CN103825505A - Topology reconstruction method of brushless direct-current motor fault-tolerant inverter - Google Patents
Topology reconstruction method of brushless direct-current motor fault-tolerant inverter Download PDFInfo
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Abstract
The invention discloses a topology reconstruction method of a brushless direct-current motor fault-tolerant inverter. The topology reconstruction method of the brushless direct-current motor fault-tolerant inverter comprises the steps that a fault-tolerant inverter circuit is constructed firstly, wherein the fault-tolerant inverter circuit comprises a first power field-effect tube Q1, a second power field-effect tube Q2, a third power field-effect tube Q3, a fourth power field-effect tube Q4, a fifth power field-effect tube Q5, a sixth power field-effect tube Q6, a seventh power field-effect tube Q7, an eighth power field-effect tube Q8, a ninth power field-effect tube Q9, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1 and a second capacitor C2, a six-switch three-phase inverter is formed by the first power field-effect tube Q1, the second power field-effect tube Q2, the third power field-effect tube Q3, the fourth power field-effect tube Q4, the fifth power field-effect tube Q5 and the sixth power field-effect tube Q6, an inverter open-circuit fault detection circuit is formed by the third resistor R3 and the fourth resistor R4, and a fault-tolerant inverter hardware redundant circuit is formed by the seventh power field-effect tube Q7, the eighth power field-effect tube Q8, the ninth power field-effect tube Q9, the first capacitor C1, the second capacitor C2, the first resistor R1 and the second resistor R2; fault information is obtained by comparing the voltage value of a common point between the third resistor R3 and the fourth resistor R4 with an expected voltage value, power field-effect tube open-circuit fault detection, fault positioning and fault isolation of the inverter are completed, and correspondingly, the seventh power field-effect tube Q7 or the eighth power field-effect tube Q8 or the ninth power field-effect tube Q9 is selected to work according to types of faults to achieve topology reconstruction of the inverter. According to the topology reconstruction method of the brushless direct-current motor fault-tolerant inverter, fault detection, fault positioning, fault isolation, and topology reconstruction of the inverter can be achieved, the motor can be kept in a normal operating state through reconstruction of the topological structure of the inverter after the inverter breaks down, and operating stability and operating safety of the motor are improved.
Description
Technical field
The present invention relates to brshless DC motor Driving technique field, be specifically related to fault detect, fault location and the topology reconstruction technology of brshless DC motor inverter.
Background technology
What is called is fault-tolerant refers to that system is in the situation that some parts breaks down, and still can be reduced in tolerance interval situation and finish the work safely by original performance index or performance index.
Inverter is most widely used at motor driven systems.Exist security critical special applications as turned in the commercial Application such as military affairs, Aero-Space, automotive field, petroleum chemical industry, cement industry, pumping station, the various motor drivers such as line traffic control, speed Control.In these application, the stable operation of drive unit is still important of paramount nothing, is starved of the continuous operation of guaranteeing system.It is the weak link breaking down for the device for power switching in BLDCM Drive System power inverter, for improving system reliability and fail safe, the fault-tolerant ability of safeguards system, normal redundance Redundancy Design and the corresponding fault tolerant control method that adopts power inverter, diagnosing out after the system failure, topological structure by on-line reorganization inverter also takes corresponding control to maintain the stability of system and the performance before recovery system fault as much as possible, has certain executive capability with system after guaranteeing fault.
In brshless DC motor Fault tolerant inverter, the method for failure diagnosis mainly contains based on the analysis of power switch pipe parameter at present, by source-drain voltage, electric current or the gate voltage of each switching tube of sensor measurement, in conjunction with power switch pipe current state tracing trouble, this method voltage, current parameters are measured difficulty, number of sensors is large, and cost is high; One is not that current parameters analysis, by output phase voltage and the phase current of sensor measurement power inverter, carries out failure diagnosis in conjunction with the state of power inverter based on output phase voltage, this method fault diagnosis algorithm complexity, and Diagnostic Time is long.Adopt bidirectional thyristor to connect two electric capacity mid points with six Switch Three-Phase Fault tolerant inverters of capacitor neutral-point-clamped at present, and two power tubes up and down of isolated fault power tube place phase, cause like this power tube utilance not high.
Summary of the invention
For the deficiency of prior art existence, the invention provides a kind of topology reconstruction method of brshless DC motor Fault tolerant inverter, can carry out easily fault detect and fault location, the utilization rate of reasonable reconstruction inverter topology bring to power field effect transistor.
