CN103701394B - A kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current - Google Patents

A kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current Download PDF

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CN103701394B
CN103701394B CN201310743597.4A CN201310743597A CN103701394B CN 103701394 B CN103701394 B CN 103701394B CN 201310743597 A CN201310743597 A CN 201310743597A CN 103701394 B CN103701394 B CN 103701394B
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phase
residual error
current
electric current
permanent
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CN103701394A (en
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安群涛
孙力
孙立志
赵克
段鸣航
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Harbin Institute of Technology
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Abstract

Based on the online diagnostic method of open-circuit fault of power tubes of inverter of the magnitude of current, belonging to Motor Control Field, the present invention is the problem of the poor robustness solving the open-circuit fault of power tubes of inverter diagnostic techniques based on the magnitude of current. First the inventive method utilizes hybrid system theory to set up the current observer model of permanent-magnet synchronous motor drive system under trouble free state, then by electric current observed value compared with detection electric current, obtain tri-phase current residual error, electric current residual error vector is obtained under being utilized coordinate transform to be transformed into two phase coordinate systems, and to electric current residual error vector standardization, finally amplitude and phase place according to stdn electric current residual error vector is diagnosed and locates the open fault of inverter power pipe. The online diagnostic method of open-circuit fault of power tubes of inverter based on stdn electric current residual error vector disclosed by the invention, not by the impact of system closed loop control algorithm, load is insensitive, parameter error, measuring error and system disturbance etc. are had good robustness.

Description

A kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current
Technical field
The present invention relates to a kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current, belong to Motor Control Field.
Background technology
The permanent-magnet synchronous motor drive system that voltage source inverter is powered is widely applied in fields such as industry, electromobile, military affairs, space flight and aviation with its superior performance and higher efficiency. But, due to the vulnerability of power electronic devices and driving circuit thereof so that invertor becomes the weak link that fault easily occurs in system. It is operated in abnomal condition after invertor generation fault, motor output torque will be caused to reduce and fluctuation, influential system performance, and increase voltage and the current stress of other devices, heavy then system can be made to be absorbed in collapse, it is thus desirable to diagnose in time. The short circuit of power switch pipe and open circuit are the common faults of invertor, and the actuate signal of mistake, accessory power supply inefficacy, device over-voltage breakdown, avalanche breakdown, thermal breakdown etc. all can cause the short trouble of power tube; The reason causing power tube to open a way mainly contains device breakage, binding line fracture or welding comes off, actuate signal is lost or circuit malfunction etc. Short trouble is difficult to be diagnosed because of lifetime extremely short (usually within 10 �� s); therefore the many employings of the diagnosis and protection of short trouble are based on the design of hardware circuit; the detections such as current overvoltage, overcurrent, short circuit, overheated and driving circuit is under-voltage and protection circuit have been applied in invertor; these conventional protection circuit have become a standard in intelligent power module (IPM), have ensured the safe operation of invertor to a certain extent. But, for the open fault of power tube, but need to take the failure message of certain technique means extraction system to realize diagnosis and location.
The popularity of inverter applications and vulnerability make its trouble diagnosis have important meaning, and investigator proposes the diagnostic method of many invertor open faults.
Chinese patent " diagnostic method of three-phase inverter IGBT open fault based on output rating ", publication number is CN130278727A, publication date is on September 4th, 2013, disclosing a kind of method utilizing six and half wave powers in one-period and setting threshold ratio relatively to diagnose invertor IGBT open fault, the method can detect and orient any one or any two IGBT power tubes simultaneously opened a way.
Chinese patent " display of invertor operation state and fault on-line diagnosis circuit ", publication number is CN101201391, publication date is on June 18th, 2008, disclose a kind of three-phase bridge rectifying circuit utilizing photoelectricity testing part to form to realize invertor operation state display and at radiodiagnosis x, advantage is that circuit is simple.
Chinese patent " the device open fault diagnostic circuit of diode mid point clamper three-level inverter ", publication number is CN102937688A, publication date is on February 20th, 2013, the device open fault of the open fault diagnosis unit circuit utilizing three structures identical to detect in three-level inverter, has the fireballing advantage of diagnosis.
