CN109188271A - Four phase electric excitation biconvex electrode electric machine systems of one kind and its power tube single tube open-circuit fault detection method - Google Patents
Four phase electric excitation biconvex electrode electric machine systems of one kind and its power tube single tube open-circuit fault detection method Download PDFInfo
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- CN109188271A CN109188271A CN201810916002.3A CN201810916002A CN109188271A CN 109188271 A CN109188271 A CN 109188271A CN 201810916002 A CN201810916002 A CN 201810916002A CN 109188271 A CN109188271 A CN 109188271A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
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Abstract
The invention discloses a kind of four phase electric excitation biconvex electrode electric machine systems and its power tube single tube open-circuit fault detection methods, the system uses binary channels connection, A, C phase constitutes channel U, B, D phase constitutes channel V, there are 4 power tubes in each channel, and four phase electric excitation biconvex electrode electric machines are controlled using four phases, four state, each state has 4 power tubes open-minded, wherein 2 are in channel U, including 1 upper tube and 1 down tube；Other 2 are in channel V, including 1 upper tube and 1 down tube；This method includes that fault coverage is narrowed down to two power tubes first, then determines that failure pipe is upper tube or down tube according to phase bridge arm mid-point voltage characteristic.
Description
Technical field
The present invention relates to motor driven systems converter fault detection methods, more particularly to a kind of four phase electric excitation biconvex electrodes
Electric system and its power tube single tube open-circuit fault detection method.
Background technique
Power electronic device is inevitably present certain failure rate, and common power electronic device failure includes open circuit
Two aspects of failure and short trouble, it is however generally that short trouble will cause overcurrent to which the fuse that fuses transforms into open-circuit fault
Processing, double salient-pole electric machine belongs to a kind of brushless motor, when its electric operation relies on the normal commutation of power electronic converter, works as power
After open-circuit fault occurs for electronic device, the normal commutation of motor is influenced, double salient motor system is may cause under serious situation and stops
Machine, and in applications such as the higher Aeronautics and Astronautics of reliability requirement, automobiles, it needs electric system continually and steadily to run, occurs
It needs after failure with fault-tolerant ability, but fault-toleranr technique establishes power tube fault detection on the basis of malfunction monitoring technology
Technology has great importance.
Electric excitation biconvex electrode electric machine structure is simple, control is flexible, each phase is independent has good fault-tolerant ability, and four phases are electric
Excitation biconvex electrode electric machine is compared with conventional three-phase electric excitation biconvex electrode electric machine, and output torque pulsation is small, and error resilience performance is more excellent,
Advantage is had more in construction high reliability motor system aspects, the Chinese invention patent 201510013255.6: Yi Zhongsi authorized
Phase electric excitation biconvex electrode electric machine and its open-circuit fault diagnostic method, disclosing a kind of fault detection method is by two channels
Midpoint be arranged detection resistance, sampled and extracted fault signature to the detection voltage of the resistance, be diagnosed to be generation therefore
Hinder type；A kind of Chinese invention patent 201210540201.1 authorized: common open circuit fault of brshless DC motor inverter
Diagnostic method can detect in time after open circuit fault occurs for brshless DC motor inverter and be diagnosed to be abort situation；It has authorized
Chinese invention patent 201510127335.4: a kind of single-phase open circuit compensation controlling party of four phase electric excitation double-salient pole fault-tolerance motors
Method, proposition cancelled out each other according to reluctance torque between group, the principle that the sum of magnetic torque is remained unchanged with before failure compared between group, count
Calculate the fault-tolerant electric current of remaining three-phase；A kind of Chinese invention patent 201410063547.6 authorized: four phase brushless DC motors
Error tolerant power converter and control method propose a kind of fault-tolerant converter with the 5th redundancy bridge arm.
The research of existing fault detection method and faults-tolerant control about electric excitation biconvex electrode electric machine all has certain
Achievement, but existing faults-tolerant control strategy needs to establish on the basis of fault detection, and function in brushless motor system failure
Rate pipe single tube open-circuit fault is relatively conventional, so this mainly solves the fault detection after single tube open-circuit fault, does not need as system
The devices such as additional resistance are added, realize detection process using current sample, voltage sample and hall sensor signal.
Summary of the invention
Goal of the invention: to solve the deficiencies in the prior art, four phase electric excitation biconvex electrode electric machine systems of one kind and its function are provided
Rate pipe single tube open-circuit fault detection method.
