CN108490353B - Multiphase permanent magnet synchronous motor drive system method for diagnosing faults - Google Patents
Multiphase permanent magnet synchronous motor drive system method for diagnosing faults Download PDFInfo
- Publication number
- CN108490353B CN108490353B CN201810434763.5A CN201810434763A CN108490353B CN 108490353 B CN108490353 B CN 108490353B CN 201810434763 A CN201810434763 A CN 201810434763A CN 108490353 B CN108490353 B CN 108490353B
- Authority
- CN
- China
- Prior art keywords
- current
- phase
- magnetic linkage
- fault
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
- G01R31/346—Testing of armature or field windings
Abstract
The invention discloses a kind of multiphase permanent magnet synchronous motor drive system method for diagnosing faults.The method comprise the steps that velocity sensor, DC bus-bar voltage sensor, phase current sensor output signal that (1) treats diagnosis multiphase permanent magnet synchronous motor drive system are acquired；(2) revolving speed index SI, magnetic linkage difference absolute value are calculated separately using the signal collected in step (1) | Δ ψ |, harmonic wave plane current amplitude Ixy, positive half-wave current index CI+With negative half-wave current index CI‑；(3) speed sensor fault diagnoses；(4) voltage sensor fault diagnosis；(5) harmonic wave plane current state-detection；(6) Phase Faults；(7)S1The diagnosis of switching tube open-circuit fault；(8)S2The diagnosis of switching tube open-circuit fault；(9) current sensor faults diagnose.This method can be realized all kinds of failures and fast and accurately diagnose under the premise of not increasing peripheral support circuit.
Description
Technical field:
The present invention relates to a kind of multiphase permanent magnet synchronous motor drive system method for diagnosing faults, belong to electrician, motor, electric power
Electronic field.
Background technique:
As modern electrical machine drive system is promoted in aerospace, electric car, naval vessels, the fields such as rail traffic are to driving
The continuous improvement that system reliability requires, traditional electric system encounter bottleneck.Traditional three-phase motor occurs when certain phase winding
After failure, phase-deficient operation can not be continued, can only be by forced-stopping machine, there are larger security risks, can not equally apply can to system
Relatively high occasion is required by property.Multi-phase motor system has the advantage that 1) low-voltage power electricity compared with three-phase motor system
Sub- device realizes high-power output；2) number of motor phases is more, and ripple frequency is high, and pulsation amplitude is small；3) high reliablity, fault-tolerant ability
By force.In the higher system of reliability requirement, detects and identify as soon as possible any potential exception and failure and implement fault-tolerant control
System, can retain the original runnability of motor driven systems, and avoid dangerous situation to greatest extent.
Summary of the invention
The object of the present invention is to provide a kind of multiphase permanent magnet synchronous motor drive system method for diagnosing faults, can quickly,
Accurately it is diagnosed to be various kinds of sensors failure and electric fault present in drive system.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of multiphase permanent magnet synchronous motor drive system method for diagnosing faults, method includes the following steps:
(1) velocity sensor, the DC bus-bar voltage sensor, phase of diagnosis multiphase permanent magnet synchronous motor drive system are treated
Current sensor output is acquired；
(2) revolving speed index SI, magnetic linkage difference absolute value are calculated separately using the signal collected in step (1) | Δ ψ |, it is humorous
Popin surface current amplitude Ixy, positive half-wave current index CI+With negative half-wave current index CI-；
(3) speed sensor fault diagnoses: judge whether revolving speed index SI is greater than its respective threshold true, if set up,
The velocity sensor for being diagnosed to be system breaks down, and otherwise executes next condition judgement, wherein the threshold value value of revolving speed index SI
It is 2 times of revolving speed index SI maximum value under system non-failure conditions；
(4) voltage sensor fault diagnosis: judge magnetic linkage difference absolute value | Δ ψ | it is greater than its respective threshold harmony popin face electricity
Flow amplitude IxyWhether set up simultaneously less than its respective threshold 1A, if set up simultaneously, the DC bus-bar voltage for being diagnosed to be system is passed
Sensor breaks down, and otherwise executes the judgement of next condition, wherein magnetic linkage difference absolute value | Δ ψ | threshold value value be system without reason
Magnetic linkage difference absolute value in the case of barrier | Δ ψ | 2 times of maximum value；
(5) harmonic wave plane current state-detection: judge harmonic wave plane current amplitude IxyIt is whether true greater than its respective threshold,
The system fault-free if invalid re-starts next round fault diagnosis, and next condition judgement is executed if setting up,
In, harmonic wave plane current amplitude IxyThreshold value value be system non-failure conditions under harmonic wave plane current amplitude IxyThe 2 of maximum value
Times；
(6) Phase Faults: judge positive half-wave current index CI+Less than its respective threshold and negative half-wave current index CI-
Whether set up simultaneously less than its respective threshold, if set up simultaneously, is diagnosed to be system and open-phase fault occurs, otherwise execute next
Part judgement, wherein positive half-wave current index CI+With negative half-wave current index CI-Be 0 under normal and various malfunctions
Or the numerical value near 1, thus the equal value of threshold value of the two is 0.5；
(7)S1The diagnosis of switching tube open-circuit fault: judge positive half-wave current index CI+Less than its respective threshold 0.5 and negative half-wave
Current index CI-Whether set up simultaneously greater than its respective threshold 0.5, if set up simultaneously, is diagnosed to be the S of system1Switching tube occurs
Otherwise open-circuit fault executes next condition judgement；
(8)S2The diagnosis of switching tube open-circuit fault: judge positive half-wave current index CI+Greater than its respective threshold 0.5 and negative half-wave
Current index CI-Whether set up simultaneously less than its respective threshold 0.5, if set up simultaneously, is diagnosed to be the S of system2Switching tube occurs
Open-circuit fault, the current sensor for being otherwise diagnosed to be system break down；
(9) current sensor faults diagnose: all kinds of failures electricity got by harmonic wave plane current track identification technology
Stream track characteristic determines the specific location that failure occurs.