Chinese patent application " the on-line checkingi device of open-circuit fault of power tubes of inverter and detection method ", application number is 201010135717.9, publication date is on September 22nd, 2010, disclose a kind of employing photoelectricity coupling mechanism indirect detection power tube voltage, the method of open-circuit fault of power tubes diagnosis is realized in conjunction with logical circuit and switch signal positive rise time delay circuit, diagnostic circuit is simple, and diagnosis speed is fast.
Chinese patent " a kind of common open circuit method for diagnosing faults of brshless DC motor invertor ", publication number is CN102998588A, and publication date is on March 27th, 2013, by detecting this stage current, it is determined that this stage conducting state matrix; Then detect signal according to this stage current, export fault bit signal; Before asking this stage again in one-period conducting matrix with matrix Q, by the number and the position that judge and in matrix Q, fault pipe is diagnosed in the number of 0 element and position. The method is applicable to the diagnosis of invertor open fault in brshless DC motor drive system.
In the patent diagnosed for open-circuit fault of power tubes of inverter and document, diagnostic method roughly can be divided into two classes: a class is the diagnostic techniques based on system power amount, this kind of method utilizes the original current feedback amount of system, do not need additional sensors, shortcoming depends on load, the impact being subject to system closed loop control algorithm, and transient process is comparatively responsive, poor robustness; An other class method is the diagnostic techniques based on system voltage amount, and this kind of method is independent of load, and robustness is good, and diagnosis speed is fast, but needs extra voltage sensor, adds hardware cost and the complexity of system.
Summary of the invention
The present invention seeks to the problem of the poor robustness in order to solve the open-circuit fault of power tubes of inverter diagnostic techniques based on the magnitude of current, it provides a kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current.
The online diagnostic method of open-circuit fault of power tubes of inverter based on the magnitude of current of the present invention, the permanent-magnet synchronous motor drive system that the method relates to comprises rectifier, DC filter capacitor, invertor, current sense device, permanent-magnet synchronous motor, position transducer, controller and isolation and driving circuit;
Invertor is by power tube T1,T2,...,T6Forming, A phase bridge arm is by T1And T2Forming, B phase bridge arm is by T3And T4Forming, C phase bridge arm is by T5And T6Form, T1,T3And T5For upper bridge arm, T2,T4And T6For lower bridge arm;
The DC output end parallel connection direct filter capacitor of rectifier, the DC output end of rectifier also connects the direct-flow input end of invertor, and the ac output end of invertor connects permanent-magnet synchronous motor;
Current sense device gathers the three-phase current signal i=[i of permanent-magnet synchronous motora,ib,ic] export to controller, iaFor A phase detects electric current, ibFor B phase detects electric current, icFor C phase detects electric current;
The position signal �� that position transducer gathers permanent-magnet synchronous motor exports to controller;
Controller output switching signal S1,S2,...,S6Load to the drive end of six power tubes in invertor by isolation and driving circuit;
The method comprises the following steps:
Step one, employing hybrid system current observer observe the electric current signal of permanent-magnet synchronous motor, and obtain electric current observed value i ^ = i ^ a i ^ b i ^ c T , Wherein,For A phase current observed value,For B phase current observed value,For C phase current observed value;
Step 2, by electric current observed valueCompare with the three-phase current signal i of current sense device collection, obtain tri-phase current residual error i ~ = i ~ a i ~ b i ~ c , A phase residual errorB phase residual errorWith C phase residual errorObtain by following formula:
i ~ a = i a - i ^ a i ~ b = i b - i ^ b i ~ c = i c - i ^ c ;
Step 3, utilize three-phase static coordinate system to the conversion of two-phase static coordinate system by tri-phase current residual errorIt is transformed toWhereinFor �� shaft current residual error,For �� shaft current residual error;
Step 4, the electric current residual error vector asking for stdnWherein: | r | for the amplitude of stdn electric current residual error vector r, �� be stdn residual error vector phase;
R=[rarbrc], raFor standardized A phase current residual error, rbFor stdn B phase current residual error, rcFor stdn C phase current residual error;
Step 5, by amplitude | r | of stdn electric current residual error vector r and setting threshold value RthCompare, judge whether have open-circuit fault of power tubes to occur: as | r |��RthTime, trouble free, then returns and performs step one; As | r | > RthTime, there is fault, then, perform step 6; Here threshold value RthUsually 1 it is chosen for;
Step 6, the power tube locating generation open fault according to table 1:
Table 1
Complete the diagnosis of open-circuit fault of power tubes of inverter.