For achieving the above object, the present invention is achieved through the following technical solutions:
1, a topology reconstruction method for brshless DC motor Fault tolerant inverter, its feature comprises the following steps:
(1) build a kind of brshless DC motor Fault tolerant inverter circuit, it is characterized in that, comprise the six Switch Three-Phase inverters that power field effect pipe Q1, Q2, Q3, Q4, Q5, Q6 form, the inverter open fault testing circuit that resistance R 3, R4 form, power field effect pipe Q7, Q8, Q9, the Fault tolerant inverter hardware redundancy circuit that capacitor C 1, C2 and resistance R 1, R2 form;
(2) voltage signal of resistance R 3 and resistance R 4 common points in the described failure detector circuit of acquisition step (1), obtain motor center point voltage, judge whether institute's measured motor central point voltage transient value exceedes setting desired value, if exceeded, represent that described six switches three stare at inverter and have open fault and carry out fault location, enter step (3), if do not exceeded, represent not have fault, inverter does not need topology reconstruction, directly exits;
(3) by the fault location of step (2), according to different faults type, correspondingly out of order power field effect pipe in power field effect pipe Q1 step (1) Suo Shu or Q2 or Q3 or Q4 or Q5 or Q6 is carried out to Fault Isolation;
(4) according to the Fault Isolation power field effect pipe of step (3), the fault power field effect transistor of selecting a power field effect pipe to replace step (3) to isolate from Q7, Q8 step (1) Suo Shu, Q9, realizes inverter topology reconstruct.
2, according to the topology reconstruction method of described a kind of brshless DC motor Fault tolerant inverter, the failure detector circuit of step (1), resistance R 3 one end are connected with motor center point, and the other end is connected with resistance R 4, tie point is d, and resistance R 4 other ends are connected with ground;
3, according to the topology reconstruction method of described a kind of brshless DC motor Fault tolerant inverter, the Fault tolerant inverter hardware redundancy circuit of step (1), resistance R 1, R2 are in parallel with capacitor C 1, C2 respectively, capacitor C 1, C2 series connection, power field effect pipe Q7, Q8, Q9 one end are connected with one in motor three phase windings respectively, and the other end connects the common point m of capacitor C 1, C2 series connection.For better balance m point voltage, reduce motor output torque pulsation, by resistance R 1 and resistance R 2, to m point voltage clamper, it is R1=R2 that resistance R 1 is closed with the resistance of resistance R 2, it is C1=C2 that the capacitance of capacitor C 1 and capacitor C 2 is closed.
4, according to the topology reconstruction method of described a kind of brshless DC motor Fault tolerant inverter, the Fault tolerant inverter hardware redundancy circuit of step (1), Q7, Q8, Q9 are full control property power field effect pipe, by controlling the conducting of described full control power field effect pipe Q7, Q8, Q9 or closing and realize inverter topology reconstruct, obtain the corresponding inverter structure of corresponding failure.
5,, according to the topology reconstruction method of described a kind of brshless DC motor Fault tolerant inverter, in step (2), directly carry out inverter open fault with motor center point voltage instantaneous value and detect and location.In order to gather motor center point voltage and its magnitude of voltage to be reduced, by described resistance R 3 with resistance R 4 to motor center point voltage dividing potential drop, the voltage that gathers the points of common connection d of resistance R 3 and resistance R 4 is that fault signature amount is carried out fault detection and location, d point voltage U
dvoltage U with motor center point n
npass is
open the interval voltage U that relatively d is ordered at PWM
dwith expection magnitude of voltage, can obtain fault message, and carry out fault location, owing to adopting motor center point voltage value to carry out fault detection and location, required time is short, and speed is fast.
6, according to the topology reconstruction method of described a kind of brshless DC motor Fault tolerant inverter, step (3) is the out of order power field effect pipe of isolation only separately, saves a power field effect pipe compared with isolating same mutually upper and lower two power field effect pipes with tradition simultaneously.
The topology reconstruction method of described a kind of brshless DC motor Fault tolerant inverter, build a kind of brshless DC motor Fault tolerant inverter circuit, by the open fault of motor center point voltage value diagnosis inverter power field effect transistor, according to fault type, adopt full control property power field effect pipe reconstruct inverter topology, compare with localization method with traditional fault detect, described method is simple, fast; Compared with the traditional non-full control bidirectional thyristor reconstruct inverter structure of employing, it is high that described inverter topology reconstructing method has improved power field effect pipe utilance.
Accompanying drawing explanation
Fig. 1 is the fault-tolerant power inverter circuit figure of brshless DC motor of the present invention;
Motor equivalent circuit diagram when Fig. 2 is power field effect pipe Q1, Q2 conducting;
Fig. 3 is the circuit diagram of inverter topology reconstruct after power field effect pipe Q1 open fault;
Fig. 4 is the circuit diagram of inverter topology reconstruct after power field effect pipe Q2 open fault.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention provides a kind of topology reconstruction method of brshless DC motor Fault tolerant inverter, it is suitable for the brshless DC motor of square wave back electromotive force and sinusoidal wave back electromotive force, it comprises a kind of new fault of converter testing circuit and coordinates fault detect and the Fault Locating Method of this testing circuit in the time that PWM opens, to detect generator neutral point voltage, described method is simple compared with traditional detection method, fast; Comprise in addition a kind of new inverter topology reconstructing method connects hardware redundancy electric capacity mid point by full-control type power field effect pipe, compared with traditional capacitor neutral-point-clamped inverter topology reconstructing method, improve the utilance of power field effect pipe in inverter.Below be elaborated respectively.
A kind of brshless DC motor Fault tolerant inverter circuit, as Fig. 1, it comprises the six Switch Three-Phase inverters that power field effect pipe Q1, Q2, Q3, Q4, Q5, Q6 form, the inverter open fault diagnostic circuit that resistance R 3, R4 form, resistance R 1, R2, the superfluous She's circuit of Fault tolerant inverter hardware that capacitor C 1, C2 and power field effect pipe Q7, Q8, Q9, Q10 form; Resistance R 3 one end are connected with generator neutral point, and the other end is connected with resistance R 4, and resistance R 4 other ends are connected with ground; Resistance R 1, R2 are in parallel with capacitor C 1, C2 respectively, capacitor C 1, C2 series connection; Power field effect pipe Q7, Q8, Q9 one end are connected with one in motor three phase windings respectively, and the other end is connected to the common point m of described capacitor C 1, C2 series connection.
For the magnitude of voltage of balancing capacitance C1 and capacitor C 2 mid point m better, reduce motor output torque pulsation, by resistance R 1 and resistance R 2, to m point voltage clamper, it is R1=R2 that the resistance of resistance R 1 and R2 is closed, it is C1=C2 that the capacitance of capacitor C 1 and C2 is closed, m point voltage value
be m point by clamper in
magnitude of voltage.
Each power field effect pipe in the conventional three-phase six state 1200 conduction mode control inverters of brshless DC motor, the order of conducting is Q1Q2, Q2Q3, Q3Q4, Q4Q5, Q5Q6, Q6Q1, PWM control mode also often adopts H_PWM-L_ON modulation control mode.
In power field effect pipe Q1, Q2 conducting phase, motor B is mutually unsettled, and A phase and C are conducted, and motor equivalent electric circuit is as Fig. 2.Normal condition, electric current is flow to by A phase winding, and C phase winding flows out, and in figure, R5, R6, R7 represent the equivalent resistance of each phase winding, and Ea, Eb, Ec represent the back electromotive force on each phase winding, can obtain the voltage of motor center point n according to Kirchhoff's second law
during PWM modulation is opened, Q1, Q2 conducting, now motor A phase terminal voltage U
a=VCC, motor C phase terminal voltage U
c=0, motor center point voltage now
gather motor center point voltage by the resistance R 3 in failure detector circuit and resistance R 4, the voltage of resistance R 3 and resistance R 4 common point d
at PWM modulation down periods U
a=0, U
c=0, U now
n=0, gather motor center point voltage by the resistance R 3 in failure detector circuit and resistance R 4,
suppose that Q1 has open fault, during PWM modulation is opened, owing to there is no current circuit, U
a=0, U
c=0, U now
n=0, therefore U
d=0, magnitude of voltage now and fault-free U under normal circumstances
dmagnitude of voltage difference, during PWM modulation is opened, pass through U
dthe magnitude of voltage of expecting under current voltage value and normal non-failure conditions relatively can diagnose each pipe of going up mutually whether to have open fault, and fault location is in Q1.Suppose that Q2 has open fault, during PWM modulation is opened, due to Q1 conducting, U
a=VCC, due to no current U
n=U
a=VCC, therefore
magnitude of voltage now and fault-free U under normal circumstances
dmagnitude of voltage difference, during PWM modulation is opened, pass through U
dcurrent voltage value and fault-free U under normal circumstances
drelatively can diagnose each pipe that descends mutually whether to have open fault, and fault location is in Q2.
In power field effect pipe Q1, Q2 conducting phase, if having open fault by described failure detector circuit and method location Q1, realize Q1 Fault Isolation by the driving signal of cancelling power field effect pipe Q1; If described Q2 has fault, realize Q2 Fault Isolation by the driving signal of cancelling power field effect pipe Q2.
In power field effect pipe Q1, Q2 conducting phase, if have open fault by described failure detector circuit and method location Q1, need reconstruct motor inverter topological structure, Q1 has fault to be isolated, substituting Q1 by Q7 works, circuit after reconstruct is as Fig. 3, during PWM modulation is opened, electric current is through C2, Q7, LA, LC, F3, Q2 circulation, and in the PWM down periods, Q7 can close, maintaining motor normally works, after inverter topology reconstruct, circuit is as Fig. 3, and because Q7 is full-control type power field effect pipe, before and after fault, motor PWM modulation control method is constant.
In power field effect pipe Q1, Q2 conducting phase, if have fault by described fault diagnosis circuit and method location Q2, motor-drive circuit inverter circuit needs topological structure reconstruct, Q2 has fault to be isolated, substitute Q2 by Q9, circuit after reconstruct is as Fig. 4, during PWM modulation is opened, electric current is through Q1, F7, LA, LC, Q9, C2 circulation, and in the PWM down periods, Q9 can close, maintaining motor normally works, after inverter topology reconstruct, circuit is as Fig. 4, and because Q9 is full-control type power field effect pipe, before and after fault, motor PWM modulation control method is constant.
Other conducting phase of power field effect pipe in inverter, the fault detect of Q2, Q3 conducting phase or Q3, Q4 conducting phase or Q4, Q5 conducting phase or Q5, Q6 conducting phase or Q6, Q1 conducting phase, fault location and inverter topology reconstructing method and Q1, Q2 conducting phase are similar.
Claims (6)
1. a topology reconstruction method for brshless DC motor Fault tolerant inverter, its feature comprises the following steps:
(1) build a kind of brshless DC motor Fault tolerant inverter circuit, it is characterized in that, comprise the six Switch Three-Phase inverters that power field effect pipe Q1, Q2, Q3, Q4, Q5, Q6 form, the inverter open fault testing circuit that resistance R 3, R4 form, power field effect pipe Q7, Q8, Q9 and capacitor C 1, C2, the Fault tolerant inverter hardware redundancy circuit that resistance R 1, R2 form;
(2) voltage signal of resistance R 3 and resistance R 4 common points in the described failure detector circuit of acquisition step (1), obtain motor center point voltage, judge whether institute's measured motor central point magnitude of voltage exceedes setting desired value, if exceeded, represent that described six Switch Three-Phase inverters have open fault and carry out fault location, enter step (3), if do not exceeded, represent not have fault, inverter does not need topology reconstruction, directly exits;
(3) by the fault location of step (2), according to different faults type, correspondingly out of order power field effect pipe in power field effect pipe Q1 step (1) Suo Shu or Q2 or Q3 or Q4 or Q5 or Q6 is carried out to Fault Isolation;
(4) according to the segregate fault power field effect transistor of step (3), the fault power field effect transistor of selecting a power field effect pipe to replace step (3) to isolate from Q7, Q8 step (1) Suo Shu, Q9, realizes inverter topology reconstruct.
2. a kind of topology reconstruction method of brshless DC motor Fault tolerant inverter according to claim 1, the inverter open fault testing circuit of step (1), it is characterized in that, resistance R 3 one end are connected with motor center point, the other end is connected with resistance R 4, tie point is d, and resistance R 4 other ends are connected with ground.
3. a kind of topology reconstruction method of brshless DC motor Fault tolerant inverter according to claim 1, the Fault tolerant inverter hardware redundancy circuit of step (1), it is characterized in that, resistance R 1, R2 are in parallel with capacitor C 1, C2 respectively, capacitor C 1, C2 series connection, power field effect pipe Q7, Q8, Q9 one end are connected with one in motor three phase windings respectively, the other end is connected to the common point m of capacitor C 1, C2 series connection, it is R1=R2 that resistance R 1 is closed with the resistance of resistance R 2, and it is C1=C2 that the capacitance of capacitor C 1 and capacitor C 2 is closed.
4. a kind of topology reconstruction method of brshless DC motor Fault tolerant inverter according to claim 1, the Fault tolerant inverter hardware redundancy circuit of step (1), is characterized in that, Q7, Q8, Q9 are full control property power field effect pipe.
5. a kind of topology reconstruction method of brshless DC motor Fault tolerant inverter according to claim 1, is characterized in that, directly carries out inverter open fault with motor center point voltage value and detect and location in step (2).
6. a kind of topology reconstruction method of brshless DC motor Fault tolerant inverter according to claim 1, is characterized in that, the only out of order power field effect pipe of isolation separately of step (3).
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| CN104155564A (en) * | 2014-08-28 | 2014-11-19 | 西安科技大学 | Brushless direct-current motor inverter single tube open-circuit fault diagnosing and positioning method |
| CN106253791A (en) * | 2016-08-10 | 2016-12-21 | 上海电机学院 | A kind of fault-tolerant pair of Reliability Insurance motor driver of height used for electric vehicle |
| CN104579099B (en) * | 2015-01-09 | 2017-01-25 | 南京航空航天大学 | Four-phase electrical-excitation double-salient-pole motor and open-circuit fault diagnosis method thereof |
| CN108152654A (en) * | 2018-01-10 | 2018-06-12 | 中南大学 | A kind of Locomotive open fault inline diagnosis method based on voltage analysis |
| CN110149084A (en) * | 2019-07-03 | 2019-08-20 | 河北工业大学 | A kind of two-phase direct current generator driving system structure and open-circuit fault fault-tolerance approach |
| CN111987928A (en) * | 2020-08-19 | 2020-11-24 | 上海海事大学 | Adaptive modulation multi-state inverter system and modulation method thereof |
| CN112994562A (en) * | 2021-03-12 | 2021-06-18 | 合肥恒大江海泵业股份有限公司 | Single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault tolerance method |
| CN113271028A (en) * | 2021-06-03 | 2021-08-17 | 山东大学 | Prediction control method for reconstructing neutral point balance of topology after three-level inverter fault |
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| CN104155564A (en) * | 2014-08-28 | 2014-11-19 | 西安科技大学 | Brushless direct-current motor inverter single tube open-circuit fault diagnosing and positioning method |
| CN104155564B (en) * | 2014-08-28 | 2017-01-25 | 西安科技大学 | Brushless direct-current motor inverter single tube open-circuit fault diagnosing and positioning method |
| CN104579099B (en) * | 2015-01-09 | 2017-01-25 | 南京航空航天大学 | Four-phase electrical-excitation double-salient-pole motor and open-circuit fault diagnosis method thereof |
| CN106253791A (en) * | 2016-08-10 | 2016-12-21 | 上海电机学院 | A kind of fault-tolerant pair of Reliability Insurance motor driver of height used for electric vehicle |
| CN108152654A (en) * | 2018-01-10 | 2018-06-12 | 中南大学 | A kind of Locomotive open fault inline diagnosis method based on voltage analysis |
| CN110149084A (en) * | 2019-07-03 | 2019-08-20 | 河北工业大学 | A kind of two-phase direct current generator driving system structure and open-circuit fault fault-tolerance approach |
| CN110149084B (en) * | 2019-07-03 | 2023-02-07 | 河北工业大学 | Two-phase direct current motor driving system structure and open-circuit fault tolerance method |
| CN111987928A (en) * | 2020-08-19 | 2020-11-24 | 上海海事大学 | Adaptive modulation multi-state inverter system and modulation method thereof |
| CN112994562A (en) * | 2021-03-12 | 2021-06-18 | 合肥恒大江海泵业股份有限公司 | Single-inverter-driven double-permanent magnet synchronous motor system winding open-circuit fault tolerance method |
| CN113271028A (en) * | 2021-06-03 | 2021-08-17 | 山东大学 | Prediction control method for reconstructing neutral point balance of topology after three-level inverter fault |
| CN113271028B (en) * | 2021-06-03 | 2022-05-17 | 山东大学 | Prediction control method for reconstructing neutral point balance of topology after three-level inverter fault |
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Application publication date: 20140528 |