CN104852614B - A kind of three-phase bridge PWM rectifier switching tube open fault fault tolerant control method - Google Patents
A kind of three-phase bridge PWM rectifier switching tube open fault fault tolerant control method Download PDFInfo
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Abstract
The invention discloses a kind of three-phase bridge PWM rectifier switching tube open fault fault tolerant control methods, belong to field of three-phase AC/DC conversion.The present invention controls the problems such as not perfect, hardware cost is high to solve multitube failure tolerant existing for existing faults-tolerant control scheme.The method utilizes space voltage vector local during either switch tube open circuit failure in three-phase bridge PWM rectifier to occur changing this feature, by correcting PWM switching modes, it reselects basic voltage vectors and adjusts its sequence of operation and time, it recombines to recover or approaches former rotary reference voltage vector, maintenance system normal operation realizes faults-tolerant control operation.Method disclosed by the invention for single in three-phase bridge PWM rectifier and multiple switch pipe while open fault condition, can realize effective faults-tolerant control operation, it is only necessary to which software algorithm is simply easily achieved, without increasing additional hardware cost.
Description
Technical field
The invention discloses a kind of switching tube open fault fault tolerant control methods for three-phase bridge PWM rectifier, belong to
In field of three-phase AC/DC conversion.
Background technology
Compared to traditional uncontrollable rectifier or phase control rectifier scheme, three-phase bridge PWM rectifier have DC voltage it is controllable,
The advantages that unity power factor, current on line side harmonic wave are small and energy can be with two-way flow can be achieved, in, large-power occasions obtain
Extensive use is arrived.And in PWM rectifier, because of the limitation or control of the abilities such as device for power switching is pressure-resistant, resistant to flow and impact resistance
Failure caused by improper happens occasionally, and drastically influences the operational reliability of system.Investigation display, about 38% power conversion system
System failure is since device for power switching failure causes, and mainly includes short trouble and open fault.The former can cause in moment
Big harm, need to be by hardware protection quick acting；The latter will not cause system closedown, but current on line side can be caused to distort, is straight
Flow side mains ripple etc., converter long-term work may cause secondary failure in abnormality.Therefore after Fault Isolation, need
Implement appropriate topology reconstruction and fault-tolerant control algorithm, to ensure that system does not interrupt, and recover the property before failure as far as possible
Energy realizes the fault-tolerant operation of system.Therefore, it is continuous, stable as guarantee system to resolve the faults-tolerant control problem of rectifier
The key of operation.
In recent years, three phase electric machine driver (three-phase bridge type inverse is concentrated on to the faults-tolerant control research of power inverter
Device), and formed more complete theoretical system." bridge arm redundant topology " is connected to by control between failure bridge arm and redundancy bridge arm
Bidirectional thyristor, it can be achieved that the isolation and switching of failure bridge arm.The method reconstruct topology with normally under identical, control strategy
Without adjustment, but add system cost.In order to overcome this shortcoming, " switch redundant topology " is replaced superfluous with two capacitances of series connection
The shortcomings that remaining bridge arm makes the topology after failure become four construction of switch of three-phase, the method is that DC voltage utilization rate reduces half.
" three-phase four-arm Fault-Tolerant Topology " is connected to the bidirectional thyristor between exchange side midpoint and redundancy bridge arm by control, after making failure
System is operated in three bridge arm pattern of two-phase, the drawback is that failure mutually lacks power." four switch topology of two-phase " is electric with connect two
Hold the redundancy bridge arm replaced in three-phase four-arm topology, the two-way crystalline substance being connected to by control between exchange side midpoint and capacitance bridge arm
Brake tube makes post-fault system be operated in four switching mode of two-phase, the drawback is that DC voltage utilization rate reduces half, and failure phase
Lack power.More than 4 kinds of methods belong to hardware topology and software fault-tolerant mating type scheme, hardware cost need to be increased.This is a kind of
Method is equally applicable to rectifier situation, but three-phase rectifier is due to the presence of fly-wheel diode, switching tube open fault place
Half period complete deficient phenomena will not occur as inverter in phase current, therefore relatively inexpensive software fault-tolerant type scheme can be used
It is controlled.There is the fault tolerant control method that scheme proposes three-phase tri-level rectifier, by correcting switching mode, to reference to electricity
Vector is pressed to realize to correct, the fault-tolerant operation of rectifier is realized, without additional element.The above method only considers that single switching transistor is opened
Road fault mode, faults-tolerant control is invalid when multitube failure occurs.Consider from reliability perspectives, only study single tube fault condition not
It is enough comprehensive, it is necessary to which that the fault-tolerance approach under multitube simultaneously open fault is studied.
