阅读说明：本技术 一种基于扰动观测器的五相永磁电机短路容错直接转矩控制方法 (A kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer ) 是由 周华伟 徐金辉 陶炜国 周城 张多 刘国海 于 2019-08-14 设计创作，主要内容包括：本发明公开了一种基于扰动观测器的五相永磁电机短路容错直接转矩控制方法。在五相永磁电机直接转矩控制策略基础上,首先设计该电机一相开路故障情况下的容错直接转矩控制算法；然后在定子磁场定向坐标系上,建立五相永磁电机的二阶数学模型,设计扰动观测器,观测该电机短路故障和未建模部分导致的转矩脉动；最后将观测出来的扰动信号前馈到转矩给定值中,进而根据开路容错情况下的开关组号表、电压矢量开关表实现该电机相短路故障情况下的高性能运行。该方法有效地抑制了由短路故障导致的转矩脉动以及系统未建模部分导致的转矩脉动。进而电机驱动系统在相短路故障情况下能够平稳运行并具有很强的鲁棒性。(The five fault-tolerant Direct Torque Controls of phase magnetoes short circuit that the invention discloses a kind of based on disturbance observer.On the basis of five phase magneto Strategy of Direct Torque Control, the fault-tolerant Direct Torque Control algorithm under the motor one-phase open circuit fault condition is designed first；Then on stator flux orientation coordinate system, the second mathematical model of five phase magnetoes is established, disturbance observer is designed, observes torque pulsation caused by the electric motor short circuit failure and unmodel parts；It will finally observe that the disturbing signal come is fed forward in torque reference value, and then realize that the high-performance under the motor phase short circuit fault condition is run according to switch group number table, the voltage vector switch list opened a way in fault-tolerant situation.This method restrained effectively torque pulsation caused by the torque pulsation as caused by short trouble and system unmodel parts.And then motor driven systems under phase short circuit fault condition can even running and have very strong robustness.)

1. a kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer, which is characterized in that packet Include following steps:

Step 1, five phase magneto mathematical models and Direct Torque Control are established；

Step 2, the fault-tolerant Direct Torque Control algorithm under five phase magneto one-phase open circuit fault conditions is designed；

Step 3, second mathematical of the five phase magnetoes on stator flux orientation coordinate system x-y under phase open fault condition is established Model；

Step 4, design disturbance observer observes torque caused by interference caused by motor phase short trouble and unmodel parts Pulsation；

Step 5, on the basis of fault-tolerant Strategy of Direct Torque Control under phase open fault condition, disturbance feedforward that observation is obtained Into command torque, and then realize high stable state and dynamic property operation of the five phase magnetoes under phase short circuit fault condition.

2. a kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer according to claim 1 Method, which is characterized in that the five phases magneto is five-phase PMSM, and five phase windings of the motor use fractional-slot Concentratred winding, and increase a fault-tolerant teeth between each armature tooth, fault-tolerant teeth and armature tooth are alternately arranged, and realize motor phase The physical isolation of magnetic circuit, hot road between phase；The motor is established in the mathematical model of two-phase stationary coordinate system, design motor without Direct Torque Control under fault condition.

3. a kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer according to claim 1 Method, which is characterized in that the detailed process of step 2 are as follows:

Assuming that motor A phase is opened a way, the popularization Clark transformation matrix T under motor A phase open fault condition is designed_open, stator magnetic linkage Observer and torque observer, switch group number table and voltage vector switch list:

In formula, the π of μ=0.4.

Stator flux observer and torque observer are designed as

In formula, ψ_α、ψ_β、i_α、i_βThe respectively component of stator magnetic linkage and phase current on alpha-beta, u_α、u_βRespectively phase voltage is in alpha-beta On component, R is stator resistance, T_eFor electromagnetic torque, n_pFor number of pole-pairs；

By given torque T_e ^*With estimation torque T_eTorque transient deviation Δ T is obtained as difference_eAnd given magnetic linkage ψ_s ^*With estimation magnetic linkage ψ_sStator magnetic linkage transient deviation Δ ψ is obtained as difference_s, establish sign function Sign ():

In formula, c₁And c₂It is constant respectively.

