Fault-tolerant compensation control of PMSM applied under open-circuit faulty condition
-
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.
-
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
-
[1] 白洪芬, 朱景伟, 秦俊峰. 改进滑模观测器在船舶电力推进PMSM无位置控制中的应用[J]. 中国航海, 2015, 38(4): 22-25. doi: 10.3969/j.issn.1000-4653.2015.04.006BAI Hong-fen, ZHU Jing-wei, QIN Jun-feng. Improved SMO based sensorless PMSM vector control in ship electric propulsion system[J]. Navigation of China, 2015, 38(4): 22-25. (in Chinese). doi: 10.3969/j.issn.1000-4653.2015.04.006 [2] REN Jun-jie, LIU Yan-cheng, WANG Ning, et al. Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer[J]. ISA Transactions, 2015, 54(2): 15-26. [3] 黄辉, 褚建新, 沈爱弟. 基于定子电流的电力推进船舶螺旋桨故障诊断[J]. 中国航海, 2014, 37(3): 28-31. doi: 10.3969/j.issn.1000-4653.2014.03.007HUANG Hui, CHU Jian-xin, SHEN Ai-di. Diagnosis of propeller fault of electric propulsion ship based on stator current[J]. Navigation of China, 2014, 37(3): 28-31. (in Chinese). doi: 10.3969/j.issn.1000-4653.2014.03.007 [4] 秦琪. 船舶同步发电机与调压系统故障分析方法[J]. 江苏船舶, 2011, 28(1): 40-41. doi: 10.3969/j.issn.1001-5388.2011.01.015QIN Qi. Diagnosis of synchro-generator & amp; amp; AVR failure in shipping[J]. Jiangsu Ship, 2011, 28(1): 40-41. (in Chinese). doi: 10.3969/j.issn.1001-5388.2011.01.015 [5] 曾新红. 船用电机故障分析研究[J]. 船电技术, 2012, 32(6): 54-56. doi: 10.3969/j.issn.1003-4862.2012.06.017ZENG Xin-hong. Analysis of marine electric machine fault[J]. Marine Electric and Electronic Engineering, 2012, 32(6): 54-56. (in Chinese). doi: 10.3969/j.issn.1003-4862.2012.06.017 [6] 张春来, 王亮. 船舶推进永磁同步电动机直接转矩控制建模仿真[J]. 大连海事大学学报, 2011, 37(4): 41-44. https://www.cnki.com.cn/Article/CJFDTOTAL-DLHS201104012.htmZHANG Chun-lai, WANG Liang. Direct torque control modeling and simulation of ship's propulsion permanent magnetism synchronous motor[J]. Journal of Dalian Maritime University, 2011, 37(4): 41-44. (in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-DLHS201104012.htm [7] 曹林柏, 赵宏革, 张智远, 等. 基于十二电压矢量的电力推进PMSM直接转矩控制仿真[J]. 大连海事大学学报, 2015, 41(1): 100-103, 108. doi: 10.3969/j.issn.1671-7031.2015.01.018CAO Lin-bai, ZHAO Hong-ge, ZHANG Zhi-yuan, et al. Simulation of PMSM electric propulsion direct torque control with twelve voltage vectors[J]. Journal of Dalian Maritime University, 2015, 41(1): 100-103, 108. (in Chinese). doi: 10.3969/j.issn.1671-7031.2015.01.018 [8] 李兴友, 李彦. 基于SVM的船舶推进电机直接转矩控制仿真研究[J]. 现代电子技术, 2012, 35(7): 122-125. doi: 10.3969/j.issn.1004-373X.2012.07.037LI Xing-you, Li Yan. Simulation study of the ship propulsion motor direct torque control based on SVM[J]. Modern Electronics Technique, 2012, 35(7): 122-125. (in Chinese). doi: 10.3969/j.issn.1004-373X.2012.07.037 [9] 高海波, 陈辉, 林治国, 等. 船舶推进电机的效率优化控制[J]. 中国航海, 2013, 36(3): 23-27. doi: 10.3969/j.issn.1000-4653.2013.03.006GAO Hai-bo, CHEN Hui, LIN Zhi-guo, et al. Efficiencyoptimized control of marine propulsion motors[J]. Navigation of China, 2013, 36(3): 23-27. (in Chinese). doi: 10.3969/j.issn.1000-4653.2013.03.006 [10] 郑仁求, 俞万能, 陈景峰. 太阳能游览船舶电力推进系统仿真[J]. 集美大学学报: 自然科学版, 2014, 19(2): 122-126. doi: 10.3969/j.issn.1007-7405.2014.02.008ZHENG Ren-qiu, YU Wan-neng, CHEN Jing-feng. The simulation study of electrical propulsion system for solar tourism boat[J]. Journal of Jimei University: Natural Science, 2014, 19(2): 122-126. (in Chinese). doi: 10.3969/j.issn.1007-7405.2014.02.008 [11] 上官璇峰, 孟凡胜. 五相永磁同步电动机缺相故障下的磁动势分析[J]. 微特电机, 2012, 40(3): 1-3, 6. doi: 10.3969/j.issn.1004-7018.2012.03.001SHANGGUAN Xuan-feng, MENG Fan-sheng. Analysis of magnetic motive force of five phase PMSM with phase loss[J]. Small and Special Electrical Machines, 2012, 40(3): 1-3, 6. (in Chinese). doi: 10.3969/j.issn.1004-7018.2012.03.001 [12] 高宏伟, 杨贵杰, 刘剑. 五相永磁同步电机容错控制策略[J]. 电机与控制学报, 2014, 18(6): 61-65, 71. doi: 10.3969/j.issn.1007-449X.2014.06.010GAO Hong-wei, YANG Gui-jie, LIU Jian. Fault-tolerant control strategy for five-phase permanent magnet synchronous motor[J]. Electric Machines and Control, 2014, 18(6): 61-65, 71. (in Chinese). doi: 10.3969/j.issn.1007-449X.2014.06.010 [13] 高岩. 永磁同步电机驱动系统开路故障诊断及容错控制[J]. 