CN113030722A - Online detection method for open-circuit fault of multi-phase motor driving system - Google Patents

Online detection method for open-circuit fault of multi-phase motor driving system Download PDF

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CN113030722A
CN113030722A CN202110253242.1A CN202110253242A CN113030722A CN 113030722 A CN113030722 A CN 113030722A CN 202110253242 A CN202110253242 A CN 202110253242A CN 113030722 A CN113030722 A CN 113030722A
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郑晓钦
吴新振
李修东
王海峰
张旭东
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Qingdao 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
    • G01R31/34—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
    • G01R31/54—Testing for continuity
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
    • Y04S10/52—Outage or fault management, e.g. fault detection or location

Abstract

The invention belongs to the field of fault detection and diagnosis of a multi-phase motor driving system, and relates to a fault diagnosis method of the multi-phase motor driving system, which is used for online detection of open-circuit faults of the multi-phase motor driving system. The diagnosis method fully considers the relation between harmonic currents influenced by open-circuit faults in an orthogonal static coordinate system, extracts fault diagnosis factors after transformation, filtering and average value calculation, comprehensively considers the average value of normalized phase currents, and can quickly and accurately detect the open-circuit fault positions of motor windings and power devices in an electric cycle. The method has the advantages of high diagnosis precision, simple diagnosis process, high parameter determination speed, easy realization and strong universality; in the diagnosis process, the method greatly reduces the problems of no-load offset and loading misdiagnosis in the diagnosis process, can accurately identify faults in continuous sudden load operation and multi-phase open-circuit fault operation of the motor, does not have the misdiagnosis problem, and has stronger robustness.

Description

Online detection method for open-circuit fault of multi-phase motor driving system
Technical Field
The invention belongs to the field of fault detection and diagnosis of a multiphase motor driving system, and relates to a fault diagnosis method of the multiphase motor driving system, which is used for online detection of open-circuit faults of windings or power devices of the multiphase motor driving system.
Background
The multi-phase motor is used as power equipment in application occasions such as ship propulsion, electric vehicles and the like, and the reliability of a driving system of the multi-phase motor is particularly important. The multiphase motor system needs to have the capability of identifying and positioning the fault type on line so as to ensure the reliable and stable operation of the power system. Under the influence of working environment, faults of a multi-phase motor driving system are mostly concentrated on stator winding open circuit, power device open circuit, direct connection and the like. Wherein power device shoot-through faults can benefit from a sophisticated hardware protection scheme that can be converted to open circuit faults by series fuses. Therefore, the main consideration for the online diagnosis of the faults of the multiphase motor driving system is the open-circuit faults of the windings and the power devices.
The existing method mainly comprises model-free diagnosis and model-based diagnosis aiming at open-circuit fault diagnosis of a multi-phase motor driving system, wherein a signal analysis method is a typical model-based diagnosis method and mainly comprises a voltage detection method and a current detection method according to different signal sources. The voltage detection method extracts diagnosis factors from a motor phase voltage given value and an actual value, an inverter line voltage and an inverter switch state, and generally has good robustness and rapidity, but the application occasions of the voltage detection method are very limited due to the defects of poor universality, high hardware cost and the like.
The current detection method is the most extensive diagnosis method for open-circuit faults of a multi-phase motor driving system. In the method, the fault diagnosis factor is extracted by carrying out average value operation and absolute average value operation on the phase current, so that the accurate positioning of the open-circuit fault of the driving system is realized. However, when the motor runs in no-load, the phase current is small, and the traditional current average value calculation has large deviation, so that the motor has a bias phenomenon in no-load diagnosis; when the motor is loaded and operated, the transient change degree of phase current is large, so that great loading disturbance exists in the diagnosis process inevitably, and the misdiagnosis probability is increased.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, reduce the error diagnosis probability of open-circuit faults when a multi-phase motor is in no-load and loading operation, and provide a high-robustness fault diagnosis method based on harmonic current aiming at the open-circuit faults of a multi-phase motor driving system, which can quickly and accurately judge the open-circuit fault occurrence positions of motor windings and power devices and improve the system reliability.