Voltage vector V of the faulty motor in the one-dimensional space_nWith the voltage vector V of three-dimensional space_3nIt is represented by

In formula, U_dcFor busbar voltage, S_a、S_b、S_c、S_d、S_eFor inverter switching device function.By S when A phase open-circuit fault_aIt is set to 0, root According to voltage vector expression formula draw after the one-dimensional space and the corresponding voltage vector-diagram of three-dimensional space production switch group number table and Voltage vector switch list；

When establishing switch group number table, sector is first divided into I, II...VIII8 sector, then according to stator magnetic linkage transient deviation Δψ_sWith torque transient deviation Δ T_eTo determine the group number corresponding in I, the sector II...VIII when stator magnetic linkage vector；Work as Δ ψ_s=1, Δ T_eWhen=1, the group number that stator magnetic linkage vector is corresponding in turn in I, the sector II...VIII is respectively 2,3,4,5,6, 7,8,1；As Δ ψ_s=1, Δ T_eWhen=- 1, the group number that stator magnetic linkage vector is corresponding in turn in I, the sector II...VIII is respectively 8,1,2,3,4,5,6,7；As Δ ψ_s=-1, Δ T_eWhen=1, what stator magnetic linkage vector was corresponding in turn in I, the sector II...VIII Group number is respectively 4,5,6,7,8,1,2,3；As Δ ψ_s=-1, Δ T_eWhen=- 1, stator magnetic linkage vector is in I, the sector II...VIII In the group number that is corresponding in turn to be respectively 6,7,8,1,2,3,4,5；

Voltage vector switch list is established on the basis of above-mentioned switch group number table, is divided into 8 groups of voltage vectors altogether, each group number is again According to the component i of triple harmonic current_z2Size select suitable voltage vector, in group 1, work as i_z2When >=0, voltage is selected Vector V₉, work as i_z2It is same to select voltage vector V when < 0₉；In group 2, work as i_z2>=0, select voltage vector V₈, work as i_z2When < 0, Select voltage vector V₁₃；In group 3, work as i_z2>=0, select voltage vector V₁₀, work as i_z2When < 0, voltage vector V is selected₁₂；In group In 4, work as i_z2When >=0, voltage vector V is selected₁₄, work as i_z2When < 0, voltage vector V is selected₄；In group 5, work as i_z2When >=0, selection Voltage vector V₆, work as i_z2It is same to select voltage vector V when < 0₆；In group 6, work as i_z2When >=0, voltage vector V is selected₂, work as i_z2 When < 0, voltage vector V is selected₇；In group 7, work as i_z2When >=0, voltage vector V is selected₃, work as i_z2When < 0, voltage vector is selected V₅；In group 8, work as i_z2When >=0, voltage vector V is selected₁₁, work as i_z2When < 0, voltage vector V is selected₁；

On this basis, it is realized according to switch group number table and voltage vector switch list fault-tolerant straight under such motor phase open-circuit fault Connect direct torque.

4. a kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer according to claim 1 Method, which is characterized in that the detailed process of the step 3 are as follows:

Influence of the motor phase short trouble to motor performance is volume on the basis of motor phase open-circuit fault is to influence on Harmonic Armature Torque disturbance caused by phase short circuit current is increased outside；Then, on stator flux orientation coordinate system x-y, motor mutually short circuit event Barrier model can the torque pulsation model caused by motor phase open-circuit fault model and short circuit current constitute；

Definition is transformed to the popularization Park transformation matrix on the coordinate system x-y of stator flux orientation by two-phase stationary coordinate system alpha-beta T_xy:

In formula, θ_sFor the angle of stator magnetic linkage vector sum α axis；

On x-y coordinate system, the second mathematical model based on disturbance under five phase magneto A phase open fault conditions is established；

In formula: u_x、u_y、i_x、i_yVoltage and current respectively in x-axis and y-axis；R is stator resistance；ω_sFor stator magnet chain angle speed Degree, ω are mechanical angular speed；n_pFor motor number of pole-pairs；J_mFor rotary inertia；ψ_sFor stator magnetic linkage；f_x、f_y、f_ωFor disturbance quantity；

In formula: T_lFor load, Δ R, Δ T_lIt is parameter R, T respectively_lDisturbance；ε_x、ε_y、ε_ωFor system unmodel parts；

The second-order model can further indicate that are as follows:

In formula: x₁、x₂For state variableω^*, ω be given rotating speed and actual speed, Respectively x₁、x₂First derivative, n_pFor number of pole-pairs, For ω^*First derivative, electric motor short circuit Torque pulsation caused by failure is included in d₁In, d₂=af_x。

5. a kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer according to claim 1 Method, which is characterized in that step 4, interference and unmodeled portion caused by design disturbance observer observation motor phase short trouble Torque pulsation caused by point:

In formula:Respectively d₁WithEstimated value, p₁₁、p₁₂For auxiliary variable, k₁₁、k₁₂For observer parameter and it is greater than 0.

