CN111740676A - Fault-tolerant control method for open-circuit fault of power tube of electric drive system - Google Patents

Fault-tolerant control method for open-circuit fault of power tube of electric drive system Download PDF

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CN111740676A
CN111740676A CN202010842249.2A CN202010842249A CN111740676A CN 111740676 A CN111740676 A CN 111740676A CN 202010842249 A CN202010842249 A CN 202010842249A CN 111740676 A CN111740676 A CN 111740676A
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windings
circuit fault
power
phase
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CN111740676B (en
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李洁
蒋雪峰
李运之
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Nanjing Zhongke Hui Electric Technology Co ltd
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Nanjing Zhongke Hui Electric Technology Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses an open-circuit fault tolerance control method for a power tube of an electric drive system. The method comprises the steps of firstly judging whether a fault occurs by using a grey prediction mathematical model, then detecting current values at 3T/4 and T/2 from the beginning of the fault to judge the fault position, and finally adopting a corresponding control strategy according to the fault position to realize the fault-tolerant operation of the electric drive system. The invention has the characteristics of high reliability, high diagnosis speed, difficult misjudgment and no need of additional sensors, can realize fault-tolerant control of the system in open-circuit fault states of eight different power tubes by controlling the inverter and the bidirectional thyristor, and has strong fault-tolerant capability.

Description

Fault-tolerant control method for open-circuit fault of power tube of electric drive system
Technical Field
The invention relates to the field of control methods of electric drive systems, in particular to a fault-tolerant control method for an open-circuit fault of a power tube of an electric drive system.
Background
With the development of multi-electric and all-electric airplanes and hybrid and pure electric vehicles, motor driving systems meet new development opportunities and challenges, and need to have high output performance and high reliability besides high power density and high efficiency, which has become the key of the motor driving systems. However, when the electric drive system fails, the motor operates asymmetrically, the output torque pulsates, and large mechanical noise is generated, which results in the overall performance degradation of the system, especially the output power is greatly reduced, even the system cannot work normally, and the safety of the system is seriously damaged.
The electric drive system and the motor often have some electrical faults, and the motor can still continuously run after the open-circuit fault of the windings of the electric drive system occurs, so that the electrical faults are not easy to find, but the damage is larger, and because the rest windings flow larger current under the condition, the overcurrent fault is easy to occur; and the direct current component exists in the motor current, which can cause the problems of torque reduction, heating, insulation damage and the like, and if the open-circuit fault is not processed in time, a larger accident can be caused.
In the invention patent "open-circuit fault diagnosis method of double-winding permanent magnet fault-tolerant motor driving system" with the publication number of CN 105158627B, a fault diagnosis strategy based on the average value of normalized phase currents and the average value of absolute values of normalized phase currents is disclosed, thereby realizing real-time detection and positioning of open-circuit faults of the double-winding permanent magnet fault-tolerant motor driving system. The method avoids misdiagnosis easily caused by load mutation and the like in a conventional diagnosis method by jointly using the average value of the normalized current and the average value of the absolute value thereof, greatly shortens the diagnosis time, and can effectively detect and position the open-circuit fault of the system in real time. In the invention patent "a fault diagnosis method of an electric drive system" with the publication number of CN 105182159B, a method is disclosed, in which a fault criterion is determined by an average current extreme value difference and an average current extreme value difference of absolute values is used as a fault diagnosis criterion, so as to implement real-time detection and positioning of faults of the electric drive system. The method can diagnose and position the open circuit fault of a single power tube or a plurality of power tubes in real time without adding an additional sensor, does not need to adjust a fault judgment threshold value when the load of a system suddenly changes or the rotating speed suddenly changes, and is not easy to diagnose by mistake.
At present, the open-circuit fault diagnosis method of the electric drive system mainly comprises three methods, namely an expert system method, a current detection method and a voltage detection method. The expert system method is based on experience accumulation, lists possible faults one by one, generalizes rules and establishes a knowledge base, only needs to observe fault phenomena and query the knowledge base to judge fault types when faults occur, and has the difficulty that all fault phenomena are difficult to be exhausted and a complete fault knowledge base is obtained, and some fault modes are very similar to a certain state when a system normally operates, so that faults are difficult to be accurately matched. The voltage detection method has the advantages of strong robustness, high diagnosis speed and the like, but the universality is poor, and the cost and the complexity of the system are increased due to the additional arrangement of the voltage sensor. Considering the independence of system parameters and control strategies, current detection is the most common open-circuit fault diagnosis method at present, and does not need an additional sensor. In previous electric traction systems, the reliance on calculating one or more cycles of current to diagnose a fault has also meant that the motor will run in a fault condition for more time, increasing system losses and risk.
