CN104569819B - A kind of fault detection method of asynchronous traction motor - Google Patents
A kind of fault detection method of asynchronous traction motor Download PDFInfo
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Abstract
The invention discloses a kind of fault detection method of asynchronous traction motor, belong to fault diagnosis technology field, to cause in the case where constructed model has uncertainty, the fault detection method of the asynchronous traction motor of High Speed Railway Trains remains able to accurate detection and is out of order.The detection method of the asynchronous traction motor includes：Build model step：Build the separate manufacturing firms model of the asynchronous traction motor；Gathered data step：Gather the output current data and input voltage data of the asynchronous traction motor at current time；Failure detection steps：The state range of the asynchronous traction motor at pre-stored current time is obtained, with reference to the output current data and the input voltage data, failure is whether there is using asynchronous traction motor described in the separate manufacturing firms model inspection.The method is applied to the asynchronous traction motor of High Speed Railway Trains.
Description
Technical field
The present invention relates to fault diagnosis technology field, specifically, it is related to a kind of fault detect side of asynchronous traction motor
Method.
Background technology
The Traction Drive control system of High Speed Railway Trains is one of key of High Speed Railway Trains safety work,
It is one of High Speed Railway Trains failure main source occurred frequently.Wherein, the asynchronous traction motor of High Speed Railway Trains is that traction is passed
Important component in autocontrol system.No matter, all may be used if there is any kind of failure in the asynchronous traction motor of High Speed Railway Trains
Can cause High Speed Railway Trains that major accident occurs, cause passenger personal and society massive losses.Therefore, raising is needed badly at a high speed
The safety and reliability of the asynchronous traction motor of railroad train, to ensure the safe operation of High Speed Railway Trains, reduces accident
Generation.
The diagnosis of failure, detection are the core technologies of the asynchronous traction motor reliably working for ensureing High Speed Railway Trains.It is different
The degree of reliability for walking the fault detect of traction electric machine depends on the order of accuarcy of constructed asynchronous traction motor model.But,
Setting up high-precision asynchronous traction motor model can increase cost, and due to there is external interference, nonlinear model in actual production
The factors such as Linear, Unmarried pregnancy, the uncertainty of asynchronous traction motor model is inevitable.
Therefore, in order to meet the requirement of practical application, in the case where there is uncertainty in constructed model, high-speed iron
The fault detection method of the asynchronous traction motor of road train should remain able to accurate detection and be out of order.
The content of the invention
It is an object of the invention to provide a kind of fault detection method of asynchronous traction motor, to cause in constructed mould
In the case that type has uncertainty, the fault detection method of the asynchronous traction motor of High Speed Railway Trains remains able to accurate inspection
Measure failure.
The invention provides a kind of fault detection method of asynchronous traction motor, the method includes：
Build model step：Build the separate manufacturing firms model of the asynchronous traction motor；
Gathered data step：Gather the output current data and input voltage number of the asynchronous traction motor at current time
According to；
Failure detection steps：The state range of the asynchronous traction motor at pre-stored current time is obtained, with reference to institute
Output current data and the input voltage data are stated, using asynchronous traction motor described in the separate manufacturing firms model inspection
With the presence or absence of failure.
Wherein, in the failure detection steps, if detecting the asynchronous traction motor in the absence of failure, methods described
Also include：
Correcting range step：The state range of the asynchronous traction motor is corrected according to the output current data；
Estimation range step：State range, the separate manufacturing firms according to the asynchronous traction motor after the correction
Model, predicts the state range of the asynchronous traction motor of subsequent time, and is stored.
Wherein, in the failure detection steps, if detecting the asynchronous traction motor has failure, methods described is also
Including：
Estimation range step：State range, the separate manufacturing firms model according to the asynchronous traction motor, prediction
The state range of the asynchronous traction motor of subsequent time, and stored.
Wherein, the structure model step is specifically included：
The continuous state space model of the asynchronous traction motor under alpha-beta coordinate system is obtained using Clarke transform；
Sliding-model control is carried out to the continuous state space model according to the sampling time, the separate manufacturing firms are obtained
Model.
Wherein, the failure detection steps are specifically included：
The state range of the asynchronous traction motor at pre-stored current time is obtained, with reference to the output current data
With the input voltage data, fault verification variable is calculated using the separate manufacturing firms model；
According to the fault verification variable, detect that the asynchronous traction motor whether there is failure.
Wherein, it is described according to the fault verification variable, detect that the asynchronous traction motor includes with the presence or absence of failure：
If the value of the arbitrary element in the fault verification variable is less than or equal to 0, the asynchronous traction motor is not deposited
In failure；
If the value of at least one element is more than 0 in the fault verification variable, there is failure in the asynchronous traction motor.
