CN110955220B - Self-checking method and system for AC motor controller - Google Patents
Self-checking method and system for AC motor controller Download PDFInfo
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- 238000004804 winding Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 11
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The invention discloses a self-checking system of an alternating current motor controller, which generates a specific modulation mode through a space vector modulation component (SVM) and is used for controlling the on-off of a power tube in an inverter and detecting the a-phase current I which should flow through a motor in the inverteraB phase current IbC phase current IcThe relationship between the three. The scheme provided by the invention realizes that the motor controller outputs the current amount during self-checking, the current amount is more suitable for the actual condition of the motor controller when the motor runs, and in the self-checking process, the motor does not establish a rotating magnetic field and does not provide electromagnetic torque to the outside.
Description
Technical Field
The invention provides a power-on self-test scheme of an alternating current motor controller, and relates to the function detection of the alternating current motor controller and sub-components such as an inverter circuit, an SVM component and the like in the alternating current motor controller. In particular to a self-checking method and a self-checking system for an alternating current motor controller.
Background
The ac motor controller is widely used in industrial products as a device for converting a direct current at a battery terminal into an alternating current at a motor side, and the output power of the ac motor controller covers a range from hundreds of watts to hundreds of kilowatts. The power device (MOS or IGBT) of the inverter part in the AC motor controller is used as a fragile device in a power link, once the power device is damaged, the AC motor controller cannot work normally, and even the whole inverter is burnt out due to overheating caused by short circuit in serious conditions. The failure modes of the power device include a short circuit state and an open circuit state. The current transformer is used as a key device of a closed-loop control link in an alternating current motor controller system, and the working state of the current transformer also influences the realization of closed-loop control. Therefore, the detection of the power device and the current transformer is particularly important in the starting process of the alternating-current motor controller.
The technical scheme shown in fig. 1 is generally adopted in the conventional ac motor controller during power-on self-test. Wherein, the DC reference current IrefThe direct current I generated after the Ramp generator Ramp processinga_refAs a reference current for phase a current output by an inverter section in an ac motor controller. The a-phase reference stream Ia_refAnd a phase current I sampled from the power loop of the inverter controlled by the alternating current motor in real timeaAfter the difference is made, integral operation is carried out through a PI arithmetic unit, and the operation result is the modulation input quantity of a space vector modulation component (SVM) in the motor controllerValphaAnd maintaining the modulation input V of the space vector modulation sectionbeltaAnd (0) obtaining a driving signal of an inverter power tube in the motor controller through the operation of the space vector modulation part, and simultaneously directly connecting a three-phase power loop which is originally connected to a motor winding so as to avoid the actual operation of the motor. In the self-checking process, the scheme judges whether the sampling current meets I in real timea＝-Ib＝-Ic＝Ia_refIf the current does not meet the requirement, the AC motor controller or the current detection loop fails.
In the existing self-checking scheme, the current output by a power loop in an inverter in a motor controller is a direct current (dc) quantity. In actual use, the current flowing through the power loop of the inverter in the motor controller is actually an alternating current because the windings cut the magnetic field when the motor is in normal operation. The performance of the power tube and the performance of the alternating current transformer under the action of direct current and alternating current are different. Therefore, the conventional power-on self-test scheme of the alternating-current motor controller is not sufficient for detecting the power device and the current transformer.
Disclosure of Invention
The invention provides a self-checking method and a self-checking system for an alternating current motor controller, which are used for better and more comprehensively carrying out power-on self-checking on the alternating current motor controller and a current transformer for closed-loop control. The method and the system control the on and off of the power tube through a specific modulation mode, simulate the current flowing through the winding to be alternating current when the motor works normally, and simultaneously realize the three-phase current I flowing through the power loop of the motor controllera、Ib、IcSatisfies the relationship: i isa＝-Ib＝-Ic. And judging the state of the controller by judging whether the current value of each phase in a power loop of the sampled motor controller is consistent with a set value in real time. In the whole process, the motor does not actually run, a rotating magnetic field cannot be established, and electromagnetic torque cannot be provided for the outside.