Technical solution: for achieving the above object, the present invention adopts the following technical scheme:
A kind of four phase electric excitation biconvex electrode electric machine systems, which includes: four phase full-bridge converters, bus capacitor C1, electricity
Flow sampling module, voltage sample module, hall position sensor, microcontroller and four phase electric excitation biconvex electrode electric machines；Wherein four
There are four bridge arm A, B, C, D: power tube T1, T2 to constitute bridge arm A for phase full-bridge converter, and bridge arm midpoint is a；Power tube T5, T6 structure
At bridge arm C, bridge arm midpoint is c；Power tube T3, T4 constitute bridge arm B, and bridge arm midpoint is b；Power tube T7, T8 constitute bridge arm D, bridge
Arm midpoint is d；The input of motor A phase winding terminates to the input of bridge arm midpoint a, C phase winding and terminates to bridge arm midpoint c, A, C phase winding
Output end is connected, and A, C phase constitute channel U；The input of B phase winding terminates to the input of bridge arm midpoint b, D phase winding and terminates in bridge arm
Point d, B, D phase winding output end is connected；B, D phase constitutes channel V.
Preferably, power tube T1, T2, T3, T4, T5, T6, T7 and T8 points are four groups, are respectively as follows:
First group is denoted as F1 comprising upper tube T1 and down tube T6 constitutes channel U；
Second group is denoted as F2 comprising upper tube T3 and down tube T8 constitutes channel V；
Third group is denoted as F3 comprising upper tube T5 and down tube T2 constitutes channel U；
4th group is denoted as F4 comprising upper tube T7 and down tube T4 constitutes channel V；
Motor controls square wave current strategy using four phases, four state:
State one: power tube T5, T2, T7, T4 conducting, power tube T1, T6, T3, T8 shutdown, positive and negative electric current is A-, B-, C
+,D+；
State two: power tube T1, T6, T7, T4 conducting, power tube T5, T2, T3, T8 shutdown, electric current it is positive and negative for A+, B-,
C-,D+；
State three: power tube T1, T6, T3, T8 conducting, power tube T5, T2, T7, T4 shutdown, electric current it is positive and negative for A+, B+,
C-,D-；
State four: power tube T5, T2, T3, T8 conducting, power tube T1, T6, T7, T4 shutdown, positive and negative electric current is A-, B+, C
+,D-；
The signal of four hall position sensors is under four operating statuses are as follows:
P1:0,1,1,0；P2:0,0,1,1；P3:1,0,0,1；P4:1,1,0,0；
Logical operation is done to hall sensor signal and obtains four operating statuses:
Signal S1=P3P4 is height in operating status for the moment, other states are low；
Signal S2=P1P4 is height in operating status two, other states are low；
Signal S3=P1P2 is height in operating status three, other states are low；
Signal S4=P2P3 is height in operating status four, other states are low.
In another embodiment of the present invention, a kind of four phase electric excitation biconvex electrode electric machine system power pipe single tube open-circuit faults detection
Method, the system use binary channels connection, and A, C phase constitute channel U, and B, D phase constitute channel V, and there are 4 power tubes in each channel,
Four phase electric excitation biconvex electrode electric machines are controlled using four phases, four state, each state has 4 power tubes open-minded, wherein 2 are in
Channel U, including 1 upper tube and 1 down tube；Other 2 are in channel V, including 1 upper tube and 1 down tube；
Single tube open-circuit fault fault detection method includes:
(1) fault coverage is narrowed down into two power tubes first
The electric current of sampling channel U and channel V, seek absolute value and add up within continuous 10 sampling periods, if there is one to lead to
Road electric current accumulated value is lower than given threshold, and open-circuit fault pipe is in the channel, and so far, failure narrows down to 4 power tubes；By four
Hall position sensor signal carries out logical operation, determines which operating status fault current be in, combination failure place channel,
Failure narrows down to two switching tubes；
(2) failure pipe is then determined according to phase bridge arm mid-point voltage characteristic
Determine that failure pipe is upper tube or down tube according to phase bridge arm mid-point voltage characteristic.
Further, the step (1) the following steps are included:
Electric current i of the current value of (1-1) real-time detection A, B phase as channel U, Vu、iv: within continuous 10 sampling periods
Seek iuAnd ivAbsolute value, added up to obtain | iu|(sum)With | iv|(sum), set ε=20%Iamp, IampWhen being up
Current amplitude；
(1-2) if | iu|(sum)< ε and | iv|(sum)> ε, then open-circuit fault of power tubes is located at channel U, the possibility event in the U of channel
Barrier be F1 and F3, at this time status signal S2 and S3 carry out or operation obtain S23, if S23=1, failure F1, otherwise for
F3；
(1-3) if | iu|(sum)> ε and | iv|(sum)< ε, then open-circuit fault of power tubes is located at channel V, the possibility event in the V of channel
Barrier be F2 and F4, at this time status signal S3 and S4 carry out or operation obtain S34, if S34=1, failure F2, otherwise for
F4；
(1-4) if | iu|(sum)< ε and | iv|(sum)Multiphase open-circuit fault then occurs for < ε, carries out other processing, then terminates
Detection.
