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CN119995434A - A dual-redundancy matrix motor system and fault-tolerant control method - Google Patents

A dual-redundancy matrix motor system and fault-tolerant control method Download PDF

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Publication number
CN119995434A
CN119995434A CN202510177690.6A CN202510177690A CN119995434A CN 119995434 A CN119995434 A CN 119995434A CN 202510177690 A CN202510177690 A CN 202510177690A CN 119995434 A CN119995434 A CN 119995434A
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China
Prior art keywords
stator
rotor
current
motor
phase
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CN202510177690.6A
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贾少锋
杨东旭
徐宇晨
孙鹏程
梁得亮
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Xian Jiaotong University
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Xian Jiaotong University
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Priority to CN202510177690.6A priority Critical patent/CN119995434A/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

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Abstract

本发明公开一种双余度矩阵电机系统及容错控制方法，属于航空推进或航空电作动技术领域，该双余度矩阵电机系统包括：飞控计算机、系统控制模块、矩阵电机、定子逆变器、定子驱动模块、转子逆变器、转子驱动模块、定子电流采样模块、转子电流采样模块、位置和速度信号采样模块、负载；矩阵电机定子和转子侧均布置有绕组和永磁体，相较于常规双三相余度电机，在发生退磁故障后，矩阵电机仍有继续运行的能力；且矩阵电机充分利用了转子侧的空间，使得同等体积下，电机的转矩/功率密度大幅上升。本发明提出的方法对系统健康部件的利用更充分，且降低了故障后系统中功率器件、输电线路和接插件的负荷。

The present invention discloses a dual-redundancy matrix motor system and a fault-tolerant control method, which belongs to the field of aviation propulsion or aviation electric actuation technology. The dual-redundancy matrix motor system includes: a flight control computer, a system control module, a matrix motor, a stator inverter, a stator drive module, a rotor inverter, a rotor drive module, a stator current sampling module, a rotor current sampling module, a position and speed signal sampling module, and a load; windings and permanent magnets are arranged on the stator and rotor sides of the matrix motor. Compared with conventional dual three-phase redundant motors, the matrix motor still has the ability to continue to operate after a demagnetization fault occurs; and the matrix motor makes full use of the space on the rotor side, so that the torque/power density of the motor is greatly increased under the same volume. The method proposed by the present invention makes more full use of the healthy components of the system and reduces the load of power devices, transmission lines and connectors in the system after the fault.

Description

Dual-redundancy matrix motor system and fault-tolerant control method
Technical Field
The invention belongs to the technical field of aviation propulsion or aviation electric actuation, and particularly relates to a dual-redundancy matrix motor system and a fault-tolerant control method.
Background
With the deep development of electrification in the aviation field, the traditional aviation propulsion system taking an engine as a power source is gradually developed to electric drive, and all-electric and multi-electric aircrafts are representative. The motor system can be used as all or part of power sources of the electric aircraft, the aircraft can lose power and stop in the air once the motor system fails, the electric actuating system can be used as an adjusting device of a flap system of the electric aircraft, the attitude of the aircraft can be seriously influenced once the motor system fails, and the life safety of pilots and passengers can be seriously endangered under the two conditions, so that the aviation propulsion and aviation electric actuation have strict requirements on the reliability and fault tolerance performance of the motor system. Based on the requirement, the aviation propulsion electric drive and aviation electric actuation system needs to be subjected to redundancy design, and the technology commonly adopted in the existing redundancy design comprises a redundancy motor, a redundancy inverter, a redundancy power battery and the like. The core thought of the prior art can be summarized as that the system is composed of two sets of completely independent motor driving systems, the two sets of systems are mutually backed up, one set of driving system is switched to the other set of driving system when the driving system fails, and the reliability and the safety of an aviation propulsion system and an aviation electric actuating system are effectively improved.
The limitations of existing avionics drive and avionics actuation system redundancy techniques have two aspects. In the first aspect, most of adopted redundant motors are double three-phase motors, the stator of each motor is provided with two independent three-phase windings, the rotor is the same as that of a conventional permanent magnet motor, but the double three-phase motors do not fully utilize the effective space of the rotor, the torque/power density of each motor has room for further improvement, the redundancy of permanent magnets is not considered, and the loss of magnetism faults of the permanent magnets caused by high temperature or saturation cannot be treated. In the second aspect, when the existing redundancy method faces faults, a fault-tolerant control method of cutting off a set of electric drive system and starting a backup electric drive system is often adopted, but a part of healthy normal components in the fault system are also abandoned, for example, when a motor phase failure fault occurs, the residual healthy phase still has the potential of outputting normal current and further generating torque, or when an open circuit fault occurs in a certain power device of the inverter, the residual bridge arm is in a normal state, and the capacity of continuously feeding power to the winding is still realized. According to the redundant design thought of directly cutting off the whole set of fault electric drive system, each set of system needs to have the capacity of independently outputting rated torque, so that the power class of the power device, the current-carrying capacity of the power transmission line and the connectors are increased, and the load is increased.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a dual-redundancy matrix motor system and a fault-tolerant control method, which are mainly used for aviation propulsion or aviation electric actuation, and the dual-redundancy matrix motor system has the capability of continuously running a matrix motor after demagnetizing faults, so that fault-tolerant control can be realized; the dual-redundancy matrix motor system can effectively utilize the residual healthy phase windings after faults, and indirectly improves the torque density of the system.
In order to solve the technical problems, the invention adopts the following technical scheme:
In a first aspect, the invention provides a dual-redundancy matrix motor system, comprising a flight control computer, a system control module, a matrix motor, a stator driving module, a rotor driving module, a stator current sampling module, a rotor current sampling module and a position and speed signal sampling module;
the system control module is used for controlling the operation state of the matrix motor, and sending a control signal to the system control module;
The system control module is used for controlling the matrix motor, receiving various signals collected by the stator current sampling module, the rotor current sampling module, the position and speed signal sampling module and motor sensing equipment signals comprising temperature and vibration, carrying out double closed loop vector control on the rotating speed and the current of the matrix motor, sending pulse width modulation waves to the stator driving module and the rotor driving module and further driving the matrix motor, and is also used for completing the system control through reconfiguration of stator current and intervention of a rotor in a light load mode if faults occur, and redistributing the stator current according to a preset fault tolerance strategy and starting a standby rotor to replace the faulty stator when the stator or the rotor fails so as to ensure continuous operation of the double redundancy matrix motor system.
The dual-redundancy matrix motor system further comprises a first power battery pack and a second power battery pack;
The matrix motor is used for providing power;
The first power battery pack supplies power to a direct current bus of the stator inverter;
The second power battery pack supplies power to a direct current bus of the rotor inverter;
The stator inverter is used for supplying power to the matrix motor;
The stator driving module is used for providing gate voltage for the power device of the stator inverter so as to perform the on-off actions of the power device of the stator inverter;
The rotor inverter is used for supplying power to the matrix motor;
the rotor driving module is used for providing gate voltage for the power device of the rotor inverter so as to conduct the on-off actions of the power device of the rotor inverter;
the stator current sampling module is used for collecting current and feeding the current back to the system control module;
the rotor current sampling module is used for collecting current and feeding the current back to the system control module;
The position and speed signal sampling module is used for collecting the angular position and the angular speed of the matrix motor and feeding back the angular position and the angular speed to the system control module.
As a further improvement of the invention, the stator of the matrix motor is provided with m-phase windings, the rotor is provided with n-phase windings, and m and n are integers meeting the principle of multiple magnetic field modulation of the motor;
The stator driving module is used for providing gate voltage for a power device of the stator inverter so as to perform on-off actions of the power device of the stator inverter;
The rotor driving module is used for providing gate voltage for a power device of the rotor inverter so as to perform on-off actions of the power device of the rotor inverter;
The stator inverter is provided with m bridge arms and 2×m power devices in total;
the rotor inverter has n bridge arms and 2×n power devices.
As a further improvement of the invention, the stator of the matrix motor is provided with multiphase windings, the stator slot permanent magnet and the rotor are provided with multiphase windings, the rotor slot permanent magnet and the stator and the rotor windings are respectively powered by two sets of independent power supplies and inverters, and the requirements are that:
The stator and the rotor can respectively and independently output torque or simultaneously output torque, so that multiple torque components are overlapped in the same direction and then simultaneously output on the rotating shaft.
As a further improvement of the present invention, the dual redundancy matrix motor system includes a stator control channel and a rotor control channel, the stator control channel and the rotor control channel being independent of each other, and the stator control channel including a stator inverter drive system and a stator side winding of the matrix motor, and the rotor control channel including a rotor inverter drive system and a rotor side winding of the matrix motor.
