CN109842343B - Fault-tolerant operation control method and device for flywheel energy storage system based on twelve-phase motor - Google Patents

Abstract

The invention discloses a fault-tolerant operation control method and device for a flywheel energy storage system based on a twelve-phase motor, wherein the method includes: when a phase fault occurs in a twelve-phase permanent magnet synchronous motor, removing the faulty phase, and resetting the fault The remaining windings in the corresponding three-phase windings are equivalent to a single-phase permanent magnet synchronous motor, and the three-phase windings of the non-faulty phase are equivalent to three three-phase permanent magnet synchronous motors; an equivalent single-phase permanent magnet synchronous motor is established. The mathematical model of the magnetic synchronous motor in the static coordinate system, and control the operation of an equivalent single-phase permanent magnet synchronous motor through the adaptive quasi-PR control method; control the field weakening current of three equivalent three-phase permanent magnet synchronous motors to generate magnetic field. The reluctance torque is used to compensate the power fluctuation and amplitude loss of an equivalent single-phase permanent magnet synchronous motor during operation, so as to carry out fault-tolerant operation control of the flywheel energy storage system. The method can effectively ensure that the process of switching from normal operation to fault-tolerant operation is smooth, and maintains the same power before and after, which is simple and easy to implement.

Description

Fault-tolerant operation control method and device for flywheel energy storage system based on twelve-phase motor

technical field

The invention relates to the technical field of operational reliability of a flywheel energy storage system, in particular to a fault-tolerant operation control method of a flywheel energy storage system based on a twelve-phase motor.

Background technique

Flywheel energy storage technology has great application potential in the fields of power grid frequency regulation, power quality management, vehicle regenerative braking energy recovery and UPS (Uninterruptible Power System/Uninterruptible Power Supply, uninterruptible power supply). The development goal of flywheel energy storage technology is to improve efficiency, reliability and achieve high-power operation. Compared with three-phase motors, multi-phase motors can improve the operating efficiency of the system, and have phase redundancy characteristics, which facilitates the use of fault-tolerant control algorithms to ensure that the system can continue to operate at rated power after a motor phase fault occurs.

Related art, (1), a fault-tolerant control method for a twelve-phase permanent magnet synchronous motor based on the maximum output torque, after the quadrature two-phase open-circuit fault occurs in the twelve-phase permanent magnet synchronous motor, the decoupling transformation matrix of the system is maintained. Invariant, according to the principle of the invariance of the total magnetic potential, the expression of the residual current of each phase under the maximum torque output mode is calculated. (2) A fault-tolerant control method for a 12-phase permanent magnet synchronous motor based on the minimum stator copper loss. After a phase open fault occurs in the 12-phase permanent magnet synchronous motor, the reference current of the harmonic plane is changed to control the motor before and after the fault. The output torque is equal, and the fault-tolerant control is carried out under the principle that the power before and after the fault remains unchanged. (3) A fault-tolerant control method for short-circuit faults of a four-phase permanent magnet synchronous motor with a 90° phase angle based on the principle of constant power, which maintains the output power of the motor unchanged by adjusting other non-short-circuit phase currents when an end short-circuit fault occurs in the motor. . (4) A fault-tolerant control method for the open-circuit fault of a five-phase permanent magnet synchronous motor based on the principle of constant power, which ensures the minimum copper loss of the motor in a fault-tolerant operating state.

However, in the above disclosed fault-tolerant control method for a multi-phase motor, after the multi-phase motor fails, the phase currents of all remaining phases need to be controlled separately to realize fault-tolerant operation control, and the switching process is complicated and the dynamic performance of the system is reduced.

SUMMARY OF THE INVENTION

The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

Therefore, an object of the present invention is to propose a fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor, which can effectively ensure a smooth process of switching from normal operation to fault-tolerant operation, and keep the front and rear power unchanged, which is simple and easy to use. accomplish.

Another object of the present invention is to provide a fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor.

