CN108075710B - Modeling, diagnosing and fault-tolerant control method for interphase short circuit fault of switched reluctance motor - Google Patents

Modeling, diagnosing and fault-tolerant control method for interphase short circuit fault of switched reluctance motor Download PDF

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CN108075710B
CN108075710B CN201710258810.0A CN201710258810A CN108075710B CN 108075710 B CN108075710 B CN 108075710B CN 201710258810 A CN201710258810 A CN 201710258810A CN 108075710 B CN108075710 B CN 108075710B
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CN108075710A (en
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陈昊
王星
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Yantai Xianwei Electromechanical Co ltd
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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
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
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Abstract

The invention discloses a modeling, diagnosing and fault-tolerant control method for an interphase short-circuit fault of a switched reluctance motor. The installation position of the current sensor is optimally configured, and the incoming line current value and the outgoing line current value of each phase of winding are obtained on the premise of not increasing the number of the sensors. And performing fault diagnosis of the interphase short circuit by calculating the deviation of the incoming line current value and the outgoing line current value of each phase of winding in real time. And carrying out fault-tolerant control on the interphase short-circuit fault of the switched reluctance motor by adopting a three-closed-loop control strategy. The provided interphase short-circuit fault diagnosis and fault-tolerant control method is not influenced by a fault mode. The method is suitable for the switched reluctance motor with various phases, the fault diagnosis is rapid and accurate, the fault operation capacity of the switched reluctance motor is improved, and the method has good engineering application value.

Description

Modeling, diagnosing and fault-tolerant control method for interphase short circuit fault of switched reluctance motor
Technical Field
The invention relates to a modeling, diagnosing and fault-tolerant control method for an interphase short-circuit fault of a switched reluctance motor, which is suitable for modeling, diagnosing and fault-tolerant control of the interphase short-circuit fault of the switched reluctance motor of any phase.
Background
At present, few documents report modeling, detection and fault-tolerant control of interphase short-circuit faults of the switched reluctance motor. The conventional phase current obtaining method is mainly implemented by installing one current sensor per phase, but the method can only obtain the current value at the current installation position. After an interphase short-circuit fault occurs, currents on two sides of a short-circuit point are different, and current information on one side of the short-circuit point cannot be obtained by adopting a traditional current detection scheme. And after the fault occurs, an effective fault-tolerant control strategy is lacked. Therefore, in order to obtain current information of two sides of a short-circuit point of the switched reluctance motor, detect the interphase short-circuit fault in real time, improve the fault-carrying operation capacity of the motor, the current installation position needs to be optimized, and a new interphase short-circuit fault diagnosis and fault-tolerant strategy is provided.
Disclosure of Invention
The technical problem is as follows: the invention aims to provide a modeling, diagnosing and fault-tolerant control method for interphase short circuit faults of a switched reluctance motor, aiming at the problems in the prior art.
The technical scheme is as follows: the invention discloses a modeling, diagnosing and fault-tolerant control method for interphase short circuit faults of a switched reluctance motor, which comprises the following steps:
(1) neglecting the mutual inductance between phases, the voltage equation of each part of winding of the motor with the phase short circuit fault is as follows:
Figure BDA0001274170980000011
wherein, UA+M，UMA-terminal voltages of windings on both sides of the a-phase short-circuit point, respectively; u shapeB+N，UNB-terminal voltages of windings on both sides of the B-phase short-circuit point, respectively; u shapeCTerminal voltage of the C-phase winding; i.e. ial，iarThe values of incoming and outgoing currents of the A-phase winding are respectively; i.e. ibl，ibrThe values of incoming and outgoing currents of the B-phase winding are respectively; i.e. icThe values of incoming and outgoing currents of the C-phase winding are set; ral，RarRespectively the internal resistance values of the windings on two sides of the A-phase short circuit point; rbl，RbrThe internal resistance values of windings on two sides of the B-phase short circuit point are respectively; rcThe internal resistance value of the C-phase winding; Ψal，ΨarRespectively are flux linkage values of windings on two sides of the A-phase short circuit point; Ψbl，ΨbrRespectively the flux linkage values of windings on two sides of the B-phase short circuit point; ΨcThe flux linkage value of the C-phase winding is obtained; e.g. of the typeal，earRespectively are back electromotive force values of windings on two sides of the A-phase short circuit point; e.g. of the typebl，ebrThe back electromotive force values of windings on two sides of the B-phase short circuit point are respectively; e.g. of the typecIs the back emf value of the C-phase winding.
