CN111024999B - Phase current calculation method and calculation module, and fault diagnosis method and fault diagnosis system thereof - Google Patents

Phase current calculation method and calculation module, and fault diagnosis method and fault diagnosis system thereof Download PDF

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CN111024999B
CN111024999B CN201911251469.1A CN201911251469A CN111024999B CN 111024999 B CN111024999 B CN 111024999B CN 201911251469 A CN201911251469 A CN 201911251469A CN 111024999 B CN111024999 B CN 111024999B
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phase current
fault diagnosis
current
phase
motor
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CN111024999A (en
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肖志锋
杜春洋
罗毅
高锋健
董万里
李兵
张宗哲
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SAIC Motor Corp Ltd
DIAS Automotive Electronic Systems Co Ltd
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Shanghai Automotive Industry Corp Group
DIAS Automotive Electronic Systems Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • 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

Abstract

The invention discloses a phase current fault diagnosis method, which comprises the steps that if the direction of a sampled phase current is the same as that of a calculated phase current and the deviation of the sampled phase current and the calculated phase current is smaller than a first current fault diagnosis threshold value, a first fault diagnosis count is reduced by a first preset value, and if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, the sampled phase current is judged to be normal; if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode; if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to the first current fault diagnosis threshold value, the first fault diagnosis count is increased by a second preset value, and if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode. The invention also discloses a phase current calculation method, a calculation module and a fault diagnosis system.

Description

Phase current calculation method and calculation module, and fault diagnosis method and fault diagnosis system thereof
Technical Field
The invention relates to the field of automobiles, in particular to a phase current calculation method for a multiphase permanent magnet synchronous motor. The invention also relates to a phase current calculation module for the multiphase permanent magnet synchronous motor. And a phase current fault diagnosis method for the multiphase permanent magnet synchronous motor. The invention also relates to a phase current fault diagnosis system for the multiphase permanent magnet synchronous motor.
Background
In the current closed-loop control of a traditional three-phase permanent magnet synchronous motor (in the following description, the referred "motor" refers to a "permanent magnet synchronous motor"), an electronic controller is obtained by direct sampling through a current sensor or indirect differential sampling through a precision resistor. Current sensors and precision resistors are expensive. In order to save cost of the motor controller, the phase current of the motor does not need to be sampled in each phase, and the three-phase current can be obtained in a time-sharing reconstruction or calculation mode. For example, a current sensor or a precision resistor is used, and the three-phase current of the motor is obtained in a time-sharing sampling reconstruction mode; or two current sensors or precision resistors are used for respectively sampling two-phase currents of the motor, and then the third-phase current is calculated and reconstructed according to the principle that the sum of the three-phase currents of the motor is zero. The phase current time-sharing reconstruction or calculation mode can be expanded to a multi-phase motor and is also applicable. As the number of motor phases increases, the number of precision resistors or current sensors increases accordingly. In summary, to save hardware cost, the number of phase current sampling circuits (the number of precision resistors or current sensors) is typically less than the number of motor phases.
Currently, intelligent unmanned driving of automobiles requires fault-operable (Fail Operational) for vehicle-mounted key safety electronic components, such as an electric power steering system. For on-board motors, such as power motors for electric power steering systems, winding redundancy is necessary, i.e. the motor is changed into multiple phases, such as a six-phase motor, a twelve-phase motor, etc.
However, in order to meet ISO26262 functional safety requirements, the automotive safety integrity class (ASIL) of motor phase current sampling of the electronic controller must reach class D, ASIL-D. This requires that the electronic controller must be able to diagnose whether the phase currents are correct or not at the same time as the phase current samples. Generally, in order to meet functional safety requirements, an electronic controller cannot use a current sampling circuit less than the number of motor phases and obtain each phase current of the motor through time-sharing reconstruction calculation, but needs to sample each phase current, for example, hardware of a six-phase motor needs to use six current sampling circuits (six current sensors or precise resistors) to respectively sample six-phase currents of the motor, and then, whether current sampling is correct or not is diagnosed according to the mode that the sum of the six-phase currents of the motor is zero. However, as the number of motor phases increases in this manner, the hardware cost of the electronic controller also increases dramatically.
Disclosure of Invention
In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to provide a method for calculating the phase current of a motor by using a current sampling circuit less than the number of motor phases on the premise of at least meeting the safety requirement of ISO26262 function.
The invention also provides a module which can calculate the phase current of the motor by using the current sampling circuit less than the number of the motor phases on the premise of at least meeting the safety requirement of the ISO26262 function.
The invention also provides a fault diagnosis method for performing redundancy check on the phase current of the multi-phase permanent magnet synchronous motor by using the motor phase current method.
The invention also provides a fault diagnosis system for performing redundancy check on the phase current of the multi-phase permanent magnet synchronous motor by using the motor phase current calculation module.
In order to solve the above technical problem, the phase current calculation method provided by the present invention comprises the following steps:
s1, acquiring the sampling phase current of the motor;
s2, acquiring PWM high-level voltage, high-level time and PWM period of a motor phase line;
s3, calculating a motor phase voltage;
s4, obtaining the angle and the electrical angular velocity of the motor;
and S5, calculating and obtaining the calculated phase current of the motor.
Optionally, the phase current calculation method is further improved, and when step S1 is implemented, the sampled phase voltage of the motor is reconstructed or calculated by time-sharing sampling.
