五相混合式步进电动机微步开环缺一相容错控制

微特电机 ›› 2022, Vol. 50 ›› Issue (6): 10-16.

五相混合式步进电动机微步开环缺一相容错控制

周洁茹, 洪榛

浙江工业大学信息工程学院,杭州 310023

收稿日期:2022-04-17 发布日期:2022-07-08
作者简介:周洁茹(2001—),女,本科,研究方向为自动化。洪榛(1983—),男,博士,教授,博士生导师,研究方向为物联网应用及安全、网络空间安全、数据分析、人工智能。

Micro-Step Open-Loop Fault Tolerant Control for Five-Phase Hybrid Stepper Motor with One Opened Phase

ZHOU Jieru, HONG Zhen

College of Information Engineering, Zhejiang University of Technology,Hangzhou 310023, China

Received:2022-04-17 Published:2022-07-08

摘要/Abstract

摘要： 五相混合式步进电动机具有低共振、微步开环运行更加平稳等优点,但其需要更多的功率开关控制,使微步开环驱动系统运行可靠性降低。研究了五相混合式步进电动机微步开环驱动系统缺一相后不间断容错控制,针对缺一相后剩余四相绕组构成的电机数学模型不对称及转矩脉动大问题,提出绕组电流、绕组磁链的虚拟定义方法;基于虚拟定义的绕组电流、绕组磁链,构建出电机缺相后对称数学模型;基于虚拟变量的对称数学模型,进一步构建缺一相后微步开环控制策略,确保了缺相后转子的平稳运行;为了降低剩余功率开关的电流应力,基于剩余健康相电流幅值平衡原理,提出零序电流控制策略。利用MATLAB进行仿真建模,结果表明,该控制策略有效降低了缺相后电磁转矩脉动及转速脉动,驱动系统可以实现由绕组无故障不间断切换至缺相运行状态。

关键词: 五相混合式步进电动机, 缺一相, 容错运行, 虚拟变量, 零序电流

Abstract: Five-phase hybrid stepper motor has the advantages of low resonance characteristics and smoother micro-step open-loop operation, the need for more power switches makes its micro-step open-loop drive system operation less reliable.The uninterrupted fault-tolerant control of a five-phase hybrid stepper motor micro-step open-loop drive system after the absence of one phase was investigated. A virtual definition method of winding current and winding flux linkage for the problem of asymmetric motor mathematical model and large torque pulsation was proposed. Based on the virtual winding current and winding flux linkage, a symmetric mathematical model of the motor after one phase loss was constructed. Based on the symmetric mathematical model with virtual variables, a micro-step open-loop control strategy after missing a phase winding was further constructed to ensure the smooth operation of the rotor. In order to reduce the current stress of the residual power switch, a zero sequence current control strategy was proposed based on the residual health phase current amplitude balance principle. The simulation modeling usingMATLAB proves that the proposed control strategy effectively reduces the ripples of electromagnetic torque and speed after a phase winding loss, and the drive system can operates from fault-free winding to phase loss state without interruption.

Key words: five-phase hybrid stepping motor, one opened phase, fault-tolerant operating, virtual variables, zero sequence current

中图分类号:

TM343

周洁茹, 洪榛. 五相混合式步进电动机微步开环缺一相容错控制[J]. 微特电机, 2022, 50(6): 10-16.

ZHOU Jieru, HONG Zhen. Micro-Step Open-Loop Fault Tolerant Control for Five-Phase Hybrid Stepper Motor with One Opened Phase[J]. Small & Special Electrical Machines, 2022, 50(6): 10-16.

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