Further, the step (2) the following steps are included:
(2-1) voltage detecting, the fault location algorithm of down tube in judgement
Sampling obtains four phase bridge arm midpoint a, b, c, voltage U of the d relative to bus cathodean, Ubn, Ucn, Udn, current control
Using Hysteresis control, the upper equal copped wave of down tube, when T1, T6 are opened, UanFor bus voltage value, when T1, T6 are turned off, UanIt is 0；T5,T2
When opening, UcnFor bus voltage value, when T5, T2 are turned off, UcnIt is 0；When T3, T8 are opened, UbnFor bus voltage value, T3, T8 shutdown
When, UbnIt is 0；When T7, T4 are opened, UdnFor bus voltage value, when T7, T4 are turned off, UdnIt is 0；
(2-2) positions single tube failure
(2-2-1) is if failure is F1, i.e. upper tube T1 or down tube T6 failure；Sampled voltage Uan, by status signal S2 and S3 into
Capable or operation obtains S23=S2+S3, as S23=1, if 0 < Uan<Udc/ 2, failure is upper tube T1, if Udc/2<Uan<Udc, therefore
Barrier is down tube T6；
(2-2-2) is if failure is F2, i.e. upper tube T3 or down tube T8 failure；Sampled voltage Ubn, by status signal S3 and S4 into
Capable or operation obtains S34=S3+S4, as S34=1, if 0 < Ubn<Udc/ 2, failure is upper tube T3, if Udc/2<Ubn<Udc, therefore
Barrier is down tube T8；
(2-2-3) is if failure is F3, i.e. upper tube T5 or down tube T2 failure, sampled voltage Ucn, by status signal S1 and S4 into
Capable or operation obtains S14=S1+S4, as S14=1, if 0 < Ucn<Udc/ 2, failure is upper tube T5, if Udc/2<Ucn<Udc, therefore
Barrier is down tube T2；
(2-2-4) is if failure is F4, i.e. upper tube T7 or down tube T4 failure, sampled voltage Udn, by status signal S1 and S2 into
Capable or operation obtains S12=S1+S2, as S12=1, if 0 < Udn<Udc/ 2, failure is upper tube T7, if Udc/2<Udn<Udc, therefore
Barrier is down tube T4.
Further, the step (2-2-1) if in failure pipe be T1, in state one and state four and when operating normally
It is identical, due to T1 open-circuit fault, A phase bridge arm mid-point voltage in state two and state threeWherein UanIndicate voltage of the A phase bridge arm midpoint relative to bus cathode,
ea、ecIndicate the back-emf of A, C phase, ifIndicate exciting current, Laf、LcfIndicate the mutual inductance of A phase and excitation winding, C phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UanThis value is slightly larger than 0, with U when operating normallyanFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state one and state four if failure pipe is T6, in two He of state
Due to T6 open-circuit fault, A phase bridge arm mid-point voltage in state threeWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectionanThis value is slightly less than bus voltage value Udc, with
U when normal operationanIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T1 also
It is down tube T6.
Further, the step (2-2-2) if in failure pipe be T3, in state one and state two and when operating normally
It is identical, due to T3 open-circuit fault, B phase bridge arm mid-point voltage in state three and state fourWherein UbnIndicate voltage of the B phase bridge arm midpoint relative to bus cathode,
eb、edIndicate the back-emf of B, D phase, ifIndicate exciting current, Lbf、LdfIndicate the mutual inductance of B phase and excitation winding, D phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UbnThis value is slightly larger than 0, with U when operating normallybnFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state three and state four if failure pipe is T8, in one He of state
Due to T8 open-circuit fault, B phase bridge arm mid-point voltage in state twoWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectionbnThis value is slightly less than bus voltage value Udc, with
U when normal operationbnIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T3 also
It is down tube T8.
Further, the step (2-2-3) if in failure pipe be T5, in state two and state three and when operating normally
It is identical, due to T5 open-circuit fault, C phase bridge arm mid-point voltage in state one and state fourWherein UcnIndicate voltage of the C phase bridge arm midpoint relative to bus cathode,
ec、eaIndicate the back-emf of C, A phase, ifIndicate exciting current, Lcf、LafIndicate the mutual inductance of C phase and excitation winding, A phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UcnThis value is slightly larger than 0, with U when operating normallycnFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state one and state four if failure pipe is T2, in two He of state
Due to T2 open-circuit fault, C phase bridge arm mid-point voltage in state threeWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectioncnThis value is slightly less than bus voltage value Udc, with
U when normal operationcnIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T5 also
It is down tube T2.
