CN106301136B - A kind of switched reluctance machines method for reconstructing phase current with fault tolerance - Google Patents
A kind of switched reluctance machines method for reconstructing phase current with fault tolerance Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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Abstract
A kind of switched reluctance machines method for reconstructing phase current with fault tolerance disclosed by the invention carries out phase current reconstruction in different conducting interval solutions systems of linear equations by changing current sensor installation site.Failure is biased for current sensor, sensor positioning is biased using current deviation value at every road driving signal three continuous rising edges, calculates update current offset value in real time, bias current is eliminated using Direct Current compensation or the compensation of bias current proportional integration.For copped wave tube short circuit failure in power inverter, fault diagnosis is carried out using phase current slope and chopping signal synchronization and step-out relationship, for position conduction pipe short trouble, fault diagnosis is carried out using the time of afterflow length in adjacent negative voltage afterflow section, and introduces virtual-sensor method and realizes the fault-tolerant reconstruct of phase current.Main switch open-circuit fault does not influence, and suitable for the switched reluctance machines of a variety of numbers of phases, electric current reconstructing is accurate, and fault-tolerant ability is strong, easily extends, and has good engineering application value.
Description
Technical field
The present invention relates to a kind of switched reluctance machines method for reconstructing phase current with fault tolerance, suitable for any phase
Switched reluctance machines phase current reconstruction.
Background technique
Traditional switched reluctance machines phase current acquisition methods are mainly installed a current sensor by every phase and are realized, right
For N phase switch reluctance motor, need N number of current sensor, higher cost, and current sensor that current offset event occurs altogether
After barrier, lack effective bias current compensation strategy.Switched reluctance machines have serious nonlinear characteristic, can not be according to accurate
Mathematical model carry out phase current observation.Therefore it is the usage quantity for reducing current sensor, improves its fault-tolerant ability, need
It is proposed the new phase current reconstruction strategy with good fault-tolerant ability.
Summary of the invention
Technical problem: the purpose of the present invention is a kind of with fault tolerance for there are problem, providing in prior art
Switched reluctance machines method for reconstructing phase current.
Technical solution: the present invention has the three-phase switch reluctance machine method for reconstructing phase current of fault tolerance:
1. a kind of switched reluctance machines method for reconstructing phase current with fault tolerance, it is characterised in that: by changing electricity
The three-phase windings of different the number of turns are passed through current sensor according to certain orientation by the installation site of flow sensor；According to switch magnetic
The working principle for hindering motor, is divided into three different sections for each rotor cycle, carries out respectively to phase current in each section
Reconstruct；The current information composition in all sections can be obtained into the complete current waveform of each cycle；Connected based on every road driving signal
Current deviation value at continuous three rising edges is biased the positioning of current sensor, using based on deviation direct compensation and deviation
Proportional integration compensation policy carries out current offset elimination；For copped wave tube short circuit failure, it is based on phase current slope and chopping signal
Synchronized relation carry out fault diagnosis, for position conduction pipe short trouble, using adjacent negative voltage afterflow section afterflow when
Between length carry out fault diagnosis, and using introduce virtual-sensor method realize phase current fault-tolerant reconstruct；It is proposed mutually electricity
Flowing restructing algorithm, main switch open-circuit fault does not influence；Wherein, the switched reluctance machines phase current reconstruction with fault tolerance walks
Suddenly are as follows:
(1) rotor cycle is divided into tri- sections AI, BI, CI: opening section to open section to B phase from A phase is AI
Section, opening section to open section to C phase from B phase is the section BI, and opening section to open section to A phase from C phase is the section CI；?