(2) Phase inductance LpAnd the phase linkage ΨpThe relationship of (1) is:
Figure BDA0001274170980000012
therein, ΨpThe flux linkage value of the single-phase winding; θ is the rotor position.
(3) According to kirchhoff's voltage law, there are:
Figure BDA0001274170980000021
wherein, UA+A-,UB+B-The terminal voltage values of the A-phase winding and the B-phase winding are obtained.
(4) According to kirchhoff's current law, at a fault node, there are:
Figure BDA0001274170980000022
wherein iRThe value of the current flowing through the short-circuit resistor.
(5) According to the electromechanical energy conversion principle, the torque of each phase of the fault motor is as follows:
Figure BDA0001274170980000023
wherein, TA+M，TMA-Respectively are torque values of windings on two sides of the A-phase short circuit point; t isB+N，TNB-Respectively obtaining torque values of windings on two sides of the B-phase short circuit point; t isC+C-The torque value of the C-phase winding is obtained; wmA+M，WmMA-Respectively are the magnetic common energy values of windings on two sides of the A-phase short circuit point; wmB+N，WmNB-Respectively are the magnetic common energy values of windings on two sides of the B-phase short circuit point; wmCIs the magnetic common energy value of the C-phase winding.
(6) The torque value of each phase winding of the motor is as follows:
Figure BDA0001274170980000024
wherein, TA+A-，TB+B-Torque values of the a-phase and B-phase windings are provided, respectively.
(7) The mechanical equation of the switched reluctance motor is as follows:
Figure BDA0001274170980000025
wherein, Ttot，TLRespectively a total torque value and a load torque value of the motor; j and D are respectively the rotational inertia value and the viscous friction coefficient of the motor.
(8) The total torque of the switched reluctance motor is:
Ttot＝TA+A-+TB+B-+TC+C-
(9) dividing a rotor period into three intervals of AI, BI and CI, wherein in the AI interval, the values of the incoming line current and the outgoing line current of the C-phase winding and the A-phase winding are as follows:
Figure BDA0001274170980000031
wherein, a1，b1，c1A, B, C phase winding incoming lines pass through sensor LEM1The number of times of (c); a is2，b2，c2For A, B, C phase winding inlet wire through sensor LEM2The number of times of (c); a is3，b3，c3For A, B, C phase winding outgoing line passing through sensor LEM3The number of times of (c); i.e. iLEM1，iLEM2，iLEM3Is the current value of the current sensor used.
In the BI interval, the incoming line current value and the outgoing line current value of the A-phase winding and the B-phase winding are as follows:
Figure BDA0001274170980000032
in the CI interval, the incoming line current value and the outgoing line current value of the B-phase winding and the C-phase winding are as follows:
Figure BDA0001274170980000033
in the AI interval, the difference values of the incoming and outgoing currents of the C-phase winding and the A-phase winding are respectively as follows:
icres＝icl-icriares＝ial-iar
wherein icres，iaresThe difference value of the incoming current and the outgoing current of the C-phase winding and the A-phase winding is respectively.
In a BI interval, the difference values of incoming currents and outgoing currents of the A-phase winding and the B-phase winding are respectively as follows:
iares＝ial-iaribres＝ibl-ibr
wherein ibresThe difference value of the incoming current and the outgoing current of the B-phase winding is obtained.
In the CI interval, the difference values of the incoming current and the outgoing current of the B-phase winding and the C-phase winding are respectively as follows:
ibres＝ibl-ibricres＝icl-icr
under normal conditions, iares＝ibres＝icres＝0。
When an interphase short circuit fault occurs, the absolute value of the difference value between the incoming current and the outgoing current corresponding to the fault is equal to or greater than zero. In order to prevent fault misdiagnosis, a comparison threshold is taken, and when the absolute value of the difference value between the incoming current and the outgoing current of the two-phase winding is equal to or greater than the absolute value, a fault is diagnosed. Set fault flag bit FgComprises the following steps:
Figure BDA0001274170980000041
(10) according to the fault diagnosis method in the step (9), after the fault is diagnosed and positioned, the fault-tolerant control is carried out by adopting a three-closed-loop control strategy, wherein the inner loop is a hysteresis controller II taking a current difference as a basis:
Figure BDA0001274170980000042
wherein, JiRIs the output signal of the hysteresis controller II; i.e. iup，ilowThe upper limit current value and the lower limit current value of the hysteresis controller II.