Further, the step (2-2-4) if in failure pipe be T7, in state three and state four and when operating normally
It is identical, due to T7 open-circuit fault, D phase bridge arm mid-point voltage in state one and state twoWherein UdnIndicate voltage of the D phase bridge arm midpoint relative to bus cathode,
ed、ebIndicate the back-emf of D, B phase, ifIndicate exciting current, Ldf、LbfIndicate the mutual inductance of D phase and excitation winding, B phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UdnThis value is slightly larger than 0, with U when operating normallydnFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state one and state two if failure pipe is T4, in three He of state
Due to T4 open-circuit fault, D phase bridge arm mid-point voltage in state fourWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectiondnThis value is slightly less than bus voltage value Udc, with
U when normal operationdnIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T7 also
It is down tube T4.
The utility model has the advantages that the converter failure of four phase winding binary channels connections of existing four phases electric excitation biconvex electrode electric machine is examined
Survey technology report is less, and single tube open-circuit fault detection method of the invention is then directed to this field and is applicable in, for promoting electrical excitation
The reliability of double salient motor system is of great significance.
Detailed description of the invention
Fig. 1 is four phases electric excitation biconvex electrode electric machine system block diagram of the present invention；
Fig. 2 is four phase current waveforms of inductance curve figure and ideal for the four phase electric excitation biconvex electrode electric machines that the present invention uses；
Fig. 3 is the signal after hall sensor signal and its logical operation of the invention；
Fig. 4 is the flow chart of single tube open-circuit fault detection method of the invention；
Fig. 5 is the Simulink of four phase electric excitation biconvex electrode electric machine system converter single tube open-circuit faults detection of the invention
Model；
Fig. 6 (a) is the Uan voltage waveform and T1 open-circuit fault marking signal that simulation T1 open-circuit fault of the invention obtains；
Fig. 6 (b) is the U that simulation T6 open-circuit fault of the invention obtainsanVoltage waveform and T6 open-circuit fault marking signal.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
Fig. 1 is four phases electric excitation biconvex electrode electric machine system block diagram of the present invention, system by four phase full-bridge converters,
Microcontroller, current sampling module, voltage sample module, hall sensor signal acquisition module, bus capacitor C1 and four phase electricity are encouraged
Magnetic double salient-pole electric machine is constituted.Wherein, the composition of four phase full-bridge converters are as follows: power tube T1, T2 constitute bridge arm A, and bridge arm midpoint is
a；Power tube T3, T4 constitute bridge arm B, and bridge arm midpoint is b；Power tube T5, T6 constitute bridge arm C, and bridge arm midpoint is c；Power tube T7,
T8 constitutes bridge arm D, and bridge arm midpoint is d.The voltage of electric current, the acquisition of voltage sample module that current sampling module obtains and Hall position
The position signal for setting signal acquisition module acquisition is all transferred to microcontroller, is handled by microcontroller, generates corresponding single tube and open
Road Reflector signal；The input of motor A phase winding terminates to the input of bridge arm midpoint a, C phase winding and terminates to bridge arm midpoint c, A, C
Phase winding output end is connected, and A, C phase constitute channel U；The input of B phase winding terminates to the input of bridge arm midpoint b, D phase winding and terminates to
Bridge arm midpoint d, B, D phase winding output end is connected；B, D phase constitutes channel V.
8 power tubes are divided into four groups:
First group is denoted as F1 comprising upper tube T1 and down tube T6 constitutes channel U；
Second group is denoted as F2 comprising upper tube T3 and down tube T8 constitutes channel V；
Third group is denoted as F3 comprising upper tube T5 and down tube T2 constitutes channel U；
4th group is denoted as F4 comprising upper tube T7 and down tube T4 constitutes channel V.
Fig. 2 is four phase current waveforms of inductance curve figure and ideal for the four phase electric excitation biconvex electrode electric machines that the present invention uses,
When electric excitation biconvex electrode electric machine electric operation, it then follows " inductance first transition corresponds to phase winding and is passed through forward current, inductance descending area
Between correspond to phase winding and be passed through negative current " principle, motor can be made to obtain the torque of constant direction in this way, to continuously transport
Row.Motor controls square wave current strategy using four phases, four state:
State one: power tube T5, T2, T7, T4 conducting, power tube T1, T6, T3, T8 shutdown, positive and negative electric current is A-, B-, C
+,D+；
State two: power tube T1, T6, T7, T4 conducting, power tube T5, T2, T3, T8 shutdown, electric current it is positive and negative be A+, B-,
C-,D+；
State three: power tube T1, T6, T3, T8 conducting, power tube T5, T2, T7, T4 shutdown, electric current it is positive and negative be A+, B+,
C-,D-；
State four: power tube T5, T2, T3, T8 conducting, power tube T1, T6, T7, T4 shutdown, positive and negative electric current is A-, B+, C
+,D-；
Fig. 3 is the signal after hall sensor signal and its logical operation of the invention, wherein signal S1=P3P4,
It is for the moment height in operating status, other states are low；Signal S2=P1P4 is height in operating status two, other states are
It is low；Signal S3=P1P2 is height in operating status three, other states are low；Signal S4=P2P3, in operating status four
Shi Weigao, other states are low；So, four signals S1, S2, S3, S4 respectively indicate one, motor and run the electric period
Four states.