When the stator control channel fails, the rotor control channel intervenes and provides torque output, and the specific modes include:
Healthy components in the stator control channel continue to operate through reconfiguration of stator current and intervention of a rotor, and the rotor control channel is put into operation and outputs a part of auxiliary torque, so that the torque output is the same as that before a fault;
Or the stator control channels are cut off and the rotor control channels take up all the torque.
As a further improvement of the invention, the two sets of electric drive systems of the stator and the rotor are redundant, and under normal working conditions, the stator outputs torque, and the rotor winding does not supply power;
Under the working condition that the airplane accelerates or climbs and requires large torque, the system judges and enables the rotor to be intervened;
when the stator has winding open-phase or power device open-circuit fault, blocking the fault phase bridge arm, carrying out current reconfiguration on the rest healthy phase, enabling the rotor to intervene by the system, and compensating the output torque;
when serious multiphase faults occur to the stator and the residual phase windings and the bridge arms are insufficient to continue outputting the torque, the whole stator windings and the bridge arms are cut off, and the rotor bears the whole output torque.
In a second aspect, the present invention provides a fault-tolerant control method, which is based on the dual redundancy matrix motor system, and is characterized in that the fault-tolerant control method includes:
The system comprises a control computer, a dual-redundancy matrix motor system, a flap system and a flap system, wherein the control computer is used for receiving an instruction of an airplane control lever and information of the airplane gesture by the control computer or the control computer, and dividing the operation mode into a light load mode and a heavy load mode under the healthy state of the system;
in the light load mode, the flight control computer judges the reference rotating speed of a given motor through the current operation requirement, and the difference value of the reference rotating speed of the motor and the rotating speed feedback signal is input into the stator independent rotating speed loop regulator;
The flight control computer gives a reference rotating speed through judging the current running requirement, and the difference value of the reference rotating speed and a rotating speed feedback signal is input into a rotor auxiliary rotating speed loop regulator to respectively output the respective reference currents of the stator and the rotor;
When the dual redundancy matrix motor system operates in a light load mode, the dual redundancy matrix motor system is completed through the reconfiguration of stator current and the intervention of a rotor after the failure occurs.
The invention further improves, the stator independent rotating speed ring regulator is a PI controller, the output of the PI controller is reference current, the reference current is input into a stator reference current configuration module, the stator reference current configuration module distributes the reference current value of each coordinate axis of an m-phase motor rotating coordinate system according to a set proportion through given integral reference current, and the transformation method of the m-phase motor rotating coordinate system adopts a vector space decoupling method;
The stator current loop regulator consists of a plurality of PI controllers, the number of the PI controllers is consistent with the number of coordinate axes of a rotating coordinate system of an m-phase motor, reference voltage values of all axes are input into an m-phase opposite Park conversion module, output quantity is reference voltage of all phases of the m-phase motor, all the reference voltages are input into an m-phase pulse width modulation algorithm module, and m groups of modulation square waves are output to form stator driving signals through calculation;
The rotor auxiliary rotating speed ring regulator is a series structure of a PI controller and a current distributor, and the current distributor distributes the integral reference current of the stator and the rotor according to a set proportion.
When the fault occurs, the number of phases of the stator with faults and the number j of the stator remaining healthy phases are firstly determined, when the number j of the stator remaining healthy phases is more than or equal to 3, the current reconfiguration is firstly carried out on the stator remaining healthy phases, so that the track of magnetomotive force generated by the stator remaining healthy phases is circular, then a rotor control channel is inserted, the stator is assisted in torque output, and fault-tolerant control is completed.
The matrix motor fault-tolerant control method for further improving the stator residual healthy phase number j more than or equal to 3 comprises the following steps:
The stator reference current configuration module, the current loop regulator, the inverse Park transformation module and the pulse width modulation module in the stator control system are all adjusted to correspond to the healthy phase number j, the difference value of a given reference rotating speed and a rotating speed feedback signal obtains the reference current of the stator and the rotor respectively through the stator residual healthy phase number and the rotor auxiliary rotating speed loop regulator;
the matrix motor fault-tolerant control method when the stator residual healthy phase number j is less than 3 comprises the following steps:
The stator residual healthy phase can not continuously generate rotating magnetomotive force, a stator control channel is blocked, a rotor control channel is inserted, the rotor bears all load torque, the number of current parameters regulated by a rotor current loop regulator is determined by the number of coordinate axes of a rotor n-phase motor rotating coordinate system, and a vector space decoupling method is adopted in a transformation method of the n-phase motor rotating coordinate system.
When the fault occurs, the position of the fault phase is firstly determined, and the fault-tolerant control method specifically comprises three conditions:
judging the number of fault phases, namely the number j of stator residual healthy phases, wherein when the number j of stator residual healthy phases is more than or equal to 3, the stator residual healthy phases and the rotor jointly bear load torque, and when the number j of stator residual healthy phases is less than 3, locking a stator control channel, and the rotor bears all the load torque;
judging the number of fault phases, wherein when the number k of the remaining healthy phases of the rotor is more than or equal to 3, the remaining healthy phases of the rotor and the stator jointly bear load torque, the number of current parameters regulated by a current loop regulator at the rotor side is determined by the number of coordinate axes of a k-phase motor rotating coordinate system of the remaining healthy phases of the rotor, and the transformation method of the k-phase motor rotating coordinate system refers to a vector space decoupling method;
The third condition, the fault phase is located at the rotor side and the stator side, the number of the remaining healthy phases of the double-side control channel is needed to be judged at the moment, when the number of the remaining healthy phases of the stator and the rotor side is more than or equal to 3 phases, the current reconfiguration is carried out on the remaining healthy phases of the stator and the rotor, so that the double-side magnetomotive force track is round, the remaining healthy phases of the stator and the rotor jointly bear the load torque, when the number of the remaining healthy phases of the stator or the rotor side is less than 3 phases, one side of the stator or the rotor is blocked, and one side of the remaining healthy phases is more than or equal to 3 phases bears the whole load torque.
Compared with the prior art, the invention has the following beneficial effects:
In the dual-redundancy matrix motor system, the windings and the permanent magnets are distributed on the stator and the rotor sides of the matrix motor, so that the matrix motor still has the capability of continuous operation after demagnetizing faults compared with a conventional dual-three-phase redundancy motor, and the space on the rotor side is fully utilized by the matrix motor, so that the torque/power density of the motor is greatly increased under the same volume.
The fault-tolerant control method of the dual-redundancy matrix motor system utilizes the healthy phase of the fault side winding control channel, reduces the rated output torque of the rest healthy phase winding in a current reconfiguration mode, and maintains the same output torque as before the fault in a mode of intervention and auxiliary torque generation through the other side control channel. Compared with the fault-tolerant control method for directly discarding all healthy components at the fault side after the traditional aviation propulsion redundancy system breaks down, the method provided by the invention has the advantages that the healthy components of the system are fully utilized, and the loads of power devices, power transmission lines and connectors in the system after the fault are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description is made with reference to the accompanying drawings of the embodiments of the present invention or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and other drawings may be obtained according to these drawings without the need of inventive labor for those skilled in the art.
FIG. 1 is a block diagram of a dual redundancy matrix motor system according to an embodiment of the present application;
FIG. 2 is a block diagram of a control algorithm in a light load mode when the dual redundancy matrix motor system provided by the embodiment of the application is in normal operation;
FIG. 3 is a block diagram of a control algorithm in a heavy load mode of a dual redundancy matrix motor system according to an embodiment of the present application during normal operation;
FIG. 4 is a fault-tolerant control flow chart after a fault occurs in a light load mode of a dual redundancy matrix motor system according to an embodiment of the present application;
FIG. 5 is a block diagram of a fault-tolerant control algorithm for a dual redundancy matrix motor system according to an embodiment of the present application, wherein the fault-tolerant control algorithm is configured to share torque with a rotor through a stator residual healthy phase;
FIG. 6 is a block diagram of a control algorithm for a dual redundancy matrix motor system provided by an embodiment of the present application in which only the rotor bears torque;
Fig. 7 is a fault-tolerant control flow chart after a fault occurs in a dual redundancy matrix motor system in a heavy load mode according to an embodiment of the present application.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Based on the problems existing in the background technology, the invention provides a dual-redundancy matrix motor system for aviation propulsion or aviation electric actuation and a fault-tolerant control method. The stator of the matrix motor is provided with multiphase windings and permanent magnets, the rotor is provided with multiphase windings and permanent magnets, and the stator and the rotor windings are respectively powered by two independent power supplies and an inverter.
