CN114167303B - 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 a current sampling moment k, and improving a normalized interphase voltage residual error calculation method to obtain a voltage residual error delta V adopting a quantitative calculation method and adding a direct-current side capacitor voltage unbalance factor xy (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 judgment method based on a residual error threshold value V and a time threshold value T xy (k) Polarity d of xy (k)；
S3, dividing a diagnosis area R (k) according to the power grid voltage phase theta (k) and obtaining a current diagnosable power switch set P 1 ；
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 set a ,G b ,G c ]Replaces the switching signal S sent by the original modulation module a ,S b ,S c ]The rectifier is controlled to realize the maximization of fault characteristics;
s5, if no known fault exists currently, according to the currently diagnosable power switch set P 1 Sum voltage residual polarity d xy (k) Bridge arm F for judging most possible open circuit fault at present 1 Bridge arm F 1 Comprising two power switches according to the duty cycle 1 The power switch in (1) is turned on to make P 1 Removing F from 1 Designing 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 is located 2 Voltage residual polarity d xy (k) And a diagnosis area R (k) for judging the bridge arm F possibly having open-circuit fault at present 1 Or bridge arm set F 2 Bridge arm set F 2 Comprising four power switches according to the order of F 2 The power switch in (1) is turned on to make P 2 According 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 V xy (k) Calculating a fault indicating variable D xy (k) Accordingly, for the fault power switch/fault bridge arm F xj F, x = a, b, c, j =1,2,3,4;
and S8, if the fault power switch cannot be positioned and only the bridge arm where the fault power switch is located can be determined in the step S7, namely the fault of the inner power switch and the fault of the outer power switch in the bridge arm cannot be distinguished, designing a fault injection strategy and an internal and external power switch fault distinguishing method based on the fault injection strategy according to a fault injection principle that the internal and external power switches have different fault characteristics and the fault characteristics are maximized under the same switch signal.
Further, in the 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 equation xy (k)：
Wherein, I x (k) And I y (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->
Quantifying and adding the interphase voltage after the unbalanced factor of the direct current side capacitor voltage;
wherein, V dc1 (k) And V dc2 (k) The voltages of the upper capacitor and the lower capacitor on the direct current side of the rectifier respectively;
is x-phase calculation from the switching signalThe desired voltage. When the switching signals of the x-phase four power switches are S x1 ,S x2 ,S x3 ,S x3 ]＝[1,1,0,0]When, is greater or less>
When the switching signals of the x-phase four power switches are S x1 ,S x2 ,S x3 ,S x3 ]＝[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 S x1 ,S x2 ,S x3 ,S x3 ]＝[0,0,1,1]When the temperature of the water is higher than the set temperature,
similarly, the desired pole voltage ^ calculated by the y-phase on the basis of the switching signal can be obtained>
wherein, T sp Is the sampling period; l is equivalent inductance on the alternating current side of the rectifier; e x (k) And E y (k) The voltages of the x-phase and y-phase cross current sides of the rectifier respectively; I.C. A x (k) And I y (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) =1; when t =0, f (t) =0; when t is less than 0, f (t) = -1.
