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
本发明公开了一种三相桥式PWM整流器开关管开路故障容错控制方法,属于三相交直流变换领域。本发明为解决现有容错控制方案存在的多管故障容错控制不完善、硬件成本高等问题。所述方法利用三相桥式PWM整流器中任一开关管开路故障时局部的空间电压矢量出现变化这一特征,通过修正PWM开关模式,即重新选择基本电压矢量并调整其作用顺序和时间,重新合成以恢复或接近原旋转参考电压矢量,维持系统正常运行,实现容错控制运行。本发明公开的方法,对于三相桥式PWM整流器中单个和多个开关管同时开路故障情况,均能实现有效容错控制运行,仅需要软件算法,简单易于实现,无需增加额外的硬件成本。
The invention discloses a three-phase bridge type PWM rectifier switch tube open-circuit fault fault-tolerant control method, which belongs to the field of three-phase AC-DC conversion. The invention aims to solve the problems of imperfect multi-pipe fault fault-tolerant control, high hardware cost and the like existing in the existing fault-tolerant control scheme. The method utilizes the feature that the local space voltage vector changes when any switch tube in the three-phase bridge PWM rectifier is open-circuit faulty, and by correcting the PWM switching mode, that is, reselecting the basic voltage vector and adjusting its action sequence and time, re- Synthesize to restore or approach the original rotating reference voltage vector, maintain the normal operation of the system, and realize fault-tolerant control operation. The method disclosed by the invention can realize effective fault-tolerant control operation for single and multiple switching tubes in a three-phase bridge PWM rectifier with simultaneous open-circuit faults, requires only software algorithms, is simple and easy to implement, and does not require additional hardware costs.
Description
技术领域technical field
本发明公开了一种用于三相桥式PWM整流器的开关管开路故障容错控制方法,属于三相交直流变换领域。The invention discloses a switch tube open-circuit fault fault-tolerant control method for a three-phase bridge PWM rectifier, belonging to the field of three-phase AC-DC conversion.
背景技术Background technique
相比于传统的不控整流或相控整流方案,三相桥式PWM整流器具有直流电压可控、可实现单位功率因数、网侧电流谐波小以及能量可以双向流动等优点,在中、大功率场合得到了广泛应用。而PWM整流器中,因功率开关器件耐压、耐流及耐冲击等能力的限制或控制不当导致的故障时有发生,严重影响着系统的运行可靠性。调查显示,约38%的功率变换系统故障是由于功率开关器件失效引起,主要包括短路故障和开路故障。前者会在瞬间造成大的危害,需借助硬件保护快速动作;后者不会导致系统关机,但会引起网侧电流畸变、直流侧电压脉动等,变换器长期工作在异常状态,可能引起二次故障。因此在故障隔离后,需实施适当的拓扑重构和容错控制算法,以保证系统不中断运行,并尽可能恢复故障前的性能,即实现系统的容错运行。因此,解决好整流器的容错控制问题成为保证系统连续、稳定运行的关键。Compared with the traditional uncontrolled rectification or phase-controlled rectification scheme, the three-phase bridge PWM rectifier has the advantages of controllable DC voltage, unit power factor, small grid-side current harmonics, and bidirectional flow of energy. Power occasions have been widely used. In PWM rectifiers, faults occur frequently due to the limitations of power switching devices' withstand voltage, current and impact resistance, or improper control, which seriously affects the operational reliability of the system. The survey shows that about 38% of the power conversion system failures are caused by the failure of power switching devices, mainly including short-circuit faults and open-circuit faults. The former will cause great harm in an instant, and requires quick action with the help of hardware protection; the latter will not cause the system to shut down, but will cause grid-side current distortion, DC-side voltage pulsation, etc., and the converter will work in an abnormal state for a long time, which may cause secondary damage. Fault. Therefore, after fault isolation, appropriate topology reconfiguration and fault-tolerant control algorithms need to be implemented to ensure uninterrupted operation of the system and restore the performance before the fault as much as possible, that is, to achieve fault-tolerant operation of the system. Therefore, solving the fault-tolerant control problem of the rectifier has become the key to ensure the continuous and stable operation of the system.