In order to achieve the above object, an embodiment of the present invention proposes a fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor. The flywheel energy storage system includes a flywheel, a twelve-phase permanent magnet synchronous motor, a first to A fourth three-phase converter, the twelve-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein , the method includes the following steps: when a one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, the faulty phase is removed, and the remaining windings in the three-phase windings corresponding to the fault are equivalent to a single-phase Permanent magnet synchronous motor, and the three-phase windings without fault phase are equivalent to three three-phase permanent magnet synchronous motors; establish the mathematical model of the one equivalent single-phase permanent magnet synchronous motor in the static coordinate system, and pass An adaptive quasi-PR (Proportional Resonant, proportional resonance) control method controls the operation of the one equivalent single-phase permanent magnet synchronous motor, wherein power fluctuations and amplitudes are generated when the one equivalent single-phase permanent magnet synchronous motor is running loss; control the field weakening current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensate the power fluctuation and amplitude loss through the reluctance torque to store energy for the flywheel The system performs fault-tolerant operation control.

According to the fault-tolerant operation control method of the flywheel energy storage system based on the twelve-phase motor in the embodiment of the present invention, when a phase of the twelve-phase permanent magnet synchronous motor fails, the faulty phase is removed, and the power generated when the single-phase motor is operated is equivalent to Fluctuation and amplitude loss are compensated by three equivalent three-phase motors, and the flywheel energy storage system realizes fault-tolerant operation maintaining rated power, thus effectively ensuring a smooth process of switching from normal operation to fault-tolerant operation, and maintaining the same power before and after, which is simple and easy to implement .

In addition, the fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to the foregoing embodiments of the present invention may also have the following additional technical features:

Further, in an embodiment of the present invention, during the fault-tolerant operation control of the flywheel energy storage system, the method further includes: using an adaptive quasi-PR control method to control the three equivalent three-phase permanent magnet synchronous motors d shaft current and suppress the power fluctuations by the large moment of inertia of the flywheel rotor.

Further, in an embodiment of the present invention, the controlling the operation of the one equivalent single-phase permanent magnet synchronous motor by the adaptive quasi-PR control method further includes: according to the one equivalent single-phase permanent magnet The speed change of the synchronous motor adjusts the parameters in the adaptive quasi-PR control method, and controls the phase current of the one equivalent single-phase permanent magnet synchronous motor into a sinusoidal waveform, so as to control the one equivalent single-phase motor Permanent magnet synchronous motor operation.

Further, in an embodiment of the present invention, the method further includes: establishing a model of the twelve-phase permanent magnet synchronous motor by using a vector space decoupling modeling method; when the twelve-phase permanent magnet synchronous motor is running normally, Vector control of 4-d-q coordinate transformation is performed on the first to fourth three-phase windings.

Further, in an embodiment of the present invention, the vector space decoupling transformation matrix of the vector space decoupling modeling method is:

T=T ₁ ·*T ₂ ,

in,

Among them, I ₁₀ represents the ten-dimensional unit matrix,

k and i are both positive integers,

In order to achieve the above object, another embodiment of the present invention proposes a fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor. The flywheel energy storage system includes a flywheel, a twelve-phase permanent magnet synchronous motor, a first to the fourth three-phase converter, the twelve-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, Wherein, the device includes: an equivalent module, configured to remove the faulty phase when a phase fault occurs in the twelve-phase permanent magnet synchronous motor, and equivalently make the remaining windings in the three-phase windings corresponding to the fault equivalent is a single-phase permanent magnet synchronous motor, and the three-phase windings of the fault-free phase are equivalent to three three-phase permanent magnet synchronous motors; the first control module is used to establish the one equivalent single-phase permanent magnet synchronous motor The mathematical model of the motor in the static coordinate system, and control the operation of the one equivalent single-phase permanent magnet synchronous motor through the adaptive quasi-PR control method, wherein, when the one equivalent single-phase permanent magnet synchronous motor is running Generate power fluctuation and amplitude loss; the second control module is used to control the field weakening current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensate the power through the reluctance torque Fluctuations and amplitude deficits for fault-tolerant operation control of the flywheel energy storage system.

The fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor according to the embodiment of the present invention, when a phase of the twelve-phase permanent magnet synchronous motor fails, the faulty phase is removed, and the power generated when the single-phase motor is running is equivalent to Fluctuation and amplitude loss are compensated by three equivalent three-phase motors, and the flywheel energy storage system realizes fault-tolerant operation maintaining rated power, thus effectively ensuring a smooth process of switching from normal operation to fault-tolerant operation, and maintaining the same power before and after, which is simple and easy to implement .