The intermediate ring is a hysteresis controller I based on each phase current: under normal conditions, if the phase current value exceeds the reference current upper limit value, the switching tube of the corresponding phase is turned off; if the phase current value exceeds the lower limit value of the reference current, the switch tube of the corresponding phase is switched on; if the phase current is between the upper limit value and the lower limit value of the current, the switching tube state of the corresponding phase is kept unchanged. According to the output J of the inner ring hysteresis controller under the condition of interphase short circuit faultiRAnd adjusting the switch state of the switch tube. If JiRWhen the output voltage is equal to 0, each phase of switching tube of the power converter is regulated by a hysteresis controller I, and a hysteresis controller II is idle; if J iR1 or JiRAnd (4) adjusting the switching tube state of each phase of the power converter cooperatively according to the hysteresis controller I and the hysteresis controller II as-1. The hysteresis controller I is responsible for adjusting phase current, and the hysteresis controller II is responsible for adjusting current difference.
The outer ring is a rotating speed ring, and a proportional-integral controller is adopted to adjust the rotating speed according to the deviation between the given rotating speed and the actual rotating speed.
Has the advantages that: the method is suitable for modeling, diagnosing and fault-tolerant control of the interphase short circuit fault of the switched reluctance motor with any phase number. And establishing a model of the switched reluctance motor with the interphase short-circuit fault according to a dynamic equation of the switched reluctance motor. By optimally configuring the installation position of the traditional current sensor, the incoming current and the outgoing current values of the windings of each phase are calculated in real time in different intervals of each rotor period, and the difference value between the two current values is obtained. And detecting the fault according to the change of the current difference value and positioning the fault. After the fault is judged, the switching state of the fault phase switching tube is adjusted and increased by adopting a three-closed-loop strategy, and the fault-tolerant control of the interphase short-circuit fault of the switched reluctance motor is completed, so that the aim of the invention is fulfilled. According to the inter-phase short circuit fault detection and fault tolerance scheme for the switched reluctance motor, current information of more positions is obtained on the premise that the number of sensors is not increased, faults can be diagnosed in real time, the fault tolerance of the motor is further improved, and the switched reluctance motor has wide engineering application value.
Drawings
Fig. 1 is an equivalent circuit diagram of a three-phase switched reluctance motor in which an interphase short-circuit fault occurs.
Fig. 2 is a schematic diagram of a position optimized configuration of a three-phase switched reluctance motor current sensor.
Fig. 3 is a schematic diagram of a three-phase switched reluctance motor current sensor in relation to windings.
Fig. 4 is a schematic diagram of the division of a three-phase switched reluctance motor.
Fig. 5 is a schematic diagram of three-closed-loop fault-tolerant control of a three-phase switched reluctance motor with an interphase short-circuit fault.
Fig. 6 is a state machine for switching of the switching tube in the switching region of the AB phase winding overlapping conduction region under normal conditions.
Fig. 7 is a state machine for switching the switching tube of the conduction region of the A-phase winding and the B-phase winding under the normal condition.
Fig. 8 is a state machine for switching the switching tube in the AB phase winding overlapping conduction area under the condition of an interphase short-circuit fault.
Fig. 9 is a state machine for switching the switching tube of the conduction region of the A-phase winding and the B-phase winding under the condition of an interphase short-circuit fault.
Detailed Description
An embodiment of the present invention is further described below with reference to the accompanying drawings.
The invention takes a three-phase switched reluctance motor as an example, and an equivalent circuit of a three-phase winding is shown in figure 1 under the condition of interphase short circuit fault. Wherein L isal，LarThe inductance values of the windings on two sides of the A-phase short circuit point are respectively; l isbl，LbrThe inductance values of windings on two sides of the B-phase short circuit point are respectively; l iscThe inductance value of the C-phase winding; each phase of fault phase winding is divided into two parts by taking a fault point as a dividing point, and each part consists of equivalent internal resistance, equivalent inductance and equivalent counter potential. The normal winding is composed of the internal resistance of the phase winding, the phase inductance and the opposite potential. L isoop1And Loop2Two closed loop current paths are formed due to the existence of short-circuited lines.