6. a kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer according to claim 1 Method, which is characterized in that the control method applies also for the direct Thrust control of five phase permanent-magnetism linear motor short circuit fault conditions System.

Technical field

The present invention relates to a kind of fault-tolerant Direct Torque Controls of permanent magnet synchronous motor, are based particularly on disturbance observer Five phase magnetoes, one phase short circuit fault condition under the fault-tolerant Direct Torque Control of short circuit.Suitable for aerospace, warship The occasion that ship propulsion, electric car etc. have higher requirements to the reliability and dynamic property of motor.

Background technique

With the development and the improvement of people's living standards of society, the comfort and reliability requirement drive to automobile are got over Come higher.Important composition part of the magneto as electric car, when short trouble occurs for motor, due to healthy phase current Missing and short circuit current disturbance, cause motor output torque pulsation big, greatly influence vehicle drives safety, therefore electricity Fault-tolerant ability of the machine in failure is particularly important.

Direct Torque Control is the another high performance control technology after vector controlled, and Direct Torque Control is based on stator Field orientation technology is not necessarily to rotating coordinate transformation, and structure is simple, and to parameter of electric machine strong robustness, torque dynamic response is fast.

It is disturbed for caused by short circuit current, is published in " 6/19 appearance of " electrotechnics journal " (supplementary issues 2 of volume 31 in 2016) The short trouble faults-tolerant control of shift permanent magnet flux switching motor " is fed forward in system, subtracts by calculating short circuit disturbance Small torque pulsation realizes motor stabilizing operation, but the parameter of electric machine needed for this method is more, and algorithm is complicated, parameter robustness It is poor.Chinese invention patent " a kind of embedded fault-tolerant cylindrical linear motor of mixing magnetic material and its short-circuit fault-tolerant vector controlled side Method " by the way that compensation electric current is added, reach reduction pulsation, realizes the purpose of motor stabilizing operation, but the algorithm is complicated, greatly increases Cpu load.

Summary of the invention

The problem of according to the characteristic of magneto and existing Fault Tolerance Control Technology, object of the present invention is to inhibit motor Because of torque pulsation caused by short trouble.For five phase magneto phase short troubles, propose a kind of based on disturbance observer Fault-tolerant Strategy of Direct Torque Control inhibits torque pulsation caused by short trouble, improves such motor in phase short circuit fault condition Under stable state and dynamic property.

The present invention proposes the appearance based on disturbance observer under a kind of one phase short circuit fault condition for five phase magnetoes Wrong Direct Torque Control, adopts the following technical scheme that

A kind of five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer, including following step It is rapid:

Step 1, five phase magneto mathematical models and Strategy of Direct Torque Control are established；

Step 2, the fault-tolerant Direct Torque Control algorithm under five phase magneto one-phase open circuit fault conditions is designed；

Step 3, second order of the five phase magnetoes on stator flux orientation coordinate system x-y under phase open fault condition is established Mathematical model；

Step 4, caused by design disturbance observer observes interference caused by motor phase short trouble and unmodel parts Torque pulsation；

Step 5, on the basis of fault-tolerant Strategy of Direct Torque Control under phase open fault condition, disturbance that observation is obtained It is fed forward in command torque, and then realizes high stable state and dynamic property fortune of the five phase magnetoes under phase short circuit fault condition Row.

Disturbance observer designed by the present invention avoids calculating and solves short circuit disturbance bring trouble, parameter robustness Good, error reduces, and enormously simplifies design difficulty.

Further, the control method applies also for permanent-magnetism linear motor control system.

The invention has the following advantages:

1, the five fault-tolerant Direct Torque Controls of phase magneto short circuit of the invention based on disturbance observer can be effective Inhibit torque pulsation caused by motor phase short trouble and motor speed follower performance under short circuit fault condition is good.

2, the five fault-tolerant Direct Torque Controls of phase magneto short circuit based on disturbance observer that the present invention designs are kept away Complicated calculating process is exempted from, there is excellent parameter robustness.

