CN113406529A - Motor speed regulation inverter open-circuit fault diagnosis method based on adaptive mean value calculation - Google Patents

Motor speed regulation inverter open-circuit fault diagnosis method based on adaptive mean value calculation Download PDF

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CN113406529A
CN113406529A CN202110701538.5A CN202110701538A CN113406529A CN 113406529 A CN113406529 A CN 113406529A CN 202110701538 A CN202110701538 A CN 202110701538A CN 113406529 A CN113406529 A CN 113406529A
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output current
phase output
current
mean value
phase
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CN113406529B (en
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陶松兵
马宏莉
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Lingkun Nantong Intelligent Technology Co ltd
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    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract

The invention provides a motor speed regulation inverter open-circuit fault diagnosis method based on self-adaptive mean value calculation, and relates to the field of power electrical appliance fault diagnosis. The method comprises the steps of calculating normalized three-phase output current by collecting three-phase output current of a motor and utilizing Park conversion; solving the normalized three-phase output current period mean value by using a self-adaptive mean value updating method; and comparing the normalized three-phase output current period mean value with a set fault threshold value to judge the fault type and the type of the fault. The method and the device can quickly calculate the fault characteristics for fault diagnosis aiming at the three-phase output current of the inverse transformation rate, and realize the open-circuit fault diagnosis of the inverter power switch tube based on the three-phase output current.

Description

Motor speed regulation inverter open-circuit fault diagnosis method based on adaptive mean value calculation
The present application claims priority of "a method for diagnosing open-circuit fault of motor speed-regulating inverter based on adaptive mean value calculation" with application number 202110438905.7, applied on 22/4/2021, and the original acceptance mechanism is china.
Technical Field
The invention relates to the technical field of motor control and fault diagnosis, in particular to a motor speed regulation inverter open-circuit fault diagnosis method based on adaptive mean value calculation.
Background
In the motor control, compared with the traditional contactor control, the inverter control can realize the motor soft start with low mechanical equipment impact force and low starting current and can realize the high and stable speed change of the motor under the complex condition, thereby being widely applied to the motor motion control. At present, in order to ensure the operation safety of motor equipment, various perfect fault protection functions are integrated in most inverters so as to realize active fault reporting when a motor or a power supply fails, but online diagnosis for faults of the inverters is relatively less.
At present, a main circuit of an inverter for motor speed regulation is usually a bridge circuit composed of a plurality of power switches IGBT, and according to statistics, the fault of a power device accounts for more than 70% of the fault of a frequency converter, so that the fault diagnosis of the inverter is mainly the fault diagnosis of the power switch tube IGBT. Faults of the power switching tube IGBT generally comprise short-circuit faults and open-circuit faults, the short-circuit faults are generally protected by an integrated current limiting device, and the open-circuit faults cannot be directly diagnosed.
There have been relevant studies aiming at power switch tube IGBT open-circuit fault diagnosis research, such as
The invention has the following patents: a two-level three-phase voltage source inverter bridge arm open-circuit fault diagnosis method (CN111381188B) provides a current-based power switch tube open-circuit fault diagnosis method aiming at two-level three-phase voltage source inverter bridge arm open-circuit faults.
The invention has the following patents: a real-time detection method (CN111413646B) for the open-circuit fault of a three-phase voltage source inverter bridge arm is characterized in that a current-based open-circuit fault diagnosis method is also adopted for the open-circuit fault of the three-phase voltage source inverter bridge arm, and when the dimension of a current vector for detecting the open-circuit fault is calculated, the rotating speed of a motor is also introduced to eliminate the influence of the change of current frequency.
The invention has the following patents: an NPC three-level inverter open-circuit fault diagnosis method (CN111077471B) based on instantaneous frequency aims at open-circuit fault diagnosis of a photovoltaic inverter switching tube, aims at fixed-frequency periodic current, and adopts a phase current mean value method in fault location, which is the mainstream open-circuit fault location method at present.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and particularly provides a threshold-based phase current commutation detection strategy for phase current signals with variable frequency, wherein a phase current sample between two commutations is selected as a period sample, the adaptive mean value updating of the phase current is realized according to the number of samples in the current period sample until the phase current is commutated again, and a period sample is reselected and the number of samples in the period sample is updated for the adaptive mean value updating of the phase current.