(1) Neglecting the mutual inductance between phases, the voltage equation of each part of winding of the motor with the phase short circuit fault is as follows:
Figure BDA0001274170980000051
wherein, UA+M，UMA-Respectively are terminal voltages of windings on two sides of the A-phase short circuit point; u shapeB+N，UNB-The terminal voltages of windings on two sides of the B-phase short circuit point are respectively; u shapeCTerminal voltage of the C-phase winding; i.e. ial，iarThe values of incoming and outgoing currents of the A-phase winding are respectively; i.e. ibl，ibrThe values of incoming and outgoing currents of the B-phase winding are respectively; i.e. icThe values of incoming and outgoing currents of the C-phase winding are set; ral，RarRespectively the internal resistance values of the windings on two sides of the A-phase short circuit point; rbl，RbrThe internal resistance values of windings on two sides of the B-phase short circuit point are respectively; rcThe internal resistance value of the C-phase winding; Ψal，ΨarRespectively are flux linkage values of windings on two sides of the A-phase short circuit point; Ψbl，ΨbrRespectively the flux linkage values of windings on two sides of the B-phase short circuit point; ΨcThe flux linkage value of the C-phase winding is obtained; e.g. of the typeal，earRespectively are back electromotive force values of windings on two sides of the A-phase short circuit point; e.g. of the typebl，ebrThe back electromotive force values of windings on two sides of the B-phase short circuit point are respectively; e.g. of the typecIs the back emf value of the C-phase winding.
(2) Phase inductance LpAnd the phase linkage ΨpThe relationship of (1) is:
Figure BDA0001274170980000052
therein, ΨpThe flux linkage value of the single-phase winding; θ is the rotor position.
(3) According to kirchhoff's voltage law, there are:
Figure BDA0001274170980000053
wherein, UA+A-,UB+B-The terminal voltage values of the A-phase winding and the B-phase winding are obtained.
(4) According to kirchhoff's current law, at a fault node, there are:
Figure BDA0001274170980000061
wherein iRThe value of the current flowing through the short-circuit resistor.
(5) According to the electromechanical energy conversion principle, the torque of each phase of the fault motor is as follows:
Figure BDA0001274170980000062
wherein, TA+M，TMA-Respectively are torque values of windings on two sides of the A-phase short circuit point; t isB+N，TNB-Respectively obtaining torque values of windings on two sides of the B-phase short circuit point; t isC+C-The torque value of the C-phase winding is obtained; wmA+M，WmMA-Respectively are the magnetic common energy values of windings on two sides of the A-phase short circuit point; wmB+N，WmNB-Respectively are the magnetic common energy values of windings on two sides of the B-phase short circuit point; wmCIs the magnetic common energy value of the C-phase winding.
(6) The torque value of each phase winding of the motor is as follows:
Figure BDA0001274170980000063
wherein, TA+A-，TB+B-Torque values of the a-phase and B-phase windings are provided, respectively.
(7) The mechanical equation of the switched reluctance motor is as follows:
Figure BDA0001274170980000064
wherein, Ttot，TLRespectively a total torque value and a load torque value of the motor; j and D are respectively the rotational inertia value and the viscous friction coefficient of the motor.
(8) The total torque of the switched reluctance motor is:
Ttot＝TA+A-+TB+B-+TC+C-
(9) as shown in fig. 2, the A, B, C phase winding incoming line passes through the two current sensors LEM in different directions at different times1And LEM2. A. B, C phase winding outgoing lines pass through another current sensor LEM in different directions for different times3. Selecting a1，b1，c1Is 1,1,1, selected from a2，b2，c2Is 1, -1,2, selected from a3，b3，c 32, 1, -1, the reference positive direction of the current sensor is from inside to outside. As shown in FIG. 3, A, B, C phase windings are all fed in a reference positive direction through LEM1Once, A, C phase winding inlet wires respectively pass through LEM according to reference positive direction2Once and twice, the incoming line of the B-phase winding passes through the LEM according to the opposite direction of the reference positive direction2Once, A, B phase winding outgoing lines respectively pass through LEM according to reference positive direction3Twice and once, the outgoing line of the C-phase winding passes through the LEM in the opposite direction of the reference positive direction3Once.
(10) Dividing a rotor period into three intervals of AI, BI and CI, as shown in fig. 4, in the AI interval, the values of the incoming and outgoing currents of the C-phase winding and the a-phase winding are:
Figure BDA0001274170980000071
wherein, a1，b1，c1A, B, C phase winding incoming lines pass through sensor LEM1The number of times of (c); a is2，b2，c2For A, B, C phase winding inlet wire through sensor LEM2The number of times of (c); a is3，b3，c3For A, B, C phase winding outgoing line passing through sensor LEM3The number of times of (c); i.e. iLEM1，iLEM2，iLEM3Is the current value of the current sensor used.