Optionally, the phase current calculation method is further improved, and when step S3 is implemented, the following formula is used to calculate the motor phase voltage;
Figure BDA0002309157910000021
UNrepresents the phase voltage, RN1、RN2And RN3Representing different voltage-dividing resistances, T, on each phase of the phase voltage sampling circuitPwmNHigh level time, t, representing PWM periodOnNRepresenting the PWM period, VInNThe phase voltage is input and N represents the phase number.
Optionally, the phase current calculation method is further improved, and when step S5 is implemented, the calculated phase current of the motor is obtained by calculation using the following formula;
Figure BDA0002309157910000031
iNrepresents the phase current, UNRepresenting the phase voltage, ωeRepresenting electrical angular velocity, theta representing electrical angle, delta representing phase difference, phifRepresenting the rotor flux linkage, RsRepresenting the phase resistance, L, of the motorsRepresenting motor equivalent phase inductance, GN(s) denotes a transfer function, and s denotes a complex variable of the Laplace transform.
The invention provides a phase current calculation module, comprising:
the parameter acquisition module is suitable for acquiring the sampling phase current of the motor, the PWM high-level voltage of a motor phase line, high-level time, a PWM period, a motor angle and an electrical angular speed;
and the calculating module calculates the calculated phase current of the motor by using the motor parameters acquired by the parameter acquiring module.
Optionally, the phase current calculation module is further improved, and the parameter acquisition module adopts time-sharing sampling reconstruction or calculates to acquire the sampling phase voltage of the motor.
Optionally, the phase current calculation module is further improved, and the calculation module calculates the phase voltage of the motor by adopting the following formula;
Figure BDA0002309157910000041
UNrepresents the phase voltage, RN1、RN2And RN3Representing different voltage-dividing resistances, T, on each phase of the phase voltage sampling circuitPwmNHigh level time, t, representing PWM periodOnNRepresenting the PWM period, VInNThe phase voltage is input and N represents the phase number.
Optionally, the phase current calculation module is further improved, and the calculation module calculates and obtains the calculated phase current of the motor by adopting the following formula;
Figure BDA0002309157910000042
iNrepresents the phase current, UNRepresenting the phase voltage, ωeRepresenting electrical angular velocity, theta representing electrical angle, delta representing phase difference, phifRepresenting the rotor flux linkage, RsRepresenting the phase resistance, L, of the motorsRepresenting the equivalent phase inductance, G, of the motorN(s) denotes a transfer function, and s denotes a complex variable of the Laplace transform.
The invention provides a phase current fault diagnosis method using the phase current calculation method, which comprises the following steps:
if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than a first current fault diagnosis threshold value, reducing the first fault diagnosis count by a first preset value until the first fault diagnosis count is reduced to zero, and if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, judging that the sampled phase current is normal; that is, the sampled current is identical to the actual motor phase current, and it is normal for the electronic controller to control the motor phase current.
If the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode; the motor actually has the possibility of showing the phenomena of opposite torque direction to the torque direction required by the system, out-of-control motor vibration and the like; in this case, the system needs this fault rapid diagnostic trigger to put the system into a fail safe mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to the first current fault diagnosis threshold value, the first fault diagnosis count is increased by a second preset value, and if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode.
Optionally, the phase current fault diagnosis method further includes the following steps:
if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, further diagnosing and calculating a sampling phase current and calculating an absolute value of phase current deviation;
if the absolute value of the deviation is smaller than a second current fault diagnosis threshold value, reducing the second fault diagnosis count by a third preset value until the second fault diagnosis count is reduced to zero;
if the absolute value of the deviation is larger than or equal to a second current fault diagnosis threshold value, increasing a fourth preset value by the second fault diagnosis count;
if the second fault diagnosis count is smaller than the second fault diagnosis count threshold value, judging that the sampled phase current is normal;
if the second fault diagnosis count is larger than or equal to the second fault diagnosis count threshold value, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
optionally, the phase current fault diagnosis method further includes the following steps:
if the second fault diagnosis count is smaller than a second fault diagnosis count threshold value, further diagnosing and integrating and accumulating the phase deviation of each phase;
if the integral accumulation is larger than or equal to a third current fault diagnosis threshold value within each preset time length, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
and if the integral accumulation is smaller than a third current fault diagnosis threshold value within each preset time length, the motor phase current is normal.
Optionally, in the phase current fault diagnosis method, the first preset value is smaller than the second preset value.
Alternatively, in the phase current fault diagnosis method, 100A is equal to B, where a denotes a first preset value and B denotes a second preset value.
Optionally, in the phase current fault diagnosis method, the third preset value is smaller than the fourth preset value.
Alternatively, in the phase current fault diagnosis method, 2C is equal to D, C represents a third preset value, and D represents a fourth preset value.
The invention provides a phase current fault diagnosis system using the phase current calculation module, which comprises:
the phase current calculation module is suitable for acquiring the sampling phase current of the motor and calculating the calculation phase current of the motor;
and the judging module is suitable for judging whether the phase current fault diagnosis is normal or recording fault information according to the first rule and the sampling phase current of the motor and the calculation phase current of the motor according to the first rule, and cutting off the current to enable the motor to enter a fault safety mode.
Optionally, the phase current fault diagnosis system is further improved, and the first rule includes:
if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than a first current fault diagnosis threshold value, reducing a first preset value by a first fault diagnosis counter until the first fault diagnosis count is reduced to zero, and if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, judging that the sampled phase current is normal;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to the first current fault diagnosis threshold value, the first fault diagnosis counter increases a second preset value, and if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode.
