基于降阶解耦的五相容错伺服电机驱动系统容错控制策略*

doi:10.11985/2023.04.014

电气工程学报 ›› 2023, Vol. 18 ›› Issue (4): 124-133.doi: 10.11985/2023.04.014

• 特邀专栏:轻量化高可靠永磁电机系统 • 上一篇下一篇

扫码分享

基于降阶解耦的五相容错伺服电机驱动系统容错控制策略^*

薛荣泽¹(), 蒋雪峰¹(), 孙延超²(), 汤欣喜²(), 高宇飞²(), 魏之建¹(), 马凯¹()

1.南京理工大学自动化学院南京 210094
2.中国航天科工南京晨光集团有限责任公司南京 210006

收稿日期:2023-05-25 修回日期:2023-06-26 出版日期:2023-12-25 发布日期:2024-01-12
通讯作者: 蒋雪峰，男，1987年生，博士，副教授，硕士研究生导师。主要研究方向为电机及其控制、容错伺服、故障诊断与健康监测等。E-mail：jxf@njust.edu.cn
作者简介:薛荣泽，男，2000年生，硕士研究生。主要研究方向为容错伺服电机的驱动控制。E-mail：XRZ611@njust.edu.cn
孙延超，男，1987年生，硕士，高级工程师。主要研究方向为电机及其控制。E-mail：510291818@163.com
汤欣喜，男，1993年生，博士，工程师。主要研究方向为电力电子与电力传动。E-mail：tangxxi@nuaa.edu.cn
高宇飞，男，1995年生，硕士，工程师。主要研究方向为电机及其控制。E-mail：g0y0f10@163.com
魏之建，男，1996年生，硕士研究生。主要研究方向为永磁容错电机系统的设计与控制。E-mail：weizj@njust.edu.cn
马凯，男，2000年生，硕士研究生。主要研究方向为永磁容错电机设计与优化。E-mail：makai@njust.edu.cn
基金资助:
*江苏省研究生科研与实践创新计划资助项目(KYCX23_0462)

Research on Fault-tolerant Control of Five-phase Fault-tolerant Servo Motor Drive System Based on Reduced-order Decoupling

XUE Rongze¹(), JIANG Xuefeng¹(), SUN Yanchao²(), TANG Xinxi²(), GAO Yufei²(), WEI Zhijian¹(), MA Kai¹()

1. School of Automation, Nanjing University of Science & Technology, Nanjing 210094
2. China Aerospace Science and Technology Nanjing Chenguang Group Co., Ltd., Nanjing 210006

Received:2023-05-25 Revised:2023-06-26 Online:2023-12-25 Published:2024-01-12

摘要/Abstract

摘要：

为提高作战装备的统战性能和可靠性，电驱动系统在武器装备中起到越来越重要的作用，高可靠的电驱动武器装备成为各国力求突破的方向。针对导弹电动舵机因工作环境恶劣导致不可避免的电气故障、常常不能可靠稳定运行的问题，提出一种具备高可靠性的五相容错伺服电机(Permanent magnet fault-tolerant servo motor，PMFSM)伺服系统，为了维持有效定子磁动势不变，实现对故障模式下电机驱动系统的矢量控制策略，提出一套适用于单相开路故障下的Clark和Park变换矩阵。针对故障模式下绕组中性点位偏移对空间矢量脉宽调制(Space vector pulse width modulation，SVPWM)的影响，提出了一种电压补偿策略减弱中性点电位偏移对SVPWM的影响，通过仿真和试验验证所提的五相PMFSM驱动系统的容错控制策略可以使五相PMFSM在绕组单相开路故障下高可靠容错运行，使导弹电动舵机系统有更高的可靠性和更强的容错性。

关键词: 五相容错伺服电机, 空间电压矢量脉宽调制, 开路故障, 容错控制, 电动舵机

Abstract:

In order to improve the unified performance and reliability of combat equipment, electric drive systems play an increasingly important role in weapons and equipment. Highly reliable electric drive weaponry has become the direction in which countries are striving to break through. A highly reliable five-phase permanent magnet fault-tolerant servo motor(PMFSM) servo system for missile electric servos is proposed, which often fail to operate reliably and stably due to inevitable electrical failures caused by the harsh working environment. In order to maintain the effective stator magnetomotive force constant and realize the vector control strategy for the motor drive system in fault mode, a set of Clark and Park transformation matrix for single-phase open-circuit fault is proposed. A voltage compensation strategy is proposed to attenuate the effect of neutral potential shift on space vector pulse width modulation(SVPWM) for the winding neutral position shift in fault mode. The proposed fault-tolerant control strategy for the five-phase PMFSM drive system is verified through simulation and experiment to enable highly reliable fault-tolerant operation of the five-phase PMFSM under single-phase open circuit faults in the windings, resulting in a more reliable and fault-tolerant missile electric servo system.

Key words: Five-phase permanent magnet fault-tolerant servo motor, space vector pulse width modulation, open circuit fault, fault tolerant control, electric steering gear

中图分类号:

TM301

薛荣泽, 蒋雪峰, 孙延超, 汤欣喜, 高宇飞, 魏之建, 马凯. 基于降阶解耦的五相容错伺服电机驱动系统容错控制策略^*[J]. 电气工程学报, 2023, 18(4): 124-133.

XUE Rongze, JIANG Xuefeng, SUN Yanchao, TANG Xinxi, GAO Yufei, WEI Zhijian, MA Kai. Research on Fault-tolerant Control of Five-phase Fault-tolerant Servo Motor Drive System Based on Reduced-order Decoupling[J]. Journal of Electrical Engineering, 2023, 18(4): 124-133.