In conclusion the fault tolerant control method that existing literature proposes three-phase bridge PWM rectifier switching tube open fault,
From realize multitube open fault it is fault-tolerant, without hardware cost, realizing many-sided assessments such as algorithm is simple, there are many more deficiencies.
The content of the invention
The technical problems to be solved by the invention are the deficiencies for above-mentioned background technology, are proposed a kind of for three-phase bridge
The switching tube open fault fault tolerant control method of PWM rectifier.
The present invention adopts the following technical scheme that for achieving the above object：
Based on correct PWM switching modes three-phase bridge PWM rectifier switching tube open fault fault tolerant control method, including
Following steps：
Step 1, according to the information of the open fault detected, by the sector that table 1 determines to be influenced by failure, wherein grey area
The region that domain is only influenced for vector variation by zero vector, penumbra region are by zero vector and an effective vector joint effect
Region.
Step 2, three-phase current on line side i is gathereda、ib、ic, determine sector through coordinate transform, carry out normal SVPWM operations.
Step 3, sector, the wherein only available correct voltage zero of use are influenced by failure on what is determined in the step 1
Vector instead of failure zero vector, and adjusts sequence of operation and the time of correct zero vector and correct effective voltage vector, corrects
PWM switching modes.
Step 4, corresponding switching tube is driven with the corresponding switching signal of revised space voltage vector.
The corresponding impacted sector of 1 either switch tube open circuit failure of table
Three-phase bridge PWM rectifier switching tube open fault fault tolerant control method according to claim 1, feature
It is, the step 3 specifically comprises the following steps：
Step 3-1 determines the situation of change of failure zero vector and effective vector after switching tube open fault by table 2.
Basic voltage vectors situation of change before and after 2 either switch tube open circuit failure of table
Step 3-2, under single tube fault condition, for the sector that vector variation is only influenced by zero vector, i.e. grey in table 1
Region using discontinuous PWM technologies, removes failure zero vector, is replaced realizing full remuneration with available zero vector；For by
The sector of zero vector and an effective vector joint effect, i.e. penumbra region in table 1, failure zero is replaced with available zero vector
Vector, and the half of the action time of effective vector of failure is added on useful zero vector, i.e., the side mapped using vector
Method on former reference vector orthogonal mapping to available effective vector, will realize that part compensates.False voltage vector is corrected by (1)
For (2)：
In formula：VzeroWithRespectively under normal circumstances with zero vector wrong after open fault, Vactive is failure
The effective vector that can be used afterwards, VnAnd Vn+1It is then effective vector.
As n=7, replaced with n=1；During n=-1, replaced with n=5；During n=0, replaced with n=6.
Step 3-3, for the region by multitube failure joint effect in multitube (2 switching tubes) fault condition, if same
Two switching tubes of bridge arm break down simultaneously, and the single tube failure tolerant control method such as step 3-2 can be used；If three bridge arms
Two of upper tube or two of down tube break down simultaneously, the method compensated using the part in such as step 3-2；If three upper tubes
In one and three down tubes in one break down simultaneously, without compensating.
The present invention can meet three-phase bridge PWM rectifier single switch tube open circuit or multiple using above-mentioned technical proposal
Switching tube in the case of open fault, carries out the needs of faults-tolerant control operation simultaneously.The program is based on dsp program, and algorithm is simple
It easily realizes, without increasing additional hardware cost.The three-phase balance degree under fault condition can preferably be improved, reduce direct current
Side voltage ripple, lifting system Performance And Reliability.