近年来,对功率变换器的容错控制研究集中于三相电机驱动器(三相桥式逆变器),并已形成较完整的理论体系。“桥臂冗余拓扑”通过控制连接在故障桥臂和冗余桥臂间的双向晶闸管,可实现故障桥臂的隔离和切换。此方法重构的拓扑与正常下相同,控制策略无需调整,但增加了系统成本。为了克服这一缺点,“开关冗余拓扑”用串联的两电容代替冗余桥臂,使故障后的拓扑变为三相四开关结构,此方法的缺点是直流电压利用率降低一半。“三相四桥臂容错拓扑”通过控制连接在交流侧中点和冗余桥臂间的双向晶闸管,使故障后系统工作在两相三桥臂模式,其缺点是故障相缺失功率。“两相四开关拓扑”用串联的两电容代替三相四桥臂拓扑中的冗余桥臂,通过控制连接在交流侧中点和电容桥臂间的双向晶闸管,使故障后系统工作在两相四开关模式,其缺点是直流电压利用率降低一半,且故障相缺失功率。以上4种方法均属于硬件拓扑与软件容错结合型方案,需增加硬件成本。这一类方法同样适用于整流器情况,但三相整流器由于续流二极管的存在,开关管开路故障所在相电流不会像逆变器一样出现半周期完全缺失现象,故可采用较为经济的软件容错型方案进行控制。有方案提出了三相三电平整流器的容错控制方法,通过修正开关模式,对参考电压矢量实现修正,实现整流器的容错运行,无需额外元件。上述方法均只考虑单个开关管开路故障模式,当发生多管故障时容错控制无效。从可靠性角度考虑,只研究单管故障情况不够全面,有必要对多管同时开路故障下的容错方法进行研究。In recent years, research on fault-tolerant control of power converters has focused on three-phase motor drives (three-phase bridge inverters), and a relatively complete theoretical system has been formed. The "bridge arm redundancy topology" can realize the isolation and switching of the faulty bridge arm by controlling the bidirectional thyristor connected between the faulty bridge arm and the redundant bridge arm. The topology reconstructed by this method is the same as the normal one, and the control strategy does not need to be adjusted, but the system cost is increased. In order to overcome this shortcoming, "Switch Redundant Topology" replaces redundant bridge arms with two capacitors connected in series, so that the topology after a fault becomes a three-phase four-switch structure. The shortcoming of this method is that the DC voltage utilization rate is reduced by half. The "three-phase four-arm fault-tolerant topology" controls the bidirectional thyristor connected between the midpoint of the AC side and the redundant bridge arm, so that the system works in the two-phase three-arm mode after a fault. The disadvantage is that the faulty phase loses power. "Two-phase four-switch topology" replaces the redundant bridge arm in the three-phase four-arm topology with two capacitors in series, and makes the system work in two ways after a fault by controlling the bidirectional thyristor connected between the midpoint of the AC side and the bridge arm of the capacitor. The disadvantage of the four-phase switching mode is that the DC voltage utilization rate is reduced by half, and the fault phase loses power. The above four methods all belong to the combination of hardware topology and software fault tolerance, which need to increase the cost of hardware. This type of method is also applicable to rectifiers, but due to the existence of freewheeling diodes in three-phase rectifiers, the phase current where the switch tube fails will not completely lose half of the cycle like the inverter, so a more economical software fault tolerance can be used type program control. Some schemes propose a fault-tolerant control method for a three-phase three-level rectifier. By modifying the switching mode, the reference voltage vector is corrected to realize the fault-tolerant operation of the rectifier without additional components. The above methods only consider the open-circuit fault mode of a single switch tube, and the fault-tolerant control is invalid when multiple tube faults occur. From the perspective of reliability, it is not comprehensive enough to study only single-tube faults, and it is necessary to study the fault-tolerant method under simultaneous open-circuit faults of multiple tubes.
综上所述,现有文献对三相桥式PWM整流器开关管开路故障提出的容错控制方法,从实现多管开路故障容错、无需硬件成本、实现算法简单等多方面评估还有许多不足。To sum up, the fault-tolerant control methods proposed in the existing literature for the open-circuit faults of switching tubes of three-phase bridge PWM rectifiers still have many shortcomings in terms of realizing multi-tube open-circuit fault fault tolerance, no hardware cost, and simple implementation algorithms.
发明内容Contents of the invention
本发明所要解决的技术问题是针对上述背景技术的不足,提出一种用于三相桥式PWM整流器的开关管开路故障容错控制方法。The technical problem to be solved by the present invention is to propose a fault-tolerant control method for open-circuit faults of switching tubes for three-phase bridge PWM rectifiers in view of the deficiencies of the above-mentioned background technology.
本发明为实现上述发明目的采用如下技术方案:The present invention adopts following technical scheme for realizing above-mentioned purpose of the invention:
基于修正PWM开关模式的三相桥式PWM整流器开关管开路故障容错控制方法,包括如下步骤:A three-phase bridge PWM rectifier switching tube open-circuit fault fault-tolerant control method based on the modified PWM switching mode includes the following steps:
步骤1,根据检测到的开路故障的信息,按表1确定受故障影响的扇区,其中灰色区域为矢量变化仅受零矢量影响的区域,半阴影区域为受零矢量和一个有效矢量共同影响的区域。Step 1, according to the information of the detected open circuit fault, determine the sector affected by the fault according to Table 1, where the gray area is the area where the vector change is only affected by the zero vector, and the semi-shaded area is the area affected by both the zero vector and a valid vector Area.
步骤2,采集三相网侧电流ia、ib、ic,经坐标变换确定扇区,进行正常的SVPWM操作。Step 2, collect the three-phase network side currents ia , ib , ic , and determine the sector through coordinate transformation, and perform normal SVPWM operation.
步骤3,对所述步骤1中确定的受故障影响扇区,使用其中唯一可用的正确电压零矢量,代替故障零矢量,并调整正确零矢量和正确有效电压矢量的作用顺序和时间,修正PWM开关模式。Step 3, for the sector affected by the fault determined in step 1, use the only available correct voltage zero vector to replace the fault zero vector, and adjust the action sequence and time of the correct zero vector and the correct effective voltage vector to correct the PWM switch mode.
步骤4,用修正后的空间电压矢量对应的开关信号驱动相应的开关管。Step 4, drive the corresponding switch tube with the switch signal corresponding to the corrected space voltage vector.