Wherein, the separate manufacturing firms model is related to the process noise of the asynchronous traction motor, measurement noise to bring
Model uncertainty.
Present invention offers following beneficial effect：In the technical scheme of the embodiment of the present invention, there is provided one kind is asynchronous to lead
Draw the fault detection method of motor, the detection method uses set-member estimation thought, it is contemplated that by grass in constructed model
The uncertainty come, it is simple to operate without wrong report, effectively ensure the practical application request of asynchronous traction motor fault detect.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and obtained in claim and accompanying drawing.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below embodiment will be described needed for want
Accompanying drawing does simple introduction：
Fig. 1~Fig. 2 is the schematic flow sheet of the fault detection method of asynchronous traction motor provided in an embodiment of the present invention；
Fig. 3 is the Detection results figure of the fault detection method of asynchronous traction motor provided in an embodiment of the present invention.
Specific embodiment
Describe embodiments of the present invention in detail below with reference to drawings and Examples, how the present invention is applied whereby
Technological means solves technical problem, and reaches the implementation process of technique effect and can fully understand and implement according to this.Need explanation
As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
The technical scheme for being formed is within protection scope of the present invention.
As shown in figure 1, the embodiment of the invention provides a kind of fault detection method of asynchronous traction motor, the method bag
Include：
Step S101, structure model step：Build the separate manufacturing firms model of asynchronous traction motor.
Specifically, obtaining the sequential like of the asynchronous traction motor under alpha-beta coordinate system first with Clarke (Clark) conversion
State space model, the continuous state space model is as follows：
Wherein, in formula (1)It is asynchronous traction motor
State, the initial span X (0) of x (t) is：X in formulac(0) it is X's (0)
Central value；Xδ(0) for X (0) uncertainty, according to the continuous state space models coupling practical experience setting；For
One vector, the number of the element that the vector is included is nx, nxIt is the dimension of x (t),In each element in interval
[- 1,1] interior random value.
In addition, in formula (1)Represent the input voltage number of the asynchronous traction motor
According to situation about changing over time,Represent the output current data of the asynchronous traction motor with
The situation of time change；It is fault-signal, its piecemeal vector fAT () represents and provides
The feelings for controlling the fault-signal of the actuator of the control voltage (i.e. input voltage data) of the asynchronous traction motor to change over time
Condition, another piecemeal vector fST () represents the fault-signal of the sensor of the output current data for measuring the asynchronous traction motor
Situation about changing over time.
The continuous state space model is related to the model that the process noise of asynchronous traction motor, measurement noise bring not know
Property, thereforeIt is the model uncertainty that the process noise of the asynchronous traction motor brings,For asynchronous
The model uncertainty that the measurement noise of traction electric machine is brought.
Although the actual conditions of continuous state space model not enough accurate and asynchronous traction motor are uncertain in the presence of some
Property, but be not arbitrary by the error that uncertainty is brought, but it is controlled in one according to the difference of continuous state space model
In fixed scope.Therefore, w (t), the v (t) in this method embodiment should respectively meet relational expression：|w(t)|m≤wδ, | v (t) |m
≤vδ, i.e., continuous state space model and practical experience according to selected by, respectively w (t), v (t) set certain scope wδ、
vδ, i.e. the value of w (t) is in (- wδ) arrive wδBetween, v (t) values are in (- vδ) arrive vδBetween.
In addition, in formula (1)That is the number of the line number of A matrixes, columns with the element of x (t) is identical, and
The value of each element is any real number in A.Similar, in formula (1) In addition, in formula (1)And Ff=[0 I].Above-mentioned matrix is the ginseng of the continuous state space model of the asynchronous traction motor
Matrix number.
Wherein, the concrete form of A, B and C is as follows：
Wherein, parameter iα1(t), iβ1T () is the stator current of the asynchronous traction motor；ψα2(t), ψβ2T () is rotor magnetic
Chain；uα1(t), uβ1T () is stator voltage；ωrIt is rotor electric rotating angular frequency；RsIt is stator resistance；RrIt is rotor resistance；LsFor
Stator inductance；LrIt is inductor rotor；LmIt is mutual inductance；σ=1-Lm 2/(LsLr)。
Then, after the continuous state space model for obtaining asynchronous traction motor, can be according to sampling time TsTo even
Continuous state-space model carries out sliding-model control, obtains separate manufacturing firms model as follows：
X (k+1)=Ax (k)+Bu (k)+Eff(k)+w(k),
Y (k)=Cx (k)+Fff(k)+v(k). (2)
K in formula (2) represents current time, interval sampling time T between current time k and subsequent time k+1s。
Step S102, gathered data step：Gather output current data and the input of the asynchronous traction motor at current time
Voltage data.
Gather output current data y (k) and input voltage data u (k) at current time k.