电机与控制应用, 2013, 41(1): 37-41. https://www.cnki.com.cn/Article/CJFDTOTAL-ZXXD201401009.htmGAO Yan. Open-circuit diagnosis and fault tolerant control of permanent magnet synchronous motor[J]. Electric Machines and Control Application, 2013, 41(1): 37-41. (in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-ZXXD201401009.htm [14] DWARI S, PARSA L. An optimal control technique for multiphase PM machines under open-circuit faults[J]. IEEE Transactions on Industrial Electronics, 2008, 55(5): 1988-1995. doi: 10.1109/TIE.2008.920643 [15] DWARI S, PARSA L. Fault-tolerant control of five-phase permanent-magnet motors with trapezoidal back EMF[J]. IEEE Transactions on Industrial Electronics, 2011, 58(2): 476-485. doi: 10.1109/TIE.2010.2045322 [16] KHLAIEF A, BOUSSAK M, COSSA M. Open phase faults detection in PMSM drives based on current signature analysis[C]//IEEE. The XIX International Conference on Electrical Machines. New York: IEEE, 2010: 1-6. [17] PARK B G, JANG J S, KIM T S, et al. EKF-based fault diagnosis for open-phase faults of PMSM drives[C]//IEEE. IEEE 6th International Power Electronics and Motion Control Conference. New York: IEEE, 2009: 418-422. [18] 龚征华, 李刚强, 李俊舟, 等. 喷水推进船舶操舵控制系统建模及同步控制[J]. 中国造船, 2016, 57(2): 175-181. doi: 10.3969/j.issn.1000-4882.2016.02.019GONG Zheng-hua, LI Gang-qiang, LI Jun-zhou, et al. Modeling and simulation of steering control system for water jet boat[J]. Shipbuilding of China, 2016, 57(2): 175-181. (in Chinese). doi: 10.3969/j.issn.1000-4882.2016.02.019 [19] AHMADI R, BEHJATI H, FERDOWSI M. Dynamic modeling and stability analysis of an experimental test bench for electric-ship propulsion[C]//IEEE. 2013 IEEE Electric Ship Technologies Symposium. New York: IEEE, 2013: 110-115. [20] 李中兵, 张欢仁. 基于扩展卡尔曼滤波的船舶电力推进系统仿真[J]. 中国航海, 2011, 34(4): 45-50. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGHH201104011.htmLI Zhong-bing, ZHANG Huan-ren. Extened Kalman filter enhanced ship electrical propulsion system[J]. Navigation of China, 2011, 34(4): 45-50. (in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-ZGHH201104011.htm [21] BAI Hong-fen, ZHU Jing-wei, QIN Jun-feng. Sensorless control of the fault-tolerant permanent magnet motor based on sliding mode observer[C]//IEEE. 2016Chinese Control and Decision Conference. New York: IEEE, 2016: 5623-5626. [22] 白洪芬, 朱景伟, 孙军浩, 等. 双绕组永磁容错电机不同故障容错控制策略的比较研究[J]. 电工技术学报, 2016, 31(13): 189-199. https://www.cnki.com.cn/Article/CJFDTOTAL-DGJS201613022.htmBAI Hong-fen, ZHU Jing-wei, SUN Jun-hao, et al. Comparative study of different fault-tolerant control strategies for dual-winding fault tolerant permanent magnet motor[J]. Transactions of China Electrotechnical Society, 2016, 31(13): 189-199. (in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-DGJS201613022.htm [23] 朱景伟, 刁亮, 任宝珠, 等. 具有冗余特性的永磁容错电机短路故障分析与控制[J]. 电工技术学报, 2013, 28(3): 80-86. https://www.cnki.com.cn/Article/CJFDTOTAL-DGJS201303012.htmZHU Jing-wei, DIAO Liang, REN Bao-zhu, et al. Analysis and control of short-circuit fault in a fault-tolerant permanent magnet motor drive with redundancy[J]. Transactions of China Electrotechnical Society, 2013, 28(3): 80-86. (in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-DGJS201303012.htm [24] 姚文龙, 张均东, 池荣虎, 等. 船舶吊舱SSP推进电机的无模型自适应矢量控制方法[J]. 交通运输工程学报, 2014, 14(6): 59-66. http://transport.chd.edu.cn/article/id/201406008YAO Wen-long, ZHANG Jun-dong, CHI Rong-hu, et al. Model-free adaptive vector control method of SSP propulsion motor for ship pod[J]. Journal of Traffic and Transportation Engineering, 2014, 14(6): 59-66. (in Chinese). http://transport.chd.edu.cn/article/id/201406008 [25] YAO Wen-long, ZHANG Jun-dong, LIU Yuan, et al. Improved vector control for marine podded propulsion control system based on wavelet analysis[J]. Journal of Coastal Research, 2015, 31(S): 54-58. [26] 张敬南, 丛望. 船舶电力推进六相同步电动机控制研究[J]. 哈尔滨工程大学学报, 2010, 31(9): 1209-1216. https://www.cnki.com.cn/Article/CJFDTOTAL-HEBG201009015.htmZHANG Jing-nan, CONG Wang. Controller for a six-phase synchronous motor used for marine electrical propulsion[J]. Journal of Harbin Engineering University, 2010, 31(9): 1209-1216. (in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-HEBG201009015.htm -
下载:
点击查看大图
图(9) / 表(2)
计量
- 文章访问数: 3426
- HTML全文浏览量: 154
- PDF下载量: 3568
- 被引次数: 0