表1 任一开关管开路故障对应的受影响扇区Table 1 Affected sectors corresponding to any switch tube open circuit fault
根据权利要求1所述的三相桥式PWM整流器开关管开路故障容错控制方法,其特征在于,所述步骤3具体包括如下步骤:The three-phase bridge type PWM rectifier switching tube open-circuit fault fault-tolerant control method according to claim 1, characterized in that, said step 3 specifically includes the following steps:
步骤3-1,按表2确定开关管开路故障后故障零矢量和有效矢量的变化情况。Step 3-1, according to Table 2, determine the change of fault zero vector and effective vector after the switch tube open circuit fault.
表2 任一开关管开路故障前后基本电压矢量变化情况Table 2 Changes of basic voltage vector before and after any switch tube open circuit fault
步骤3-2,在单管故障情况下,对于矢量变化仅受零矢量影响的扇区,即表1中灰色区域,采用不连续PWM技术,移除故障零矢量,用可用的零矢量代替以实现完全补偿;对于受零矢量和一个有效矢量共同影响的扇区,即表1中半阴影区域,用可用的零矢量代替故障零矢量,并将故障的有效矢量的作用时间的一半加到有用的零矢量上,即采用矢量映射的方法,将原参考矢量正交映射到可用的有效矢量上,实现部分补偿。故障电压矢量由(1)修正为(2):Step 3-2, in the case of a single-tube fault, for the sector whose vector change is only affected by the zero vector, that is, the gray area in Table 1, the discontinuous PWM technology is used to remove the fault zero vector and replace it with an available zero vector Realize full compensation; for the sector affected by both the zero vector and one valid vector, that is, the half-shaded area in Table 1, replace the faulty zero vector with the available zero vector, and add half of the action time of the faulty valid vector to the useful The original reference vector is orthogonally mapped to the available effective vector by vector mapping method to realize partial compensation. The fault voltage vector is modified from (1) to (2):
式中:Vzero和分别为正常情况下和开路故障后错误的零矢量,Vactive为故障后可以使用的有效矢量,Vn和Vn+1则为有效矢量。Where: V zero and They are the wrong zero vectors under normal conditions and open-circuit faults respectively, Vactive is the valid vectors that can be used after the faults, and V n and V n+1 are the valid vectors.
当n=7时,用n=1代替;n=-1时,用n=5代替;n=0时,用n=6代替。When n=7, replace with n=1; when n=-1, replace with n=5; when n=0, replace with n=6.
步骤3-3,对于多管(2个开关管)故障情况中受多管故障共同影响的区域,若同一桥臂的两个开关管同时发生故障,可采用如步骤3-2的单管故障容错控制方法;若三个桥臂上管的两个或下管的两个同时发生故障,采用如步骤3-2中的部分补偿的方法;若三个上管中的一个和三个下管中的一个同时发生故障,无需进行补偿。Step 3-3, for the area affected by multi-tube faults in the case of multi-tube (2 switching tubes) faults, if two switching tubes of the same bridge arm fail at the same time, the single-tube fault as in step 3-2 can be used Fault-tolerant control method; if two of the upper tubes or two of the lower tubes of the three bridge arms fail at the same time, use the partial compensation method as in step 3-2; if one of the three upper tubes and three lower tubes If one of them fails simultaneously, no compensation is required.
本发明采用上述技术方案,可以满足三相桥式PWM整流器单个开关管开路,或多个开关管同时开路故障的情况下,进行容错控制运行的需要。该方案基于DSP编程,算法简单易实现,无需增加额外的硬件成本。能较好地改善故障情况下的三相电流平衡度,减小直流侧电压纹波,提升系统性能和可靠性。The present invention adopts the above-mentioned technical scheme, which can meet the requirement of fault-tolerant control operation under the condition that a single switch tube of a three-phase bridge PWM rectifier is open circuit, or multiple switch tubes are open circuit faults at the same time. The program is based on DSP programming, and the algorithm is simple and easy to implement without adding additional hardware costs. It can better improve the three-phase current balance under fault conditions, reduce the voltage ripple on the DC side, and improve system performance and reliability.