The advantage of the present invention: diagnostic method of the present invention is independent of, outside systematic control algorithm, not therefore being subject to the impact of system closed loop control algorithm; Make this diagnostic method that load is insensitive the standardization of electric current residual error vector; Meanwhile, owing to adopting threshold value and sector, parameter error, measuring error and system disturbance etc. are had good robustness by the method.
Accompanying drawing explanation
Fig. 1 is the permanent-magnet synchronous motor driving system structure figure that the inventive method relates to;
Fig. 2 is the functional block diagram of the online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current of the present invention;
Fig. 3 be the present invention open-circuit fault of power tubes under the desirable track of stdn electric current residual error vector;
Fig. 4 is that the threshold value during fault diagnosis and location of the present invention is arranged and sector division figure;
The emulation result of the method for diagnosing faults of Fig. 5 the present invention.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1 to Fig. 5, a kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current described in present embodiment, the permanent-magnet synchronous motor drive system that the method relates to comprises rectifier 1, DC filter capacitor 2, invertor 3, current sense device 4, permanent-magnet synchronous motor 5, position transducer 6, controller 7 and isolation and driving circuit 8; As shown in Figure 1;
Invertor 3 is by power tube T1,T2,...,T6Forming, A phase bridge arm is by T1And T2Forming, B phase bridge arm is by T3And T4Forming, C phase bridge arm is by T5And T6Form, T1,T3And T5For upper bridge arm, T2,T4And T6For lower bridge arm;
The DC output end parallel connection direct filter capacitor 2 of rectifier 1, the DC output end of rectifier 1 also connects the direct-flow input end of invertor 3, and the ac output end of invertor 3 connects permanent-magnet synchronous motor 5;
Current sense device 4 gathers the three-phase current signal i=[i of permanent-magnet synchronous motor 5a,ib,ic] export to controller 7, iaFor A phase detects electric current, ibFor B phase detects electric current, icFor C phase detects electric current;
The position signal �� that position transducer 6 gathers permanent-magnet synchronous motor 5 exports to controller 7;
Controller 7 output switching signal S1,S2,...,S6Load to the drive end of six power tubes in invertor 3 by isolation and driving circuit 8;
It is characterized in that, the method comprises the following steps:
Step one, employing hybrid system current observer observe the electric current signal of permanent-magnet synchronous motor 5, and obtain electric current observed value i ^ = i ^ a i ^ b i ^ c T , Wherein,For A phase current observed value,For B phase current observed value,For C phase current observed value;
Step 2, by electric current observed valueThe three-phase current signal i gathered with current sense device 4 compares, and obtains tri-phase current residual error i ~ = i ~ a i ~ b i ~ c , A phase residual errorB phase residual errorWith C phase residual errorObtain by following formula:
i ~ a = i a - i ^ a i ~ b = i b - i ^ b i ~ c = i c - i ^ c ;
Step 3, utilize three-phase static coordinate system to the conversion of two-phase static coordinate system by tri-phase current residual errorIt is transformed toWhereinFor �� shaft current residual error,For �� shaft current residual error;
Step 4, the electric current residual error vector asking for stdnWherein: | r | for the amplitude of stdn electric current residual error vector r, �� be stdn residual error vector phase;
R=[rarbrc], raFor standardized A phase current residual error, rbFor stdn B phase current residual error, rcFor stdn C phase current residual error;
Step 5, by amplitude | r | of stdn electric current residual error vector r and setting threshold value RthCompare, judge whether have open-circuit fault of power tubes to occur: as | r |��RthTime, trouble free, then returns and performs step one; As | r | > RthTime, there is fault, then, perform step 6; Here threshold value RthUsually 1 it is chosen for;
Step 6, the power tube locating generation open fault according to table 1:
Table 1
Complete the diagnosis of open-circuit fault of power tubes of inverter.