The multiphase permanent magnet synchronous motor drive system method for diagnosing faults, the revolving speed index SI is velocity pick-up
Device feedback speed and magnetic linkage rotation speed make the ratio of absolute value of the difference Yu motor reference rotation velocity；The magnetic linkage rotation speed
ωψIt is obtained by formula (1):
In formula, θ is the rotor position angle of multiphase permanent magnet synchronous motor to be diagnosed, λsIt is multiphase permanent magnet synchronous motor to be diagnosed
Stator magnetic linkage position angle, δ is angle of torsion, ωψIt is stator magnetic linkage rotation speed, ωdFor the differential value of angle of torsion, due to ωdFar
Less than ωψ, the estimated value of motor speed is approximately magnetic linkage rotation speed.
The multiphase permanent magnet synchronous motor drive system method for diagnosing faults, the magnetic linkage difference absolute value | Δ ψ | be
Refer to the magnetic linkage amplitude deviation that the flux observer based on current model and the flux observer based on voltage model are observed, institute
It states the flux observer based on current model and the flux observer based on voltage model passes through formula (2) respectively and formula (3) calculates
Magnetic linkage:
Wherein, ψsαIt is α axis stator magnetic linkage, ψsβIt is β axis stator magnetic linkage, UsαIt is α axis stator voltage, UsβIt is β axis stator electricity
Pressure, isαIt is α axis stator current, isβIt is β axis stator current, RsIt is stator resistance；
Wherein, ψdIt is d axis magnetic linkage, ψqIt is q axis magnetic linkage, LdIt is d axle inductance, LqIt is q axle inductance, isαIt is α axis stator current,
isβIt is β axis stator current, idIt is d shaft current, iqIt is q shaft current, ψfIt is permanent magnet flux linkage.
The multiphase permanent magnet synchronous motor drive system method for diagnosing faults, the harmonic wave plane current amplitude IxyFor
The harmonic wave plane current amplitude that each phase current sensor feedback value is obtained through Vector Space Decomposition coordinate transform.
The multiphase permanent magnet synchronous motor drive system method for diagnosing faults, the positive half-wave current index CI+With
Negative half-wave current index CI-It is calculated by formula (4):
Wherein, IA+、IA-、IB+、IB-...IF+、IF-It is the average value of each phase positive half-wave and negative half-wave current absolute value, Iave
It is stator current absolute average, Ix+And Ix-It is the average value and diagnosis phase current for diagnosing phase current positive half-wave absolute value respectively
The average value of negative half-wave absolute value.
Caused by of the invention the utility model has the advantages that
(1) this method can diagnose all the sensors failure used in polyphase machine drive system, i.e. velocity sensor
Failure, DC bus-bar voltage sensor fault and phase current sensor fault.
(2) this method has taken into account the sensor fault and Common Electrical Apparatus of motor driven systems, has lower mistaken diagnosis
Disconnected probability and better practical application.
(3) the magnetic linkage rotation speed detection technique that this method uses relies on Motor Foundation and controls existing magnetic linkage dependency number
According to not will increase processor computational burden, but equally can fast and accurately be diagnosed to be speed sensor fault.
(4) double flux observer correlation techniques that this method uses take full advantage of the flux observer based on voltage model
The characteristic directly related with DC bus-bar voltage and the flux observer based on current model and DC bus-bar voltage onrelevant
Characteristic substantially increases the accuracy of DC bus-bar voltage sensor fault diagnosis.
(5) the harmonic wave plane current track identification technology that this method uses can be used for phase current sensor fault, inversion
The diagnosis of device switching tube open-circuit fault diagnosis and three kinds of failures of motor phase failure failure, largely reduces answering for diagnostic method
Miscellaneous degree.
Detailed description of the invention
Fig. 1 is multiphase permanent magnet synchronous motor drive system Troubleshooting Flowchart；
Wherein, 11 start for diagnosis, and 12 calculate for parameter, and 13 diagnose for speed sensor fault, and 14 be voltage sensor
Fault diagnosis, 15 be harmonic wave plane current state-detection, and 16 be Phase Faults, and 17 be S1The diagnosis of switching tube open-circuit fault,
18 be S2The diagnosis of switching tube open-circuit fault, 19 diagnose for current sensor faults.
Fig. 2 is multiphase permanent magnet synchronous motor drive system hardware circuit figure；
Wherein, 21 be power supply, and 22 be dc-link capacitance, and 23 be inverter switching device pipe, and 24 is synchronous for multi-phase permanent
Motor, 25 be velocity sensor, and 26 be DC bus-bar voltage sensor, and 27 be phase current sensor.
Fig. 3 is the stator flux observer based on current model；
Wherein, 31 be rest frame electric current, and 32 be rotor position angle, and 33 be Synchronous Reference Frame Transform, and 34 be synchronous coordinate
It is electric current, 35 be synchronous inductance, and 36 be permanent magnet flux linkage, and 37 be synchronous coordinate system magnetic linkage, and 38 convert for static coordinate, and 39 be quiet
Only coordinate system magnetic linkage, 310 be polar coordinate transform, and 311 be stator magnetic linkage amplitude, and 312 be stator magnetic linkage position angle.
Fig. 4 is phase current sensor fault harmonic wave plane current track identification；
Wherein, 41 be x1-y1Coordinate system, 42 be x2-y2Coordinate system, 43 be x3-y3Coordinate system, 44 be A phase current sensor
Failure harmonic wave plane current track, 45 be B phase current sensor fault harmonic wave plane current track, and 46 be D phase current sensor
Failure harmonic wave plane current track, 46 be E phase current sensor fault harmonic wave plane current track.
Fig. 5 is open-phase fault harmonic wave plane current track identification；
Wherein, 51 be x1-y1Coordinate system, 52 be x2-y2Coordinate system, 53 be x3-y3Coordinate system, 54 is humorous for A phase open-phase fault
Popin surface current track, 55 be B phase open-phase fault harmonic wave plane current track, and 56 be C phase open-phase fault harmonic wave plane current rail
Mark, 57 be D phase open-phase fault harmonic wave plane current track, and 58 be E phase open-phase fault harmonic wave plane current track, and 59 lack for F phase
Phase fault harmonic wave plane current track.
