Fault-tolerant compensation control of PMSM applied under open-circuit faulty condition
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摘要: 基于磁动势不变原则的故障容错补偿控制策略, 在研究正常情况下船用永磁同步电机磁动势数学模型的基础上, 建立了一相开路故障下磁动势数学模型。在电机发生一相开路故障时, 通过改变其余无故障两相电流的大小和夹角, 以保证故障前后电机的合成磁动势不变, 进而使得空间电压矢量脉宽调制控制策略在电机控制中仍适用。结合船舶电力推进系统模型, 在MATLAB/Simulink中建立船舶电力推进系统的整体仿真模型, 并对转矩、转速、电流等参数进行分析。仿真结果表明: 在无故障情况下, 螺旋桨模型输出转矩脉动和电机的转矩、电流、转速脉动分别约为0.85%、5.90%、6.25%、2.01%, 电机运行性能良好。在一相开路故障下, 若未采用容错补偿控制策略, 螺旋桨对故障响应较为强烈, 输出转矩脉动达到22.2%, 进而导致推进电机输出转矩、电流、转速均出现较大的波动, 分别约为82%、50%、33%, 且电机定子磁链轨迹为不稳定的椭圆; 采用基于磁动势不变原则的矢量容错补偿控制策略后, 螺旋桨输出转矩会恢复到稳定值, 脉动约为1.02%, 推进电机也会重新稳定运行, 转矩、电流及转速脉动均明显下降, 分别约为6.20%、6.78%、2.22%, 与无故障时的脉动范围基本相同, 电机定子磁链轨迹恢复为同故障前一致的圆形。可见, 采用故障容错补偿控制策略, 可以保证推进电机在正常情况和一相绕组开路情况下均能正常工作, 且螺旋桨负载与推进电机性能匹配良好。Abstract: Based on the fault-tolerant compensation control strategy of the unchangeable principle of magnetomotive force(MMF), the mathematical model of the MMF under healthy condition was studied in the permanent magnet synchronous motor(PMSM)applied in ship electric propulsion system, and the mathematical model of the MMF under one-phase open-circuit faulty condition was established. When one-phase open-circuit fault occurred, the MMF could be remained unchanged by changing the size and angle of currents in two other healthy phases.And the vector control based on space vector pulse width modulation(SVPWM)was still applicable in the motor control.The whole simulation model of ship electrical propulsion system was set upand simulated in MATLAB/Simulink combining the system model of ship electrical propulsion system, and the parameters of torque, speed and current were analyzed.Simulation result shows that the ripple of output torque in the propeller model, and the motor's torque, current and speed ripples are 0.85%, 5.90%, 6.25% and 2.01% respectively, which shows that the motor has good operating performance under healthy condition. Under one-phase open-circuit faulty condition, the failure response of the propeller without fault-tolerant compensation control strategy is intense, the ripple of output torque in the propeller is 22.2%, the output torque, current and speed of the propulsion motor have large fluctuations that are about 82%, 50% and33% respectively, and the flux linkage track motor's stator is unstably elliptical.After using the vector fault-tolerant compensation control strategy based on the unchangeable principle of MMF, the output torque of the propeller will return to the stable value and the ripple is 1.02%.The ripples of output torque, current and speed of the motor are significantly decline that are about6.20%, 6.78% and 2.22%respectively.The ripples limits are close to the values under healthy condition, and the flux linkage track of motor's stator returns to be the same circle under healthy condition.So the propulsion motor can run normally under healthy and open-circuit faulty conditions when the fault-tolerant compensation control strategy is adopted, and the propeller load and the propulsion motor performance can match well all the time.
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图 5 A相开路故障情况下的电流矢量
Figure 5. Current vectors under A-phase open-circuit faulty condition
图 6 A相绕组开路故障时的补救策略仿真模块
Figure 6. Simulation module of remedial strategy under A-phase open-circuit fault condition
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