Method described in present embodiment, functional block diagram shown in Figure 2 is described, first hybrid system theory is utilized to set up the current observer model of permanent-magnet synchronous motor drive system under trouble free state, then by electric current observed value compared with detection electric current, obtain tri-phase current residual error, electric current residual error vector is obtained under being utilized coordinate transform to be transformed into two phase coordinate systems, and to electric current residual error vector standardization, finally amplitude and phase place according to stdn electric current residual error vector is diagnosed and locates the open fault of inverter power pipe. The online diagnostic method of open-circuit fault of power tubes of inverter based on stdn electric current residual error vector disclosed by the invention, not by the impact of system closed loop control algorithm, load is insensitive, parameter error, measuring error and system disturbance etc. are had good robustness, has higher actual application value in fields such as the higher space flight and aviation of reliability requirement, electromobiles.
Method described in present embodiment adopts threshold ratio to be relatively for eliminating the impacts such as observer model parameter error, measuring error, load disturbance and noise, it is to increase the robustness of diagnostic method.
When there is open-circuit fault of power tubes, Fig. 3 depicts the desirable track of stdn electric current residual error vector and the corresponding relation of fault power pipe: when on certain phase bridge arm during pipe generation open fault, stdn electric current residual error vector locus is positioned on the negative semiaxis of this phase axis; When under certain phase bridge arm during pipe generation open fault, stdn electric current residual error vector locus is positioned at the positive axis of this phase axis; When open fault occurs pipe certain phase bridge arm up and down simultaneously, stdn electric current residual error vector locus is positioned on this mutually whole axis. ?eal receipts become blind �� makes cyperus malaccensis assorted �� scheme sunlight Ji ? ? sigh shown in the fine linen Da side of body brown bear ammonia sunlight Ji ? willing bridle Huang Ling ? of side of body thorium main officer of Tibet.
For eliminating the impacts such as observer model parameter error, measuring error, load disturbance and noise, improve the robustness of diagnostic method below by dividing sector. �� �� coordinate plane is divided into 6 sectors, and each sector is 60 ��, and Fig. 4 is that figure is divided in sector, and table 2 is allocation sheet. The breakdown switch that sector distribution and stdn residual error vector are corresponding when being positioned at certain sector is as shown in the table. As shown in Figure 5, the method for diagnosing faults of the present invention still can obtain reliable diagnosis to emulation result under the conditions such as parameter error, load disturbance.
Table 2
Sector number Angle scope Open fault power tube
I ��/6����/6 T2
II ��/6��pi/2 T5
III ��/6, pi/2��5 T4
IV 5 ��/6, ��/6��7 T1
V 7 ��/6��3 pi/2s T6
VI 3 ��/6, pi/2��11 T3
Embodiment two: enforcement mode one is described further by present embodiment, adopts hybrid system current observer to observe the electric current signal of permanent-magnet synchronous motor 5, and obtains electric current observed value in step one i ^ = i ^ a i ^ b i ^ c T , Process be:
By modelThe electric current signal of permanent-magnet synchronous motor 5 is observed,
Wherein:ForTo the derivative of time;
Switch signal s=[s1s3s5]TFor the discrete input vector of system;
E=[eaebec]TFor the counter potential vector of permanent-magnet synchronous motor 5;
Coefficient of regime matrix A = - R L 0 0 0 - R L 0 0 0 - R L , R and L is respectively winding resistance and the inductance of permanent-magnet synchronous motor 5;
Input matrix of coefficients continuously B 1 = - 1 L 0 0 0 - 1 L 0 0 0 - 1 L ;
Discrete input matrix of coefficients B 2 = V dc 3 L 2 - 1 - 1 - 1 2 - 1 - 1 - 1 2 , VdcFor the DC bus-bar voltage obtained by rectifier 1;
Counter potential vector e=-�� ��r[sin��sin(��-2��/3)sin(��+2��/3)]T, in formula, �� is the rotor speed of permanent-magnet synchronous motor 5, ��rFor the permanent magnet flux linkage of permanent-magnet synchronous motor 5, �� is the rotor position angle of permanent-magnet synchronous motor 5.
Embodiment three: enforcement mode one is described further by present embodiment, �� shaft current residual error in step 3�� shaft current residual errorObtain by following formula:
i ~ α i ~ β = 2 3 1 - 1 2 - 1 2 0 3 / 2 - 3 / 2 i ~ a i ~ b i ~ c .

