双绕组永磁同步电机的模块化对等控制

Modular peer-to-peer control of dual-winding permanent magnet synchronous motor

无人飞行器对电机的驱动提出了很高的可靠性要求,采用具有冗余容错结构的双绕组电机是一个有效的保障手段。当驱动器发生故障时,电机的可靠控制受到影响。因此提出以三相绕组为单元的模块化对等控制策略,为每台单元电机分别配备独立的控制器,构成控制器和电机绕组双冗余的结构。利用转速下垂控制实现控制模块的协调工作,并可以调节斜率实现不同单元电机输出功率的分配。为了提高转速控制精度和功率分配精度,采用二次调节控制方法。通过对下垂控制和二次调节系统的模型进行分析,验证了系统的稳定性。利用仿真和实验验证所提方法的有效性,实现两台单元电机协同运行,完成转速调节和功率分配。

Unmanned Aerial Vehicles(UAVs)have high safety and reliability requirements for the driving of the motor.The use of the dual-winding Permanent Magnet Synchronous Motor(PMSM)with redundant fault-tolerant structures is an effective method.However,when the drive fails,the reliable control of the motor is affected.Therefore,a modular peer-to-peer control strategy based on the three-phase winding unit is proposed.Each unit motor is equipped with an independent controller to form a dual redundant structure of the controller and the motor winding.The speed droop control method is adopted to realize the cooperation of two control modules,and the slope can be adjusted to achieve the output power sharing of the unit motor.To improve the accuracy of speed control and power sharing the secondary adjustment control scheme is adopted.A mathematical model of the system under droop and secondary regulation control is established to analyze the stability of the system.Simulation and experiments are conducted to verify the effectiveness of the proposed method,which can achieve cooperative operation of two unit motors,and complete speed regulation and power sharing.