In the BI interval, the incoming line current value and the outgoing line current value of the A-phase winding and the B-phase winding are as follows:
Figure BDA0001274170980000072
in the CI interval, the incoming line current value and the outgoing line current value of the B-phase winding and the C-phase winding are as follows:
Figure BDA0001274170980000073
in the AI interval, the difference values of the incoming and outgoing currents of the C-phase winding and the A-phase winding are respectively as follows:
icres＝icl-icriares＝ial-iar
wherein icres，iaresThe difference value of the incoming current and the outgoing current of the C-phase winding and the A-phase winding is respectively.
In a BI interval, the difference values of incoming currents and outgoing currents of the A-phase winding and the B-phase winding are respectively as follows:
iares＝ial-iaribres＝ibl-ibr
wherein ibresThe difference value of the incoming current and the outgoing current of the B-phase winding is obtained.
In the CI interval, the difference values of the incoming current and the outgoing current of the B-phase winding and the C-phase winding are respectively as follows:
ibres＝ibl-ibricres＝icl-icr
under normal conditions, iares＝ibres＝icres＝0。
When an interphase short circuit fault occurs, the absolute value of the difference value between the incoming current and the outgoing current corresponding to the fault is equal to or greater than zero. In order to prevent fault misdiagnosis, a comparison threshold is taken, and when the absolute value of the difference value between the incoming current and the outgoing current of the two-phase winding is equal to or greater than the absolute value, a fault is diagnosed. Set fault flag bit FgComprises the following steps:
(11) according to the fault diagnosis method in the step (9), after the fault is diagnosed and located, the fault-tolerant control is performed by adopting a three-closed-loop control strategy, as shown in fig. 5, an inner loop is a hysteresis controller II based on a current difference value:
Figure BDA0001274170980000082
wherein, JiRIs the output signal of the hysteresis controller II; i.e. iRIs the current difference; i.e. iup，ilowThe upper limit current value and the lower limit current value of the hysteresis controller II.
The intermediate ring is a hysteresis controller I based on each phase current: under normal conditions, if the phase current value exceeds the reference current upper limit value, the switching tube of the corresponding phase is turned off; if the phase current value exceeds the lower limit value of the reference current, the switch tube of the corresponding phase is switched on; if the phase current is inAnd when the current is between the upper limit value and the lower limit value, the switching tube of the corresponding phase is kept unchanged, the output ① of the hysteresis controller I is used as a driving signal of the power converter, in an overlapping area of the A, B phase winding conduction, the state machine of the two-phase switching tube is shown in figure 6, wherein ST1 refers to a zero-voltage follow current state of the AB phase, ST2 refers to an excitation state of the A-phase zero-voltage follow current B phase, ST3 refers to an excitation state of the A-phase excitation B-phase zero-voltage follow current, ST4 refers to an excitation state of the AB phase, and I islimuAnd ilimdThe current is the upper limit value and the lower limit value of the hysteresis controller I. In the excitation region of the phase-A winding turn-off follow current and the phase-B winding, the state machine of the two-phase switching tube is shown in FIG. 7. ST5 is an a-phase negative voltage flywheel, a B-phase zero voltage flywheel, and ST6 is an a-phase negative voltage flywheel, a B-phase excitation state. According to the output J of the inner ring hysteresis controller under the condition of interphase short circuit faultiRAnd adjusting the switch state of the switch tube. If JiRWhen the output voltage is equal to 0, each phase of switching tube of the power converter is regulated by a hysteresis controller I, and a hysteresis controller II is idle; if JiR1 or JiRThe method comprises the steps that 1, each phase of switching tube of the power converter works cooperatively through a hysteresis controller I and a hysteresis controller II, an output ② of the hysteresis controller II is used as a driving signal of the power converter, the hysteresis controller I is used for adjusting phase current, the hysteresis controller II is used for adjusting current difference, the state switching situation of the switching tube is described by taking 40-30 fault situations as examples, other fault situations can be similarly deduced, 40-30 means that an A-phase fault point is located at a position with a plus 40 turns, a B-phase fault point is located at a position with a plus 30 turns, the number of turns of each phase of winding is 80 turns, and as shown in figure 8, in an overlapping area where A, B phase of windings are conducted, the state switching situation of the two-phase switching tube is as follows in a J1 switching situation of an overlapping area whereiRIn the case of 1, ST7 is switched toiRIn the case of-1, ST5 is switched. ST2 at JiRIn the case of-1, ST5 is switched. ST3 at JiRIn the case of 1, ST7 is switched. ST4 at JiRIn the case of-1, ST3 is switched. Wherein ST7 is the a-phase zero-voltage free-wheeling B-phase negative-voltage free-wheeling state. As shown in fig. 9, in the a-phase winding off follow current and B-phase winding excitation region, the state switching of the two-phase switching tube is as follows: ST5 at JiRIn the case of 1, ST7 is switched. ST6 at JiRHandover in case of-1To ST 5.
The outer ring is a rotating speed closed ring, and a proportional-integral controller is adopted to adjust the rotating speed according to the deviation between the given rotating speed and the actual rotating speed.

Claims (1)

1. A modeling, diagnosing and fault-tolerant control method for interphase short circuit fault of a switched reluctance motor is characterized by comprising the following steps: establishing a motor model under the condition of interphase short circuit fault according to a dynamic equation of the switched reluctance motor; the method comprises the steps that the installation positions of current sensors are optimally configured, and the incoming line current value and the outgoing line current value of each phase of winding are obtained on the premise that the number of the sensors is not increased; performing fault diagnosis of the interphase short circuit by calculating the deviation of the incoming line current value and the outgoing line current value of each phase of winding in real time; carrying out fault-tolerant control on the interphase short circuit fault of the switched reluctance motor by adopting a three-closed-loop control strategy; the modeling, diagnosis and fault-tolerant control method for the interphase short-circuit fault of the switched reluctance motor is characterized by comprising the following steps of:
(1) neglecting the mutual inductance between phases, the voltage equation of each part of winding of the motor with the phase short circuit fault is as follows:
Figure FDA0002506877900000011
wherein, UA+M，UMA-Respectively are terminal voltages of windings on two sides of the A-phase short circuit point; u shapeB+N，UNB-The terminal voltages of windings on two sides of the B-phase short circuit point are respectively; u shapeCTerminal voltage of the C-phase winding; i.e. ial，iarThe values of incoming and outgoing currents of the A-phase winding are respectively; i.e. ibl，ibrThe values of incoming and outgoing currents of the B-phase winding are respectively; i.e. icThe values of incoming and outgoing currents of the C-phase winding are set; ral，RarRespectively the internal resistance values of the windings on two sides of the A-phase short circuit point; rbl，RbrThe internal resistance values of windings on two sides of the B-phase short circuit point are respectively; rcThe internal resistance value of the C-phase winding; Ψal，ΨarRespectively are flux linkage values of windings on two sides of the A-phase short circuit point; Ψbl，ΨbrRespectively the flux linkage values of windings on two sides of the B-phase short circuit point; ΨcThe flux linkage value of the C-phase winding is obtained; e.g. of the typeal，earRespectively are back electromotive force values of windings on two sides of the A-phase short circuit point; e.g. of the typebl，ebrThe back electromotive force values of windings on two sides of the B-phase short circuit point are respectively; e.g. of the typecIs the back electromotive force value of the C-phase winding;
(2) phase inductance LpAnd the phase linkage ΨpThe relationship of (1) is:
Figure FDA0002506877900000012
therein, ΨpThe flux linkage value of the single-phase winding; θ is the rotor position;
(3) according to kirchhoff's voltage law, there are:
Figure FDA0002506877900000013
wherein, UA+A-,UB+B-Terminal voltage values of the A-phase winding and the B-phase winding are obtained;
(4) according to kirchhoff's current law, at a fault node, there are:
Figure FDA0002506877900000014
wherein iRThe value of the current flowing through the short-circuit resistor;
(5) according to the electromechanical energy conversion principle, the torque of each phase of the fault motor is as follows:
Figure FDA0002506877900000021
wherein, TA+M，TMA-Respectively are torque values of windings on two sides of the A-phase short circuit point; t isB+N，TNB-Respectively obtaining torque values of windings on two sides of the B-phase short circuit point; t isC+C-The torque value of the C-phase winding is obtained; wmA+M，WmMA-Respectively are the magnetic common energy values of windings on two sides of the A-phase short circuit point; wmB+N，WmNB-Are respectively B-phase short circuit pointsMagnetic common energy values of the windings on both sides; wmCThe magnetic common energy value of the C-phase winding is obtained;
(6) the torque value of each phase winding of the motor is as follows:
Figure FDA0002506877900000022
wherein, TA+A-，TB+B-Torque values of the A-phase winding and the B-phase winding are respectively obtained;
(7) the mechanical equation of the switched reluctance motor is as follows:
Figure FDA0002506877900000023
