magnet synchronous motor is U_DC；

2 optional space voltage vectors U of each sector_0-15And U_15-0The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively

Wherein the content of the first and second substances,and

space voltage vector U_0-15And U_15-0The projection values on the z-axis are respectively

Space voltage vector U_0-15And U_15-0The generated zero sequence voltages are respectivelyAnd

In 12 sectors, the 3 space voltage vectors with different directions and maximum amplitude in each sector are sequentially as follows: u of sector I_9-6、U_13-6And U_8-6U of sector II_8-15、U_8-7And U_8-2U of sector III_8-3、U_13-3And U_12-3U of sector IV_12-3、U_4-3And U_14-3U of the V-th sector_4-1、U_14-1And U_15-1U of the VI th sector_6-1、U_6-11And U_6-9U of the VII th sector_6-9、U_6-13And U_6-8U of the VIII th sector_15-8、U_7-8And U_2-8U of sector IX_3-8、U_3-13And U_3-12U of the Xth sector_3-12、U_3-4And U_3-14U of sector XI_1-4、U_1-14And U_1-15U of sector XII_1-6、U_11-6And U_9-6Wherein the space voltage vector U_9-6Shared by sector I and sector XII, space voltage vector U_12-3Shared by sector III and sector IV, space voltage vector U_6-9Shared by sectors VI and VII, space voltage vector U_3-12The X sector and the IX sector share the fault-tolerant control circuit, and 32 space voltage vectors with different directions and the maximum amplitude are used for the open-circuit fault-tolerant control of the phase A of the five-phase permanent magnet synchronous motor with the open winding in 12 sectors;

the 32 space voltage vectors U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively

The 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The projection values on the alpha axis and the beta axis of the stator two-phase static alpha beta coordinate system are respectively

The 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The projection values on the z-axis are respectively

When fundamental wave space voltage vector instruction U^*When in the I-th sector, according to the control system

When fundamental wave space voltage vector instruction U^*When in the second sector, according to the control system

When fundamental wave space voltage vector instruction U^*When in the third sector, according to the control system

When fundamental wave space voltage vector instruction U^*When in the IV sector, according to the control system

When fundamental wave space voltage vector instruction U^*When in the V-th sector, according to the control system

When fundamental wave space voltage vector instruction U^*When in the VI-th sector, according to the control system

When fundamental wave space voltage vector instruction U^*In the VII th sector according to the control system

When fundamental wave space voltage vector instruction U^*When in the VIII sector, according to the control system

When fundamental wave space voltage vector instruction U^*In the IX sector, according to the control system

When fundamental wave space voltage vector instruction U^*When in the Xth sector, according to the control system

When fundamental wave space voltage vector instruction U^*In sector XI, according to the control system

When fundamental wave space voltage vector instruction U^*When in the XII sector, according to the control system

Technical Field

The invention belongs to the field of electrical engineering, and relates to an A-phase open circuit fault-tolerant control SVPWM (space vector pulse width modulation) generation method of an open-winding five-phase permanent magnet synchronous motor.

Background

The motor stator winding of the open-winding five-phase permanent magnet synchronous motor adopts an open-winding structure, improves the fault-tolerant capability of the motor, and is widely applied to occasions with higher requirements on the system. At present, a hysteresis control method is mostly adopted for phase winding open-circuit fault-tolerant control of an open-winding five-phase permanent magnet synchronous motor, and although the principle of the control method is simple, the defect that the switching frequency of a power device is uncontrollable exists, and the service life of the power device is influenced.

Disclosure of Invention

The invention provides an open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control SVPWM generation method aiming at the problems in hysteresis control, and the method is used for realizing the open circuit fault-tolerant control method of the five-phase open-winding permanent magnet synchronous motor based on SVPWM pulse modulation control, so that the problem that the switching frequency of a power device is uncontrollable in the traditional hysteresis fault-tolerant system is solved, the switching frequency of the power device is controllable, the utilization rate of direct-current voltage is improved, and a better fault-tolerant control effect is achieved. Thereby improving the reliability of the system.

In order to solve the technical problem, the invention provides an A-phase open circuit fault-tolerant control SVPWM generation method of an open-winding five-phase permanent magnet synchronous motor, which comprises the following steps:

taking an alpha axis and a beta axis of a stator two-phase static alpha beta coordinate system of the five-phase permanent magnet synchronous motor with the open windings to coincide with a real axis and an imaginary axis of a complex plane of the fundamental wave respectively, wherein the alpha axis of the stator two-phase static alpha beta coordinate system coincides with the axis of the A-phase winding with the open circuit fault;

stator third harmonic two-phase static alpha of five-phase permanent magnet synchronous motor with winding being taken out₃β₃Alpha of the coordinate system₃Axis and beta₃The axes are respectively superposed with the real axis and the imaginary axis of the third harmonic complex plane, and the alpha axis₃The axes coincide and will be beta₃The axis is named as the z-axis;

when an A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault, the A-phase open circuit fault-tolerant control system of the open-winding five-phase permanent magnet synchronous motor gives four voltage instructions according to an A-phase open circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor: fundamental wave complex plane two-phase static alpha beta coordinate system alpha axis voltage instruction

And beta axis voltage command

Third harmonic complex plane z-axis voltage command

And zero sequence voltage command

Fundamental wave complex plane open winding five-phase permanent magnet synchronous motor two-phase static alpha beta coordinate system alpha coordinate axis voltage instruction