As shown in fig. 1, a first object of the present invention is to provide a dual redundancy matrix motor system for aviation propulsion or aviation electric operation, which includes a flight control computer, a system control module, a matrix motor, a first power battery pack, a second power battery pack, a stator inverter, a stator driving module, a rotor inverter, a rotor driving module, a stator current sampling module, a rotor current sampling module, a temperature vibration and other motor sensing device signal sampling module, a position and speed signal sampling module, a load and the like.
The flight control computer is used as the central brain of the aircraft and is responsible for processing flight data, control instructions and the like, so that the aircraft can fly stably and safely. The system control module receives the instruction of the flight control computer and integrally controls the dual-redundancy matrix motor system, including starting, stopping, speed regulation and the like of the motor. The matrix motor consists of a plurality of magnetic sources (stator winding, rotor winding, stator permanent magnet and rotor permanent magnet), and redundant fault tolerance is realized through the mode that the magnetic sources are mutually backed up, so that the reliability of the system is improved.
The first power battery pack and the second power battery pack provide power support for the dual-redundancy matrix motor system, and normal operation of the dual-redundancy matrix motor system is ensured. There may be a redundant design between the two sets of battery packs to improve the power reliability of the system. The stator inverter and the rotor inverter convert direct current into alternating current and supply the alternating current to the stator and the rotor of the matrix motor respectively. The inverter may employ multiple sets of H-inverter bridge topologies to achieve fault tolerant control.
Further, the stator driving module and the rotor driving module receive instructions from the system control module, control the stator inverter and the rotor inverter, and further drive the stator and the rotor of the matrix motor. The stator current sampling module and the rotor current sampling module respectively acquire information of stator current and rotor current and feed the information back to the system control module for realizing accurate control of the motor.
Furthermore, the signal sampling module of the motor sensing equipment such as temperature vibration and the like is used for collecting state signals in the running process of the motor such as temperature, vibration and the like and feeding back the state signals to the system control module. The position and speed signal sampling module collects position and speed information of the matrix motor and provides feedback for the system control module so as to realize closed-loop control.
The matrix motor works through the multiple magnetic field modulation principle that armature windings of the stator and the rotor and permanent magnets of the stator and the rotor can interact respectively to output torque components distributed in a matrix mode. The stator and the rotor can respectively and independently output torque, and can also simultaneously output torque, so that multiple torque components are overlapped in the same direction and then simultaneously output on the rotating shaft. The two sets of electric drive systems of the stator and the rotor are redundant, and under normal working conditions, the stator outputs torque, and the rotor winding is not powered.
Under the working condition that the load demands large torque, the system judges and enables the rotor to intervene, provides auxiliary torque and lightens the load of the stator. When the stator has winding open-phase or power device open-circuit fault, the bridge arm of the fault phase is blocked, current reconfiguration is carried out on the rest healthy phase, meanwhile, the system enables the rotor to intervene, the output torque is compensated, and the load of the stator is reduced. When serious multiphase faults occur to the stator and the residual phase windings and the bridge arms are insufficient to continue outputting the torque, the whole stator windings and the whole bridge arms are cut off, the rotor bears the whole output torque, and the airplane can be ensured to safely forced to descend.
A second object of the present invention is to provide a fault tolerant control method for an avionics or avionics dual redundancy matrix motor system, the principles comprising:
And in the light load mode, when the dual-redundancy matrix motor system is used for aviation propulsion and the aircraft is in a stable flight state or the dual-redundancy matrix motor system is used for aviation electric actuation, the flap system does not need frequent adjustment and the flight control computer comprehensively judges the instruction of the aircraft control lever and the information of the aircraft gesture and switches the dual-redundancy matrix motor system into the light load mode. Under the light load mode, the flight control computer gives the reference rotating speed of the motor according to the current running requirement. The difference value of the motor reference rotating speed and the rotating speed feedback signal is input into a stator independent rotating speed loop regulator, the regulator outputs the reference current of a stator, and the reference current outputs the driving signal of an inverter after a series of regulation of a stator reference current configuration module, a stator current loop regulator, an inverse Park conversion module, a pulse width modulation module and the like, so that the accurate control of the rotating speed and the torque of the motor is realized.
And in the heavy load mode, when the dual-redundancy matrix motor system is used for aviation propulsion and the aircraft is in an ascending or accelerating state, or when the dual-redundancy matrix motor system is used for aviation electric actuation, the attitude of the aircraft is changed drastically, the flap system needs to be frequently regulated, and the flight control computer switches the dual-redundancy matrix motor system into the heavy load mode. In the heavy load mode, control of the rotor is added in addition to control of the stator. The flight control computer likewise sets a reference rotational speed according to the current operating demand, but in this case the difference between the reference rotational speed and the rotational speed feedback signal is fed into the rotor auxiliary rotational speed loop regulator. The regulator outputs respective reference currents of the stator and the rotor respectively, and the respective reference currents of the stator and the rotor respectively output driving signals of the stator and the rotor inverter after a series of regulation such as respective reference current configuration modules, current loop regulators, inverse Park conversion modules, pulse width modulation modules and the like so as to realize accurate control of the rotating speed and the torque of the motor.
And in the light load mode, if the dual redundancy matrix motor system fails, the fault-tolerant control method is completed through the reconfiguration of stator current and the intervention of a rotor. When a stator or rotor fails, the system redistributes stator current according to a preset fault tolerance strategy and may start a spare rotor to replace the failed stator to ensure continuous operation of the system.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
FIG. 1 is a block diagram illustrating a dual redundancy matrix motor system for use in propulsion or electrical actuation. The dual-redundancy matrix motor system for aviation propulsion or aviation electric actuation comprises a stator and a rotor, wherein each control channel comprises an inverter driving system and one side winding of a matrix motor, the two control channels are independent and backup to each other, and when the stator control channel fails, the rotor control channel intervenes and ensures normal torque output. The intervention comprises two forms, namely, the healthy components in the stator control channel continue to operate through the reconfiguration of stator current and the intervention of the rotor, meanwhile, the rotor control channel is put into operation and outputs a part of auxiliary torque, the torque output is ensured to be the same as that before the fault, and the stator control channel is cut off, and the rotor control channel bears all the torque.
Specifically, the dual-redundancy matrix motor system and equipment connected with the whole machine comprise a flight control computer, a system control module, a matrix motor, a first power battery pack, a second power battery pack, a stator inverter, a stator driving module, a rotor inverter, a rotor driving module, a stator current sampling module, a rotor current sampling module, a temperature, vibration and other sensing equipment signal sampling module, a position and speed signal sampling module, a load and the like of the motor.
The functions of the components are as follows:
the flight control computer is used for interacting instructions and information with the system control module, the flight control computer can send an adjusting signal to the system control module to adjust the running state of the motor, and the system control module can feed back the running state, fault signals and other information to the flight control computer.
The system control module plays a role in controlling the matrix motor and receives various signals collected by the stator current sampling module, the rotor current sampling module and the position and speed signal sampling module and other sensing equipment signals of the motor such as temperature, vibration and the like. The rotating speed and current double closed-loop vector control of the matrix motor is completed through the signals, pulse width modulation waves are sent to the stator driving module and the rotor driving module, and then the matrix motor is driven.
The matrix motor is the core of the redundancy system and is used for providing power. In this embodiment, the stator of the matrix motor has m-phase windings and the rotor has n-phase windings, it should be noted that m and n may be taken as integers satisfying the multiple magnetic field modulation principle of the motor in other embodiments. Other fault-tolerant control methods of matrix motors with different phase numbers are also within the protection scope of the invention.
As examples, some possible combinations of values for m and n are m=5, n=3, m=3, n=2, m=7, n=3, m=7, n=5, etc..
It should also be noted that, in some embodiments, when m or n has a value of 2, in order to ensure normal operation of the two-phase winding, the number of inverter legs is 3.
The first power battery pack supplies power to a direct current bus of the stator inverter.
The second power battery pack supplies power to a direct current bus of the rotor inverter.
The stator inverter is used for supplying power to m-phase windings of a stator of the matrix motor, the stator inverter is provided with m bridge arms, and generally 2×m or other power devices need to ensure the realization of the inverter function.
The stator driving module is used for providing gate voltage for the power device of the stator inverter so as to conduct the on-off actions of the power device of the stator inverter.
The rotor inverter is used for supplying power to the n-phase windings of the rotor of the matrix motor, the rotor inverter has n bridge arms, and generally 2×n or other power devices need to ensure the realization of the inverter function.
The rotor driving module is used for providing gate voltage for the power device of the rotor inverter so as to conduct the on-off actions of the power device of the rotor inverter.
The stator current sampling module is used for collecting phase currents of m-phase windings of the stator and feeding back sampling signals to the system control module.
The rotor current sampling module is used for collecting phase currents of n-phase windings of the rotor and feeding back sampling signals to the system control module.