Description of the drawings
Fig. 1 is three-phase bridge PWM rectifier main circuit topology schematic diagram of the present invention；
Fig. 2 is three-phase bridge PWM rectifier of the present invention and its failure tolerant control method control block diagram
Fig. 3 is that three-phase bridge PWM rectifier of the present invention three-phase current waveform under normal circumstances and α β two-phases are static
Fundamental space voltage vector-diagram in coordinate system；
Fig. 4 is three-phase bridge PWM rectifier S of the present invention1Sector III and sector II voltage vectors before and after open fault
Composite diagram；
Fig. 5 is three-phase bridge PWM rectifier S of the present invention1And S3Sector V voltage vectors close before and after open fault simultaneously
Cheng Tu；
Fig. 6 is three-phase bridge PWM rectifier S of the present invention1The fault-tolerant front and rear voltage vector composite diagram of open fault；
Fig. 7 is three-phase bridge PWM rectifier S of the present invention1The fault-tolerant front and rear sector III switching mode figures of open fault；
Fig. 8 is three-phase bridge PWM rectifier S of the present invention1The fault-tolerant front and rear sector II switching mode figures of open fault；
Fig. 9 is three-phase bridge PWM rectifier S of the present invention1Electric current arrow under the fault-tolerant front and rear α β coordinate systems of open fault
Measure trajectory diagram.
Figure label explanation：S1~S6For the first to the 6th switching tube, D1~D6For the first to the 6th fly-wheel diode, L is
Three-phase filter inductance, CfFor DC side filter capacitor, RLFor DC load.id、id *It gives and feeds back for watt current, iqAnd iq *
It gives and feeds back for reactive current, ed、eqFor network voltage d axis and q axis components.
Specific embodiment
The technical solution of invention is described in detail below in conjunction with the accompanying drawings：
Fig. 1 is three-phase bridge PWM rectifier main circuit topology schematic diagram of the present invention.First to the 6th switching tube S1~
S6For a, b, c three-phase bridge arm power tube, D1~D6For the first to the 6th fly-wheel diode, L is three-phase filter inductance, CfFor direct current
Side filter capacitor, RLFor DC load, ea、eb、ecFor three-phase power grid voltage, ia、ib、icFor three-phase current on line side, reference direction
Such as figure, UdcFor DC side output voltage, O is exchange side midpoint, and N is DC side cathode.
Fig. 2 is the control block diagram of three-phase bridge PWM rectifier system of the present invention and its failure tolerant control method.Institute
Based on system include connection power grid and direct current lateral load between Three-Phase PWM Rectifier topology unit and with rectifier topology list
The control unit that member is connected.Wherein, rectifier control unit includes Voltage loop, the current on line side of realizing DC side output voltage stabilizing
The electric current loop of control, the SVPWM units being connected with electric current loop and the fault-tolerant control unit being connected with SVPWM units.It is former when having
When hindering information input, the output of SVPWM units corrects input driving rectification after PWM switching modes by fault-tolerant control unit
The switching tube of device.
Fig. 3 is three-phase bridge PWM rectifier three-phase current waveform under normal circumstances and α β two-phase rest frames
In fundamental space voltage vector-diagram.When rectifier works normally, it is assumed that three-phase network side current waveform harmonic wave very little, current waveform
As shown in Fig. 3 (a), in a primitive period, electric current can be divided into 12 regions (Z in Fig. 3 (a)1~Z12).Assuming that power factor
For 1, three-phase current is identical with three-phase power grid voltage phase.
Shown in the fundamental space voltage vector such as Fig. 3 (b) of rectifier in α β two-phase rest frames, wherein V1~V6It is
Useful space voltage vector, amplitude are 2Udc/ 3,60 ° of mutual deviation, V0And V7It is zero vector.
When normal, the expression formula of reference voltage vector is as follows：
In formula：TsIt is switch periods, T1And T2It is effective vector action time, T0It it is zero vector action time, n is space
Sector numbers where vector.
V*For the output voltage of PI current regulators, under normal circumstances, direction of rotation is counterclockwise, vertex trajectories one
A circle.