The invention aims to realize the method, and provides a self-adaptive mean value calculation-based open-circuit fault diagnosis method for a motor speed regulation inverter, wherein a circuit topology structure related to the diagnosis method comprises a direct-current power supply E, a main inverter circuit and a permanent magnet synchronous motor PMSG;
the main inverter circuit is a voltage source type two-level inverter circuit and comprises three-phase bridge arms, each phase of bridge arm comprises 2 switching tubes with reverse parallel diodes, namely the three-phase bridge arms comprise 6 switching tubes with reverse parallel diodes, and the 6 switching tubes with the reverse parallel diodes are respectively marked as switching tubes SvoljWherein, vol represents the phase sequence, vol is a, b, c, j represents the serial number of the switching tube, and j is 1, 2; in each phase arm, a switching tube Svol1And a switching tube Svol2After being connected in series, the switching tube S is connected between a direct current positive bus and a direct current negative bus of a direct current power supply Evol1And a switching tube Svol2Is marked as point Pvol，vol＝a, b, c, point PaPoint PbPoint PcRespectively connected with three phases of a PMSG (permanent magnet synchronous generator);
the open-circuit fault diagnosis method comprises the following steps:
step 1, sampling three-phase output current of a permanent magnet synchronous motor PMSG for N times in a set sampling period to obtain three-phase output current sampling signals of N permanent magnet synchronous motors PMSG, and recording the three-phase output current sampling signals of the permanent magnet synchronous motor PMSG obtained by sampling for the nth time as three-phase output current
Figure BDA0003128756340000031
N is the maximum sampling frequency in the sampling period, and N is a positive integer;
step 2, obtaining current components under alpha and beta coordinates by utilizing Park vector transformation
Figure BDA0003128756340000032
And
Figure BDA0003128756340000033
the expression is as follows:
Figure BDA0003128756340000034
Figure BDA0003128756340000035
using current components in alpha beta coordinates
Figure BDA0003128756340000036
And
Figure BDA0003128756340000037
for three-phase output current
Figure BDA0003128756340000038
Normalization is carried out to obtain normalized three-phase output current
Figure BDA0003128756340000039
The expression is as follows
Figure BDA00031287563400000310
Step 3, self-adaptively judging the phase current period
Setting a judgment threshold thr, and recording the three-phase output current reversing flag bit as
Figure BDA00031287563400000311
k is the number of commutations of phase current, k is 1,2,3, …, three-phase output current commutations flag bit
Figure BDA00031287563400000312
The calculation is as follows:
if it is
Figure BDA00031287563400000313
And is
Figure BDA00031287563400000314
Indicating that the three-phase output current is reversed and indicating the three-phase output current reversing flag bit
Figure BDA00031287563400000315
Wherein the content of the first and second substances,
Figure BDA00031287563400000316
for the (n + 1) th three-phase output current
Figure BDA00031287563400000317
Outputting current by three phases after normalization;
step 4, calculating the periodic mean value of the normalized three-phase output current
Figure BDA00031287563400000318
Step 4.1, setting that when k is 2, three-phase output current is obtainedThe k-1 th three-phase output current periodic signal when k is more than or equal to 2 is marked as Tk-1，
Figure BDA00031287563400000319
At this time, the average value of the normalized three-phase output current period is taken as the average value
Figure BDA00031287563400000320
Mean value
Figure BDA00031287563400000321
The expression of (a) is:
Figure BDA0003128756340000041
at this time, the number of samples in one current period is M,
Figure BDA0003128756340000042
step 4.2, if k is not changed, the mean value of the normalized three-phase output current is updated, and the updated mean value is recorded as an updated mean value
Figure BDA0003128756340000043
Updating mean values
Figure BDA0003128756340000044
The expression of (a) is:
Figure BDA0003128756340000045
during the mean value update, the number of samples M in one current period remains unchanged,
Figure BDA0003128756340000046