The signal sampling module of other sensing equipment of the motor such as temperature and vibration is used for collecting signals such as temperature and vibration in the operation of the motor and feeding back the sampling signals to the system control module so as to monitor the operation state of the motor.
The position and speed signal sampling module is used for collecting the angular position and the angular speed of the matrix motor and feeding back signals to the system control module. In some embodiments, a resolver, encoder, may be selected as the position and velocity sampling module.
The load is a mechanism connected with the rotating shaft of the matrix motor. When the electric aircraft is used for aviation propulsion, the load is a propeller, and the propeller is connected with a torque output shaft of the matrix motor and is used for providing power for the electric aircraft to fly. When the hydraulic pump is used for aviation electric actuation, the load is a hydraulic pump, and a piston column mechanism of the hydraulic pump is connected with a torque output shaft of the matrix motor and is used for adjusting the liquid pressure in the hydraulic pump so as to change the attitude of a flap of an airplane through a mechanical executing mechanism.
Alternatively, the flight control computer is connected with the system control module through a communication interface (such as RS-485, CAN bus, etc.), and sends a control instruction to the system control module. The system control module is connected with the stator and the rotor of the matrix motor through the driving circuit and the inverter, so as to realize the control of the motor. The power battery pack is connected with the inverter through a power line and provides direct current power for the inverter. The inverter converts the direct current power supply into alternating current power supply and supplies the alternating current power supply to the stator and the rotor of the matrix motor. The system control module is connected with the driving module through a driving signal interface and sends driving signals to the driving module. The driving module is connected with the inverter through the gate signal interface and controls the inverter according to the driving signal, so that the motor is driven.
The inverter is connected with the stator winding and the rotor winding of the matrix motor through motor power cables, and provides modulation voltage for the motor to realize the operation of the motor.
Preferably, the module is connected with the stator and the rotor of the matrix motor through a current sensor, and current information is collected and fed back to the system control module. The signal sampling module of other sensing equipment of the motors such as temperature, vibration and the like is connected with the matrix motor through the sensors such as temperature, vibration and the like, and the information such as temperature, vibration and the like is collected and fed back to the system control module.
As a preferred scheme, the position and speed signal sampling module is connected with the matrix motor through a sensor (such as an encoder, a Hall sensor, a rotary transformer and the like), and acquires position and speed information and feeds the position and speed information back to the system control module. The rotor of the matrix motor is connected with two loads of a propeller or a hydraulic pump through mechanical connection (such as a shaft, a gear and the like), and drives the propeller to rotate so as to realize the flight and propulsion of an aircraft, or drives the hydraulic pump to adjust the hydraulic pressure so as to adjust the flap gesture of the aircraft.
In the scheme, the dual-redundancy matrix motor system has two control modes under the normal operation condition, including a light load mode and a heavy load mode. Preferably, the mode switching logic is that the flight control computer comprehensively judges the current instruction of the pilot on the airplane control lever, the airplane gesture and other information, when the dual-redundancy matrix motor system is used for aviation propulsion, the airplane is switched to a light load mode when in a stable flight state, and when the airplane is in an ascending or accelerating state, the airplane is switched to a heavy load mode. When the dual redundancy matrix motor system is used for aviation electric actuation, the dual redundancy matrix motor system is switched into a light-load mode when the aircraft is in a stable flight state and the flap system does not need to be frequently regulated, and is switched into a heavy-load mode when the aircraft gesture is severely changed and the flap system needs to be frequently regulated.
Fig. 2 is a block diagram of a control algorithm in a light load mode of normal operation of the electric aircraft, the control algorithm operating in the system control module shown in fig. 1. In the light load mode, the flight control computer judges the reference rotating speed of the given motor according to the current running requirement, and the difference value between the reference rotating speed of the motor and the rotating speed feedback signal is input into the stator independent rotating speed loop regulator.
Preferably, the stator independent speed ring regulator may be designed as a PI controller, the output of which is a reference current. The reference current is input into a stator reference current configuration module, and the stator reference current configuration module obtains reference current values of all coordinate axes of an m-phase motor rotating coordinate system according to a certain principle and proportion, such as a maximum torque current ratio principle, through a given overall reference current, and a transformation method of the m-phase motor rotating coordinate system refers to a classical vector space decoupling method of the multi-phase motor.
In fig. 2, the stator reference current values for each axis include i dsa *,iqsa *,idsb *,…,iqsx *, where an upper corner mark represents a reference value, a lower corner mark dsa represents a d-axis component in an a-th set of d-q axes in an m-phase motor rotation coordinate system, a lower corner mark qsa represents a q-axis component in an a-th set of d-q axes in an m-phase motor rotation coordinate system, a lower corner mark dsb represents a d-axis component in a b-th set of d-q axes in an m-phase motor rotation coordinate system, and a lower corner mark qsx represents a q-axis component in an x-th set of d-q axes in an m-phase motor rotation coordinate system. The stator current feedback signal comprises i dsa,iqsa,idsb,…,iqsx, the angular standard meaning of the stator current feedback signal is the same as that of the reference current value of each axis of the stator, and the stator current feedback signal is an observed current actual value. After the reference current value of each shaft of the stator is differenced with the actual value of each shaft current of the stator current feedback signal, the reference voltage value of each shaft of the stator is input into the stator current loop regulator and output as the reference voltage value of each shaft of the stator, wherein the reference voltage value of each shaft of the stator comprises u dsa *,uqsa *,udsb *,…,uqsx *, and the upper angle mark and the lower angle mark have the same meaning as the reference current value of each shaft of the stator.
Preferably, the stator current loop regulator may be designed to be composed of a plurality of PI controllers, the number of which is identical to the number of coordinate axes of the m-phase motor rotation coordinate system. The reference voltage value of each axis of the stator is input into an m-phase opposite Park conversion module, the output quantity is the reference voltage us1 *,us2 *,us3 *,us4 *,…,usm *, of each phase of the m-phase motor, wherein the upper corner mark represents the reference value, the lower corner mark s1 represents the 1 st phase of the stator, s2 represents the 2 nd phase of the stator, s3 represents the 3 rd phase of the stator, s4 represents the 4 th phase of the stator, sm represents the m-th phase of the stator, the reference voltage of each phase of the stator is input into an m-phase pulse width modulation algorithm module, and m groups of modulation square waves g s1、gs2、gs3、gs4、…、gsm are output through calculation to form a stator driving signal. Each group of modulated square waves comprises two complementary square waves which are used for controlling the upper power device and the lower power device of a certain phase bridge arm of the stator inverter.
Fig. 3 is a block diagram of a control algorithm in a heavy load mode and a heavy load mode of the electric aircraft during normal operation, wherein the control algorithm in the heavy load mode is different from the control algorithm in the light load mode in that the control of the rotor is added. In the heavy load mode, the flight control computer judges the current running requirement to set a reference rotating speed, and the difference value of the reference rotating speed and a rotating speed feedback signal is input into the rotor auxiliary rotating speed loop regulator to respectively output the respective reference currents of the stator and the rotor. The rotor auxiliary rotating speed ring adjuster is used for adjusting the auxiliary rotating speed under the condition that the stator is used for adjusting the main rotating speed.
Preferably, the rotor auxiliary rotating speed ring regulator can be designed as a series structure of a PI controller and a current distributor, and the current distributor distributes the integral reference current of the stator and the rotor according to a certain proportion. Preferably, the ratio of the rated current of the stator to the rated current of the rotor can be selected, and it should be noted that, when the rated current of the rotor is determined, factors such as that the heat dissipation of the rotor winding is more difficult than that of the stator and the volume of the rotor is smaller than that of the stator need to be considered, so that the stator is a main output component and the rotor is an auxiliary output component at the ratio of the allocation. After the current distributor is distributed, the reference current value of each axis of the stator comprises i dsa *,iqsa *,idsb *,…,iqsx *, wherein an upper corner mark represents a reference value, a lower corner mark dsa represents a d-axis component in an a-th set d-q axis in an m-phase motor rotating coordinate system, a lower corner mark qsa represents a q-axis component in an a-th set d-q axis in the m-phase motor rotating coordinate system, a lower corner mark dsb represents a d-axis component in a b-th set d-q axis in the m-phase motor rotating coordinate system, and a lower corner mark qsx represents a q-axis component in an x-th set d-q axis in the m-phase motor rotating coordinate system. The stator current feedback signal comprises i dsa,iqsa,idsb,…,iqsx, the angular standard meaning of the stator current feedback signal is the same as that of the reference current value of each axis of the stator, and the stator current feedback signal is an observed current actual value. After the reference current value of each shaft of the stator is differenced with the actual value of each shaft current of the stator current feedback signal, the reference voltage value of each shaft of the stator is input into the stator current loop regulator and output as the reference voltage value of each shaft of the stator, wherein the reference voltage value of each shaft of the stator comprises u dsa *,uqsa *,udsb *,…,uqsx *, and the upper angle mark and the lower angle mark have the same meaning as the reference current value of each shaft of the stator.
