Low-voltage fault-tolerant rotating electromechanical actuators, and associated systems and methods
A representative fault-tolerant rotating electromechanical actuator comprises a permanent magnet synchronous motor with first and second windings that each comprise three phases. First and second voltage source inverters (VSI) provide output signals independently with respect to each other. The first VSI provides output signals to drive the three phases of the first winding, and the second VSI provides output signals to drive the three phases of the second winding. The three phases of the first winding are driven simultaneously with the three phases of the second winding. Control electronics monitor signals associated with the three phases of the windings and detect a fault condition within a first phase of the first winding. The control electronics command the first VSI to drive only second and third phases of the first winding while simultaneously commanding the second VSI to drive the three phases of the second winding.
1 . A drive system for a motor, the drive system comprising:
at least one voltage source inverter to provide signals to drive available phases of a first winding and of a second winding of the motor in an active-active mode; and
control electronics to determine a fault condition in a first winding performing one phase in the motor, the determination based in part on measurements performed for currents received concurrently in a fault detection circuitry and for the available phases, wherein the control electronics are further to disable the one phase and to cause the at least one voltage source inverter to drive only non-faulted phases of the first winding along with the available phases of the second winding.
2 . The drive system of claim 1 , wherein the at least one voltage source inverter is to provide the signals independently and simultaneously to drive the available phases of the first winding and of the second winding of the motor in the active-active mode.
3 . The drive system of claim 1 , wherein the at least one voltage source inverter comprises two voltage source inverters, the two voltage source inverters to independently and simultaneously provide the signals to drive a three-phase stator winding of the motor which supports the available phases of the first winding and of the second winding of the motor in the active-active mode.
4 . The drive system of claim 1 , wherein the control electronics are further configured to monitor for the fault condition in the first windings using at least an associated signal, to turn off the one phase under the fault condition, to derate or maintain a motor torque, and to maintain a speed or a position which is controllable and stable for the motor using only the non-faulted phases of the first winding simultaneously with the available phases of the second winding.
5 . The drive system of claim 1 , wherein the control electronics are further configured to implement interactive control loops for monitoring and adjusting the signals to drive the available phases of the first winding and of the second winding in the active-active mode or to drive only the non-faulted phases of the first winding simultaneously with the available phases of the second winding in the fault condition, the interactive control loops including two closed current loops for each of the first winding and the second winding.
6 . The drive system of claim 1 , wherein the motor includes a rotor and at least one brushless resolver, wherein the control electronics are further configured to implement interactive control loops for monitoring and adjusting the signals to drive the available phases of the first winding and of the second winding in the active-active mode or to drive only the non-faulted phases of the first winding simultaneously with the available phases of the second winding in the fault condition, and wherein the interactive control loops include a position loop configured to receive position information about the rotor from the at least one brushless resolver.
7 . The drive system of claim 1 , wherein the control electronics are further configured to implement interactive control loops for monitoring and adjusting the signals to drive the available phases of the first winding and of the second winding in the active-active mode or to drive only the non-faulted phases of the first winding simultaneously with the available phases of the second winding in the fault condition, the interactive control loops including a flux weakening loop configured to determine reference currents based on at least a speed command signal, a commanded value of overall motor torque, and stator commanded voltages.
8 . The drive system of claim 1 , wherein the motor comprises a rotor and at least one brushless resolver, wherein the control electronics are further configured to implement interactive control loops for monitoring and adjusting the signals to drive the available phases of the first winding and of the second winding in the active-active mode or to drive only the non-faulted phases of the first winding simultaneously with the available phases of the second winding in the fault condition, the interactive control loops including a position loop and a speed loop, the position loop configured to output a speed control signal to the speed loop based on at least a position command and received position information about the rotor from the at least one brushless resolver.
9 . The drive system of claim 1 , wherein the control electronics are further configured to, in response to the one phase of the first winding being turned off, adjust the signals to redistribute torque and current requirements between only the non-faulted phases of the first winding which are other than the one phase under the fault condition, simultaneously with the available phases of the second winding, to maintain one or more of speed or position of the motor.
10 . The drive system of claim 1 , wherein the control electronics are further configured to detect a further fault condition within one of the available phases of the second winding, and wherein the control electronics are further configured to, in response to the further faulted condition being a different phase than the fault condition in the first winding, command the at least one voltage source inverter to drive only two non-faulted phases of the available phases of the second winding.
11 . The drive system of claim 1 , wherein the control electronics are further configured to, in response to detecting the fault condition, adjust at least one of a voltage level and a current level driving the non-faulted phases of the first winding and the available phases of the second winding.
