CN107153147A - Shorted-turn fault detection method for five phase OWFTFSCW ipm motors - Google Patents
Shorted-turn fault detection method for five phase OWFTFSCW ipm motors Download PDFInfo
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- CN107153147A CN107153147A CN201710423064.6A CN201710423064A CN107153147A CN 107153147 A CN107153147 A CN 107153147A CN 201710423064 A CN201710423064 A CN 201710423064A CN 107153147 A CN107153147 A CN 107153147A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Abstract
It is used for the shorted-turn fault detection method of five phase OW FTFSCW ipm motors the invention discloses a kind of, comprises the following steps：Step 1：Actual current in five phase windings detected using current sensor；Step 2：The estimation torque value of motor is obtained using torque calculation formula；Step 3：The actual torque output valve of now motor is measured by torque sensor；Step 4：The reality output torque of motor is subtracted each other with estimation torque, torque deviation is obtained；Step 5：Torque deviation is filtered out into AC compounent by wave filter, the DC component in torque deviation is obtained, if the presence of DC component then judges to there occurs shorted-turn fault.The method that the present invention is provided is realized fairly simple, and less demanding to controller, amount of calculation is small, is conducive to Project Realization；This method can effectively detect the generation of shorted-turn fault during motor dynamics, and simple to operate, False Rate is low.
Description
Technical field
It is more particularly to a kind of to be used for the circle of five phase OW FTFSCW-IPM motors the invention belongs to electrical fault detection field
Between short circuit failure detection method.
Background technology
The adverse effect brought for effective alleviating energy crisis and environmental pollution, greatly develops full electric power in the world
It is a kind of effective solution route to drive automobile.The performance of Motor for Electric Automobile concern whole drive system runnability and
Reliability, the development of rare earth material causes permagnetic synchronous motor having very compared with other motors in terms of power density and efficiency
Strong competitiveness, thus into the preference scheme of electric automobile.Motor driven systems, which break down, will have influence on whole system
The normal work of system, or even occur security incident.Therefore fault diagnosis research is carried out to motor driven systems, improves motor driving
System reliability has realistic meaning, and interturn in stator windings short trouble has concealed spy as a kind of common motor side failure
Point, such as can not in time diagnose and be out of order, it will make electric machine operating characteristic by extreme influence, or even develop into more serious event
Barrier.
Existing document converts (Fast Fourier in the case of motor high speed using fast Fourier analysis
Transformation, FFT), the generation of shorted-turn fault is detected by detecting the amplitude of 9 subharmonic, but in motor
Under dynamic operating conditions, fft analysis will be difficult to fault diagnosis.Therefore, there is document to introduce wavelet transform (Discrete
Wavelet Transform, DWT), it can realize motor low speed, middling speed and high speed situation dynamic operation condition shorted-turn fault electricity
Stream is analyzed, and judges the generation of failure, but this method is excessively complicated, is unfavorable for Project Realization.
The content of the invention
Goal of the invention：The problem of present invention exists for prior art can more accurately, simply be sentenced there is provided one kind
The generation of disconnected shorted-turn fault mutually opens winding fractional-slot concentratred winding fault-tolerant motor (open-winding for five
fault-tolerant fractional-slot concentrated winding interior permanent
Magnet, hereinafter referred to as：OW FTFSCW-IPM) shorted-turn fault degree detecting method.
Technical scheme：The invention provides a kind of shorted-turn fault detection for being used for five phase OW FTFSCW-IPM motors
Method, comprises the following steps：
Step 1：Actual current in five phase windings detected using current sensor；
Step 2：The torque value for obtaining estimating under motor normal operation using torque calculation formula；
Step 3：The actual torque output valve of now motor is measured by torque sensor；
Step 4：The reality output torque of motor is subtracted each other with estimation torque, torque deviation is obtained；
Step 5：Torque deviation is filtered out into AC compounent by wave filter, the DC component in torque deviation is obtained, if
The presence for having DC component then judges to there occurs shorted-turn fault.
Further, torque calculation formula is in the step 2Wherein, TeRepresent motor normal work feelings
The torque value estimated under condition, p is motor number of pole-pairs, iqFor the quadrature axis current of motor, ψPMFor permanent magnet flux linkage amplitude.
Further, the torque sensor used in the step 3 for high-precision contactless transmission mode RK060.
Further, the wave filter used in the step 5 is one-order lag digital filtering device.