Further, in step S2 of the present invention:
the voltage residual error delta V is judged according to the following formula xy (k) Polarity d of xy (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 P 1 The method of (2) is as follows:
when θ ∈ [0, π/3)), R =1,P 1 ∈{A 2 ,B 1 ,C 2 }；
When θ ∈ [ pi/3, 2 pi/3)), R =2,p 1 ∈{A 2 ,B 1 ,C 1 }；
When θ ∈ [2 π/3, π), R =3 1 ∈{A 2 ,B 2 ,C 1 }；
When θ ∈ [ pi, 4 pi/3)), R =4,p 1 ∈{A 1 ,B 2 ,C 1 }；
When θ ∈ [4 π/3,5 π/3)), R =5 1 ∈{A 1 ,B 2 ,C 2 }；
When θ ∈ [5 π/3,2 π)), R =6,P 1 ∈{A 1 ,B 1 ,C 2 }。
Further, in step S4 of the present invention:
switching signal G comprised by a set of switching signals a ,G b ,G c ]The correspondence with its label G is as follows:
if G =1, no switching signal is represented, namely, no fault injection is carried out;
if G =2, [ G ] a ,G b ,G c ]＝[P,P,P](ii) a If G =3, [ G ] a ,G b ,G c ]＝[N,N,N]；
If G =4, [ G ] a ,G b ,G c ]＝[P,P,N](ii) a If G =5, [ G ] a ,G b ,G c ]＝[N,P,P]；
If G =6, [ G ] a ,G b ,G c ]＝[P,N,N](ii) a If G =7, [ G ] a ,G b ,G c ]＝[N,N,P]；
If G =8, [ G ] a ,G b ,G c ]＝[P,N,P](ii) a If G =9, [ G ] a ,G b ,G c ]＝[N,P,N]；
Wherein G is x = P represents a switching signal of [ G ] for a given x-phase four power switches x1 ,G x2 ,G x3 ,G x3 ]＝[1,1,0,0]，G x = O represents switching signal G for four power switches of given x-phase x1 ,G x2 ,G x3 ,G x3 ]＝[0,1,1,0]，G x = N represents switching signal G for four power switches of given x-phase x1 ,G x2 ,G x3 ,G x3 ]＝[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 P 1 And voltage residuePoor polarity d xy (k) Bridge arm F for judging most possible open-circuit fault at present 1 The method of including two power switches and selecting the injected fault G is as follows:
when P is present 1 ∈{A 2 ,B 1 ,C 2 When the position is right:
if d is ab ＝-1,d bc ＝0,d ca If not 1, then F 1 ＝A 2 And G =7; if d is ab ＝-1,d bc ＝1,d ca If not less than 0, then F 1 ＝B 1 And G =2; if d is ab ＝0,d bc ＝1,d ca =1, then F 1 ＝C 2 And G =6;
when P is present 1 ∈{A 2 ,B 1 ,C 1 When the position is right:
if d is ab ＝-1,d bc ＝0,d ca =1, then F 1 ＝A 2 And G =3; if d is ab ＝-1,d bc ＝1,d ca If not less than 0, then F 1 ＝B 1 And G =4; if d is ab ＝0,d bc ＝-1,d ca If not 1, then F 1 ＝C 1 And G =8;
when P is present 1 ∈{A 2 ,B 2 ,C 1 When the position is right:
if d is ab ＝-1,d bc ＝0,d ca If not 1, then F 1 ＝A 2 And G =9; if d is ab ＝1,d bc ＝-1,d ca If not less than 0, then F 1 ＝B 2 And G =6; if d is ab ＝0,d bc ＝-1,d ca If not 1, then F 1 ＝C 1 And G =2;
when P is present 1 ∈{A 1 ,B 2 ,C 1 When the position is right:
if d is ab ＝1,d bc ＝0,d ca =1, then F 1 ＝A 1 And G =4; if d is ab ＝1,d bc ＝-1,d ca If not less than 0, then F 1 ＝B 2 And G =3; if d is ab ＝0,d bc ＝-1,d ca If not 1, then F 1 ＝C 1 And G =5;
when P is present 1 ∈{A 1 ,B 2 ,C 2 When the position is right:
if d is ab ＝1,d bc ＝0,d ca =1, then F 1 ＝A 1 And G =2; if d is ab ＝1,d bc ＝-1,d ca If not less than 0, then F 1 ＝B 2 And G =7; if d is ab ＝0,d bc ＝1,d ca =1, then F 1 ＝C 2 And G =9;
when P is present 1 ∈{A 1 ,B 1 ,C 2 When the position is right:
if d is ab ＝1,d bc ＝0,d ca =1, then F 1 ＝A 1 And G =8; if d is ab ＝-1,d bc ＝1,d ca If not less than 0, then F 1 ＝B 1 And G =5; if d is ab ＝0,d bc ＝1,d ca =1, then F 1 ＝C 2 And G =3;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is given a ,G b ,G c ]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation module a ,S b ,S c ]To control the switching on and off of the rectifier power switch, S a ＝[S a1 ,S a2 ,S a3 ,S a3 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b3 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c3 ]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 located 2 Voltage residual polarity d xy (k) And the diagnosis area R (k) judges whether the bridge arm F possibly has open circuit fault at present 1 Or bridge arm set F 2 And the method of selecting the injected fault G is as follows:
when P is present 2 ＝A 1 The method comprises the following steps:
if d is ab ＝-1,d bc ＝0,d ca =1, r =1, then F 2 ＝A 2 And G =7; if d is ab ＝-1,d bc ＝0,d ca If =1,R =2, then F 2 ＝A 2 And G =3; if d is ab ＝-1,d bc ＝0,d ca If =1,R =3, F 2 ＝A 2 And G =9; if d is bc If not 1, then F 2 ∈{B 1 ,C 2 And G =9; if d is bc =1, then F 2 ∈{B 2 ,C 1 And G =5;
when P is present 2 ＝A 2 The method comprises the following steps:
if d is ab ＝1,d bc ＝0,d ca If =1,R =4, F 2 ＝A 1 And G =4; if d is ab ＝1,d bc ＝0,d ca If =1,R =5, F 2 ＝A 1 And G =2; if d is ab ＝1,d bc ＝0,d ca =1,R =6, then F 2 ＝A 1 And G =8; if d is bc =1, then F 2 ∈{B 1 ,C 2 And G =4; if d is bc =1, then F 2 ∈{B 2 ,C 1 And G =8;
when P is present 2 ＝B 1 The method comprises the following steps:
if d is ab ＝1,d bc ＝-1,d ca If =0, R =3, then F 2 ＝B 2 And G =6; if d is ab ＝1,d bc ＝-1,d ca If =0, R =4, then F 2 ＝B 2 And G =3; if d is ab ＝1,d bc ＝-1,d ca If =0, R =5, then F 2 ＝B 2 And G =7; if d is ca =1, then F 2 ∈{C 1 ,A 2 And G =7; if d is ca =1, then F 2 ∈{C 2 ,A 1 And G =6;
when P is present 2 ＝B 2 The method comprises the following steps:
if d is ab ＝-1,d bc ＝1,d ca If =0,R =6, F 2 ＝B 1 And G =5; if d is ab ＝-1,d bc ＝1,d ca If =0, R =1, then F 2 ＝B 1 And G =2; if d is ab ＝-1,d bc ＝1,d ca ＝0,R＝2, then F 2 ＝B 1 And G =4; if d is ca If not 1, then F 2 ∈{C 1 ,A 2 And G =5; if d is ca =1, then F 2 ∈{C 2 ,A 1 And G =4;
when P is 2 ＝C 1 The method comprises the following steps:
if d is ab ＝0,d bc ＝1,d ca If =1,R =5, F 2 ＝C 2 And G =9; if d is ab ＝0,d bc ＝1,d ca =1,R =6, then F 2 ＝C 2 And G =3; if d is ab ＝0,d bc ＝1,d ca (ii) = -1,R =1, then F 2 ＝C 2 And G =6; if d is ab If not 1, then F 2 ∈{A 1 ,B 2 And G =6; if d is ab =1, then F 2 ∈{A 2 ,B 1 And G =9;
when P is present 2 ＝C 2 The method comprises the following steps:
if d is ab ＝0,d bc ＝-1,d ca If =1,R =2, then F 2 ＝C 1 And G =8; if d is ab ＝0,d bc ＝-1,d ca If =1,R =3, F 2 ＝C 1 And G =2; if d is ab ＝0,d bc ＝-1,d ca If =1,R =4, F 2 ＝C 1 And G =5; if d is ab If not 1, then F 2 ∈{A 1 ,B 2 And G =8; if d is ab =1, then F 2 ∈{A 2 ,B 1 And G =5;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is given a ,G b ,G c ]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation module a ,S b ,S c ]To control the switching on and off of the rectifier power switch, S a ＝[S a1 ,S a2 ,S a3 ,S a3 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b3 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c3 ]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, which are 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, a switching signal [ G ] represented by G is given a ,G b ,G c ]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation module a ,S b ,S c ]To control the switching on and off of the rectifier power switch, S a ＝[S a1 ,S a2 ,S a3 ,S a3 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b3 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c3 ]The fault injection process lasts for two sampling periods;
next, during fault injection, a fault indication variable D is calculated in step S7 xy (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 fault xy (k) Obtaining a diagnostic result F xj The method of (2) is as follows:
if F = A 1 G =6, during fault injection:
if min { | D ab |,|D ca L =0.5, then F a1 =1; if | D ab |＝1&&|D ca If | =1, then F a2 ＝1；
If F = A 2 G =5, during fault injection:
if min { | D ab |,|D ca I } =0.5, then F a4 =1; if | D ab |＝1&&|D ca If | =1, then F a3 ＝1；
If F = B 1 G =9, during fault injection:
if min { | D ab |,|D bc I } =0.5, then F b1 =1; if | D ab |＝1&&|D bc If | =1, then F b2 ＝1；
If F = B 2 G =8, during fault injection:
if min { | D ab |,|D bc I } =0.5, then F b4 =1; if | D ab |＝1&&|D bc If | =1, then F b3 ＝1；
If F = C 1 G =7, during fault injection:
if min { | D bc |,|D ca L =0.5, then F c1 =1; if | D bc |＝1&&|D ca If | =1, then F c2 ＝1；
If F = C 2 G =4, during fault injection:
if min { | D bc |,|D ca L =0.5, then F c4 =1; if | D bc |＝1&&|D ca If | =1, then F c3 ＝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 unbalanced direct current capacitor voltage 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 calculation error of diagnosis variables caused by low sampling precision, low sampling frequency, noise and voltage fluctuation on the direct current side, 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 invention a2 And S b3 And (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 rectifier a (k)、E b (k)、E c (k) Three-phase current (I) a (k)、I b (k)、I c (k) And the DC side upper and lower capacitor voltage (V) dc1 (k) And V dc2 (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 outputs each power by the comparison linkControl signal [ S ] of rate switch a ,S b ,S c ](S a ＝[S a1 ,S a2 ,S a3 ,S a3 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b3 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c3 ]) 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 ,S a2 ,S a3 ,S a3 ]＝[1,1,0,0]When the temperature of the water is higher than the set temperature,
when a phase switching signal [ S ] a1 ,S a2 ,S a3 ,S a3 ]＝[0,1,1,0]When, is greater or less>
When a phase switching signal [ S ] a1 ,S a2 ,S a3 ,S a3 ]＝[0,0,1,1]When, is greater or less>
Similarly, when the b-phase switching signal [ S ] b1 ,S b2 ,S b3 ,S b3 ]＝[1,1,0,0]When, is greater or less>
When the phase b is switched on or off b1 ,S b2 ,S b3 ,S b3 ]＝[0,1,1,0]When, is greater or less>
When the phase b is switched on or off b1 ,S b2 ,S b3 ,S b3 ]＝[0,0,1,1]In combination of time>
actual value of interphase voltage of a-phase and b-phase
Wherein, T sp Is 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 phase ab (k)：
Wherein, I is a current threshold value, and the maximum value of the amplitude of the phase current at the alternating current side is taken2.5% of the total. Similarly, calculating the residual value delta V of the inter-phase voltage of the phase b and the phase c bc (k) And residual value of inter-phase voltage Δ V of phase c and phase a ca (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 d ab (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 calculated bc (k) And the voltage residual polarities d of the c-phase and the a-phase ca (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 set a ,G b ,G c ]The correspondence relationship with the reference symbol G is shown in table 2. Wherein G is x = P represents a switching signal of [ G ] for a given x-phase four power switches x1 ,G x2 ,G x3 ,G x3 ]＝[1,1,0,0]，G x = O represents switching signal G for four power switches of given x-phase x1 ,G x2 ,G x3 ,G x3 ]＝[0,1,1,0]，G x N denotes the switching signal of four power switches of a given x phase of [2 ]G x1 ,G x2 ,G x3 ,G x3 ]＝[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 d ab (k)、d bc (k)、d ca (k) If the conditions shown in table 3 are satisfied, selecting the injected fault G according to table 3; otherwise G =1, no fault injection is performed and no open-circuit fault is currently indicated.