Preferably, the stator current loop regulator may be designed to be composed of a plurality of PI controllers, the number of which is identical to the number of coordinate axes of the m-phase motor rotation coordinate system. The reference voltage value of each shaft is input into an m opposite Park conversion module, the reference voltage us1 *,us2 *,us3 *,us4 *,…,usm *, of each phase of the m-phase motor with the output quantity is represented by the reference value by the upper corner mark, the lower corner mark s1 represents the 1 st phase of the stator, s2 represents the 2 nd phase of the stator, s3 represents the 3 rd phase of the stator, s4 represents the 4 th phase of the stator, sm represents the m th phase of the stator, the reference voltage of each phase is input into an m-phase pulse width modulation algorithm module, and m groups of modulation square waves g s1、gs2、gs3、gs4、…、gsm are output through calculation to form a stator driving signal. Each group of modulated square waves comprises two complementary square waves which are used for controlling the upper power device and the lower power device of a certain phase bridge arm of the stator inverter.
After the current distributor distributes, the reference current value of each axis of the rotor comprises i dru *,…,iqry *, wherein an upper corner mark represents the reference value, a lower corner mark dru represents the d-axis component in the u-th set of d-q axes in the n-phase motor rotating coordinate system, and a lower corner mark qry represents the q-axis component in the y-th set of d-q axes in the n-phase motor rotating coordinate system. The rotor current feedback signal comprises i dru,…,iqry, the angular sign meaning of the rotor current feedback signal is the same as that of the reference current value of each shaft of the rotor, and the rotor current feedback signal is an observed current actual value. After the reference current value of each shaft of the rotor is differenced with the actual value of each shaft current of the rotor current feedback signal, the reference voltage value of each shaft is input into the rotor current loop regulator and output as the reference voltage value of each shaft, the reference voltage value of each shaft comprises u dru *,…,uqry *, and the meanings of upper angle marks and lower angle marks are the same as the reference current value of each shaft of the rotor.
The subsequent adjustment calculation process of the rotor reference current can refer to the adjustment calculation process of the stator in the light load mode, and the difference is that the number of current parameters adjusted by the rotor current loop adjuster is determined by the number of coordinate axes of a rotor n-phase motor rotating coordinate system, the transformation method of the n-phase motor rotating coordinate system can also refer to the classical vector space decoupling method of the multiphase motor, and the difference is that an n-phase Park transformation module and an n-phase pulse width modulation algorithm module are similar to the stator and only have different phase numbers. The reference voltage value of each rotor shaft is input into an n-phase opposite Park conversion module, the output quantity is the reference voltage u r1 *,ur2 *,…,urn * of each phase of an n-phase motor, wherein an upper corner mark represents the reference value, a lower corner mark r1 represents the 1 st phase of the rotor, r2 represents the 2 nd phase of the rotor, rn represents the n-th phase of the rotor, the reference voltage of each rotor phase is input into an n-phase pulse width modulation algorithm module, and n groups of modulation square waves g r1、gr2、…、grn are output through calculation to form a rotor driving signal. Each group of modulated square waves comprises two complementary square waves which are used for controlling the upper power device and the lower power device of a certain phase bridge arm of the rotor inverter.
When the dual redundancy matrix motor system operates in a light load mode, the fault-tolerant control method after faults is completed through the reconfiguration of stator current and the intervention of a rotor. Fig. 4 is a flow chart of fault tolerant control when a fault occurs in the light load mode. The fault can be either a phase failure of a certain phase winding of the stator or an open circuit fault of a power device of a certain phase bridge arm of the stator inverter. After the faults occur, firstly determining the number of phases of the stator, which are faulty, and the number j of the stator remaining healthy phases, and when the number j of the stator remaining healthy phases is more than or equal to 3, firstly carrying out current reconfiguration on the stator remaining healthy phases to ensure that the track of magnetomotive force generated by the j phases is circular, then intervening a rotor control channel, assisting the stator to carry out torque output, and completing fault-tolerant control.
In this embodiment, it is assumed that the stator s 1 phase and s 2 phase have open-phase faults (i.e. j=m-2 is greater than or equal to 3), and the stator reference current configuration module, the current loop regulator, the inverse Park conversion module and the pulse width modulation module in the stator control system are all adjusted to correspond to the healthy phase number j. And obtaining the reference currents of the stator and the rotor respectively through the stator residual healthy phase number and the rotor auxiliary rotating speed loop regulator by the difference value of the given reference rotating speed and the rotating speed feedback signal. According to the vector space decoupling method of the multiphase motor, rotating coordinate transformation is carried out on j healthy phases, a stator reference current configuration module obtains reference current values of all coordinate axes of a j-phase rotating coordinate system through given stator reference current, and the reference current values are input into a stator current loop regulator.
In fig. 5, each axis reference current value includes i dsb *,…,iqsx *, where an upper corner mark represents a reference value, a lower corner mark dsb represents a d-axis component in a b-th set of d-q axes in a j-phase motor rotation coordinate system, and a lower corner mark qsx represents a q-axis component in an x-th set of d-q axes in the j-phase motor rotation coordinate system. The reference current value of each axis is input into the stator current loop regulator after the difference between the reference current value of each axis and the actual value of each axis current of the stator current feedback signal, and is output as the reference voltage value of each axis. The stator current feedback signal comprises i dsa,iqsa,idsb,…,iqsx, the angular standard meaning of the stator current feedback signal is the same as that of the reference current value of each axis of the stator, and the stator current feedback signal is an observed current actual value. Since the stators are open-phase, i dsa and i qsa have no corresponding reference values, and therefore do not actually participate in the current regulation. After the reference current value of each shaft of the stator is differenced with the actual value of each shaft current of the stator current feedback signal, the reference voltage value of each shaft of the stator is input into the stator current loop regulator and output as the reference voltage value of each shaft of the stator, wherein the reference voltage value of each shaft of the stator comprises u dsb *,…,uqsx *, and the upper angle mark and the lower angle mark have the same meaning as the reference current value of each shaft of the stator.
Preferably, the stator current loop regulator may be designed to be composed of a plurality of PI controllers, the number of PI controllers being identical to the number of coordinate axes of the j-phase motor rotation coordinate system. The reference voltage value of each shaft is input into a Park conversion module with opposite j phases, the output quantity is reference voltage u s3 *,us4 *,…,usm * of each phase of a j-phase motor, wherein an upper corner mark represents the reference value, a lower corner mark s3 represents the 3 rd phase of the stator, s4 represents the 4 th phase of the stator, sm represents the m-th phase of the stator, the reference voltage of each phase is input into an m-phase pulse width modulation algorithm module, j groups of modulation square waves g s3、gs4、…、gsm are output through calculation, a stator driving signal is formed, and the rest j healthy phase bridge arms of the stator are modulated. Each group of modulated square waves comprises two complementary square waves which are used for controlling the upper power device and the lower power device of a certain phase bridge arm of the stator inverter.
The control method of the rotor control channel is the same as the control method of the rotor in the heavy load mode, and plays a role in assisting the stator to output torque. The rotor shaft reference current values include i dru *,…,iqry *, where the upper corner mark represents the reference value, the lower corner mark dru represents the d-axis component in the u-th set of d-q axes in the n-phase motor rotation coordinate system, and the lower corner mark qry represents the q-axis component in the y-th set of d-q axes in the n-phase motor rotation coordinate system. The rotor current feedback signal comprises i dru,…,iqry, the angular sign meaning of the rotor current feedback signal is the same as that of the reference current value of each shaft of the rotor, and the rotor current feedback signal is an observed current actual value. After the reference current value of each shaft of the rotor is differenced with the actual value of each shaft current of the rotor current feedback signal, the reference voltage value of each shaft is input into the rotor current loop regulator and output as the reference voltage value of each shaft, the reference voltage value of each shaft comprises u dru *,…,uqry *, and the meanings of upper angle marks and lower angle marks are the same as the reference current value of each shaft of the rotor. The reference voltage value of each rotor shaft is input into an n-phase opposite Park conversion module, the output quantity is the reference voltage u r1 *,ur2 *,…,urn * of each phase of an n-phase motor, wherein an upper corner mark represents the reference value, a lower corner mark r1 represents the 1 st phase of the rotor, r2 represents the 2 nd phase of the rotor, rn represents the n-th phase of the rotor, the reference voltage of each rotor phase is input into an n-phase pulse width modulation algorithm module, and n groups of modulation square waves g r1、gr2、…、grn are output through calculation to form a rotor driving signal. Each group of modulated square waves comprises two complementary square waves which are used for controlling the upper power device and the lower power device of a certain phase bridge arm of the rotor inverter.