Operation principle：The present invention is converted by the mathematical modeling of motor under fault model using virtual a phase currents, by event
Torque under the conditions of barrier is compared the DC component expression obtained in torque deviation value with torque estimating value when normally running
Formula, and deviation expression formula is substituted into by the initial phase for asking for inter-turn short circuit current, the final expression formula of DC component is obtained, is led to
The DC component of monitoring torque deviation in real time is crossed to judge the generation of shorted-turn fault.
Beneficial effect：Compared with prior art, the method that provides of the present invention realize it is fairly simple, to controller requirement not
Height, amount of calculation is small, is conducive to Project Realization.The diagnostic method is when non-shorted-turn fault occurs for machine winding, current sense
The electric current that device is detected is the actual current in winding, the electromagnetic torque calculated after coordinate transform and actually measured output
Torque is similar, and the appearance of DC component is not had, therefore speed change, variable load, phase shortage and pulse missing can occur for this method
Under conditions of effectively judge the generation of shorted-turn fault.This method can effectively detect circle during motor dynamics
Between short trouble generation, simple to operate, False Rate is low.
Brief description of the drawings
Fig. 1 is five phase OW FTFSCW-IPM motor A phase winding short trouble illustratons of model；
Fig. 2 is the actual torque and estimation torque and torque error figure before and after shorted-turn fault occurs；
Fig. 3 is the DC component figure of short circuit current flow and torque error；
Fig. 4 is the torque error DC component figure under the different situations in the case of speed change, variable load, phase shortage, pulse missing, its
Middle Fig. 4 (a) is the torque error DC component figure in the case of speed change；Fig. 4 (b) is the torque error DC component in the case of variable load
Figure；Fig. 4 (c) is the torque error DC component figure in the case of phase shortage；Fig. 4 (d) is that the torque error in the case of pulse missing is straight
Flow point spirogram.
Embodiment
The present invention is done below in conjunction with the accompanying drawings and further explained.
The present invention is theoretical based on design of electrical motor, and machine winding relevant parameter directly depends on total series connection circle of every phase winding
Number.When there is shorted-turn fault in the five-phase PMSM phase winding, it will cause motor stator side uneven.With
In five phase windings exemplified by a phase windings generation shorted-turn fault, if each phase winding number of turn is all mutually Ntotal, the short circuit in winding number of turn is
Nf, then the short-circuit turn ratioIntroduce short-circuit loop resistance RfTo represent the insulation damages degree of short-circuiting percentage, its value size takes
Certainly in short-circuit loop fault severity level.Compared with motor natural system of coordinates mathematical modeling under normal mode, five-phase induction motor failure
Illustraton of model is as shown in Figure 1.
According to the relation between resistance, inductance, counter electromotive force and umber of turn, following quantum relation can obtain：
Rb=Rc=Rd=Re=Rs, Ra1=(1- μ) Rs, Ra2=μ Rs；
Lb=Lc=Ld=Le=Ls, La1=(1- μ)2Ls, La2=μ2Ls；
Ma1b=Ma1c=Ma1d=Ma1e=(1- μ) Lm；
Ma2b=Ma2c=Ma2d=Ma2e=μ Lm；
Ma1a2=μ (1- μ) La；
ea1=(1- μ) ea, ea2=μ ea；
Wherein, Ra、Rb、Rc、Rd、ReThe resistance of the phase winding of a, b, c, d, e five in five-phase PMSM is represented respectively,
Ra1、La1、ea1It is that resistance, self-induction and the back-emf of shorted-turn fault coil do not occur for a phase windings respectively.Ra2、La2、ea2It is
Resistance, self-induction and the back-emf of shorted-turn fault occur for A phase windings, and the resistance of five phase windings is equal and is equal to stator winding
Resistance Rs；La、Lb、Lc、Ld、LeThe self-induction of this five phase winding of a, b, c, d, e in this five-phase PMSM of difference, Ls is stator
Winding self-induction；MxyThis five-phase PMSM x phases and y phase winding mutual inductances are expressed as, wherein, x=a, b, c, d, e, y=a, b,
c,d,e,x≠y。Ma1b, Ma1c, Ma1d, Ma1eIt is that to a phase windings shorted-turn fault coil does not occur for b, c, d, e phase winding respectively
Mutual inductance, Ma2b, Ma2c, Ma2d, Ma2eIt is that b, c, d, e phase winding a phase windings occur the mutual inductance of shorted-turn fault coil respectively.
ea、eb、ec、ed、eeRepresent that this five zero load in motor under normal circumstances of a, b, c, d, e is anti-electronic in five phase permanent-magnet synchronous respectively
Gesture, LmFor winding mutual inductance.