In addition, the fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor according to the foregoing embodiment of the present invention may also have the following additional technical features:

Further, in an embodiment of the present invention, it further includes: a third control module, configured to use an adaptive quasi-PR control method to control the three equivalent units during the fault-tolerant operation control of the flywheel energy storage system Three-phase permanent magnet synchronous motor d-axis current, and suppress the power fluctuation through the large moment of inertia of the flywheel rotor.

Further, in an embodiment of the present invention, the first control module is further configured to adjust parameters in the adaptive quasi-PR control method according to the speed change of the one equivalent single-phase permanent magnet synchronous motor, The phase current of the one equivalent single-phase permanent magnet synchronous motor is controlled to be a sinusoidal waveform, so as to control the operation of the one equivalent single-phase permanent magnet synchronous motor.

Further, in an embodiment of the present invention, it further includes: a modeling module for establishing a model of the twelve-phase permanent magnet synchronous motor by using a vector space decoupling modeling method; a fourth control module for When the twelve-phase permanent magnet synchronous motor is in normal operation, vector control of 4-d-q coordinate transformation is performed on the first to fourth three-phase windings.

Further, in an embodiment of the present invention, the vector space decoupling transformation matrix of the vector space decoupling modeling method is:

T=T ₁ ·*T ₂ ,

in,

Among them, I ₁₀ represents the ten-dimensional unit matrix,

k and i are both positive integers,

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a structural diagram of a flywheel energy storage system after the A ₁ -phase winding is cut off after the A ₁ -phase winding is faulted according to a specific embodiment of the present invention;

Fig. 2 is a winding distribution diagram of a twelve-phase permanent magnet synchronous motor of a flywheel system according to a specific embodiment of the present invention, and the corresponding windings of two adjacent sets of windings differ by 15°;

3 is a flowchart of a fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the present invention;

4 is a flowchart of a fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to a specific embodiment of the present invention;

Fig. 5 is a winding distribution diagram of a twelve-phase permanent magnet synchronous motor of a flywheel system after the A ₁ -phase winding is removed after the A ₁ -phase winding is faulted according to a specific embodiment of the present invention;

6 is a fault-tolerant control block diagram of the twelve-phase permanent magnet synchronous motor of the flywheel system after the A _{1 -} phase winding is removed according to a specific embodiment of the present invention;

7 is a schematic structural diagram of a fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

Before introducing the fault-tolerant operation control method and device of the flywheel energy storage system based on the twelve-phase motor, the flywheel energy storage system is briefly introduced.

The flywheel energy storage system includes flywheel rotor, twelve-phase permanent magnet synchronous motor and four three-phase converters. The twelve-phase windings of the motor are divided into four groups, which are respectively connected to the AC ends of the four sets of converters, and the DC ends of the converters are connected in parallel to form a common DC bus.

Among them, the flywheel rotor can also be called flywheel. The four three-phase converters include a first converter, a second converter, a third converter and a fourth converter. The 12-phase permanent magnet synchronous motor stator winding is divided into four sets, and each set contains three-phase windings with a mutual difference of 120°.

Specifically, as shown in FIG. 1 , the flywheel rotor (1) is coaxially connected to the twelve-phase permanent magnet synchronous motor (2). The AC end of the first converter (3) is connected with the winding A ₁ B ₁ C ₁ of the twelve-phase permanent magnet synchronous motor (2); the AC end of the second converter (4) is synchronous with the twelve-phase permanent magnet The winding A ₂ B ₂ C ₂ of the motor (2) is connected; the AC end of the third converter (5) is connected with the winding A ₃ B ₃ C ₃ of the twelve-phase permanent magnet synchronous motor (2); the fourth converter The AC end of the generator (6) is connected with the windings A ₄ B ₄ C ₄ of the twelve-phase permanent magnet synchronous motor (2). The DC terminals of the first converter, the second converter, the third converter and the fourth converter are connected in parallel to form a common DC bus. As shown in Figure 2, the corresponding windings of two adjacent sets of windings differ by 15°.