And beta axis voltage command

Obtaining fundamental wave space voltage vector instruction U^*I.e. by

Wherein, U^*As fundamental space voltage vector command U^*Theta is the fundamental space voltage vector command U on the fundamental complex plane^*In the space electrical angle with the alpha axis as the fundamental wave space voltage vector command U^*When the counter-clockwise rotation is started from the alpha axis position, the fundamental wave space voltage vector instruction U^*The space electrical angle theta between the alpha axis and the alpha axis is increased from 0;

the fundamental wave complex plane is divided into 12 sectors in parallel, the space of each sector occupies an angle of 30 degrees, 0-30 degrees are sectors I, 30-60 degrees are sectors II, 60-90 degrees are sectors III, 90-120 degrees are sectors IV, 120-150 degrees are sectors V, 150-180 degrees are sectors VI, 180-210 degrees are sectors VII, 210-240 degrees are sectors VIII, 240-270 degrees are sectors IX, 270-300 degrees are sectors X, 300-330 degrees are sectors XI, and 330-360 degrees are sectors XII;

fundamental wave space voltage vector instruction U^*Will necessarily be in one of the 12 sectors;

when fundamental wave space voltage vector instruction U^*In one of 12 sectors, to generate a fundamental wave space voltage vector command U^*Selecting 5 space voltage vectors corresponding to the sector to synthesize, wherein the 5 space voltage vectors corresponding to the sector comprise 2 selected space voltage vectors U_0-15And U_15-0And 3 space voltage vectors with different directions and maximum amplitude in the sector, wherein the control system gives out the space voltage vectors according to an A-phase open circuit fault-tolerant control strategy of the open-winding five-phase permanent magnet synchronous motor

And

four voltage commands in each control period T_sDistributing the action time of 5 space voltage vectors corresponding to the sector internally, generating two sets of SVPWM pulse control signals of the five-phase full-bridge inverter to realize A-phase open circuit fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor, and achieving the effects that the current amplitudes of the B, C, D and E four-phase open windings which are healthy are equal, the zero-sequence current is approximately 0, and the four-phase open winding current generates circular rotary fundamental wave magnetomotive force in a combined manner when in a steady state;

the DC bus voltage of two sets of five-phase full-bridge inverters of the open-winding five-phase permanent magnet synchronous motor is U_DC；

The space voltage vector U of 2 optional space voltage vectors in each sector_0-15And U_15-0The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively

Wherein the content of the first and second substances,and

are respectively space voltage vector U_0-15Projection values on an alpha axis and a beta axis of a stator two-phase stationary alpha beta coordinate system,

and

are respectively space voltage vector U_15-0Projection values of alpha axis and beta axis in stator two-phase stationary alpha beta coordinate system, and

space voltage vector U_0-15And U_15-0The projection values on the z-axis are respectively

And

and are all 0, i.e.

Space voltage vector U_0-15And U_15-0The generated zero sequence voltages are respectively

And

and is

In 12 sectors, the 3 space voltage vectors with different directions and maximum amplitude in each sector are sequentially as follows: u of sector I_9-6、U_13-6And U_8-6U of sector II_8-15、U_8-7And U_8-2U of sector III_8-3、U_13-3And U_12-3U of sector IV_12-3、U_4-3And U_14-3U of the V-th sector_4-1、U_14-1And U_15-1U of the VI th sector_6-1、U_6-11And U_6-9U of the VII th sector_6-9、U_6-13And U_6-8U of the VIII th sector_15-8、U_7-8And U_2-8U of sector IX_3-8、U_3-13And U_3-12U of the Xth sector_3-12、U_3-4And U_3-14U of sector XI_1-4、U_1-14And U_1-15U of sector XII_1-6、U_11-6And U_9-6Wherein the space voltage vector U_9-6Shared by sector I and sector XII, space voltage vector U_12-3Shared by sector III and sector IV, space voltage vector U_9-6Shared by sectors VI and VII, space voltage vector U_9-6The X sector and the IX sector share the fault-tolerant control circuit, and 32 space voltage vectors with different directions and the maximum amplitude are used for the open-circuit fault-tolerant control of the phase A of the five-phase permanent magnet synchronous motor with the open winding in 12 sectors;

the 32 gaps with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectorsInter-voltage vector space U_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The expressions of a stator two-phase stationary alpha beta coordinate system on a fundamental complex plane are respectively as follows:

the 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The projection values on the alpha axis and the beta axis of the stator two-phase stationary alpha beta coordinate system are respectively as follows:

the 32 space voltage vector spaces U with different directions and maximum amplitude for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in the 12 sectors_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The projection values on the z-axis are:

when fundamental wave space voltage vector instruction U^*When in the I-th sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the I-th sector_9-6、U_13-6、U_8-6、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the second sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the II-th sector_8-15、U_8-7、U_8-2、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the third sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the third sector_8-3、U_13-3、U_12-3、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the IV sector, according to the control systemAndfour voltage commands in each control period T_sThe control system controls the selected U in the IV sector_12-3、U_4-3、U_14-3、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

andand T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the V-th sector, according to the control system

Andfour voltage commands in each control period T_sThe control system controls the selected U in the V-th sector_4-1、U_14-1、U_15-1、U_0-15And U_15-0Action time of these 5 space voltage vector assignmentsAre respectively as

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the VI-th sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the VI-th sector_6-1、U_6-11、U_6-9、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectivelyAnd

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*In the VII th sector according to the control systemAnd

four voltage commands in each control period T_sThe control system controls the selected U in the VII-th sector_6-9、U_6-13、U_6-8、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the VIII sector, according to the control system

Andfour voltage commands in each control period T_sThe control system controls the selected U in the VIII sector_15-8、U_7-8、U_2-8、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*In the IX sector, according to the control system

And

four voltage commands in each control period T_sFor selected U in sector IX_3-8、U_3-13、U_3-12、U_0-15And U_15-0The action time that these 5 space voltage vectors should be allocated is respectively