The section AI, phase current reconstruction expression formula are as follows:
Wherein, a1, a2, a3Respectively A phase winding, B phase winding and C phase winding pass through the number of turns of current sensor 1；b1, b2,
b3Respectively A phase winding, B phase winding and C phase winding pass through the number of turns of current sensor 2；iL1, iL2To be used current sensor
Current value, ia, ib, icThe current value of the A phase winding, B phase winding and C phase winding that respectively reconstruct；
In the section BI, phase current reconstruction expression formula are as follows:
In the section CI, phase current reconstruction expression formula are as follows:
(2) failure is biased for current sensor, selectes a1, a2, a3It is 1,1,1, selectes b1, b2, b3It is 1, -1,2, obtains
The relationship of the section AI, BI, CI bias current and phase current deviation are as follows:
Under 1 bias conditions of sensor,
Wherein, isetFor bias current value, Δ ia, Δ ib, Δ icTo reconstruct current deviation value；
Under 2 bias conditions of sensor,
(3) the Δ i of AI rising edge is chosenb, BI rising edge Δ ic, CI rising edge Δ iaIt is spread as positioning biased electrical
The foundation of sensor, if Δ ib、Δic、ΔiaRespectively positive current, negative current, positive current, then 1 positive bias failure of current sensor,
If Δ ib、Δic、ΔiaRespectively negative current, positive current, negative current, then 1 negative bias failure of current sensor, if Δ ib、Δic、
ΔiaRespectively negative current, positive current, positive current, then 2 positive bias failure of current sensor, if Δ ib、Δic、ΔiaRespectively
Positive current, negative current, negative current, then 2 negative bias failure of current sensor；
(4) after navigating to offset sensors, according to the current deviation value calculated in real time using direct compensation or ratio product
Compensation policy is divided to carry out fault-tolerant reconstruct；
(5) under normal circumstances, the relationship of current slope di/dt and chopping signal P are as follows:
Wherein, UsFor supply voltage, L is machine winding inductance, and i is phase current, and R is winding internal resistance, and θ is rotor-position
Angle, ω are rotor angular speed；
After short trouble occurs for copped wave pipe, the relationship of current slope di/dt and chopping signal P are as follows:
The exclusive or relationship for choosing current slope and chopping signal carries out copped wave pipe fault diagnosis as fault characteristic value, works as electricity
It is to judge that short trouble occurs for copped wave pipe that the exclusive or relationship of stream slope and chopping signal, which is high,；
For position conduction pipe short trouble, mutually diagnosed with the negative voltage afterflow relationship of a upper phase using being diagnosed,
After the negative voltage time of afterflow for being diagnosed phase is more than twice of upper phase negative voltage time of afterflow, that is, judge that position conduction pipe is sent out
Raw short trouble；
(6) it is directed to main switch short circuit fault condition, virtual current sensor is introduced and carries out fault-tolerant reconstruct；Utilize a upper phase
Electric current reconstructing value solving virtual current sensor current value,
viL3k=c1iak-1+c2ibk-1+c3ick-1 (12)
Wherein, c1、c2、c3Respectively A phase winding, B phase winding and C phase winding by the number of turns of virtual current sensor,
iak-1、ibk-1、ick-1For k-1 moment phase current reconstruction value, viL3kFor the value of the virtual current sensor at k moment；
c1、c2、c3It is determined according to following principle: if current differential of the A phase at the k-1 moment is equal to three-phase current difference
In minimum value, coefficient of correspondence c1、c2、c3Respectively 1,0,0；If it is poor that current differential of the B phase at the k-1 moment is equal to three-phase current
Minimum value in value, coefficient of correspondence c1、c2、c3Respectively 0,1,0；If current differential of the C phase at the k-1 moment is equal to three-phase current
Minimum value in difference, coefficient of correspondence c1、c2、c3Respectively 0,0,1；
Thus, the section electric current reconstructing value that the three-phase under short circuit fault condition simultaneously turns on are as follows:
The current value in each cycle can be obtained in conjunction with the electric current reconstructing value in normal interval.
The utility model has the advantages that the present invention is applicable in the phase current reconstruction of any number of phases switched reluctance machines.In each rotor week
The different sections of phase carry out current information calculating by solution system of linear equations, and each phase current information in all sections is combined to obtain
Complete current information reduces the quantity of current sensor.Failure is biased for current sensor, has been obtained inclined based on electric current
The offset sensors localization method and bias current compensation method of difference.For main switch short trouble, obtain based on electric current
The copped wave tube short circuit method for diagnosing faults of slope and chopping signal and position conduction pipe short trouble diagnosis based on time of afterflow
Method, and fault-tolerant reconstruct is carried out by introducing virtual current sensor, reach the purpose of the present invention.The switched reluctance machines phase
Electric current reconstructing method, lays particular emphasis on algorithm, reduces the usage quantity of current sensor, and improves fault-tolerant re-configurability, practical
Property it is strong, have extensive engineering application value.