The following describes the fault-tolerant operation control method and device for a 12-phase motor-based flywheel energy storage system according to the embodiments of the present invention with reference to the accompanying drawings. A fault-tolerant operation control method for the system.

FIG. 3 is a flowchart of a fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the present invention.

As shown in FIG. 3 , the fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor, the flywheel energy storage system includes a flywheel, a twelve-phase permanent magnet synchronous motor, first to fourth three-phase converters, twelve The phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein the method includes the following steps:

In step S301, when a phase fault occurs in the twelve-phase permanent magnet synchronous motor, the faulty phase is removed, and the remaining windings in the three-phase windings corresponding to the fault are equivalent to a single-phase permanent magnet synchronous motor, and the The three-phase winding of the non-faulty phase is equivalent to three three-phase permanent magnet synchronous motors.

It can be understood that, as shown in Figure 4, when one phase of the twelve-phase permanent magnet synchronous motor fails, the faulty phase is removed, and the remaining effective windings are equivalent to one single-phase permanent magnet synchronous motor and three three-phase permanent magnet synchronous motors. In the synthesis of the phase permanent magnet synchronous motor, the converter connected to the faulty phase works as a single-phase converter, and the remaining three converters still work as three-phase converters.

Further, in an embodiment of the present invention, it also includes: establishing a model of a twelve-phase permanent magnet synchronous motor by using a vector space decoupling modeling method; when the twelve-phase permanent magnet synchronous motor is running normally, the first to The fourth three-phase winding performs vector control of 4-d-q coordinate transformation.

Specifically, as shown in Figure 4, in the first step, for the convenience of analysis, the following assumptions are made in the system modeling:

(1) The armature reaction magnetic field generated by the stator winding and the excitation magnetic field generated by the rotor permanent magnet are both sinusoidally distributed in the air gap;

(2) The magnetic saturation of the motor iron core is ignored, and the eddy current and hysteresis losses are ignored;

(3) Ignore the rotor damping winding;

(4) The flux linkage generated by the permanent magnet material is constant;

In the second step, the twelve-phase permanent magnet synchronous motor is regarded as a whole, and the model of the twelve-phase permanent magnet synchronous motor is established by the overall modeling method of VSD (Vector Space Decomposition).

The stator of the twelve-phase permanent magnet synchronous motor is divided into four sets of windings, each of which is a symmetrical three-phase, and the phase currents satisfy the relationship:

Converting the stator voltage, current and flux linkage of the twelve-phase permanent magnet synchronous motor from the natural coordinate system to the d-q coordinate system, the vector space decoupling transformation matrix of the twelve-phase permanent magnet synchronous motor can be written as:

T=T ₁ ·*T ₂ (2)

in,

Among them, I ₁₀ represents the ten-dimensional unit matrix,

In the d-q coordinate system, the stator voltage, current and flux linkage equations of the twelve-phase permanent magnet synchronous motor can be expressed as:

Tu _s = [u _d u _q u _z1 u _z2 u _z3 u _z4 u _z5 u _z6 u _o1 u _o2 u _o3 u _o4 ] (7)

Ti _s = [i _d i _q i _z1 i _z2 i _z3 i _z4 i _z5 i _z6 i _o1 i _o2 i _o3 i _o4 ] (8)

Tψ _s = [ψ _d ψ _q ψ _z1 ψ _z2 ψ _z3 ψ _z4 ψ _z5 ψ _z6 ψ _o1 ψ _o2 ψ _o3 ψ _o4 ] (9)

The electromagnetic torque expression of the twelve-phase permanent magnet synchronous motor can be simplified as:

T _e = _6pn [(L _D -L _Q )i _d i _q +i _q ψ _fd ] (10)

In the formula, _pn is the number of pole pairs of the twelve-phase permanent magnet synchronous motor, and Ψ _fd is the magnitude of the flux linkage generated by the permanent magnet in each phase winding.

The active power of the twelve-phase permanent magnet synchronous motor for charging and discharging is:

P=ω _m ×T _e (11)

In the formula, T _e is the electromagnetic torque of the motor; ω _m is the mechanical angular velocity of the motor.