Step S103, failure detection steps：Obtain the state range of the asynchronous traction motor at pre-stored current time, knot
Output current data and input voltage data are closed, using separate manufacturing firms model inspection asynchronous traction motor with the presence or absence of event
Barrier.
In the technical scheme of the embodiment of the present invention, because the state of the asynchronous traction motor at current time cannot direct access
Obtain, thus now obtain be asynchronous traction motor according to previous moment (k-1) state range X (k-1 | k-1) prediction
To and the asynchronous traction motor of current time k that prestores state range X (k | k-1).
The affiliated scope X (k | k-1) of the state x (k | k-1) according to the asynchronous traction motor, output current data y (k),
Input voltage data u (k), with reference to the separate manufacturing firms model for obtaining, is calculated fault verification variable r (k)=diag (a
(k))b(k)。
Wherein：
A (k)=y (k)-(Cxc(k|k-1)-|([CXδ(k|k-1) diag(vδ)])|m·1),
(3)
B (k)=y (k)-(Cxc(k|k-1)+|([CXδ(k|k-1) diag(vδ)])|m·1).
It should be noted that diag (the v in formula (3)δ) mean to build a matrix, the line number and columns of the matrix are all
With array vδIn element number it is identical, and the diagonal entry of the matrix is followed successively by array vδIn each element.
In addition, in formula (3) | ([CXδ(k|k-1) diag(vδ)])|mMean there is a matrix D=[CXδ(k|k-1)
diag(vδ)], | D |mIt is the matrix for obtaining afterwards that each element in D takes absolute value.
Then, according to fault verification variable, detection asynchronous traction motor includes with the presence or absence of failure：
If the value of the arbitrary element in fault verification variable is less than or equal to 0, asynchronous traction motor does not exist failure；I.e.
IfSo that riK ()≤0, then current time k asynchronous traction motors fault-free, now detects indicatrix fo=
0, represent that asynchronous traction motor does not exist failure.
If the value of at least one element is more than 0 in fault verification variable, there is failure in asynchronous traction motor；EvenSo that ri(k)>0, then current time k asynchronous traction motors break down, now detect indicatrix f1=
1, represent that asynchronous traction motor has failure.
And then, if as shown in Fig. 2 detecting asynchronous traction motor in the absence of failure, method also includes：
Step S104, correcting range step：The state range of asynchronous traction motor is corrected according to output current data.
In due to failure detection steps before, the state range of the asynchronous traction motor of accessed current time k
It is to be predicted using the state range of previous moment (k-1), without the information using current time k, the shape that the prediction is obtained
State scope X (k | k-1) it is bigger than normal, there is deviation with actual conditions.Therefore in the present embodiment, need to be according to output current data y (k) school
Just, reduce the state range X (k | k-1) of the asynchronous traction motor, with obtain belonging to current time k, it is more accurately asynchronous
The affiliated scope X (k | k) of the state x (k | k) of traction electric machine.
The concrete implementation process of step S104 is：
According to knowable to above, have：
In addition, for x (k | k), it should meet following scope：
Composite type (4) and formula (5), it is known thatWithSo that
X (k | k)=xc(k|k-1)+Xδ(k|k-1)s (6)
With
Cx (k | k)-y (k)=diag (vδ)α. (7)
Formula (6) is substituted into formula (7) can obtain：
C(xc(k|k-1)+Xδ(k | k-1) s)-y (k)=diag (vδ)α, (8)
CXδ(k | k-1) s=y (k)-Cxc(k|k-1)+diag(vδ)α.
Identical entry LCX is added and subtracted simultaneously on formula (6) the rightδ(k | k-1) s can be obtained：
X (k | k)=xc(k|k-1)+LCXδ(k|k-1)s+(I-LC)Xδ(k|k-1)s. (9)
Formula (8) is substituted into formula (9) can obtain：
In this way, current time k, more accurately state range X (k | k) can be obtained belonging to.
Step S105, estimation range step：State range, separate manufacturing firms according to the asynchronous traction motor after correction
Model, predicts the state range of the asynchronous traction motor of subsequent time, and is stored.
In the present embodiment according to belonging to k moment bullet train asynchronous traction motor system modes x (k | k) scope X (k | k) and
Bullet train asynchronous traction motor system separate manufacturing firms model carries out one-step prediction, estimates that subsequent time bullet train is asynchronous
Scope X belonging to traction electric machine system mode x (k+1 | k) (k+1 | k).
Due to x (k | k) ∈ X (k | k), thenWithSo that
X (k | k)=xc(k|k)+Xδ(k|k)ξ. (10)
Have：
In formula (11), have：
xc(k+1 | k)=Axc(k|k)+Bu(k),
Xδ(k+1 | k)=[AXδ(k|k) diag(wδ)]. (12)
Afterwards, when subsequent time (k+1) arrives, return and perform step S102, continuation carries out event to the asynchronous traction motor
Barrier detection.