附图说明Description of drawings
图1为本发明所述三相桥式PWM整流器主电路拓扑示意图;Fig. 1 is a schematic diagram of the main circuit topology of the three-phase bridge PWM rectifier of the present invention;
图2为本发明所述三相桥式PWM整流器及其故障容错控制方法控制框图Fig. 2 is a control block diagram of the three-phase bridge PWM rectifier and its fault tolerance control method according to the present invention
图3为本发明所述三相桥式PWM整流器正常情况下的三相电流波形及αβ两相静止坐标系中的基本空间电压矢量图;Fig. 3 is the three-phase current waveform under normal conditions of the three-phase bridge PWM rectifier of the present invention and the basic space voltage vector diagram in the αβ two-phase stationary coordinate system;
图4为本发明所述三相桥式PWM整流器S1开路故障前后扇区III和扇区II电压矢量合成图;Fig. 4 is three-phase bridge type PWM rectifier S of the present invention S 1 open-circuit fault before and after sector III and sector II voltage vector composite diagram;
图5为本发明所述三相桥式PWM整流器S1和S3同时开路故障前后扇区V电压矢量合成图;Fig. 5 is three-phase bridge type PWM rectifier S 1 and S 3 of the present invention open-circuit fault front and back sector V voltage vector synthetic diagrams simultaneously;
图6为本发明所述三相桥式PWM整流器S1开路故障容错前后电压矢量合成图;Fig. 6 is three-phase bridge type PWM rectifier S 1 open-circuit fault tolerance before and after the voltage vector synthetic diagram of the present invention;
图7为本发明所述三相桥式PWM整流器S1开路故障容错前后扇区III开关模式图;Fig. 7 is a sector III switch mode diagram before and after the open-circuit fault tolerance of the three-phase bridge PWM rectifier S 1 of the present invention;
图8为本发明所述三相桥式PWM整流器S1开路故障容错前后扇区II开关模式图;Fig. 8 is a sector II switch mode diagram before and after the open-circuit fault tolerance of the three-phase bridge PWM rectifier S 1 of the present invention;
图9为本发明所述三相桥式PWM整流器S1开路故障容错前后αβ坐标系下的电流矢量轨迹图。FIG. 9 is a diagram of the current vector trajectory in the αβ coordinate system before and after the open-circuit fault tolerance of the three-phase bridge PWM rectifier S 1 according to the present invention.
图中标号说明:S1~S6为第一至第六开关管,D1~D6为第一至第六续流二极管,L为三相滤波电感,Cf为直流侧滤波电容,RL为直流负载。id、id *为有功电流给定和反馈,iq和iq *为无功电流给定和反馈,ed、eq为电网电压d轴和q轴分量。Explanation of symbols in the figure: S 1 to S 6 are the first to sixth switching tubes, D 1 to D 6 are the first to sixth freewheeling diodes, L is the three-phase filter inductor, C f is the DC side filter capacitor, R L is the DC load. i d and id * are active current setting and feedback, i q and i q * are reactive current setting and feedback, ed and e q are grid voltage d-axis and q-axis components.
具体实施方式Detailed ways
下面结合附图对发明的技术方案进行详细说明:Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:
图1为本发明所述三相桥式PWM整流器主电路拓扑示意图。第一至第六开关管S1~S6为a、b、c三相桥臂功率管,D1~D6为第一至第六续流二极管,L为三相滤波电感,Cf为直流侧滤波电容,RL为直流负载,ea、eb、ec为三相电网电压,ia、ib、ic为三相网侧电流,参考方向如图,Udc为直流侧输出电压,O为交流侧中点,N为直流侧负极。FIG. 1 is a schematic diagram of the main circuit topology of the three-phase bridge PWM rectifier according to the present invention. The first to sixth switch tubes S 1 to S 6 are three-phase bridge arm power tubes a, b, and c, D 1 to D 6 are the first to sixth freewheeling diodes, L is a three-phase filter inductor, and C f is DC side filter capacitor, R L is the DC load, e a , e b , e c are the three-phase grid voltage, ia , i b , ic are the three-phase grid side current, the reference direction is as shown in the figure, U dc is the DC side Output voltage, O is the midpoint of the AC side, and N is the negative pole of the DC side.
图2为本发明所述三相桥式PWM整流器系统及其故障容错控制方法的控制框图。所基于的系统包括连接电网与直流侧负载间的三相PWM整流器拓扑单元以及与整流器拓扑单元相连接的控制单元。其中,整流器控制单元包括实现直流侧输出稳压的电压环、网侧电流控制的电流环、与电流环连接的SVPWM单元以及与SVPWM单元相连的容错控制单元。当有故障信息输入时,SVPWM单元的输出经过容错控制单元,即修正PWM开关模式后输入驱动整流器的开关管。Fig. 2 is a control block diagram of the three-phase bridge PWM rectifier system and its fault-tolerant control method according to the present invention. The based system includes a three-phase PWM rectifier topology unit connected between the power grid and the DC side load and a control unit connected with the rectifier topology unit. Wherein, the rectifier control unit includes a voltage loop for realizing DC side output voltage stabilization, a current loop for grid side current control, a SVPWM unit connected to the current loop, and a fault-tolerant control unit connected to the SVPWM unit. When there is fault information input, the output of the SVPWM unit passes through the fault-tolerant control unit, that is, after the PWM switching mode is corrected, it is input to the switching tube for driving the rectifier.
图3为所述三相桥式PWM整流器正常情况下的三相电流波形及αβ两相静止坐标系中的基本空间电压矢量图。整流器正常工作时,假设三相网侧电流波形谐波很小,电流波形如图3(a)所示,一个基波周期内,电流可以分为12个区域(图3(a)中Z1~Z12)。假设功率因数为1,三相电流与三相电网电压相位相同。Fig. 3 is the three-phase current waveform and the basic space voltage vector diagram in the αβ two-phase static coordinate system of the three-phase bridge PWM rectifier under normal conditions. When the rectifier is working normally, assuming that the harmonics of the current waveform on the three-phase network side are very small, the current waveform is shown in Figure 3(a). Within a fundamental wave cycle, the current can be divided into 12 regions (Z 1 in Figure 3(a) ~Z 12 ). Assuming that the power factor is 1, the three-phase current is in the same phase as the three-phase grid voltage.
