CN112505581A - Double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method - Google Patents

Double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method Download PDF

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CN112505581A
CN112505581A CN202011304745.9A CN202011304745A CN112505581A CN 112505581 A CN112505581 A CN 112505581A CN 202011304745 A CN202011304745 A CN 202011304745A CN 112505581 A CN112505581 A CN 112505581A
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turn
stator
short circuit
fault
current
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CN112505581B (en
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张蔚
王家乐
关文慧
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Nantong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/52—Testing for short-circuits, leakage current or ground faults
    • 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
    • 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
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/72—Testing of electric windings

Abstract

The invention discloses a double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method which comprises the steps of injecting high-frequency voltage signals with equal amplitude and same phase into an alpha shaft and a beta shaft of a stator 1 and a stator 2 respectively, and obtaining direct current components and phase angle information of current signals through two-phase rotation transformation of current signals of the alpha shaft and the beta shaft of the stator 1 and the stator 2. Then, whether turn-to-turn short circuit faults occur in the stator 1 and the stator 2 is respectively judged: if the fault index of the stator 1
Figure DDA0002788003170000011
The stator 1 is judged to be normal, and the stator 2 is the same. And if no turn-to-turn fault occurs in the stator 1 and the stator 2, judging that the motor is normal. If the fault index of stator 1 or stator 2
Figure DDA0002788003170000012
Then the turn-to-turn short circuit fault of the corresponding stator is judged. And finally, if the stator 1 or the stator 2 has a fault independently, obtaining a phase difference by making a difference between the current phases, and judging the specific fault phase.