Fig. 4 is three-phase bridge PWM rectifier S of the present invention1Sector III and sector II voltage vectors before and after open fault
Composite diagram.With A phase bridge arm upper tubes S1Exemplified by, the SVPWM working conditions of Three-Phase PWM Rectifier after analysis single tube open fault.S1It opens
Rectifier A phase currents i after the failure of roadaNegative half period distortion is apparent, only has electric current in specific region.Work as iaDuring ＜ 0, fly-wheel diode
D1It can not possibly turn on, and S1Since open fault is also impossible to turn on, zero vector V7(111) it is effective vector V by variation4
While effectively vector V (011),2(110) V will be become3(010), effectively vector V6(101) V will be become5(001)。iaThe fan of ＜ 0
Area is sector III, sector IV and sector II, part (the i.e. Z in Fig. 3 (a) of sector V4~Z9).In sector III (Z5、Z6)
In, voltage vector is by effective vector V under normal circumstances3、V4With zero vector V0、V7Synthesis.And switching tube S1 open faults cause zero
Vector V7It changes, false voltage vector is represented by
Variation after the sector fault vector is only influenced by zero vector.Fig. 4 (a) show III electricity in sector before and after failure
Press Vector modulation figure (vector that dotted line represents is the voltage vector after failure, similarly hereinafter).Z in the II of sector4Situation and sector III
It is different, in this sector under normal circumstances voltage vector by effective vector V2、V3With zero vector V0、V7Synthesis.S1Open fault
When, zero vector V7With effective vector V2It changes, false voltage vector is represented by
Variation after the sector fault vector is by zero vector and an effective vector joint effect.Fig. 4 (b) show failure
Front and rear sector II voltage vector composite diagrams, voltage vector have been displaced to from sector II in the III of sector.
Definition F is failure sequence number, if the wrong zero vector of S1 open faults is V4, therefore S1F be 4.Consider arbitrary switching tube
Open fault before and after basic voltage vectors situation of change it is as shown in table 1.Formula (2) and (3) can be expressed as being suitable for S1~S6
General formula：
In formula：VzeroWithRespectively under normal circumstances with zero vector wrong after open fault, VactiveFor can after failure
With the effective vector used, VnAnd Vn+1It is then effective vector.
As n=7, replaced with n=1；During n=-1, replaced with n=5；During n=0, replaced with n=6.If three-phase PWM
Open fault occurs for any one switching tube of rectifier, and the institute of single tube open fault voltage vector can be drawn according to formula (4) and table 1
There is expression formula.
Fig. 5 is three-phase bridge PWM rectifier S of the present invention1And S3Sector V voltage vectors close before and after open fault simultaneously
Cheng Tu.There are three types of situations for two switching tube failures：Two switching tubes of same bridge arm, such as S1And S2；Two of three bridge arm upper tubes
Or two of three bridge arm down tubes, such as S1And S3；One in three upper tubes and one in three down tubes, such as S1And S4。
If S1And S2It breaks down simultaneously, due to S1And S2In same bridge arm, rectifier is by S1What open fault influenced
Condition is ia＜ 0, and by S2The condition that open fault influences is ia＞ 0, therefore Z1~Z12Although this 12 regions are all opened by switching tube
Road failure influences, but each region is only influenced by a switching tube failure.Therefore, such fault condition and single tube open fault
Situation is similar.
If S1And S3It breaks down simultaneously, rectifier is by S1The condition that open fault influences is ia＜ 0, and by S3Open circuit event
The condition that barrier influences is ib＜ 0, therefore 10 region (Z are shared in 12 regions1And Z4~Z12) influenced by failure, wherein 2 regions
(Z8、Z9) while influenced by two switching tube failures, include the part of sector IV and V.In the two regions, under normal circumstances
S1、S3And S6Participate in work；And S1And S3During failure, only effective vector V5(001) and zero vector V0(000) can participate in synthesizing
Voltage vector, other effective vector sum zero vectors become V5, therefore V5Action time is alpha+beta+γ, and fault vector general formula is：
Vfault3=(alpha+beta+γ) Vactive+γVzero (5)
Remaining 8 region (Z1、Z4~Z7、Z10~Z12) only influenced by single tube failure, fault condition is still opened a way former with single tube
Barrier situation is similar.