Optionally, the phase current fault diagnosis system is further improved, and the first rule further includes:
if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, further diagnosing and calculating a sampling phase current and calculating an absolute value of phase current deviation;
if the absolute value of the deviation is smaller than a second current fault diagnosis threshold value, reducing the second fault diagnosis count by a third preset value until the second fault diagnosis count is reduced to zero;
if the absolute value of the deviation is larger than or equal to a second current fault diagnosis threshold value, increasing a fourth preset value by the second fault diagnosis count;
if the second fault diagnosis count is smaller than the second fault diagnosis count threshold value, judging that the sampled phase current is normal;
if the second fault diagnosis count is larger than or equal to the second fault diagnosis count threshold value, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
optionally, the phase current fault diagnosis system is further improved, and the first rule further includes:
if the second fault diagnosis count is smaller than a second fault diagnosis count threshold value, further diagnosing and integrating and accumulating the phase deviation of each phase;
if the integral accumulation is larger than or equal to a third current fault diagnosis threshold value within each preset time length, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
and if the integral accumulation is smaller than a third current fault diagnosis threshold value within each preset time length, judging that the sampling phase current is normal.
Optionally, the phase current fault diagnosis system is further improved, and the first preset value is smaller than the second preset value.
Optionally, the phase current fault diagnosis system is further improved, wherein 100A is equal to B, a represents a first preset value, and B represents a second preset value.
Optionally, the phase current fault diagnosis system is further improved, and the third preset value is smaller than the fourth preset value.
Optionally, the phase current fault diagnosis system is further improved, wherein 2C is equal to D, C represents a third preset value, and D represents a fourth preset value.
The phase current calculation principle for the multiphase permanent magnet synchronous motor of the invention is as follows:
the calculation described in the present invention is understood to be an estimation per se. Because the motor state used by calculation of the invention is an ideal motor, the motor can be subjected to various interference factors in reality, and the ideal motor cannot be perfectly realized. Therefore, the actual result and the calculated result have slight deviation, but the deviation is also an objective rule in the nature, and the technical effect of the technical scheme of the invention is not influenced.
The multi-phase motor is assumed to be an ideal motor, the multiple phases are symmetrical and balanced, and the resistance, the inductance and the flux linkage of each phase are the same and do not change along with the temperature. Neglecting leakage inductance and magnetic circuit saturation. Under a multi-phase static coordinate system, a voltage balance equation of the permanent magnet synchronous motor is as follows:
Figure BDA0002309157910000071
in the formula (1), U1、U2……UN(N-1, 2, 3 … …) are the 1 st, 2 nd, … … nd phase voltages, respectively, in volts (V); i.e. i1、i2……iNRespectively 1, 2 and … … N phase currents with the unit of ampere (A) and omegaeElectrical angular velocity in radians per second (rad/s); θ is the electrical angle in radians (rad); delta is the phase difference in radians (rad), e.g. of a three-phase machine
Figure BDA0002309157910000072
ΨfIs rotor flux linkage, with unit of weber (Wb); rsThe unit is ohm (omega) of motor phase resistance; l issThe equivalent phase inductance of the motor is expressed in henry (H).
Since the 1 st and 2 nd 2 … … N phase currents are calculated, i1、i2……iNFor output, U1、U2……UN、ωeTheta is the input amount, psif、Rs、LsAre motor parameters. The transfer function of the phase current is calculated as follows:
Figure BDA0002309157910000081
the electronic controller is a discrete system. Therefore, the right side of equation (2) needs to be discretized as follows:
Figure BDA0002309157910000082
in formula (3):
Figure BDA0002309157910000083
after discretization on the right side of equation (2), equation (3), it can be represented by a discrete model as shown in fig. 1, where the input signal is Ux-ωeψfcosθx，(x is 1, 2 … … N), i.e. the left-side denominator part of formula (2), θ1、θ2……θNExpressed as formula (5):
Figure BDA0002309157910000084
the output signal in FIG. 1 is the calculated three-phase current ix(x ═ 1, 2 … … N), i.e., the left-hand molecular moiety of formula (2).
Figure BDA0002309157910000085
As shown in equation (4), after discretization on the right side of equation (2), the input signal gain and the output signal lag gain.
In equation (2), the motor parameter Ψ for a finished motorf、Rs、LsDelta is a known quantity, omegaeθ may be fed back by a motor rotor position sensor. Then, the electronic controller only needs to sample U1、U2……UNPhase voltage, i.e. phase current i, can be calculated by the discrete model of fig. 11、i2……iN。
Firstly, it should be noted that the implementation of the technical solution of the present invention is not limited to be realized only by relying on the circuit structures (the driving circuit, the phase voltage sampling circuit and the phase line PWM capturing circuit) shown in fig. 2 to fig. 4. The circuit configurations shown in fig. 2-4 are exemplary and are used to illustrate the principles of the present invention. Those skilled in the art can implement the present invention using other circuit configurations consistent with the principles of the invention, as long as the circuit configurations used provide the parameters necessary to implement the present invention. Accordingly, the circuit configurations shown in fig. 2-4 should not be construed as limiting the conditions under which the present invention can be implemented.
