When a multiphase permanent magnet synchronous motor (PMSM) has an open-circuit or short-circuit fault, the unbalanced phase currents will generate large torque fluctuations, which will cause the whole system to oscillate, and then cannot continue operating. To restrain the torque fluctuations of five-phase PMSM with third harmonic back electromotive forces (EMF) under open-circuit and short-circuit fault conditions, a novel field-oriented control strategy based on disturbance-observer (DOB-FOC) was proposed.
Firstly, by using an orthogonal reduced-order transformation matrix, a fundamental PMSM model with open-circuit fault was built in the synchronous rotating frame. The third harmonic back EMF and short-circuit current were recognized as disturbances. Secondly, to estimate these disturbances, a disturbance observer was designed. Then, a feedforward compensatory current obtained from the estimated disturbances was added into the q-axis current reference. Finally, the torque fluctuations caused by the fault can be restrained effectively, and then the PMSM with proposed strategy can operate good performance under open-circuit and short-circuit fault conditions.
Simulation shows that when the third harmonic back EMF is 0 or 20% of the fundamental amplitude, DOB-FOC can effectively suppress the fluctuating torque caused by open-circuit and short-circuit faults. Therefore, regardless of whether the back EMF contains the third harmonics, the faulty motor with DOB-FOC has the similar steady-state performance to that under healthy condition. Experimental results demonstrate the feasibility and effectiveness of the proposed strategy. When the open-circuit or short-circuit fault occurs, the proposed DOB-FOC strategy is activated at once, the fluctuating torque isresprained to 0.14N·m and 0.19N·m, respectively, which is similar to that under healthy condition. When the load steps between 3N·m and 5N·m, the d-axis current basically remains unchanged, the q-axis current remains similar to that under healthy condition, and the response time is 170ms. During the reference speed step-changes, the DOB-FOC strategy can greatly reduce the fault impact on the speed performance. Its dynamic performance is similar to that under healthy condition, and its response time is 240ms.
The following conclusions can be drawn from the theoretical analysis, simulation and experimental results. (1) The proposed strategy can effectively suppress the fluctuating torque caused by the third harmonic back EMF in the case of open-circuit or short-circuit fault. (2) DOB can effectively estimate torque fluctuations caused by short-circuit current and observe the disturbance caused by two-phase faults without additional hardware support. (3) The proposed strategy is applicable to PMSM with only fundamental back EMF and to PMSM with third harmonic back EMF. It is also suitable for open-circuit or short-circuit fault.
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