if k changes, the number of samples M in a current cycle changes,
Figure BDA0003128756340000047
step 5, recording an open circuit fault detection variable as D, wherein the expression is as follows:
Figure BDA0003128756340000048
step 6, according to the set open-circuit fault detection threshold value TsafeSet open-circuit fault locating threshold IsafeAnd 5, performing open-circuit fault diagnosis on the open-circuit fault detection variable D obtained in the step 5, wherein the diagnosis result is as follows:
D<Tsafeindicating no fault;
D≥Tsafeand is and
Figure BDA0003128756340000049
and is
Figure BDA00031287563400000410
And is
Figure BDA00031287563400000411
Switch tube Sa1A failure;
D≥Tsafeand is and
Figure BDA00031287563400000412
and is
Figure BDA00031287563400000413
And is
Figure BDA00031287563400000414
Switch tube Sa2A failure;
D≥Tsafeand is and
Figure BDA00031287563400000415
and is
Figure BDA00031287563400000416
And is
Figure BDA00031287563400000417
Switch tube Sb1A failure;
D≥Tsafeand is and
Figure BDA00031287563400000418
and is
Figure BDA00031287563400000419
And is
Figure BDA00031287563400000420
Switch tube Sb2A failure;
D≥Tsafeand is and
Figure BDA00031287563400000421
and is
Figure BDA00031287563400000422
And is
Figure BDA00031287563400000423
Switch tube Sc1A failure;
D≥Tsafeand is and
Figure BDA00031287563400000424
and is
Figure BDA00031287563400000425
And is
Figure BDA00031287563400000426
Switch tube Sc2And (4) failure.
Compared with the prior art, the invention has the beneficial effects that:
1. the current signal acquisition does not need an additional sensor, so the fault characteristic quantity for extracting the open-circuit fault characteristic of the motor speed regulation inverter is simple to obtain;
2. the self-adaptive mean value calculation method can simultaneously realize open-circuit fault detection and positioning, excessive auxiliary judgment variables are not needed, and the algorithm is simple and effective to realize;
3. the self-adaptive mean value algorithm provided by the invention can realize the mean value self-adaptive calculation of the current signal with frequency change, so that the rapid detection and positioning of the open-circuit fault of the inverter under various conditions can be effectively realized.
Drawings
FIG. 1 is a flow chart of a fault diagnosis method of the present invention;
FIG. 2 is a topology of an inverter for motor speed regulation in an embodiment of the present invention;
FIG. 3 is a simulated waveform diagram of a sampled current sample according to an embodiment of the present invention;
FIG. 4 is a diagram showing the calculation result of the open circuit fault detection variable D in the embodiment of the present invention;
FIG. 5 is the average value of the normalized three-phase output current period in the embodiment of the present invention
Figure BDA0003128756340000051
The calculation result graph of (2);
FIG. 6 shows an inverter controlled lower switch tube S according to an embodiment of the present inventiona1And (5) an open-circuit fault diagnosis result graph.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings.
Fig. 2 is a topology diagram of an inverter for motor speed regulation according to an embodiment of the present invention, and as can be seen from fig. 2, a circuit topology structure related to the open-circuit fault diagnosis method according to the present invention includes a direct current power supply E, a main inverter circuit, and a permanent magnet synchronous motor PMSG.
The main inverter circuit is a voltage source type two-level inverter circuit and comprises three-phase bridge arms, each phase of bridge arm comprises 2 switching tubes with reverse parallel diodes, namely the three-phase bridge arms comprise 6 switching tubes with reverse parallel diodes, and the 6 switching tubes with the reverse parallel diodes are respectively marked as switching tubes SvoljWherein, vol represents the phase sequence, vol is a, b, c, j represents the serial number of the switch tube, and j is 1, 2. In each phase arm, a switching tube Svol1And a switching tube Svol2Direct current positive bus connected to direct current power supply E after series connectionBetween the line and the DC negative bus, a switch tube Svol1And a switching tube Svol2Is marked as point PvolVol is a, b, c, point PaPoint PbPoint PcAre respectively connected with the three phases of the PMSG.