Fig. 6 is inverter switching device tube open circuit failure harmonic wave plane current track identification；
Wherein, 61 be x1-y1Coordinate system, 62 be x2-y2Coordinate system, 63 be x3-y3Coordinate system, 64 be inverter A phase bridge arm
S1Switching tube open-circuit fault harmonic wave plane current track, 65 be inverter A phase bridge arm S2Switching tube open-circuit fault harmonic wave plane current
Track, 66 be inverter B phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track, 67 be inverter B phase bridge arm S2Switch
Tube open circuit failure harmonic wave plane current track, 68 be inverter C phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track,
69 be inverter C phase bridge arm S2Switching tube open-circuit fault harmonic wave plane current track, 610 be inverter D phase bridge arm S1Switching tube is opened
Road failure harmonic wave plane current track, 611 be inverter D phase bridge arm S2Switching tube open-circuit fault harmonic wave plane current track, 612
For inverter E phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track, 613 be inverter E phase bridge arm S2Switch tube open circuit
Failure harmonic wave plane current track, 614 be inverter F phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track, 615 are
Inverter F phase bridge arm S2Switching tube open-circuit fault harmonic wave plane current track.
Fig. 7 is speed probe fault diagnosis experimental waveform；Wherein, Fig. 7 (a) is speed probe fault diagnosis revolving speed wave
Shape figure, Fig. 7 (b) are speed probe fault diagnosis revolving speed exponential waveform figures.
Wherein, 71 be speed reference waveform, and 72 be speed estimate value waveform, and 73 be rotary speed actual value waveform, and 74 be to turn
Fast value of feedback waveform, 75 be revolving speed exponential waveform, and 76 be revolving speed index threshold waveform.
Fig. 8 is DC bus-bar voltage sensor fault diagnosis experimental waveform；Wherein, Fig. 8 (a) is DC bus-bar voltage sensing
Device fault diagnosis voltage oscillogram, Fig. 8 (b) are DC bus-bar voltage sensor fault diagnosis magnetic linkage waveform diagrams.
Wherein, 81 be DC bus-bar voltage actual value waveform, and 82 be DC bus-bar voltage estimated value waveform, and 83 is female for direct current
Line voltage value of feedback waveform, 84 be magnetic linkage difference absolute value waveform, and 85 be magnetic linkage difference absolute value threshold value waveform.
Fig. 9 is A phase Phase Faults experimental waveform；Wherein, Fig. 9 (a) is Phase Faults phase current waveform figure, figure
9 (b) be the harmonic wave plane current trajectory diagram under open-phase fault.
Wherein, 91 be A phase current waveform, and 92 be B phase current waveform, and 93 be C phase current waveform, and 94 be harmonic wave plane current
Track.
Figure 10 is inverter A phase S1Switching tube open-circuit fault diagnostic test waveform；Figure 10 (a) is inverter A phase S1Switching tube
Open-circuit fault diagnoses phase current waveform figure, and Figure 10 (b) is inverter A phase S1Harmonic wave plane current rail under switching tube open-circuit fault
Mark figure.
Wherein, 101 be A phase current waveform, and 102 be B phase current waveform, and 103 be C phase current waveform, and 104 be harmonic wave plane
Current locus.
Figure 11 is A phase current sensor fault diagnosis experimental waveform；Figure 11 (a) is A phase current sensor fault diagnosis phase
Current waveform figure, Figure 11 (b) are the harmonic wave plane current trajectory diagrams under A phase current sensor fault.
Wherein, 111 be A phase current waveform, and 112 be B phase current waveform, and 113 be C phase current waveform, and 114 be harmonic wave plane
Current locus.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate
It the present invention rather than limits the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention each
The modification of kind equivalent form falls within the application range as defined in the appended claims.
Same characteristic features and different characteristic of this diagnostic method according to all kinds of failures of motor driven systems, carry out different faults
Classification diagnosis.This system using multiphase permanent magnet synchronous motor as control object, compare by the multiphase permanent magnet synchronous motor
Conventional three-phase number of motor phases increases, and enhances the fault-tolerant ability of system, improves the stability of system.The hardware of this system includes
Power supply, dc-link capacitance, inverter switching device pipe, multiphase permanent magnet synchronous motor, velocity sensor, DC bus-bar voltage pass
Sensor and phase current sensor.The software control frame of this system includes speed regulator, torque controller, encoder, revolving speed
Computing module, voltage sample module, current sampling module decouple coordinate transform, stator magnetic linkage and electromagnetic torque estimation module, electricity
Pressure space vector prediction module, harmonic current controller, decoupling inverse transformation, polar coordinate transform, voltage space vector modulation module,
DC bus, electrolytic capacitor, polyphase inverter and multiphase permanent magnet synchronous motor.
On the basis of above system, multiphase permanent magnet synchronous motor drive system method for diagnosing faults of the present invention include with
Lower step:
1) velocity sensor, DC bus-bar voltage sensor, phase current sensor output signal are acquired；
2) utilize sensor feedback signal, calculate separately revolving speed index SI, magnetic linkage difference absolute value | Δ ψ |, harmonic wave plane electricity
Flow amplitude Ixy, positive half-wave current index CI+With negative half-wave current index CI-。
Wherein, SI is that speed sensor feedback speed and magnetic linkage rotation speed make absolute value of the difference and motor reference rotation velocity
Ratio；Under motor speed sensor normal operation, speed sensor feedback revolving speed and magnetic linkage rotation speed are remained
It is synchronous.When speed sensor feedback offspeed magnetic linkage rotation speed, system is diagnosed to be velocity sensor at once and breaks down.It is logical
Formula (1) is crossed it can be seen that the estimated value of motor speed can be approximated to be magnetic linkage rotation speed, it is fast closely can to pass through magnetic linkage rotation
Degree compares diagnosis speed sensor fault with speed sensor feedback revolving speed.
Wherein, θ is rotor position angle, λsIt is stator magnetic linkage position angle, δ is angle of torsion.ωψIt is stator magnetic linkage rotation speed,
ωdFor the differential value of angle of torsion.Due to ωdMuch smaller than ωψ, the estimated value of motor speed can be approximated to be magnetic linkage rotation speed.
| Δ ψ | for the magnetic linkage estimated based on current model flux observer and based on the estimation of voltage model flux observer
The absolute value of magnetic linkage difference；Flux observer based on current model and the flux observer based on voltage model are run simultaneously.
In DC bus-bar voltage normal operation of sensor, the flux observer based on current model and the magnetic based on voltage model
The magnetic linkage amplitude that chain observer is observed is always consistent.When the magnetic linkage amplitude deviation that two observers obtain is more than critical
When value, system is diagnosed to be DC bus-bar voltage sensor failure at once.It flux observer based on current model and is based on
The flux observer of voltage model passes through formula (2) respectively and formula (3) calculates magnetic linkage:
Wherein, ψsαIt is α axis stator magnetic linkage, ψsβIt is β axis stator magnetic linkage, UsαIt is α axis stator voltage, UsβIt is β axis stator electricity
Pressure, isαIt is α axis stator current, isβIt is β axis stator current, RsIt is stator resistance.