In order to achieve the purpose, the invention starts from a generalized decoupling transformation matrix of a multi-phase motor, transforms a phase current to an orthogonal static coordinate system, solves a linear expression between harmonic currents influenced by an open-circuit fault in the orthogonal static coordinate system, extracts a fault diagnosis factor after transforming, filtering and calculating an average value of the linear expression, and comprehensively considers an average value of normalized phase currents, so that the fault positions of power devices of upper and lower bridge arms of a motor winding and an inverter can be quickly and accurately detected in one electrical cycle; the specific process steps are as follows:
the method comprises the following steps that (1) according to the space structure of a motor stator winding, a decoupling transformation matrix suitable for a multi-phase motor is written in a row mode, and each phase of current of the motor is transformed to an orthogonal static coordinate system according to the decoupling matrix;
when an open circuit fault occurs, firstly, determining harmonic currents influenced by the open circuit fault, and then writing a linear relation expression among the harmonic currents influenced by the open circuit fault in each phase of fault under an orthogonal static coordinate system;
and (3) transforming the linear relational expression written in the column at each phase open-circuit fault, expressing the linear relational expression into a harmonic current ratio form, and extracting an initial diagnostic factor Rn，n＝a1、a2、a3、b1、b2、b3、c1、c2、c3；
Step (4), transforming the diagnosis factor RnWhen the motor is in failure, the motor is always 1, and when the motor is in normal operation, the fundamental current i is causedα1、iβ1Expressed as sinusoidal current magnitude, diagnostic factor RnNon-constant value, need to introduce the filter design, introduce a minimum value quantity epsilon, make the diagnostic factor output normally in the range of 1-epsilon to 1+ epsilon, force it to be "0" in other ranges;
step (5) when the motor is suddenly added with negativeTime-carrying diagnostic factor RnEnter the range of 1-epsilon and 1+ epsilon; for the filtered diagnostic factor Rn *Carrying out average value operation, reducing misdiagnosis during loading operation, and obtaining final diagnosis factor Fn；
Step (6), normalization processing is carried out on each phase current under a natural coordinate system, and average value operation is carried out to obtain a fault diagnosis factor Bn(ii) a When the upper bridge arm has a fault, only negative current exists in the fault phase, and B is used for controlling the current of the upper bridge armn<0, when the lower bridge arm has a fault, only the forward current exists in the fault phase, and B is used forn>0；
Step (7), comprehensive consideration of diagnostic factor FnFault diagnosis factor BnAnd realizing open circuit fault positioning.
Compared with the prior art, the invention has the following advantages: firstly, the linear relation among harmonic currents influenced by open-circuit faults under an orthogonal static coordinate system is fully considered, and the diagnosis precision is higher; secondly, a diagnosis factor is extracted from a harmonic current ratio under an orthogonal static coordinate, no-load bias and loading disturbance are extremely small in the diagnosis process, and robustness is strong; thirdly, the diagnosis process is simple, the parameter determination speed is high, the realization is easy, and the universality is strong.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of open-circuit fault diagnosis of a multi-phase motor drive system according to the present invention.
Fig. 2(a) shows a forward current loop when the inverter upper arm power device is in an open-circuit fault.
Fig. 2(b) is a negative current loop when the upper bridge arm power device of the inverter has an open-circuit fault.
Fig. 2(c) shows a forward current loop when the inverter lower arm power device is in an open-circuit fault.
Fig. 2(d) shows a negative current loop when the power device of the lower bridge arm of the inverter has an open-circuit fault.
Fig. 3(a) is a nine-phase current diagram of the open-circuit fault of the winding under vector control.
Fig. 3(b) is a nine-phase current diagram of the open-circuit fault of the power device under vector control.
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 embodiments of the present invention, 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is further illustrated by the following examples in conjunction with the accompanying drawings.
In the embodiment, a nine-phase semi-symmetric permanent magnet synchronous motor driving system powered by an H bridge is selected as an application example. When the upper bridge arm is open, S1Is constantly '0', as shown in fig. 2(a) and 2(b), when the forward current loop of the winding is broken, the forward current cannot be increased, and S4And S2The parallel diodes form a new current loop, the positive current quickly attenuates to zero, and the negative current keeps normal; when the lower arm is failed, as shown in fig. 2(c) and 2(d), S is present2The constant is '0', the negative current of the winding is zero, and the positive current is kept normal. When the phase winding has an open-circuit fault, both positive and negative current loops in the inverter are damaged, current cannot flow through the winding at the moment, and the fault phase current is constant to zero.