A block diagram of the matrix motor fault-tolerant control algorithm when the number j of remaining healthy phases of the stator is less than 3 is shown in FIG. 6. The flight control computer judges the reference rotating speed of the given motor through the current operation requirement, and the difference value between the reference rotating speed of the motor and the rotating speed feedback signal is input into the rotor independent rotating speed ring regulator.
Preferably, the rotor independent speed ring regulator may be designed as a PI controller, the output of which is a reference current. The reference current is input into a rotor reference current configuration module, the rotor reference current configuration module obtains reference current values of all coordinate axes of an n-phase motor rotating coordinate system according to a certain principle and proportion, such as a maximum torque current ratio principle, through given overall reference current, and a transformation method of the n-phase motor rotating coordinate system refers to a classical vector space decoupling method of the multiphase motor.
In fig. 6, the rotor shaft reference current values include i dru *,…,iqry *, where the upper corner mark represents the reference value, the lower corner mark dru represents the d-axis component in the u-th set of d-q axes in the n-phase motor rotation coordinate system, and the lower corner mark qry represents the q-axis component in the y-th set of d-q axes in the n-phase motor rotation coordinate system. The rotor current feedback signal comprises i dru,…,iqry, the angular sign meaning of the rotor current feedback signal is the same as that of the reference current value of each shaft of the rotor, and the rotor current feedback signal is an observed current actual value. After the reference current value of each shaft of the rotor is differenced with the actual value of each shaft current of the rotor current feedback signal, the reference voltage value of each shaft is input into the rotor current loop regulator and output as the reference voltage value of each shaft, the reference voltage value of each shaft comprises u dru *,…,uqry *, and the meanings of upper angle marks and lower angle marks are the same as the reference current value of each shaft of the rotor. The reference voltage value of each rotor shaft is input into an n-phase opposite Park conversion module, the output quantity is the reference voltage u r1 *,ur2 *,…,urn * of each phase of an n-phase motor, wherein an upper corner mark represents the reference value, a lower corner mark r1 represents the 1 st phase of the rotor, r2 represents the 2 nd phase of the rotor, rn represents the n-th phase of the rotor, the reference voltage of each rotor phase is input into an n-phase pulse width modulation algorithm module, and n groups of modulation square waves g r1、gr2、…、grn are output through calculation to form a rotor driving signal. Each group of modulated square waves comprises two complementary square waves which are used for controlling the upper power device and the lower power device of a certain phase bridge arm of the rotor inverter.
As an example, when the dual redundancy matrix motor system of the present invention operates in a heavy duty mode, the fault tolerant control method after a fault is completed by a reconfiguration of the stator or rotor current. FIG. 7 is a flow chart illustrating post fault tolerance control in the event of a fault in the heavy load mode. When a fault occurs, the location of the faulty phase is first determined, and there are three situations.
In the first case, the fault phase is on the stator side. At this time, the number of fault phases and the number j of stator remaining healthy phases are judged, and when the number j of stator remaining healthy phases is more than or equal to 3, the stator remaining healthy phases and the rotor bear load torque together, and the control algorithm is identical to that shown in fig. 5. When the number j of remaining healthy phases of the stator is less than 3, the stator control channel is blocked, the rotor bears the whole load torque, and the control algorithm is identical to that shown in fig. 6.
In the second case, the fault phase is on the rotor side. At this time, the number of fault phases and the number k of remaining healthy phases of the rotor are judged, when the number k of remaining healthy phases of the rotor is more than or equal to 3, the remaining healthy phases of the rotor and the stator bear load torque together, and the fault-tolerant control algorithm is similar to that shown in fig. 5, except that the fault side is the rotor, current reconfiguration also occurs on the rotor side, and the stator side operates normally. The number of current parameters regulated by the rotor-side current loop regulator is determined by the number of coordinate axes of a rotor residual healthy phase motor rotating coordinate system, and the transformation method of the rotor residual healthy phase motor rotating coordinate system can also refer to a classical vector space decoupling method of the multiphase motor. The rotor-side residual health opposite Park conversion and pulse width modulation algorithm is similar to the stator-side except for the number of phases. When the number k of remaining healthy phases of the rotor is less than 3, the rotor control channel is blocked, the stator bears the whole load torque, and the control algorithm is identical to that shown in fig. 2.
In the third case, the fault phase is on the rotor side and the stator side. At this time, it is necessary to judge the double-side control number of remaining healthy phases of the channel. When the number of the remaining healthy phases at the stator and rotor sides is more than or equal to 3, current reconfiguration is carried out on the remaining healthy phases of the stator and the rotor, the double-sided magnetomotive force track is ensured to be round, and the remaining healthy phases of the stator and the rotor bear load torque together. When the number of the remaining healthy phases on one side of the stator or the rotor is less than 3 phases, the side is blocked, and the side with the number of the remaining healthy phases being more than or equal to 3 phases bears the whole load torque. It should be noted that the condition that the number of remaining healthy phases on the stator or rotor side is <3 does not include the case that the number of remaining healthy phases on the stator and rotor side is simultaneously < 3.
The invention adopts a dual redundancy design and an accurate fault-tolerant control strategy, and the system can realize the aims of optimal performance and easy maintenance and upgrading while ensuring the safe flight of the aircraft, and the fault-tolerant control method has the following advantages:
the reliability of the system is improved by adopting a dual redundancy design, namely, two independent motors and control units are used, when one system fails, the other system can immediately take over the work, so that the reliability of the whole system is greatly improved.
And the fault-tolerant capability is enhanced, namely, the system has excellent fault-tolerant capability in a light load mode and a heavy load mode. When faults occur, the system can perform quick response according to a preset fault-tolerant strategy, and safe flight of the aircraft is ensured.
Optimizing performance by accurate rotation speed and current control, the system can realize optimal performance in light load mode and heavy load mode. The system can keep low energy consumption and noise level in light load mode, and can rapidly provide required thrust and torque in heavy load mode.
And the maintenance and the upgrading are easy, and the modular design of the dual-redundancy matrix motor system makes the maintenance and the upgrading easier. When repair or replacement of a certain part is required, it can be performed quickly without extensive modification of the entire system.
The above embodiments are merely for illustrating the design concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, the scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications according to the principles and design ideas of the present invention are within the scope of the present invention.