Wherein, ψdIt is d axis magnetic linkage, ψqIt is q axis magnetic linkage, LdIt is d axle inductance, LqIt is q axle inductance, isαIt is α axis stator current,
isβIt is β axis stator current, idIt is d shaft current, iqIt is q shaft current, ψfIt is permanent magnet flux linkage.
IxyThe harmonic wave plane current amplitude obtained for each phase current sensor feedback value through Vector Space Decomposition coordinate transform；
This system diagnoses phase current sensor fault, the event of inverter switching device tube open circuit using harmonic wave plane current track identification technology simultaneously
Barrier diagnosis and motor phase failure failure.Under system normal operation, harmonic wave plane current is almost nil, and track is harmonic wave plane
The dot that co-ordinate zero point goes out.When harmonic wave plane current track is straight line, system is according to current locus slope and motor phase
Electric current is diagnosed to be phase current sensor fault, inverter switching device tube open circuit fault diagnosis or motor phase failure within a primitive period
Failure.
CI+And CI-It can be calculated by formula (4): the diagnosis negative half-wave current average value of phase current and all phase positive half-waves
With the ratio of the average value of negative half-wave current absolute value, as shown in formula (4).
Wherein, IA+、IA-、IB+、IB-...IF+、IF-It is the average value of each phase positive half-wave and negative half-wave current absolute value, Iave
It is stator current absolute average, Ix+And Ix-It is the average value and diagnosis phase current for diagnosing phase current positive half-wave absolute value respectively
The average value of negative half-wave absolute value.
3) judge whether revolving speed index SI is greater than its respective threshold 0.1 true.If set up, the speed for being diagnosed to be system is passed
Sensor breaks down, and otherwise executes next condition judgement.Wherein, the threshold value value of revolving speed index SI is under system non-failure conditions
2 times of revolving speed index SI maximum value.
4) judge magnetic linkage difference absolute value | Δ ψ | it is greater than the harmonious popin surface current amplitude I of its respective threshold 0.02xyLess than its phase
Answer threshold value 1A whether and meanwhile set up.If set up simultaneously, it is diagnosed to be the DC bus-bar voltage sensor failure of system, otherwise
Execute next condition judgement.Wherein, magnetic linkage difference absolute value | Δ ψ | threshold value value be system non-failure conditions under magnetic linkage difference absolutely
Value | Δ ψ | 2 times of maximum value.
5) judge harmonic wave plane current amplitude IxyIt is whether true greater than its respective threshold 1A.System is without reason if invalid
Barrier, re-starts next round fault diagnosis, and next condition judgement is executed if setting up.Wherein, harmonic wave plane current amplitude Ixy
Threshold value value be system non-failure conditions under harmonic wave plane current amplitude Ixy2 times of maximum value.
6) judge positive half-wave current index CI+Less than its respective threshold 0.5 and negative half-wave current index CI-It is corresponding less than it
Whether threshold value 0.5 is set up simultaneously.If set up simultaneously, it is diagnosed to be system and open-phase fault occurs, otherwise executes next condition judgement.
Wherein, positive half-wave current index CI+With negative half-wave current index CI-Be near 0 or 1 under normal and various malfunctions
Numerical value, thus the equal value of threshold value of the two be 0.5.
7) judge positive half-wave current index CI+Less than its respective threshold 0.5 and negative half-wave current index CI-It is corresponding greater than it
Whether threshold value 0.5 is set up simultaneously.If set up simultaneously, it is diagnosed to be the S of system1Open-circuit fault occurs for switching tube, under otherwise executing
The judgement of one condition.
8) judge positive half-wave current index CI+Greater than its respective threshold 0.5 and negative half-wave current index CI-It is corresponding less than it
Whether threshold value 0.5 is set up simultaneously.If set up simultaneously, it is diagnosed to be the S of system2Open-circuit fault occurs for switching tube, is otherwise diagnosed to be
The current sensor of system breaks down.
9) after fault type determines, pass through the available harmonic wave plane current component of harmonic wave plane current track identification technology
The smallest axial direction.The two known conditions are carried out table look-up in current locus fault signature table 1 can finally determine that failure is sent out
Raw specific location.
Table 1
All kinds of fault current track characteristics
For example, verifying of the diagnostic method shown in Fig. 9 in double three-phase permanent-magnetic Synchromous machine drive system, by step 6,
7, after 8, positive half-wave current index CI+ is less than its respective threshold 0.5 and negative half-wave current index CI- is less than its respective threshold 0.5
It sets up simultaneously, is diagnosed to be system and open-phase fault occurs.Then, Fig. 9 can be got using harmonic wave plane current track identification technology
(b) the current locus current component minimum axial direction in is x1, in conjunction with open-phase fault type and x1Axial current component minimum is in table 1
In table look-up and can determine that specific failure is the open-phase fault of A phase.