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the Xth sector, according to the control systemAnd

four voltage commands in each control period T_sThe control system controls the selected U in the Xth sector_3-12、U_3-4、U_3-14、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*In sector XI, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the XI sector_1-4、U_1-14、U_1-15、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

When fundamental wave space voltage vector instruction U^*When in the XII sector, according to the control systemAnd

four voltage commands in each control period T_sThe control system controls the selected U in the XII sector_1-6、U_11-6、U_9-6、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

In the invention, the direct and alternating axis current controller of the rotor synchronous rotation coordinate system controls the stator fundamental wave plane alpha beta axis current; controlling the harmonic plane current by a z-axis current controller with frequency self-adaptive proportional resonance characteristics; the zero sequence current controller inhibits the zero sequence current. The outputs of the four current controllers are subjected to matrix operation to obtain a group of voltage vector instructions which are mutually decoupled, then corresponding space voltage vectors are selected and the action time of the space voltage vectors is reasonably distributed in an SVPWM (space vector pulse width modulation) mode to generate inverter control signals, so that the control effect that the four-phase healthy winding has equal current amplitude, small harmonic current and zero-sequence current approximate to 0 and circular rotating magnetomotive force is generated is achieved. The problem that the switching frequency of a power device is uncontrollable in a traditional hysteresis fault-tolerant system is solved, the utilization rate of direct-current voltage is improved, the fault tolerance of the open circuit of one-phase winding is realized, and the reliability of the system is improved.

Drawings

Fig. 1 is a main circuit topology when an open-winding five-phase permanent magnet synchronous motor has a five-phase open winding in a normal state.

Fig. 2 is a main circuit topology of open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control.

Fig. 3 is a block diagram of an open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control system.

Fig. 4 is a schematic diagram of the distribution of all fundamental wave space voltage vectors which can be output by the cooperative work of two sets of five-phase full-bridge inverters when the phase a is open, which is represented by dots, and the space voltage vectors which can be selected by the 12-sector division and fault-tolerant control system for synthesizing the fundamental wave space voltage vector commands.

Fig. 5 is a sector where the fault-tolerant control system is used for synthesizing the fundamental wave space voltage vector instruction when the A-phase is disconnected and a selectable space voltage vector distribution diagram.

FIG. 6 is a z-axis space voltage vector distribution diagram that may be selected by the fault tolerant control system for synthesizing z-axis voltage vector commands when phase A is open.

Fig. 7 is two zero sequence voltage space voltage vector distribution diagrams that can be selected by the fault-tolerant control system for synthesizing the zero sequence voltage vector command when the phase a is open.

Fig. 8 is a diagram of the relationship between the zero sequence voltage vector command given by the phase-a open circuit fault-tolerant control system in 12 sectors and the selectable two different zero sequence voltage space voltage vectors.

Fig. 9 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector I and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 10 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector II, and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 11 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector III, and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 12 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector IV, and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 13 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the a-phase open circuit fault-tolerant control system in the sector V and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 14 is a diagram of the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VI, respectively, with the selectable fundamental voltage vector and the selectable z-axis space voltage vector.

Fig. 15 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector VII, and the fundamental voltage vector and the z-axis space voltage vector that can be selected, respectively.

Fig. 16 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector VIII, and the fundamental voltage vector and the z-axis space voltage vector that can be selected, respectively.

Fig. 17 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the a-phase open circuit fault-tolerant control system in the sector IX and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 18 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the a-phase open-circuit fault-tolerant control system in the sector X and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 19 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector XI and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

Fig. 20 is a diagram showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector XII, and the fundamental voltage vector and the z-axis space voltage vector that can be selected, respectively.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to a series of drawings in the embodiments of the present invention.

The open-winding five-phase permanent magnet synchronous motor main circuit topology when the five-phase open winding is normal is shown in fig. 1, the five-phase open winding of the open-winding five-phase permanent magnet synchronous motor is controlled by 2 sets of five-phase full-bridge inverters to supply power, each set of five-phase full-bridge inverter is composed of five upper and lower bridge arms formed by two power switching tubes reversely connected with freewheeling diodes in parallel, and the middle output end of each upper and lower bridge arm is connected with the input end of one phase in the five-phase open winding. 5 output ends A1, B1, C1, D1 and E1 of the 1 st set of full-bridge five-phase inverter are respectively connected with positive input ends A1, B1, C1, D1 and E1 of an open-winding five-phase permanent magnet synchronous motor A, B, C, D and an E five-phase open winding, and the 2 nd set of five-phase full-bridge inverter is connected with a power supply and a power supplyAnd 5 output terminals a2, B2, C2, D2 and E2 are connected to the reverse input terminals a2, B2, C2, D2 and E2 of the open-winding five-phase permanent magnet synchronous motor A, B, C, D and the E five-phase open winding, respectively. With S_A1、S_B1、S_C1、S_D1、S_E1And S_A2、S_B2、S_C2、S_D2、S_E2And the switching states of upper and lower bridge arms of a set 1 and a set 2 of five-phase full-bridge inverters connected with the forward input end and the reverse input end of the five-phase open winding are respectively shown. Taking phase A as an example for explanation, S_A1The working states of upper and lower bridge arms of a1 st set of five-phase full-bridge inverter A1 connected with the positive input end of the A-phase winding are shown: when S is_A1When the voltage is equal to 1, the upper arm of A1 of the 1 st set of five-phase full-bridge inverter connected with the positive input end of the A-phase winding is switched on, and the lower arm is switched off; when S is_A1When the value is equal to 0, the upper arm of the a1 of the 1 st set of five-phase full-bridge inverter connected with the positive input end of the a-phase winding is turned off, and the lower arm is turned on. S_A2The working states of the upper and lower bridge arms of a2 nd set of five-phase full-bridge inverter A2 connected with the reverse input end of the A-phase winding are shown: when S is_A2When the voltage is equal to 1, the upper arm of A2 of the 2 nd set of five-phase full-bridge inverter connected with the reverse input end of the A-phase winding is switched on, and the lower arm is switched off; when S is_A2When the value is equal to 0, the upper arm of a2 of the fifth-phase full-bridge inverter set 2 connected with the reverse input end of the phase a winding is turned off, and the lower arm is turned on. When the 10 switching state quantities take different values, the space voltage vector U corresponding to the voltage input by the five-phase winding of the five-phase permanent magnet synchronous motor with the open winding_m-nIs different. Space voltage vector U_m-nThe numerical values of the corner marks m and n are respectively the switching state quantity (S) of the 1 st set of five-phase full-bridge inverter_A1、S_B1、S_C1、S_D1、S_E1) And the 2 nd set of five-phase full-bridge inverter switching state quantity (S)_A2、S_B2、S_C2、S_D2、S_E2) The resulting binary value of (a).