The principle of the phase current fault diagnosis for the multiphase permanent magnet synchronous motor is as follows:
each phase of driving circuit of the permanent magnet synchronous motor is composed of two power devices (MOSFET or IGBT). The N-phase multi-phase inverter is composed of 2N power devices, as shown in fig. 2. The Microprocessor (MCU) outputs PWM signalThe multi-phase inverter is driven after the grid drive circuit is amplified, so that the phase voltage regulation of the motor is realized. Therefore, the MCU needs to capture the PWM period, the high level time and the sampled phase line PWM high level voltage of the phase line of the motor, and calculate the multiphase voltage (U) of the motor by the phase line PWM period, the high level time and the high level voltage1、U2……UN). The motor phase voltage belongs to strong level PWM, and can be sampled and captured by a Microprocessor (MCU) only through a phase voltage sampling circuit and a phase line PWM capturing circuit. A Microprocessor (MCU) samples a phase line PWM high-level voltage value through an analog-to-digital conversion unit; the PWM period, high level time, is captured by the PWM pulse capture unit.
As shown in fig. 3, VBUS is a dc bus voltage, and the unit is a volt (V); r11、R12、R13、R21、R22、R23……RN1、RN2、RN3Is a voltage dividing resistor with the unit of ohm (omega); c1、C2……CNIs the filter capacitance in farads (F). The analog-to-digital conversion unit triggers sampling at the moment of PWM high level to obtain phase voltage V at the inlet of a microprocessing unit (MCU)In1、VIn2……VInNIn volts (V).
As shown in fig. 4, VCC is a supply voltage of a Microprocessor (MCU) and has a unit of volt (V); r0、R1、R2……RNIs resistance in ohms (Ω); d1、D2……DNIs a diode. PWM pulse capture unit captures PWM period (T)Pwm1、TPwm2……TPwmN) And high level time (t)On1、tOn2……tOnN) The units of both are seconds(s).
Then, the motor phase voltage (U, U)2……UN) Can be calculated from equation (6).
Figure BDA0002309157910000101
Finally, in combination (2) andequation (6), discretizing according to fig. 1 (i.e. equation 2), the motor phase current can be calculated: i.e. i1、i2……iN。
The electronic controller is provided with a motor phase current sampling circuit. In order to save hardware cost, the electronic controller uses a current sensor or a precision resistor with the number less than that of motor phases, and the motor phase current is obtained in a time-sharing reconstruction calculation mode. That is, the current sampling scheme of the electronic controller cannot directly diagnose whether the current is correct, and does not meet the functional safety requirement of ISO 26262.
The phase current fault diagnosis of the invention is to use the calculated current obtained by the motor phase current calculation of the invention to diagnose whether the sampled current obtained by the current sampling circuit of the electronic controller is correct or not. The diagnosis purpose is to enable the motor phase current sampling of the electronic controller to meet the ISO26262 functional safety requirement, and the automobile functional safety integrity level reaches ASIL-D.
The phase current calculation method/system of the multiphase permanent magnet synchronous motor can be realized by adopting a hardware circuit consisting of a conventional resistor, a capacitor and a diode, and effectively saves the hardware cost of an electronic controller compared with the addition of a current sampling circuit (a current sensor circuit or a precise resistor differential sampling circuit). With the increase of the number of phases of the motor, the hardware cost is saved more obviously, and the method has good economic benefit. According to the phase current redundancy check diagnosis method provided by the invention, whether the sampling current obtained by the phase current sampling circuit is correct or not is diagnosed by using the calculated current obtained by the motor phase current calculation method, and finally the motor phase current sampling of the electronic controller meets the ISO26262 function safety requirement, the automobile safety integrity level reaches ASIL-D, the current sampling circuit with less phases than the motor can still be used, the hardware cost of the controller is saved, and the market competitiveness of the product is increased.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
FIG. 1 is a schematic diagram of a discrete model of phase current estimation in accordance with the present invention.
Fig. 2 is a schematic diagram of a permanent magnet synchronous motor drive circuit.
Fig. 3 is a schematic structural diagram of a possible embodiment of the motor phase voltage sampling circuit.
Fig. 4 is a schematic diagram of a motor phase PWM capture circuit.
Fig. 5 is a schematic diagram of a motor phase current redundancy check fault diagnosis process according to the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, parameters, components, regions, layers and/or sections, these elements, parameters, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, parameter, component, region, layer or section from another element, parameter, component, region, layer or section. Thus, a first element, parameter, component, region, layer or section discussed below could be termed a second element, parameter, component, region, layer or section without departing from the teachings of exemplary embodiments according to the present invention.
The first embodiment of the phase current calculation method provided by the invention is realized by using a phase voltage sampling circuit of a motor shown in fig. 3 and a phase line PWM capture circuit of the motor shown in fig. 4, and comprises the following steps:
s1, obtaining the sampling phase voltage of the motor by adopting time-sharing sampling reconstruction or calculation;
s2, acquiring PWM high-level voltage, high-level time and PWM period of a motor phase line;
s3, calculating a motor phase voltage;
s4, obtaining the angle and the electrical angular velocity of the motor;
and S5, calculating and obtaining the calculated phase current of the motor.
The second embodiment of the phase current calculation method provided by the invention is further improved on the basis of the first embodiment of the phase current calculation method;
when step S5 is executed, the motor phase voltage is calculated by using the following formula;
Figure BDA0002309157910000121
UNrepresents the phase voltage, RN1、RN2And RN3Representing different voltage-dividing resistances, T, on each phase of the phase voltage sampling circuitPwmNHigh level time, t, representing PWM periodOnNRepresenting the PWM period, VInNThe phase voltage is input and N represents the phase number.