Multiphase permanent magnet synchronous motor drive system method for diagnosing faults flow chart proposed by the present invention is as shown in Figure 1.Control
In each control period, 11 positions since diagnosis start diagnosis algorithm to system.Firstly, utilizing velocity sensor, DC bus electricity
The signal that pressure sensor and phase current sensor feedback are returned carries out parameter and calculates 12, obtains needing the revolving speed for follow-up diagnosis
Index SI, magnetic linkage difference absolute value | Δ ψ |, harmonic wave plane current amplitude Ixy, positive half-wave current index CI+With negative half-wave current index
CI-.Then, first condition judgement, i.e. speed sensor fault diagnosis 13 are carried out, judges that revolving speed index SI is greater than its corresponding threshold
Whether value 0.1 is true.If set up, the velocity sensor for being diagnosed to be system breaks down, and otherwise executes next condition judgement.The
Two condition judgements are used for DC bus-bar voltage sensor fault diagnosis 14, judge magnetic linkage difference absolute value | Δ ψ | it is corresponding to be greater than it
The harmonious popin surface current amplitude I of threshold value 0.02xyWhether set up simultaneously less than its respective threshold 1A.If set up simultaneously, it is diagnosed to be
Otherwise the DC bus-bar voltage sensor failure of system executes next condition judgement.Third condition is judged as that harmonic wave is flat
Surface current state-detection 15 judges harmonic wave plane current amplitude IxyIt is whether true greater than its respective threshold 1A.If invalid
System fault-free re-starts next round fault diagnosis, and next condition judgement is executed if setting up.4th condition is judged as
Phase Faults 16 judge positive half-wave current index CI+Less than its respective threshold 0.5 and negative half-wave current index CI-Less than it
Whether respective threshold 0.5 is set up simultaneously.If set up simultaneously, it is diagnosed to be system and open-phase fault occurs, otherwise execute next condition
Judgement.5th condition is judged as inverter S1Switching tube open-circuit fault diagnosis 17, judges positive half-wave current index CI+Less than it
Respective threshold 0.5 and negative half-wave current index CI-Whether set up simultaneously greater than its respective threshold 0.5.If set up simultaneously, diagnosis
The S of system out1Open-circuit fault occurs for switching tube, otherwise executes next condition judgement.A last condition is judged as inverter S2Switch
Tube open circuit failure and phase current sensor fault diagnosis 18 judge positive half-wave current index CI+Greater than its respective threshold 0.5 and bear
Half-wave current index CI-Whether set up simultaneously less than its respective threshold 0.5.If set up simultaneously, it is diagnosed to be the S of system2Switching tube
Open-circuit fault occurs, the current sensor for being otherwise diagnosed to be system breaks down.Table 1 summarizes each fault signature, works as A
When phase open-phase fault, A phase S1 open-circuit fault or A phase S2 open-circuit fault occur, harmonic wave plane x1 axial current component is minimum；Work as F
When phase open-phase fault, F phase S1 open-circuit fault, F phase S2 open-circuit fault or B phase current sensor fault occur, harmonic wave plane y1 axis
To current component minimum；When C phase open-phase fault, C phase S1 open-circuit fault, C phase S2 open-circuit fault or D phase current sensor fault are sent out
When raw, harmonic wave plane x2 axial current component is minimum；When E phase open-phase fault, E phase S1 open-circuit fault or E phase S2 open-circuit fault are sent out
When raw, harmonic wave plane y2 axial current component is minimum；As B phase open-phase fault, B phase S1 open-circuit fault, B phase S2 open-circuit fault or E
When phase current sensor fault occurs, harmonic wave plane x3 axial current component is minimum；When D phase open-phase fault, D phase S1 open circuit event
When barrier, D phase S2 open-circuit fault or A phase current sensor fault occur, harmonic wave plane y3 axial current component is minimum.Fault type
After determination, pass through the available the smallest axial direction of harmonic wave plane current component of harmonic wave plane current track identification technology.By this two
A known conditions carries out the specific location that can finally determine that failure occurs of tabling look-up in current locus fault signature table.For example,
Verifying of the diagnostic method shown in Fig. 9 in double three-phase permanent-magnetic Synchromous machine drive system, behind step 6,7,8, positive half-wave
Current index CI+ is less than its respective threshold 0.5 and negative half-wave current index CI- is less than its respective threshold 0.5 and sets up simultaneously, diagnoses
Open-phase fault occurs for system out.Then, the current rail in Fig. 9 (b) can be got using harmonic wave plane current track identification technology
Mark current component minimum axial direction is x1, in conjunction with open-phase fault type and x1Axial current component minimum is tabled look-up in table 1 to be determined
Specific failure is the open-phase fault of A phase.
Multiphase permanent magnet synchronous motor drive system hardware circuit is as shown in Figure 2.The two of multiphase permanent magnet synchronous motor 24
30 degree of mutual deviation are covered on winding space, and neutral point is mutually indepedent, is powered respectively by two groups of three-phase two-level inverters, altogether includes 12
Inverter switching device pipe 23, two groups of three-phase two-level inverters are connected on same DC bus.System is carried out by DC power supply 21
Power supply, and be filtered using dc-link capacitance 22.The drive system passes through shaft coupling and velocity sensor 25 on motor
Connection measures motor speed, meanwhile, DC bus-bar voltage is surveyed using a DC bus-bar voltage sensor 26
Amount, and assemble four phase current sensors 27 and measure A phase, B phase, D phase, E phase current respectively.Due in multiphase permanent magnet synchronous motor
Property point it is mutually indepedent, C phase and F phase current can be calculated indirectly using Kirchhoff's current law (KCL) according to other phase currents.
The double flux observers pair of the use of multiphase permanent magnet synchronous motor drive system method for diagnosing faults proposed by the present invention
DC bus-bar voltage sensor is detected than technology.The flux observer based on voltage model used is by voltage
Integral gets stator magnetic linkage, and after DC bus-bar voltage sensor failure, the magnetic linkage of observer observation will appear
Mistake.And the stator flux observer based on current model used then needs to estimate by motor model by coordinate transform
Voltage relevant parameter is not used in current stator magnetic linkage, therefore after DC bus-bar voltage sensor failure, has no effect on magnetic
The accurate observation of chain observer.Therefore, if the observed result of two flux observers is misfitted by contrast, with time-harmonic wave plane
Electric current keeps normally then illustrating DC bus-bar voltage sensor failure again.Stator flux observer based on current model is such as
Shown in Fig. 3.Firstly, rest frame electric current 31 combines current rotor position angle 32, be converted to together by Synchronous Reference Frame Transform 33
Walk coordinate system electric current 35.Then, after the d shaft current under synchronous coordinate system is multiplied with synchronous inductance 35 and is superimposed permanent magnet flux linkage 36
The d axis magnetic linkage under synchronous coordinate system can be obtained, the q shaft current under synchronous coordinate system can obtain synchronous seat with the multiplication of synchronous inductance 35
Q axis magnetic linkage under mark system.Synchronous coordinate system magnetic linkage 37 combines current rotor position angle 32, is converted to by static coordinate transformation 38
Rest frame magnetic linkage 39.Finally, the rest frame magnetic linkage 39 obtained, can be obtained stator magnet by polar coordinates variation 311
Chain amplitude 311 and stator magnetic linkage position angle 312.