Fig. 4 is the flow chart of single tube open-circuit fault detection method of the invention, as shown in figure 4, four phase electrical excitation of one kind is double
Salient-pole machine system power pipe single tube open-circuit fault detection method, comprising the following steps:
(1) fault coverage is narrowed down to the process of two power tubes:
Electric current i of the current value of (1-1) real-time detection A, B phase as channel U, Vu、iv: within continuous 10 sampling periods
Seek iuAnd ivAbsolute value, added up to obtain | iu|(sum)With | iv|(sum), set ε=20%Iamp, IampWhen being up
Current amplitude；
(1-2) if | iu|(sum)< ε and | iv|(sum)> ε, then open-circuit fault of power tubes is located at channel U, the possibility event in the U of channel
Barrier is F1 (upper tube T1 or down tube T6) and F3 (upper tube T5 or down tube T2), carries out to status signal S2 and S3 at this time or operation obtains
To S23, if S23=1, otherwise failure F1 is F3；
(1-3) if | iu|(sum)> ε and | iv|(sum)< ε, then open-circuit fault of power tubes is located at channel V, the possibility event in the V of channel
Barrier is F2 (upper tube T3 or down tube T8) and F4 (upper tube T7 or down tube T4), carries out to status signal S3 and S4 at this time or operation obtains
To S34, if S34=1, otherwise failure F2 is F4；
(1-4) if | iu|(sum)< ε and | iv|(sum)Multiphase open-circuit fault then occurs for < ε, carries out other processing, then terminates
Detection.
(2) failure pipe is determined according to phase bridge arm mid-point voltage characteristic:
(2-1) sampling obtains four phase bridge arm midpoint a, b, c, voltage U of the d relative to bus cathodean, Ubn, Ucn, Udn, electric current
It controls and uses Hysteresis control, the upper equal copped wave of down tube, when T1, T6 are opened, UanFor bus voltage value, when T1, T6 are turned off, UanIt is 0；
When T5, T2 are opened, UcnFor bus voltage value, when T5, T2 are turned off, UcnIt is 0；When T3, T8 are opened, UbnFor bus voltage value, T3,
When T8 is turned off, UbnIt is 0；When T7, T4 are opened, UdnFor bus voltage value, when T7, T4 are turned off, UdnIt is 0；
(2-2) is if failure is F1, i.e. upper tube T1 or down tube T6 failure；
It is identical when state one and state four are with normal operation if failure pipe is T1, in state two and state three due to
T1 open-circuit fault, A phase bridge arm mid-point voltageThis value is slightly larger than 0, and just
Often U when operationaIt is bus voltage value or is 0 different from；If failure pipe is T6, in state one and state four and normally
It is identical when operation, due to T6 open-circuit fault, A phase bridge arm mid-point voltage in state two and state threeThis value is slightly less than bus voltage value Udc, and it is normal
U when operationanIt is bus voltage value or is 0 different from；
Sampled voltage Uan, status signal S2 and S3 is carried out or operation obtains S23=S2+S3, as S23=1, if 0 <
Uan<Udc/ 2, failure is upper tube T1, if Udc/2<Uan<Udc, failure is down tube T6.
