CN113867179A - Electric locomotive fault diagnosis method and semi-physical simulation test platform thereof - Google Patents
Electric locomotive fault diagnosis method and semi-physical simulation test platform thereof Download PDFInfo
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Abstract
The invention discloses a fault diagnosis method for an electric locomotive and a semi-physical simulation test platform thereof, wherein the method comprises the following steps: s1: acquiring initial state parameters of an asynchronous motor of an electric locomotive; s2: establishing a mathematical model of the asynchronous motor of the electric locomotive under a phase-failure working condition, and acquiring a phase-failure fault judgment model; s3: inputting initial state parameters of the asynchronous motor of the electric locomotive to a phase-failure fault judgment model; s4: judging whether the asynchronous motor has a fault; s5: if the asynchronous motor does not have a fault, the step S1 is executed again; s6: and if the asynchronous motor fails, shutting down the electric locomotive. The invention adopts a computer simulation method to carry out unified analysis and processing on transient and steady processes of asymmetric operation of the traction motor, deduces a mathematical model when the traction motor winding is asymmetric, and simultaneously verifies the effectiveness of a traction motor fault judgment model on line through traction motor fault diagnosis logic on a simulation machine based on the method.
Description
Technical Field
The invention relates to the technical field of simulation platforms, in particular to an electric locomotive fault diagnosis method and a semi-physical simulation test platform thereof.
Background
The traction electric transmission system of the electric locomotive adopts a motor to drive to meet the electric transmission part of a locomotive vehicle, takes a traction motor as a control object, adjusts the traction force and the speed of the motor and meets the requirements of the traction and the braking characteristics of the vehicle. Since the traction motor is always in a high-strength and severe-environment working operation state, various faults always occur in the operation of the traction motor. The stator fault is a serious fault of the three-phase asynchronous motor and accounts for almost 40% of the total fault of the three-phase asynchronous motor. The main fault in the stator fault is the phase-loss fault of the asynchronous motor winding, and when the phase-loss fault occurs in the asynchronous motor stator winding, the stator winding is asymmetrically connected, which is an undesirable operation state in the operation process of the traction control system.
In the simulation under the traditional condition, a control algorithm and a control object model are set up, then offline verification is carried out, although the control algorithm can be verified to a certain extent, the simulation running step length of the offline simulation is too large, the error is larger compared with the running speed of an actual system, so that the continuity of a simulation system is poor, the running performance of the actual system cannot be completely reflected, and therefore more detailed control algorithm verification can be carried out in a test station environment or a debugging field after all hardware is provided, and the defects of long debugging period, high cost, large risk and the like still exist.
Disclosure of Invention
The invention provides an electric locomotive fault diagnosis method and a semi-physical simulation test platform thereof, which aim to overcome the technical problems.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an electric locomotive fault diagnosis method comprises the following steps:
s1: acquiring initial state parameters of an asynchronous motor of an electric locomotive;
s2: establishing a mathematical model of the asynchronous motor of the electric locomotive under a phase-failure working condition, and acquiring a phase-failure fault judgment model; the fault judgment model comprises a terminal voltage constraint condition model, a stator/rotor flux linkage calculation model, a current calculation model and a Clark transformation equation;
s3: inputting initial state parameters of the asynchronous motor of the electric locomotive into a phase-failure fault judgment model to obtain an A-phase current value, a B-phase current value and a C-phase current value of the asynchronous motor;
s4: judging whether the asynchronous motor has a fault or not according to the A-phase current value, the B-phase current value and the C-phase current value;
s5: if the asynchronous motor does not have a fault, the step S1 is executed again;
s6: and if the asynchronous motor fails, shutting down the electric locomotive.
Further, the terminal voltage constraint condition model is established as follows:
firstly, establishing a mathematical model of the asynchronous motor of the electric locomotive under a normal working condition:
in the formula: e.g. of the typeagThe phase winding is a phase A winding stator side power supply voltage; e.g. of the typebgFor the stator side supply voltage of the phase-B winding, ecgThe voltage of a power supply at the stator side of the phase winding of the C phase is obtained; u. ofsgThe voltage between the midpoint s of the motor stator and the midpoint g of the stator side power supply is obtained; rsIs the stator winding resistance; i.e. iasIs the stator current of the A phase winding; i.e. ibsIs the stator current of the B-phase winding; i.e. icsIs the stator current of the C-phase winding; phi is aasA phase A winding stator flux linkage is formed; phi is absA stator flux linkage of a B-phase winding is formed; phi is acsA C-phase winding stator flux linkage is formed;
secondly, the method comprises the following steps: establishing a mathematical model of the asynchronous motor of the electric locomotive under a phase-lacking working condition; assuming that the asynchronous motor is out of phase,
iA＝0 (2)
and the voltage constraint conditions at the lower end of the a-b-c coordinate system are as follows:
ubs＝ebg-usg
ucs＝ecg-usg (3)
transforming the variable voltage under the a-b-c coordinate system to the alpha-beta-n coordinate system to obtain a mathematical model of the asynchronous motor under the phase-lacking working condition under the alpha-beta-n coordinate system:
further, the stator/rotor flux linkage calculation model is established as follows:
defining the mutual inductance flux linkage of the alpha axis and the beta axis as follows:
wherein L ism: the asynchronous motor is mutually inducted;
establishing a flux linkage calculation model of the stator/rotor of the asynchronous motor as follows:
uαs: the alpha axis voltage of the stator winding under a static coordinate system alpha-beta-n; u. ofβs: the beta axis voltage of the stator winding under a static coordinate system alpha-beta-n; u. ofns: n-axis voltage of stator winding under static coordinate system alpha-beta-n；Rr: a rotor winding resistance; ω: the angular velocity of the motor.
Further, the current calculation model is established as follows:
iαs: alpha axis stator current under a static coordinate system alpha-beta-n;
iβs: beta axis stator current under a static coordinate system alpha-beta-n;
iαr: alpha axis rotor current under a static coordinate system alpha-beta-n;
iβr: beta axis rotor current under a static coordinate system alpha-beta-n;
Lls: stator leakage inductance;
Llr: rotor leakage inductance;
Further, the Clark transformation equation is established as follows:
in the formula iA: the motor A phase stator current output value;
iB: a motor B-phase stator current output value;
iC: and C-phase stator current output value of the motor.
Further, in S4, the method for determining whether the asynchronous motor fails includes: when the electric locomotive is in a static mode, when the fact that the rotating speed n of the motor is smaller than a rotating speed threshold value is detected, the vehicle speed v is smaller than a vehicle speed threshold value, if the absolute values of the A-phase current value and the B-phase current value of the asynchronous motor are larger than a first current threshold value, the C-phase current value is smaller than a second current threshold value, and the duration time is larger than a time threshold value, it is judged that the motor breaks down.
Further, the fault determination model in S2 further includes an electromagnetic torque model,
the electromagnetic torque model is established as follows:
in the formula, Te: an electromagnetic torque;
p: the number of pole pairs of the motor.
Further, the fault determination model in S2 further includes a mechanical motion model, where the mechanical motion model is established as follows:
in the formula, J: a rotational inertia coefficient;
Tl: the torque is loaded.
Further, after the step S4, the method further includes: determining three-phase bridge arm conduction state variables of the three-phase inverter according to the A-phase current value, the B-phase current value and the C-phase current value, and further calculating an A-phase voltage value, a B-phase voltage value and a C-phase voltage value output by the fault judgment model;
wherein, the three-phase bridge arm conduction state variables are defined as follows:
wherein j is A, B, C;
the A phase voltage value, the B phase voltage value and the C phase voltage value output by the fault judgment model are calculated as follows:
further, the system comprises a simulation system, a traction control unit and a conditioning signal unit;
the traction control unit is connected with the conditioning signal unit so as to realize the acquisition and calculation of the initial state parameters of the asynchronous motor of the electric locomotive;
the simulation system is connected with the asynchronous motor model of the electric locomotive to complete the closed-loop simulation test of the whole semi-physical simulation test platform;
the simulation system comprises a simulator, a processor board card, a simulation board card, an analog quantity board card, a digital quantity board card and a speed board card;
the simulator carries a fault judgment model built through simulation software to realize fault judgment of the asynchronous motor of the electric locomotive;
the processor board card, the simulation board card, the analog quantity board card, the digital quantity board card and the speed board card are integrated with the simulation machine to simulate instructions of a driver console and configure prior adjustable parameters and state feedback signals;
the conditioning signal unit is connected with the simulator to convert the voltage signal and the current signal output by the simulator into a current signal.
Has the advantages that: the invention discloses an electric locomotive fault diagnosis method and a semi-physical simulation test platform thereof, which adopt a computer simulation method to carry out unified analysis and processing on transient and steady processes of asymmetric operation of a traction motor, deduce a mathematical model when a traction motor winding is asymmetric, and simultaneously verify the effectiveness of a traction motor fault judgment model on a simulator through traction motor fault diagnosis logic on line.
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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 needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a stator winding of a three-phase asynchronous motor according to the present invention;
FIG. 2 is a schematic diagram of the open circuit of the stator winding of the three-phase asynchronous motor of the present invention;
FIG. 3 is a schematic diagram of an equivalent circuit of a three-phase inverter according to the present invention;
FIG. 4a is a diagram of a semi-physical simulation platform system architecture according to the present invention;
FIG. 4b is a schematic diagram of a simulation system of the semi-physical simulation platform according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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 embodiment provides a method for building a semi-physical simulation test platform of an electric locomotive fault diagnosis algorithm, and as asymmetry is assumed to always occur in an A-phase winding of an asynchronous motor stator in a specific analysis process of an asynchronous motor stator winding phase loss, the beta-axis voltage is
uβ: rotating the beta axis voltage of the coordinate system; u. ofasPhase voltage of a phase A winding of the stator of the asynchronous motor is obtained; u. ofbsPhase voltage of a phase B winding of the stator of the asynchronous motor; u. ofcsPhase voltage of a C-phase winding of the stator of the asynchronous motor;
it can be seen that the beta axis voltage is independent of the asynchronous motor stator A phase voltage, no matter uasThe voltage u on the beta axis is not changedβThis shows that, assuming that the imbalance always occurs in phase a, the β -axis circuit model part of the motor simulation model may be modified without any change for any type of asymmetric operation, and only the α -axis circuit model needs to be modified appropriately.
The semi-physical simulation test platform building method specifically comprises the following steps:
s1: acquiring initial state parameters of the asynchronous motor, wherein the initial state parameters comprise three-phase stator side voltage values;
s2: establishing a mathematical model of the asynchronous motor of the electric locomotive under a phase-failure working condition, and acquiring a phase-failure fault judgment model;
specifically, in order to implement the construction of the semi-physical simulation platform under a static α - β -n coordinate system, in this embodiment, an asynchronous machine fault judgment model is first built in MATLAB, where the fault judgment model includes a terminal voltage constraint condition model, a stator/rotor flux linkage calculation model, a current calculation model, and a Clark transformation equation.
The terminal voltage constraint condition model is established as follows:
firstly, establishing a mathematical model of the asynchronous motor of the electric locomotive under a normal working condition:
specifically, in the present embodiment, as shown in fig. 1, a symmetrical three-phase three-wire system circuit structure diagram is shown, and the stator-side power supply voltage is set as eag，ebg，ecgIn order to express the voltage of each phase of the stator by the power supply voltage, assume that the voltage between the motor stator midpoint s and the stator-side power supply midpoint g is usgThus, the voltage constraints at each phase end of the stator can be expressed as:
in the formula: e.g. of the typeagThe phase winding is a phase A winding stator side power supply voltage; e.g. of the typebgFor the stator side supply voltage of the phase-B winding, ecgThe voltage of a power supply at the stator side of the phase winding of the C phase is obtained; u. ofsgThe voltage between the midpoint s of the motor stator and the midpoint g of the stator side power supply is obtained; rsIs the stator winding resistance; i.e. iasIs the stator current of the A phase winding; i.e. ibsIs the stator current of the B-phase winding; i.e. icsIs the stator current of the C-phase winding; phi is aasA phase A winding stator flux linkage is formed; phi is abs
A stator flux linkage of a B-phase winding is formed; phi is acsA C-phase winding stator flux linkage is formed;
secondly, the method comprises the following steps: establishing a mathematical model of the asynchronous motor of the electric locomotive under a phase-lacking working condition;
specifically, when the asynchronous motor operates in the phase-loss operating condition, as shown in fig. 2, it is assumed that when t is equal to 0, the switch is turned off from position 1, and the power supply a fails to be disconnected from the motor midpoint s. Obviously, after the open circuit, the a-phase current is 0;
assuming that the asynchronous motor is out of phase,
iAand the voltage constraint under the a-b-c coordinate system is as follows:
ubs＝ebg-usg
ucs＝ecg-usg (3)
transforming the variable voltage under the a-b-c coordinate system to the alpha-beta-n coordinate system to obtain a mathematical model of the asynchronous motor under the phase-lacking working condition under the alpha-beta-n coordinate system:
in the formula (I), the compound is shown in the specification,
this value can be found by the α -axis stator voltage equation and the α -axis rotor voltage equation.
The stator/rotor flux linkage calculation model is established as follows:
wherein, the self-induction flux linkage of stator, rotor can be regarded as two parts and constitute: one part corresponds to leakage flux linkage and the other part corresponds to air gap mutual inductance flux linkage, so that the alpha axis and the beta axis mutual inductance flux linkage are defined as follows:
Lm: the asynchronous motor is mutually inducted;
establishing a flux linkage calculation model of the stator/rotor of the asynchronous motor as follows:
uαs: the alpha axis voltage of the stator winding under a static coordinate system alpha-beta-n; u. ofβs: the beta axis voltage of the stator winding under a static coordinate system alpha-beta-n; u. ofns: the voltage of the stator winding on the n axis under a static coordinate system alpha-beta-n; rr: a rotor winding resistance; ω: the angular velocity of the motor.
The current calculation model is established as follows:
iαs: alpha axis stator current under a static coordinate system alpha-beta-n;
iβs: beta axis stator current under a static coordinate system alpha-beta-n;
iαr: alpha axis rotor current under a static coordinate system alpha-beta-n;
iβr: beta axis rotor current under a static coordinate system alpha-beta-n;
Lls: stator leakage inductance;
Llr: rotor leakage inductance;
The Clark transformation equation is established as follows:
in the formula iA: the motor A phase stator current output value;
iB: a motor B-phase stator current output value;
iC: and C-phase stator current output value of the motor.
S3: inputting initial state parameters of the asynchronous motor into a phase-failure fault judgment model to obtain an A-phase current value, a B-phase current value and a C-phase current value of the asynchronous motor;
s4: judging whether the asynchronous motor has a fault or not according to the A-phase current value, the B-phase current value and the C-phase current value; specifically, the method for judging whether the asynchronous motor fails comprises the following steps: when the electric locomotive is in a static mode, when the fact that the rotating speed n of the motor is smaller than a rotating speed threshold value is detected, the vehicle speed v is smaller than a vehicle speed threshold value, if the absolute values of the A-phase current value and the B-phase current value of the asynchronous motor are larger than a first current threshold value, the C-phase current value is smaller than a second current threshold value, and the duration time is larger than a time threshold value, it is judged that the motor breaks down. In the embodiment of the invention, the motor verifies the effectiveness of the fault judgment model on a dSPACE semi-physical simulation platform: when the electric locomotive is in a static state, namely the rotating speed of the motor is less than 1rpm, and the vehicle speed is less than 3km/h, the motor current sensor detects that the absolute value of current of a certain two phases is greater than 75A, the current of the other phase is less than 15A, and the current lasts for 500ms, then the TCU diagnoses the phase-lack fault of the motor.
In this embodiment, the fault determination model further includes an electromagnetic torque model and a mechanical motion model, and when the asynchronous motor performs fault determination on the motor through the fault determination model, the electromagnetic torque and the motion angular velocity of the motor are calculated, specifically,
the electromagnetic torque model is established as follows:
in the formula, Te: an electromagnetic torque;
p: the number of pole pairs of the motor;
the mechanical motion model is established as follows:
j: a rotational inertia coefficient;
Tl: a load torque;
specifically, after the step S3, the method further includes: determining three-phase bridge arm conduction state variables of the three-phase inverter according to the A-phase current value, the B-phase current value and the C-phase current value, and further calculating an A-phase voltage value, a B-phase voltage value and a C-phase voltage value output by the fault judgment model; in one embodiment of the present invention, a three-phase inverter main circuit is shown in fig. 3. In the figure, a main circuit of the three-phase traction inverter consists of U, V and W three-phase bridge arms, each phase bridge arm comprises two power electronic switching devices IGBT, and each IGBT is connected with a diode in an inverse parallel mode to form a power device.
The conduction state variables of the three-phase bridge arm are as follows:
wherein j is A, B, C;
after judging whether the asynchronous motor has a fault, the method also comprises the following steps of calculating an A phase voltage value, a B phase voltage value and a C phase voltage value which are output by the fault judgment model as follows:
s5: if the asynchronous motor does not have a fault, the step S1 is executed again;
s6: and if the asynchronous motor fails, shutting down the electric locomotive.
The invention also discloses a semi-physical simulation test platform for the fault diagnosis of the electric locomotive, which comprises a simulation system, a traction control unit and a conditioning signal unit, wherein the simulation system is shown in figure 4;
the traction control unit is connected with the conditioning signal unit so as to realize the acquisition and calculation of the initial state parameters of the asynchronous motor of the electric locomotive;
the conditioning signal unit is connected with the simulation system through an interface unit so as to convert a voltage signal and a current signal output by the simulator into a current signal; specifically, the conditioning signal unit converts the voltage signal and the current signal output by the simulator into a current signal, and the amplitude range of the converted current signal is adjusted to become an amplitude range acceptable by the traction control unit. The conditioning signal unit in this embodiment is used in a conventional technology, and can convert a voltage of 0-5V into current signals of four ranges, i.e., ranges of ± 1A, ± 500mA, ± 250mA, ± 100mA, respectively, through the conditioning unit.
The simulation system is connected with the asynchronous motor model of the electric locomotive to complete the closed-loop simulation test of the whole semi-physical simulation test platform;
the simulation system comprises a simulator, a processor board card, a simulation board card, an analog quantity board card, a digital quantity board card and a speed board card;
the processor board card, the simulation board card, the analog quantity board card, the digital quantity board card and the speed board card are all integrated in the simulation machine so as to simulate instructions of a driver console and configure prior adjustable parameters and state feedback signals.
The simulator carries a fault judgment model built through simulation software to realize fault judgment of the asynchronous motor of the electric locomotive.
Specifically, a three-phase inverter model and a fault judgment model are built in MATLAB/Simulink, and are compiled to generate VHDL language, and the VHDL language is downloaded to a dSPACE semi-physical simulation platform to run in real time. The traction control unit is connected with the dSPACE real-time simulation system through the signal conditioning unit and the interface unit to complete closed-loop simulation test. FIG. 4b is a system structure diagram of a semi-physical simulation test platform for diagnosing faults of an electric locomotive, wherein in the dSPACE real-time simulator, a processor board card comprises a DS1006 processor and a DS1005 processor, and adopts a combined structure of multiple processors for simulating a command of a driver console, configuring online adjustable parameters and state feedback signals; the digital quantity board card adopts DS4003 and DS4004 digital quantity input and output board cards, is responsible for transmitting the command of the driver console to a Traction Control Unit (TCU), receives the on-off command of a contactor of the TCU, and is used for on-off control of the contactor or the breaker; the DS2103 analog quantity output board card is mainly used for collecting voltage and current signals of all parts of the traction main loop and transmitting the voltage and current signals to the TCU for traction control; the DS5203 board card is an FPGA high-speed simulation board card, and the DS5001 board card mainly runs a traction main loop model and a fault simulation model, and is also responsible for receiving pulse signals sent by the TCU and outputting pulse fault feedback signals. Specifically, the initial state signal of the electric locomotive is input through the traction control unit, enters the semi-physical simulation system after passing through the conditioning unit, judges the current working state of the asynchronous motor through a fault judgment model in the semi-physical simulation system, and then feeds the judged current working state signal of the asynchronous motor back to the TCU, so that a closed-loop simulation test is realized.
The embodiment provides a dSPACE-based electric locomotive fault diagnosis algorithm semi-physical simulation test platform which mainly comprises a dSPACE simulation computer, an interface unit, a simulation system and the like. The method meets the requirement of testing the fault diagnosis algorithm of the electric locomotive in a semi-physical simulation laboratory, does not need to verify and optimize the fault logic in a ground test and a ring-iron real vehicle test, and solves the problems of complex construction of the operating environment, high cost, high system verification difficulty and the like when the asynchronous motor is subjected to protection logic verification.
At the same time
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An electric locomotive fault diagnosis method is characterized by comprising the following steps:
s1: acquiring initial state parameters of an asynchronous motor of an electric locomotive;
s2: establishing a mathematical model of the asynchronous motor of the electric locomotive under a phase-failure working condition, and acquiring a phase-failure fault judgment model; the fault judgment model comprises a terminal voltage constraint condition model, a stator/rotor flux linkage calculation model, a current calculation model and a Clark transformation equation;
s3: inputting initial state parameters of the asynchronous motor of the electric locomotive into a phase-failure fault judgment model to obtain an A-phase current value, a B-phase current value and a C-phase current value of the asynchronous motor;
s4: judging whether the asynchronous motor has a fault or not according to the A-phase current value, the B-phase current value and the C-phase current value;
s5: if the asynchronous motor does not have a fault, the step S1 is executed again;
s6: and if the asynchronous motor fails, shutting down the electric locomotive.
2. The method of claim 1, wherein the terminal voltage constraint model is established as follows:
firstly, establishing a mathematical model of the asynchronous motor of the electric locomotive under a normal working condition:
in the formula: e.g. of the typeagThe phase winding is a phase A winding stator side power supply voltage; e.g. of the typebgFor the stator side supply voltage of the phase-B winding, ecgThe voltage of a power supply at the stator side of the phase winding of the C phase is obtained; u. ofsgThe voltage between the midpoint s of the motor stator and the midpoint g of the stator side power supply is obtained; rsIs the stator winding resistance; i.e. iasIs the stator current of the A phase winding; i.e. ibsIs the stator current of the B-phase winding; i.e. icsIs the stator current of the C-phase winding; phi is aasA phase A winding stator flux linkage is formed; phi is absA stator flux linkage of a B-phase winding is formed; phi is acsA C-phase winding stator flux linkage is formed;
secondly, the method comprises the following steps: establishing a mathematical model of the asynchronous motor of the electric locomotive under a phase-lacking working condition; assuming that the asynchronous motor is out of phase,
iA＝0 (2)
and the voltage constraint conditions at the lower end of the a-b-c coordinate system are as follows:
ubs＝ebg-usg
ucs＝ecg-usg (3)
transforming the variable voltage under the a-b-c coordinate system to the alpha-beta-n coordinate system to obtain a mathematical model of the asynchronous motor under the phase-lacking working condition under the alpha-beta-n coordinate system:
3. the method of claim 2, wherein the stator/rotor flux linkage calculation model is established as follows:
defining the mutual inductance flux linkage of the alpha axis and the beta axis as follows:
wherein L ism: the asynchronous motor is mutually inducted;
establishing a flux linkage calculation model of the stator/rotor of the asynchronous motor as follows:
uαs: the alpha axis voltage of the stator winding under a static coordinate system alpha-beta-n; u. ofβs: the beta axis voltage of the stator winding under a static coordinate system alpha-beta-n; u. ofns: the voltage of the stator winding on the n axis under a static coordinate system alpha-beta-n; rr: a rotor winding resistance; ω: the angular velocity of the motor.
4. The method of claim 3, wherein the current calculation model is established as follows:
iαs: alpha axis stator current under a static coordinate system alpha-beta-n;
iβs: beta axis stator current under a static coordinate system alpha-beta-n;
iαr: alpha axis rotor current under a static coordinate system alpha-beta-n;
iβr: beta axis rotor current under a static coordinate system alpha-beta-n;
Lls: stator leakage inductance;
Llr: rotor leakage inductance;
5. The method of claim 4 wherein the Clark transformation equation is established as follows:
in the formula iA: the motor A phase stator current output value;
iB: a motor B-phase stator current output value;
iC: and C-phase stator current output value of the motor.
6. The method of claim 1, wherein the step of determining whether the asynchronous motor has a fault in S4 includes: when the electric locomotive is in a static mode, when the fact that the rotating speed n of the motor is smaller than a rotating speed threshold value is detected, the vehicle speed v is smaller than a vehicle speed threshold value, if the absolute values of the A-phase current value and the B-phase current value of the asynchronous motor are larger than a first current threshold value, the C-phase current value is smaller than a second current threshold value, and the duration time is larger than a time threshold value, it is judged that the motor breaks down.
7. The electric locomotive fault diagnosis method according to claim 5, wherein the fault determination model in S2 further includes an electromagnetic torque model,
the electromagnetic torque model is established as follows:
in the formula, Te: an electromagnetic torque;
p: the number of pole pairs of the motor.
8. The method according to claim 5, wherein the fault diagnosis model in S2 further includes a mechanical motion model, and the mechanical motion model is established as follows:
in the formula, J: a rotational inertia coefficient;
Tl: the torque is loaded.
9. The method of claim 5, wherein the step S4 is further followed by: determining three-phase bridge arm conduction state variables of the three-phase inverter according to the A-phase current value, the B-phase current value and the C-phase current value, and further calculating an A-phase voltage value, a B-phase voltage value and a C-phase voltage value output by the fault judgment model;
wherein, the three-phase bridge arm conduction state variables are defined as follows:
wherein j is A, B, C;
the A phase voltage value, the B phase voltage value and the C phase voltage value output by the fault judgment model are calculated as follows:
10. the semi-physical simulation test platform for the electric locomotive fault diagnosis method according to any one of claims 1 to 9, characterized by comprising a simulation system, a traction control unit, a conditioning signal unit;
the traction control unit is connected with the conditioning signal unit so as to realize the acquisition and calculation of the initial state parameters of the asynchronous motor of the electric locomotive;
the simulation system is connected with the asynchronous motor model of the electric locomotive to complete the closed-loop simulation test of the whole semi-physical simulation test platform;
the simulation system comprises a simulator, a processor board card, a simulation board card, an analog quantity board card, a digital quantity board card and a speed board card;
the simulator carries a fault judgment model built through simulation software to realize fault judgment of the asynchronous motor of the electric locomotive;
the processor board card, the simulation board card, the analog quantity board card, the digital quantity board card and the speed board card are integrated with the simulation machine to simulate instructions of a driver console and configure prior adjustable parameters and state feedback signals;
the conditioning signal unit is connected with the simulator to convert the voltage signal and the current signal output by the simulator into a current signal.
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