Fig. 1 is a flow chart of the fault diagnosis method of the present invention, and as can be seen from fig. 1, the steps of the open-circuit fault diagnosis method of the present invention are as follows:
step 1, sampling three-phase output current of a permanent magnet synchronous motor PMSG for N times in a set sampling period to obtain three-phase output current sampling signals of N permanent magnet synchronous motors PMSG, and recording the three-phase output current sampling signals of the permanent magnet synchronous motor PMSG obtained by sampling for the nth time as three-phase output current
Figure BDA0003128756340000061
N is the maximum sampling frequency in the sampling period, and N is a positive integer;
step 2, obtaining current components under alpha and beta coordinates by utilizing Park vector transformation
Figure BDA0003128756340000062
And
Figure BDA0003128756340000063
the expression is as follows:
Figure BDA0003128756340000064
Figure BDA0003128756340000065
using current components in alpha beta coordinates
Figure BDA0003128756340000066
And
Figure BDA0003128756340000067
for three-phase output current
Figure BDA0003128756340000068
Normalization is carried out to obtain normalized three-phase output current
Figure BDA0003128756340000069
The expression is as follows
Figure BDA00031287563400000610
Step 3, self-adaptively judging the phase current period
Setting a judgment threshold thr, and recording the three-phase output current reversing flag bit as
Figure BDA00031287563400000611
k is the number of commutations of phase current, k is 1,2,3, …, three-phase output current commutations flag bit
Figure BDA00031287563400000612
The calculation is as follows:
if it is
Figure BDA00031287563400000613
And is
Figure BDA00031287563400000614
Indicating that the three-phase output current is reversed and indicating the three-phase output current reversing flag bit
Figure BDA00031287563400000615
Wherein the content of the first and second substances,
Figure BDA00031287563400000616
for the (n + 1) th three-phase output current
Figure BDA00031287563400000617
Outputting current by three phases after normalization;
step 4, calculating the periodic mean value of the normalized three-phase output current
Figure BDA00031287563400000618
Step 4.1, when k is equal to 2, a complete period current signal of the three-phase output current is obtained, and the k-1 th three-phase output current period signal when k is equal to or larger than 2 is recorded as Tk-1，
Figure BDA00031287563400000619
At this time, the average value of the normalized three-phase output current period is taken as the average value
Figure BDA00031287563400000620
Mean value
Figure BDA00031287563400000621
The expression of (a) is:
Figure BDA0003128756340000071
at this time, the number of samples in one current period is M,
Figure BDA0003128756340000072
step 4.2, if k is not changed, the mean value of the normalized three-phase output current is updated, and the updated mean value is recorded as an updated mean value
Figure BDA0003128756340000073
Updating mean values
Figure BDA0003128756340000074
The expression of (a) is:
Figure BDA0003128756340000075
during the mean value update, the number of samples M in one current period remains unchanged,
Figure BDA0003128756340000076
if k changes, the number of samples M in a current cycle changes,
Figure BDA0003128756340000077
step 5, recording an open circuit fault detection variable as D, wherein the expression is as follows:
Figure BDA0003128756340000078
step 6, according to the set open-circuit fault detection threshold value TsafeSet open-circuit fault locating threshold IsafeAnd 5, performing open-circuit fault diagnosis on the open-circuit fault detection variable D obtained in the step 5, wherein the diagnosis result is as follows:
D<Tsafeindicating no fault;
D≥Tsafeand is and
Figure BDA0003128756340000079
and is
Figure BDA00031287563400000710
And is
Figure BDA00031287563400000711
Switch tube Sa1A failure;
D≥Tsafeand is and
Figure BDA00031287563400000712
and is
Figure BDA00031287563400000713
And is
Figure BDA00031287563400000714
Switch tube Sa2A failure;
D≥Tsafeand is and
Figure BDA00031287563400000715
and is
Figure BDA00031287563400000716
And is
Figure BDA00031287563400000717
Switch tube Sb1A failure;
D≥Tsafeand is and
Figure BDA00031287563400000718
and is
Figure BDA00031287563400000719
And is
Figure BDA00031287563400000720
Switch tube Sb2A failure;
D≥Tsafeand is and
Figure BDA00031287563400000721
and is
Figure BDA00031287563400000722
And is
Figure BDA00031287563400000723
Switch tube Sc1A failure;
D≥Tsafeand is and
Figure BDA00031287563400000724
and is
Figure BDA00031287563400000725
And is
Figure BDA00031287563400000726
Switch tube Sc2And (4) failure.