3, disturbance observer can not only observe torque disturbance caused by motor phase short trouble, and can observe motor not Torque disturbance caused by modeled segments, therefore the fault-tolerant Strategy of Direct Torque Control under disturbance observer combination open-circuit fault, no But it can observe torque pulsation caused by short trouble, and can observe torque pulsation caused by system unmodel parts have There is good robust performance, is more crucially able to achieve high-performance fortune of such electric system under phase short circuit fault condition Row.

Detailed description of the invention

Fig. 1 is the voltage vector distribution map under five phase magneto phase open-circuit fault of the embodiment of the present invention, and (a) is one-dimensional sky Between voltage vector distribution map, (b) be three-dimensional space voltage vector distribution map；

Fig. 2 is that five phase fault tolerant permanent magnet machine of the embodiment of the present invention is mutually opened a way Strategy of Direct Torque Control block diagram；

Fig. 3 is disturbance observer of embodiment of the present invention structural block diagram；

Fig. 4 is five phase magneto short circuit fault-tolerant Strategy of Direct Torque Control of the embodiment of the present invention based on disturbance observer Block diagram；

Fig. 5 is the torque profile figure being added after inventive algorithm under A of embodiment of the present invention phase short circuit fault condition；

Fig. 6 is the velocity wave form figure being added after inventive algorithm under A of embodiment of the present invention phase short circuit fault condition；

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description.

Legibly illustrate that the five phase magneto short circuits of the invention based on disturbance observer are held in order to simpler Wrong Direct Torque Control and beneficial effect are described in detail below with reference to a specific five phases magneto.

Step 1, the mathematical model and Strategy of Direct Torque Control of five phase magnetoes are established.

Five phase windings of motor use single-layered fractional slot concentratred winding, and increase by one is fault-tolerant between each armature tooth Tooth, fault-tolerant teeth and armature tooth are alternately arranged, and realize the physical isolation of motor magnetic circuit between phase and phase, hot road, are had excellent Error resilience performance；Mutual inductance very little between phase and phase, opposite self-induction can be ignored.Assuming that the motor is Non-Salient-Pole Motor, And motor opposite potential, based on fundamental wave, other harmonic waves can be ignored；Phase inductance fluctuates smaller with rotor-position, it is believed that is Constant.

Under normal circumstances, the Clark transformation matrix T of five phase magnetoes_clarkFor

In formula, the π of μ=0.4.

Using transformation matrix T_clarkFive phase voltages are transformed into two-phase stationary coordinate system (alpha-beta) and (z₁-z₂) on

[u_α u_β u_z1 u_z2]^T=T_clark[u_A u_B u_C u_D u_E]^T (2)

In formula, u_α、u_β、u_z1、u_z2Respectively phase voltage is in alpha-beta and z₁-z₂On component, u_A、u_B、u_C、u_D、u_ERespectively A, B, the voltage of C, D, E phase.

Five phase currents are transformed into alpha-beta and z₁-z₂On

[i_α i_β i_z1 i_z2]^T=T_clark[i_A i_B i_C i_D i_E]^T (3)

In formula, i_α、i_β、i_z1、i_z2Respectively phase current is in alpha-beta and z₁-z₂On component, i_A、i_B、i_C、i_D、i_ERespectively A, B, the electric current of C, D, E phase.

Winding back emf is fundamental wave, and triple harmonic current does not generate effective torque, only increases loss, therefore, needs its inhibition It is zero.The case where triple harmonic current is zero, the triple-frequency harmonics of stator magnetic linkage is also zero.Assuming that stator phase inductance is constant, Stator magnetic linkage is represented by alpha-beta

In formula, ψ_α、ψ_βRespectively component of the stator magnetic linkage on alpha-beta；ψ_fFor permanent magnet flux linkage；θ_rFor rotor position angle；L is Phase inductance.

According to voltage model, stator flux observer be can be designed as

In formula, ψ_sFor stator magnetic linkage, R is stator resistance.

According to magnetic coenergy method, designing five phase magneto torque observers is

In formula, n_pFor motor number of pole-pairs, T_eFor electromagnetic torque.

By given torque T_e ^*With estimation torque T_eMaking the torque transient deviation that difference obtains is Δ T_eAnd given magnetic linkage ψ_s ^*With Estimate magnetic linkage ψ_sMaking the stator magnetic linkage transient deviation that difference obtains is Δ ψ_s, it is as follows to establish sign function Sign ():

In formula, c₁And c₂It is constant respectively.