Multiphase permanent magnet synchronous motor drive system method for diagnosing faults proposed by the present invention uses harmonic wave plane current rail
Mark identification technology detects phase current sensor fault.For the ease of identifying phase current sensor fault specific location, adopt
Harmonic wave plane current track identification technology constructs three groups of coordinate systems, respectively x in harmonic wave plane1-y1Coordinate system 41, x2-
y2Coordinate system 42 and x3-y3Coordinate system 43.After phase current sensor fault occurs, harmonic wave plane current track can be by surrounding originally
The dot of coordinate origin becomes the straight line being located on the coordinate system of building.A phase current sensor fault harmonic wave is flat
Surface current track 44 falls in y3Axis, B phase current sensor fault harmonic wave plane current track fall 45 in y1Axis, D phase current sensor
Failure harmonic wave plane current track falls 46 in x2Axis, E phase current sensor fault harmonic wave plane current track fall 47 in x3Axis.Cause
This determines phase current sensor failure according to the multiphase permanent magnet synchronous motor drive system method for diagnosing faults flow chart of Fig. 1
Afterwards, the axis being located further according to harmonic wave plane current track can find the phase current sensor specifically to break down.
Multiphase permanent magnet synchronous motor drive system method for diagnosing faults proposed by the present invention uses harmonic wave plane current rail
Mark identification technology detects open-phase fault.For the ease of identifying specific failure phase, the harmonic wave plane current track of use is known
Other technology constructs three groups of coordinate systems, respectively x in harmonic wave plane1-y1Coordinate system 51, x2-y2Coordinate system 52 and x3-y3Coordinate system
53.After open-phase fault occurs, harmonic wave plane current track can become one from the dot for surrounding coordinate origin originally and be located at structure
The straight line on coordinate system built.A phase open-phase fault harmonic wave plane current track 54 falls in x1Axis, B phase open-phase fault harmonic wave
Plane current track 55 falls in x3Axis, C phase open-phase fault harmonic wave plane current track 56 fall in x2Axis, D phase open-phase fault harmonic wave are flat
Surface current track 57 falls in y3Axis, E phase open-phase fault harmonic wave plane current track 58 fall in y2Axis, F phase open-phase fault harmonic wave plane
Current locus 59 falls in y1Axis.Therefore true according to the multiphase permanent magnet synchronous motor drive system method for diagnosing faults flow chart of Fig. 1
After determining open-phase fault generation, specific failure phase can be found further according to the axis that harmonic wave plane current track is located.
Multiphase permanent magnet synchronous motor drive system method for diagnosing faults proposed by the present invention uses harmonic wave plane current rail
Mark identification technology detects inverter switching device tube open circuit failure.For the ease of identifying the specific position of inverter switching device pipe failure
It sets, the harmonic wave plane current track identification technology of use constructs three groups of coordinate systems, respectively x in harmonic wave plane1-y1Coordinate system
61、x2-y2Coordinate system 62 and x3-y3Coordinate system 63.After inverter switching device tube open circuit failure occurs, the track meeting of harmonic wave plane current
Dot from surrounding coordinate origin originally becomes the straight line of origin side on the coordinate system that one is located at building.Inverter
A phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track 64 falls in x1The negative semiaxis of axis, inverter A phase bridge arm S2Switching tube
Open-circuit fault harmonic wave plane current track 65 falls in x1Axis positive axis, inverter B phase bridge arm S1Switching tube open-circuit fault harmonic wave plane
Current locus 66 falls in x3The negative semiaxis of axis, inverter B phase bridge arm S3Switching tube open-circuit fault harmonic wave plane current track 67 falls in x3
Axis positive axis, inverter C phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track 68 falls in x2The negative semiaxis of axis, inverter C
Phase bridge arm S2Switching tube open-circuit fault harmonic wave plane current track 69 falls in x2Axis positive axis, inverter D phase bridge arm S1Switching tube is opened
Road failure harmonic wave plane current track 610 falls in y3Axis positive axis, inverter D phase bridge arm S2Switching tube open-circuit fault harmonic wave plane
Current locus 611 falls in y3The negative semiaxis of axis, inverter E phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track 612 is fallen in
y2Axis positive axis, inverter E phase bridge arm S2Switching tube open-circuit fault harmonic wave plane current track 613 falls in y2The negative semiaxis of axis, inversion
Device F phase bridge arm S1Switching tube open-circuit fault harmonic wave plane current track 614 falls in y1Axis positive axis, inverter F phase bridge arm S2Switch
Tube open circuit failure harmonic wave plane current track 615 falls in y1The negative semiaxis of axis.Therefore it is driven according to the multiphase permanent magnet synchronous motor of Fig. 1
After diagnosis method for system fault flow chart determines that inverter switching device tube open circuit failure occurs, further according to harmonic wave plane current track institute
The axis being located can find specific breakdown switch pipe.
The present invention finally demonstrates proposed multiphase forever on double three-phase permanent-magnetic Synchromous machine drive system experiment porch
The validity of magnetic-synchro motor driven systems method for diagnosing faults, part of test results have provided, as shown in figs. 7 to 11.Fig. 7
For speed probe fault diagnosis experimental waveform.Wherein, 71 be speed reference waveform, and 72 be speed estimate value waveform, and 73 are
Rotary speed actual value waveform, 74 be speed feedback value waveform, and 75 be revolving speed exponential waveform, and 76 be its respective threshold wave of revolving speed index
Shape.Fig. 8 is DC bus-bar voltage sensor fault diagnosis experimental waveform.Wherein, 81 be DC bus-bar voltage actual value waveform, 82
It is DC bus-bar voltage value of feedback waveform for DC bus-bar voltage estimated value waveform, 83,84 be magnetic linkage difference absolute value waveform, and 85 are
Its respective threshold waveform of magnetic linkage difference absolute value.Fig. 9 is A phase Phase Faults experimental waveform.Wherein, 91 be A phase current waveform,
92 be B phase current waveform, and 93 be C phase current waveform, and 94 be harmonic wave plane current track.Figure 10 is inverter A phase S1Switching tube
Open-circuit fault diagnostic test waveform.Wherein, 101 be A phase current waveform, and 102 be B phase current waveform, and 103 be C phase current waveform,
104 be harmonic wave plane current track.Figure 11 is A phase current sensor fault diagnosis experimental waveform.Wherein, 111 be A phase current wave
Shape, 112 be B phase current waveform, and 113 be C phase current waveform, and 114 be harmonic wave plane current track.