The invention provides a self-checking method of an alternating current motor controller, which specifically comprises the following steps:
step 1, presetting a reference current Ia_refAs a-phase reference current, wherein Ia_refSetting the preset frequency as the frequency of the phase current of a winding in the motor when the motor controller to be self-checked actually works;
step 2, a current transformer in a closed-loop control circuit of the motor controller is adopted to form a current detection circuit to sample three-phase alternating current flowing through a power circuit in an inverter in the motor controller in real time and corresponding to normal operation of a motor, wherein the three-phase alternating current comprises: current of phase a IaB phase current IbC phase current Ic；
Step 3, a phase reference alternating current Ia_refAnd the current I of the phase a obtained by real-time sampling in the step 2aAfter the difference is made, integral operation is carried out through a PI arithmetic unit, and the operation result is used as modulation input quantity ValphaA space vector modulation Section (SVM) inputted to the motor controller, and maintaining a modulation input V of the space vector modulation sectionbeltaObtaining an alternating current driving signal of an inverter power tube in the motor controller through the operation of the space vector modulation component, and simultaneously directly connecting a three-phase power loop which is originally connected to a motor winding so as to avoid the actual operation of the motor;
and 4, step 4: judging whether the sampling current of each phase obtained in the step 2 meets Ia＝-Ib＝-Ic＝Ia_refAnd when the current transformer is satisfied, the motor controller is indicated and the current transformer is normal, otherwise, the motor controller or the current transformer is in fault.
Further, presetting a reference alternating current I in the step 1a_refBy presetting a direct current I equal to its amplituderefAnd a sine signal sin omega t with the same phase current frequency as the motor winding when the motor controller to be self-checked actually works are multiplied, and then the sine signal sin omega t is generated after being processed by a Ramp generator Ramp.
Correspondingly, the invention also provides a self-checking system of the AC motor controller, which comprises:
a reference current providing module is preset, and is provided with a reference current providing module,for providing a predetermined reference current Ia_refAs reference for phase a current, Ia_refSetting the preset frequency as the frequency of the motor phase current when the motor controller to be self-checked actually works;
the three-phase current detection module comprises a current transformer in a closed-loop control circuit of the motor controller, and is used for sampling three-phase alternating current flowing through a power circuit in an inverter in the motor controller in real time and corresponding to a winding when a motor normally operates, wherein the three-phase alternating current comprises: current of phase a IaB phase current IbC phase current Ic；
A space vector modulation component (SVM) feedback control module for controlling the a-phase reference current Ia_refAnd the current I of the a phase obtained by real-time samplingaAfter the difference is made, integral operation is carried out through a PI arithmetic unit, and the operation result is used as modulation input quantity ValphaA space vector modulation Section (SVM) inputted to the motor controller, and maintaining a modulation input V of the space vector modulation sectionbeltaObtaining an alternating current driving signal of an inverter power tube in the motor controller through the operation of the space vector modulation component, wherein a three-phase power loop of the motor controller is directly connected;
a motor controller state confirmation module for obtaining a sampling current I according to the three-phase current detection modulea、Ib、IcAnd the preset reference current Ia_refTo determine the state of the motor controller.
Drawings
FIG. 1 is a schematic diagram of a self-checking control circuit of a conventional AC motor controller;
FIG. 2 is a schematic topological diagram of a connection relationship between a three-phase inverter and a motor in an AC motor controller;
fig. 3 is a schematic diagram of a self-checking control circuit of an ac motor controller according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages solved by the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a self-checking method of an AC motor controller, and a self-checking control circuit of the AC motor controller corresponding to the method is shown in figure 3. The method comprises the following steps:
step 1, presetting a reference current Ia_refAs a-phase reference current, wherein Ia_refThe method comprises the steps that the alternating current slope current with the preset frequency is set as the frequency of the phase current of a winding in the motor when the motor controller to be self-checked actually works. The preset reference alternating current Ia_refBy presetting a direct current I equal to its amplituderefAnd a sine signal sin omega t with the same phase current frequency as the motor winding when the motor controller to be self-checked actually works is generated after being multiplied by the multiplication module Multi and processed by the Ramp generator Ramp.