Description

Double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method
Technical Field
The invention belongs to the technical field of motor fault diagnosis, and particularly relates to a method for diagnosing turn-to-turn short circuit faults of a double-stator permanent magnet synchronous motor.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of high power density, high efficiency, large torque-inertia ratio, wide speed regulation range and the like.
In recent years, PMSM has been widely noticed and used in electric vehicles, wind power generation, and the like. The double-stator permanent magnet synchronous motor has the advantages of low speed, large torque, high energy density and the like, and the control method of the double-stator permanent magnet synchronous motor is basically the same as that of the traditional permanent magnet synchronous motor. In addition, the double-stator permanent magnet motor can be turned off when a certain motor fails, so that the electric automobile can continuously run to a specified place, and the safety and reliability of the system are improved. Common motor faults are excessive motor vibration, motor overheating, bearing overheating, rotor/stator coil short circuits, and the like. Among the stator winding faults, the most common is the stator winding turn-to-turn short circuit fault, which can generate a large amount of eddy current in a short circuit loop, and if the fault is not detected, the fault is aggravated, so that a ground short circuit or a phase-to-phase short circuit is caused, the temperature of the motor is continuously increased, and finally the motor is completely damaged, so that the turn-to-turn short circuit fault of the PMSM needs to be diagnosed in time.
At present, some methods have been proposed to diagnose turn-to-turn short circuit faults of the permanent magnet synchronous motor, among which the most common methods are an analysis method based on a stator current signal, and the like. Common signal analysis techniques include fast fourier transform, short-time fourier transform wavelet transform, empirical mode decomposition, order analysis, and the like. However, the fault diagnosis method has certain disadvantages, on one hand, the sensitivity of the current signal is poor, and on the other hand, the calculated amount of the signal analysis technology is large, so that real-time fault diagnosis is difficult to realize. In addition, the turn-to-turn short circuit fault diagnosis method can only diagnose the turn-to-turn short circuit fault and cannot judge a specific fault phase.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the prior art, the method for diagnosing the turn-to-turn short circuit fault based on the permanent magnet synchronous motor is provided, the turn-to-turn short circuit fault can be diagnosed in real time, and a fault phase can be judged.
The technical scheme is as follows: a double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method comprises the following steps:
step 1: injecting a high-frequency voltage signal u into the alpha axis and the beta axis of the stator 1 and the stator 2 respectivelyα，uβThen detecting the corresponding high-frequency response current generated in the motor, wherein the high-frequency response current corresponding to the stator 1 is iα1,iβ1The high-frequency response current corresponding to the stator 2 is iα2,iβ2；
Step 2: the high-frequency response current iα1,iβ1By transforming the matrix TiObtaining the current i on the gamma delta of the rotating coordinate systemγ1,iσ1(ii) a The high-frequency response current iα2,iβ2Also via the same transformation matrix TiObtaining the current i on the gamma delta of the rotating coordinate systemγ2,iσ2；
And step 3: the current i is measuredγ1Detecting the DC component thereof by a low-pass filter, if the detected DC component
Figure BDA0002788003150000021
The stator 1 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; the current i is measuredγ2Detecting the DC component thereof by a low-pass filter, if the detected DC component
Figure BDA0002788003150000022
The stator 2 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; where eta is the number of winding short-circuit turns in which the inter-turn short-circuit phase occurs, and ViFor the amplitude of the injected high-frequency voltage, RfIs a short-circuit resistor;
and 4, step 4: if the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, the phase which is different from the other two phases in the phase angle difference is a fault phase under the condition of single-phase turn-to-turn short circuit by comparing the corresponding current phase angles of the two stators.
Has the advantages that: the method for detecting the turn-to-turn short circuit fault of the double-stator permanent magnet synchronous motor can diagnose the turn-to-turn fault in real time and judge the specific stator with the fault and the fault phase thereof; in the fault detection process, the calculation amount is small, and the method is easy to realize. Reliability, effectiveness and rapidity of diagnosis can be improved.
Drawings
FIG. 1 is a flow chart of a double stator permanent magnet machine turn-to-turn short fault detection;
FIG. 2 is a system block diagram of a method of vector controlled turn-to-turn short fault diagnosis for a dual stator PMSM;
fig. 3 is an equivalent diagram of a single stator turn-to-turn short circuit of a double-stator permanent magnet synchronous motor.
Detailed Description
The invention is further explained below with reference to the drawings.
As shown in fig. 1, a method for diagnosing turn-to-turn short circuit fault of a double-stator permanent magnet synchronous motor includes the following steps:
step 1: injecting a high-frequency voltage signal u into the alpha axis and the beta axis of the stator 1 and the stator 2 respectivelyα，uβThen detecting the corresponding high-frequency response current generated in the motor, wherein the high-frequency response current corresponding to the stator 1 is iα1,iβ1The high-frequency response current corresponding to the stator 2 is iα2,iβ2；
Step 2: will respond to the current i at high frequencyα1,iβ1By transforming the matrix TiObtaining the current i on the gamma delta of the rotating coordinate systemγ1,iσ1(ii) a Will respond to the current i at high frequencyα2,iβ2Also via the same transformation matrix TiObtaining the current i on the gamma delta of the rotating coordinate systemγ2,iσ2。
And step 3: will current iγ1Detecting the DC component by a low-pass filter, if the detected DC component
Figure BDA0002788003150000031
The stator 1 has a turn-to-turn short circuit fault, otherwise no turn-to-turn short circuit fault occurs. In the same way, the current iγ2Detecting the DC component by a low-pass filter, if detectedDirect current component
Figure BDA0002788003150000032
The stator 2 has a turn-to-turn short circuit fault, otherwise no turn-to-turn short circuit fault occurs.