整流器在αβ两相静止坐标系中的基本空间电压矢量如图3(b)所示,其中V1~V6是有效空间电压矢量,幅值均为2Udc/3,互差60°,V0和V7是零矢量。The basic space voltage vectors of the rectifier in the αβ two-phase stationary coordinate system are shown in Fig. 3(b), where V 1 ~ V 6 are the effective space voltage vectors, the amplitudes are all 2U dc /3, and the mutual difference is 60°, V 0 and V7 are zero vectors.
正常时,参考电压矢量的表达式如下:Normally, the expression of the reference voltage vector is as follows:
式中:Ts是开关周期,T1和T2是有效矢量作用时间,T0是零矢量作用时间,n是空间矢量所在扇区序号。In the formula: T s is the switching period, T 1 and T 2 are the effective vector action time, T 0 is the zero vector action time, n is the sector number where the space vector is located.
V*为PI电流调节器的输出电压,正常情况下,旋转方向是逆时针,其顶点轨迹为一个圆。V * is the output voltage of the PI current regulator. Under normal circumstances, the direction of rotation is counterclockwise, and the track of its apex is a circle.
图4为本发明所述三相桥式PWM整流器S1开路故障前后扇区III和扇区II电压矢量合成图。以A相桥臂上管S1为例,分析单管开路故障后三相PWM整流器的SVPWM工作情况。S1开路故障后整流器A相电流ia负半周畸变明显,只在特定区域有电流。当ia<0时,续流二极管D1不可能导通,而S1由于开路故障也不可能导通,因此零矢量V7(111)将变化为有效矢量V4(011),同时有效矢量V2(110)将变为V3(010),而有效矢量V6(101)将变为V5(001)。ia<0的扇区为扇区III、扇区IV,和扇区II、扇区V的部分(即图3(a)中的Z4~Z9)。在扇区III(Z5、Z6)中,正常情况下电压矢量由有效矢量V3、V4和零矢量V0、V7合成。而开关管S1开路故障导致零矢量V7发生变化,故障电压矢量可表示为Fig. 4 is a composite diagram of sector III and sector II voltage vectors before and after the open-circuit fault of the three-phase bridge PWM rectifier S1 of the present invention. Taking S1 on the upper arm of the A-phase bridge arm as an example, analyze the SVPWM operation of the three-phase PWM rectifier after a single-tube open circuit fault. After the S 1 open circuit fault, the rectifier A-phase current i a negative half-cycle distortion is obvious, and there is current only in a specific area. When ia < 0, the freewheeling diode D 1 cannot be turned on, and S 1 cannot be turned on due to an open circuit fault, so the zero vector V 7 (111) will change into the effective vector V 4 (011), and at the same time the effective Vector V 2 (110) will become V 3 (010), and effective vector V 6 (101) will become V 5 (001). The sectors where i a <0 are part of sector III, sector IV, and sector II, sector V (ie, Z 4 ˜Z 9 in FIG. 3( a )). In sector III (Z 5 , Z 6 ), the voltage vector is normally synthesized by the active vectors V 3 , V 4 and the zero vectors V 0 , V 7 . However, the open-circuit fault of the switch tube S1 causes the zero vector V 7 to change, and the fault voltage vector can be expressed as
该扇区矢量故障后的变化仅受零矢量的影响。图4(a)所示为故障前后扇区III电压矢量合成图(虚线表示的矢量为故障后的电压矢量,下同)。扇区II中Z4的情况与扇区III有所不同,此扇区内正常情况下电压矢量由有效矢量V2、V3和零矢量V0、V7合成。S1开路故障时,零矢量V7和有效矢量V2均发生变化,故障电压矢量可表示为The sector vector post-failure changes are only affected by the zero vector. Figure 4(a) shows the composite voltage vector diagram of sector III before and after the fault (the vector indicated by the dotted line is the voltage vector after the fault, the same below). The situation of Z 4 in sector II is different from that of sector III. Normally, the voltage vector in this sector is composed of effective vectors V 2 , V 3 and zero vectors V 0 , V 7 . When S 1 is open-circuit faulted, both the zero vector V 7 and the effective vector V 2 change, and the fault voltage vector can be expressed as
该扇区矢量故障后的变化受零矢量和一个有效矢量共同影响。图4(b)所示为故障前后扇区II电压矢量合成图,电压矢量从扇区II偏移到了扇区III内。The change of the sector vector after failure is jointly affected by the zero vector and one valid vector. Figure 4(b) shows the synthetic diagram of the voltage vector of sector II before and after the fault, and the voltage vector is shifted from sector II to sector III.
定义F为故障序号,如S1开路故障的错误零矢量为V4,故S1的F为4。考虑任意开关管的开路故障前后基本电压矢量的变化情况如表1所示。式(2)和(3)可以表示成适用于S1~S6的通式:Define F as the fault sequence number. For example, the error zero vector of S1 open circuit fault is V 4 , so F of S 1 is 4. The change of the basic voltage vector before and after considering the open circuit fault of any switch tube is shown in Table 1. Formulas (2) and (3) can be expressed as general formulas applicable to S 1 ~ S 6 :
式中:Vzero和分别为正常情况下和开路故障后错误的零矢量,Vactive为故障后可以使用的有效矢量,Vn和Vn+1则为有效矢量。Where: V zero and They are the wrong zero vectors under normal conditions and open-circuit faults, V active is the effective vectors that can be used after the fault, and V n and V n+1 are the effective vectors.