Based on each quantum relation of above-mentioned motor, the five-phase induction motor mathematical modeling under natural system of coordinates is extended into failure
Under pattern, according to circuit and the law of electromagnetic induction, the terminal voltage v at each phase winding two ends is added insfEqual to the electricity of each phase stator winding
Damping drop, the induced electromotive force caused by magnetic linkage changes and unloaded back-emf sum, gained voltage equation is：
Wherein, [vsf,abcde]=[va vb vc vd ve 0]TFor five phase winding ends and short-circuit loop voltage matrix, va,
vb, vc, vdAnd veIt is the anode-cathode voltage of each phase winding in the phase of motor a, b, c, d, e five；Resistance is wherein obtained according to following formula
Matrix [Rsf]：
RsFor winding internal resistance, RfFor short-circuit loop resistance, the insulation damage of winding is represented, the size of its value depends on event
The order of severity of barrier.Work as RfWhen → 0, the insulation for representing winding is all damaged, and failure is serious；Work as RfDuring → ∞, represent without reason
The generation of barrier.[isf,abcde]=[ia ib ic id ie if]TFor five phase windings and short-circuit loop current matrix, ia, ib, ic, id,
ieAnd ifRepresent each phase winding of motor and short-circuit loop respectively flows through electric current；Inductance matrix is obtained according to following formula
[Lsf,abcde]：
Wherein LsFor winding self-induction, LmFor winding mutual inductance.
For five phase windings and short-circuited winding counter electromotive force；
For five phase windings and the permanent magnet flux linkage matrix of short-circuiting percentage linkage, ψPMFor permanent magnet flux linkage amplitude, θeFor the electric anglec of rotation speed of motor
Degree.Residual voltage matrix is [V0]=v0[1 1 1 1 1 0]T, wherein v0Represent the amplitude of residual voltage.
When machine winding is passed through electric current, the electric current will produce armature reacting field, and and permanent magnetism in motor gas-gap
Magnetic field is superimposed so that air-gap field changes.According to electromagnetic laws, when being passed through electric current in stator winding, energization winding
Acted in magnetic field by electromagnetic force, because stator is fixed, rotor is by electromagnetic torque reaction force so as to rotate.Failure feelings
Five-phase PMSM electromagnetic torque T under conditionefIt is expressed as below：
Wherein, ea, eb, ec, edAnd eeThe no-load back electromotive force of motor under normal circumstances, ω are represented respectivelymFor the machine of motor
Tool angular speed, efThe back-emf produced for short-circuit loop winding linkage.
Under Frequency conversion control, the i under rotating coordinate system is obtained using rotating coordinate transformationdAnd iqElectric current, while through public affairs
FormulaCalculate the output electromagnetic torque T obtained under normal operatione, wherein p is motor number of pole-pairs, iqFor the friendship of motor
Shaft current.After generation shorted-turn fault, in the case where taking no action to, the evaluation method of electromagnetic torque keeps constant, by
Yu Weiji and short-circuit current influence so that the electromagnetic torque of estimation produces error with the result that torque sensor is measured,
Interturn short-circuit failure diagnosing method proposed by the present invention is then to constitute diagnosis algorithm using the error.
To formulaIt is further to be converted, according to ef=μ eaObtain down
Formula：
Wherein ia'=ia-μif, can be by ia' it is referred to as virtual a phase currents, in coordinate transform, utilize [ia’,ib,ic,id,
ie] replace [ia,ib,ic,id,ie], meter and short circuit current flow formulaInfluence, obtained according to below equation
To torque error Δ T：
Wherein, IfFor the amplitude of short circuit current flow, ω is that motor rotates angular rate, i'qThe direct-axis current of motor is represented,
For short circuit current flow initial phase.
Make the DC component of torque deviationShort circuit current flow vectorCan further it be write as：
Wherein A phase winding current vectors are represented,Represent A
The back-emf vector of shorted-turn fault occurs for phase winding.