And 4, step 4: if the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, by comparing the corresponding current phase angles of the two stators, in the case of a single-phase turn-to-turn short circuit, the phase in which the difference between the phase angles is different from the other two phases is the phase in which the turn-to-turn short circuit occurs.
As shown in fig. 2, the system based on the method is composed of a speed controller, a q-axis current controller, a d-axis current controller, Park (Park) inverse transformation, SVPWM (space vector pulse width modulation), a three-phase inverter, a dual-stator permanent magnet synchronous motor, Clarke transformation, a rotor position sensor, and a fault diagnosis module. The system is a speed and current double closed-loop structure, the outer ring is a rotating speed ring, the inner ring is a dq-axis current ring under vector decoupling, and the speed is used as the feedback quantity of the speed ring. The input quantity of the fault diagnosis module is a direct current component along a gamma axis after the current of the alpha axis and the beta axis is converted through a gamma delta rotating coordinate system.
In order to avoid loss of generality, the method is described below by taking an example of a phase a of a stator 1 of a double-stator permanent magnet synchronous motor having an inter-turn short circuit fault:
as shown in fig. 3, when the stator 1 of the double-stator permanent magnet synchronous motor fails in the a phase, the voltage equation of the winding of the stator 1 in the abcf coordinate system is expressed as follows:
Figure BDA0002788003150000033
in the formula:
[uabcf1]＝[ua1-un1,ub1-un1,uc1-un1,0]T
Figure BDA0002788003150000034
[iabcf1]＝[ia1,ib1,ic1,if1]T
Figure BDA0002788003150000041
[ψabcf1]＝[ψa1,ψb1,ψc1,ηψa1]T
Figure BDA0002788003150000042
wherein u isabcf1Is a representation of the voltage of the stator 1 winding in the abcf coordinate system, Rabcf1Is a representation of the resistance of the stator 1 in the abcf coordinate system, iabcf1Is a representation of the current of the stator winding in the abcf coordinate system, Labcf1Is a representation of the inductance of the stator 1 in the abcf coordinate system, #abcf1Is a representation of the permanent magnet flux linkage of the stator 1 in the abcf coordinate system, ua1Is the A-phase voltage, u, of the stator 1b1Is the B-phase voltage, u, of the stator 1c1Is the C-phase voltage, u, of the stator 1n1Is the neutral point voltage, R, of the stator 1sIs the stator resistance, η is the number of short circuit turns, RfIs a short-circuit resistance ia1Is the A-phase current of the stator 1, ib1Is the B-phase current of the stator 1, ic1Is the C-phase current of stator 1, if1Is short-circuit loop current, LAAIs self-induction of phase A, LBBIs self-induction of phase B, LCCIs self-induction of phase C, MABIs A, B mutual inductance between two phases, MACIs A, C mutual inductance between two phases, MBCIs B, C mutual inductance, psia1Is the permanent magnet flux linkage of the A winding of the stator 1b1Is the permanent magnet flux linkage of the B winding of the stator 1c1Is the permanent magnet flux linkage of the C winding of the stator 1f1Is the amplitude of the fundamental component of the flux linkage of the stator 1, theta is the rotor position angle, phi3h1Is the magnitude of the third harmonic component of the flux linkage of the stator 1.
And (3) carrying out coordinate transformation on the formula (7), wherein a transformed matrix T is as follows:
Figure BDA0002788003150000043
after the coordinates are transformed from the abcf coordinate system to the dq0f coordinate system through coordinate transformation in the formula (7), ud1，uq1The equation of (a) is:
Figure BDA0002788003150000051
Figure BDA0002788003150000052
Figure BDA0002788003150000053
wherein u isd1、uq1Dq-axis voltage of the stator 1, ω rotor angular velocity, p motor pole pair number, Ld、LqAre dq-axis inductances, i, respectivelyd1、iq1Dq-axis currents, e, of stator 1, respectivelydf1、eqf1Respectively, the dq-axis components of the back emf in a fault condition of the stator 1.
The following can be solved by (7):
Figure BDA0002788003150000054
high-frequency voltage signal u injected into alpha and beta axes of stator 1α1，uβ1Comprises the following steps:
Figure BDA0002788003150000055
the stator resistance Rs can be neglected when injecting high frequency voltages. Therefore, the response current neglecting Rs is:
Figure BDA0002788003150000056
wherein, ω isiIs the frequency of the injected high-frequency voltage, thetarIs the rotor position angle, ViIs the amplitude of the injected high frequency voltage, L is the average inductance, and Δ L is the half-differential inductance.
If the motor fails, the abcf coordinate system is converted into an alpha beta 0f coordinate system by Clarke conversion, and a matrix T is convertedxThe method comprises the following steps:
Figure BDA0002788003150000061
by bringing (15) into (7), the voltage equation of the PMSM with turn-to-turn fault in the quiescent state is obtained as:
Figure BDA0002788003150000062
wherein, e'α1、e′β1Respectively, are the alpha beta axis components of the back emf in the fault condition of the stator 1, respectively.
ua1The expression of (1) is:
ua1＝Vicosωit (17)
according to (11), (12) and (17), if1The solution of (a) is:
Figure BDA0002788003150000063
wherein k is1、k2Is an intermediate variable, L0The leakage inductance of the motor is obtained.
Substituting (18) into (16) yields the current response i 'under fault conditions'α1And i'β1Expressed as:
Figure BDA0002788003150000064
for easy observation, at the frequency ω of the injected high-frequency voltageiA rotating coordinate system γ δ is introduced to convert the positive sequence component into a dc component. Transformation matrix TiThe method comprises the following steps:
Figure BDA0002788003150000071
response current i 'under rotating coordinate system gamma delta under fault condition'γ1,i′σ1Comprises the following steps:
Figure BDA0002788003150000072
when the motor is out of order, there is a DC component i along the gamma axisγd1And is zero under normal conditions. Therefore, the fault Index of turn-to-turn short circuit is designed as:
Index＝iγd1 (22)
if the turn-to-turn short circuit fault is small, RfVery large, or η is very small; thus, k2>>k1The Index is reduced approximately to:
Figure BDA0002788003150000073
detecting i by a low pass filterγ1If the value of the direct current component is greater than
Figure BDA0002788003150000074
It is judged that the turn-to-turn short fault occurs in the stator 1. Similarly, when the phase B or the phase C is in a single turn-to-turn short circuit, the same magnitude of direct current components also appears, and the turn-to-turn short circuit fault of the stator 1 is also judged.
If the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, the phase angle difference between the two phases is different from that of the other two phases, and the phase is a fault phase in the case of single-phase turn-to-turn short circuit by comparing the corresponding current phase angles of the two stators.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (4)

