CN114167303A - Open-circuit fault diagnosis method for power switch device of three-phase three-level rectifier - Google Patents
Open-circuit fault diagnosis method for power switch device of three-phase three-level rectifier Download PDFInfo
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Abstract
The invention discloses a method for diagnosing open-circuit faults of a three-phase three-level rectifier power switch device, which realizes fault diagnosis by utilizing residual errors of voltage of interphase electrodes, and realizes improvement on a residual error calculation method of normalized interphase voltage by adopting a quantitative calculation method and adding a direct-current side capacitor voltage unbalance factor so as to reduce calculation errors and improve the reliability of diagnosis. Different fault injection strategies are respectively designed for single-power switch fault diagnosis, double-power switch fault diagnosis and same-bridge arm internal and external power switch fault distinguishing, so that the influence of known or unknown faults on diagnosis is reduced, and the diagnosis accuracy and efficiency are improved. During fault injection, fault localization is accomplished by calculating a fault indicating variable based on the phase-to-phase voltage residuals. The diagnosis method provided by the invention can realize the open-circuit fault diagnosis of all power switching devices in the three-phase three-level rectifier, has low diagnosis cost and has the advantages of high accuracy and short diagnosis time.
Description
Technical Field
The invention relates to the technical field of power electronic equipment fault diagnosis, in particular to a method for diagnosing open-circuit faults of a power switch device of a three-phase three-level rectifier.
Background
In recent years, there has been an increasing demand and interest in improving the reliability of power converter systems through fault tolerant control. The presence of a large number of semiconductor switches increases the probability of a switching failure of the three-level converter, but at the same time also enables it to operate in fault-tolerant mode under fault conditions. In this regard, fault diagnosis is an indispensable step before fault-tolerant control is taken. Indeed, reliable diagnostic methods facilitate rapid maintenance of the system and reduce downtime. Therefore, fault diagnosis is very necessary to improve the reliability of the multilevel converter. In general, an ideal fault diagnosis strategy should be accurate, robust, and low cost.
In the past, a great deal of research on fault diagnosis mainly focuses on analysis of post-fault distortion current, characteristics such as current vectors, normalized average current, zero-crossing current, reference current error and the like are deeply researched, and the current vectors, the normalized average current, the zero-crossing current, the reference current error and the like are used for diagnosing two-level open-circuit faults of the switch. The methods are simple to implement and have low hardware requirements. However, when these methods are applied to three-level converters, some faults cannot be distinguished, and the diagnosis speed is generally slow. Another commonly used fault diagnosis method implements fault diagnosis by adding an additional sensor or a simple measurement circuit such as hardware. These methods are applicable to two-level converters and three-level converters, and have an advantage in detection speed, but the diagnostic cost is relatively high. In recent years, model-based fault diagnosis methods have received much attention from researchers. The method has the advantages of high diagnosis speed, low diagnosis cost and better diagnosis performance, but the accuracy and the speed of the open-circuit fault diagnosis of the multi-power device of the three-level converter are still required to be improved.
Therefore, the method for diagnosing the open-circuit fault of the three-phase three-level rectifier power switching device is researched, the speed, the applicability, the robustness and the like of the diagnosis method are improved, and the method has important significance.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for diagnosing the open-circuit fault of the power switching device of the three-phase three-level rectifier aiming at the defects in the prior art, and the method can be used for quickly identifying and positioning the open-circuit fault of all the power switching devices in the three-level rectifier with low cost and high robustness.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a method for diagnosing open-circuit faults of a power switch device of a three-phase three-level rectifier, which comprises the following steps of:
s1, selecting the current sampling time k, improving the normalized inter-phase voltage residual error calculation method, and obtaining the voltage residual error delta V by adopting the quantization calculation method and adding the DC side capacitance voltage unbalance factorxy(k) Xy belongs to { ab, bc, ca }, and a, b and c represent three phases;
s2, obtaining a current voltage residual error delta V by adopting a current voltage residual error polarity judging method based on a residual error threshold value V and a time threshold value Txy(k) Polarity d ofxy(k)；
S3, dividing a diagnosis area R (k) according to the grid voltage phase theta (k) and obtaining a current diagnosable power switch set P1；
S4, designing a switching signal set, and injecting the switching signal set as 'fault' in a subsequent fault injection strategy, namely selecting a group of switching signals G marked with G in the switching signal seta,Gb,Gc]Replaces the switching signal S sent by the original modulation modulea,Sb,Sc]The rectifier is controlled to realize the maximization of fault characteristics;
s5, if no fault is known currently, according to the currently diagnosable power switch set P1Sum voltage residual polarity dxy(k) Bridge arm F for judging most possible open circuit fault at present1Bridge arm F1Comprising two power switches according to the duty cycle1The power switch in (1) is turned on to make P1Removing F1Designing a fault injection strategy based on a fault injection principle of power switch off to reduce the influence of other unknown faults on current fault diagnosis;
s6, if the known fault exists at present, according to the bridge arm P where the known fault exists2Voltage residual polarity dxy(k) Anda diagnosis area R (k) for judging the bridge arm F possibly having open circuit fault at present1Or bridge arm set F2Bridge arm set F2Comprising four power switches according to the order of F2The power switch in (1) is turned on to make P2According to the fault injection principle of the turn-off of the power switch, a fault injection strategy is designed to reduce the influence of the known fault on the current fault diagnosis;
s7, during fault injection, according to voltage residual error delta Vxy(k) Calculating a fault indicating variable Dxy(k) Accordingly, for the fault power switch/fault bridge arm FxjF, identifying and positioning, wherein x is a, b, c, j is 1,2,3, 4;
s8, if the fault power switch cannot be located and only the bridge arm where the fault power switch is located can be determined in the step S7, that is, the fault of the inner power switch and the fault of the outer power switch in the bridge arm cannot be distinguished, a fault injection strategy and a fault distinguishing method of the inner power switch and the outer power switch based on the fault injection strategy are designed according to a fault injection principle that the inner power switch and the outer power switch have different fault characteristics and the fault characteristics are maximized under the same switch signal.
