基于正负序分离的无轴承永磁同步电机位置传感器容错控制

Fault⁃Tolerant Control of Position Sensor for Bearingless Permanent Magnet Synchronous Motor Based on Separation of Positive and Negative Sequence

无轴承永磁同步电机(Bearingless permanent magnet synchronous motor,BPMSM)凭借无接触、无磨损的优异性能在工业生产中获得广泛应用,对旋转和悬浮的精确控制是保证其稳定运行的关键,需实时获取高精度的转子位置信息以实现切向力矩和径向悬浮力的解耦。为保证位置传感器故障情况下BPMSM稳定运行,文中提出一种基于正负序量分离的BPMSM传感器容错控制方案。首先,结合BPMSM数学模型,分析传感器故障对电机转矩和悬浮系统的影响。在此基础上,提出一种基于过零点检测的故障诊断函数,实时监测传感器信号故障。其次,引入旋转坐标系分析传感器信号中正序分量和负序分量的特征,分离出正序分量并提取其中的转子位置信息,构建位置检测容错系统完成故障信号到容错策略的切换,实现BPMSM在传感器故障情况下的稳定运行。最后,基于一台BPMSM实验样机对所提方案的有效性进行了充分的仿真与实验验证。

The bearingless permanent magnet synchronous motor(BPMSM)is widely used in industrial production due to the excellent performance of no contact and no wear,However,to achieve accurate control of rotation and suspension,the key is to obtain high-precision rotor position to decouple tangential torque and radial levitation force.To ensure the stable operation of BPMSM in case of position sensor failure,a fault tolerant method of position sensor for BPMSM based on the separation of positive and negative sequence is put forward.First,on the basis of the mathematical model of BPMSM,the influence of sensor failure on the torque and suspension subsystem of the motor is analyzed.On this basis,a fault diagnosis function based on zero crossing detection is proposed to monitor sensor signal faults in real time.Then,rotary coordinate is introduced to analyze the characteristics of positive and negative sequence in single-phase hall signal.Rotor position is calculated by phase-locked loop,which ensure the phase of rotor position is consistent with the positive sequence component separated from hall signal.Fault tolerant system for position detection completed the switch from the fault system to the fault-tolerant control system,realized the normal operation of the BPMSM under sensor fault.Finally,The effectiveness of the proposed method is fully verified by simulation and experiment on a BPMSM prototype.