1. A double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method is characterized by comprising the following steps:
step 1: injecting a high-frequency voltage signal u into the alpha axis and the beta axis of the stator 1 and the stator 2 respectivelyα，uβThen detecting the corresponding high-frequency response current generated in the motor, wherein the high-frequency response current corresponding to the stator 1 is iα1,iβ1The high-frequency response current corresponding to the stator 2 is iα2,iβ2；
Step 2: the high-frequency response current iα1,iβ1By transforming the matrix TiObtaining the current i on the gamma delta of the rotating coordinate systemγ1,iσ1(ii) a The high-frequency response current iα2,iβ2Also via the same transformation matrix TiObtaining the current i on the gamma delta of the rotating coordinate systemγ2,iσ2；
And step 3: the current i is measuredγ1Detecting the DC component thereof by a low-pass filter, if the detected DC component
Figure FDA0002788003140000011
The stator 1 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; the current i is measuredγ2Detecting the DC component thereof by a low-pass filter, if the detected DC component
Figure FDA0002788003140000012
The stator 2 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; where eta is the number of winding short-circuit turns in which the inter-turn short-circuit phase occurs, and ViFor the amplitude of the injected high-frequency voltage, RfIs a short-circuit resistor;
and 4, step 4: if the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, the phase which is different from the other two phases in the phase angle difference is a fault phase under the condition of single-phase turn-to-turn short circuit by comparing the corresponding current phase angles of the two stators.
2. The method for diagnosing turn-to-turn short circuit fault of double-stator permanent magnet synchronous motor according to claim 1, wherein in step 1, the high-frequency voltage signal uα，uβComprises the following steps:
Figure FDA0002788003140000013
wherein, ω isiThe frequency of the injected high-frequency voltage is t, and the time is adopted.
3. The method for diagnosing turn-to-turn short circuit fault of double-stator permanent magnet synchronous motor according to claim 1, wherein in step 2, the transformation matrix TiComprises the following steps:
Figure FDA0002788003140000014
wherein, ω isiThe frequency of the injected high-frequency voltage is t, and the time is adopted.
4. The method for diagnosing turn-to-turn short circuit fault of double-stator permanent magnet synchronous motor according to claim 1, wherein current responses i 'of alpha axis and beta axis of stator m under fault condition'αmAnd i'βmExpressed as:
Figure FDA0002788003140000021
wherein the subscript m is 1, 2, omegaiFor the frequency of the injected high-frequency voltage, t is the sampling time, k1、k2Is the intermediate variable(s) of the variable,
Figure FDA0002788003140000022
ωifor the frequency of the injected high-frequency voltage, L0For leakage inductance of the motor, RsIs the stator resistance;
response current i 'under rotating coordinate system gamma delta under fault condition'γm,i′σmComprises the following steps:
Figure FDA0002788003140000023
the fault index Indexm of the turn-to-turn short circuit is as follows:
Indexm＝iγdm (5)
wherein iγdmFor stator m in actual turn-to-turn short circuit iγmA direct current component of (a);
if turn-to-turn short circuit fault k2>>k1Then, the fault Indexm of the short circuit is simplified as:
Figure FDA0002788003140000024
detecting i 'through a low-pass filter'γmIf the value of the direct current component is greater than
Figure FDA0002788003140000025
The stator m is judged to have a turn-to-turn short circuit.
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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN113805056A (en) * 2021-09-18 2021-12-17 中车大连电力牵引研发中心有限公司 Method for intelligently monitoring insulation fault of traction motor on line
CN117074942A (en) * 2023-10-16 2023-11-17 希望森兰科技股份有限公司 Motor fault self-diagnosis method, device and storage medium

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113805056A (en) * 2021-09-18 2021-12-17 中车大连电力牵引研发中心有限公司 Method for intelligently monitoring insulation fault of traction motor on line
CN113805056B (en) * 2021-09-18 2023-12-19 中车大连电力牵引研发中心有限公司 Intelligent on-line traction motor insulation fault monitoring method
CN117074942A (en) * 2023-10-16 2023-11-17 希望森兰科技股份有限公司 Motor fault self-diagnosis method, device and storage medium
CN117074942B (en) * 2023-10-16 2023-12-22 希望森兰科技股份有限公司 Motor fault self-diagnosis method, device and storage medium

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