图/表 14

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

参考文献 20

[1]	汤立勋. 导弹舵机用永磁同步电机控制系统设计[D]. 武汉: 华中科技大学, 2019.
	TANG Lixun. Design of permanent magnet synchronous motor control system for missile rudder[D]. Wuhan: Huazhong University of Science and Technology, 2019.
[2]	聂磊. 无人机电动舵机系统设计与控制技术研究[D]. 哈尔滨: 哈尔滨工业大学, 2019.
	NIE Lei. Study on design and control technology of electromechanical actuator system of UAV[D]. Harbin: Harbin Institute of Technology, 2019.
[3]	高尚文. 无人直升机电动舵机控制系统设计与实现[D]. 南京: 南京航空航天大学, 2021.
	GAO Shangwen. Design and implementation of electromechanical actuator control system for unmanned helicopter[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2021.
[4]	黄前柱. 导弹舵机用永磁同步电机控制系统的研究[D]. 内蒙古: 内蒙古科技大学, 2021.
	HUANG Qianzhu. Research on control system of permanent magnet synchronous motor for missile rudder[D]. Inner Mongolia: Inner Mongolia University of Science and Technology, 2021.
[5]	LI Qiang, JIANG Xuefeng, HUANG Wenxin, et al. Fault-tolerant drive system based on the redundancy bridge arm for aerospace applications[J]. IET Electric Power Applications, 2018, 12(6):780-786. doi: 10.1049/elp2.v12.6
[6]	ZHANG Zhaoyu, JIN Shi, ZHANG Zhifeng, et al. Novel space vector PWM technology with lower common-mode voltage for dual three-phase PMSM[J]. IET Power Electronics, 2020, 13(7):1426-1433. doi: 10.1049/pel2.v13.7
[7]	SHAHIN A E M, MARTIN J P, PIERFEDERIC S. Zero-sequence current based diagnostic method for open-switch fault detection in parallel inverters system[J]. IEEE Transactions on Power Electronics, 2018, 34(4):3750-3764. doi: 10.1109/TPEL.63
[8]	CHEN Qian, ZHAO Wenxiang, LIE Guohai, et al. Extension of virtual-signal-injection-based MTPA control for five-phase IPMSM into fault tolerant operation[J]. IEEE Transactions on Industrial Electronics, 2019, 66(2):944-955. doi: 10.1109/TIE.41
[9]	ZHAO Wenxiang, WU Binyu, CHEN Qian, et al. Fault-tolerant direct thrust force control for a dual inverter fed open-end winding linear vernier permanent-magnet motor using improved SVPWM[J]. IEEE Transactions on Industrial Electronics, 2018, 65(9):7458-7467 doi: 10.1109/TIE.41
[10]	王小东. 导弹舵机用永磁同步电机智能控制技术研究[D]. 太原: 中北大学, 2022.
	WANG Xiaodong. Research on intelligent control technology of permanent magnet synchronous motor for missile rudder[D]. Taiyuan: North University of China, 2022.
[11]	蒋雪峰, 吴道宇, 李强, 等. 基于DFPMM的共母线型双逆变器驱动系统缺任意两相容错运行研究[J]. 中国电机工程学报, 2022, 42(21):7982-7995.
	JIANG Xuefeng, WU Daoyu, LI Qiang, et al. Research on the fault-tolerant operation without any two-phase in common-bus dual-inverter drive system based on DPFMM[J]. Proceedings of the CSEE, 2022, 42(21):7982-7995.
[12]	王兰凤, 陈志辉, 何海翔, 等. 四相电励磁双凸极电动机单相开路故障分析与容错控制策略[J]. 电气工程学报, 2016, 11(1):39-46.
	WANG Lanfeng, CHEN Zhihui, HE Haixiang, et al. Single-phase open-circuit fault analysis and fault-tolerant control strategy for four-phase electrically excited doubly salient motor[J]. Journal of Electrical Engineering, 2016, 11(1):39-46.
[13]	周长攀, 刘海峰, 景国秀, 等. 非正弦反电势五相永磁同步电机容错矢量控制[J]. 电气工程学报, 2021, 16(4):108-119.
	ZHOU Changpan, LIU Haifeng, JING Guoxiu, et al. Fault-tolerant vector control of five-phase permanent magnet synchronous motor with non-sinusoidal back EMF[J]. Journal of Electrical Engineering, 2021, 16(4):108-119.
[14]	刘自程, 郑泽东, 彭凌, 等. 船舶电力推进中十五相感应电机同轴运行及容错控制策略[J]. 电工技术学报, 2014, 29(3):65-74.
	LIU Zicheng, ZHENG Zedong, PENG Ling, et al. Coaxial operation and fault-tolerant control strategy of fifteen-phase induction motor in marine electric propulsion[J]. Transactions of China Electrotechnical Society, 2014, 29(3):65-74.
[15]	孔金旺. 五相永磁电机开路故障诊断技术与容错控制策略研究[D]. 南京: 南京航空航天大学, 2021.
	KONG Jinwang. Research on open-circuit fault diagnosis and fault-tolerant control strategy of five-phase permanent magnet motor[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2021.
[16]	赵文祥, 唐建勋, 吉敬华, 等. 五相容错式磁通切换永磁电机及其控制[J]. 中国电机工程学报, 2015, 35(5):1229-1236.
	ZHAO Wenxiang, TANG Jianxun, JI Jinghua, et al. Five-phase fault-tolerant flux-switched permanent magnet motor and its control[J]. Proceedings of the CSEE, 2015, 35(5):1229-1236.
[17]	高宏伟, 杨贵杰. 五相永磁同步电机缺相运行的建模与控制[J]. 电工技术学报, 2016, 31(20):93-101.
	GAO Hongwei, YANG Guijie. Modeling and control of five-phase permanent magnet synchronous motor in phase-out operation[J]. Transactions of China Electrotechnical Society, 2016, 31(20):93-101.
[18]	YU Bin, SONG Wensheng, GUO Yongqi, et al. Virtual voltage vectors based model predictive current control for five-phase vsis with common-mode voltage reduction[J]. IEEE Transactions on Transportation Electrification, 2021, 7(2):706-717. doi: 10.1109/TTE.2020.3030793
[19]	YU Bin, SONGWensheng, FENGJiaxu, A virtual voltage vectors based model predictive current control to reduce common-mode voltage for five-phase voltage source inverters[C]// IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics (PRECEDE) May 31-June 2,2019,Quanzhou,China. IEEE, 2019:1-6.
[20]	陈富扬, 花为, 黄文涛, 等. 基于模型预测转矩控制的五相磁通切换永磁电机开路故障容错策略[J]. 中国电机工程学报, 2019, 39(2):337-346.
	CHEN Fuyang, HUA Wei, HUANG Wentao, et al. Open-circuit fault tolerant strategy of five-phase flux-switched permanent magnet motor based on model predictive torque control[J]. Proceedings of the CSEE, 2019, 39(2):337-346.