In the third step, when the twelve-phase permanent magnet synchronous motor is running normally, the windings A ₁ B ₁ C ₁ , A ₂ B ₂ C ₂ , A ₃ B ₃ C ₃ , A ₄ B ₄ C ₄ are based on 4-dq Vector control algorithm for coordinate transformation.

Further, with reference to Figure 4, Figure 5 and Figure 6, in the fourth step, an open-circuit fault occurs in the ₁ -phase winding of the twelve-phase permanent magnet synchronous motor A at a certain moment, and the faulty phase A ₁ is removed, and other hardware structures are not changed. . In the remaining effective windings, the fault-free A ₂ B ₂ C ₂ , A ₃ B ₃ C ₃ , A ₄ B ₄ C ₄ windings can be equivalent to the fault-tolerant operation of three three-phase permanent magnet synchronous motors, and the remaining B in the faulty windings ₁ -C ₁ winding can be equivalent to a single-phase permanent magnet synchronous motor fault-tolerant operation.

In step S302, a mathematical model of an equivalent single-phase permanent magnet synchronous motor in a static coordinate system is established, and the operation of an equivalent single-phase permanent magnet synchronous motor is controlled by an adaptive quasi-PR control method, wherein a When an equivalent single-phase permanent magnet synchronous motor is running, power fluctuation and amplitude loss occur.

Wherein, in an embodiment of the present invention, controlling the operation of an equivalent single-phase permanent magnet synchronous motor through an adaptive quasi-PR control method further includes: adjusting the automatic self-adjusting motor according to the speed change of an equivalent single-phase permanent magnet synchronous motor. The parameters in the quasi-PR control method are adapted, and the phase current of an equivalent single-phase permanent magnet synchronous motor is controlled into a sinusoidal waveform to control the operation of an equivalent single-phase permanent magnet synchronous motor.

Specifically, as shown in Figure 4-6, ignoring the mutual inductance between the normal A ₂ B ₂ C ₂ , A ₃ B ₃ C ₃ , A ₄ B ₄ C ₄ windings and the B ₁ -C ₁ winding, B ₁ -C The ₁ winding is equivalent to a single-phase permanent magnet synchronous motor, and its mathematical model in the static coordinate system is established, and the B ₁ -C ₁ winding current is controlled by the adaptive quasi-PR control method.

The equivalent single-phase permanent magnet synchronous motor voltage equation is:

The equivalent single-phase permanent magnet synchronous motor flux linkage equation is:

The equivalent single-phase permanent magnet synchronous motor torque equation is:

θ _s = θ _e +Δθ (15)

分别为等效单相永磁同步电机的相电压、电阻、电流、电感以及磁链，θ_s为剩余B₁-C₁绕组与转子间的相对位置。Δθ为十二相永磁同步电机绕组中发生一相开路故障的电角度补偿值，该值如表1所示，其中，表1为一相开路时剩余相绕组电角度补偿值表。In the formula,

are the phase voltage, resistance, current, inductance and flux linkage of the equivalent single-phase permanent magnet synchronous motor, respectively, and θ _s is the relative position between the remaining B ₁ -C ₁ windings and the rotor. Δθ is the electrical angle compensation value of the one-phase open-circuit fault in the 12-phase permanent magnet synchronous motor winding.

Table 1

The adaptive quasi-PR control method is adopted, and the parameters in the quasi-PR method are adjusted according to the change of the rotational speed, and the phase current of the equivalent single-phase motor is controlled into a sinusoidal waveform.

The torque equation for an equivalent single-phase motor can be written as:

Equation 16 shows that the electromagnetic torque generated by the equivalent single-phase motor is a double frequency fluctuation amount, which will cause the equivalent single-phase motor power to be a fluctuation amount, which in turn will cause the twelve-phase permanent magnet synchronous motor of the flywheel system to run at a reduced power and produce a relatively low power. large power fluctuations.

In step S303, the field weakening current of the three equivalent three-phase permanent magnet synchronous motors is controlled to generate reluctance torque, and the power fluctuation and amplitude loss are compensated by the reluctance torque, so as to carry out fault-tolerant operation control of the flywheel energy storage system .