Claims (10)

1.一种双余度矩阵电机系统，其特征在于，包括：飞控计算机、系统控制模块、矩阵电机、定子驱动模块、转子驱动模块、定子电流采样模块、转子电流采样模块、位置和速度信号采样模块；1. A dual-redundancy matrix motor system, characterized in that it includes: a flight control computer, a system control module, a matrix motor, a stator drive module, a rotor drive module, a stator current sampling module, a rotor current sampling module, and a position and speed signal sampling module; 所述飞控计算机用于与系统控制模块进行指令和信息的交互，飞控计算机向系统控制模块发出调节信号，对矩阵电机的运行状态进行调整；系统控制模块向飞控计算机反馈运行状态、故障信号；The flight control computer is used to exchange instructions and information with the system control module. The flight control computer sends a regulation signal to the system control module to adjust the operating state of the matrix motor; the system control module feeds back the operating state and fault signal to the flight control computer; 所述系统控制模块用于对矩阵电机进行控制，并接收定子电流采样模块、转子电流采样模块、位置和速度信号采样模块采集的各种信号，以及包括温度、振动的电机传感设备信号，进行矩阵电机的转速、电流双闭环矢量控制，并向定子驱动模块和转子驱动模块发出脉宽调制波，进而驱动矩阵电机；所述系统控制模块还用于在轻载模式下，若发生故障，通过定子电流的重配置以及转子的介入来完成；当定子或转子发生故障时，根据预设的容错策略重新分配定子电流，并启动备用的转子来替代故障的定子，以确保双余度矩阵电机系统连续运行。The system control module is used to control the matrix motor, and receives various signals collected by the stator current sampling module, the rotor current sampling module, the position and speed signal sampling module, and the motor sensor device signals including temperature and vibration, to perform dual closed-loop vector control of the speed and current of the matrix motor, and send pulse width modulation waves to the stator drive module and the rotor drive module, thereby driving the matrix motor; the system control module is also used to complete the process of reconfiguring the stator current and intervening the rotor in the event of a fault in the light load mode; when the stator or rotor fails, the stator current is redistributed according to a preset fault-tolerant strategy, and a spare rotor is started to replace the faulty stator to ensure continuous operation of the dual-redundancy matrix motor system. 2.根据权利要求1所述的一种双余度矩阵电机系统，其特征在于，所述矩阵电机的定子具有m相绕组，转子具有n相绕组，m和n取满足电机多重磁场调制原理的整数；2. A dual-redundancy matrix motor system according to claim 1, characterized in that the stator of the matrix motor has m-phase windings, the rotor has n-phase windings, and m and n are integers that satisfy the principle of multiple magnetic field modulation of the motor; 所述定子驱动模块用于向定子逆变器的功率器件提供门极电压，以进行定子逆变器功率器件的开通和关断动作；所述定子逆变器用于向矩阵电机供电；The stator drive module is used to provide gate voltage to the power devices of the stator inverter to turn on and off the power devices of the stator inverter; the stator inverter is used to supply power to the matrix motor; 所述转子驱动模块用于向转子逆变器的功率器件提供门极电压，以进行转子逆变器功率器件的开通和关断动作；所述转子逆变器用于向矩阵电机供电；The rotor drive module is used to provide gate voltage to the power device of the rotor inverter to turn on and off the power device of the rotor inverter; the rotor inverter is used to supply power to the matrix motor; 定子逆变器共有m个桥臂，共有2×m个功率器件；The stator inverter has a total of m bridge arms and a total of 2×m power devices; 转子逆变器共有n个桥臂，共有2×n个功率器件。The rotor inverter has n bridge arms and 2×n power devices. 3.根据权利要求1所述的一种双余度矩阵电机系统，其特征在于，所述矩阵电机的定子上配置有多相绕组，定子槽口永磁体，转子上配置有多相绕组，转子槽口永磁体，定子和转子绕组分别通过两套独立的电源和逆变器供电，且满足：3. A dual-redundancy matrix motor system according to claim 1, characterized in that the stator of the matrix motor is equipped with multi-phase windings and stator slot permanent magnets, the rotor is equipped with multi-phase windings and rotor slot permanent magnets, the stator and rotor windings are powered by two independent power supplies and inverters respectively, and meet the following requirements: 定子、转子的电枢绕组和定子、转子的永磁体能够分别交互作用，并输出矩阵式分布的转矩分量；定子和转子能够分别独立输出转矩，或同时输出转矩，使多重转矩分量在同一方向叠加后在转轴上同时输出。The armature windings of the stator and rotor and the permanent magnets of the stator and rotor can interact with each other and output torque components distributed in a matrix; the stator and rotor can output torque independently or simultaneously, so that multiple torque components are superimposed in the same direction and output simultaneously on the rotating shaft. 4.根据权利要求3所述的一种双余度矩阵电机系统，其特征在于，所述双余度矩阵电机系统包括定子控制通道和转子控制通道，定子控制通道和转子控制通道互相独立，且定子控制通道包括定子逆变器驱动系统和矩阵电机的定子侧绕组；转子控制通道包括转子逆变器驱动系统和矩阵电机的转子侧绕组；4. A dual-redundancy matrix motor system according to claim 3, characterized in that the dual-redundancy matrix motor system comprises a stator control channel and a rotor control channel, the stator control channel and the rotor control channel are independent of each other, and the stator control channel comprises a stator inverter drive system and a stator-side winding of the matrix motor; the rotor control channel comprises a rotor inverter drive system and a rotor-side winding of the matrix motor; 当定子控制通道出现故障时，转子控制通道介入，并提供转矩输出，具体方式包括：When a fault occurs in the stator control channel, the rotor control channel intervenes and provides torque output in the following ways: 定子控制通道中的健康部件通过定子电流的重配置以及转子的介入来继续运行，转子控制通道投入工作并输出一部分辅助转矩，使得转矩输出与故障前相同；The healthy components in the stator control channel continue to operate through the reconfiguration of the stator current and the intervention of the rotor. The rotor control channel is put into operation and outputs a part of the auxiliary torque, so that the torque output is the same as before the fault; 或者，切除定子控制通道，转子控制通道承担所有的转矩。Alternatively, the stator control channel is cut off and the rotor control channel bears all the torque. 5.根据权利要求3所述的一种双余度矩阵电机系统，其特征在于，所述定子和转子的两套电驱动系统互为冗余，在正常工况下，定子进行转矩的输出，转子绕组不供电；5. A dual-redundancy matrix motor system according to claim 3, characterized in that the two sets of electric drive systems of the stator and the rotor are redundant with each other, and under normal working conditions, the stator outputs torque and the rotor winding is not powered; 在飞机加速或爬升需求大扭矩的工况下，系统进行判断并使转子介入；When the aircraft needs high torque for acceleration or climbing, the system makes a judgment and causes the rotor to intervene; 当定子发生绕组断相或功率器件开路故障时，封锁故障相桥臂，对剩余健康相进行电流重配置，同时系统使转子介入，对输出转矩进行补偿；When a stator winding phase failure or a power device open circuit failure occurs, the fault phase bridge arm is blocked and the current of the remaining healthy phases is reconfigured. At the same time, the system enables the rotor to intervene and compensate for the output torque. 当定子发生严重的多相故障，剩余相绕组和桥臂不足以继续输出转矩时，切除整个定子绕组和桥臂，转子承担全部输出转矩。When a serious multi-phase fault occurs in the stator and the remaining phase windings and bridge arms are insufficient to continue to output torque, the entire stator windings and bridge arms are cut off and the rotor bears all the output torque. 6.一种容错控制方法，基于权利要求1~5任一项所述的一种双余度矩阵电机系统，其特征在于，所述容错控制方法，包括：6. A fault-tolerant control method, based on a dual-redundancy matrix motor system according to any one of claims 1 to 5, characterized in that the fault-tolerant control method comprises: 在系统健康状态下，将运行模式划分为轻载模式和重载模式；轻载模式和重载模式切换的逻辑为飞控计算机通过接收包括飞行员或者飞控计算机自身对飞机操纵杆的指令、飞机姿态的信息进行综合判断；双余度矩阵电机系统用作航空推进时，当飞机处于平稳飞行状态时切换为轻载模式；当飞机处于向上爬升或加速状态时切换为重载模式；双余度矩阵电机系统用作航空电作动时，当飞机处于平稳飞行状态，襟翼系统不需要频繁调节时切换为轻载模式；当飞机姿态剧烈变化，襟翼系统需要频繁调节时切换为重载模式；When the system is in a healthy state, the operation mode is divided into light load mode and heavy load mode; the logic of switching between light load mode and heavy load mode is that the flight control computer makes a comprehensive judgment by receiving information including the pilot's or the flight control computer's own instructions to the aircraft joystick and the aircraft's attitude; when the dual-redundant matrix motor system is used for aviation propulsion, it switches to light load mode when the aircraft is in a stable flight state; it switches to heavy load mode when the aircraft is in an upward climbing or accelerating state; when the dual-redundant matrix motor system is used for aviation electric actuation, it switches to light load mode when the aircraft is in a stable flight state and the flap system does not need frequent adjustment; it switches to heavy load mode when the aircraft attitude changes drastically and the flap system needs frequent adjustment; 在所述轻载模式下，飞控计算机通过对当前运行需求的判断给定电机参考转速，电机参考转速与转速反馈信号的差值输入定子独立转速环调节器；In the light load mode, the flight control computer determines the motor reference speed based on the current operation requirements, and the difference between the motor reference speed and the speed feedback signal is input into the stator independent speed loop regulator; 在所述重载模式下，重载模式在轻载模式的基础上加入转子的控制；飞控计算机通过对当前运行需求的判断给定参考转速，参考转速与转速反馈信号的差值输入转子辅助转速环调节器，分别输出定子和转子各自的参考电流；In the heavy load mode, the heavy load mode adds rotor control on the basis of the light load mode; the flight control computer gives a reference speed by judging the current operation demand, and the difference between the reference speed and the speed feedback signal is input into the rotor auxiliary speed loop regulator, which outputs the reference current of the stator and the rotor respectively; 双余度矩阵电机系统运行在轻载模式时，发生故障后通过定子电流的重配置以及转子的介入完成。