When the five-phase open winding of the open-winding five-phase permanent magnet synchronous motor is normal, the control system adopts an SVPWM vector control strategy, and decouples the current of the five-phase open winding of the stator through coordinate transformation, so that the aim of respectively controlling the torque and flux linkage of the motor is fulfilled.

The axial line of the stator A-phase winding is coincided with the alpha axis of a stator two-phase static alpha beta coordinate system, the alpha axis and the beta axis of the stator two-phase static alpha beta coordinate system are coincided with the real axis and the imaginary axis of a fundamental wave complex plane respectively, and the three-harmonic complex plane two-phase static alpha₃β₃Alpha of the coordinate system₃The axis is coincident with the alpha axis, and in a normal state, according to the principle of equal amplitude, the coordinate transformation matrix from the five-phase static coordinate system to the two-phase static coordinate system of the stator is

Wherein gamma is an electrical angle between two adjacent axes in the five-phase coordinate system, and the value of gamma is 2 pi/5; matrix T_5s/2sThe 1 st line and the 2 nd line of the stator correspond to the conversion from a stator static five-phase coordinate system to an alpha axis and a beta axis of a two-phase static alpha beta coordinate system on a fundamental complex plane respectively, the two lines correspond to the fundamental complex plane, and the quantities participate in the energy conversion of the motor; matrix T_5s/2sThe 3 rd and 4 th rows of the three-phase stator correspond to a stator stationary five-phase coordinate system to a third harmonic complex plane two-phase stationary alpha₃β₃Coordinate system alpha₃Axis and beta₃An on-axis transformation; matrix T_5s/2sLine 5 corresponds to the transformation of the stationary five-phase coordinate system of the stator to a zero-sequence component.

When the five-phase open winding of the open-winding five-phase permanent magnet synchronous motor is normal, if the energy conversion of the motor is controlled to only occur on the complex plane of the fundamental wave and the energy conversion does not occur on the complex plane of the third harmonic wave, the coordinate rotation conversion is only carried out on the complex plane of the fundamental wave, and the coordinate conversion matrix from the two-phase static coordinate system of the motor to the synchronous rotation coordinate system is obtained

Wherein, theta is the electrical angle of the rotor position, and is taken as the starting point of theta when the d axis (straight axis) of the rotor coincides with the axis of the A-phase winding, namely, the axis of the alpha axis of the stator two-phase stationary alpha beta coordinate system. The 1 st and 2 nd rows of the matrix respectively correspond to the stationary alpha and beta coordinates of two phases on the complex plane of the fundamental waveTransformation on d-axis (direct axis) and q-axis (quadrature axis) of the system to dq synchronous rotation coordinate system; the 3 rd and 4 th rows of the matrix still correspond to the third harmonic complex plane two-phase stationary alpha₃β₃Alpha of the coordinate system₃Axis and beta₃The amount of the axis, not transformed; line 5 still corresponds to the zero sequence component and no transformation is done.

When the five-phase permanent magnet synchronous motor with the open windings normally and stably operates, the symmetrical five-phase open windings of the stator are connected with the same amplitude I_mAnd a symmetrical current i with an angular frequency of omega and a phase differential electrical angle gamma of 2 pi/5_A、i_B、i_C、i_DAnd i_EWhen the stator five-phase open winding generates a space synthetic magnetomotive force of

F₅＝K_F(i_A+i_Be^jγ+i_Ce^j2γ+i_De^j3γ+i_Ee^j4γ)

＝K_FI_m[cos(ωt)+cos(ωt-γ)e^jγ+cos(ωt-2γ)e^j2γ+cos(ωt-3γ)e^j3γ+cos(ωt-4γ)e^j4γ]

＝2.5K_FI_m(cosωt+jsinωt)

＝2.5K_FI_me^jωt

Wherein, K_FThe coefficient related to the motor stator winding parameter is equivalent to the value of the fundamental wave magnetomotive force amplitude generated by a certain phase when the phase winding is introduced with current with the peak value of 1A.