当n=7时,用n=1代替;n=-1时,用n=5代替;n=0时,用n=6代替。如果三相PWM整流器任意一个开关管发生开路故障,可根据式(4)和表1得出单管开路故障电压矢量的所有表达式。When n=7, replace with n=1; when n=-1, replace with n=5; when n=0, replace with n=6. If any switch tube of the three-phase PWM rectifier has an open-circuit fault, all expressions of the single-tube open-circuit fault voltage vector can be obtained according to formula (4) and Table 1.
图5为本发明所述三相桥式PWM整流器S1和S3同时开路故障前后扇区V电压矢量合成图。两个开关管故障有三种情况:同一桥臂的两个开关管,如S1和S2;三个桥臂上管的两个或三个桥臂下管的两个,如S1和S3;三个上管中的一个和三个下管中的一个,如S1和S4。Fig. 5 is a composite diagram of sector V voltage vectors before and after simultaneous open-circuit faults of the three-phase bridge PWM rectifiers S 1 and S 3 according to the present invention. There are three situations for the failure of two switch tubes: two switch tubes of the same bridge arm, such as S 1 and S 2 ; two of the upper tubes of three bridge arms or two of the lower tubes of three bridge arms, such as S 1 and S 2 3 ; one of the three upper tubes and one of the three down tubes, such as S 1 and S 4 .
如果S1和S2同时发生故障,由于S1和S2处于同一桥臂,整流器受S1开路故障影响的条件为ia<0,而受S2开路故障影响的条件为ia>0,故Z1~Z12这12个区域虽然都受开关管开路故障影响,但每个区域都只受一个开关管故障影响。因此,此种故障情况和单管开路故障情况类似。If S 1 and S 2 fail at the same time, since S 1 and S 2 are in the same bridge arm, the condition for the rectifier to be affected by the open circuit fault of S 1 is ia <0, and the condition for the rectifier to be affected by the open circuit fault of S 2 is ia >0 , so although the 12 regions Z 1 ~ Z 12 are all affected by the open-circuit fault of the switch tube, each zone is only affected by the fault of one switch tube. Therefore, this fault condition is similar to the single-pipe open-circuit fault condition.
如果S1和S3同时发生故障,整流器受S1开路故障影响的条件为ia<0,而受S3开路故障影响的条件为ib<0,故12个区域中共有10个区域(Z1和Z4~Z12)受故障影响,其中2个区域(Z8、Z9)同时受两个开关管故障影响,包括扇区IV和V的部分。在这两个区域中,正常情况下S1、S3和S6参与工作;而S1和S3故障时,仅有有效矢量V5(001)和零矢量V0(000)可以参与合成电压矢量,其它有效矢量和零矢量均变为V5,故V5作用时间为α+β+γ,其故障矢量通式为:If S 1 and S 3 fail at the same time, the condition that the rectifier is affected by the open circuit fault of S 1 is ia < 0, and the condition that the rectifier is affected by the open circuit fault of S 3 is i b < 0, so there are 10 areas in the 12 areas ( Z 1 and Z 4 ~ Z 12 ) are affected by faults, and two areas (Z 8 , Z 9 ) are affected by two switching tube faults at the same time, including sectors IV and V. In these two areas, under normal conditions S 1 , S 3 and S 6 participate in the work; when S 1 and S 3 fail, only the effective vector V 5 (001) and the zero vector V 0 (000) can participate in the synthesis The voltage vector, other effective vectors and zero vectors all become V 5 , so the action time of V 5 is α+β+γ, and the general formula of the fault vector is:
Vfault3=(α+β+γ)Vactive+γVzero (5)V fault3 =(α+β+γ)V active +γV zero (5)
其余8个区域(Z1、Z4~Z7、Z10~Z12)仅受单管故障影响,故障情况仍和单管开路故障情况类似。The remaining 8 regions (Z 1 , Z 4 ~Z 7 , Z 10 ~Z 12 ) are only affected by single-tube faults, and the fault situation is still similar to that of single-tube open-circuit faults.
如果S1和S4同时发生故障,整流器受S1开路故障影响的条件为ia<0,而受S4开路故障影响的条件为ib>0,故12个区域中共有8个区域(Z2~Z9)受故障影响,而其中4个区域(Z4~Z7)同时受两个开关管故障影响。两个故障管分别属于不同相桥臂的上下管,故在这4个区域中,无法产生零矢量V0和V7,其分别转换为其它有效矢量,这些有效矢量的作用时间被增加,其故障矢量通式为:If S 1 and S 4 fail at the same time, the condition that the rectifier is affected by the open circuit fault of S 1 is i a <0, and the condition that the rectifier is affected by the open circuit fault of S4 is i b >0, so there are 8 areas in the 12 areas (Z 2 ~ Z 9 ) are affected by faults, and four of them (Z 4 ~ Z 7 ) are affected by faults of two switching tubes at the same time. The two faulty tubes belong to the upper and lower tubes of different phase bridge arms respectively, so in these four areas, zero vectors V 0 and V 7 cannot be generated, which are respectively converted into other effective vectors, and the action time of these effective vectors is increased, and its The general formula of the fault vector is:
Vfault4=(α+γ)Vn+(β+γ)Vn+1 (6)V fault4 =(α+γ)V n +(β+γ)V n+1 (6)
图6为本发明所述三相桥式PWM整流器S1开路故障容错前后电压矢量合成图。采用不连续PWM(Discontinuous PWM,DPWM)技术,即使用另一个可用的零矢量,可实现对错误零矢量的补偿。对于电压矢量仅受故障零矢量影响的情况,如S1故障时的扇区III、扇区IV(Z5~Z8),采用DPWM式(2)被修正为Fig. 6 is a voltage vector composite diagram before and after open-circuit fault tolerance of the three-phase bridge PWM rectifier S 1 according to the present invention. By adopting a discontinuous PWM (Discontinuous PWM, DPWM) technology, that is, using another available zero vector, the compensation for the wrong zero vector can be realized. For the case where the voltage vector is only affected by the fault zero vector, such as sector III and sector IV (Z 5 ~ Z 8 ) when S 1 is faulty, the DPWM formula (2) is corrected as
其中故障零矢量γV4被移除,而γV0被增加以实现补偿。S1故障容错前后扇区III电压矢量合成图如图6(a)所示,补偿后的电压矢量与原参考矢量V*一致,故通过修正开关模式,可完全修复参考电压矢量,即在这些区域恢复实现正常的控制。Wherein the fault zero vector γV 4 is removed and γV 0 is increased for compensation. Figure 6(a) shows the composite voltage vector diagram of sector III before and after S1 fault tolerance. The voltage vector after compensation It is consistent with the original reference vector V * , so by modifying the switching mode, the reference voltage vector can be completely restored, that is, normal control can be restored in these areas.
对于电压矢量受故障零矢量和一个故障有效矢量共同影响的情况,如S1故障的扇区II、扇区V部分区域(Z4、Z9)。由于故障导致只有一个可用的有效矢量Vactive,故完全的矢量补偿是不可能实现的。但可以采用矢量映射的方法,实现对矢量的部分补偿,补偿后的电压矢量将最大程度地接近原参考矢量。扇区II中如图6(b)所示,V3是临近的可用有效矢量,故将原参考矢量正交映射到V3上,得到补偿后的电压矢量并采用DPWM技术,式(3)被修正为For the case where the voltage vector is jointly affected by a fault zero vector and a fault effective vector, such as the faulty sector II and part of sector V (Z 4 , Z 9 ) of S 1 . Full vector compensation is not possible due to failures resulting in only one active vector V active being available. However, the method of vector mapping can be used to realize partial compensation of the vector, and the compensated voltage vector will be as close as possible to the original reference vector. As shown in Figure 6(b) in sector II, V 3 is the adjacent available effective vector, so the original reference vector is orthogonally mapped to V 3 to obtain the compensated voltage vector And using DPWM technology, formula (3) is revised as
其中故障零矢量γV4被移除,γV0被增加以实现补偿,而为了尽可能接近原矢量,αV3/2也被移除,其作用时间加在V0上。在此区域内,通过使用临近的有效矢量参与补偿,能最大程度恢复系统性能。Among them, the fault zero vector γV 4 is removed, γV 0 is increased to realize compensation, and in order to get as close as possible to the original vector, αV 3 /2 is also removed, and its action time is added to V 0 . In this region, the system performance can be restored to the greatest extent by using the adjacent effective vectors to participate in the compensation.
式(7)和(8)可以表示为适用于S1~S6的通式:Formulas (7) and (8) can be expressed as general formulas applicable to S 1 to S 6 :
即式(4)可被修正为(9)。That is, formula (4) can be revised as (9).
如之前分析,多个开关管同时开路故障可认为是单管故障情况的组合。从容错控制角度考虑,对于仅受单管故障影响的区域,可使用单管故障容错控制方法;而对于受多个开关管故障共同影响的区域,应采用特殊的容错控制方法,下面具体讨论:As analyzed before, the simultaneous open-circuit fault of multiple switching tubes can be considered as a combination of single-switching fault conditions. From the perspective of fault-tolerant control, a single-switch fault-tolerant control method can be used for areas that are only affected by single-switch faults; and a special fault-tolerant control method should be used for areas that are jointly affected by multiple switching tube faults, as discussed below:
如果同一桥臂的两个开关管(如S1和S2)同时发生故障,Z1~Z12中每个区域中都只受一个开关管故障影响,可采用单管故障容错控制方法,实现容错运行目的。If two switching tubes (such as S 1 and S 2 ) of the same bridge arm fail at the same time, each area in Z 1 ~ Z 12 is only affected by the fault of one switching tube, and a single-switch fault-tolerant control method can be adopted to realize Fault-tolerant operation purpose.
如果三个桥臂上管的两个或下管的两个(如S1和S3)同时发生故障,Z1~Z12中的Z8、Z9同时受两个开关管故障影响。此时故障矢量由一个剩余可用的有效矢量V5和零矢量V0合成。由于V5是最临近的可用矢量,故可采用部分补偿的方法。If two of the upper tubes or two of the lower tubes (such as S 1 and S 3 ) of the three bridge arms fail at the same time, Z 8 and Z 9 among Z 1 to Z 12 are simultaneously affected by the failure of the two switch tubes. At this time, the fault vector is synthesized by a remaining valid vector V5 and zero vector V0 . Since V 5 is the nearest available vector, a partial compensation method can be used.