In order to verify the technical effect of the invention, the invention is simulated.
FIG. 3 is a simulated waveform of a current sample obtained by sampling according to an embodiment of the present inventionIt can be seen from the figure that, in order to simulate the variable frequency speed regulation process of the motor, the analog input of the motor changes from 0.02 second to 0.05 second, namely corresponding to the three-phase output current
Figure BDA00031287563400000727
Is changed. After 0.02 s, the a-phase output current
Figure BDA00031287563400000728
The part with positive amplitude is completely lost, and the switch tube G under the control of analog frequency conversion1Open circuit fault, at which bc phase output current
Figure BDA0003128756340000081
And
Figure BDA0003128756340000082
still approximates a full sine wave.
Fig. 4 is a graph of the calculation result of the open circuit fault detection variable D in the embodiment of the present invention, and it can be seen from the graph that after 0.023 seconds, the open circuit fault detection variable D is greater than the set open circuit fault detection threshold TsafeWhen the open circuit fault is detected, the value is 0.01.
FIG. 5 is a graph showing the average value of the normalized three-phase output current period according to the embodiment of the present invention
Figure BDA0003128756340000083
As can be seen from the graph of the calculation results of (a), after 0.023 seconds, the average value of the abc three-phase currents
Figure BDA0003128756340000084
All change relative to the mean value of bc phase current
Figure BDA0003128756340000085
And
Figure BDA0003128756340000086
mean value of a-phase current
Figure BDA0003128756340000087
The most obvious change is caused, so that the open-circuit fault occurs to the switching tube of the a-phase bridge arm, and meanwhile, the average value of the a-phase current is
Figure BDA0003128756340000088
Less than open circuit fault location threshold-IsafeIs-0.02, and shows that the switching tube G of the upper bridge arm of the a phase1An open circuit fault occurs.
FIG. 6 shows an inversion-controlled lower switch tube S according to an embodiment of the present inventiona1Open-circuit fault diagnosis result chart, and it can be seen from the chart that after 0.023 seconds, the switching tube S is detecteda1And an open-circuit fault occurs, and other switching tubes do not have faults.

Claims (1)

1. A motor speed regulation inverter open circuit fault diagnosis method based on self-adaptive mean value calculation relates to a circuit topology structure comprising a direct current power supply E, a main inverter circuit and a permanent magnet synchronous motor PMSG;
the main inverter circuit is a voltage source type two-level inverter circuit and comprises three-phase bridge arms, each phase of bridge arm comprises 2 switching tubes with reverse parallel diodes, namely the three-phase bridge arms comprise 6 switching tubes with reverse parallel diodes, and the 6 switching tubes with the reverse parallel diodes are respectively marked as switching tubes SvoljWherein, vol represents the phase sequence, vol is a, b, c, j represents the serial number of the switching tube, and j is 1, 2; in each phase arm, a switching tube Svol1And a switching tube Svol2After being connected in series, the switching tube S is connected between a direct current positive bus and a direct current negative bus of a direct current power supply Evol1And a switching tube Svol2Is marked as point PvolVol is a, b, c, point PaPoint PbPoint PcRespectively connected with three phases of a PMSG (permanent magnet synchronous generator);
the open-circuit fault diagnosis method is characterized by comprising the following steps of:
step 1, sampling three-phase output current of a permanent magnet synchronous motor PMSG for N times in a set sampling period to obtain three-phase output current sampling signals of N permanent magnet synchronous motors PMSG, and sampling the three-phase output current of the permanent magnet synchronous motor PMSG obtained by the nth timeThe output current sampling signal is recorded as the three-phase output current