Calculating to obtain the calculated phase current of the motor by adopting the following formula;
Figure BDA0002309157910000122
iNrepresents the phase current, UNRepresenting the phase voltage, ωeRepresenting electrical angular velocity, theta representing electrical angle, delta representing phase difference, phifRepresenting the rotor flux linkage, RsRepresenting the phase resistance, L, of the motorsRepresenting the equivalent phase inductance, G, of the motorN(s) denotes a transfer function, and s denotes a complex variable of the Laplace transform.
The present invention provides a first embodiment of a phase current calculating module, which is used in cooperation with a phase voltage sampling circuit of a motor shown in fig. 3 and a phase PWM capturing circuit of a motor shown in fig. 4, and includes:
the parameter acquisition module is suitable for acquiring the sampling phase current of the motor, the PWM high-level voltage of a motor phase line, high-level time, a PWM period, a motor angle and an electrical angular speed;
and the calculating module calculates the calculated phase current of the motor by using the motor parameters acquired by the parameter acquiring module.
The parameter acquisition module acquires the sampling phase voltage of the motor by adopting time-sharing sampling reconstruction or calculation.
The calculation module calculates the motor phase voltage by adopting the following formula;
Figure BDA0002309157910000131
UNrepresents the phase voltage, RN1、RN2And RN3Representing different voltage-dividing resistances, T, on each phase of the phase voltage sampling circuitPwmNHigh level time, t, representing PWM periodOnNRepresenting the PWM period, VInNInputting phase voltage, N represents phase number;
the calculation module adopts the following formula to calculate and obtain the calculated phase current of the motor;
Figure BDA0002309157910000132
iNrepresents the phase current, UNRepresenting the phase voltage, ωeRepresenting electrical angular velocity, theta representing electrical angle, delta representing phaseDifference, ψfRepresenting the rotor flux linkage, RsRepresenting the phase resistance, L, of the motorsRepresenting the equivalent phase inductance, G, of the motorN(s) denotes a transfer function, and s denotes a complex variable of the Laplace transform.
The present invention provides a first embodiment of a phase current fault diagnosis method using the phase current calculation method, including the steps of:
if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than a first current fault diagnosis threshold value, reducing the first fault diagnosis count by a first preset value until the first fault diagnosis count is reduced to zero, and if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, judging that the sampled phase current is normal;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to the first current fault diagnosis threshold value, the first fault diagnosis count is increased by a second preset value, and if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode.
The present invention provides a second embodiment of a phase current fault diagnosis method using the phase current calculation method, including the steps of:
if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than the first current fault diagnosis threshold value, reducing the first fault diagnosis count by a first preset value until the first fault diagnosis count is reduced to zero;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, the first fault diagnosis count is increased by a second preset value, if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the first fault diagnosis count is smaller than the first fault diagnosis count threshold, calculating a sampling phase current and calculating an absolute value of phase current deviation;
if the absolute value of the deviation is smaller than a second current fault diagnosis threshold value, reducing the second fault diagnosis count by a third preset value until the second fault diagnosis count is reduced to zero;
if the absolute value of the deviation is larger than or equal to a second current fault diagnosis threshold value, increasing a fourth preset value by the second fault diagnosis count;
if the second fault diagnosis count is smaller than the second fault diagnosis count threshold value, the motor phase current is normal;
and if the second fault diagnosis count is greater than or equal to the second fault diagnosis count threshold value, recording fault information, and cutting off current to enable the motor to enter a fault safety mode.
As shown in fig. 5, the present invention provides a third embodiment of a phase current fault diagnosis method using the phase current calculation method, including the steps of:
if the sampled phase current and the calculated phase current have the same direction and the deviation between the sampled phase current and the calculated phase current is less than the first current fault diagnosis threshold TH1 or-TH 1, the first fault diagnosis count E is set to be equal to the first current fault diagnosis threshold TH1 or-TH 1x(x ═ 1, 2 … … n) and decrementing the first preset value until the first failure diagnosis count ExThe reduction is zero;
if the sampled phase current and the calculated phase current have the same direction, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold TH1 or-TH 1, and the duration is greater than a time diagnosis threshold, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode; the motor actually has the possibility of showing the phenomena of opposite torque direction to the torque direction required by the system, out-of-control motor vibration and the like; in this case, the system needs this fault rapid diagnostic trigger to put the system into a fail safe mode;
if samplingThe phase current and the calculated phase current are opposite in direction, and the deviation between the two is greater than or equal to the first current fault diagnosis threshold TH1 or-TH 1, the first fault diagnosis count E isxIncreasing a second preset value, if the first fault diagnosis count is greater than or equal to a first fault diagnosis count threshold value T1, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
if the first failure diagnosis count ExIf the current is less than the first fault diagnosis counting threshold value T1, the sampled phase current is calculated and the absolute value sigma delta C of the deviation of the phase current is calculatedm＝|Ix-iX|,(m＝1、2……n)；
If the absolute value of the deviation is less than a second current fault diagnosis threshold TH2, a second fault diagnosis count Fx(x ═ 1, 2 … … n) decrease)Third preset value, until second failure diagnosis count Fx(x ═ 1, 2 … … n) decreases to zero;
if the absolute value of the deviation is greater than or equal to a second current fault diagnosis threshold TH2, increasing a fourth preset value by the second fault diagnosis count;
if the second failure diagnosis count FxIf the current is greater than or equal to the second fault diagnosis counting threshold value T2, recording fault information, and cutting off the current to enable the motor to enter a fault safety mode;
if the second failure diagnosis count FxIf the current deviation is smaller than a second fault diagnosis counting threshold value T2, performing integral accumulation on the current deviation of each phase;
if the integral accumulation is more than or equal to a third current fault diagnosis threshold TH3 within each preset time length T3, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
and if the integral accumulation is smaller than a third current fault diagnosis threshold TH3 in each preset time period T3, the motor phase current is normal.