TABLE 3 absence of fault injection under known faults
S5.3. If the known fault exists currently
If known faulty leg P 2 And voltage residual polarity d ab (k)、d bc (k)、d ca (k) And the diagnostic region R (k) satisfies the conditions shown in table 4, selecting the injected fault G according to table 4; otherwise G =1, no fault injection is performed and no open-circuit fault is currently indicated.
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 G a ,G b ,G c ]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation module a ,S b ,S c ](S a ＝[S a1 ,S a2 ,S a3 ,S a3 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b3 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c3 ]) 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 injection ab (k)：
Similarly, calculating a fault indication variable D between the phases b and c bc (k) And a fault indicating variable D between phase c and phase a ca (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 D ab (k)、D bc (k)、D ca (k) If the conditions shown in Table 5 are met, the faulty power switch/faulty bridge arm F is positioned according to Table 5 xj a/F; otherwise, the open-circuit fault does not exist currently. In the table, F xj =0 illustrates the power switch S in the rectifier xj No open circuit fault, F xj =1 illustrates power switch S in rectifier xj An open circuit 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 S8 xj If =0 and F indicates the arm in which 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 is ab (k)、D bc (k)、D ca (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, a power switch S a2 And a power switch S b3 An open circuit fault occurs. First, the voltage residual polarity satisfies d ab ＝1,d bc ＝0,d ca =1, and the current diagnostic region R =4, then fault G is injected according to tables 2 and 3 a ,G b ,G c ]＝[P,P,N](G = 4) for two sampling periods. Calculating a fault indication variable which satisfies D in a sampling period after fault injection ab ＝0.5,D bc ＝0,D ca And = 0.5. From Table 5, it can be seen that the fault power switch is in arm A 1 But because of bridge arm A 1 Power switch S in a1 And S a2 All can make the fault indication variable satisfy the above conditions, so that the fault cannot be accurately positioned. According to Table 6, fault is injected again [ G ] a ,G b ,G c ]＝[P,N,N](G = 6). And calculating a fault indication variable, which satisfies | D, one sampling period after the fault injection ab |＝1&&|D ca L =1. Therefore, as can be seen from Table 6, power switch S a2 An open circuit fault occurs. When the power switch S is known a2 After a fault, residual polarity d due to voltage bc = -1, inject fault G according to table 4 a ,G b ,G c ]＝[N,N,P](G = 7). Calculating a fault indication variable which satisfies D in a sampling period after fault injection ab ＝1,D bc ＝-1D ca And =0. Thus, from Table 5, it can be seen that the power switch S b3 An open circuit fault occurs. The results prove that the diagnosis method provided by the invention can be used for rapidly positioning the open-circuit faults of the three-phase three-level rectifier power switch device, including single faults and multiple faults, can be used for accurately distinguishing the fault conditions of the same bridge arm power switch with similar fault characteristics, and 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 a current sampling moment k, and improving a normalized interphase voltage residual error calculation method to obtain a voltage adopting a quantitative calculation method and adding a direct-current side capacitor voltage unbalance factorResidual error Δ V xy (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 judgment method based on a residual error threshold V and a time threshold T xy (k) Polarity d of xy (k)；
S3, dividing a diagnosis area R (k) according to the grid voltage phase theta (k) and obtaining a current diagnosable power switch set P 1 ；