If S1And S4It breaks down simultaneously, rectifier is by S1The condition that open fault influences is ia＜ 0, and opened a way by S4
The condition that failure influences is ib＞ 0, therefore 8 region (Z are shared in 12 regions2~Z9) influenced by failure, and wherein 4 regions
(Z4~Z7) while influenced by two switching tube failures.Two failure pipes are belonging respectively to the upper down tube of different phase bridge arms, thus this 4
In a region, zero vector V can not be generated0And V7, it is respectively converted into other effective vectors, the action time of these effective vectors
It is increased, fault vector general formula is：
Vfault4=(α+γ) Vn+(β+γ)Vn+1 (6)
Fig. 6 is three-phase bridge PWM rectifier S of the present invention1The fault-tolerant front and rear voltage vector composite diagram of open fault.Using
Discontinuous PWM (Discontinuous PWM, DPWM) technology, i.e., using another available zero vector, it can be achieved that mistake zero
The compensation of vector.In the case of voltage vector is only influenced by failure zero vector, such as S1Sector III, sector IV (Z during failure5
~Z8), it is corrected for using DPWM formulas (2)
Wherein failure zero vector γ V4It is removed, and γ V0It is increased to realize compensation.S1Sector III before and after failure tolerant
Shown in voltage vector composite diagram such as Fig. 6 (a), the voltage vector after compensationWith former reference vector V*Unanimously, therefore opened by correcting
Pass pattern can repair reference voltage vector completely, i.e., recover to realize normal control in these regions.
In the case of voltage vector is by failure zero vector and a failure effective vector joint effect, such as S1The fan of failure
Area II, sector V subregions (Z4、Z9).Since failure causes only there are one available effective vector Vactive, therefore complete vector
Compensation is impossible.But the method that vector mapping may be employed realizes the part compensation to vector, the voltage after compensation
Vector will be farthest close to former reference vector.In the II of sector as shown in Fig. 6 (b), V3It is the available effective vector closed on, therefore
By former reference vector orthogonal mapping to V3On, the voltage vector after being compensatedAnd DPWM technologies are used, formula (3) is corrected
For
Wherein failure zero vector γ V4It is removed, γ V0It is increased to realize compensation, and in order to as close possible to former vector, α
V3/ 2 are also removed, and action time is added in V0On.In this region, compensation is participated in by using the effective vector closed on, it can be most
Big degree recovery system performance.
Formula (7) and (8) can be expressed as being suitable for S1~S6General formula：
I.e. formula (4) can be corrected for (9).
The analysis as before, multiple switch pipe while open fault are regarded as the combination of single tube fault condition.From fault-tolerant control
Controlling angle considers, for the region only influenced by single tube failure, single tube failure tolerant control method can be used；And for by multiple
The region of switching tube failure joint effect should use special fault tolerant control method, lower mask body discussion：
If two switching tube (such as S of same bridge arm1And S2) break down simultaneously, Z1~Z12In in each region only
It is influenced by a switching tube failure, single tube failure tolerant control method can be used, realize fault-tolerant operation purpose.
If two of three bridge arm upper tubes or two (such as S of down tube1And S3) break down simultaneously, Z1~Z12In Z8、
Z9It is influenced simultaneously by two switching tube failures.Fault vector is by the available effective vector V of a residue at this time5With zero vector V0It closes
Into.Due to V5Be closest to available vector, therefore can be used part compensation method.
If one in three upper tubes and (such as a S in three down tubes1And S4) break down simultaneously, Z1~Z12In
Z4~Z7It is influenced simultaneously by two switching tube failures.At this time without available zero vector, therefore distortion vectors can not realize benefit
It repays.
Fig. 7 is three-phase bridge PWM rectifier S of the present invention1The fault-tolerant front and rear sector III switching mode figures of open fault.
Fig. 7 (a) is switching tube S1The switching mode in the III of sector after open fault marks comparison under normal circumstances in figure with shade
The part of reduction adds failure zero vector γ V in space voltage vector4, former zero vector γ V7It is removed, i.e. S1 ON times
Reduce by 2 γ.Fig. 7 (b) is switching tube S1Open fault faults-tolerant control measure take after sector III in switching mode, in figure
The part of reduction under comparison fault condition, failure zero vector γ V are marked with shade4It is removed, and γ V0It is increased to realize benefit
It repays, i.e. S3With S5ON time reduces by 2 γ.