Wherein the first preset value is smaller than the second preset value. Further preferably, 100A ═ B, a denotes a first preset value, B denotes a second preset value, e.g., a ═ 1, B ═ 100.
And the third preset value is smaller than the fourth preset value. Further preferably, 2C ═ D, C denotes a third preset value, and D denotes a fourth preset value, for example, C ═ 1 and D ═ 2.
The present invention provides a first embodiment of a phase current fault diagnosis system using the phase current calculation module, including:
the phase current calculation module is suitable for acquiring the sampling phase current of the motor and calculating the calculation phase current of the motor;
and the judging module is suitable for judging whether the phase current fault diagnosis is normal or recording fault information according to the first rule and the sampling phase current of the motor and the calculation phase current of the motor according to the first rule, and cutting off the current to enable the motor to enter a fault safety mode.
The present invention provides a second embodiment of a phase current fault diagnosis system using the phase current calculation module, including:
the phase current calculation module is suitable for acquiring the sampling phase current of the motor and calculating the calculation phase current of the motor;
and the judging module is suitable for judging whether the phase current fault diagnosis is normal or recording fault information according to the first rule and the sampling phase current of the motor and the calculation phase current of the motor according to the first rule, and cutting off the current to enable the motor to enter a fault safety mode.
The first rule includes: if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than a first current fault diagnosis threshold value, reducing a first preset value by a first fault diagnosis counter until the first fault diagnosis count is reduced to zero, and if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, judging that the sampled phase current is normal;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to the first current fault diagnosis threshold value, the first fault diagnosis counter increases a second preset value, and if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode.
The present invention provides a second embodiment of a phase current fault diagnosis system using the phase current calculation module, including:
the phase current calculation module is suitable for acquiring the sampling phase current of the motor and calculating the calculation phase current of the motor;
and the judging module is suitable for judging whether the phase current fault diagnosis is normal or recording fault information according to the first rule and the sampling phase current of the motor and the calculation phase current of the motor according to the first rule, and cutting off the current to enable the motor to enter a fault safety mode.
The first rule includes: if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than the first current fault diagnosis threshold value, the first fault diagnosis counter decreases a first preset value until the first fault diagnosis count decreases to zero;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, a first fault diagnosis counter increases a second preset value, if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the first fault diagnosis count is smaller than the first fault diagnosis count threshold, calculating a sampling phase current and calculating an absolute value of phase current deviation;
if the absolute value of the deviation is smaller than a second current fault diagnosis threshold value, reducing the second fault diagnosis count by a third preset value until the second fault diagnosis count is reduced to zero;
if the absolute value of the deviation is larger than or equal to a second current fault diagnosis threshold value, increasing a fourth preset value by the second fault diagnosis count;
if the second fault diagnosis count is smaller than the second fault diagnosis count threshold value, judging that the sampled phase current is normal;
if the second fault diagnosis count is larger than or equal to the second fault diagnosis count threshold value, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
the present invention provides a third embodiment of a phase current fault diagnosis system using the phase current calculation module, including:
the phase current calculation module is suitable for acquiring the sampling phase current of the motor and calculating the calculation phase current of the motor;
and the judging module is suitable for judging whether the phase current fault diagnosis is normal or recording fault information according to the first rule and the sampling phase current of the motor and the calculation phase current of the motor according to the first rule, and cutting off the current to enable the motor to enter a fault safety mode.
The first rule includes: if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than the first current fault diagnosis threshold value, the first fault diagnosis counter decreases a first preset value until the first fault diagnosis count decreases to zero;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, a first fault diagnosis counter increases a second preset value, if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the first fault diagnosis count is smaller than the first fault diagnosis count threshold, calculating a sampling phase current and calculating an absolute value of phase current deviation;
if the absolute value of the deviation is smaller than a second current fault diagnosis threshold value, reducing the second fault diagnosis count by a third preset value until the second fault diagnosis count is reduced to zero;
if the absolute value of the deviation is larger than or equal to a second current fault diagnosis threshold value, increasing a fourth preset value by the second fault diagnosis count;
if the second fault diagnosis count is larger than or equal to the second fault diagnosis count threshold value, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
if the second fault diagnosis count is smaller than a second fault diagnosis count threshold value, performing integral accumulation on the phase current deviation of each phase;
if the integral accumulation is larger than or equal to a third current fault diagnosis threshold value within each preset time length, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
and if the integral accumulation is smaller than a third current fault diagnosis threshold value within each preset time length, the motor phase current is normal.
Wherein the first preset value is smaller than the second preset value. Further preferably, 100A ═ B, a denotes a first preset value, and B denotes a second preset value.
And the third preset value is smaller than the fourth preset value. Further preferably, 2C ═ D, C denotes a third preset value, and D denotes a fourth preset value.