The main circuit topology when the open-winding five-phase permanent magnet synchronous motor A-phase is open-circuited is shown in fig. 2, and at the moment, the open-winding five-phase permanent magnet synchronous motor works in a fault-tolerant control operation mode. The upper and lower bridge arms corresponding to the output ends of A1 and A2 of the two sets of full-bridge five-phase inverters are all turned off, and the remaining healthy B, C, D and E four-phase open windings are still controlled by the corresponding bridge arms of the 2 sets of five-phase full-bridge inverters to supply power to the inverters. At the moment, 4 output ends B1, C1, D1 and E1 of the 1 st set of full-bridge five-phase inverter are respectively connected with positive input ends B1, C1, D1 and E1 of healthy B, C, D and E four-phase open winding of the open-winding five-phase permanent magnet synchronous motor, and 4 output ends B2, C2, D2 and E2 of the 2 nd set of five-phase full-bridge inverter are respectively connected with output ends B2, C1, D1 and E1 of the open-winding five-phase permanent magnet synchronous motorThe reverse input ends B2, C2, D2 and E2 of healthy B, C, D and E four-phase open windings of the permanent magnet synchronous motor are respectively connected. With S_B1、S_C1、S_D1、S_E1And S_B2、S_C2、S_D2、S_E2And respectively showing the switching states of the remaining healthy four-phase upper and lower bridge arms in the 1 st and 2 nd sets of five-phase full-bridge inverters connected with the positive input end and the negative input end of the healthy four-phase open winding. When the 8 switching state quantities take different values, the space voltage vector U corresponding to the voltage input by the remaining healthy four-phase open winding when the A phase of the open-winding five-phase permanent magnet synchronous motor is in open circuit_m'-n'Is different. Space voltage vector U_m'-n'The numerical values of the corner marks m 'and n' are the remaining healthy four-phase switching state quantity (S) in the 1 st set of five-phase full-bridge inverters_B1、S_C1、S_D1、S_E1) And healthy four-phase switching state quantity (S) in the 2 nd set of five-phase full-bridge inverters_B2、S_C2、S_D2、S_E2) The resulting binary value.

When the open-circuit fault occurs to the A-phase winding of the open-winding five-phase permanent magnet synchronous motor, the A-phase open-circuit control system of the open-winding five-phase permanent magnet synchronous motor needs to convert T of the open-winding five-phase permanent magnet synchronous motor when the five-phase open-circuit winding is normal_5s/2sAnd (5) modifying the matrix. Since the A phase winding is open-circuited and no longer controlled, T is removed_5s/2s Column 1 of the transformation matrix. In order to ensure any two-line orthogonality of the modified matrix, namely to ensure mutual decoupling between variables after matrix transformation, T is removed_5s/2sRow 3 of the matrix, with the same constant 1/4 added to each element in row 1. Obtaining a transformation matrix T after the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault_4s/2sIs composed of

Wherein, the matrix T_4s/2sLines 1 and 2 of (1) correspond to the transformation of the remaining healthy four-phase stationary stator coordinate system into the fundamental complex plane of the two-phase stationary stator α β coordinate system, which is involved in the energy conversion of the electrical machineFor controlling the flux linkage and torque of the motor; matrix T_4s/2sLine 3 for stator residual healthy four-phase stationary coordinate system to two-phase stationary alpha in the third harmonic complex plane₃β₃Beta in the coordinate system₃On-axis transformation, now will be beta₃The axis is referred to as the transformation in the z-axis; matrix T_4s/2sLine 4 of (a) corresponds to the transformation of the remaining healthy four-phase stationary coordinate system of the stator to the zero-sequence component.

The matrix after being reformed in the way can ensure that the z-axis harmonic component can be used as a constraint condition for limiting the stator current waveform in the subsequent control process, and simultaneously, the zero-sequence component generated by the motor open winding structure can be inhibited.

Thus, passing through the transformation matrix T_4s/2sPhysical components in a stator four-phase static coordinate system BCDE when the open-circuit fault occurs to the phase A winding of the open-winding five-phase permanent magnet synchronous motor can be transformed into an alpha beta z0 coordinate system which is orthogonal to each other.

When the A-phase winding of the open-winding five-phase permanent magnet synchronous motor is in open circuit, only the coordinate rotation transformation is carried out on the alpha axis, the beta axis, the harmonic z axis and the zero sequence component in the fundamental complex plane, and the original T can be converted_2s/2rRemoving the 3 rd row and the 3 rd column in the transformation matrix to obtain a coordinate transformation matrix from a two-phase static coordinate system corresponding to the remaining healthy four-phase open winding of the stator to a synchronous rotating coordinate system when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor is in open circuit

According to a transformation matrix T'_2s/2rAnd T_4s/2sThe transformation matrix T of transforming the physical components in the stator four-phase static coordinate system BCDE to the dqz0 coordinate system when the open-circuit fault occurs to the A-phase winding of the open-winding five-phase permanent magnet synchronous motor is obtained

Therefore, by transforming the matrix T, the permanent magnet synchronous electricity of the phase-opening winding can be obtainedB, C, D and E-phase current i in stator four-phase static coordinate system BCDE when open-circuit fault occurs in machine A-phase winding_B、i_C、i_DAnd i_EDirect axis current i converted into synchronous rotating coordinate system_dQuadrature axis current i_qAnd z-axis current i of the other two coordinate systems_zAnd zero sequence current i₀I.e. by

When the open-winding five-phase permanent magnet synchronous motor A-phase winding has an open-circuit fault, the remaining healthy B, C, D and E four-phase open-winding are respectively switched in to have amplitudes I_Bm、I_Cm、I_DmAnd I_EmInitial phase angles are respectively

And

at an angular frequency ω, the stator B, C, D and the E four-phase open winding produce a resultant magnetomotive force

When the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has an open circuit fault and the open-winding five-phase permanent magnet synchronous motor works in a fault-tolerant control operation mode, in order to enable the heating conditions of the remaining healthy four-phase open windings to be the same, the control system controls the amplitudes of the remaining healthy four-phase open winding currents to be the same, adjusts the initial phase angle of the currents and reconstructs the remaining healthy four-phase open winding currents; the algebraic sum of the remaining healthy four-phase open winding current is controlled to be 0, and the aim of inhibiting the zero-sequence current is achieved. Under the two constraint conditions, in order to ensure that the synthetic magnetomotive force generated by B, C, D and E four-phase open windings which remain healthy after the A-phase is disconnected and the input amplitude of the five-phase open winding when the A-phase winding is normal are I_mThe amplitude and the spatial position of the resultant magnetomotive force generated by the symmetrical current are the same, and the current is equal to B, C,When D and E four-phase open winding current is reconstructed, the current parameter satisfies the following relation

Wherein, I_m1The amplitude of the B, C, D, E phase winding current during fault-tolerant control after the A phase winding is open-circuited is shown.