Claims (1)
1. a kind of multiphase permanent magnet synchronous motor drive system method for diagnosing faults, which is characterized in that method includes the following steps:
(1) velocity sensor, the DC bus-bar voltage sensor, phase current of diagnosis multiphase permanent magnet synchronous motor drive system are treated
Sensor output signal is acquired；
(2) revolving speed index SI, magnetic linkage difference absolute value are calculated separately using the signal collected in step (1) | Δ ψ |, harmonic wave it is flat
Surface current amplitude Ixy, positive half-wave current index CI+With negative half-wave current index CI-；
(3) speed sensor fault diagnoses: judge whether revolving speed index SI is greater than its respective threshold true, if set up, and diagnosis
The velocity sensor of system breaks down out, otherwise executes next condition judgement, wherein the threshold value value of revolving speed index SI is to be
2 times of revolving speed index SI maximum value under non-failure conditions of uniting；
(4) voltage sensor fault diagnosis: judge magnetic linkage difference absolute value | Δ ψ | it is greater than its respective threshold harmony popin surface current width
Value IxyWhether set up simultaneously less than its respective threshold 1A, if set up simultaneously, is diagnosed to be the DC bus-bar voltage sensor of system
Break down, otherwise execute the judgement of next condition, wherein magnetic linkage difference absolute value | Δ ψ | threshold value value be system fault-free feelings
Magnetic linkage difference absolute value under condition | Δ ψ | 2 times of maximum value；
(5) harmonic wave plane current state-detection: judge harmonic wave plane current amplitude IxyIt is whether true greater than its respective threshold, if
Invalid then system fault-free, re-starts next round fault diagnosis, next condition judgement is executed if setting up, wherein humorous
Popin surface current amplitude IxyThreshold value value be system non-failure conditions under harmonic wave plane current amplitude Ixy2 times of maximum value；
(6) Phase Faults: judge positive half-wave current index CI+Less than its respective threshold and negative half-wave current index CI-It is less than
Whether its respective threshold is set up simultaneously, if set up simultaneously, is diagnosed to be system and open-phase fault occurs, otherwise execute next condition and sentence
It is disconnected, wherein positive half-wave current index CI+With negative half-wave current index CI-Be that 0 or 1 are attached under normal and various malfunctions
Close numerical value, thus the equal value of threshold value of the two is 0.5；
(7)S1The diagnosis of switching tube open-circuit fault: judge positive half-wave current index CI+Less than its respective threshold 0.5 and negative half-wave current
Index CI-Whether set up simultaneously greater than its respective threshold 0.5, if set up simultaneously, is diagnosed to be the S of system1Switching tube is opened a way
Otherwise failure executes next condition judgement；
(8)S2The diagnosis of switching tube open-circuit fault: judge positive half-wave current index CI+Greater than its respective threshold 0.5 and negative half-wave current
Index CI-Whether set up simultaneously less than its respective threshold 0.5, if set up simultaneously, is diagnosed to be the S of system2Switching tube is opened a way
Failure, the current sensor for being otherwise diagnosed to be system break down；
(9) current sensor faults diagnose: all kinds of fault current rails got by harmonic wave plane current track identification technology
Mark feature determines the specific location that failure occurs；
The revolving speed index SI is speed sensor feedback speed and magnetic linkage rotation speed makees absolute value of the difference and motor refers to
The ratio of revolving speed；The magnetic linkage rotation speed ωψIt is obtained by formula (1):
In formula, θ is the rotor position angle of multiphase permanent magnet synchronous motor to be diagnosed, λsIt is determining for multiphase permanent magnet synchronous motor to be diagnosed
Sub- magnetic linkage position angle, δ are angle of torsion, ωψIt is stator magnetic linkage rotation speed, ωdFor the differential value of angle of torsion, due to ωdIt is much smaller than
ωψ, the estimated value of motor speed is approximately magnetic linkage rotation speed；
The magnetic linkage difference absolute value | Δ ψ | refer to that the flux observer based on current model and the magnetic linkage based on voltage model are seen
The magnetic linkage amplitude deviation that device is observed is surveyed, the flux observer based on current model and the magnetic linkage based on voltage model are seen
It surveys device and passes through formula (2) and formula (3) calculating magnetic linkage respectively:
Wherein, ψsαIt is α axis stator magnetic linkage, ψsβIt is β axis stator magnetic linkage, UsαIt is α axis stator voltage, UsβIt is β axis stator voltage, isα
It is α axis stator current, isβIt is β axis stator current, RsIt is stator resistance；
Wherein, ψdIt is d axis magnetic linkage, ψqIt is q axis magnetic linkage, LdIt is d axle inductance, LqIt is q axle inductance, isαIt is α axis stator current, isβIt is β
Axis stator current, idIt is d shaft current, iqIt is q shaft current, ψfIt is permanent magnet flux linkage；
The harmonic wave plane current amplitude IxyIt is obtained for each phase current sensor feedback value through Vector Space Decomposition coordinate transform
Harmonic wave plane current amplitude；
The positive half-wave current index CI+With negative half-wave current index CI-It is calculated by formula (4):
Wherein, IA+、IA-、IB+、IB-...IF+、IF-It is the average value of each phase positive half-wave and negative half-wave current absolute value, IaveIt is fixed
Electron current absolute average, Ix+And Ix-It is the average value and diagnosis phase current negative half for diagnosing phase current positive half-wave absolute value respectively
The average value of wave absolute value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810434763.5A CN108490353B (en) | 2018-05-07 | 2018-05-07 | Multiphase permanent magnet synchronous motor drive system method for diagnosing faults |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810434763.5A CN108490353B (en) | 2018-05-07 | 2018-05-07 | Multiphase permanent magnet synchronous motor drive system method for diagnosing faults |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108490353A CN108490353A (en) | 2018-09-04 |
| CN108490353B true CN108490353B (en) | 2019-07-19 |
Family