Taking a six-phase permanent magnet synchronous motor as an example, the phase current fault diagnosis system is further explained;
a six-phase voltage sampling circuit for a motor, as shown in fig. 3. The resistance parameters are respectively: r11＝R21＝R31＝R41＝R51＝R61＝39000Ω，R12＝R22＝R32＝R42＝R52＝R62＝30000Ω，R13＝R23＝R33＝R43＝R53＝R634700 Ω. The capacitance parameters are: c1＝C2＝C3＝C4＝C5＝C6＝1×10-8F. VBUS 12V. Fig. 3 can sample the phase line PWM high level voltage: vIn1、VIn2、VIn3、VIn4、VIn5、VIn6。
A motor phase line PWM capture circuit, as described with reference to fig. 4. The resistance parameters are respectively: r1＝R2＝R3＝R4＝R5＝R6＝100000Ω，R04700 Ω. Diode D1、D2、D3Is a schottky diode. VCC is 5V. Fig. 4 can capture the three-phase PWM high-level time: t isPwm1、TPwm2、TPwm3、TPwm4、TPwm5、TPwm6And three-phase PWM period: t is tOn1、tOn2、tOn3、tOn4、tOn5、tOn6。
The three-phase voltage can be calculated according to equation (6): u shape1、U2、U3、U4、U5、U6。
Electrical angular velocity omega of motoreAnd the motor electrical angle theta may be fed back by a motor rotor position sensor. The rated phase current of the known motor is 80A, and the phase resistance Rs0.017 Ω, phase difference
Figure BDA0002309157910000191
Phase inductance LsPhase current ixThe relationships (x ═ 1, 2, 3, 4, 5, and 6) are shown in table 1.
Phase current (i)x) The unit: a. the 0 20 40 60 80
Phase inductance (L)s) The unit: h 7.5×10-5 7.21×10-5 7.07×10-5 6.87×10-5 6.54×10-5
TABLE 1
Equation (4) and the discrete period T in FIG. 1s＝0.0002s。
The three-phase current of the motor can be calculated according to the formula (2) and the figure 1: i.e. i1、i2、i3、i4、i5、i6。
The electronic controller samples the three-phase current of the motor through the phase current sampling circuit, namely the sampling current: i is1、I2、I3、I4、I5、I6。
According to the motor phase current estimation method, the three-phase estimated current of the motor is obtained, namely the estimated current: i.e. i1、i2、i3、i4、i5、i6。
The diagnostic thresholds of fig. 5 are: TH1 ═ 40A, TH2 ═ 20A, TH3 ═ 100A · s; t1 ═ 2000, T2 ═ 48, and T3 ═ 10 s.
Referring to the flow shown in fig. 5, the six-phase permanent magnet synchronous motor phase current redundancy check diagnosis can be realized.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.

Claims (19)

1. A phase current calculation method for a multiphase permanent magnet synchronous motor, comprising the steps of:
s1, acquiring the sampling phase current of the motor;
s2, acquiring PWM high-level voltage, high-level time and PWM period of a motor phase line;
s3, calculating the motor phase voltage by adopting the following formula;
Figure FDA0003407626780000011
UNrepresents the phase voltage, RN1、RN2And RN3Representing different voltage-dividing resistances, T, on each phase of the phase voltage sampling circuitPwmNHigh level time, t, representing PWM periodOnNRepresenting the PWM period, VInNInputting phase voltage, N represents phase number;
s4, obtaining the angle and the electrical angular velocity of the motor;
s5, calculating to obtain the calculated phase current of the motor by adopting the following formula;
Figure FDA0003407626780000012
iNrepresents the phase current, UNRepresenting the phase voltage, ωeRepresenting electrical angular velocity, theta representing electrical angle, phifRepresenting the rotor flux linkage, RsRepresenting the phase resistance, L, of the motorsRepresenting the equivalent phase inductance, G, of the motorN(s) denotes a transfer function, and s denotes a complex variable of the Laplace transform.
2. The phase current calculation method of claim 1, characterized in that: and when the step S1 is implemented, the time-sharing sampling reconstruction or calculation is adopted to obtain the sampling phase voltage of the motor.
3. A phase current calculation module for a multiphase permanent magnet synchronous motor, comprising:
the parameter acquisition module is suitable for acquiring the sampling phase current of the motor, the PWM high-level voltage of a motor phase line, high-level time, a PWM period, a motor angle and an electrical angular speed;
the calculation module calculates the calculation phase current of the motor by using the motor parameters acquired by the parameter acquisition module;
calculating the phase voltage of the motor by adopting the following formula;
Figure FDA0003407626780000021
UNrepresents the phase voltage, RN1、RN2And RN3Representing different voltage-dividing resistances, T, on each phase of the phase voltage sampling circuitPwmNHigh level time, t, representing PWM periodOnNRepresenting the PWM period, VInNInputting phase voltage, N represents phase number;
calculating to obtain the calculated phase current of the motor by adopting the following formula;
Figure FDA0003407626780000022
iNrepresents the phase current, UNRepresenting the phase voltage, ωeRepresenting electrical angular velocity, theta representing electrical angle, delta representing phase difference, phifRepresenting the rotor flux linkage, RsRepresenting the phase resistance, L, of the motorsRepresenting the equivalent phase inductance, G, of the motorN(s) denotes a transfer function, and s denotes a complex variable of the Laplace transform.
4. The phase current calculation module of claim 3, wherein: the parameter acquisition module acquires the sampling phase voltage of the motor by adopting time-sharing sampling reconstruction or calculation.