In addition, if detecting asynchronous traction motor has failure, then direct perform prediction scope step.Because if according to
Often according to output current data y (k) correction, the state range X (k | k-1) of the asynchronous traction motor is reduced, after correction will be caused
Asynchronous traction motor state range X (k | k) it is wrong, including having faulty state range, the event at each moment after influence
Barrier testing result.
Due to being now not required to that the state range of current time k is corrected, then estimation range step may particularly include：Root
According to the state range of asynchronous traction motor, separate manufacturing firms model, the shape of the asynchronous traction motor of prediction subsequent time (k+1)
State scope, and stored.Detailed process with it is similar above, will not be repeated here.
If the A phase currents sensor of asynchronous traction motor there occurs the permanent deviation that amplitude is 0.2449 at the k=501 moment
Failure, then it is as shown in Figure 3 that the method for being provided using the present invention can obtain failure detection result.I.e. at the k=501 moment, due to asynchronous
Traction electric machine there occurs failure, and the detection indicatrix at this moment is changed into 1 from 0 original moment.
To sum up, in the technical scheme of the embodiment of the present invention, there is provided a kind of fault detection method of asynchronous traction motor,
The detection method uses set-member estimation thought, it is contemplated that the uncertainty come by grass in constructed model, without wrong report, behaviour
Make simple, effectively ensured the practical application request of asynchronous traction motor fault detect.
While it is disclosed that implementation method as above, but described content is only to facilitate understanding the present invention and adopting
Implementation method, is not limited to the present invention.Any those skilled in the art to which this invention pertains, are not departing from this
On the premise of the disclosed spirit and scope of invention, any modification and change can be made in the formal and details implemented,
But scope of patent protection of the invention, must be still defined by the scope of which is defined in the appended claims.
Claims (6)
1. a kind of fault detection method of asynchronous traction motor, it is characterised in that including：
Build model step：Build the separate manufacturing firms model of the asynchronous traction motor；
Gathered data step：Gather the output current data and input voltage data of the asynchronous traction motor at current time；
Failure detection steps：The state range of the asynchronous traction motor at pre-stored current time is obtained, with reference to described defeated
Go out current data and the input voltage data, using asynchronous traction motor described in the separate manufacturing firms model inspection whether
There is failure,
Wherein, in the failure detection steps, if detecting the asynchronous traction motor in the absence of failure, methods described is also wrapped
Include：
Correcting range step：The state range of the asynchronous traction motor is corrected according to the output current data；
Estimation range step：State range, the separate manufacturing firms model according to the asynchronous traction motor after the correction,
The state range of the asynchronous traction motor of subsequent time is predicted, and is stored.
2. method according to claim 1, it is characterised in that in the failure detection steps, if detecting described different
There is failure in step traction electric machine, methods described also includes：
Estimation range step：State range, the separate manufacturing firms model according to the asynchronous traction motor, predict next
The state range of the asynchronous traction motor at moment, and stored.
3. method according to claim 1, it is characterised in that the structure model step is specifically included：
The continuous state space model of the asynchronous traction motor under alpha-beta coordinate system is obtained using Clarke transform；
Sliding-model control is carried out to the continuous state space model according to the sampling time, the separate manufacturing firms mould is obtained
Type.
4. method according to claim 1, it is characterised in that the failure detection steps are specifically included：
The state range of the asynchronous traction motor at pre-stored current time is obtained, with reference to the output current data and institute
Input voltage data are stated, fault verification variable is calculated using the separate manufacturing firms model；
According to the fault verification variable, detect that the asynchronous traction motor whether there is failure.
5. method according to claim 4, it is characterised in that described according to the fault verification variable, detects described different
Step traction electric machine includes with the presence or absence of failure：
If the value of the arbitrary element in the fault verification variable is less than or equal to 0, the asynchronous traction motor is in the absence of event
Barrier；
If the value of at least one element is more than 0 in the fault verification variable, there is failure in the asynchronous traction motor.
6. method according to claim 1, it is characterised in that the separate manufacturing firms model is related to the asynchronous traction
The model uncertainty that the process noise of motor, measurement noise are brought.
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| CN109747680B (en) * | 2017-11-03 | 2021-04-02 | 株洲中车时代电气股份有限公司 | Method, device and equipment for state evaluation and fault early warning of train traction system |
| CN110276509A (en) * | 2019-03-05 | 2019-09-24 | 清华大学 | Subway train trailer system dynamic risk analysis appraisal procedure based on characteristic quantity |
| CN113536830A (en) * | 2020-04-13 | 2021-10-22 | 中车唐山机车车辆有限公司 | Traction motor rotor broken bar fault diagnosis method and equipment and storage medium |
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