如果三个上管中的一个和三个下管中的一个(如S1和S4)同时发生故障,Z1~Z12中的Z4~Z7同时受两个开关管故障影响。此时没有可用的零矢量,因此畸变矢量无法实现补偿。If one of the three upper transistors and one of the three lower transistors (such as S 1 and S 4 ) fails simultaneously, Z 4 to Z 7 among Z 1 to Z 12 are simultaneously affected by the failure of two switching transistors. There is no zero vector available at this time, so the distortion vector cannot be compensated.
图7为本发明所述三相桥式PWM整流器S1开路故障容错前后扇区III开关模式图。图7(a)为开关管S1开路故障后的扇区III内的开关模式,图中用阴影标出对比正常情况下减少的部分,空间电压矢量中增加了故障零矢量γV4,原零矢量γV7被移除,即S1导通时间减少2γ。图7(b)为开关管S1开路故障容错控制措施采取后的扇区III内的开关模式,图中用阴影标出对比故障情况下减少的部分,故障零矢量γV4被移除,而γV0被增加以实现补偿,即S3与S5导通时间均减少2γ。Fig. 7 is a switch mode diagram of sector III before and after the open-circuit fault tolerance of the three-phase bridge PWM rectifier S 1 according to the present invention. Fig. 7(a) is the switching mode in sector III after the switch tube S 1 has an open-circuit fault. The vector γV 7 is removed, ie the S1 on-time is reduced by 2γ. Fig. 7(b) shows the switching mode in sector III after the switch tube S 1 open-circuit fault fault-tolerant control measures are taken. In the figure, the reduced part compared with the fault case is marked by hatching, the fault zero vector γV 4 is removed, and γV 0 is increased to achieve compensation, that is, the conduction times of S 3 and S 5 are reduced by 2γ.
图8为本发明所述三相桥式PWM整流器S1开路故障容错前后扇区II开关模式图。图8(a)为开关管S1开路故障后的扇区II内的开关模式,图中用阴影标出对比正常情况下减少的部分,空间电压矢量中增加了故障零矢量γV4,原零矢量γV7被移除;增加了故障矢量αV3,原有效矢量αV2被移除,即S1导通时间共减少2(α+γ)。图8(b)为开关管S1开路故障容错控制措施采取后的扇区II内的开关模式,图中用阴影标出对比故障情况下减少的部分,故障零矢量γV4被移除,γV0被增加以实现补偿,而为了尽可能接近原矢量,αV3/2也被移除,其作用时间加在V0上,即S3与S5导通时间分别减少α+2γ和2γ。Fig. 8 is a switch mode diagram of sector II before and after the open-circuit fault tolerance of the three-phase bridge PWM rectifier S 1 according to the present invention. Fig. 8(a) is the switching mode in sector II after the switch tube S 1 has an open circuit fault. The vector γV 7 is removed; the fault vector αV 3 is added, and the original effective vector αV 2 is removed, that is, the conduction time of S 1 is reduced by 2 (α+γ). Fig. 8(b) is the switching mode in sector II after the switch tube S 1 open-circuit fault fault-tolerant control measures are taken. In the figure, the reduced part is marked by hatching compared with the fault case. The fault zero vector γV 4 is removed, and γV 0 is added to achieve compensation, and in order to get as close as possible to the original vector, αV 3 /2 is also removed, and its action time is added to V 0 , that is, the conduction time of S 3 and S 5 is reduced by α+2γ and 2γ respectively.
图9为本发明所述三相桥式PWM整流器S1开路故障容错前后αβ坐标系下的电流矢量轨迹图。图9(a)所示为正常状态下,电流轨迹为一个完整的圆;图9(b)所示为S1开路故障后,电流轨迹左半部分严重缺失;图9(c)所示为实施PWM开关模式修正算法后,电流轨迹被补偿为近似一个圆,但在扇区II有缺口,因为该区域只能实现部分补偿。FIG. 9 is a diagram of the current vector trajectory in the αβ coordinate system before and after the open-circuit fault tolerance of the three-phase bridge PWM rectifier S 1 according to the present invention. Figure 9(a) shows that under normal conditions, the current trajectory is a complete circle; Figure 9(b) shows that after the S 1 open circuit fault, the left half of the current trajectory is seriously missing; Figure 9(c) shows that After implementing the PWM switching mode correction algorithm, the current trajectory is compensated to approximate a circle, but there is a gap in sector II because only partial compensation can be achieved in this region.
综上所述:本发明采用上述技术方案,可以对三相桥式PWM整流器实现单个开关管开路或多个开关管同时开路故障的容错控制运行。该方案基于DSP编程,算法简单易实现,无需增加额外的硬件成本。能较好地改善故障情况下的三相电流平衡度,减小直流侧电压纹波,提升系统性能和可靠性。To sum up: the present invention adopts the above-mentioned technical scheme, and can realize the fault-tolerant control operation of a single switching tube open circuit or multiple switching tubes simultaneously open circuit faults for the three-phase bridge PWM rectifier. The program is based on DSP programming, and the algorithm is simple and easy to implement without adding additional hardware costs. It can better improve the three-phase current balance under fault conditions, reduce the voltage ripple on the DC side, and improve system performance and reliability.
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