Get I_m1The minimum group of solutions, namely the reconstructed four-phase open winding current in fault-tolerant control after the open circuit of the A-phase winding is

In order to generate reconstructed four-phase open winding current to realize fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor with the open circuit of the A-phase winding, the reconstructed four-phase open winding current needs to be decoupled and transformed. Through T_4s/2sCoordinate transformation can be obtained

From the above equation, two currents i can be seen_zAnd i_βThere is a relationship of the following formula

i_z＝0.236i_β

Considering that the A-phase open circuit fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor also adopts vector control, and the direct-axis current instruction is set to be 0, namely adopting

And (5) controlling.

When in use

When it is converted from the following reverse rotation

From the above two equations, the z-axis current command can be obtained as

The block diagram of the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control system designed according to the above analysis is shown in FIG. 3.

The control system actually detects healthy B, C, D and E four-phase open winding current i_B、i_C、i_DAnd i_EDirect axis current i transformed into a synchronous rotating coordinate system by a transformation matrix T_dQuadrature axis current i_qAnd z-axis current i of the other 2 coordinate systems_zAnd zero sequence current i₀。

And obtaining theta of the rotor position angle motor by a rotor position sensor coaxially mounted with the rotor of the open-winding five-phase permanent magnet synchronous motor, and obtaining the actual rotating speed n of the motor by resolving.

Motor speed command n^*The actual speed n of the motor is compared with the actual speed n and then input to a speed regulator, which may be a conventional regulator with PI (proportional integral) characteristics or various intelligent regulators. The output of the speed controller is the quadrature axis current instruction of the rotor synchronous rotation coordinate system

By

The z-axis current instruction can be obtained according to the rotor position electrical angle theta

The system adopts direct-axis current instruction

Is controlled by 0, i.e.

System set direct axis powerFlow of

Command and direct current i as negative feedback_dAfter comparison, the signals are sent to a direct-axis current controller, wherein the direct-axis current controller can be a traditional controller regulator with PI (proportional integral) characteristics or various intelligent regulators. The output of the direct-axis current controller is a direct-axis voltage command

Speed controller outputs quadrature axis current instructionWith quadrature current i as negative feedback_qAfter comparison, the signals are sent to a quadrature-axis current controller, and the quadrature-axis current controller can be a traditional regulator with PI (proportional integral) characteristics or various intelligent regulators. The output of the quadrature axis current controller is a quadrature axis voltage command

As can be seen from the expression of the z-axis current command, the value thereof is an alternating variable related to the position electrical angle θ of the motor rotor. The open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control system can not effectively control an alternating variable by using a traditional PI (proportional integral) controller, so that a Z-axis current is controlled by using an adaptive PR (proportional resonance) controller capable of following frequency change. In the system, z-axis current commandWith z-axis current i as negative feedback_zAnd after comparison, the signals are sent to a z-axis current controller, and the z-axis current controller can control the z-axis current by an adaptive PR (proportional resonance) controller which can follow the frequency change. The output of the z-axis current controller is a z-axis voltage command

In order to inhibit zero-sequence current, the A-phase open-circuit fault-tolerant control system of the open-winding five-phase permanent magnet synchronous motor also instructs the zero-sequence current

Set to 0, i.e. adopt

And (5) controlling. When the system control effect can be realized, the actual zero-sequence current is very small, although the zero-sequence current is an alternating quantity, the open-winding five-phase permanent magnet synchronous motor A-phase open circuit fault-tolerant control system can use a PI (proportional integral) controller to regulate and control the zero-sequence current. Zero sequence current set by system

Command and zero sequence axis current i as negative feedback₀After comparison, the signals are sent to a zero sequence current controller, which can be a traditional regulator with PI (proportional integral) characteristic or various intelligent regulators. The output of the zero-sequence current controller is a zero-sequence voltage instruction

The output of the DC/AC shaft current controller is DC/AC shaft voltage command

Obtaining an alpha axis voltage instruction of a fundamental wave complex plane two-phase static alpha beta coordinate system through rotation inverse transformation

And beta axis voltage command

4 voltage instructions obtained by a control system when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has open circuit fault are as follows: fundamental wave complex plane two-phase static alpha beta coordinate system alpha axis voltage instruction

And beta axis voltage command

And z-axis voltage command

And zero sequence voltage command

These 4 voltage commands are input to the SVPWM controller. In the SVPWM controller, a control system distributes the action time of corresponding space voltage vectors according to the A-phase open circuit fault-tolerant control SVPWM generation method of the open-winding five-phase permanent magnet synchronous motor, thereby generating SVPWM pulses, controlling two sets of five-phase full-bridge inverters to work and realizing fault-tolerant control when the A-phase winding of the open-winding five-phase permanent magnet synchronous motor has open circuit faults.

Fundamental wave complex plane open winding five-phase permanent magnet synchronous motor two-phase static alpha beta coordinate system alpha coordinate axis voltage instruction

And beta axis voltage command

Obtaining fundamental wave space voltage vector instruction U^*I.e. by

Wherein, U^*As fundamental space voltage vector command U^*With theta being at the baseFundamental wave space voltage vector instruction U on complex wave plane^*In the space electrical angle with the alpha axis as the fundamental wave space voltage vector command U^*When the counter-clockwise rotation is started from the alpha axis position, the fundamental wave space voltage vector instruction U^*The electrical angle θ of the space from the α axis increases from 0.