12 . The drive system of claim 1 , further comprises:
at least one current sensor associated with the available phases of the first winding and of the second winding, the at least one current sensor to provide input to the control electronics; and
two or more real-time controllers configured to control the at least one voltage source inverter, wherein a second one of the two or more real-time controllers is configured to control the at least one voltage source inverter, in response to the fault condition being associated with a first one of the two or more real-time controllers.
13 . A motor comprising a first winding and a second winding to be used with a drive system and to be used, at least in part, in an active-active mode, wherein available phases of the first winding and of the second winding of the motor are configured to be driven using signals provided from at least one voltage source inverter of the drive system, wherein when one phase of the first winding is faulted and disabled, only non-faulted phases of the first winding are configured to be driven along with the available phases of the second winding based in part on determination, by control electronics associated with the motor, of the fault condition in the one phase of the first winding, and wherein the determination is based in part on measurements performed for currents received concurrently in a fault detection circuitry and for the available phases.
14 . The motor of claim 13 , wherein the at least one voltage source inverter is to provide the signals independently and simultaneously to drive the available phases of the first winding and of the second winding of the motor in the active-active mode.
15 . The motor of claim 13 , wherein the motor comprises a three-phase stator winding which supports the available phases of the first winding and of the second winding of the motor in the active-active mode, driven by the at least one voltage source inverter comprising two voltage source inverters, the two voltage source inverters to independently and simultaneously provide the signals to drive the available phases of the first winding and of the second winding or only the non-faulted phases of the first winding simultaneously with the available phases of the second winding.
16 . The motor of claim 13 , wherein the motor is enabled to communicate with the control electronics to support monitoring for the fault condition in the first windings using at least an associated signal, turning off the one phase under the fault condition, derating or maintaining a motor torque, and maintaining a speed or a position which is controllable and stable for the motor using only the non-faulted phases of the first winding simultaneously with the available phases of the second winding.
17 . A plurality of control electronics to control a motor based in part on determination of a fault condition in a first winding performing one phase in the motor, the determination based in part on measurements performed for currents received concurrently in a fault detection circuitry and for available phases of the first winding and of a second winding, the plurality of control electronics further to disable the one phase and to cause at least one voltage source inverter to drive only non-faulted phases of the first winding along with the available phases of the second winding, wherein the at least one voltage source inverter is to, otherwise, provide signals to drive the available phases of the first winding and of the second winding of the motor in an active-active mode.
18 . The plurality of control electronics of claim 17 , wherein the at least one voltage source inverter is to provide the signals independently and simultaneously to drive the available phases of the first winding and of the second winding of the motor in the active-active mode.
19 . The plurality of control electronics of claim 17 , wherein the plurality of control electronics is further configured to monitor for the fault condition in the first windings using at least an associated signal, to turn off the one phase under the fault condition, to derate or maintain a motor torque, and to maintain a speed or a position which is controllable and stable for the motor using only the non-faulted phases of the first winding simultaneously with the available phases of the second winding.
20 . The plurality of control electronics of claim 17 , wherein the plurality of control electronics is further configured to implement interactive control loops for monitoring and adjusting the signals to drive the available phases of the first winding and of the second winding in the active-active mode or to drive only the non-faulted phases of the first winding simultaneously with the available phases of the second winding in the fault condition, the interactive control loops including two closed current loops for each of the first winding and the second winding.
21 . A method for a drive system and a motor, comprising:
providing signals from at least one voltage source inverter to the motor to drive available phases of a first winding and of a second winding of the motor in an active-active mode;
determining, using control electronics and based in part on measurements performed for currents received concurrently in a fault detection circuitry and for the available phases, a fault condition in a first winding performing one phase in the motor;
disabling the one phase; and
causing the at least one voltage source inverter to drive only non-faulted phases of the first winding along with the available phases of the second winding.
22 . The method of claim 21 , wherein the providing of the signals is performed independently and simultaneously to drive the available phases of the first winding and of the second winding of the motor in the active-active mode.
23 . The method of claim 21 , wherein the at least one voltage source inverter comprises two voltage source inverters, and wherein the method further comprises:
performing the providing of the signals, independently and simultaneously, using the two voltage source inverters;
driving a three-phase stator winding of the motor using the signals, the driving to support the available phases of the first winding and of the second winding of the motor in the active-active mode.
24 . The method of claim 21 , further comprising:
monitoring for the fault condition in the first windings using at least an associated signal and the control electronics;
turning off the one phase under the fault condition using the control electronics;
derating or maintaining a motor torque; and
maintaining a speed or a position which is controllable and stable for the motor using only the non-faulted phases of the first winding simultaneously with the available phases of the second winding.
25 . The method of claim 21 , further comprising:
in response to detecting the fault condition, using the control electronics to adjust at least one of a voltage level and a current level driving the non-faulted phases of the first winding and the available phases of the second winding.