计及制动电机绕组缺相的EMB容错控制  

EMB Fault-tolerant Control Considering Brake Motor Open-phase Fault

作　　者：王国栋 王丽芳[1,2] 吴艳 张俊智[3] WANG Guodong;WANG Lifang;WU Yan;ZHANG Junzhi(Institute of Electrical Engineering Chinese Academy of Sciences,Haidian District,Beijing 100190,China;University of Chinese Academy of Sciences,Shijingshan District,Beijing 100049,China;School of Vehicle and Mobility,Tsinghua University,Haidian District,Beijing 100084,China)

机构地区：[1]中国科学院电工研究所,北京市海淀区100190 [2]中国科学院大学,北京市石景山区100049 [3]清华大学车辆与运载学院,北京市海淀区100084

出　　处：《中国电机工程学报》2025年第6期2335-2346,I0025,共13页PROCEEDINGS OF THE CHINESE SOCIETY FOR ELECTRICAL ENGINEERING

基　　金：国家重点研发计划项目(2022YFB2503102)。

摘　　要：电子机械制动(electromechanical brake,EMB)电机驱动系统作为EMB的动力源,其安全性和可靠性关系着整车的制动性能和安全。文中以提高EMB制动电机驱动系统的容错能力作为切入点,研究EMB制动电机的绕组缺相容错控制策略,增加制动系统的冗余度。文中的EMB制动电机以具有高可靠性和高容错性优点的中性点隔离的相移30°的双三相永磁同步电机(dual three-phase permanent magnet synchronous motor,DTPMSM)为研究对象。首先,在分析对比DTPMSM常用的两种建模方法、数学模型和脉宽调制算法优缺点的基础上,构建一种正常工况下同时具备两种建模方法优点的EMB控制结构;然后,在此控制结构的基础上,研究设计一种与正常工况具有相同解耦变换矩阵、数学模型和控制结构,并且适用于电机任意位置绕组缺相故障的EMB制动电机容错控制策略;最后,通过实验验证所设计的全工况容错控制策略在正常工况、缺相容错工况和正常工况与容错工况切换时的有效性。同时,验证容错控制策略使EMB保持了高可靠的制动能力。As the power source of the Electromechanical brake(EMB),the safety and reliability of the EMB brake motor drive system are related to the braking performance and safety of the vehicle.To improve the fault-tolerant ability of the EMB brake motor drive system,this paper studies the fault-tolerant control strategy of one-phase winding open-phase of an EMB brake motor.It increases the redundancy of the brake system.The EMB brake motor in this paper is a dual three-phase permanent magnet synchronous motor(DTPMSM)with a 30°phase shift and neutral point isolation,which has the advantages of high reliability and high fault tolerance.First,based on the analysis and comparison of the advantages and disadvantages of the two commonly used modeling methods,mathematical models and pulse width modulation(PWM)algorithms for DTPMSM,a EMB control structure that combines the advantages of both modeling methods under normal operating conditions is constructed.Then,based on this control structure,a fault-tolerant control strategy with the same decoupling transformation matrix,mathematical model,and control structure as normal operating conditions is studied and designed,suitable for open-phase fault at any motor position.Finally,the effectiveness of the designed fault-tolerant control strategy for all operating conditions is verified through experiments in normal operating conditions,fault-tolerant operating conditions,and switching between normal and fault-tolerant operating conditions.At the same time,it is verified that the fault-tolerant control strategy facilitates EMB in maintaining highly reliable braking ability.

关 键 词：双三相永磁同步电机 容错控制 开路故障 可靠性 电子机械制动 

分 类 号：TM351[电气工程—电机]