wherein, Ttot，TLRespectively a total torque value and a load torque value of the motor; j and D are respectively a rotational inertia value and a viscous friction coefficient of the motor;
(8) the total torque of the switched reluctance motor is:
Ttot＝TA+A-+TB+B-+TC+C-
(9) dividing a rotor period into three intervals of AI, BI and CI, wherein in the AI interval, the values of the incoming line current and the outgoing line current of the C-phase winding and the A-phase winding are as follows:
Figure FDA0002506877900000024
wherein, a1，b1，c1The times that A, B, C phase windings are fed in and pass through the sensor LEM1 respectively; a is2，b2，c2The number of times the A, B, C phase winding was fed through sensor LEM 2; a is3，b3，c3The number of times the A, B, C phase winding outgoing line passes through sensor LEM 3; i.e. iLEM1，iLEM2，iLEM3The current value of the current sensor used;
in the BI interval, the incoming line current value and the outgoing line current value of the A-phase winding and the B-phase winding are as follows:
Figure FDA0002506877900000031
in the CI interval, the incoming line current value and the outgoing line current value of the B-phase winding and the C-phase winding are as follows:
Figure FDA0002506877900000032
in the AI interval, the difference values of the incoming and outgoing currents of the C-phase winding and the A-phase winding are respectively as follows:
icres＝icl-icriares＝ial-iar
wherein icres，iaresDifference values of incoming current and outgoing current of the C-phase winding and the A-phase winding are respectively set;
in a BI interval, the difference values of incoming currents and outgoing currents of the A-phase winding and the B-phase winding are respectively as follows:
iares＝ial-iaribres＝ibl-ibr
wherein ibresThe difference value of the incoming line current and the outgoing line current of the B-phase winding is obtained;
in the CI interval, the difference values of the incoming current and the outgoing current of the B-phase winding and the C-phase winding are respectively as follows:
ibres＝ibl-ibricres＝icl-icr
under normal conditions, iares＝ibres＝icres＝0；
When an interphase short circuit fault occurs, the absolute value of the difference value between the incoming line current and the outgoing line current corresponding to the fault is equal to or greater than zero; in order to prevent fault misdiagnosis, a comparison threshold is taken, and when the absolute value of the difference value between the incoming current and the outgoing current of the two-phase winding is equal to or greater than the absolute value, a fault is diagnosed; set fault flag bit FgComprises the following steps:
Figure FDA0002506877900000033
(10) according to the fault diagnosis method in the step (9), after the fault is diagnosed and positioned, the fault-tolerant control is carried out by adopting a three-closed-loop control strategy, wherein the inner loop is a hysteresis controller II taking a current difference as a basis:
Figure FDA0002506877900000034
wherein, JiRIs the output signal of the hysteresis controller II; i.e. iup，ilowThe current values are the upper limit current value and the lower limit current value of the hysteresis controller II;
the intermediate ring is a hysteresis controller I based on each phase current: under normal conditions, if the phase current value exceeds the reference current upper limit value, the switching tube of the corresponding phase is turned off; if the phase current value exceeds the lower limit value of the reference current, the switch tube of the corresponding phase is switched on; if the phase current is between the upper limit value and the lower limit value of the current, the switching tube state of the corresponding phase is kept unchanged; according to the output J of the inner ring hysteresis controller under the condition of interphase short circuit faultiRAdjusting the on-off state of the switching tube; if JiRWhen the output voltage is equal to 0, each phase of switching tube of the power converter is regulated by a hysteresis controller I, and a hysteresis controller II is idle; if JiR1 or JiR1, the tubular state of each phase of switch of the power converter is cooperatively adjusted according to the hysteresis controller I and the hysteresis controller II; the hysteresis controller I is responsible for adjusting phase current, and the hysteresis controller II is responsible for adjusting a current difference value;
the outer ring is a rotating speed ring, and a proportional-integral controller is adopted to adjust the rotating speed according to the deviation between the given rotating speed and the actual rotating speed.
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