For simplifying the analysis, ignore impedance voltage drop, obtain equation below：
WhereinTherefore basisObtain D ≈ 0.5p ψPMμIfsinδ。
From D, there is DC component, and the DC component ability when short trouble occurs in torque deviation
In the presence of as shown in Figure 2.It can be seen in the drawing that when not having failure, estimation torque is identical with actual torque, and torque is inclined
Difference is zero, and when short trouble occurs for t=0.05s, torque deviation is no longer zero, and is a friendship offset comprising DC component
Flow, Fig. 3 is that the DC component in the torque differences after AC compounent is filtered out using Kalman filter, it can be seen that the direct current point
Amount only just occurs that its size is related to the order of severity of failure, therefore the DC component can be made after shorted-turn fault
The criterion occurred for shorted-turn fault.Select suitable threshold value as decision content, wherein threshold value is the 10% of motor torque.Figure
4 (a)-(d) is the inspection to the DC component in torque differences in the dynamic processes such as speed change, variable load, phase shortage, pulse missing respectively
Survey results, it can be seen that when occurring other failures, this method still can effectively detect whether shorted-turn fault is sent out
It is raw, embody the robustness of this method.Judge the generation of shorted-turn fault, the diagnosis compared to the distribution of analysis current harmonics
Method greatly reduces analysis amount of calculation.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. a kind of be used for the shorted-turn fault detection method of five phase OW FTFSCW-IPM motors, it is characterised in that：Including following
Step：
Step 1：Actual current in five phase windings detected using current sensor；
Step 2：The torque value for obtaining estimating under motor normal operation using torque calculation formula；
Step 3：The actual torque output valve of now motor is measured by torque sensor；
Step 4：The reality output torque of motor is subtracted each other with estimation torque, torque deviation is obtained；
Step 5：Torque deviation is filtered out into AC compounent by wave filter, the DC component in torque deviation is obtained, if straight
The presence of flow component then judges to there occurs shorted-turn fault.
2. according to claim 1 be used for the shorted-turn fault detection method of five phase OW FTFSCW-IPM motors, it is special
Levy and be：Torque calculation formula is in the step 2Wherein, TeRepresent to estimate under motor normal operation
Torque value, p be motor number of pole-pairs, iqFor the quadrature axis current of motor, ψPMFor permanent magnet flux linkage amplitude.
3. according to claim 1 be used for the shorted-turn fault detection method of five phase OW FTFSCW-IPM motors, it is special
Levy and be：The torque sensor used in the step 3 for contactless transmission mode RK060.
4. according to claim 1 be used for the shorted-turn fault detection method of five phase OW FTFSCW-IPM motors, it is special
Levy and be：The wave filter used in the step 5 is first-order lag low pass filter.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554313A (en) * | 2018-05-31 | 2019-12-10 | 长城汽车股份有限公司 | Current fault detection method and device |
| CN113848477A (en) * | 2021-10-19 | 2021-12-28 | 南京理工大学 | Multi-phase permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06319294A (en) * | 1993-09-10 | 1994-11-15 | Nippon Parusumootaa Kk | Five-phase stepping motor |
| CN104753382A (en) * | 2015-04-10 | 2015-07-01 | 东南大学 | Fault tolerance inverter circuit of dual-power five-phase open-winding system for electric vehicle |
| CN106249150A (en) * | 2016-09-26 | 2016-12-21 | 东南大学 | Detection method for the shorted-turn fault degree of five phase OW FTFSCW ipm motors |
-
2017
- 2017-06-07 CN CN201710423064.6A patent/CN107153147B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06319294A (en) * | 1993-09-10 | 1994-11-15 | Nippon Parusumootaa Kk | Five-phase stepping motor |
| CN104753382A (en) * | 2015-04-10 | 2015-07-01 | 东南大学 | Fault tolerance inverter circuit of dual-power five-phase open-winding system for electric vehicle |
| CN106249150A (en) * | 2016-09-26 | 2016-12-21 | 东南大学 | Detection method for the shorted-turn fault degree of five phase OW FTFSCW ipm motors |
Non-Patent Citations (3)
| Title |
|---|
| WEI TANG ET AL.: ""Winding turn-to-turn faults detection of five-phase fault-tolerant permanent-magnet machine based on parametric model"", 《2012 15TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS)》 * |
| YING FAN ET AL.: ""Stator winding inter-turn short circuit faults severity detection controlled by OW-SVPWM without CMV of five-phase FTFSCW-IPM"", 《2015 18TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS)》 * |
| 祝卫霞: ""基于开绕组的五相FTFSCW-IPM驱动系统故障分析及诊断研究"", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554313A (en) * | 2018-05-31 | 2019-12-10 | 长城汽车股份有限公司 | Current fault detection method and device |
| CN110554313B (en) * | 2018-05-31 | 2021-10-19 | 蜂巢传动系统(江苏)有限公司保定研发分公司 | Current fault detection method and device |
| CN113848477A (en) * | 2021-10-19 | 2021-12-28 | 南京理工大学 | Multi-phase permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method |
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