For fault-tolerant control after fault diagnosis, the invention patent with the publication number of CN 104506113B discloses a fault-tolerant motor with high reliability and strong fault-tolerant capability and a control method thereof, the method has the functions of fault diagnosis and redundancy communication, can diagnose and process whether a winding open circuit or short circuit fault exists in the control system, has high reliability and strong fault tolerance, can well realize the fault-tolerant control of the system open circuit or short circuit fault, and is suitable for aerospace and military occasions with high reliability and high performance requirements. However, the existing fault-tolerant electric drive system still faces the problems of more independent power supplies, more power switch tubes, insufficient integral capacity-power ratio and the like, and many existing fault-tolerant control strategies have great improvement space in reliability, fault-tolerant capability and capability of coping with multi-phase faults.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the fault-tolerant control method for the open-circuit fault of the power tube of the electric drive system, which is simple and easy to implement, high in reliability and short in diagnosis time, can effectively detect and position the open-circuit fault of the power tube of the electric drive system, and can carry out fault-tolerant control according to different faults, so that the electric drive system can stably run in a fault state.
The invention adopts the following technical scheme for solving the technical problems:
an open-circuit fault tolerance control method for a power tube of an electric drive system comprises a double-winding permanent magnet motor, two independent three-phase bridge inverters, two bidirectional thyristors TR1 and TR2, two capacitors C1 and C2, a direct current power supply Udc, a period calculator, a gray prediction open-circuit fault diagnoser, a power tube open-circuit fault locator and a power tube open-circuit fault processor, wherein the double-winding permanent magnet motor adopts a concentrated winding spaced-tooth winding mode, the two windings ABC and XYZ are mutually independent and symmetrically distributed, each three-phase bridge inverter comprises 6 power tubes, an inverter driving the windings ABC comprises six power tubes T1, T2, T3, T4, T5 and T6, an inverter driving the windings XYZ comprises six power tubes T7, T8, T9, T10, T11 and T12, wherein T1, T3, T5 and T7, T9 and T11 are upper power tubes, and T11, T11 and T11 are upper power tubes, T10 and T12 are lower power tubes, two ends of a bidirectional thyristor TR1 are respectively connected with neutral points N1 of a winding of a double-winding permanent magnet motor A, B, C and midpoints of capacitors C1 and C2, two ends of the bidirectional thyristor TR2 are respectively connected with neutral points N2 of the winding of the double-winding permanent magnet motor X, Y, Z and midpoints of capacitors C1 and C2, and the open-circuit fault-tolerant control method of the power tube of the electric drive system specifically comprises the following steps:
step 1: collecting the current i of the ABC three-phase winding of the double-winding permanent magnet motorA、iB、iCAnd XYZ three-phase winding current iX、iY、iZRespectively carrying out abc/dq coordinate transformation to obtain dq-axis actual currents of the two sets of windings, and respectively recording the dq-axis actual currents as id1、iq1And id2、iq2The collected actual rotation speed omegarAnd a given rotational speed omegarOutputting given q-axis current i after PI regulationq1A and iq2Will give q-axis current iq1*、iq2Actual current i of x and q axesq1、iq2Outputting given q-axis voltage V after PI regulationq1*、Vq2Will give d-axis current id1*、id2And d-axis actual current id1、id2Outputting given d-axis voltage V after PI regulationd1A and Vd2Respectively setting q-axis and d-axis voltages V of the two sets of windingsq1*、Vq2*、Vd1*、Vd2Obtaining αβ -axis reference voltage V through dq/αβ coordinate transformationα1*、Vβ1A and Vα2*、Vβ2Reference voltage V of αβ axisα1*、Vβ1A and Vα2*、Vβ2Obtaining three-phase PWM waves after voltage space vector pulse width modulation, receiving the three-phase PWM waves after the voltage space vector pulse width modulation by two sets of inverters, and driving a double-winding permanent magnet motor to operate, wherein in normal operation, bidirectional thyristors TR1 and TR2 are both in a closed state, and the output power of the two sets of windings is half of the total output power;
step 2: monitoring the time t when any phase current reaches a maximum value for the first time after the double-winding permanent magnet motor is startedmAnd a time t to reach maximum for a second timenObtaining the current period T = T by a period calculatorm-tn；
And step 3: a, B, C, X, Y, Z six-phase current is respectively collected at equal time intervals and sent to a grey prediction open-circuit fault diagnostor, and the kth collection result is recorded as
Figure 389980DEST_PATH_IMAGE001
And storing the collected results of several bits as the original sequence of the grey prediction model
Figure 307121DEST_PATH_IMAGE002
，
Figure 149175DEST_PATH_IMAGE002
Expressed as:
Figure 544384DEST_PATH_IMAGE003
wherein N is taken to be A, B, C, X, Y, Z;
and 4, step 4: and the grey prediction open-circuit fault diagnotor substitutes the original sequence into the established grey prediction model, and predicts the current value of the next step or the next steps according to the model, wherein the grey prediction model is expressed as:
Figure 358756DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 991339DEST_PATH_IMAGE005
to develop the gray scale, reflect the predicted development situation,
Figure 258372DEST_PATH_IMAGE006
to control the coefficients, the relationship of the change in the data is reflected, and
Figure 519589DEST_PATH_IMAGE005
and
Figure 188468DEST_PATH_IMAGE006
in order to solve according to the acquired current data, a fault judgment threshold value r 'is set according to actual operation parameters of the double-winding permanent magnet motor, current prediction data at the next moment are compared with an actually sampled current value, if the absolute value of the difference between the predicted value and the actual value of one phase exceeds the threshold value r', the phase winding is judged to have an open-circuit fault, and fault time t is recorded0(ii) a If the absolute value of the difference between the predicted value and the actual value of one phase is less than or equal to the threshold r', no fault occurs;
and 5: the power tube open-circuit fault locator is based on the fault occurrence time t0Then, the current values in the half period and the quarter period are used for positioning the fault power tube and monitoring t1=t0Time + T/2Current value i of1And t2=t0Current value i at +3T/42And calculate it=i1+i2，itIf not equal to 0, it indicates that the power tube has an open-circuit fault, if itIf the current is greater than 0, the open-circuit fault of the lower bridge arm power tube of the phase drive bridge is diagnosed; if itIf the fault position is less than 0, judging that the power tube of the upper bridge arm of the drive axle of the phase is in fault, and finally outputting the fault position to a power tube open-circuit fault processor;
step 6: the power tube open-circuit fault processor realizes fault-tolerant control in eight fault states by controlling the inverter and the bidirectional thyristors TR1 and TR2 according to the feedback fault position, wherein the eight fault states comprise: the method comprises the following steps that an open-circuit fault occurs simultaneously in a first set of windings, namely A, B, C three-phase power tubes, an open-circuit fault occurs simultaneously in a second set of windings, namely X, Y, Z three-phase power tubes, an open-circuit fault occurs simultaneously in a certain two-phase power tube in a first set of windings ABC, an open-circuit fault occurs simultaneously in a certain two-phase power tube in a second set of windings XYZ, an open-circuit fault occurs simultaneously in a certain phase power tube in the first set of windings ABC, an open-circuit fault occurs in one phase power tube in both sets of windings, and an open-circuit fault occurs in a certain phase power tube in both sets of windings;
further, in step 6, the power tube open-circuit fault processor processes eight operation situations, where an open-circuit fault occurs simultaneously in the first set of windings, that is, the A, B, C three-phase power tubes, in the second set of windings, that is, the X, Y, Z three-phase power tubes, in the first set of windings ABC, in the second set of windings XYZ, in the first set of windings ABC, in the second set of windings XYZ, in the second set of windings ABC, in the first set of windings ABC, in the second set of windings, in the first set of windings:
when the A, B, C three-phase power tubes in the first set of windings simultaneously have open circuit faults, the power tubes T1, T2, T3, T4, T5 and T6 are blocked, the bidirectional thyristors TR1 and TR2 keep the closed state, and the output power of the second set of windings XYZ is increased at the same time, so that the output power of the second set of windings XYZ is equal to the total output power of the system;
when the X, Y, Z three-phase power tube of the second set of winding has open circuit fault at the same time, block power tube T7, T8, T9, T10, T11, T12, the bidirectional thyristor TR1 and TR2 keeps the closed state, increase the output power of the first set of winding ABC at the same time, make the output power of the first set of winding ABC equal to the total power of system output;
the power tubes of two phases in the first set of windings ABC have open-circuit faults at the same time, for example, the power tube T1 and the power tube T3 have open-circuit faults at the same time, the power tubes T1, T2, T3, T4, T5 and T6 are blocked, the triacs TR1 and TR2 are kept in a closed state, and the output power of the second set of windings XYZ is increased at the same time, so that the output power of the second set of windings XYZ is equal to the total system output power;
open-circuit faults occur simultaneously in power tubes of a certain two phases in the second set of windings XYZ, for example, the power tube T7 and the power tube T9 have the open-circuit faults simultaneously, the power tubes T7, T8, T9, T10, T11 and T12 are blocked, the bidirectional thyristors TR1 and TR2 are kept in a closed state, and meanwhile, the output power of the first set of windings ABC is increased, so that the output power of the first set of windings ABC is equal to the total system output power;
when the first set of winding ABC three-phase power tube has an open-circuit fault and a certain phase power tube in the second set of winding XYZ has an open-circuit fault, if the second set of winding T7 has an open-circuit fault, the power tubes T1, T2, T3, T4, T5, T6, T7 and T8 are blocked, the bidirectional thyristor TR2 is switched on, the state of TR1 is kept closed, and meanwhile, the output power of the second set of winding XYZ is increased, so that the output power of the second set of winding XYZ is equal to the total system output power;
when an open-circuit fault occurs in the XYZ three-phase power tube of the second set of windings and simultaneously an open-circuit fault occurs in a certain phase power tube of the first set of windings ABC, if an open-circuit fault occurs in T1 of the first set of windings, the T1, T2, T7, T8, T9, T10, T11 and T12 of the power tubes are blocked, the TR1 of the bidirectional thyristor is switched on, the turn-off state of the TR2 is kept, and meanwhile, the output power of the first set of windings ABC is increased, so that the output power of the first set of windings ABC is equal to the;
one phase power tube of each of the two sets of windings has an open-circuit fault, for example, the first set of winding power tube T1 and the second set of winding T7 have open-circuit faults, the power tubes T1, T2, T7 and T8 are blocked, and the bidirectional thyristors TR1 and TR2 are switched on;
when an open-circuit fault occurs to a certain phase power tube in the two sets of windings, for example, the open-circuit fault occurs to the first set of winding power tube T1, the power tubes T1 and T2 are blocked, the bidirectional thyristor TR1 is conducted, and the TR2 is kept in a closed state.
The invention has the beneficial effects that:
(1) compared with the prior art, the method has the advantages of high reliability, difficulty in misjudgment, no need of an additional sensor and strong universality.
(2) The method has high diagnosis speed, does not need to rely on calculating the current of one period or even a plurality of periods to diagnose the fault, can judge the fault only in a plurality of sampling values, and positions the fault in three quarters of periods, thereby greatly reducing the damage of the fault operation to the electric drive system.
(3) The invention can utilize less data to estimate and predict the development change rule of the system behavior characteristics through the gray prediction model, and has the advantages of high prediction precision, less required sample data, simple and convenient operation, easy inspection and the like.
(4) The invention can predict the current condition of the next state through the current data, can judge the open circuit fault of one or more power tubes, accurately position the fault, can improve the fault diagnosis speed of the system and is more intelligent.
The invention can realize fault-tolerant control of the system in eight different open-circuit fault states of the power tube by controlling the inverter and the bidirectional thyristor, so that the electric drive system can still stably run in different fault states, and has high reliability and strong fault-tolerant capability.
Drawings
FIG. 1 is a block diagram of an open-circuit fault-tolerant control strategy for a power tube of an electric drive system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the specification, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
As shown in fig. 1, an open-circuit fault-tolerant control method for a power tube of an electric drive system comprises a dual-winding permanent magnet motor, two independent three-phase bridge inverters, two bidirectional thyristors TR1 and TR2, two capacitors C1 and C2, a direct current power source Udc, a period calculator, a gray prediction open-circuit fault diagnoser, a power tube open-circuit fault locator and a power tube open-circuit fault processor, wherein the dual-winding permanent magnet motor adopts a concentrated winding spaced winding mode, the two windings ABC and XYZ are mutually independent and symmetrically distributed, each three-phase bridge inverter comprises 6 power tubes, the inverter driving the winding ABC comprises six power tubes of T1, T2, T3, T4, T5 and T6, the inverter driving the winding comprises six power tubes of T7, T8, T9, T10, T11 and T12, wherein T1, T3, T5 and T7, T9, T11 are upper power tubes, t2, T4, T6, T8, T10 and T12 are lower power tubes, two ends of a bidirectional thyristor TR1 are respectively connected with neutral points N1 of windings of the dual-winding permanent magnet motor A, B, C and midpoints of capacitors C1 and C2, two ends of a bidirectional thyristor TR2 are respectively connected with neutral points N2 of windings of the dual-winding permanent magnet motor X, Y, Z and midpoints of capacitors C1 and C2, and the open-circuit fault-tolerant control method of the power tubes of the electric drive system specifically comprises the following steps:
step 1: collecting the current i of the ABC three-phase winding of the double-winding permanent magnet motorA、iB、iCAnd XYZ three-phase winding current iX、iY、iZRespectively carrying out abc/dq coordinate transformation to obtain dq-axis actual currents of the two sets of windings, and respectively recording the dq-axis actual currents as id1、iq1And id2、iq2The collected actual rotation speed omegarAnd a given rotational speed omegarOutputting given q-axis current i after PI regulationq1A and iq2Will give q-axis current iq1*、iq2Actual current i of x and q axesq1、iq2Outputting given q-axis voltage V after PI regulationq1*、Vq2Will give d-axis current id1*、id2And d-axis actual current id1、id2Outputting given d-axis voltage V after PI regulationd1A and Vd2Respectively setting q-axis and d-axis voltages V of the two sets of windingsq1*、Vq2*、Vd1*、Vd2Obtaining αβ -axis reference voltage V through dq/αβ coordinate transformationα1*、Vβ1A and Vα2*、Vβ2Reference voltage V of αβ axisα1*、Vβ1A and Vα2*、Vβ2Obtaining three-phase PWM waves after voltage space vector pulse width modulation, receiving the three-phase PWM waves after the voltage space vector pulse width modulation by two sets of inverters, and driving a double-winding permanent magnet motor to operate, wherein in normal operation, bidirectional thyristors TR1 and TR2 are both in a closed state, and the output power of the two sets of windings is half of the total output power;
step 2: monitoring the time t when any phase current reaches a maximum value for the first time after the double-winding permanent magnet motor is startedmAnd a time t to reach maximum for a second timenObtaining the current period T = T by a period calculatorm-tn；
And step 3: a, B, C, X, Y, Z six-phase current is respectively collected at equal time intervals and sent to a grey prediction open-circuit fault diagnostor, and the kth collection result is recorded as
Figure 181831DEST_PATH_IMAGE001
And storing the collected results of several bits as the original sequence of the grey prediction model
Figure 749210DEST_PATH_IMAGE002
，
Figure 486222DEST_PATH_IMAGE002
Expressed as:
Figure 71924DEST_PATH_IMAGE003
wherein N is taken to be A, B, C, X, Y, Z;
and 4, step 4: and the grey prediction open-circuit fault diagnotor substitutes the original sequence into the established grey prediction model, and predicts the current value of the next step or the next steps according to the model, wherein the grey prediction model is expressed as:
Figure 501768DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 743394DEST_PATH_IMAGE005
to develop the gray scale, reflect the predicted development situation,
Figure 831567DEST_PATH_IMAGE006
to control the coefficients, the relationship of the change in the data is reflected, and
Figure 475038DEST_PATH_IMAGE005
and
Figure 810204DEST_PATH_IMAGE006
in order to solve according to the acquired current data, a fault judgment threshold value r 'is set according to actual operation parameters of the double-winding permanent magnet motor, current prediction data at the next moment are compared with an actually sampled current value, if the absolute value of the difference between the predicted value and the actual value of one phase exceeds the threshold value r', the phase winding is judged to have an open-circuit fault, and fault time t is recorded0(ii) a If the absolute value of the difference between the predicted value and the actual value of one phase is less than or equal to the threshold r', no fault occurs;
and 5: the power tube open-circuit fault locator is based on the fault occurrence time t0Then the current values in the second half period and the third quarter period are used to correct the faultPositioning the barrier power tube, and monitoring t1=t0Current value i at time + T/21And t2=t0Current value i at +3T/42And calculate it=i1+i2，itIf not equal to 0, it indicates that the power tube has an open-circuit fault, if itIf the current is greater than 0, the open-circuit fault of the lower bridge arm power tube of the phase drive bridge is diagnosed; if itIf the fault position is less than 0, judging that the power tube of the upper bridge arm of the drive axle of the phase is in fault, and finally outputting the fault position to a power tube open-circuit fault processor;
step 6: the power tube open-circuit fault processor realizes fault-tolerant control in eight fault states by controlling the inverter and the bidirectional thyristors TR1 and TR2 according to the feedback fault position, wherein the eight fault states comprise: the method comprises the following steps that an open-circuit fault occurs simultaneously in a first set of windings, namely A, B, C three-phase power tubes, an open-circuit fault occurs simultaneously in a second set of windings, namely X, Y, Z three-phase power tubes, an open-circuit fault occurs simultaneously in a certain two-phase power tube in a first set of windings ABC, an open-circuit fault occurs simultaneously in a certain two-phase power tube in a second set of windings XYZ, an open-circuit fault occurs simultaneously in a certain phase power tube in the first set of windings ABC, an open-circuit fault occurs in one phase power tube in both sets of windings, and an open-circuit fault occurs in a certain phase power tube in both sets of windings;
further, in step 6, the power tube open-circuit fault processor processes eight operation situations, where an open-circuit fault occurs simultaneously in the first set of windings, that is, the A, B, C three-phase power tubes, in the second set of windings, that is, the X, Y, Z three-phase power tubes, in the first set of windings ABC, in the second set of windings XYZ, in the first set of windings ABC, in the second set of windings XYZ, in the second set of windings ABC, in the first set of windings ABC, in the second set of windings, in the first set of windings:
when the A, B, C three-phase power tubes in the first set of windings simultaneously have open circuit faults, the power tubes T1, T2, T3, T4, T5 and T6 are blocked, the bidirectional thyristors TR1 and TR2 keep the closed state, and the output power of the second set of windings XYZ is increased at the same time, so that the output power of the second set of windings XYZ is equal to the total output power of the system;
when the X, Y, Z three-phase power tube of the second set of winding has open circuit fault at the same time, block power tube T7, T8, T9, T10, T11, T12, the bidirectional thyristor TR1 and TR2 keeps the closed state, increase the output power of the first set of winding ABC at the same time, make the output power of the first set of winding ABC equal to the total power of system output;
taking the example that the power tubes T1 and the power tube T3 simultaneously have the open-circuit fault, blocking the power tubes T1, T2, T3, T4, T5 and T6, keeping the bidirectional thyristors TR1 and TR2 in a closed state, and simultaneously increasing the output power of the second set of windings XYZ to enable the output power of the second set of windings XYZ to be equal to the total system output power;
taking the example that the power tube T7 and the power tube T9 have the open-circuit fault at the same time, blocking the power tubes T7, T8, T9, T10, T11 and T12, keeping the bidirectional thyristors TR1 and TR2 in a closed state, and simultaneously increasing the output power of the first set of windings ABC to enable the output power of the first set of windings ABC to be equal to the total output power of the system;
taking the open-circuit fault of T7 in the second set of windings as an example, blocking the power tubes T1, T2, T3, T4, T5, T6, T7 and T8, turning on the bidirectional thyristor TR2, keeping the TR1 in a closed state, and increasing the output power of the second set of windings XYZ at the same time, so that the output power of the second set of windings XYZ is equal to the total output power of the system;
taking the open-circuit fault of T1 in the first set of windings as an example, blocking T1, T2, T7, T8, T9, T10, T11 and T12 of the power tubes, conducting a bidirectional thyristor TR1, keeping the TR2 in a closed state, and simultaneously increasing the output power of the first set of windings ABC to enable the output power of the first set of windings ABC to be equal to the total output power of a system;
the two sets of windings have one phase power tube with open-circuit fault, for example, the first set of winding power tube T1 and the second set of winding T7 have open-circuit fault, the power tubes T1, T2, T7 and T8 are blocked, and the bidirectional thyristors TR1 and TR2 are conducted;
and (3) when an open-circuit fault occurs in a certain phase power tube in the two sets of windings, taking the open-circuit fault of the power tube T1 in the first set of windings as an example, the power tubes T1 and T2 are blocked, the bidirectional thyristor TR1 is conducted, and the TR2 is kept in a closed state.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims (2)

1. The method for controlling the open-circuit fault tolerance of the power tube of the electric drive system is characterized in that the electric drive system comprises a double-winding permanent magnet motor, two independent three-phase bridge inverters, two bidirectional thyristors TR1 and TR2, two capacitors C1 and C2, a direct current power source Udc, a period calculator, a gray prediction open-circuit fault diagnoser, a power tube open-circuit fault locator and a power tube open-circuit fault processor, wherein the double-winding permanent magnet motor adopts a concentrated winding tooth-spaced winding mode, the two windings ABC and XYZ are mutually independent and symmetrically distributed, each three-phase bridge inverter comprises 6 power tubes, an inverter for driving the windings ABC comprises six power tubes T1, T2, T3, T4, T XYZ 5 and T6, the inverter for driving the windings comprises six power tubes T7, T8, T9, T10, T11 and T12, wherein T1, T3, T5, T36 7, T9 and T11 are upper power tubes, t2, T4, T6, T8, T10 and T12 are lower power tubes, two ends of a bidirectional thyristor TR1 are respectively connected with neutral points N1 of windings of the dual-winding permanent magnet motor A, B, C and midpoints of capacitors C1 and C2, two ends of a bidirectional thyristor TR2 are respectively connected with neutral points N2 of windings of the dual-winding permanent magnet motor X, Y, Z and midpoints of capacitors C1 and C2, and the open-circuit fault-tolerant control method of the power tubes of the electric drive system specifically comprises the following steps:
step 1: collecting the current i of the ABC three-phase winding of the double-winding permanent magnet motorA、iB、iCAnd XYZ three-phase winding current iX、iY、iZRespectively carrying out abc/dq coordinate transformation to obtain dq-axis actual currents of the two sets of windings, and respectively recording the dq-axis actual currents as id1、iq1And id2、iq2The collected actual rotation speed omegarAnd a given rotational speed omegarOutputting given q-axis current i after PI regulationq1A and iq2Will give q-axis current iq1*、iq2Actual current i of x and q axesq1、iq2Outputting given q-axis voltage V after PI regulationq1*、Vq2Will give d-axis current id1*、id2And d-axis actual current id1、id2Outputting given d-axis voltage V after PI regulationd1A and Vd2Respectively setting q-axis and d-axis voltages V of the two sets of windingsq1*、Vq2*、Vd1*、Vd2Obtaining αβ -axis reference voltage V through dq/αβ coordinate transformationα1*、Vβ1A and Vα2*、Vβ2Reference voltage V of αβ axisα1*、Vβ1A and Vα2*、Vβ2Obtaining three-phase PWM waves after voltage space vector pulse width modulation, receiving the three-phase PWM waves after the voltage space vector pulse width modulation by two sets of inverters, and driving a double-winding permanent magnet motor to operate, wherein in normal operation, bidirectional thyristors TR1 and TR2 are both in a closed state, and the output power of the two sets of windings is half of the total output power;
step 2: monitoring the time t when any phase current reaches a maximum value for the first time after the double-winding permanent magnet motor is startedmAnd a time t to reach maximum for a second timenObtained by means of a period calculatorTo current period T = Tm-tn；
And step 3: a, B, C, X, Y, Z six-phase current is respectively collected at equal time intervals and sent to a grey prediction open-circuit fault diagnostor, and the kth collection result is recorded as
Figure 475664DEST_PATH_IMAGE001
And storing the collected results of several bits as the original sequence of the grey prediction model
Figure 489232DEST_PATH_IMAGE002
，
Figure 987210DEST_PATH_IMAGE002
Expressed as:
Figure 758857DEST_PATH_IMAGE003
wherein N is taken to be A, B, C, X, Y, Z;
and 4, step 4: and the grey prediction open-circuit fault diagnotor substitutes the original sequence into the established grey prediction model, and predicts the current value of the next step or the next steps according to the model, wherein the grey prediction model is expressed as:
Figure 647178DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 529684DEST_PATH_IMAGE005
to develop the gray scale, reflect the predicted development situation,
Figure 882168DEST_PATH_IMAGE006
to control the coefficients, the relationship of the change in the data is reflected, and
Figure 762399DEST_PATH_IMAGE005
and
Figure 200333DEST_PATH_IMAGE006
in order to solve according to the acquired current data, a fault judgment threshold value r 'is set according to actual operation parameters of the double-winding permanent magnet motor, current prediction data at the next moment are compared with an actually sampled current value, if the absolute value of the difference between the predicted value and the actual value of one phase exceeds the threshold value r', the phase winding is judged to have an open-circuit fault, and fault time t is recorded0(ii) a If the absolute value of the difference between the predicted value and the actual value of one phase is less than or equal to the threshold r', no fault occurs;
and 5: the power tube open-circuit fault locator is based on the fault occurrence time t0Then, the current values in the half period and the quarter period are used for positioning the fault power tube and monitoring t1=t0Current value i at time + T/21And t2=t0Current value i at +3T/42And calculate it=i1+i2，itIf not equal to 0, it indicates that the power tube has an open-circuit fault, if itIf the current is greater than 0, the open-circuit fault of the lower bridge arm power tube of the phase drive bridge is diagnosed; if itIf the fault position is less than 0, judging that the power tube of the upper bridge arm of the drive axle of the phase is in fault, and finally outputting the fault position to a power tube open-circuit fault processor;
step 6: the power tube open-circuit fault processor realizes fault-tolerant control in eight fault states by controlling the inverter and the bidirectional thyristors TR1 and TR2 according to the feedback fault position, wherein the eight fault states comprise: the method comprises the steps that an open-circuit fault occurs simultaneously in a first set of windings, namely A, B, C three-phase power tubes, an open-circuit fault occurs simultaneously in a second set of windings, namely X, Y, Z three-phase power tubes, an open-circuit fault occurs simultaneously in a certain two-phase power tube in the first set of windings ABC, an open-circuit fault occurs simultaneously in a certain two-phase power tube in the second set of windings XYZ, an open-circuit fault occurs simultaneously in a certain phase power tube in the first set of windings ABC, an open-circuit fault occurs in one phase power tube in both sets of windings, and an open-circuit fault occurs in a certain phase power tube in both sets of windings.
2. The fault-tolerant control method for open-circuit fault of power tube of electric drive system as claimed in claim 1, wherein the processor for open-circuit fault of power tube in step 6 is configured to process eight operation conditions, where the open-circuit fault occurs simultaneously in the first set of A, B, C three-phase power tubes, the open-circuit fault occurs simultaneously in the second set of X, Y, Z three-phase power tubes, the open-circuit fault occurs simultaneously in the two-phase power tubes in the first set of ABC, the open-circuit fault occurs simultaneously in the two-phase power tubes in the second set of XYZ, the open-circuit fault occurs simultaneously in the three-phase power tubes in the first set of ABC, the open-circuit fault occurs simultaneously in the two-phase power tubes in the first set of ABC, the open-circuit fault occurs simultaneously in one-phase power tube in the two sets of XYZ, the open-circuit fault occurs in one-phase power tube in each of the two, And a certain phase power tube in the two sets of windings has an open-circuit fault, wherein:
when the A, B, C three-phase power tubes in the first set of windings simultaneously have open circuit faults, the power tubes T1, T2, T3, T4, T5 and T6 are blocked, the bidirectional thyristors TR1 and TR2 keep the closed state, and the output power of the second set of windings XYZ is increased at the same time, so that the output power of the second set of windings XYZ is equal to the total output power of the system;
when the X, Y, Z three-phase power tube of the second set of winding has open circuit fault at the same time, block power tube T7, T8, T9, T10, T11, T12, the bidirectional thyristor TR1 and TR2 keeps the closed state, increase the output power of the first set of winding ABC at the same time, make the output power of the first set of winding ABC equal to the total power of system output;
the power tubes of two phases in the first set of windings ABC have open-circuit faults at the same time, for example, the power tube T1 and the power tube T3 have open-circuit faults at the same time, the power tubes T1, T2, T3, T4, T5 and T6 are blocked, the triacs TR1 and TR2 are kept in a closed state, and the output power of the second set of windings XYZ is increased at the same time, so that the output power of the second set of windings XYZ is equal to the total system output power;
open-circuit faults occur simultaneously in power tubes of a certain two phases in the second set of windings XYZ, for example, the power tube T7 and the power tube T9 have the open-circuit faults simultaneously, the power tubes T7, T8, T9, T10, T11 and T12 are blocked, the bidirectional thyristors TR1 and TR2 are kept in a closed state, and meanwhile, the output power of the first set of windings ABC is increased, so that the output power of the first set of windings ABC is equal to the total system output power;
when the first set of winding ABC three-phase power tube has an open-circuit fault and a certain phase power tube in the second set of winding XYZ has an open-circuit fault, if the second set of winding T7 has an open-circuit fault, the power tubes T1, T2, T3, T4, T5, T6, T7 and T8 are blocked, the bidirectional thyristor TR2 is switched on, the state of TR1 is kept closed, and meanwhile, the output power of the second set of winding XYZ is increased, so that the output power of the second set of winding XYZ is equal to the total system output power;
when an open-circuit fault occurs in the XYZ three-phase power tube of the second set of windings and simultaneously an open-circuit fault occurs in a certain phase power tube of the first set of windings ABC, if an open-circuit fault occurs in T1 of the first set of windings, the T1, T2, T7, T8, T9, T10, T11 and T12 of the power tubes are blocked, the TR1 of the bidirectional thyristor is switched on, the turn-off state of the TR2 is kept, and meanwhile, the output power of the first set of windings ABC is increased, so that the output power of the first set of windings ABC is equal to the;
one phase power tube of each of the two sets of windings has an open-circuit fault, for example, the first set of winding power tube T1 and the second set of winding T7 have open-circuit faults, the power tubes T1, T2, T7 and T8 are blocked, and the bidirectional thyristors TR1 and TR2 are switched on;
when an open-circuit fault occurs to a certain phase power tube in the two sets of windings, for example, the open-circuit fault occurs to the first set of winding power tube T1, the power tubes T1 and T2 are blocked, the bidirectional thyristor TR1 is conducted, and the TR2 is kept in a closed state.
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