5. A phase current fault diagnosis method using the phase current calculation method according to claim 1, characterized by comprising the steps of:
if the sampled phase current and the calculated phase current have the same direction and the deviation of the sampled phase current and the calculated phase current is smaller than the first current fault diagnosis threshold value, reducing the first fault diagnosis count by a first preset value; if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, judging that the sampling phase current is normal;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to the first current fault diagnosis threshold value, the first fault diagnosis count is increased by a second preset value, and if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode.
6. The phase current fault diagnosis method according to claim 5, characterized by further comprising the steps of:
if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, further diagnosing and calculating a sampling phase current and calculating an absolute value of phase current deviation;
if the absolute value of the deviation is smaller than a second current fault diagnosis threshold value, reducing the second fault diagnosis count by a third preset value;
if the absolute value of the deviation is larger than or equal to a second current fault diagnosis threshold value, increasing a fourth preset value by the second fault diagnosis count;
if the second fault diagnosis count is smaller than the second fault diagnosis count threshold value, judging that the sampled phase current is normal;
and if the second fault diagnosis count is greater than or equal to the second fault diagnosis count threshold value, recording fault information, and cutting off current to enable the motor to enter a fault safety mode.
7. The phase current fault diagnosis method according to claim 6, characterized by further comprising the steps of:
if the second fault diagnosis count is smaller than a second fault diagnosis count threshold value, further diagnosing and integrating and accumulating the phase deviation of each phase;
if the integral accumulation is larger than or equal to a third current fault diagnosis threshold value within each preset time length, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
and if the integral accumulation is smaller than a third current fault diagnosis threshold value within each preset time length, judging that the sampling phase current is normal.
8. The phase current fault diagnosis method according to claim 5, characterized in that: the first preset value is smaller than the second preset value.
9. The phase current fault diagnosis method according to claim 5, characterized in that: 100A-B, a denotes the first preset value and B denotes the second preset value.
10. The phase current fault diagnosis method according to claim 6, characterized in that: the third preset value is less than the fourth preset value.
11. The phase current fault diagnosis method according to claim 6, characterized in that: d denotes a third preset value, and D denotes a fourth preset value.
12. A phase current fault diagnosis system using the phase current calculation module of claim 3, comprising:
the phase current calculation module is suitable for acquiring the sampling phase current of the motor and calculating the calculation phase current of the motor by adopting the following formula;
Figure FDA0003407626780000041
iNrepresents the phase current, UNRepresenting the phase voltage, ωeRepresenting electrical angular velocity, theta representing electrical angle, phifRepresenting the rotor flux linkage, RsRepresenting the phase resistance, L, of the motorsRepresenting the equivalent phase inductance, G, of the motorN(s) represents a transfer function, s represents a complex variable of the laplace transform;
and the judging module is suitable for judging whether the phase current fault diagnosis is normal or recording fault information according to the first rule and the sampling phase current of the motor and the calculation phase current of the motor according to the first rule, and cutting off the current to enable the motor to enter a fault safety mode.
13. The phase current fault diagnostic system of claim 12, wherein the first rule comprises:
if the sampled phase current and the calculated phase current have the same direction and the deviation of the two phases is smaller than a first current fault diagnosis threshold value, reducing a first preset value by a first fault diagnosis counter, and if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, judging that the sampled phase current is normal;
if the directions of the sampled phase current and the calculated phase current are the same, the deviation of the sampled phase current and the calculated phase current is greater than or equal to a first current fault diagnosis threshold value, and the duration is greater than a time diagnosis threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode;
if the sampled phase current and the calculated phase current are opposite in direction, and the deviation of the sampled phase current and the calculated phase current is greater than or equal to the first current fault diagnosis threshold value, the first fault diagnosis counter increases a second preset value, and if the first fault diagnosis count is greater than or equal to the first fault diagnosis count threshold value, fault information is recorded, and the current is cut off to enable the motor to enter a fault safety mode.
14. The phase current fault diagnostic system of claim 13, wherein the first rule further comprises:
if the first fault diagnosis count is smaller than the first fault diagnosis count threshold value, further diagnosing and calculating a sampling phase current and calculating an absolute value of phase current deviation;
if the absolute value of the deviation is smaller than a second current fault diagnosis threshold value, the second fault diagnosis counter is decreased by a third preset value;
if the absolute value of the deviation is larger than or equal to a second current fault diagnosis threshold value, a second fault diagnosis counter increases a fourth preset value;
if the second fault diagnosis count is smaller than the second fault diagnosis count threshold value, judging that the sampled phase current is normal;
and if the second fault diagnosis count is greater than or equal to the second fault diagnosis count threshold value, recording fault information, and cutting off current to enable the motor to enter a fault safety mode.
15. The phase current fault diagnostic system of claim 14, wherein the first rule further comprises:
if the second fault diagnosis count is smaller than a second fault diagnosis count threshold value, further diagnosing and integrating and accumulating the phase deviation of each phase;
if the integral accumulation is larger than or equal to a third current fault diagnosis threshold value within each preset time length, recording fault information, and cutting off current to enable the motor to enter a fault safety mode;
and if the integral accumulation is smaller than a third current fault diagnosis threshold value within each preset time length, judging that the sampling phase current is normal.
16. The phase current fault diagnostic system of claim 13, wherein: the first preset value is smaller than the second preset value.
17. The phase current fault diagnostic system of claim 13, wherein: 100A-B, a denotes the first preset value and B denotes the second preset value.
18. The phase current fault diagnostic system of claim 14, wherein: the third preset value is less than the fourth preset value.
19. The phase current fault diagnostic system of claim 14, wherein: d denotes a third preset value, and D denotes a fourth preset value.
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