Same reason:
(2-3) is if failure is F2, i.e. upper tube T3 or down tube T8 failure；
It is identical when state one and state two are with normal operation if failure pipe is T3, in state three and state four due to
T3 open-circuit fault, B phase bridge arm mid-point voltageThis value is slightly larger than 0, with
U when normal operationbnIt is bus voltage value or is 0 different from；
It is identical when state three and state four are with normal operation if failure pipe is T8, in state one and state two due to
T8 open-circuit fault, B phase bridge arm mid-point voltageThis
Value is slightly less than bus voltage value Udc, with U when operating normallybnIt is bus voltage value or is 0 different from；
Sampled voltage Ubn, status signal S3 and S4 is carried out or operation obtains S34=S3+S4, as S34=1, if 0 <
Ubn<Udc/ 2, failure is upper tube T3, if Udc/2<Ubn<Udc, failure is down tube T8；
(2-4) is if failure is F3, i.e. upper tube T5 or down tube T2 failure；
It is identical when state two and state three are with normal operation if failure pipe is T5, in state one and state four due to
T5 open-circuit fault, C phase bridge arm mid-point voltageThis value is slightly larger than 0, with
U when normal operationcnIt is bus voltage value or is 0 different from；
It is identical when state one and state four are with normal operation if failure pipe is T2, in state two and state three due to
T2 open-circuit fault, C phase bridge arm mid-point voltageThis
Value is slightly less than bus voltage value Udc, with U when operating normallycnIt is bus voltage value or is 0 different from；
Sampled voltage Ucn, status signal S1 and S4 is carried out or operation obtains S14=S1+S4, as S14=1, if 0 <
Ucn<Udc/ 2, failure is upper tube T5, if Udc/2<Ucn<Udc, failure is down tube T2；
(2-5) is if failure is F4, i.e. upper tube T7 or down tube T4 failure；
It is identical when state three and state four are with normal operation if failure pipe is T7, in state one and state two due to
T7 open-circuit fault, D phase bridge arm mid-point voltageThis value is slightly larger than 0, with
U when normal operationdnIt is bus voltage value or is 0 different from；
It is identical when state one and state two are with normal operation if failure pipe is T4, in state three and state four due to
T4 open-circuit fault, D phase bridge arm mid-point voltageThis
A value is slightly less than bus voltage value Udc, with U when operating normallydnIt is bus voltage value or is 0 different from；
Sampled voltage Udn, status signal S1 and S2 is carried out or operation obtains S12=S1+S2, as S12=1, if 0 <
Udn<Udc/ 2, failure is upper tube T7, if Udc/2<Udn<Udc, failure is down tube T4.
Fig. 5 is the MaTLAB mould of four phase electric excitation biconvex electrode electric machine system converter single tube open-circuit faults detection of the invention
Type.
Fig. 6 (a) is the Uan voltage waveform and T1 open-circuit fault marking signal that simulation T1 open-circuit fault of the invention obtains,
It using this single tube open-circuit fault detection method, is emulated using Simulink model, busbar voltage is set as 200V, and T1 is arranged
Open-circuit fault, obtained sampled voltage U occur at 0.1sanWith T1 open-circuit fault marking signal FlagT1, after the failure occurred
Reflector signal sets height, successfully is detected T1 open-circuit fault.
Fig. 6 (b) is the U that simulation T6 open-circuit fault of the invention obtainsanVoltage waveform and T6 open-circuit fault marking signal, make
It with this single tube open-circuit fault detection method, is emulated using Simulink model, busbar voltage is set as 200V, and setting T6 exists
Open-circuit fault, obtained sampled voltage U occur at 0.1sanWith T6 open-circuit fault marking signal FlagT6, after the failure occurred event
Barrier marking signal sets height, successfully is detected T6 open-circuit fault.
Claims (9)
1. a kind of four phase electric excitation biconvex electrode electric machine systems, which is characterized in that the system includes: four phase full-bridge converters, bus
Capacitor C1, current sampling module, voltage sample module, hall position sensor, microcontroller and four phase electric excitation biconvex electrode electricity
Machine；Wherein there are four bridge arm A, B, C, D: power tube T1, T2 to constitute bridge arm A for four phase full-bridge converters, and bridge arm midpoint is a；Power
Pipe T5, T6 constitute bridge arm C, and bridge arm midpoint is c；Power tube T3, T4 constitute bridge arm B, and bridge arm midpoint is b；Power tube T7, T8 are constituted
Bridge arm D, bridge arm midpoint are d；The input of motor A phase winding terminates to the input of bridge arm midpoint a, C phase winding and terminates to bridge arm midpoint c,
A, C phase winding output end is connected, and A, C phase constitute channel U；The input of B phase winding terminates to bridge arm midpoint b, D phase winding input termination
It is connected to bridge arm midpoint d, B, D phase winding output end；B, D phase constitutes channel V.
2. a kind of four phases electric excitation biconvex electrode electric machine system according to claim 1, which is characterized in that power tube T1, T2,
T3, T4, T5, T6, T7 and T8 points are four groups, are respectively as follows:
First group is denoted as F1 comprising upper tube T1 and down tube T6 constitutes channel U；
Second group is denoted as F2 comprising upper tube T3 and down tube T8 constitutes channel V；
Third group is denoted as F3 comprising upper tube T5 and down tube T2 constitutes channel U；
4th group is denoted as F4 comprising upper tube T7 and down tube T4 constitutes channel V；
Motor controls square wave current strategy using four phases, four state:
State one: power tube T5, T2, T7, T4 conducting, power tube T1, T6, T3, T8 shutdown, positive and negative electric current is A-, B-, C+, D+；
State two: power tube T1, T6, T7, T4 conducting, power tube T5, T2, T3, T8 shutdown, positive and negative electric current is A+, B-, C-, D+；
State three: power tube T1, T6, T3, T8 conducting, power tube T5, T2, T7, T4 shutdown, positive and negative electric current is A+, B+, C-, D-；
State four: power tube T5, T2, T3, T8 conducting, power tube T1, T6, T7, T4 shutdown, positive and negative electric current is A-, B+, C+, D-；
The signal of four hall position sensors is under four operating statuses are as follows:
P1:0,1,1,0；P2:0,0,1,1；P3:1,0,0,1；P4:1,1,0,0；
Logical operation is done to hall sensor signal and obtains four operating statuses:
Signal S1=P3P4 is height in operating status for the moment, other states are low；
Signal S2=P1P4 is height in operating status two, other states are low；
Signal S3=P1P2 is height in operating status three, other states are low；
Signal S4=P2P3 is height in operating status four, other states are low.