Figure FDA0003128756330000011
N is the maximum sampling frequency in the sampling period, and N is a positive integer;
step 2, obtaining current components under alpha and beta coordinates by utilizing Park vector transformation
Figure FDA0003128756330000012
And
Figure FDA0003128756330000013
the expression is as follows:
Figure FDA0003128756330000014
Figure FDA0003128756330000015
using current components in alpha beta coordinates
Figure FDA0003128756330000016
And
Figure FDA0003128756330000017
for three-phase output current
Figure FDA0003128756330000018
Normalization is carried out to obtain normalized three-phase output current
Figure FDA0003128756330000019
The expression is as follows
Figure FDA00031287563300000110
Step 3, self-adaptively judging the phase current period
Setting a judgment threshold thr, and recording the three-phase output current reversing flag bit as
Figure FDA00031287563300000111
vol is a, b, c, k is the number of commutation of phase current, k is 1,2,3, …, three-phase output current commutation flag bit
Figure FDA0003128756330000021
The calculation is as follows:
if it is
Figure FDA0003128756330000022
And is
Figure FDA0003128756330000023
Indicating that the three-phase output current is reversed and indicating the three-phase output current reversing flag bit
Figure FDA0003128756330000024
Wherein the content of the first and second substances,
Figure FDA0003128756330000025
for the (n + 1) th three-phase output current
Figure FDA0003128756330000026
Outputting current by three phases after normalization;
step 4, calculating the periodic mean value of the normalized three-phase output current
Figure FDA0003128756330000027
Step 4.1, when k is equal to 2, a complete period current signal of the three-phase output current is obtained, and the k-1 th three-phase output current period signal when k is equal to or larger than 2 is recorded as Tk-1，
Figure FDA0003128756330000028
At this time, the average value of the normalized three-phase output current period is taken as the average value
Figure FDA0003128756330000029
vol is a, b, c, mean value
Figure FDA00031287563300000210
The expression of (a) is:
Figure FDA00031287563300000211
at this time, the number of samples in one current period is M,
Figure FDA00031287563300000212
step 4.2, if k is not changed, the mean value of the normalized three-phase output current is updated, and the updated mean value is recorded as an updated mean value
Figure FDA00031287563300000213
vol is a, b, c, updating the mean value
Figure FDA00031287563300000214
The expression of (a) is:
Figure FDA00031287563300000215
during the mean value update, the number of samples M in one current period remains unchanged,
Figure FDA00031287563300000216
if k changes, the number of samples M in a current cycle changes,
Figure FDA00031287563300000217
step 5, recording an open circuit fault detection variable as D, wherein the expression is as follows:
Figure FDA00031287563300000218
step 6, according to the set open-circuit fault detection threshold value TsafeSet open-circuit fault locating threshold IsafeAnd 5, performing open-circuit fault diagnosis on the open-circuit fault detection variable D obtained in the step 5, wherein the diagnosis result is as follows:
D＜Tsafeindicating no fault;
D≥Tsafeand is and
Figure FDA00031287563300000219
and is
Figure FDA00031287563300000220
And is
Figure FDA00031287563300000221
Switch tube Sa1A failure;
D≥Tsafeand is and
Figure FDA00031287563300000222
and is
Figure FDA00031287563300000223
And is
Figure FDA00031287563300000224
Switch tube Sa2A failure;
D≥Tsafeand is and
Figure FDA0003128756330000031
and is
Figure FDA0003128756330000032
And is
Figure FDA0003128756330000033
Switch tube Sb1A failure;
D≥Tsafeand is and
Figure FDA0003128756330000034
and is
Figure FDA0003128756330000035
And is
Figure FDA0003128756330000036
Switch tube Sb2A failure;
D≥Tsafeand is and
Figure FDA0003128756330000037
and is
Figure FDA0003128756330000038
And is
Figure FDA0003128756330000039
Switch tube Sc1A failure;
D≥Tsafeand is and
Figure FDA00031287563300000310
and is
Figure FDA00031287563300000311
And is
Figure FDA00031287563300000312
Switch tube Sc2And (4) failure.
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