Claims (3)

1., based on the online diagnostic method of open-circuit fault of power tubes of inverter of the magnitude of current, the permanent-magnet synchronous motor drive system that the method relates to comprises rectifier (1), DC filter capacitor (2), invertor (3), current sense device (4), permanent-magnet synchronous motor (5), position transducer (6), controller (7) and isolation and driving circuit (8);
Invertor (3) is by power tube T1,T2,...,T6Forming, A phase bridge arm is by T1And T2Forming, B phase bridge arm is by T3And T4Forming, C phase bridge arm is by T5And T6Form, T1,T3And T5For upper bridge arm, T2,T4And T6For lower bridge arm;
DC output end parallel connection direct filter capacitor (2) of rectifier (1), the DC output end of rectifier (1) also connects the direct-flow input end of invertor (3), and the ac output end of invertor (3) connects permanent-magnet synchronous motor (5);
Current sense device (4) gathers the three-phase current signal i=[i of permanent-magnet synchronous motor (5)a,ib,ic] export to controller (7), iaFor A phase detects electric current, ibFor B phase detects electric current, icFor C phase detects electric current;
The position signal �� that position transducer (6) gathers permanent-magnet synchronous motor (5) exports to controller (7);
Controller (7) output switching signal S1,S2,...,S6Load to the drive end of six power tubes in invertor (3) by isolation and driving circuit (8);
It is characterized in that, the method comprises the following steps:
Step one, employing hybrid system current observer observe the electric current signal of permanent-magnet synchronous motor (5), and obtain electric current observed valueWherein,For A phase current observed value,For B phase current observed value,For C phase current observed value;
Step 2, by electric current observed valueThe three-phase current signal i gathered with current sense device (4) compares, and obtains tri-phase current residual errorA phase residual errorB phase residual errorWith C phase residual errorObtain by following formula:
Step 3, utilize three-phase static coordinate system to the conversion of two-phase static coordinate system by tri-phase current residual errorIt is transformed toWhereinFor �� shaft current residual error,For �� shaft current residual error;
Step 4, the electric current residual error vector asking for stdnWherein: | r | for the amplitude of stdn electric current residual error vector r, �� be stdn residual error vector phase;
R=[rarbrc], raFor standardized A phase current residual error, rbFor stdn B phase current residual error, rcFor stdn C phase current residual error;
Step 5, by amplitude | r | of stdn electric current residual error vector r and setting threshold value RthCompare, judge whether have open-circuit fault of power tubes to occur: as | r |��RthTime, trouble free, then returns and performs step one; As | r | > RthTime, there is fault, then, perform step 6; Here threshold value RthIt is chosen for 1;
Step 6, the power tube locating generation open fault according to table 1:
Table 1
Complete the diagnosis of open-circuit fault of power tubes of inverter.
2. a kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current according to claim 1, it is characterized in that, step one adopts hybrid system current observer to observe the electric current signal of permanent-magnet synchronous motor (5), and obtain electric current observed valueProcess be:
By modelThe electric current signal of permanent-magnet synchronous motor (5) is observed,
Wherein:ForTo the derivative of time;
Switch signal s=[s1s3s5]TFor the discrete input vector of system;
E=[eaebec]TFor the counter potential vector of permanent-magnet synchronous motor (5);
Coefficient of regime matrixR and L is respectively winding resistance and the inductance of permanent-magnet synchronous motor (5); Input matrix of coefficients continuously
Discrete input matrix of coefficientsVdcFor the DC bus-bar voltage obtained by rectifier (1);
Counter potential vector e=-�� ��r[sin��sin(��-2��/3)sin(��+2��/3)]T, in formula, �� is the rotor speed of permanent-magnet synchronous motor (5), ��rFor the permanent magnet flux linkage of permanent-magnet synchronous motor (5), �� is the rotor position angle of permanent-magnet synchronous motor (5).
3. a kind of online diagnostic method of the open-circuit fault of power tubes of inverter based on the magnitude of current according to claim 1, it is characterised in that, �� shaft current residual error in step 3�� shaft current residual errorObtain by following formula:
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