It can be understood that the power fluctuation and amplitude loss generated by the equivalent single-phase motor are compensated by the three equivalent three-phase motors, and the flywheel energy storage system realizes the fault-tolerant operation of maintaining the rated power.

Specifically, as shown in Figure 4-6, for the problem of power fluctuation caused by the torque fluctuation generated by the operation of the equivalent single-phase motor, the compensation method using the reluctance torque of other equivalent three-phase motors is used to realize the fault-tolerant control. During this period, the flywheel energy storage system does not reduce power and continues to operate without power fluctuations.

Control the field weakening current of the remaining three equivalent three-phase motors to generate reluctance torque, which are:

make:

In the formula, T _{2_rel} , T _{3_rel} , and T _{4_rel} are the reluctance torques generated by the three equivalent three-phase motors, respectively.

The reference value of the field weakening current of the three equivalent three-phase motors can be obtained:

Further, in an embodiment of the present invention, during the fault-tolerant operation control of the flywheel energy storage system, the method further includes: using an adaptive quasi-PR control method to control the d-axis currents of three equivalent three-phase permanent magnet synchronous motors, and Power fluctuations are suppressed by the large moment of inertia of the flywheel rotor.

Specifically, during the fault-tolerant operation, the adaptive quasi-PR method is used to control the d-axis currents of the equivalent three three-phase permanent magnet synchronous motors. beneficial effect.

It should be noted that, the fault-tolerant control method of the embodiment of the present invention can also be used in a 3n-phase (n>=2) neutral point isolation multi-phase permanent magnet synchronous motor. The detailed elaboration part of the present invention belongs to the known technology in the art, and under the premise of not departing from the principle and spirit of the present invention, various changes, modifications and substitutions are made to the present invention, which all belong to the protection scope of the above claims of the present invention.

To sum up, the system consists of: flywheel rotor, twelve-phase permanent magnet synchronous motor, first converter, second converter, third converter and fourth converter. The 12-phase permanent magnet synchronous motor stator winding is divided into four sets, and each set contains three-phase windings with a mutual difference of 120°.

The fault-tolerant control method is as follows: when the flywheel system is in normal operation, the stator windings of the twelve-phase permanent magnet synchronous motor are divided into four sets, which are respectively connected with the first to fourth converters. The neutral points of the four sets of windings are o1, o2, and o3. , o4 are isolated from each other, and the twelve-phase permanent magnet synchronous motor is equivalent to four three-phase motors for control. When the 12-phase permanent magnet synchronous motor has a one-phase open-circuit fault, the faulty phase is removed, and the other two phases combined with the faulty phase as a set of three-phase motor windings are equivalent to single-phase motor windings, and the connected converter acts as a single-phase drive for Control; the remaining windings that do not contain faulty phases continue to be controlled equivalently to three-phase motor windings. When the equivalent single-phase motor is running, the power fluctuation of double frequency is generated and its amplitude has a loss compared with that of the original equivalent three-phase motor. Using three equivalent three-phase motors to generate reluctance torque can compensate the power fluctuation and amplitude loss of the equivalent single-phase motors, so that the operating power of the flywheel system remains unchanged before and after the failure.

According to the fault-tolerant operation control method of the flywheel energy storage system based on the twelve-phase motor proposed in the embodiment of the present invention, when a phase of the twelve-phase permanent magnet synchronous motor fails, the faulty phase is removed, and the equivalent single-phase motor is running. The power fluctuation and amplitude loss are compensated by three equivalent three-phase motors, and the flywheel energy storage system realizes fault-tolerant operation maintaining the rated power, thereby effectively ensuring the smooth process of switching from normal operation to fault-tolerant operation, and maintaining the same power before and after, simple easy to implement.

Next, a fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor provided according to an embodiment of the present invention will be described with reference to the accompanying drawings.

7 is a schematic structural diagram of a fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor according to an embodiment of the present invention.

As shown in FIG. 7 , the fault-tolerant operation control device for the flywheel energy storage system based on a twelve-phase motor, the flywheel energy storage system includes a flywheel, a twelve-phase permanent magnet synchronous motor, first to fourth three-phase converters, twelve The phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein the device 10 includes: an equivalent module 100 and a first control module 200 and the second control module 300.