3. a kind of four phase electric excitation biconvex electrode electric machine system power pipe single tube open-circuit fault detection methods, it is characterised in that: this is
System uses binary channels connection, and A, C phase constitute channel U, and B, D phase constitute channel V, and there are 4 power tubes, four phase electrical excitations in each channel
Double salient-pole electric machine is controlled using four phases, four state, each state has 4 power tubes open-minded, wherein 2 are in channel U, including 1
A upper tube and 1 down tube；Other 2 are in channel V, including 1 upper tube and 1 down tube；
Single tube open-circuit fault fault detection method includes:
(1) fault coverage is narrowed down into two power tubes first
The electric current of sampling channel U and channel V, seek absolute value and add up within continuous 10 sampling periods, if there is a channel electricity
It flows accumulated value and is lower than given threshold, open-circuit fault pipe is in the channel, and so far, failure narrows down to 4 power tubes；By four Halls
Position sensor signal carries out logical operation, determines that fault current is in which operating status, channel where combination failure, failure
Narrow down to two switching tubes；
(2) failure pipe is then determined according to phase bridge arm mid-point voltage characteristic
Determine that failure pipe is upper tube or down tube according to phase bridge arm mid-point voltage characteristic.
4. a kind of four phases electric excitation biconvex electrode electric machine system power pipe single tube open-circuit fault detection side according to claim 3
Method, which is characterized in that the step (1) the following steps are included:
Electric current i of the current value of (1-1) real-time detection A, B phase as channel U, Vu、iv: i is sought within continuous 10 sampling periodsu
And ivAbsolute value, added up to obtain | iu|(sum)With | iv|(sum), set ε=20%Iamp, IampElectricity when being up
Flow amplitude；
(1-2) if | iu|(sum)< ε and | iv|(sum)> ε, then open-circuit fault of power tubes is located at channel U, and the possible breakdown in the U of channel is
F1 and F3 carries out status signal S2 and S3 at this time or operation obtains S23, if S23=1, otherwise failure F1 is F3；
(1-3) if | iu|(sum)> ε and | iv|(sum)< ε, then open-circuit fault of power tubes is located at channel V, and the possible breakdown in the V of channel is
F2 and F4 carries out status signal S3 and S4 at this time or operation obtains S34, if S34=1, otherwise failure F2 is F4；
(1-4) if | iu|(sum)< ε and | iv|(sum)Multiphase open-circuit fault then occurs for < ε, carries out other processing, then terminates to detect.
5. a kind of four phases electric excitation biconvex electrode electric machine system power pipe single tube open-circuit fault detection side according to claim 3
Method, which is characterized in that the step (2) the following steps are included:
(2-1) voltage detecting, the fault location algorithm of down tube in judgement
Sampling obtains four phase bridge arm midpoint a, b, c, voltage U of the d relative to bus cathodean, Ubn, Ucn, Udn, current control use
Hysteresis control, the upper equal copped wave of down tube, when T1, T6 are opened, UanFor bus voltage value, when T1, T6 are turned off, UanIt is 0；T5, T2 are open-minded
When, UcnFor bus voltage value, when T5, T2 are turned off, UcnIt is 0；When T3, T8 are opened, UbnFor bus voltage value, when T3, T8 are turned off,
UbnIt is 0；When T7, T4 are opened, UdnFor bus voltage value, when T7, T4 are turned off, UdnIt is 0；
(2-2) positions single tube failure
(2-2-1) is if failure is F1, i.e. upper tube T1 or down tube T6 failure；Sampled voltage Uan, status signal S2 and S3 are carried out or
Operation obtains S23=S2+S3, as S23=1, if 0 < Uan<Udc/ 2, failure is upper tube T1, if Udc/2<Uan<Udc, failure is
Down tube T6；
(2-2-2) is if failure is F2, i.e. upper tube T3 or down tube T8 failure；Sampled voltage Ubn, status signal S3 and S4 are carried out or
Operation obtains S34=S3+S4, as S34=1, if 0 < Ubn<Udc/ 2, failure is upper tube T3, if Udc/2<Ubn<Udc, failure is
Down tube T8；
(2-2-3) is if failure is F3, i.e. upper tube T5 or down tube T2 failure, sampled voltage Ucn, status signal S1 and S4 are carried out or
Operation obtains S14=S1+S4, as S14=1, if 0 < Ucn<Udc/ 2, failure is upper tube T5, if Udc/2<Ucn<Udc, failure is
Down tube T2；
(2-2-4) is if failure is F4, i.e. upper tube T7 or down tube T4 failure, sampled voltage Udn, status signal S1 and S2 are carried out or
Operation obtains S12=S1+S2, as S12=1, if 0 < Udn<Udc/ 2, failure is upper tube T7, if Udc/2<Udn<Udc, failure is
Down tube T4.
