基于余度间电磁解耦方法的PMSM伺服系统协调与容错控制研究

Considered the reliability problems of the permanent magnet synchronous motor (PMSM) servo system in the field of aerospace, the hardware redundancy method is applied widely to improve the reliability. But the strong coupling characteristics between redundancy, especially the differences of redundant loads status, may enhance the difficulty in servo system and coordinated control, even lead to reduce of the system reliability. As a breakthrough point, the electromagnetic decoupling method of redundancy PMSM servo system is researched in this application. A novel space structure of the n-Torus in redundancy stator windings is built, and the rotor excitation structure is also given to achieve decoupling completely in electromagnetic field. According to the topology of mesh feedback and the fusion and filtering algorithm of the redundancy winding current data, the load dynamic allocation strategy of the redundancy PMSM is researched. The problem of redundant torque disputes is resolved. The faults of the redundancy PMSM, such as short circuit, broken circuit, over temperature and excitation-loss, are analyzed in this application. The strategy of fault-tolerant for controller disconnection, abnormal communication and data exception is given. The universal rotor position sensor with high reliability is designed, and the algorithm of error compensation is presented. The real-time analytic method of phase voltage and winding currents is given, and the technology of online identification for the system healthy state is designed. The model reconstruction technique after failure is researched, and the strategy of self-repairing for rotor position is analyzed. The reliability of redundancy PMSM servo system with this research is enhanced efficiently, and the design theory and technical application in field of aerospace is promoted.

针对航空航天领域对伺服系统突出的高可靠性要求，国内外均通过硬件多余度方法提高可靠性；但余度间强耦合特征尤其是余度间负荷状态差异将导致伺服系统功能及性能的协调控制难度增大甚至反而降低系统可靠性。本申请拟研究永磁同步电机伺服系统余度间电磁解耦新方法，以此为突破点，提出并构建新型n-Torus空间结构的永磁同步电机多余度绕组结构和转子励磁结构，实现电机余度间电磁场完全解耦。根据网状反馈拓扑和余度间数据融合及滤波算法研究伺服系余度间负载动态分配策略，解决余度间转矩纷争问题；研究多余度同步电机短路、断路、过温和失磁，以及伺服控制器断线、通讯异常等故障情况的系统容错策略。设计高可靠性转子位置传感器并提出误差补偿策略，实时解析相电压、绕组电流和转子位置传感器数据，在线辨识系统健康状态，重构故障后部件模型，实现转子位置检测自修复策略。该申请将满足多余度伺服系统的高可靠性设计并加快航空航天领域的应用进程。

永磁同步电机（Permanent Magnet Synchronous Motor，PMSM）以其结构简单、体积小、重量轻、效率高等优点，广泛应用于航空航天及兵器等领域。为提高PMSM系统可靠性，国内外均采用余度技术，但余度间强耦合特征尤其是余度间负荷状态差异将导致伺服系统功能及性能的协调控制难题增大，项目针对多余度PMSM伺服系统，开展PMSM本体余度间电磁解耦方法及伺服系统协调与容错控制研究。项目首先开展了新型PMSM本体余度结构的设计，提出了一种新型n-Torus空间分布的余度结构形式，实现了余度间电磁解耦；项目以2-Torus空间分布为例，提出了该种余度电机的设计方法，解决了磁路计算和电机主要尺寸确定的问题，进行了3D 建模及电磁场有限元分析与仿真，利用静态求解器得到了静磁场分布，通过瞬态求解器得到了额定转速下的空载反电势和电磁转矩，并研制了原理样机1台，验证了设计的合理性和可行性。针对余度系统协调控制问题，分析了多余度PMSM伺服系统工作原理，揭示了导致余度间转矩纷争的原因，明确了多余度PMSM并行工作时的转矩协调机制，实现了多余度PMSM伺服系统“均负载”协调控制。为了进一步提高电机转子位置检测的可靠性，项目提出了“非相似余度解算”及“网状反馈”数据融合策略，提高了PMSM转子位置信号检测通道的容错性能。本项目所涉及的电机本体余度间电磁解耦方法与系统余度间协调及容错控制技术，可保证故障通道的有效隔离，提高可靠性的基础上减少部件余度数量，有效减小系统体积和重量，降低系统复杂度，对PMSM伺服系统可靠性技术进步具有重要的推动作用。