When an open-winding five-phase permanent magnet synchronous motor has an open-circuit fault of an A-phase winding, the control strategy of the control system is changed into an open-circuit fault-tolerant control mode of the A-phase winding of the open-winding five-phase permanent magnet synchronous motor, a bridge arm corresponding to the output end of the two sets of five-phase full-bridge inverters which is originally connected with the A-phase winding stops working, and the remaining healthy bridge arms of B, C, D, E and the like in the two sets of five-phase full-bridge inverters work. At this time, the starting point of the fundamental complex plane space voltage vector is taken as the origin of coordinates, the end point of the space voltage vector is represented by a "point", and a schematic diagram of the distribution of all fundamental space voltage vectors which can be output by the cooperative work of two sets of five-phase full-bridge inverters when the phase a is open, which is represented by a circular point, and the 12-sector division and fault-tolerant control system for synthesizing the selectable space voltage vectors of the fundamental space voltage vector command, as shown in fig. 4, is obtained. All "points" in fig. 4 represent the end points of all fundamental voltage vectors, and have a total of 2 in the fundamental complex plane⁸A space voltage vector.

When the sectors are divided and the space voltage vectors are selected, after the number of the sectors, the number of the space voltage vectors in the sectors and the size and the angle relationship among the space voltage vectors are comprehensively considered, the fundamental wave complex plane is divided into 12 sectors in parallel, each sector space occupies an angle of 30 degrees, 0-30 degrees is a sector I, 30-60 degrees is a sector II, 60-90 degrees is a sector III, 90-120 degrees is a sector IV, 120-150 degrees is a sector V, 150-180 degrees is a sector VI, 180-210 degrees is a sector VII, 210-240 degrees is a sector VIII, 240-270 degrees is a sector IX, 270-300 degrees is a sector 10, 300-330 degrees is a sector XI, and 330-360 degrees is a sector XII.

Fundamental wave space voltage vector instruction U^*And will necessarily be within one of the 12 sectors.

When fundamental wave space voltage vector instruction U^*At the position ofIn one of the 12 sectors, a fundamental wave space voltage vector command U is generated^*Selecting 5 space voltage vectors corresponding to the sector to synthesize, wherein the 5 space voltage vectors corresponding to the sector comprise 2 selected space voltage vectors U_0-15And U_15-0And 3 space voltage vectors with different directions and maximum amplitude in the sector are provided by the control system according to the open-circuit fault-tolerant control strategy of the A-phase open-circuit of the open-winding five-phase permanent magnet synchronous motor

And

four voltage commands in each control period T_sAnd distributing the action time of 5 space voltage vectors corresponding to the sector internally, generating two sets of SVPWM pulse control signals of the five-phase full-bridge inverter to realize A-phase open circuit fault-tolerant control of the open-winding five-phase permanent magnet synchronous motor, and achieving the effects that the residual healthy B, C, D and E four-phase open-winding current amplitudes are equal, the zero-sequence current is approximately 0, and the four-phase open-winding current generates circular rotary fundamental wave magnetomotive force jointly in a steady state. U shape_0-15And U_15-0The dots in fig. 4 are labeled with "diamonds". In 12 sectors, the 3 space voltage vectors with different directions and maximum amplitude in each sector are sequentially as follows: u of sector I_9-6、U_13-6And U_8-6U of sector II_8-15、U_8-7And U_8-2U of sector III_8-3、U_13-3And U_12-3U of sector IV_12-3、U_4-3And U_14-3U of the V-th sector_4-1、U_14-1And U_15-1U of the VI th sector_6-1、U_6-11And U_6-9U of the VII th sector_6-9、U_6-13And U_6-8U of the VIII th sector_15-8、U_7-8And U_2-8U of sector IX_3-8、U_3-13And U_3-12U of the Xth sector_3-12、U_3-4And U_3-14U of sector XI_1-4、U_1-14And U_1-15U of sector XII_1-6、U_11-6And U_9-6Wherein the space voltage vector U_9-6Shared by sector I and sector XII, space voltage vector U_12-3Shared by sector III and sector IV, space voltage vector U_9-6Shared by sectors VI and VII, space voltage vector U_9-6The sector IX and the sector X share the space voltage vector, 32 space voltage vectors with different directions and the maximum amplitude are used for the open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control in 12 sectors, and the 32 space voltage vectors are marked by circles in a dot in fig. 4. Finally, U is put_0-15And U_15-0And 32 space voltage vectors with different directions and the largest amplitude in the 12 sectors are plotted in fig. 5. Fig. 5 shows the sector where the fault-tolerant control system is used for synthesizing the fundamental wave space voltage vector instruction when the A-phase is disconnected and a selectable space voltage vector distribution diagram.

In 12 sectors, 32 space voltage vector spaces U with different directions and maximum amplitude for open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The projection values on the alpha axis and the beta axis of the stator two-phase stationary alpha beta coordinate system are respectively as follows:

when 32 space voltage vectors with different directions and maximum amplitude in 12 sectors are projected to the z-axis of a stator third harmonic two-phase stationary coordinate system, the z-axis space voltage vector distribution diagram which can be selected by the A-phase open circuit fault-tolerant control system for synthesizing the z-axis voltage vector command and is shown in fig. 6 is obtained, wherein the amplitudes of some z-axis voltage vectors are the same.