Wherein, the equivalent module 100 is used to cut off the faulty phase when one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, and equivalent the remaining windings in the three-phase windings corresponding to the fault as a single-phase permanent magnet synchronous motor , and the three-phase windings of the fault-free phase are equivalent to three three-phase permanent magnet synchronous motors. The first control module 200 is used to establish a mathematical model of an equivalent single-phase permanent magnet synchronous motor in a static coordinate system, and control the operation of an equivalent single-phase permanent magnet synchronous motor through an adaptive quasi-PR control method, wherein, Power fluctuations and amplitude losses occur when an equivalent single-phase permanent magnet synchronous motor is running. The second control module 300 is used to control the field weakening current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensate power fluctuation and amplitude loss through the reluctance torque, so as to perform fault tolerance on the flywheel energy storage system Operational control. The device 10 in the embodiment of the present invention can effectively ensure a smooth process of switching from normal operation to fault-tolerant operation, and maintain the same power before and after, which is simple and easy to implement.

Further, in an embodiment of the present invention, the apparatus 10 in the embodiment of the present invention further includes: a third control module. Among them, the third control module is used to control the d-axis current of three equivalent three-phase permanent magnet synchronous motors by adopting the adaptive quasi-PR control method during the fault-tolerant operation control of the flywheel energy storage system, and through the large moment of inertia of the flywheel rotor Suppress power fluctuations.

Further, in an embodiment of the present invention, the first control module 200 is further configured to adjust the parameters in the adaptive quasi-PR control method according to the speed change of an equivalent single-phase permanent magnet synchronous motor, and adjust the parameters of an equivalent single-phase permanent magnet synchronous motor. The phase current of the effective single-phase permanent magnet synchronous motor is controlled as a sinusoidal waveform to control the operation of an equivalent single-phase permanent magnet synchronous motor.

Further, in an embodiment of the present invention, the apparatus 10 in the embodiment of the present invention further includes: a modeling module and a fourth control module.

Among them, the modeling module is used to establish the model of the 12-phase permanent magnet synchronous motor by using the vector space decoupling modeling method; Four-phase windings perform vector control of 4-d-q coordinate transformation.

Further, in an embodiment of the present invention, the vector space decoupling transformation matrix of the vector space decoupling modeling method is:

T=T ₁ ·*T ₂ ,

in,

Among them, I ₁₀ represents the ten-dimensional unit matrix,

k and i are both positive integers,

It should be noted that the foregoing explanation of the embodiment of the fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor is also applicable to the fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor in this embodiment. No longer.

According to the fault-tolerant operation control device of the flywheel energy storage system based on the twelve-phase motor proposed in the embodiment of the present invention, when a phase of the twelve-phase permanent magnet synchronous motor fails, the faulty phase is removed, and the equivalent single-phase motor is running. The power fluctuation and amplitude loss are compensated by three equivalent three-phase motors, and the flywheel energy storage system realizes fault-tolerant operation maintaining the rated power, thereby effectively ensuring the smooth process of switching from normal operation to fault-tolerant operation, and maintaining the same power before and after, simple easy to implement.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (10)