基于降阶解耦的五相容错伺服电机驱动系统容错控制策略^*

Research on Fault-tolerant Control of Five-phase Fault-tolerant Servo Motor Drive System Based on Reduced-order Decoupling

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

图/表 14

参考文献 20

相关文章 15

编辑推荐

Metrics

本文评价

[1]	夏长江, 唐欢, 韩民晓, 林佳鑫. 基于最近电平逼近调制的MMC冗余子模块冷热混合备用容错策略^*[J]. 电气工程学报, 2023, 18(4): 143-151.
[2]	周长攀, 刘海峰, 景国秀, 孙向东, 刘坛, 史奔奔. 非正弦反电势五相永磁同步电机容错矢量控制^*[J]. 电气工程学报, 2021, 16(4): 108-119.
[3]	张雷, 王子浩, 孙逢春, 王震坡. 四轮轮毂电机驱动智能电动汽车转向失效容错控制研究[J]. 机械工程学报, 2021, 57(20): 141-152.
[4]	张雷, 余文, 王震坡, 丁晓林. 基于多方法切换的四轮轮毂电机驱动电动汽车容错控制策略[J]. 机械工程学报, 2020, 56(16): 227-239.
[5]	周洪亮, 贾凤娇, 刘志远, 刘海峰. 四轮独立驱动汽车驱动系统故障诊断与容错控制[J]. 机械工程学报, 2019, 55(22): 174-182.
[6]	罗禹贡, 陈锐, 胡云. 分布式电驱动车辆线控转向系统MFAC主动容错控制[J]. 机械工程学报, 2019, 55(22): 131-139.
[7]	高振刚, 陈无畏, 谈东奎, 汪洪波, 杨柳青. 考虑传感器与执行器故障的EPS主动容错控制[J]. 机械工程学报, 2018, 54(22): 103-113.
[8]	易旺民, 郑昱, 刘辛军, 孟凡伟. 考虑输入饱和和状态受限的九索并联机构自适应容错控制[J]. 机械工程学报, 2018, 54(21): 1-10.
[9]	王兰凤,陈志辉,何海翔,赵凯弟. 四相电励磁双凸极电动机单相开路故障分析与容错控制策略[J]. 电气工程学报, 2016, 11(1): 39-46.
[10]	吴忠强, 杨阳, 徐纯华. 风能转换系统的故障诊断与主动容错控制[J]. 机械工程学报, 2015, 51(9): 112-118.
[11]	王广林;潘旭东;李跃峰. 一次性机械设计理念及实践[J]. , 2014, 50(1): 152-156.
[12]	韩辅君;房建成. 一种永磁偏置磁轴承容错方法的试验研究[J]. , 2010, 46(20): 34-40.
[13]	何静;邱静;张昌凡;王锡波. 非线性系统的集成故障诊断和容错控制[J]. , 2009, 45(5): 70-78.
[14]	齐俊桐;韩建达. 基于MIT规则的自适应Unscented卡尔曼滤波及其在旋翼飞行机器人容错控制的应用[J]. , 2009, 45(4): 115-124.
[15]	吴步洲;孙岩桦;王世琥;虞烈. 径向电磁轴承线圈容错控制研究[J]. , 2005, 41(6): 157-162.