Detailed description of the invention
Fig. 1 is three-phase switch reluctance machine current sensor schematic view of the mounting position；
Fig. 2 is three-phase switch reluctance machine current sensor and winding relation schematic diagram；
Fig. 3 is three-phase switch reluctance machine interval division schematic diagram；
Fig. 4 is three-phase switch reluctance machine current offset direct compensation schematic diagram；
Fig. 5 is three-phase switch reluctance machine current offset proportional integration compensation schematic diagram.
Specific embodiment
One embodiment of the present of invention is further described with reference to the accompanying drawing:
The present invention is by taking three-phase switch reluctance machine as an example, as shown in Figure 1, three-phase windings are with different umber of turn different directions
Pass through two current sensor LEM1And LEM2.As shown in Fig. 2, selected a1, a2, a3It is 1,1,1, selectes b1, b2, b3It is 1, -1,2,
The reference positive direction of current sensor is from inside to outside.A, B, C phase winding pass through LEM according to reference positive direction with 1 circle1, A, C
Phase winding passes through LEM according to reference positive direction with 1 circle, 2 circles respectively2, B phase winding is with 1 circle according to the phase negative side of reference positive direction
To passing through LEM2。
Three-phase switch reluctance machine method for reconstructing phase current with fault tolerance, the interval division of each rotor cycle is such as
Shown in Fig. 3, opening section to open section to B phase from A phase is the section AI, and opening section to open section to C phase from B phase is the area BI
Between, opening section to open section to A phase from C phase is the section CI.
(1) in the section AI, phase current reconstruction expression formula are as follows:
Wherein, a1, a2, a3Respectively A phase winding, B phase winding and C phase winding pass through the number of turns of current sensor 1；b1, b2,
b3Respectively A phase winding, B phase winding and C phase winding pass through the number of turns of current sensor 2；iL1, iL2To be used current sensor
Current value, ia, ib, icThe current value of the A phase winding, B phase winding and C phase winding that respectively reconstruct.
In the section BI, phase current reconstruction expression formula are as follows:
In the section CI, phase current reconstruction expression formula are as follows:
(2) failure is biased for current sensor, selectes a1, a2, a3It is 1,1,1, selectes b1, b2, b3It is 1, -1,2, obtains
The relationship of the section AI, BI, CI bias current and phase current deviation are as follows:
Under 1 bias conditions of sensor,
Wherein, isetFor bias current value, Δ ia, Δ ib, Δ icTo reconstruct current deviation value.
Under 2 bias conditions of sensor,
(3) the Δ i of AI rising edge is chosenb, BI rising edge Δ ic, CI rising edge Δ iaIt is spread as positioning biased electrical
The foundation of sensor, if Δ ib、Δic、ΔiaRespectively positive current, negative current, positive current, then 1 positive bias failure of current sensor,
If Δ ib、Δic、ΔiaRespectively negative current, positive current, negative current, then 1 negative bias failure of current sensor, if Δ ib、Δic、
ΔiaRespectively negative current, positive current, positive current, then 2 positive bias failure of current sensor, if Δ ib、Δic、ΔiaRespectively
Positive current, negative current, negative current, then 2 negative bias failure of current sensor.
(4) after navigating to offset sensors, as shown in figure 4, can be according to the current deviation value calculated in real time using straight
It connects compensation policy and realizes fault-tolerant reconstruct.After current offset value is calculated for the first time, path 1 is blocked, and saves offset, from the
After secondary calculating obtains current offset value, if path 2 is open-minded when the absolute value of current offset value is greater than 0.1A, compensation is avoided to vibrate
Problem.As shown in figure 5, fault-tolerant reconstruct can also be carried out according to proportional integration compensation policy.After current offset value is calculated, lead to
Proportional-plus-integral action is crossed to eliminate bias.
(5) under normal circumstances, the relationship of current slope di/dt and chopping signal P are as follows:
Wherein, UsFor supply voltage, L is machine winding inductance, and i is phase current, and R is winding internal resistance, and θ is rotor-position
Angle, ω are rotor angular speed.