According to space-vector definitions, five phase magnetoes are in one-dimensional space voltage vector V_nIt can be expressed as

In formula, U_dcFor busbar voltage, S_a、S_b、S_c、S_d、S_eFor inverter switching device function.

In order to inhibit tertiary current harmonic wave, need to consider simultaneously the voltage vector of the one-dimensional space and the voltage arrow of three-dimensional space Amount.Voltage vector V of the five phase magnetoes in three-dimensional space_3nIt can be expressed as

Ignore the leakage inductance of motor, triple harmonic current is represented by

In formula, u_zFor the stator voltage vector in triple-frequency harmonics space, i_zFor triple harmonic current vector.

It can be seen that the stator voltage vector u in triple-frequency harmonics space_zWith triple harmonic current vector i_zSame-phase.In order to press down Triple harmonic current processed is 0, in z₁-z₂The voltage vector u chosen under subspace_zIt should be with triple harmonic current vector i_zFolder Angle is greater than 180 °.From the above equation, we can see that make triple harmonic current error delta i_z0 is converged to, the voltage vector and Δ i of selection_zAt Obtuse angle.Voltage vector switch list is established as a result, and then realizes the Direct torque of five phase magnetoes under normal circumstances System.

Step 2, the fault-tolerant Direct Torque Control algorithm under five phase magneto one-phase open circuit fault conditions is designed.

If the freedom degree of motor control becomes three from original four after open-circuit fault occurs for five phase magneto A phases It is a.The characteristics of according to traditional Clark transformation matrix, removes the first row and the third line of traditional Clark transformation matrix, amendment first It is orthogonal with remaining each row to exercise it, then the popularization Clark transformation matrix T under five phase magneto A phase open fault conditions_openFor

Derive that remaining non-faulting phase current is according to magnetomotive force is equal before and after copper loss minimum principle and failure

In formula, I is phase current magnitude, θ_rFor rotor position angle.

Using popularization Clark transformation matrix T_openRemaining non-faulting phase voltage under open fault condition is transformed into two-phase Static coordinate is fastened

[u_α u_β u_z2]^T=T_open[u_B u_C u_D u_E]^T (14)

Remaining non-faulting phase current is transformed in two-phase stationary coordinate system

[i_α i_β i_z2]^T=T_open[i_B i_C i_D i_E]^T (15)

To realize that copper loss is minimum, triple harmonic current i_z2Should control is zero, i.e.,

i_z2=0 (16)

In one-phase open circuit, stator magnetic linkage is represented by alpha-beta

It can be seen that in the case where one-phase open circuit, after popularization Clark transformation matrix shown in formula (12), stator magnet Chain remains unchanged on alpha-beta, stator magnetic linkage track be still it is round, flux observer and torque observer still may be designed as formula at this time (5) and formula (6).

By given torque T_e ^*With estimation torque T_eMake the torque transient deviation Δ T that difference obtains_eAnd given magnetic linkage ψ_s ^*With estimate Survey magnetic linkage ψ_sMake the stator magnetic linkage transient deviation Δ ψ that difference obtains_s, establish shown in sign function such as formula (7) and (8).

In A phase fault, the voltage vector that residue four can only be used to be combined to is controlled, so need to be by failure phase The switch state S of A phase_aIt is set as 0, formula (9) and (10) is substituted into and obtains space voltage vector distribution as shown in Figure 1.

According to a peacekeeping three-dimensional switching voltage polar plot, design corresponding under five phase magneto one-phase open circuit fault conditions Fault-tolerant switch list, be made of table 1 and 2.

Table 1 switchs group number table

2 voltage vector switch list of table

In table, V₁..., V₁₄For voltage vector.