In 12 sectors, 32 space voltage vector spaces U with different directions and maximum amplitude for open-winding five-phase permanent magnet synchronous motor A-phase open-circuit fault-tolerant control_9-6、U_13-6、U_8-6、U_8-15、U_8-7、U_8-2、U_8-3、U_13-3、U_12-3、U_4-3、U_14-3、U_4-1、U_14-1、U_15-1、U_6-1、U_6-11、U_6-9、U_6-13、U_6-8、U_15-8、U_7-8、U_2-8、U_3-8、U_3-13、U_3-12、U_3-4、U_3-14、U_1-4、U_1-14、U_1-15、U_1-6And U_11-6The projection values on the z-axis are:

fig. 7 shows two zero sequence voltage space voltage vector distribution diagrams that can be selected by the fault-tolerant control system for synthesizing the zero sequence voltage vector command when the phase a is open. As can be seen from fig. 7, when the dc bus voltage of two sets of five-phase full-bridge inverters of the open-winding five-phase permanent magnet synchronous motor is U_DCThen, each sector has 2 space voltage vectors selected by the user_0-15And U_15-0The expressions of stator two-phase stationary alpha beta coordinate system on the complex plane of the fundamental wave are respectively

Wherein the content of the first and second substances,

and

are respectively space voltage vector U_0-15Projection values on an alpha axis and a beta axis of a stator two-phase stationary alpha beta coordinate system,

and

are respectively space voltage vector U_15-0The projection values of the alpha axis and the beta axis in the stator two-phase static alpha beta coordinate system are respectively as follows:

space voltage vector U_0-15And U_15-0The projection values on the z-axis are respectively

And

and are both 0, i.e.:

space voltage vector U_0-15And U_15-0The generated zero sequence voltages are respectivelyAnd

and is

The relation between the zero sequence voltage vector command given by the phase-a open circuit fault-tolerant control system in 12 sectors and the selectable two different zero sequence voltage space voltage vectors is shown in fig. 8. That is, when the fundamental wave space voltage vector command U^*In any sector, space voltage vector U is utilized_0-15And U_15-0The generated zero sequence voltages are respectively

And

to synthesize a zero sequence voltage command

When fundamental wave space voltage vector instruction U^*When in the I-th sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the I-th sector_9-6、U_13-6、U_8-6、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

Fig. 9 shows a relationship diagram between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector I and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the second sector, according to the control systemAndfour voltage commands in each control period T_sThe control system controls the selected U in the II-th sector_8-15、U_8-7、U_8-2、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

Fig. 10 is a graph showing the relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector II and the selectable fundamental voltage vector and the selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the third sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the third sector_8-3、U_13-3、U_12-3、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

Fig. 11 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector III and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the IV sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the IV sector_12-3、U_4-3、U_14-3、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectivelyAnd

and

and T_s、

And

satisfies the following relation

Fig. 12 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector IV and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the V-th sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the V-th sector_4-1、U_14-1、U_15-1、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and

and

satisfies the following relation

Fig. 13 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector V and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the VI-th sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the VI-th sector_6-1、U_6-11、U_6-9、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

Andsatisfies the following relation

Fig. 14 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VI and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*In the VII th sector according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the VII-th sector_6-9、U_6-13、U_6-8、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectivelyAnd

and

and T_s、

And

satisfies the following relation

Fig. 15 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VII and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the VIII sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the VIII sector_15-8、U_7-8、U_2-8、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectivelyAnd

and

and T_s、

And

satisfies the following relation

Fig. 16 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a trip fault-tolerant control system in the sector VIII, and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*In the IX sector, according to the control systemAndfour voltage commands in each control period T_sFor selected U in sector IX_3-8、U_3-13、U_3-12、U_0-15And U_15-0The action time that these 5 space voltage vectors should be allocated is respectively

And

and

and T_s、

And

satisfies the following relation

Fig. 17 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a disconnection fault-tolerant control system in the sector IX and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the Xth sector, according to the control system

And

four voltage commands in each control period T_sThe control system selects from the Xth sectorTaken U_3-12、U_3-4、U_3-14、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

Fig. 18 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the a-phase open-circuit fault-tolerant control system in sector X and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*In sector XI, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the XI sector_1-4、U_1-14、U_1-15、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

Fig. 19 shows a relationship between a fundamental voltage vector command and a z-axis space voltage vector command given by the phase-a disconnection fault-tolerant control system in sector XI and a selectable fundamental voltage vector and a selectable z-axis space voltage vector, respectively.

When fundamental wave space voltage vector instruction U^*When in the XII sector, according to the control system

And

four voltage commands in each control period T_sThe control system controls the selected U in the XII sector_1-6、U_11-6、U_9-6、U_0-15And U_15-0The action time of the 5 space voltage vector allocations is respectively

And

and

and T_s、

And

satisfies the following relation

The relationship between the fundamental voltage vector command and the z-axis space voltage vector command given by the phase-a open circuit fault-tolerant control system in the sector XII and the selectable fundamental voltage vector and the selectable z-axis space voltage vector are shown in fig. 20.

In each sector, the SVPWM controller generates corresponding SVPWM to control the on-off work of two sets of five-phase full-bridge inverter power switch tubes according to the A-phase open-circuit fault-tolerant control SVPWM generation method of the open-winding five-phase permanent magnet synchronous motor provided by the invention, and the open-winding five-phase permanent magnet synchronous motor with the A-phase open circuit can run stably.

Although the above description is only about the method for generating the open-winding five-phase permanent magnet synchronous motor a-phase open-circuit fault-tolerant control SVPWM, a person skilled in the art will obtain a description about the method for generating one open-circuit fault-tolerant control SVPWM in other four phases of the open-winding five-phase permanent magnet synchronous motor in the light of the present invention; many variations are possible without departing from the spirit of the invention, which falls within the scope of the invention.