Fig. 3 is a waveform of open-circuit fault current of a winding power device under nine-phase PMSM vector control. When the winding is open-circuited, the fault phase current is zero, the non-fault phase current is influenced by closed-loop control, the amplitude is increased or reduced, the phase is shifted, and a large asymmetric phenomenon is generated. When the power device is open-circuited, the fault phase current 1/2 is a normal value in an electric period, the nine phase currents are kept symmetrical, the current 1/2 is zero in the electric period, and the non-fault phase current also has large asymmetry.
The specific process of open-circuit fault diagnosis is as follows:
step (1), writing a decoupling transformation matrix suitable for the nine-phase semi-symmetrical permanent magnet synchronous motor according to the generalized Clarke transformation column, and transforming each phase of current to be under an orthogonal static coordinate system:
Figure BDA0002962742280000051
where α ═ pi/9 corresponds to the spatial position of the nine-phase semi-symmetrical winding, and h ═ 1,3,5, and 7 are the harmonic orders in turn. The first and second rows of the matrix are fundamental wave components, the other rows are h-th harmonic wave components in sequence, and the last row is corresponding to a zero sequence component;
step (2) when the winding has open circuit fault, using a1Open-circuit fault of phase winding, in which phase current ia10, decoupling the sum of a in the matrix according to nine phases1The first column associated with the phase current, current iβ1,iβ3,iβ5,iβ7Independent current, fundamental current i, without influence of phase lossα1Third harmonic current iα3Fifth harmonic current iα5Seventh harmonic current iα7And zero axis i0Under the influence of phase loss, there is a current that is no longer independent.
In which a is received1The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1+iα3+iα5+iα7+i0＝0
in the same way, the subject A2The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cosα+iβ1sinα+iα3cos3α+iβ3sin3α+iα5cos5α+iβ5sin5α+iα7cos7α+iβ7sin7α-i0＝0
a to3The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cos2α+iβ1sin2α+iα3cos6α+iβ3sin6α+iα5cos10α+iβ5sin10α+iα7cos14α+iβ7sin14α+i0＝0
to the recipient b1The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cos6α+iβ1sin6α+iα3cos18α+iβ3sin18α+iα5cos30α+iβ5sin30α+iα7cos42α+iβ 7sin42α+i0＝0
to the recipient b2The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cos7α+iβ1sin7α+iα3cos21α+iβ3sin21α+iα5cos35α+iβ5sin35α+iα7cos49α+iβ 7sin49α-i0＝0
to the recipient b3The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cos8α+iβ1sin8α+iα3cos24α+iβ3sin24α+iα5cos40α+iβ5sin40α+iα7cos56α+iβ 7sin56α+i0＝0
to c1The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cos12α+iβ1sin12α+iα3cos36α+iβ3sin36α+iα5cos60α+iβ5sin60α+iα7cos84α+iβ 7sin84α+i0＝0
to c2The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cos13α+iβ1sin13α+iα3cos39α+iβ3sin39α+iα5cos65α+iβ5sin65α+iα7cos91α+iβ 7sin91α-i0＝0
to c3The harmonic currents influenced by the phase open circuit have the following linear relational expression:
iα1cos14α+iβ1sin14α+iα3cos42α+iβ3sin42α+iα5cos70α+iβ5sin70α+iα7cos98α+iβ 7sin98α+i0＝0
step (3), the above linear relation expression is in a1The phase open circuit is always established, so that the linear relation expression can be converted, the mark quantity is designed to identify the winding open circuit fault, and the diagnosis factor R is definedn(n-a 1, a2, a3, b1, b2, b3, c1, c2, c3) are:
Figure BDA0002962742280000061
Figure BDA0002962742280000062
Figure BDA0002962742280000063
Figure BDA0002962742280000064
Figure BDA0002962742280000065
Figure BDA0002962742280000066
Figure BDA0002962742280000071
Figure BDA0002962742280000072
Figure BDA0002962742280000073
step (4), fault diagnosis factor RnRespectively at a1,a2……c3The phase winding is constantly '1' when open-circuited, the linear relation in the step (2) is not satisfied any more during normal and loading operation, and R cannot be calculatednThe specific numerical value of (1). For R in normal operationnUnifying the values, and carrying out filter design on the diagnosis factors, namely:
Figure BDA0002962742280000074
1-ε＜Rn＜1+ε
Figure BDA0002962742280000075
others
Wherein R isn *Is a filtered diagnostic factor, and epsilon is a minimum value with a value range of-0.2<ε<0.2。
Introducing a minimum value epsilon pair diagnosis factor RnFiltering is carried out when R isnIn the range of 1-epsilon and 1+ epsilon, the diagnostic factor is normally outputted when R isnIf not in the range, the variable is '0', and the diagnostic variable is contracted to be near '1', thereby ensuring the unification of diagnostic factors in normal operation and eliminating R in normal operationnMisdiagnosis of (2);
the filter module ensures that the current in normal operation does not pair the diagnosis factor RnThe unavoidable existence of a very short time when the motor is suddenly loaded causes the interferencenEnter the range of 1-epsilon and 1+ epsilon and further generate the loading misdiagnosis. Wherein the magnitude of the loading misdiagnosis is directly influenced by a threshold epsilon, the larger epsilon, the longer the entry time, the larger the loading misdiagnosis, the smaller epsilon, the shorter the entry time, and the loadingThe smaller the misdiagnosis; in addition, in practical engineering, when an open-circuit fault occurs in the winding, RnShrinking to around "1" is not a constant value, which means that ε cannot be infinitely small and should be chosen appropriately for the particular operating conditions.
And (5) enabling the current in normal operation not to be opposite to the diagnostic factor R by the filtering modulenThe unavoidable existence of a very short time when the motor is suddenly loaded causes the interferencenInto the range of 1-epsilon and 1+ epsilon. To further reduce the R when the motor is loaded suddenlynThe resulting influence is the need to apply the filtered diagnostic factor Rn *For a period T1The average value operation in the process of loading operation is reduced, and the final diagnosis factor F is obtainedn：
Figure BDA0002962742280000081
It is worth mentioning that T1The value of (A) will have an influence on the load misdiagnosis, T1The larger the average processing time, the smaller the misdiagnosis, but the slower the diagnosis speed, and conversely, the larger the misdiagnosis, the faster the diagnosis speed. For the application occasions with high reliability requirements, T can be adjusted in real time according to specific working conditions1So as to improve the speed and stability of system diagnosis.
Step (6), for the open-circuit fault diagnosis of the power device, if current bias is ignored, the fault phase current is still a normal value in 1/2 electrical cycle, and is zero in 1/2 electrical cycle; from FnCan know that F is in the event of phase failurenIs "1" and is "0" in normal operation, so when the power device is open-circuited, F isn0.5. In fact, under the influence of a control system, when a power device is in an open-circuit fault, a small amount of bias phenomenon occurs in the current, the amplitude value is increased or reduced, and further, the calculation deviation of a diagnostic factor is caused, so that FnThe floating was performed on "0.5" top and bottom.
In order to realize accurate positioning of the open circuit position of the power device, a fault diagnosis factor B is usednFor upper and lower bridge arm faults of inverterAuxiliary judgment is carried out, and a harmonic current vector mode is introduced to carry out normalization processing on each phase current in a natural coordinate system so as to improve a diagnostic factor BnLoading stability of (2):
Figure BDA0002962742280000082
wherein isBeing harmonic current vector mode, inFor each phase current, n is a1, a2, a3, b1, b2, b3, c1, c2, c3, in *The normalized current of each phase is T, and T is an electric period;
when the upper bridge arm has a fault, only negative current exists in the fault phase, and B is used for controlling the current of the upper bridge armn<0, when the lower bridge arm has a fault, only the forward current exists in the fault phase, and B is used forn>And 0, realizing accurate identification of the fault position of the switching tube.