After short trouble occurs for copped wave pipe, the relationship of current slope di/dt and chopping signal P are as follows:
The exclusive or relationship for choosing current slope and chopping signal carries out copped wave pipe fault diagnosis as fault characteristic value, works as electricity
It is to judge that short trouble occurs for copped wave pipe that the exclusive or relationship of stream slope and chopping signal, which is high,；
For position conduction pipe short trouble, mutually diagnosed with the negative voltage afterflow relationship of a upper phase using being diagnosed,
After the negative voltage time of afterflow for being diagnosed phase is more than twice of upper phase negative voltage time of afterflow, i.e. position conducting occurs for judgement
Tube short circuit failure.
(6) it is directed to main switch short circuit fault condition, virtual current sensor is introduced and carries out fault-tolerant reconstruct；Utilize a upper phase
Electric current reconstructing value solving virtual current sensor current value,
viL3k=c1iak-1+c2ibk-1+c3ick-1 (12)
Wherein, c1、c2、c3Respectively A phase winding, B phase winding and C phase winding by the number of turns of virtual current sensor,
iak-1、ibk-1、ick-1For k-1 moment phase current reconstruction value, viL3kFor the value of the virtual current sensor at k moment.
c1、c2、c3It is determined according to following principle: if current differential of the A phase at the k-1 moment is equal to three-phase current difference
In minimum value, coefficient of correspondence c1、c2、c3Respectively 1,0,0；If it is poor that current differential of the B phase at the k-1 moment is equal to three-phase current
Minimum value in value, coefficient of correspondence c1、c2、c3Respectively 0,1,0；If current differential of the C phase at the k-1 moment is equal to three-phase current
Minimum value in difference, coefficient of correspondence c1、c2、c3Respectively 0,0,1.
Thus, the section electric current reconstructing value that the three-phase under short circuit fault condition simultaneously turns on are as follows:
The current value in each cycle can be obtained in conjunction with the electric current reconstructing value in normal interval.
Claims (1)
1. a kind of switched reluctance machines method for reconstructing phase current with fault tolerance, it is characterised in that: passed by changing electric current
The three-phase windings of different the number of turns are passed through current sensor according to certain orientation by the installation site of sensor；According to switching magnetic-resistance electricity
Each rotor cycle is divided into three different sections, phase current is reconstructed respectively in each section by the working principle of machine；
The current information composition in all sections can be obtained into the complete current waveform of each cycle；Continuous three based on every road driving signal
Current deviation value at rising edge is biased the positioning of current sensor, using based on deviation direct compensation and deviation ratio product
Compensation policy is divided to carry out current offset elimination；It is synchronous with chopping signal based on phase current slope for copped wave tube short circuit failure
Relationship carries out fault diagnosis and utilizes the time of afterflow length in adjacent negative voltage afterflow section for position conduction pipe short trouble
Fault diagnosis is carried out, and realizes the fault-tolerant reconstruct of phase current using the method for introducing virtual-sensor；Itd is proposed phase current reconstruction
Main switch open-circuit fault does not influence algorithm；Wherein, with the switched reluctance machines phase current reconstruction step of fault tolerance are as follows:
(1) rotor cycle is divided into tri- sections AI, BI, CI: opening section to open section to B phase from A phase is the section AI,
Opening section to open section to C phase from B phase is the section BI, and opening section to open section to A phase from C phase is the section CI；In the area AI
Between, phase current reconstruction expression formula are as follows:
Wherein, a1, a2, a3Respectively A phase winding, B phase winding and C phase winding pass through the number of turns of current sensor 1；b1, b2, b3Point
Not Wei A phase winding, B phase winding and C phase winding pass through the number of turns of current sensor 2；iL1, iL2By use current sensor
Current value, ia, ib, icThe current value of the A phase winding, B phase winding and C phase winding that respectively reconstruct；
In the section BI, phase current reconstruction expression formula are as follows:
In the section CI, phase current reconstruction expression formula are as follows:
(2) failure is biased for current sensor, selectes a1, a2, a3It is 1,1,1, selectes b1, b2, b3Be 1, -1,2, obtain AI,
The relationship of the section BI, CI bias current and phase current deviation are as follows:
Under 1 bias conditions of sensor,
Wherein, isetFor bias current value, Δ ia, Δ ib, Δ icTo reconstruct current deviation value；
Under 2 bias conditions of sensor,
(3) the Δ i of AI rising edge is chosenb, BI rising edge Δ ic, CI rising edge Δ iaAs positioning bias current sensor
Foundation, if Δ ib、Δic、ΔiaRespectively positive current, negative current, positive current, then 1 positive bias failure of current sensor, if Δ
ib、Δic、ΔiaRespectively negative current, positive current, negative current, then 1 negative bias failure of current sensor, if Δ ib、Δic、Δia
Respectively negative current, positive current, positive current, then 2 positive bias failure of current sensor, if Δ ib、Δic、ΔiaRespectively positive electricity
Stream, negative current, negative current, then 2 negative bias failure of current sensor；
(4) it after navigating to offset sensors, is mended according to the current deviation value calculated in real time using direct compensation or proportional integration
It repays strategy and carries out fault-tolerant reconstruct；
(5) under normal circumstances, the relationship of current slope di/dt and chopping signal P are as follows:
Wherein, UsFor supply voltage, L is machine winding inductance, and i is phase current, and R is winding internal resistance, and θ is rotor position angle, and ω is
Rotor angular speed；
After short trouble occurs for copped wave pipe, the relationship of current slope di/dt and chopping signal P are as follows:
The exclusive or relationship for choosing current slope and chopping signal carries out copped wave pipe fault diagnosis as fault characteristic value, when electric current is oblique
It is to judge that short trouble occurs for copped wave pipe that the exclusive or relationship of rate and chopping signal, which is high,；
For position conduction pipe short trouble, is mutually diagnosed with the negative voltage afterflow relationship of a upper phase using being diagnosed, work as quilt
After the negative voltage time of afterflow of diagnosis phase is more than twice of upper phase negative voltage time of afterflow, that is, it is short to judge that position conduction pipe occurs
Road failure；
(6) it is directed to main switch short circuit fault condition, virtual current sensor is introduced and carries out fault-tolerant reconstruct；Utilize the electricity of a upper phase
The current value of reconstruction value solving virtual current sensor is flowed,
viL3k=c1iak-1+c2ibk-1+c3ick-1 (12)
Wherein, c1、c2、c3The respectively the number of turns of A phase winding, B phase winding and C phase winding by virtual current sensor, iak-1、
ibk-1、ick-1For k-1 moment phase current reconstruction value, viL3kFor the value of the virtual current sensor at k moment；
c1、c2、c3It is determined according to following principle: if current differential of the A phase at the k-1 moment is equal in three-phase current difference
Minimum value, coefficient of correspondence c1、c2、c3Respectively 1,0,0；If current differential of the B phase at the k-1 moment is equal in three-phase current difference
Minimum value, coefficient of correspondence c1、c2、c3Respectively 0,1,0；If current differential of the C phase at the k-1 moment is equal to three-phase current difference
In minimum value, coefficient of correspondence c1、c2、c3Respectively 0,0,1；
Thus, the section electric current reconstructing value that the three-phase under short circuit fault condition simultaneously turns on are as follows:
The current value in each cycle can be obtained in conjunction with the electric current reconstructing value in normal interval.
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| CN108075710B (en) * | 2017-04-19 | 2020-08-25 | 烟台仙崴机电有限公司 | Modeling, diagnosing and fault-tolerant control method for interphase short circuit fault of switched reluctance motor |
| CN107681946B (en) * | 2017-09-15 | 2019-02-26 | 西北工业大学 | A kind of switched reluctance machines method for reconstructing phase current based on bus current sensor |
| CN109120201B (en) * | 2018-11-08 | 2021-07-20 | 中国矿业大学 | Method for reconstructing phase current of switched reluctance motor |
| CN111327217B (en) * | 2020-01-07 | 2021-06-08 | 中国矿业大学 | Design method of fault-tolerant power converter of switched reluctance motor |
| CN113740593A (en) * | 2021-10-10 | 2021-12-03 | 郑州大学 | Phase current detection method of switched reluctance motor system considering active error compensation |
| CN115508742B (en) * | 2022-09-22 | 2023-04-18 | 南京航空航天大学 | Open-circuit fault diagnosis method for double-salient electro-magnetic pole power converter |
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