Motor selects voltage in one-dimensional switch group number table under one-phase open circuit fault condition, according to magnetic linkage and torque error The voltage vector being considered as in three-dimensional switch list when vector could effectively inhibit tertiary current harmonic wave, improve motor fault-tolerant operation Performance.By taking voltage vector is in the first sector as an example, magnetic linkage and torque are considered.If Δ ψ_s=1, Δ T_e=1, indicate magnetic linkage and torque It all needs to increase, then selects in table 1 corresponding group number 2 below the sector I.Due to A phase open circuit, to inhibit triple-frequency harmonics, according to front Analysis, sector is only divided into i_z2>=0 part and i_z2< 0 part.If i_z2>=0, then voltage vector V is selected in group 2₈；If i_z2< 0, select voltage vector V₁₃.Similarly, Δ ψ_s=1, Δ T_e=-1 expression magnetic linkage needs to increase, and torque needs to reduce, I fan in corresponding table 1 Group number 8 below area.If i at this time_z2>=0, then voltage vector V is selected in table 2₁₁；If i_z2< 0, select voltage vector V₁.Fig. 2 is Fault-tolerant Strategy of Direct Torque Control block diagram under five phase magneto phase open fault conditions.

Step 3, it is fixed five phase magnetoes under A phase open fault condition to be transformed in the mathematical model that natural coordinates is fastened On the coordinate system (x-y) of sub- field orientation.

The popularization Park transformation matrix T on x-y is transformed to by alpha-beta_xyIt is represented by

In formula, θ_sFor the angle of stator magnetic linkage vector sum α axis.

By the stator voltage equation under phase open fault condition by promoting Clark transformation matrix T_openBecome with Park is promoted Change matrix T_xyIt transforms on x-y.Since x-axis and stator magnetic linkage vector are overlapped, the stator magnetic linkage component ψ in y-axis_y=0, in x-axis Magnetic linkage component ψ_x=ψ_s, then faulty motor is represented by x-y

In formula: u_x、u_y、i_x、i_yThe respectively voltage and current of x-axis and y-axis；R is stator resistance；ω_sFor stator magnet chain angle Speed.

Motor torque equation is represented by

Mathematical model under five phase magneto phase open-circuit faults can be further represented as on x-y

In formula: f_x、f_y、f_ωFor disturbance quantity, ω is mechanical angular speed, J_mFor rotary inertia.

In formula: T_lFor load；ΔR,ΔT_lIt is parameter R, T respectively_lDisturbance；ε_x、ε_y、ε_ωFor system unmodel parts.

Influence of the motor phase short trouble to motor performance can be analyzed to two parts: 1) motor phase open-circuit fault (missing) is right The influence of motor performance；2) influence of the motor phase short circuit current to motor performance.Namely motor phase short trouble is to motor The influence of energy is added additional and is disturbed caused by phase short circuit current on the basis of motor phase open-circuit fault is to influence on Harmonic Armature It is dynamic.The disturbance will result directly in torque pulsation.Then, on stator magnetic linkage oriented coordinate system, motor phase short trouble model Can the torque pulsation model caused by motor phase open-circuit fault model and phase short circuit current constitute.

Formula (21) is the motor open circuit event obtained after the motor phase open-circuit fault model that natural coordinates is fastened transforms on x-y Hinder model.On this basis, phase short trouble mutually occurs for such as original open-circuit fault, then is analyzed according to front, and the failure is mutually electric Stream will lead to torque pulsation, therefore formula (21) still can be used to indicate, at this time in the phase short trouble motor model on x-y Δ T in formula (22)_lIn will include torque pulsation caused by short-circuit phase current.

It is obtained by formula (21) and (22)

In formula: ω^*, ω be respectively given speed and actual speed,Respectively ω^*, ω first derivative.

It enablesThen above formula can be further represented as

In formula:d₁To mismatch interference For state variable x₁、x₂One Order derivative；Torque pulsation caused by electric motor short circuit failure is included in d₁In, d₂D is interfered for matching₂=af_x。

Step 4, the system state variables x established according to step 3₁、x₂D is interfered with mismatching₁, design interference observer The mismatch for observing electric system interferes d₁。

Due to using Direct Torque Control that there is stronger vulnerability to jamming, matching interference d can be eliminated₂, and it is dry to mismatching Disturb d₁It does not work, therefore need to only estimate the interference of the mismatch in formula (25) d₁, it is as follows that design mismatches interference observer:

In formula:Respectively d₁WithEstimated value, p₁₁、p₁₂For auxiliary variable, k₁₁、k₁₂For observer parameter and Greater than 0.

Observe the disturbance d come₁By partially forming as follows: a part is torque disturbance caused by the short trouble of motor, The forcing frequency is twice of electric motor short circuit power frequency；A part is the actual loading of motor；Some for motor not Torque pulsation caused by modeled segments.Observer is observed to the disturbance d come₁It is directly fed forward in system, not only can effectively press down Torque pulsation caused by motor phase short trouble processed, and torque arteries and veins caused by load disturbance and unmodel parts can also be eliminated It is dynamic, improve the steady-state performance and reliability of system operation.