When the dual-redundancy matrix motor system operates in light-load mode, faults are resolved by reconfiguring the stator current and intervening the rotor. 7.根据权利要求6所述的容错控制方法，其特征在于，7. The fault-tolerant control method according to claim 6, characterized in that: 所述定子独立转速环调节器为PI控制器，其输出为参考电流；参考电流输入定子参考电流配置模块，所述定子参考电流配置模块通过给定的整体参考电流按照设定的比例分配得到m相电机旋转坐标系各坐标轴的参考电流值，所述m相电机旋转坐标系的变换方法采用矢量空间解耦方法；定子旋转坐标系的各坐标轴参考电流值与定子电流反馈信号的各轴电流实际值作差后，输入定子电流环调节器，输出为各轴的参考电压值；The stator independent speed loop regulator is a PI controller, and its output is a reference current; the reference current is input into a stator reference current configuration module, and the stator reference current configuration module obtains the reference current value of each coordinate axis of the m-phase motor rotating coordinate system by allocating the given overall reference current according to a set ratio, and the transformation method of the m-phase motor rotating coordinate system adopts a vector space decoupling method; the reference current value of each coordinate axis of the stator rotating coordinate system is input into the stator current loop regulator after the difference is made with the actual value of each axis current of the stator current feedback signal, and the output is the reference voltage value of each axis; 所述定子电流环调节器为由多个PI控制器组成，PI控制器的数量和m相电机旋转坐标系的坐标轴数量一致；各轴参考电压值输入m相反Park变换模块中，输出量为m相电机各相的参考电压，各相参考电压输入m相脉宽调制算法模块中，经过计算，输出m组调制方波构成定子驱动信号；每组调制方波中包含两个互补的方波，用于控制定子逆变器某相桥臂的上下两个功率器件；The stator current loop regulator is composed of multiple PI controllers, and the number of PI controllers is consistent with the number of coordinate axes of the rotating coordinate system of the m-phase motor; the reference voltage value of each axis is input into the m-phase Park transformation module, and the output is the reference voltage of each phase of the m-phase motor, and the reference voltage of each phase is input into the m-phase pulse width modulation algorithm module. After calculation, m groups of modulated square waves are output to form stator drive signals; each group of modulated square waves contains two complementary square waves, which are used to control the upper and lower power devices of a certain phase bridge arm of the stator inverter; 转子辅助转速环调节器为一个PI控制器和电流分配器的串联结构，所述电流分配器按照设定的比例对定子和转子的整体参考电流进行分配。The rotor auxiliary speed loop regulator is a series structure of a PI controller and a current distributor, and the current distributor distributes the overall reference current of the stator and the rotor according to a set ratio. 8.根据权利要求6所述的容错控制方法，其特征在于，在轻载模式时，发生故障后的容错控制方法通过定子电流的重配置以及转子的介入完成；当故障发生后，首先确定定子发生故障的相数以及定子剩余健康相数j，当定子剩余健康相数j≥3时，首先对定子剩余健康相进行电流重配置，使得定子剩余健康相所产生的磁动势的轨迹为圆形，然后转子控制通道介入，辅助定子进行转矩输出，完成容错控制。8. The fault-tolerant control method according to claim 6 is characterized in that, in light load mode, the fault-tolerant control method after a fault occurs is completed by reconfiguring the stator current and intervening the rotor; when a fault occurs, the number of stator phases with faults and the number of remaining healthy phases j of the stator are first determined, and when the number of remaining healthy phases j of the stator is ≥ 3, the current of the remaining healthy phases of the stator is first reconfigured so that the trajectory of the magnetic motive force generated by the remaining healthy phases of the stator is circular, and then the rotor control channel intervenes to assist the stator in torque output to complete fault-tolerant control. 9.根据权利要求8所述的容错控制方法，其特征在于，定子剩余健康相数j≥3时的矩阵电机容错控制方法包括：9. The fault-tolerant control method according to claim 8, characterized in that the fault-tolerant control method for the matrix motor when the number of remaining healthy phases of the stator j≥3 comprises: 定子控制系统中的定子参考电流配置模块、电流环调节器、反Park变换模块和脉宽调制模块均调整为与健康相数j相对应；给定参考转速和转速反馈信号的差值通过定子剩余健康相数和转子辅助转速环调节器得到定子和转子分别的参考电流；根据多相电机矢量空间解耦方法对j个剩余健康相进行旋转坐标变换，定子参考电流配置模块通过给定的定子参考电流得到j相旋转坐标系各坐标轴的参考电流值，并输入定子电流环调节器；The stator reference current configuration module, current loop regulator, inverse Park transformation module and pulse width modulation module in the stator control system are all adjusted to correspond to the number of healthy phases j; the difference between the given reference speed and the speed feedback signal is used to obtain the reference currents of the stator and the rotor respectively through the number of stator remaining healthy phases and the rotor auxiliary speed loop regulator; the j remaining healthy phases are subjected to the rotation coordinate transformation according to the multi-phase motor vector space decoupling method, and the stator reference current configuration module obtains the reference current value of each coordinate axis of the j-phase rotating coordinate system through the given stator reference current, and inputs it into the stator current loop regulator; 定子剩余健康相数j＜3时的矩阵电机容错控制方法包括：The matrix motor fault-tolerant control method when the number of remaining healthy phases j of the stator is less than 3 includes: 定子剩余健康相已经无法继续生成旋转磁动势，将定子控制通道封锁，转子控制通道介入，转子承担全部的负载转矩；转子电流环调节器调节的电流参数数量是由转子n相电机旋转坐标系坐标轴的数量决定，所述n相电机旋转坐标系的变换方法采用矢量空间解耦方法。The remaining healthy phases of the stator can no longer generate rotating magnetic motive force, so the stator control channel is blocked, the rotor control channel intervenes, and the rotor bears all the load torque; the number of current parameters adjusted by the rotor current loop regulator is determined by the number of coordinate axes of the rotor n-phase motor rotating coordinate system, and the transformation method of the n-phase motor rotating coordinate system adopts the vector space decoupling method. 10.根据权利要求6所述的容错控制方法，其特征在于，在重载模式时，发生故障后的容错控制方法通过定子或转子电流的重配置完成；当故障发生后，首先确定故障相的位置，具体包括三种情况：10. The fault-tolerant control method according to claim 6, characterized in that, in the overload mode, the fault-tolerant control method after a fault occurs is completed by reconfiguring the stator or rotor current; when a fault occurs, the position of the fault phase is first determined, specifically including three situations: 第一种情况，故障相位于定子侧；此时判断故障相数，定子剩余健康相数j，当定子剩余健康相数j≥3时，定子剩余健康相和转子共同承担负载转矩，当定子剩余健康相数j＜3时，将定子控制通道封锁，转子承担全部的负载转矩；In the first case, the fault phase is located on the stator side. At this time, the number of fault phases and the number of remaining healthy phases j of the stator are determined. When the number of remaining healthy phases j of the stator is greater than or equal to 3, the remaining healthy phases of the stator and the rotor jointly bear the load torque. When the number of remaining healthy phases j of the stator is less than 3, the stator control channel is blocked and the rotor bears all the load torque. 第二种情况，故障相位于转子侧；此时判断故障相数，当转子剩余健康相数k≥3时，转子剩余健康相和定子共同承担负载转矩，转子侧电流环调节器调节的电流参数数量是由转子剩余健康相的k相电机旋转坐标系坐标轴的数量决定，所述k相电机旋转坐标系的变换方法参照矢量空间解耦方法；当转子剩余健康相数k＜3时，将转子控制通道封锁，定子承担全部的负载转矩；In the second case, the fault phase is located on the rotor side; at this time, the number of fault phases is determined. When the number of remaining healthy phases of the rotor k≥3, the remaining healthy phases of the rotor and the stator jointly bear the load torque. The number of current parameters adjusted by the rotor-side current loop regulator is determined by the number of coordinate axes of the k-phase motor rotating coordinate system of the remaining healthy phases of the rotor. The transformation method of the k-phase motor rotating coordinate system refers to the vector space decoupling method; when the number of remaining healthy phases of the rotor k＜3, the rotor control channel is blocked, and the stator bears all the load torque; 第三种情况，故障相位于转子侧和定子侧；此时需要判断双侧控制通道的剩余健康相数；当定子和转子侧的剩余健康相数均≥3相时，对定子和转子的剩余健康相进行电流重配置，使得双侧磁动势轨迹为圆形，定子和转子剩余健康相共同承担负载转矩；当定子或转子一侧的剩余健康相数＜3相时，封锁定子或转子一侧，并使剩余健康相数≥3相的一侧承担全部负载转矩。In the third case, the faulty phase is located on the rotor side and the stator side; at this time, it is necessary to judge the remaining healthy phases of the control channels on both sides; when the remaining healthy phases on the stator and rotor sides are both ≥3 phases, the current of the remaining healthy phases of the stator and rotor are reconfigured so that the magnetic motive force trajectory on both sides is circular, and the remaining healthy phases of the stator and rotor jointly bear the load torque; when the remaining healthy phases on one side of the stator or rotor is <3 phases, block one side of the stator or rotor, and make the side with the remaining healthy phases ≥3 phases bear all the load torque.
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