Step (7) setting a minimum value zeta as a diagnostic factor FnThe zeta value range of the judgment threshold value of (1) is-0.2<ζ<0.2, comprehensive consideration of failure diagnosis factor BnThen, the judgment criteria of the diagnosis method are as follows:
Figure BDA0002962742280000091
optionally, for the fault condition of other phase motors, only the linear relation expression between the decoupling matrix and the harmonic current under the orthogonal stationary coordinate system affected by the open-circuit fault needs to be changed.
Optionally, the multiphase motor stator winding is a fully symmetric or fully symmetric winding.
Optionally, the multiphase motor stator winding structure is an open-end winding structure, or a single-neutral structure, or a double-neutral structure.
Optionally, the multiphase motor is an induction motor, or a permanent magnet motor.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (7)

1. An open-circuit fault diagnosis method for a multi-phase motor drive system is characterized by comprising the following steps:
the method comprises the following steps that (1) according to the space structure of a motor stator winding, a decoupling transformation matrix suitable for a multi-phase motor is written in a row mode, and each phase of current of the motor is transformed to an orthogonal static coordinate system according to the decoupling matrix;
when an open circuit fault occurs, firstly, determining harmonic currents influenced by the open circuit fault, and then writing a linear relation expression among the harmonic currents influenced by the open circuit fault in each phase of fault under an orthogonal static coordinate system;
and (3) transforming the linear relational expression written in the column at each phase open-circuit fault, expressing the linear relational expression into a harmonic current ratio form, and extracting an initial diagnostic factor Rn，n＝a1、a2、a3、b1、b2、b3、c1、c2、c3；
Step (4), transforming the diagnosis factor RnWhen the motor is in failure, the motor is always 1, and when the motor is in normal operation, the fundamental current i is causedα1、iβ1Expressed as sinusoidal current magnitude, diagnostic factor RnNon-constant value, need to introduce the filter design, introduce a minimum value quantity epsilon, make the diagnostic factor output normally in the range of 1-epsilon to 1+ epsilon, force it to be "0" in other ranges;
step (5), diagnosing the factor R when the motor is loaded suddenlynEnter the range of 1-epsilon and 1+ epsilon; for the filtered diagnostic factor Rn *Carrying out average value operation, reducing misdiagnosis during loading operation, and obtaining final diagnosis factor Fn；
Step (6), normalization processing is carried out on each phase current under a natural coordinate system, and average value operation is carried out to obtain a fault diagnosis factor Bn(ii) a When the upper bridge arm has a fault, only negative current exists in the fault phase, and B is used for controlling the current of the upper bridge armn<0, when the lower bridge arm has a fault, only the forward current exists in the fault phase, and B is used forn>0；
Step (7), comprehensive consideration of diagnostic factor FnFault diagnosis factor BnAnd realizing open circuit fault positioning.
2. The open-circuit fault diagnostic method for a multi-phase motor drive system according to claim 1,
setting a minimum value ζ as a diagnostic factor FnThe comprehensive consideration of the fault diagnosis factor BnThen, the judgment criteria of the diagnosis method are as follows:
Figure FDA0002962742270000021
3. the multi-phase motor drive system open circuit fault diagnosis method according to claim 1, wherein a time of the calculation of the diagnosis factor average value, which is an open circuit fault diagnosis time, is set to one electrical cycle;
Figure FDA0002962742270000022
wherein isBeing harmonic current vector mode, inFor each phase current, n is a1, a2, a3, b1, b2, b3, c1, c2, c3,
Figure FDA0002962742270000023
for each normalized phase current, T is the electrical period.
4. The open-circuit fault diagnosis method for the multi-phase motor drive system according to any one of claims 1 to 3, wherein for the fault condition of the motors with other phases, the linear relationship between the decoupling matrix and the harmonic currents in the orthogonal stationary coordinate system affected by the open-circuit fault is changed.
5. The open-circuit fault diagnosis method for the multiphase motor drive system according to any one of claims 1 to 3, wherein the stator windings of the multiphase motor are fully symmetrical or fully symmetrical windings.
6. The method of any one of claims 1 to 3, wherein the polyphase electric machine stator winding structure is an open-end winding structure, or a single neutral structure, or a double neutral structure.
7. The open-circuit fault diagnosis method for the multiphase motor drive system according to any one of claims 1 to 3, wherein the multiphase motor is an induction motor or a permanent magnet motor.
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