6. a kind of four phases electric excitation biconvex electrode electric machine system power pipe single tube open-circuit fault detection side according to claim 5
Method, which is characterized in that the step (2-2-1) if in failure pipe be T1, it is identical when state one and state four are with normal operation,
Due to T1 open-circuit fault, A phase bridge arm mid-point voltage in state two and state threeWherein UanIndicate voltage of the A phase bridge arm midpoint relative to bus cathode,
ea、ecIndicate the back-emf of A, C phase, ifIndicate exciting current, Laf、LcfIndicate the mutual inductance of A phase and excitation winding, C phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UanThis value is slightly larger than 0, with U when operating normallyanFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state one and state four if failure pipe is T6, in two He of state
Due to T6 open-circuit fault, A phase bridge arm mid-point voltage in state threeWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectionanThis value is slightly less than bus voltage value Udc, with
U when normal operationanIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T1 also
It is down tube T6.
7. a kind of four phases electric excitation biconvex electrode electric machine system power pipe single tube open-circuit fault detection side according to claim 5
Method, which is characterized in that the step (2-2-2) if in failure pipe be T3, it is identical when state one and state two are with normal operation,
Due to T3 open-circuit fault, B phase bridge arm mid-point voltage in state three and state fourWherein UbnIndicate voltage of the B phase bridge arm midpoint relative to bus cathode,
eb、edIndicate the back-emf of B, D phase, ifIndicate exciting current, Lbf、LdfIndicate the mutual inductance of B phase and excitation winding, D phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UbnThis value is slightly larger than 0, with U when operating normallybnFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state three and state four if failure pipe is T8, in one He of state
Due to T8 open-circuit fault, B phase bridge arm mid-point voltage in state twoWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectionbnThis value is slightly less than bus voltage value Udc, with
U when normal operationbnIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T3 also
It is down tube T8.
8. a kind of four phases electric excitation biconvex electrode electric machine system power pipe single tube open-circuit fault detection side according to claim 5
Method, which is characterized in that the step (2-2-3) if in failure pipe be T5, it is identical when state two and state three are with normal operation,
Due to T5 open-circuit fault, C phase bridge arm mid-point voltage in state one and state fourWherein UcnIndicate voltage of the C phase bridge arm midpoint relative to bus cathode,
ec、eaIndicate the back-emf of C, A phase, ifIndicate exciting current, Lcf、LafIndicate the mutual inductance of C phase and excitation winding, A phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UcnThis value is slightly larger than 0, with U when operating normallycnFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state one and state four if failure pipe is T2, in two He of state
Due to T2 open-circuit fault, C phase bridge arm mid-point voltage in state threeWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectioncnThis value is slightly less than bus voltage value Udc, with
U when normal operationcnIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T5 also
It is down tube T2.
9. a kind of four phases electric excitation biconvex electrode electric machine system power pipe single tube open-circuit fault detection side according to claim 5
Method, which is characterized in that the step (2-2-4) if in failure pipe be T7, it is identical when state three and state four are with normal operation,
Due to T7 open-circuit fault, D phase bridge arm mid-point voltage in state one and state twoWherein UdnIndicate voltage of the D phase bridge arm midpoint relative to bus cathode,
ed、ebIndicate the back-emf of D, B phase, ifIndicate exciting current, Ldf、LbfIndicate the mutual inductance of D phase and excitation winding, B phase winding with
Excitation winding mutual inductance, θ indicate rotor position angle, at this time UdnThis value is slightly larger than 0, with U when operating normallydnFor bus electricity
Pressure value otherwise be 0 different from；It is identical as when operating normally in state one and state two if failure pipe is T4, in three He of state
Due to T4 open-circuit fault, D phase bridge arm mid-point voltage in state fourWherein UdcIndicate busbar voltage, its in formula
Dependent variable defines, at this time U identical as the variable-definition in a formula upper in this sectiondnThis value is slightly less than bus voltage value Udc, with
U when normal operationdnIt is bus voltage value or is 0 different from；According to this feature distinguish failure pipe be upper tube T7 also
It is down tube T4.
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