ID=63353116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810434763.5A Active CN108490353B (en) | 2018-05-07 | 2018-05-07 | Multiphase permanent magnet synchronous motor drive system method for diagnosing faults |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108490353B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110794302B (en) * | 2019-10-31 | 2021-08-10 | 东南大学 | Zero drift fault diagnosis method for current sensor of permanent magnet linear motor |
| CN111024999B (en) * | 2019-12-09 | 2022-03-29 | 上海汽车工业(集团)总公司 | Phase current calculation method and calculation module, and fault diagnosis method and fault diagnosis system thereof |
| CN111025151B (en) * | 2019-12-26 | 2021-12-21 | 沈阳工业大学 | Open-circuit fault diagnosis method for multi-phase permanent magnet synchronous motor driving system |
| CN111948574B (en) * | 2020-07-31 | 2022-01-11 | 电子科技大学 | Method for quickly positioning open-circuit fault of inverter |
| CN113030722B (en) * | 2021-03-05 | 2023-08-29 | 青岛大学 | Open-circuit fault online detection method for multiphase motor driving system |
| CN113030785B (en) * | 2021-03-17 | 2023-08-29 | 青岛大学 | Open-circuit fault detection method for motor system |
| CN113687226A (en) * | 2021-08-20 | 2021-11-23 | 中车大连电力牵引研发中心有限公司 | Method for identifying open-phase fault of asynchronous motor of urban rail vehicle-controlled traction inverter |
| CN113794413B (en) * | 2021-08-31 | 2023-05-05 | 西南交通大学 | Permanent magnet motor driving system current sensor fault type identification method and device |
| CN114355186B (en) * | 2021-11-26 | 2023-03-07 | 合肥工业大学 | Method for diagnosing rotor broken bar and speed sensor fault of asynchronous motor system |
| CN114172443B (en) * | 2021-12-01 | 2023-05-05 | 西南交通大学 | Permanent magnet motor driving system current sensor fault online diagnosis method |
| CN115128456B (en) * | 2022-06-29 | 2023-04-07 | 哈尔滨工业大学 | Double-redundancy motor open-circuit fault detection and fault positioning method |
| CN116578889B (en) * | 2023-06-30 | 2023-11-10 | 国网甘肃省电力公司经济技术研究院 | Power generation fault diagnosis method |
| CN116953567B (en) * | 2023-09-21 | 2023-12-19 | 中南大学 | Open-circuit fault detection method, device and equipment for three-phase inverter |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5683223A (en) * | 1979-12-12 | 1981-07-07 | Hitachi Ltd | Rotary electric machine rotor winding malfunction detector |
| US4952915A (en) * | 1988-05-12 | 1990-08-28 | Westinghouse Electric Corp. | Failed electrical component detector for multiphase electric machines |
| KR950002039B1 (en) * | 1992-03-07 | 1995-03-08 | 삼성전자주식회사 | Self-testing method of inverter driving circuit |
| DE102009034595B4 (en) * | 2009-07-24 | 2014-09-04 | Conti Temic Microelectronic Gmbh | Method for diagnosing current sensors of a rotating field machine during its operation |
| CN103558547B (en) * | 2013-11-01 | 2015-12-02 | 东南大学 | A kind of intelligent failure diagnosis method of permagnetic synchronous motor |
| ITMI20132077A1 (en) * | 2013-12-12 | 2015-06-13 | Ansaldo Energia Spa | EQUIPMENT AND METHOD FOR THE PERFORMANCE OF SHORT-CIRCUIT TESTS ON SYNCHRONOUS POLYPHASE GENERATORS |
| EP3428668B1 (en) * | 2014-06-30 | 2022-07-27 | Elmos Semiconductor SE | Method for obtaining an indication, in particular an initial indication of a possible faulty load condition of a polyphase electric motor |
| CN105717453B (en) * | 2016-03-25 | 2018-10-23 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of detection method of motor magnetic linkage and the detection method of electrical fault |
-
2018
- 2018-05-07 CN CN201810434763.5A patent/CN108490353B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108490353A (en) | 2018-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108490353B (en) | Multiphase permanent magnet synchronous motor drive system method for diagnosing faults | |
| Kontarček et al. | Cost-effective three-phase PMSM drive tolerant to open-phase fault | |
| US8354817B2 (en) | Methods and systems for diagnosing stator windings in an electric motor | |
| CN109870639B (en) | Open-circuit fault diagnosis method for switching tube of open-winding electric-drive current conversion system | |
| RU2637379C1 (en) | Method for diagnostics of short-circuit in power converter circuit of ac jet motor by bus current | |
| CN110441643B (en) | Inverter power tube open circuit fault diagnosis method in permanent magnet synchronous motor control system | |
| CN110749842B (en) | Voltage source type inverter switch open-circuit fault diagnosis method based on common-mode voltage | |
| CN104965148A (en) | Inverter power transistor open-circuit fault real-time detection method in motor driving system | |
| CN109039204B (en) | Position-sensorless model prediction control system and method for permanent magnet synchronous motor for vehicle | |
| Zhang et al. | Online diagnosis of slight interturn short-circuit fault for a low-speed permanent magnet synchronous motor | |
| Yang et al. | Online open-phase fault detection for permanent magnet machines with low fault harmonic magnitudes | |
| CN106896323A (en) | Switched reluctance machines asymmetrical half-bridge type power inverter main switch fault detection method | |
| JP5300349B2 (en) | Motor control device and motor ground fault detection method | |
| Huang et al. | An open-circuit fault diagnosis method for PMSM drives using symmetrical and DC components | |
| Yang et al. | On-line stator open-phase fault detection and tolerant control for permanent magnet machines using the neutral point voltage | |
| CN108344918B (en) | Fault diagnosis method for converter in switch reluctance motor drive and converter | |
| Zhou et al. | UKF-based sensor fault diagnosis of PMSM drives in electric vehicles | |
| Li et al. | Open circuit fault diagnosis strategy of PMSM drive system based on grey prediction theory for industrial robot | |
| CN107153147B (en) | Shorted-turn fault detection method for five phase OWFTFSCW-IPM motors | |
| Kontarček et al. | Single open-phase fault detection in permanent magnet synchronous machine through current prediction | |
| CN116507929A (en) | On-line monitoring and compensating for stator turn-to-turn short circuit fault in permanent magnet synchronous motor | |
| CN114172443A (en) | Online fault diagnosis method for current sensor of permanent magnet motor driving system | |
| Nguyen et al. | Sensor fault diagnosis technique applied to three-phase induction motor drive | |
| Al‐Gahtani et al. | Detection of negative sequence components in diagnosing and tolerating open‐gate fault for a voltage‐source inverter in an induction motor drive | |
| Upadhyay et al. | A Stator Flux Linkage DC Offset Based Stator Fault Detection For PMSM Drive Systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |