CN111740683B - Fault diagnosis method for position sensor of permanent magnet fault-tolerant motor - Google Patents

Fault diagnosis method for position sensor of permanent magnet fault-tolerant motor Download PDF

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CN111740683B
CN111740683B CN202010877268.9A CN202010877268A CN111740683B CN 111740683 B CN111740683 B CN 111740683B CN 202010877268 A CN202010877268 A CN 202010877268A CN 111740683 B CN111740683 B CN 111740683B
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fault
position sensor
permanent magnet
offset
motor
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CN111740683A (en
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蒋雪峰
高宇飞
李强
高尚
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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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
    • 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
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P25/22—Multiple windings; Windings for more than three phases
    • 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

Abstract

The invention discloses a fault diagnosis method for a position sensor of a permanent magnet fault-tolerant motor. The method comprises the following steps: firstly, a permanent magnet fault-tolerant motor driving system is constructed, and the construction of each module and the integration of the whole driving system are completed; secondly, completing classification and induction of common faults of the position sensor of the permanent magnet fault-tolerant motor through mathematical modeling; then respectively measuring and calculating the rotor position signal value at the t moment
Figure 811077DEST_PATH_IMAGE001
And signal estimation without position algorithm
Figure 728218DEST_PATH_IMAGE002
(ii) a And finally, according to the fault diagnosis criterion of the position sensor of the permanent magnet fault-tolerant motor, carrying out fault diagnosis on the position sensor of the motor and judging the specific fault type. The method is simple and easy to implement, high in reliability, rapid in diagnosis process and accurate in fault result judgment, improves the operation stability of the position sensor, and enhances the robustness of the motor driving system.

Description

Fault diagnosis method for position sensor of permanent magnet fault-tolerant motor
Technical Field
The invention relates to the technical field of fault diagnosis of permanent magnet fault-tolerant motors, in particular to a fault diagnosis method of a position sensor of a permanent magnet fault-tolerant motor.
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 in addition to high power density and high efficiency, which has become the key of the motor driving systems. In the 90 s of the 20 th century, the permanent magnet fault-tolerant motor and the control system thereof improve the safety and reliability of the system and are applied to the field of aviation. However, some sensor faults often occur to the driving system of the permanent magnet fault-tolerant motor, and the accuracy of the feedback quantity of each sensor is directly related to the precision of the control method and the stability of the system. In special application occasions such as automatic production, elevators, aviation, nuclear energy, dangerous chemical processing and the like, the requirements of users on indexes such as reliability, maintainability, viability and the like of driving system equipment are high, so that the fault of the driving system is diagnosed quickly and accurately, and on the basis, a corresponding fault-tolerant control strategy is adopted to improve the reliability of the system, and the fault-tolerant control method has great significance. Therefore, the research on the fault diagnosis technology is particularly important for the normal operation of the permanent magnet fault-tolerant motor driving system.
Because the position sensor mostly adopts a precise photoelectric encoder, the position sensor is easily influenced by surrounding use environments, such as humidity, dust, vibration and the like, and becomes a weak link in a control system. When the motor driving system operates in a vector control mode with a position sensor, if the position sensor fails, a closed loop system in the closed loop vector control of the motor driving system is damaged, so that the closed loop system is opened, equipment is damaged to different degrees, and even casualties and other accidents occur.
The existing fault diagnosis technology is mostly aimed at the fault of a motor winding, and the fault diagnosis method is different for different types of sensors. However, the fault diagnosis method for the sensor can be roughly divided into a hardware method and a software method, the hardware fault diagnosis method for the position sensor is generally effective and feasible in a small number of partial position sensor faults, however, if a large number of position sensors of the same electric equipment have faults, the hardware detection method has a series of low diagnosis speed, large resource consumption and the like, which means that the motor runs for more time in a fault state, and the loss and the risk of the system are increased. Meanwhile, the defects of more sensors, more electrical equipment requirements and the like exist, and the problems that the design of a driving system is complex, the diagnosis method is lack of intellectualization, the fault type cannot be judged and the like are caused inevitably.
In summary, it is necessary to provide a position sensor fault diagnosis method which is simple and easy to implement, rapid in processing, accurate in judgment, and strong in reliability, and is suitable for a permanent magnet fault-tolerant motor.
Disclosure of Invention
The invention aims to provide a position sensor fault diagnosis method which is simple and easy to implement, rapid in processing, accurate in judgment and strong in reliability and is suitable for a permanent magnet fault-tolerant motor, so that the fault of the position sensor of the permanent magnet fault-tolerant motor can be effectively detected and judged.
The technical solution for realizing the purpose of the invention is as follows: a fault diagnosis method for a position sensor of a permanent magnet fault-tolerant motor comprises the following steps:
step 1, constructing a permanent magnet fault-tolerant motor driving system, and completing construction of each module and integration of the whole driving system; the permanent magnet fault-tolerant motor driving system comprises a double-winding permanent magnet fault-tolerant motor, two inverters, two speed PI controllers, two current PI controllers, a position sensor, an algorithm module based on a sliding-mode observer and a position sensor fault diagnosis module, wherein the double-winding permanent magnet fault-tolerant motor comprises a twelve-slot stator and a ten-pole surface-mounted permanent magnet rotor, the twelve-slot stator comprises two sets of independent and symmetrically-arranged armature windings wound by three-phase centralized separated teeth, and the two inverters are two sets of three-phase full-bridge driving circuits and respectively drive the two sets of armature windings;
step 2, performing mathematical modeling on three fault states of a position sensor disconnection fault, a jamming fault and an offset fault of a permanent magnet fault-tolerant motor driving system, wherein the specific mathematical model is as follows:
Figure 991170DEST_PATH_IMAGE001
Figure 619597DEST_PATH_IMAGE002
Figure 921265DEST_PATH_IMAGE003
wherein the content of the first and second substances,
Figure 94889DEST_PATH_IMAGE004
is the time at which the fault 0 occurs,
Figure 482008DEST_PATH_IMAGE005
in order to be the time for the trouble shooting,
Figure 851809DEST_PATH_IMAGE006
is the position signal detection value of the sensor at the current time t,
Figure 804722DEST_PATH_IMAGE007
for a position signal estimate based on sliding mode observation, i.e. the correct position signal reference,
Figure 601776DEST_PATH_IMAGE008
indicating the position signal value when the broken wire deadlocking fault occurs,Ca fixed offset representing the position signal at the time of the offset fault;
step 3, detecting the rotor position signal value at the time t through a position sensor
Figure 23662DEST_PATH_IMAGE006
(ii) a Meanwhile, the estimated value of the position signal is measured and calculated through a position-free algorithm based on a sliding-mode observer
Figure 197154DEST_PATH_IMAGE007
；
Step 4, diagnosing whether the position sensor has faults in a mathematical model according to the fault diagnosis criterion of the position sensor of the permanent magnet fault-tolerant motor by using the rotor position signal and the rotating speed signal of the motor; and then the specific type of the fault is judged by combining the classification of the fault in the established mathematical model.
Further, the method for determining the fault type according to the fault diagnosis criterion of the position sensor in step 4 specifically includes the following steps:
based on fault-tolerant permanent magnet motord-qShaft voltageu d1、u d2、u q1、u q2，d-qShaft currenti d1、i d2、i q1、i q2Obtaining an estimate of the rotor position by a sliding mode observer
Figure 207835DEST_PATH_IMAGE009
、
Figure 238108DEST_PATH_IMAGE010
And an estimate of the rotational speed
Figure 334240DEST_PATH_IMAGE011
、
Figure 858894DEST_PATH_IMAGE012
Position to be estimated
Figure 724081DEST_PATH_IMAGE009
、
Figure 862939DEST_PATH_IMAGE010
Position detected by sensor
Figure 508684DEST_PATH_IMAGE013
Making a difference, and estimating the rotation speed
Figure 758399DEST_PATH_IMAGE011
、
Figure 556722DEST_PATH_IMAGE012
Speed of rotation detected by sensor
Figure 866481DEST_PATH_IMAGE014
Making difference, and respectively making the obtained residual error and threshold value of position and rotating speed
Figure 937205DEST_PATH_IMAGE015
And
Figure 52929DEST_PATH_IMAGE016
comparing, thereby performing fault diagnosis of the position sensor;
wherein the residual error of the rotation speed
Figure 892709DEST_PATH_IMAGE017
For diagnosing stuck-at faults: when the position sensor is stuck, the rotating speed detected by the sensor can fall to 0, the detected rotating speed is still the running rotating speed of the motor, and the rotating speed residual error can exceed the rotating speed threshold value
Figure 373369DEST_PATH_IMAGE018
And setting a high level for the fault diagnosis mark, and judging that the position sensor is in a stuck fault, wherein the specific fault-tolerant motor stuck fault diagnosis criterion is as follows:
when in use
Figure 478859DEST_PATH_IMAGE019
When the position sensor is in normal operation;
when in use
Figure 335957DEST_PATH_IMAGE020
When the position sensor normally operates, the observed value of the first set of windings has errors;
when in use
Figure 92560DEST_PATH_IMAGE021
When the position sensor normally operates, the observed value of the second set of winding has errors;
when in use
Figure 744121DEST_PATH_IMAGE022
When the position sensor is in a stuck fault, the position sensor is stuck;
position residual
Figure 789438DEST_PATH_IMAGE023
For diagnosing offset faults: when the position sensor has an offset fault, a constant offset is generated between the detected position and the actual position, and the position estimated by the observer can still follow the actual position, so that the position difference exceeds the position threshold value
Figure 997696DEST_PATH_IMAGE024
And setting a high level for the fault diagnosis mark, and judging the offset fault of the position sensor, wherein the specific fault-tolerant motor offset fault diagnosis criterion is as follows:
when in use
Figure 546489DEST_PATH_IMAGE025
When the position sensor is in normal operation;
when in use
Figure 696848DEST_PATH_IMAGE026
When the position sensor normally operates, the observed value of the first set of windings has errors;
when in use
Figure 963881DEST_PATH_IMAGE027
When the position sensor normally operates, the observed value of the second set of winding has errors;
when in use
Figure 162781DEST_PATH_IMAGE028
When the position sensor is in an offset fault, the position sensor is in an offset fault;
absolute value of position signal
Figure 379130DEST_PATH_IMAGE029
For diagnosing a disconnection fault: when the position sensor has a disconnection fault, the detected position signal value is constantly equal to 0 within a certain time, the fault diagnosis mark is set to be at a high level, and the disconnection fault of the position sensor is judged, wherein the specific disconnection fault diagnosis criterion of the fault-tolerant motor is as follows:
when in use
Figure 638073DEST_PATH_IMAGE030
The position sensor has a disconnection fault, whereint m Andt n t is a time threshold value for diagnosing the disconnection fault at any two moments during the running period of the motor.
Compared with the prior art, the invention has the beneficial effects that:
(1) the position sensor fault diagnosis method based on the mathematical model of the permanent magnet fault-tolerant motor has the advantages of high reliability and strong practicability.
(2) Compared with the fault diagnosis of a plurality of position sensors by adopting a large amount of hardware, the method is simpler and more stable in system design, has high robustness, and greatly reduces the system cost.
(3) The method is simple and easy to implement, has short diagnosis time, can effectively detect the fault and judge the fault type in the position sensor of the permanent magnet fault-tolerant motor, and is favorable for quick and accurate maintenance after the fault.
(4) The fault detection method can quickly detect the fault of the position sensor of the permanent magnet fault-tolerant motor, reduce the running time of the fault state of the system, reduce the damage to the motor and lay a foundation for the implementation of a fault-tolerant control strategy.
Drawings
Fig. 1 is a schematic block diagram of a fault diagnosis method of a permanent magnet fault-tolerant motor position sensor according to the present invention.
Fig. 2 is a schematic diagram of a fault type decision criterion of a permanent magnet fault-tolerant motor position sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, a method for diagnosing a fault of a position sensor of a fault-tolerant permanent magnet motor includes the following steps:
step 1, constructing a permanent magnet fault-tolerant motor driving system, and completing construction of each module and integration of the whole driving system; the permanent magnet fault-tolerant motor driving system comprises a double-winding permanent magnet fault-tolerant motor, two inverters, two speed PI controllers, two current PI controllers, a position sensor, an algorithm module based on a sliding-mode observer and a position sensor fault diagnosis module, wherein the double-winding permanent magnet fault-tolerant motor comprises a twelve-slot stator and a ten-pole surface-mounted permanent magnet rotor, the twelve-slot stator comprises two sets of independent and symmetrically-arranged armature windings wound by three-phase centralized separated teeth, and the two inverters are two sets of three-phase full-bridge driving circuits and respectively drive the two sets of armature windings;
step 2, performing mathematical modeling on three fault states of a position sensor disconnection fault, a jamming fault and an offset fault of a permanent magnet fault-tolerant motor driving system, wherein the specific mathematical model is as follows:
Figure 454719DEST_PATH_IMAGE001
Figure 191731DEST_PATH_IMAGE002
Figure 715116DEST_PATH_IMAGE003
wherein the content of the first and second substances,
Figure 958010DEST_PATH_IMAGE004
is the time at which the fault 0 occurs,
Figure 934056DEST_PATH_IMAGE005
in order to be the time for the trouble shooting,
Figure 537076DEST_PATH_IMAGE006
is the position signal detection value of the sensor at the current time t,
Figure 180547DEST_PATH_IMAGE007
for a position signal estimate based on sliding mode observation, i.e. the correct position signal reference,
Figure 515713DEST_PATH_IMAGE008
indicating the position signal value when the broken wire deadlocking fault occurs,Ca fixed offset representing the position signal at the time of the offset fault;
step 3, detecting the rotor position signal value at the time t through a position sensor
Figure 57684DEST_PATH_IMAGE006
(ii) a Meanwhile, the estimated value of the position signal is measured and calculated through a position-free algorithm based on a sliding-mode observer
Figure 136499DEST_PATH_IMAGE007
；
Step 4, diagnosing whether the position sensor has faults in a mathematical model according to the fault diagnosis criterion of the position sensor of the permanent magnet fault-tolerant motor by using the rotor position signal and the rotating speed signal of the motor; and then the specific type of the fault is judged by combining the classification of the fault in the established mathematical model.
Further, the method for determining the fault type according to the fault diagnosis criterion of the position sensor in step 4 specifically includes the following steps:
as shown in fig. 2, in two sets of windings of fault-tolerant permanent magnet machined-qShaft voltageu d1、u d2、u q1、u q2，d-qShaft currenti d1、i d2、i q1、i q2Obtaining an estimate of the rotor position by a sliding mode observer
Figure 634476DEST_PATH_IMAGE009
、
Figure 202861DEST_PATH_IMAGE010
And an estimate of the rotational speed
Figure 419078DEST_PATH_IMAGE011
、
Figure 126352DEST_PATH_IMAGE012
Position to be estimated
Figure 478836DEST_PATH_IMAGE009
、
Figure 421384DEST_PATH_IMAGE010
Position detected by sensor
Figure 921635DEST_PATH_IMAGE013
Making a difference, and estimating the rotation speed
Figure 342252DEST_PATH_IMAGE011
、
Figure 627871DEST_PATH_IMAGE012
Speed of rotation detected by sensor
Figure 475742DEST_PATH_IMAGE014
Making difference, and respectively making the obtained residual error and threshold value of position and rotating speed
Figure 400972DEST_PATH_IMAGE015
And
Figure 687597DEST_PATH_IMAGE016
comparing, thereby performing fault diagnosis of the position sensor;
wherein the residual error of the rotation speed
Figure 14673DEST_PATH_IMAGE017
For diagnosing stuck-at faults: when the position sensor is stuck, the rotating speed detected by the sensor can fall to 0, the detected rotating speed is still the running rotating speed of the motor, and the rotating speed residual error can exceed the rotating speed threshold value
Figure 112074DEST_PATH_IMAGE018
And setting a high level for the fault diagnosis mark, and judging that the position sensor is in a stuck fault, wherein the specific fault-tolerant motor stuck fault diagnosis criterion is as follows:
when in use
Figure 524600DEST_PATH_IMAGE019
When the position sensor is in normal operation;
when in use
Figure 287020DEST_PATH_IMAGE020
When the position sensor normally operates, the observed value of the first set of windings has errors;
when in use
Figure 530919DEST_PATH_IMAGE021
When the position sensor normally operates, the observed value of the second set of winding has errors;
when in use
Figure 986172DEST_PATH_IMAGE022
When the position sensor is in a stuck fault, the position sensor is stuck;
position residual
Figure 699044DEST_PATH_IMAGE023
For diagnosing offset faults: when the position sensor has an offset fault, a constant offset is generated between the detected position and the actual position, and the position estimated by the observer can still follow the actual position, so that the position difference exceeds the position threshold value
Figure 265154DEST_PATH_IMAGE024
And setting a high level for the fault diagnosis mark, and judging the offset fault of the position sensor, wherein the specific fault-tolerant motor offset fault diagnosis criterion is as follows:
when in use
Figure 301243DEST_PATH_IMAGE025
When the position sensor is in normal operation;
when in use
Figure 989714DEST_PATH_IMAGE026
When the position sensor normally operates, the observed value of the first set of windings has errors;
when in use
Figure 376833DEST_PATH_IMAGE027
When the position sensor normally operates, the observed value of the second set of winding has errors;
when in use
Figure 481055DEST_PATH_IMAGE028
When the position sensor is in an offset fault, the position sensor is in an offset fault;
absolute value of position signal
Figure 450279DEST_PATH_IMAGE029
For diagnosing a disconnection fault: when the position sensor has a disconnection fault, the detected position signal value is constantly equal to 0 within a certain time, the fault diagnosis mark is set to be at a high level, and the disconnection fault of the position sensor is judged, wherein the specific disconnection fault diagnosis criterion of the fault-tolerant motor is as follows:
when in use
Figure 247334DEST_PATH_IMAGE030
The position sensor has a disconnection fault, whereint m Andt n t is a time threshold value for diagnosing the disconnection fault at any two moments during the running period of the motor.
The position sensor fault diagnosis method based on the mathematical model of the permanent magnet fault-tolerant motor has the advantages of high reliability and strong practicability; compared with the fault diagnosis of a plurality of position sensors by adopting a large amount of hardware, the method is simpler and more stable in system design, has high robustness, and greatly reduces the system cost.
The method is simple and easy to implement, has short diagnosis time, can effectively detect the fault and judge the fault type in the position sensor of the permanent magnet fault-tolerant motor, and is favorable for quick and accurate maintenance after the fault. In addition, the fault detection method can quickly detect the fault of the position sensor of the permanent magnet fault-tolerant motor, reduce the running time of the fault state of the system, reduce the damage to the motor and lay a foundation for the implementation of a fault-tolerant control strategy.
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 (1)

1. A fault diagnosis method for a position sensor of a permanent magnet fault-tolerant motor is characterized by comprising the following steps:
step 1, constructing a permanent magnet fault-tolerant motor driving system, and completing construction of each module and integration of the whole driving system; the permanent magnet fault-tolerant motor driving system comprises a double-winding permanent magnet fault-tolerant motor, two inverters, two speed PI controllers, two current PI controllers, a position sensor, an algorithm module based on a sliding-mode observer and a position sensor fault diagnosis module, wherein the double-winding permanent magnet fault-tolerant motor comprises a twelve-slot stator and a ten-pole surface-mounted permanent magnet rotor, the twelve-slot stator comprises two sets of independent and symmetrically-arranged armature windings wound by three-phase centralized separated teeth, and the two inverters are two sets of three-phase full-bridge driving circuits and respectively drive the two sets of armature windings;
step 2, performing mathematical modeling on three fault states of a position sensor disconnection fault, a jamming fault and an offset fault of a permanent magnet fault-tolerant motor driving system, wherein the specific mathematical model is as follows:
and (3) line breaking fault:
Figure FDA0002937881100000011
and (3) jamming failure:
Figure FDA0002937881100000012
offset failure:
Figure FDA0002937881100000013