Step 2, a current transformer in a closed-loop control circuit of the motor controller is adopted to form a current detection circuit to sample three-phase alternating current flowing through a power circuit in an inverter in the motor controller and in a winding when the motor normally operates in real time, wherein the three-phase alternating current comprises: current of phase a IaB phase current IbC phase current Ic。
Step 3, the a-phase reference alternating current Ia_refAnd the current I of the phase a obtained by real-time sampling in the step 2aAfter the difference is made, integral operation is carried out through a PI arithmetic unit, and the operation result is used as modulation input quantity ValphaA space vector modulation Section (SVM) inputted to the motor controller, and maintaining a modulation input V of the space vector modulation sectionbeltaObtaining an alternating current driving signal of an inverter power tube in the motor controller through the calculation of the space vector modulation component; and meanwhile, a three-phase power loop which should be connected to a motor winding originally is directly connected to avoid the actual operation of the motor. Thus due to modulation of the input ValphaFor alternating current with the same frequency as the phase current of the winding when the motor is in normal operationAccording to the SVM principle, the driving signals of the inverter power tubes output by the space vector modulation component are alternating current signals with the same frequency, so that the power tubes of the inverter also generate alternating current with the same frequency.
And 4, step 4: judging whether the sampling current of each phase obtained in the step 2 meets Ia＝-Ib＝-Ic＝Ia_refAnd when the current transformer is satisfied, the motor controller is indicated and the current transformer is normal, otherwise, the motor controller or the current transformer is in fault.
Corresponding to the self-checking method of the alternating current motor controller, the invention also provides a self-checking system of the alternating current motor controller, which comprises the following steps:
a preset reference current providing module for providing a preset reference current Ia_refAs reference for phase a current, Ia_refThe method comprises the steps that the current is an alternating current slope current with a preset frequency, and the preset frequency is set as the frequency of the phase current of the motor when the motor controller to be self-checked actually works.
The three-phase current detection module comprises a current transformer in a closed-loop control circuit of the motor controller, and is used for sampling three-phase alternating current flowing through a power circuit in an inverter in the motor controller in real time and corresponding to a winding when a motor normally operates, wherein the three-phase alternating current comprises: current of phase a IaB phase current IbC phase current Ic。
A space vector modulation component (SVM) feedback control module for controlling the a-phase reference current Ia_refAnd the current I of the a phase obtained by real-time samplingaAfter the difference is made, integral operation is carried out through a PI arithmetic unit, and the operation result is used as modulation input quantity ValphaA space vector modulation Section (SVM) inputted to the motor controller, and maintaining a modulation input V of the space vector modulation sectionbeltaObtaining an alternating current driving signal of an inverter power tube in the motor controller through the operation of the space vector modulation component, wherein a three-phase power loop of the motor controller is directly connected;
a motor controller state confirmation module for confirming the state of the motor controller according to the stateThe three-phase current detection module obtains a sampling current Ia、Ib、IcAnd the preset reference current Ia_refTo determine the state of the motor controller. The method for determining the state of the motor controller specifically comprises the following steps: if the sampling current is judged to meet Ia＝-Ib＝-Ic＝Ia_refIf the current transformer is normal, the motor controller is indicated, and if the current transformer is not normal, the motor controller or the current transformer is failed.
Further, as shown in fig. 3, the preset reference current providing module will be connected to a preset reference current Ia_refAmplitude-equal preset direct current IrefThe result multiplied by a sine signal sin omega t with the same motor phase current frequency as the motor controller to be self-checked actually works is input into a Ramp generator Ramp to be processed to generate a preset reference current Ia_ref。
According to the power-on self-test scheme of the alternating current motor controller, in the self-test process, a power loop of the alternating current motor controller generates alternating current output, and whether a power link and a current sampling link have faults is judged by sampling in real time and judging whether the relation between three-phase alternating current output by the power loop in the motor controller and set reference alternating current meets requirements or not. Compared with the self-checking scheme of the existing alternating current motor controller, the self-checking scheme of the alternating current motor controller provided by the invention enables a three-phase alternating current output by a power loop in the motor controller; the state of the motor controller close to the actual control motor running is more sufficient, and the verification of the power and current sampling link is more sufficient.
Claims (1)
1. An ac motor controller self-test system, the system comprising:
a preset reference current providing module for providing a preset reference current Ia_refAs reference for phase a current, Ia_refSetting the preset frequency as the frequency of the motor phase current when the motor controller to be self-checked actually works;
three-phase current detection module comprising motor controllerA current transformer in a closed-loop control loop of the controller, which is used for sampling three-phase alternating current flowing through a power loop in an inverter in the motor controller and in a winding corresponding to normal operation of a motor in real time, wherein the three-phase alternating current comprises: current of phase a IaB phase current IbC phase current Ic；
A space vector modulation component (SVM) control module for controlling the a-phase reference current Ia_refAnd the current I of the a phase obtained by real-time samplingaAfter difference is made, PI operation is carried out, and the operation result is used as modulation input quantity ValphaA space vector modulation Section (SVM) inputted to the motor controller, and maintaining a modulation input V of the space vector modulation Section (SVM)beltaWhen the motor is not actually operated, a rotating magnetic field cannot be established, electromagnetic torque cannot be provided to the outside, and meanwhile, a three-phase power loop which should be connected to a motor winding originally is directly connected to avoid the actual operation of the motor; due to modulation of input ValphaFor the alternating current quantity with the same frequency as the winding phase current when the motor normally operates, the driving signal of the inverter power tube output by the space vector modulation component is an alternating current signal with the same frequency according to the SVM principle, so that the power tube of the inverter also generates alternating current with the same frequency;
a motor controller state confirmation module for obtaining a sampling current I according to the three-phase current detection modulea、Ib、IcAnd the preset reference current Ia_refTo determine the state of the motor controller;
a multiplying module (Multi) for presetting a reference alternating current Ia_refAre equal in amplitude and preset with a direct current IrefMultiplication operation of multiplication of sine signal sin omega t which is the same as the phase current frequency of the motor winding when the motor controller to be self-checked actually works;
a Ramp generator (Ramp) having an input connected to an output of the multiplication module (Multi);
wherein the preset reference current providing module is to be connected with a preset reference current Ia_refAmplitude-equal preset direct current IrefThe result multiplied by a sine signal sin omega t with the same motor phase current frequency as the motor controller to be self-checked actually works is input into a Ramp generator (Ramp) to be processed to generate a preset reference current Ia_ref。
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| CN202110663688.1A CN113359671B (en) | 2019-11-01 | 2019-11-01 | Safe operation control system of alternating current motor controller |
| CN202110663757.9A CN113377082B (en) | 2019-11-01 | 2019-11-01 | Self-checking method for AC motor controller |
| CN201911059118.0A CN110955220B (en) | 2019-11-01 | 2019-11-01 | Self-checking method and system for AC motor controller |
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| CN202110663688.1A Division CN113359671B (en) | 2019-11-01 | 2019-11-01 | Safe operation control system of alternating current motor controller |
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| CN110955220A (en) | 2020-04-03 |
| CN113377082A (en) | 2021-09-10 |
| CN113359671B (en) | 2022-02-18 |
| CN113377082B (en) | 2022-02-18 |
| CN113359671A (en) | 2021-09-07 |
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Address after: No.99, Jingbei 6th Road, Zhengzhou area (Jingkai), Henan pilot Free Trade Zone, Zhengzhou, Henan Province, 450000 Patentee after: Henan Jiachen Intelligent Control Co.,Ltd. Address before: 450016 No.99, Jingbei 6th Road, Zhengzhou area (Jingkai), Henan pilot Free Trade Zone, Zhengzhou City, Henan Province Patentee before: ZHENGZHOU JIACHEN ELECTRIC Co.,Ltd. |