Further, in step S1 of the present invention:
calculating the inter-phase voltage residual Δ V between the x-phase and the y-phase according to the following equationxy(k)：
Wherein, Ix(k) And Iy(k) The current at the x-phase and y-phase cross current sides of the rectifier respectively; i is a current threshold value and is designed to be 2.5% of the maximum value of the amplitude of the alternating-current side phase current;
is the expected value of the interphase voltage between the x phase and the y phase after normalization;
is the actual value of the interphase voltage between the normalized x-phase and y-phase;
is that
Quantifying and adding the interphase voltage after the direct current side capacitor voltage unbalance factor;
wherein, Vdc1(k) And Vdc2(k) The voltages of the upper capacitor and the lower capacitor on the direct current side of the rectifier respectively;
is the desired voltage for the x-phase calculated from the switching signal. When the switching signals of the x-phase four power switches are Sx1,Sx2,Sx3,Sx3]＝[1,1,0,0]When the temperature of the water is higher than the set temperature,
when the switching signals of the x-phase four power switches are Sx1,Sx2,Sx3,Sx3]＝[0,1,1,0]When the temperature of the water is higher than the set temperature,
when the switching signals of the x-phase four power switches are Sx1,Sx2,Sx3,Sx3]＝[0,0,1,1]When the temperature of the water is higher than the set temperature,
the expected voltage of y-phase calculated according to the switch signal can be obtained
wherein, TspIs the sampling period; l is the equivalent inductance of the alternating current side of the rectifier; ex(k) And Ey(k) The voltages of the x-phase and y-phase cross current sides of the rectifier respectively; i isx(k) And Iy(k) The current at the x-phase and y-phase cross current sides of the rectifier respectively;
Wherein epsilon (k) is a voltage unbalance factor of the upper and lower capacitors on the direct current side, and is defined as:
wherein f (t) ═ sgnt is a sign function; when t >0, f (t) is 1; when t is 0, f (t) is 0; and when t is less than 0, f (t) is-1.
Further, in step S2 of the present invention:
the voltage residual error delta V is judged according to the following formulaxy(k) Polarity d ofxy(k)：
Wherein, V is a residual threshold value, and the value range is (0, 1); t is a time threshold value and takes a positive integer.
Further, in step S3 of the present invention:
dividing a diagnosis area R (k) according to the grid voltage phase theta (k) and obtaining a current diagnosable power switch set P1The method of (2) is as follows:
when theta is equal to [0, pi/3), R is equal to 1, P1∈{A2,B1,C2}；
When theta is epsilon [ pi/3, 2 pi/3), R is 2, P1∈{A2,B1,C1}；
When theta is larger than 2 pi/3, pi), R is 3, P1∈{A2,B2,C1}；
When theta is epsilon [ pi, 4 pi/3), R is 4, P1∈{A1,B2,C1}；
When theta is larger than 4 pi/3, 5 pi/3), R is 5, P1∈{A1,B2,C2}；
When theta is larger than 5 pi/3, 2 pi), R is 6, P1∈{A1,B1,C2}。
Further, in step S4 of the present invention:
switching signal G comprised by a set of switching signalsa,Gb,Gc]The correspondence with its label G is as follows:
if G is 1, no switching signal is represented, namely, fault injection is not carried out;
if G is 2, [ G ]a,Gb,Gc]＝[P,P,P](ii) a If G is 3, [ G ]a,Gb,Gc]＝[N,N,N]；
If G is 4, [ G ]a,Gb,Gc]＝[P,P,N](ii) a If G is 5, [ G ]a,Gb,Gc]＝[N,P,P]；
If G is 6, [ G ]a,Gb,Gc]＝[P,N,N](ii) a If G is 7, [ G ]a,Gb,Gc]＝[N,N,P]；
If G is 8, [ G ]a,Gb,Gc]＝[P,N,P](ii) a If G is 9, [ G ]a,Gb,Gc]＝[N,P,N]；
Wherein G isxP represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[1,1,0,0]，GxO represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[0,1,1,0]，GxN represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[0,0,1,1]，x＝a,b,c。
Further, the fault injection strategy designed in step S5 of the present invention is as follows:
first, according to the currently diagnosable power switch set P1Sum voltage residual polarity dxy(k) Bridge arm F for judging most possible open circuit fault at present1The method of including two power switches and selecting the injected fault G is as follows:
when P is present1∈{A2,B1,C2When the position is right:
if d isab＝-1,dbc＝0,dcaWhen 1, then F1＝A2And G ═ 7; if d isab＝-1,dbc＝1,dcaIf 0, then F1＝B1And G ═ 2; if d isab＝0,dbc＝1,dcaWhen is equal to-1, then F1＝C2And G ═ 6;
when P is present1∈{A2,B1,C1When the position is right:
if d isab＝-1,dbc＝0,dcaWhen 1, then F1＝A2And G ═ 3; if d isab＝-1,dbc＝1,dcaIf 0, then F1＝B1And G ═ 4; if d isab＝0,dbc＝-1,dcaWhen 1, then F1＝C1And G ═ 8;
when P is present1∈{A2,B2,C1When the position is right:
if d isab＝-1,dbc＝0,dcaWhen 1, then F1＝A2And G ═ 9; if d isab＝1,dbc＝-1,dcaIf 0, then F1＝B2And G ═ 6; if d isab＝0,dbc＝-1,dcaWhen 1, then F1＝C1And G ═ 2;
when P is present1∈{A1,B2,C1When the position is right:
if d isab＝1,dbc＝0,dcaWhen is equal to-1, then F1＝A1And G ═ 4; if d isab＝1,dbc＝-1,dcaIf 0, then F1＝B2And G ═ 3; if d isab＝0,dbc＝-1,dcaWhen 1, then F1＝C1And G ═ 5;
when P is present1∈{A1,B2,C2When the position is right:
if d isab＝1,dbc＝0,dcaWhen is equal to-1, then F1＝A1And G ═ 2; if d isab＝1,dbc＝-1,dcaIf 0, then F1＝B2And G ═ 7; if d isab＝0,dbc＝1,dcaWhen is equal to-1, then F1＝C2And G ═ 9;
when P is present1∈{A1,B1,C2When the position is right:
if d isab＝1,dbc＝0,dcaWhen is equal to-1, then F1＝A1And G ═ 8; if d isab＝-1,dbc＝1,dcaIf 0, then F1＝B1And G ═ 5; if d isab＝0,dbc＝1,dcaWhen is equal to-1, then F1＝C2And G ═ 3;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is givena,Gb,Gc]To a rectifier instead of the original modulation modeSwitching signal [ S ] from blocka,Sb,Sc]To control the switching on and off of the rectifier power switch, Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]The fault injection process lasts two sampling periods.
Further, the fault injection strategy designed in step S6 of the present invention is as follows:
firstly, according to the bridge arm P where the known fault is located2Voltage residual polarity dxy(k) And a diagnosis area R (k) judges that the bridge arm F possibly has open circuit fault at present1Or bridge arm set F2And the method of selecting the injected fault G is as follows:
when P is present2＝A1The method comprises the following steps:
if d isab＝-1,dbc＝0,dcaWhen R is 1, F2＝A2And G ═ 7; if d isab＝-1,dbc＝0,dcaWhen R is 1 and R is 2, F2＝A2And G ═ 3; if d isab＝-1,dbc＝0,dcaWhen R is 1, then F2＝A2And G ═ 9; if d isbcWhen 1, then F2∈{B1,C29 and G ═ 9; if d isbcWhen is equal to-1, then F2∈{B2,C1And G ═ 5;
when P is present2＝A2The method comprises the following steps:
if d isab＝1,dbc＝0,dcaIf R is 4, then F2＝A1And G ═ 4; if d isab＝1,dbc＝0,dcaR is 5, then F2＝A1And G ═ 2; if d isab＝1,dbc＝0,dcaWhen R is 6, then F2＝A1And G ═ 8; if d isbcWhen 1, then F2∈{B1,C2And G ═ 4; if d isbcWhen is equal to-1, then F2∈{B2,C1And G ═ 8;
when P is present2＝B1The method comprises the following steps:
if d isab＝1,dbc＝-1,d ca0, R is 3, then F2＝B2And G ═ 6; if d isab＝1,dbc＝-1,d ca0, R4, then F2＝B2And G ═ 3; if d isab＝1,dbc＝-1,dcaWhen R is equal to 5, F2＝B2And G ═ 7; if d iscaWhen 1, then F2∈{C1,A27 and G ═ 7; if d iscaWhen is equal to-1, then F2∈{C2,A1And G ═ 6;
when P is present2＝B2The method comprises the following steps:
if d isab＝-1,dbc＝1,d ca0, R is 6, then F2＝B1And G ═ 5; if d isab＝-1,dbc＝1,d ca0, R1, then F2＝B1And G ═ 2; if d isab＝-1,dbc＝1,d ca0, R2, then F2＝B1And G ═ 4; if d iscaWhen 1, then F2∈{C1,A2And G ═ 5; if d iscaWhen is equal to-1, then F2∈{C2,A1And G ═ 4;
when P is present2＝C1The method comprises the following steps:
if d isab＝0,dbc＝1,dcaR is 5, then F2＝C2And G ═ 9; if d isab＝0,dbc＝1,dcaWhen R is 6, then F2＝C2And G ═ 3; if d isab＝0,dbc＝1,dcaIf R is 1, then F2＝C2And G ═ 6; if d isabWhen 1, then F2∈{A1,B2And G ═ 6; if d isabWhen is equal to-1, then F2∈{A2,B19 and G ═ 9;
when P is present2＝C2The method comprises the following steps:
if d isab＝0,dbc＝-1,dcaWhen R is 1 and R is 2, F2＝C1And G ═ 8;if d isab＝0,dbc＝-1,dcaWhen R is 1, then F2＝C1And G ═ 2; if d isab＝0,dbc＝-1,dcaWhen R is 1, then F2＝C1And G ═ 5; if d isabWhen 1, then F2∈{A1,B2And G ═ 8; if d isabWhen is equal to-1, then F2∈{A2,B1And G ═ 5;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is givena,Gb,Gc]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation modulea,Sb,Sc]To control the switching on and off of the rectifier power switch, Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]The fault injection process lasts two sampling periods.
Further, the fault injection strategy for distinguishing the faults of the internal and external power switches and the diagnosis method based on the fault injection strategy designed in the step S8 of the present invention are as follows:
first, an injected fault G is selected based on the diagnosis result F in step S7 and fault injection is performed, that is, the switching signal [ G ] represented by G is givena,Gb,Gc]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation modulea,Sb,Sc]To control the switching on and off of the rectifier power switch, Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]The fault injection process lasts for two sampling periods;
next, a fault indicating variable D is calculated during fault injection in step S7xy(k) (ii) a Selecting the injected fault G according to the bridge arm F where the fault is positioned, and indicating a variable D through the faultxy(k) Deriving a diagnosisResults FxjThe method of (2) is as follows:
if F is equal to A1Then G ═ 6, during fault injection:
if min { | Dab|,|DcaIf 0.5, then F a11 is ═ 1; if | Dab|＝1&&|DcaIf 1, then Fa2＝1；
If F is equal to A2G ═ 5, during fault injection:
if min { | Dab|,|DcaIf 0.5, then F a41 is ═ 1; if | Dab|＝1&&|DcaIf 1, then Fa3＝1；
If F is equal to B1G ═ 9, during fault injection:
if min { | Dab|,|DbcIf 0.5, then F b11 is ═ 1; if | Dab|＝1&&|DbcIf 1, then Fb2＝1；
If F is equal to B2G ═ 8, during fault injection:
if min { | Dab|,|DbcIf 0.5, then F b41 is ═ 1; if | Dab|＝1&&|DbcIf 1, then Fb3＝1；
If F ═ C1Then G ═ 7, during fault injection:
if min { | Dbc|,|DcaIf 0.5, then F c11 is ═ 1; if | Dbc|＝1&&|DcaIf 1, then Fc2＝1；
If F ═ C2G ═ 4, during fault injection:
if min { | Dbc|,|DcaIf 0.5, then F c41 is ═ 1; if | Dbc|＝1&&|DcaIf 1, then Fc3＝1。
The method for diagnosing the open-circuit fault of the power switching device of the three-phase three-level rectifier has the following beneficial effects:
(1) the voltage residual error calculation method is improved by adopting a quantitative calculation method, and the influence of the DC capacitor voltage unbalance on diagnosis is considered, so that compared with the traditional diagnosis method based on a model, the diagnosis method provided by the invention reduces the diagnosis variable calculation error caused by low sampling precision, low sampling frequency, noise and DC side voltage fluctuation, and has higher reliability;
(2) signals required by the diagnosis variable calculation are all from existing voltage, current and switch signals in the rectifier control system, so that compared with the traditional voltage-based diagnosis method, the diagnosis method provided by the invention can realize low-cost fault diagnosis without adding extra hardware;
(3) a single power switch fault diagnosis method based on fault injection is designed, the interference of unknown faults to diagnosis is reduced through fault injection, and the reliability of diagnosis is improved.
(4) A fault injection-based double-power switch fault diagnosis method is designed, the interference of known faults on diagnosis is reduced through fault injection, and the reliability of multi-fault diagnosis is improved.
(5) The invention designs a fault diagnosis method for distinguishing the internal and external power switches of the same bridge arm based on fault injection, so that the fault diagnosis of all the power switches in the three-level rectifier can be realized.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a topology structure diagram of a three-phase three-level rectifier and a flowchart of a power switch device open-circuit fault diagnosis method thereof according to an embodiment of the present invention;
FIG. 2 shows a three-phase three-level rectifier power switch S according to an embodiment of the present inventiona2And Sb3And (4) a diagnosis result graph of the open-circuit fault.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the method for diagnosing an open-circuit fault of a three-phase three-level rectifier power switching device of the present invention comprises the following steps:
s1, obtaining information needed by diagnosis from a rectifier control system.
Three-phase voltage (E) of alternating current side obtained by sampling of three-phase three-level rectifiera(k)、Eb(k)、Ec(k) Three-phase current (I)a(k)、Ib(k)、Ic(k) And the DC side upper and lower capacitor voltage (V)dc1(k) And Vdc2(k) And a system inductance parameter L into the voltage-current dual closed-loop control system. The control system carries out operation according to a given control target, obtains a power grid voltage angle (theta) and current under a two-phase synchronous rotating coordinate system dq, and outputs three-phase reference voltage to the space vector pulse width modulation module. Finally, the modulation module outputs the duty ratio of the switching signal of each power switch and the comparison link outputs the control signal [ S ] of each power switcha,Sb,Sc](Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]) And the control signals are sent to the rectifier to control the on and off of all the power switches, so that the rectifier operates according to the control target. The control system therefore has all the information required for diagnostics, which is used to calculate the variables required for diagnostics.
And S2, calculating a normalized interphase voltage residual error.
Taking normalized inter-phase voltage residuals of a phase and b phase as examples, expected values of inter-phase voltages of a phase and b phase
Where k denotes the kth sample. When a phase switching signal [ S ]a1,Sa2,Sa3,Sa3]＝[1,1,0,0]When the temperature of the water is higher than the set temperature,
when a phase switching signal [ S ]a1,Sa2,Sa3,Sa3]＝[0,1,1,0]When the temperature of the water is higher than the set temperature,
when a phase switching signal [ S ]a1,Sa2,Sa3,Sa3]＝[0,0,1,1]When the temperature of the water is higher than the set temperature,
similarly, when the b-phase switching signal [ S ]b1,Sb2,Sb3,Sb3]＝[1,1,0,0]When the temperature of the water is higher than the set temperature,
when the phase b is switched on or offb1,Sb2,Sb3,Sb3]＝[0,1,1,0]When the temperature of the water is higher than the set temperature,
when the phase b is switched on or offb1,Sb2,Sb3,Sb3]＝[0,0,1,1]When the temperature of the water is higher than the set temperature,
actual value of interphase voltage of a-phase and b-phase
Wherein, TspIs the sampling period.
Quantized values of phase-to-phase voltages of a-phase and b-phase
Wherein epsilon (k) is a voltage imbalance factor and is calculated according to the following formula:
residual value delta V of inter-phase voltage of a phase and b phaseab(k)：
Wherein, I is a current threshold value, and 2.5 percent of the maximum value of the amplitude of the alternating-current side phase current is taken. Similarly, calculating the residual value delta V of the inter-phase voltage of the phase b and the phase cbc(k) And residual value of inter-phase voltage Δ V of phase c and phase aca(k)。
And S3, calculating the polarity of the voltage residual error.
Taking the voltage residual of the a-phase and the b-phase as an example, the polarity dab(k)：
Where V is the residual threshold, taken at 0.1 in this example. T is the time threshold, taken as 3 in this example. Similarly, the voltage residual error polarities d of the b phase and the c phase are calculatedbc(k) And the voltage residual polarities d of the c-phase and the a-phaseca(k)。
And S4, judging a diagnosis area.
The diagnostic region r (k) is determined from the grid voltage phase θ (k), as shown in table 1.
TABLE 1 determination of diagnostic regions
S5, selecting the fault of injection.
S5.1. design of switching signal set
Switching signal [ G ] included in designed switching signal seta,Gb,Gc]The correspondence relationship with the reference symbol G is shown in table 2. Wherein G isxP represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[1,1,0,0]，GxO represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[0,1,1,0]，GxN represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[0,0,1,1]，x＝a,b,c。
TABLE 2 switching Signal sets
S5.2. if no known fault exists at present
If the diagnostic region R (k) and the voltage residual polarity dab(k)、dbc(k)、dca(k) If the conditions shown in table 3 are satisfied, selecting the injected fault G according to table 3; otherwise, G is 1, no fault injection is carried out and no open-circuit fault exists currently.
TABLE 3 absence of fault injection under known faults
S5.3. if the known fault exists currently
If known faulty leg P2And voltage residual polarity dab(k)、dbc(k)、dca(k) And the diagnostic region r (k) satisfies the conditions shown in table 4, the injected fault G is selected according to table 4; otherwise, G is 1, no fault injection is carried out and no open-circuit fault exists currently.
Table 4 fault injection in the presence of known faults
And S6, fault injection.
Injecting the selected fault in S5, i.e. given the switching signal G represented by Ga,Gb,Gc]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation modulea,Sb,Sc](Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]) To control the turn-on and turn-off of the rectifier power switch, the fault injection process lasts for two sampling periods.
And S7, calculating a fault indication variable during fault injection.
Calculating a fault indicating variable, a fault indicating variable D between a-phase and b-phase, in a sampling period after fault injectionab(k)：
Similarly, calculating the fault indication change between the b phase and the c phaseQuantity Dbc(k) And a fault indicating variable D between phase c and phase aca(k) In that respect The calculation of the fault indication variable is also stopped at the end of the fault injection. During non-fault injection, the fault indication variable is 0.
And S8, identifying and positioning the fault power switch/fault bridge arm.
If the fault indicates the variable Dab(k)、Dbc(k)、Dca(k) If the conditions shown in Table 5 are met, the faulty power switch/faulty bridge arm F is positioned according to Table 5xja/F; otherwise, the open-circuit fault does not exist currently. In table, FxjDescription of the power switch S in a rectifierxjNo open circuit fault, FxjDescription of the power switch S in a rectifier as 1xjAn open fault occurs, x ═ a, b, c, j ═ 1,2,3, 4. F represents the leg in which the fault is located, but it cannot be determined whether the inner power switch or the outer power switch in the leg has an open circuit fault.
TABLE 5 open-circuit Fault diagnostics
And S9, positioning the fault of the internal and external power switches in the fault bridge arm.
If the diagnosis result F in S8xjWith 0 and F indicating the arm where the fault is located, the injected fault G is selected according to table 5 and the fault indication variable is calculated during fault injection. If D isab(k)、Dbc(k)、Dca(k) And if the conditions shown in the table 6 are met, the internal and external power switches in the failed bridge arm indicated by the F are positioned according to the table 6.
TABLE 6 location of internal and external power switch faults in faulty bridge arm
To more clearly describe this example, the diagnostic results for this example are given in FIG. 2, using the parameters shown in Table 7.
TABLE 7 parameters used in the examples
As shown in fig. 2, the power switch Sa2And a power switch Sb3An open circuit fault occurs. First, the voltage residual polarity satisfies dab＝1,dbc＝0,dcaWith-1 and the current diagnostic region R4, then a fault is injected according to tables 2 and 3 [ G ═ ca,Gb,Gc]＝[P,P,N](G ═ 4) for two sampling periods. Calculating a fault indication variable which satisfies D in a sampling period after fault injectionab＝0.5,Dbc＝0,Dca-0.5. From table 5, it can be seen that the fault power switch is in the arm a1But because of bridge arm A1Power switch S ina1And Sa2All the fault indication variables can meet the conditions, so that the fault cannot be accurately positioned. According to Table 6, fault is injected again [ G ]a,Gb,Gc]＝[P,N,N](G ═ 6). And calculating a fault indication variable, which satisfies | D, one sampling period after the fault injectionab|＝1&&|D ca1. Therefore, as can be seen from Table 6, power switch Sa2An open circuit fault occurs. When the power switch S is knowna2After a fault, residual polarity d due to voltagebcFault G was injected according to table 4 ═ 1a,Gb,Gc]＝[N,N,P](G ═ 7). Calculating a fault indication variable which satisfies D in a sampling period after fault injectionab＝1,Dbc＝-1D ca0. Thus, from Table 5, it can be seen that the power switch Sb3An open circuit fault occurs. The results prove that the diagnosis method provided by the invention can quickly position the open-circuit faults of the three-phase three-level rectifier power switch device, including single fault and multiple faults, and can accurately distinguish the faults of the same bridge arm power switch with similar fault characteristicsThe condition has better diagnosis performance.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (8)
1. The method for diagnosing the open-circuit fault of the power switching device of the three-phase three-level rectifier is characterized by comprising the following steps of:
s1, selecting the current sampling time k, improving the normalized inter-phase voltage residual error calculation method, and obtaining the voltage residual error delta V by adopting the quantization calculation method and adding the DC side capacitance voltage unbalance factorxy(k) Xy belongs to { ab, bc, ca }, and a, b and c represent three phases;
s2, obtaining a current voltage residual error delta V by adopting a current voltage residual error polarity judging method based on a residual error threshold value V and a time threshold value Txy(k) Polarity d ofxy(k)；
S3, dividing a diagnosis area R (k) according to the grid voltage phase theta (k) and obtaining a current diagnosable power switch set P1；
S4, designing a switching signal set, and injecting the switching signal set as 'fault' in a subsequent fault injection strategy, namely selecting a group of switching signals G marked with G in the switching signal seta,Gb,Gc]Replaces the switching signal S sent by the original modulation modulea,Sb,Sc]The rectifier is controlled to realize the maximization of fault characteristics;
s5, if no fault is known currently, according to the currently diagnosable power switch set P1Sum voltage residual polarity dxy(k) Bridge arm F for judging most possible open circuit fault at present1Bridge arm F1Comprising two power switches according to the duty cycle1The power switch in (1) is turned on to make P1Removing F1Designing a fault injection strategy based on a fault injection principle of power switch off to reduce the influence of other unknown faults on current fault diagnosis;
s6, if the known fault exists at present, according to the bridge arm P where the known fault exists2Voltage residual polarity dxy(k) And a diagnosis area R (k) for judging the bridge arm F possibly having open circuit fault at present1Or bridge arm set F2Bridge arm set F2Comprising four power switches according to the order of F2The power switch in (1) is turned on to make P2According to the fault injection principle of the turn-off of the power switch, a fault injection strategy is designed to reduce the influence of the known fault on the current fault diagnosis;
s7, during fault injection, according to voltage residual error delta Vxy(k) Calculating a fault indicating variable Dxy(k) Accordingly, for the fault power switch/fault bridge arm FxjF, identifying and positioning, wherein x is a, b, c, j is 1,2,3, 4;
s8, if the fault power switch cannot be located and only the bridge arm where the fault power switch is located can be determined in the step S7, that is, the fault of the inner power switch and the fault of the outer power switch in the bridge arm cannot be distinguished, a fault injection strategy and a fault distinguishing method of the inner power switch and the outer power switch based on the fault injection strategy are designed according to a fault injection principle that the inner power switch and the outer power switch have different fault characteristics and the fault characteristics are maximized under the same switch signal.
2. The method for diagnosing the open circuit fault of the three-phase three-level rectifier power switching device according to claim 1, wherein in the step S1:
calculating the inter-phase voltage residual Δ V between the x-phase and the y-phase according to the following equationxy(k)：
Wherein, Ix(k) And Iy(k) Are respectively provided withIs the current on the x-phase and y-phase cross current sides of the rectifier; i is a current threshold value and is designed to be 2.5% of the maximum value of the amplitude of the alternating-current side phase current;
is the expected value of the interphase voltage between the x phase and the y phase after normalization;
is the actual value of the interphase voltage between the normalized x-phase and y-phase;
is that
Quantifying and adding the interphase voltage after the direct current side capacitor voltage unbalance factor;
wherein, Vdc1(k) And Vdc2(k) The voltages of the upper capacitor and the lower capacitor on the direct current side of the rectifier respectively;
is the desired voltage for the x-phase calculated from the switching signal. When the switching signals of the x-phase four power switches are Sx1,Sx2,Sx3,Sx3]＝[1,1,0,0]When the temperature of the water is higher than the set temperature,
when the switching signals of the x-phase four power switches are Sx1,Sx2,Sx3,Sx3]＝[0,1,1,0]When the temperature of the water is higher than the set temperature,
when the switching signals of the x-phase four power switches are Sx1,Sx2,Sx3,Sx3]＝[0,0,1,1]When the temperature of the water is higher than the set temperature,
the expected voltage of y-phase calculated according to the switch signal can be obtained
wherein, TspIs the sampling period; l is the equivalent inductance of the alternating current side of the rectifier; ex(k) And Ey(k) The voltages of the x-phase and y-phase cross current sides of the rectifier respectively; i isx(k) And Iy(k) The current at the x-phase and y-phase cross current sides of the rectifier respectively;
Wherein epsilon (k) is a voltage unbalance factor of the upper and lower capacitors on the direct current side, and is defined as:
wherein f (t) ═ sgnt is a sign function; when t >0, f (t) is 1; when t is 0, f (t) is 0; and when t is less than 0, f (t) is-1.
3. The method for diagnosing the open circuit fault of the three-phase three-level rectifier power switching device according to claim 1, wherein in the step S2:
the voltage residual error delta V is judged according to the following formulaxy(k) Polarity d ofxy(k)：
Wherein, V is a residual threshold value, and the value range is (0, 1); t is a time threshold value and takes a positive integer.
4. The method for diagnosing the open circuit fault of the three-phase three-level rectifier power switching device according to claim 1, wherein in the step S3:
dividing a diagnosis area R (k) according to the grid voltage phase theta (k) and obtaining a current diagnosable power switch set P1The method of (2) is as follows:
when theta is equal to [0, pi/3), R is equal to 1, P1∈{A2,B1,C2}；
When theta is epsilon [ pi/3, 2 pi/3), R is 2, P1∈{A2,B1,C1}；
When theta is larger than 2 pi/3, pi), R is 3, P1∈{A2,B2,C1}；
When theta is epsilon [ pi, 4 pi/3), R is 4, P1∈{A1,B2,C1}；
When theta is larger than 4 pi/3, 5 pi/3), R is 5, P1∈{A1,B2,C2}；
When theta is larger than 5 pi/3, 2 pi), R is 6, P1∈{A1,B1,C2}。
5. The method for diagnosing the open circuit fault of the three-phase three-level rectifier power switching device according to claim 1, wherein in the step S4:
switching signal G comprised by a set of switching signalsa,Gb,Gc]The correspondence with its label G is as follows:
if G is 1, no switching signal is represented, namely, fault injection is not carried out;
if G is 2, [ G ]a,Gb,Gc]＝[P,P,P](ii) a If G is 3, [ G ]a,Gb,Gc]＝[N,N,N]；
If G is 4, [ G ]a,Gb,Gc]＝[P,P,N](ii) a If G is 5, [ G ]a,Gb,Gc]＝[N,P,P]；
If G is 6, [ G ]a,Gb,Gc]＝[P,N,N](ii) a If G is 7, [ G ]a,Gb,Gc]＝[N,N,P]；
If G is 8, [ G ]a,Gb,Gc]＝[P,N,P](ii) a If G is 9, [ G ]a,Gb,Gc]＝[N,P,N]；
Wherein G isxP represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[1,1,0,0]，GxO represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[0,1,1,0]，GxN represents the switching signal of the given x-phase four power switches as Gx1,Gx2,Gx3,Gx3]＝[0,0,1,1]，x＝a,b,c。
6. The method for diagnosing the open-circuit fault of the three-phase three-level rectifier power switching device according to claim 1, wherein the fault injection strategy designed in the step S5 is as follows:
first, according to the currently diagnosable power switch set P1Sum voltage residual polarity dxy(k) Bridge arm F for judging most possible open circuit fault at present1The method of including two power switches and selecting the injected fault G is as follows:
when P is present1∈{A2,B1,C2When the position is right:
if d isab＝-1,dbc＝0,dcaWhen 1, then F1＝A2And G ═ 7; if d isab＝-1,dbc＝1,dcaIf 0, then F1＝B1And G ═ 2; if d isab＝0,dbc＝1,dcaWhen is equal to-1, then F1＝C2And G ═ 6;
when P is present1∈{A2,B1,C1When the position is right:
if d isab＝-1,dbc＝0,dcaWhen 1, then F1＝A2And G ═ 3; if d isab＝-1,dbc＝1,dcaIf 0, then F1＝B1And G ═ 4; if d isab＝0,dbc＝-1,dcaWhen 1, then F1＝C1And G ═ 8;
when P is present1∈{A2,B2,C1When the position is right:
if d isab＝-1,dbc＝0,dcaWhen 1, then F1＝A2And G ═ 9; if d isab＝1,dbc＝-1,dcaIf 0, then F1＝B2And G ═ 6; if d isab＝0,dbc＝-1,dcaWhen 1, then F1＝C1And G ═ 2;
when P is present1∈{A1,B2,C1When the position is right:
if d isab＝1,dbc＝0,dcaWhen is equal to-1, then F1＝A1And G ═ 4; if d isab＝1,dbc＝-1,dcaIf 0, then F1＝B2And G ═ 3; if d isab＝0,dbc＝-1,dcaWhen 1, then F1＝C1And G ═ 5;
when P is present1∈{A1,B2,C2When the position is right:
if d isab＝1,dbc＝0,dcaWhen is equal to-1, then F1＝A1And G ═ 2; if d isab＝1,dbc＝-1,dcaIf 0, then F1＝B2And G ═ 7; if d isab＝0,dbc＝1,dcaWhen is equal to-1, then F1＝C2And G ═ 9;
when P is present1∈{A1,B1,C2When the position is right:
if d isab＝1,dbc＝0,dcaWhen is equal to-1, then F1＝A1And G ═ 8; if d isab＝-1,dbc＝1,dcaIf 0, then F1＝B1And G ═ 5; if d isab＝0,dbc＝1,dcaWhen is equal to-1, then F1＝C2And G ═ 3;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is givena,Gb,Gc]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation modulea,Sb,Sc]To control the switching on and off of the rectifier power switch, Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]The fault injection process lasts two sampling periods.
7. The method for diagnosing the open-circuit fault of the three-phase three-level rectifier power switching device according to claim 1, wherein the fault injection strategy designed in the step S6 is as follows:
firstly, according to the bridge arm P where the known fault is located2Electricity, electricityResidual voltage polarity dxy(k) And a diagnosis area R (k) judges that the bridge arm F possibly has open circuit fault at present1Or bridge arm set F2And the method of selecting the injected fault G is as follows:
when P is present2＝A1The method comprises the following steps:
if d isab＝-1,dbc＝0,dcaWhen R is 1, F2＝A2And G ═ 7; if d isab＝-1,dbc＝0,dcaWhen R is 1 and R is 2, F2＝A2And G ═ 3; if d isab＝-1,dbc＝0,dcaWhen R is 1, then F2＝A2And G ═ 9; if d isbcWhen 1, then F2∈{B1,C29 and G ═ 9; if d isbcWhen is equal to-1, then F2∈{B2,C1And G ═ 5;
when P is present2＝A2The method comprises the following steps:
if d isab＝1,dbc＝0,dcaIf R is 4, then F2＝A1And G ═ 4; if d isab＝1,dbc＝0,dcaR is 5, then F2＝A1And G ═ 2; if d isab＝1,dbc＝0,dcaWhen R is 6, then F2＝A1And G ═ 8; if d isbcWhen 1, then F2∈{B1,C2And G ═ 4; if d isbcWhen is equal to-1, then F2∈{B2,C1And G ═ 8;
when P is present2＝B1The method comprises the following steps:
if d isab＝1,dbc＝-1,dca0, R is 3, then F2＝B2And G ═ 6; if d isab＝1,dbc＝-1,dca0, R4, then F2＝B2And G ═ 3; if d isab＝1,dbc＝-1,dcaWhen R is equal to 5, F2＝B2And G ═ 7; if d iscaWhen 1, then F2∈{C1,A27 and G ═ 7; if d iscaWhen is equal to-1, then F2∈{C2,A1And G ═ 6;
when P is present2＝B2The method comprises the following steps:
if d isab＝-1,dbc＝1,dca0, R is 6, then F2＝B1And G ═ 5; if d isab＝-1,dbc＝1,dca0, R1, then F2＝B1And G ═ 2; if d isab＝-1,dbc＝1,dca0, R2, then F2＝B1And G ═ 4; if d iscaWhen 1, then F2∈{C1,A2And G ═ 5; if d iscaWhen is equal to-1, then F2∈{C2,A1And G ═ 4;
when P is present2＝C1The method comprises the following steps:
if d isab＝0,dbc＝1,dcaR is 5, then F2＝C2And G ═ 9; if d isab＝0,dbc＝1,dcaWhen R is 6, then F2＝C2And G ═ 3; if d isab＝0,dbc＝1,dcaIf R is 1, then F2＝C2And G ═ 6; if d isabWhen 1, then F2∈{A1,B2And G ═ 6; if d isabWhen is equal to-1, then F2∈{A2,B19 and G ═ 9;
when P is present2＝C2The method comprises the following steps:
if d isab＝0,dbc＝-1,dcaWhen R is 1 and R is 2, F2＝C1And G ═ 8; if d isab＝0,dbc＝-1,dcaWhen R is 1, then F2＝C1And G ═ 2; if d isab＝0,dbc＝-1,dcaWhen R is 1, then F2＝C1And G ═ 5; if d isabWhen 1, then F2∈{A1,B2And G ═ 8; if d isabWhen is equal to-1, then F2∈{A2,B1And G ═ 5;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is givena,Gb,Gc]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation modulea,Sb,Sc]To control the rectificationOn and off of the power switch of the device, Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]The fault injection process lasts two sampling periods.
8. The method for diagnosing the open-circuit fault of the power switching device of the three-phase three-level rectifier according to claim 1, wherein the fault injection strategy for distinguishing the faults of the internal power switch and the external power switch designed in the step S8 and the diagnosis method based on the fault injection strategy are as follows:
first, an injected fault G is selected based on the diagnosis result F in step S7 and fault injection is performed, that is, the switching signal [ G ] represented by G is givena,Gb,Gc]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation modulea,Sb,Sc]To control the switching on and off of the rectifier power switch, Sa＝[Sa1,Sa2,Sa3,Sa3]、Sb＝[Sb1,Sb2,Sb3,Sb3]、Sc＝[Sc1,Sc2,Sc3,Sc3]The fault injection process lasts for two sampling periods;
next, a fault indicating variable D is calculated during fault injection in step S7xy(k) (ii) a Selecting the injected fault G according to the bridge arm F where the fault is positioned, and indicating a variable D through the faultxy(k) Obtaining a diagnostic result FxjThe method of (2) is as follows:
if F is equal to A1Then G ═ 6, during fault injection:
if min { | Dab|,|DcaIf 0.5, then Fa11 is ═ 1; if | Dab|＝1&&|DcaIf 1, then Fa2＝1；
If F is equal to A2G ═ 5, during fault injection:
if min { | Dab|,|DcaIf 0.5, then Fa41 is ═ 1; if | Dab|＝1&&|DcaIf 1, then Fa3＝1；
If F is equal to B1G ═ 9, during fault injection:
if min { | Dab|,|DbcIf 0.5, then Fb11 is ═ 1; if | Dab|＝1&&|DbcIf 1, then Fb2＝1；
If F is equal to B2G ═ 8, during fault injection:
if min { | Dab|,|DbcIf 0.5, then Fb41 is ═ 1; if | Dab|＝1&&|DbcIf 1, then Fb3＝1；
If F ═ C1Then G ═ 7, during fault injection:
if min { | Dbc|,|DcaIf 0.5, then Fc11 is ═ 1; if | Dbc|＝1&&|DcaIf 1, then Fc2＝1；
If F ═ C2G ═ 4, during fault injection:
if min { | Dbc|,|DcaIf 0.5, then Fc41 is ═ 1; if | Dbc|＝1&&|DcaIf 1, then Fc3＝1。
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