1. A fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor, wherein the flywheel energy storage system comprises a flywheel rotor, a twelve-phase permanent magnet synchronous motor, a first to fourth three-phase converter The 12-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein the method includes the following step: When a phase fault occurs in the twelve-phase permanent magnet synchronous motor, the faulty phase is removed, and the remaining windings in the three-phase windings corresponding to the fault are equivalent to a single-phase permanent magnet synchronous motor, and no The three-phase windings of the faulty phase are equivalent to three three-phase permanent magnet synchronous motors; The mathematical model of the equivalent single-phase permanent magnet synchronous motor in the static coordinate system is established, and the operation of the equivalent single-phase permanent magnet synchronous motor is controlled by the adaptive quasi-PR control method, wherein, in the One equivalent single-phase permanent magnet synchronous motor generates power fluctuation and amplitude loss when running; and: controlling the field weakening current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and through the magnetic The resistance torque compensates for the power fluctuation and amplitude deficit for fault-tolerant operation control of the flywheel energy storage system. 2. The fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to claim 1, characterized in that, during the fault-tolerant operation control of the flywheel energy storage system, further comprising: An adaptive quasi-PR control method is used to control the d-axis currents of the three equivalent three-phase permanent magnet synchronous motors, and the power fluctuation is suppressed by the large moment of inertia of the flywheel rotor. 3. The fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to claim 1, wherein the one equivalent single-phase permanent magnet synchronous motor is controlled by an adaptive quasi-PR control method. run, which further includes: The parameters in the adaptive quasi-PR control method are adjusted according to the speed change of the one equivalent single-phase permanent magnet synchronous motor, and the phase current of the one equivalent single-phase permanent magnet synchronous motor is controlled to a sinusoidal waveform , to control the operation of the one equivalent single-phase permanent magnet synchronous motor. 4. The fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to claim 1, characterized in that, further comprising: The model of the twelve-phase permanent magnet synchronous motor is established by using the vector space decoupling modeling method; When the twelve-phase permanent magnet synchronous motor is in normal operation, vector control of 4-d-q coordinate transformation is performed on the first to fourth three-phase windings. 5. The fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to claim 4, wherein the vector space decoupling transformation matrix of the vector space decoupling modeling method is: T=T ₁ ·*T ₂ , in,

Among them, I ₁₀ represents the ten-dimensional unit matrix,

k and i are both positive integers,

6. A fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor, wherein the flywheel energy storage system comprises a flywheel rotor, a twelve-phase permanent magnet synchronous motor, a first to fourth three-phase variable current The 12-phase permanent magnet synchronous motor includes first to fourth three-phase windings, and the first to fourth three-phase windings are respectively driven by the first to fourth converters, wherein the device includes: The equivalent module is used to cut off the faulty phase when a one-phase fault occurs in the twelve-phase permanent magnet synchronous motor, and equivalently convert the remaining windings in the three-phase windings corresponding to the fault to a single-phase permanent magnet Synchronous motors, and the three-phase windings of the non-faulty phases are equivalent to three three-phase permanent magnet synchronous motors; The first control module is used to establish a mathematical model of the equivalent single-phase permanent magnet synchronous motor in a static coordinate system, and control the equivalent single-phase permanent magnet synchronous motor through an adaptive quasi-PR control method operation, wherein power fluctuations and amplitude losses are generated when the one equivalent single-phase permanent magnet synchronous motor is operating; and: The second control module is configured to control the field weakening current of the three equivalent three-phase permanent magnet synchronous motors to generate reluctance torque, and compensate the power fluctuation and amplitude loss through the reluctance torque, so as to improve the The flywheel energy storage system performs fault-tolerant operation control. 7. The fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor according to claim 6, characterized in that, further comprising: The third control module is configured to use an adaptive quasi-PR control method to control the d-axis currents of the three equivalent three-phase permanent magnet synchronous motors during the fault-tolerant operation control of the flywheel energy storage system, and pass the currents of the three equivalent three-phase permanent magnet synchronous motors through the flywheel The large moment of inertia of the rotor dampens the power fluctuations. 8 . The fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor according to claim 6 , wherein the first control module is further configured to operate according to the one equivalent single-phase permanent magnet synchronous motor. 9 . The parameters in the adaptive quasi-PR control method are adjusted according to the speed change, and the phase current of the one equivalent single-phase permanent magnet synchronous motor is controlled into a sinusoidal waveform, so as to control the one equivalent single-phase permanent magnet Synchronous motor runs. 9. The fault-tolerant operation control device for a flywheel energy storage system based on a twelve-phase motor according to claim 6, further comprising: a modeling module, used for establishing a model of the twelve-phase permanent magnet synchronous motor by using a vector space decoupling modeling method; The fourth control module is configured to perform vector control of 4-d-q coordinate transformation on the first to fourth three-phase windings when the twelve-phase permanent magnet synchronous motor is running normally. 10. The fault-tolerant operation control method for a flywheel energy storage system based on a twelve-phase motor according to claim 9, wherein the vector space decoupling transformation matrix of the vector space decoupling modeling method is: T=T ₁ ·*T ₂ , in,

Among them, I ₁₀ represents the ten-dimensional unit matrix,

k and i are both positive integers,

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