Fig. 8 is three-phase bridge PWM rectifier S of the present invention1The fault-tolerant front and rear sector II switching mode figures of open fault.Figure
8 (a) is switching tube S1The switching mode in the II of sector after open fault marks comparison with shade in figure and reduces under normal circumstances
Part, add failure zero vector γ V in space voltage vector4, former zero vector γ V7It is removed；Add fault vector α
V3, original effect vector α V2It is removed, i.e. S1ON time reduces by 2 (α+γ) altogether.Fig. 8 (b) is switching tube S1Open fault is fault-tolerant
Control measure take after sector II in switching mode, the part of reduction under comparison fault condition is marked in figure with shade, therefore
Hinder zero vector γ V4It is removed, γ V0It is increased to realize compensation, and in order to as close possible to former vector, α V3/ 2 are also removed,
Its action time is added in V0On, i.e. S3With S5ON time reduces α+2 γ and 2 γ respectively.
Fig. 9 is three-phase bridge PWM rectifier S of the present invention1Electric current arrow under the fault-tolerant front and rear α β coordinate systems of open fault
Measure trajectory diagram.Fig. 9 (a) is shown under normal condition, and current locus is a complete circle；Fig. 9 (b) show S1Open fault
Afterwards, current locus left-half serious loss；After Fig. 9 (c) show implementation PWM switching mode correction algorithms, current locus quilt
It compensates as an approximate circle, but it is jagged in sector II, because the region can only realize that part compensates.
In summary：The present invention can realize single switching transistor using above-mentioned technical proposal to three-phase bridge PWM rectifier
The operation of the faults-tolerant control of open circuit or multiple switch pipe while open fault.The program is based on dsp program, and algorithm is simply easily realized,
Additional hardware cost need not be increased.The three-phase balance degree under fault condition can preferably be improved, reduce DC voltage
Ripple, lifting system Performance And Reliability.
Claims (2)
1. a kind of three-phase bridge PWM rectifier switching tube open fault fault tolerant control method, which is characterized in that this method is included such as
Lower step：
Step 1, according to the information of the open fault detected, by the sector that table 1 determines to be influenced by failure, grey area is
The region that vector variation is only influenced by zero vector, penumbra region are the area by zero vector and an effective vector joint effect
Domain；
The corresponding impacted sector of 1 either switch tube open circuit failure of table
Step 2, three-phase current on line side i is gathereda、ib、ic, determine sector through coordinate transform, carry out normal SVPWM operations；
Step 3, sector is influenced by failure on what is determined in the step 1, the wherein only available correct voltage zero vector of use,
Instead of failure zero vector, and sequence of operation and the time of correct zero vector and correct effective voltage vector are adjusted, correct PWM switches
Pattern；
Step 4, corresponding switching tube is driven with the corresponding switching signal of revised space voltage vector.
2. three-phase bridge PWM rectifier switching tube open fault fault tolerant control method according to claim 1, feature exist
In the step 3 specifically comprises the following steps：
Step 3-1 determines the situation of change of failure zero vector and effective vector after switching tube open fault by table 2；
Basic voltage vectors situation of change before and after 2 either switch tube open circuit failure of table
Step 3-2, under single tube fault condition, for the region that vector variation is only influenced by zero vector, i.e. grey area in table 1
Domain using discontinuous PWM technologies, removes failure zero vector, is replaced realizing full remuneration with available zero vector；For by zero
The region of the effective vector joint effect of vector sum one, i.e. penumbra region in table 1, failure null vector is replaced with available zero vector
Amount, and the half of the action time of effective vector of failure is added on useful zero vector, i.e., the method mapped using vector,
It on former reference vector orthogonal mapping to available effective vector, will realize that part compensates；False voltage vector is modified to by (1)
(2)：
In formula：VzeroWithRespectively under normal circumstances with zero vector wrong after open fault, VactiveFor that can make after failure
Effective vector, VnAnd Vn+1It is then effective vector；
As n=7, replaced with n=1；During n=-1, replaced with n=5；During n=0, replaced with n=6；
Step 3-3, for the region by multitube failure joint effect in multitube (2 switching tubes) fault condition, if same bridge arm
Two switching tubes break down simultaneously, the single tube failure tolerant control method such as step 3-2 can be used；If three bridge arm upper tubes
Two or two of down tube break down simultaneously, the method compensated using the part in such as step 3-2；If in three upper tubes
One in one and three down tubes is broken down simultaneously, without compensating.
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