The present invention avoids complicated calculating using torque disturbance caused by disturbance observer observation phase short trouble Journey simplifies control system.Disturbance observer control block diagram proposed by the present invention is as shown in Figure 3.

Step 5, disturbance d step 4 obtained₁It is fed forward in system and speed pi regulator output order torque T_e ^*Phase Add to obtain final command torque, then in conjunction with the fault-tolerant Strategy of Direct Torque Control under motor phase open fault condition, this hair The control block diagram of the five fault-tolerant Direct Torque strategies of phase magneto short circuit based on disturbance observer of bright proposition is as shown in Figure 4.

Firstly, actual speed ω when calculating motor operation^*, made the difference with given speed ω, obtain speed error Δ ω =ω-ω^*, adjust to obtain command torque T using speed PI_e ^*；The disturbance quantity and instruction that disturbance observer is observed simultaneously turn Square is added, and it is Δ T=T that the torque then observed with torque observer, which obtains torque error as difference,_e ^*-T_e+T_r；The torque error It is exported through torque hysteresis comparator；The error for the magnetic linkage that instruction magnetic linkage and flux observer observe is defeated through flux linkage hysteresis comparator device Out；According to the output of torque hysteresis comparator and flux linkage hysteresis comparator device, in conjunction with switch group number table 1 and voltage vector switch list 2 Obtain command voltage.It finally send the voltage instruction to voltage source inverter, and then realizes straight under motor phase short circuit fault condition Connect direct torque.The control of the five fault-tolerant Direct Torque strategies of phase magneto short circuit proposed by the present invention based on disturbance observer Block diagram is as shown in Figure 4.

Five phase Control System of AC Permanent Magnet Synchronous simulation models are emulated in Matlab/Simulink by Fig. 3 and Fig. 4 Analysis obtains the fault-tolerant Direct Torque Control of short circuit under five phase magnetoes, the one phase short circuit fault condition based on disturbance observer Simulation result.

Fig. 5 is before having added fault-tolerant Strategy of Direct Torque Control of the invention after A of embodiment of the present invention phase short trouble occurs Torque profile figure afterwards；Given rotating speed is 200r/min, and giving magnetic linkage is 0.034Wb, and since short circuit current influences, torque is generated Biggish pulsation, fault-tolerant Strategy of Direct Torque Control of the invention starting after 0.15s, torque restore to stablize.Fig. 6 is that the present invention is real After applying an A phase short trouble generation, the speed waveform figure of fault-tolerant Strategy of Direct Torque Control starting front and back of the invention；Due to short Road electric current influences, and revolving speed generates larger fluctuation, and after the fault-tolerant Strategy of Direct Torque Control starting of the present invention, motor speed is steady.By The above is it is found that the five fault-tolerant Direct Torque Controls of phase magnetoes short circuit the present invention is based on disturbance observer can be very The good torque pulsation inhibited and fluctuation of speed, improves the robustness of system, and required parameter robustness is good, simplifies control system System, improves stable state and dynamic property of such motor under phase short circuit fault condition.

To sum up, a kind of five fault-tolerant Direct Torque Control sides of phase magneto short circuit based on disturbance observer of the invention Method.On the basis of five phase magneto Strategy of Direct Torque Control, the appearance under the motor one-phase open circuit fault condition is designed first Wrong Direct Torque Control algorithm；Then on stator flux orientation coordinate system, the second mathematical model of five phase magnetoes is established, Disturbance observer is designed, torque pulsation caused by the electric motor short circuit failure and unmodel parts is observed；Finally by observe come Disturbing signal is fed forward in torque reference value, and then according to switch group number table, the voltage vector switch list opened a way in fault-tolerant situation Realize the high-performance operation under the motor phase short circuit fault condition.This method restrained effectively the torque as caused by short trouble Torque pulsation caused by pulsation and system unmodel parts.And then motor driven systems can be put down under phase short circuit fault condition It is steady to run and there is very strong robustness.

Although the present invention has been described by way of example and in terms of the preferred embodiments, embodiment is not for the purpose of limiting the invention.Not It is detached from the spirit and scope of the present invention, any equivalent change or retouch done belongs to the application appended claims institute The protection scope of restriction.