wherein, t0To be the time at which the fault occurred,t1for the time of troubleshooting, y is the position signal detection value of the current time t of the sensor, yrThe position signal estimation value is based on a sliding mode observation method, namely a correct position signal reference value, alpha represents a position signal value when a broken wire and clamping failure occurs, and C represents a fixed offset of a position signal when an offset failure occurs;
step 3, detecting a rotor position signal value y at the time t through a position sensor; meanwhile, an estimated value y of the position signal is measured and calculated through a position-free algorithm based on a sliding-mode observerr；
Step 4, diagnosing whether the position sensor has faults in a mathematical model according to the fault diagnosis criterion of the position sensor of the permanent magnet fault-tolerant motor by using the rotor position signal and the rotating speed signal of the motor; then, the specific type of the fault is judged by combining the classification of the fault in the established mathematical model;
the method for judging the fault type according to the fault diagnosis criterion of the position sensor in the step 4 specifically comprises the following steps:
according to d-q axis voltage u in two sets of windings of the permanent magnet fault-tolerant motord1、ud2、uq1、uq2D-q axis current id1、id2、iq1、iq2Obtaining an estimate of the rotor position by a sliding mode observer
Figure FDA0002937881100000021
And an estimate of the rotational speed
Figure FDA0002937881100000022
Position to be estimated
Figure FDA0002937881100000023
With the position theta detected by the sensoreMaking a difference, and estimating the rotation speed
Figure FDA0002937881100000024
With the speed omega detected by the sensoreMaking difference, and respectively making the obtained residual error and threshold value of position and rotating speedεθAnd εωComparing, thereby performing fault diagnosis of the position sensor;
wherein the residual error of the rotation speed
Figure FDA0002937881100000025
For diagnosing stuck-at faults: when the position sensor is stuck, the rotating speed detected by the sensor falls to 0, the detected rotating speed is still the running rotating speed of the motor, and the rotating speed residual error exceeds the rotating speed threshold epsilonωAnd setting a high level for the fault diagnosis mark, and judging that the position sensor is in a stuck fault, wherein the specific fault-tolerant motor stuck fault diagnosis criterion is as follows:
when in use
Figure FDA0002937881100000026
When the position sensor is in normal operation;
when in use
Figure FDA0002937881100000027
When the position sensor normally operates, the observed value of the first set of windings has errors;
when in use
Figure FDA0002937881100000028
When the position sensor normally operates, the observed value of the second set of winding has errors;
when in use
Figure FDA0002937881100000029
When the position sensor is in a stuck fault, the position sensor is stuck;
position residual
Figure FDA00029378811000000210
For diagnosing offset faults: when the position sensor has an offset fault, a constant offset is produced between the detected position and the actual position, while the position estimated by the observer can still follow the actual position, whereby the position difference exceeds a position threshold epsilonθFault diagnosis flag set to high levelAnd judging the offset fault of the position sensor, wherein the specific fault-tolerant motor offset fault diagnosis criterion is as follows:
when in use
Figure FDA00029378811000000211
When the position sensor is in normal operation;
when in use
Figure FDA00029378811000000212
When the position sensor normally operates, the observed value of the first set of windings has errors;
when in use
Figure FDA00029378811000000213
When the position sensor normally operates, the observed value of the second set of winding has errors;
when in use
Figure FDA00029378811000000214
When the position sensor is in an offset fault, the position sensor is in an offset fault;
absolute value of position signal | θeL is used to diagnose a disconnection fault: when the position sensor has a disconnection fault, the detected position signal value is constantly equal to 0 within a certain time, the fault diagnosis mark is set to be at a high level, and the disconnection fault of the position sensor is judged, wherein the specific disconnection fault diagnosis criterion of the fault-tolerant motor is as follows:
when t ism≤t<tnPeriod, | θe0, and | tn-tmIf | ≧ T, the position sensor has a disconnection fault, where TmAnd tnT is a time threshold value for diagnosing the disconnection fault at any two moments during the running period of the motor.
CN202010877268.9A 2020-08-27 2020-08-27 Fault diagnosis method for position sensor of permanent magnet fault-tolerant motor Active CN111740683B (en)

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