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 set a ,G b ,G c ]Replaces the switching signal S sent by the original modulation module a ,S b ,S c ]The rectifier is controlled to realize the maximization of fault characteristics;
s5, if no known fault exists at present, according to the currently diagnosable power switch set P 1 Sum voltage residual polarity d xy (k) Bridge arm F for judging most possible open circuit fault at present 1 Bridge arm F 1 Comprising two power switches according to the duty ratio F 1 The power switch in (1) is turned on to make P 1 Removing F 1 Designing 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 is located 2 Voltage residual polarity d xy (k) And a diagnosis area R (k) for judging the bridge arm F possibly having open-circuit fault at present 1 Or bridge arm set F 2 Bridge arm set F 2 Comprising four power switches according to the order of F 2 The power switch in (1) is turned on to make P 2 According 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;
step S7, during fault injection, according to voltage residual error delta V xy (k) Calculating a fault indicating variable D xy (k) Accordingly, for the fault power switch/fault bridge arm F xj /F is carried outIdentifying and locating, x = a, b, c, j =1,2,3,4;
and S8, if the fault power switch cannot be positioned and only the bridge arm where the fault power switch is located can be determined in the step S7, namely the fault of the inner power switch and the fault of the outer power switch in the bridge arm cannot be distinguished, designing a fault injection strategy and an internal and external power switch fault distinguishing method based on the fault injection strategy according to a fault injection principle that the internal and external power switches 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 power switching device of the three-phase three-level rectifier 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 equation xy (k)：
Wherein, I x (k) And I y (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, V dc1 (k) And V dc2 (k) The voltages of the upper capacitor and the lower capacitor on the direct current side of the rectifier respectively;
is the desired voltage of the x-phase calculated from the switching signal; when the switching signals of the x-phase four power switches are S x1 ,S x2 ,S x3 ,S x4 ]＝[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 S x1 ,S x2 ,S x3 ,S x4 ]＝[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 S x1 ,S x2 ,S x3 ,S x4 ]＝[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, T sp Is the sampling period; l is the equivalent inductance of the alternating current side of the rectifier; e x (k) And E y (k) The voltages of the x-phase and y-phase cross current sides of the rectifier respectively; i is x (k) And I y (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) = sgn (t) is a sign function; when t >0, f (t) =1; when t =0, f (t) =0; when t <0, f (t) = -1.
3. 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 in the step S2:
the voltage residual error delta V is judged according to the following formula xy (k) Polarity d of xy (k)：
Wherein V is a residual error 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 power switching device of the three-phase three-level rectifier 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 P 1 The method of (2) is as follows:
when θ ∈ [0, π/3)), R =1,P 1 ∈{A 2 ,B 1 ,C 2 }；
When θ ∈ [ pi/3, 2 pi/3)), R =2,p 1 ∈{A 2 ,B 1 ,C 1 }；
When θ ∈ [2 π/3, π)), R =3 1 ∈{A 2 ,B 2 ,C 1 }；
When θ ∈ [ pi, 4 pi/3)), R =4,p 1 ∈{A 1 ,B 2 ,C 1 }；
When θ ∈ [4 π/3,5 π/3), R =5,P 1 ∈{A 1 ,B 2 ,C 2 }；
When θ ∈ [5 π/3,2 π)), R =6,P 1 ∈{A 1 ,B 1 ,C 2 }。
5. 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 in the step S4:
switching signal G comprised by a set of switching signals a ,G b ,G c ]The correspondence with its label G is as follows:
if G =1, no switching signal is represented, namely, no fault injection is carried out;
if G =2, [ G ] a ,G b ,G c ]＝[P,P,P](ii) a If G =3, [ G ] a ,G b ,G c ]＝[N,N,N]；
If G =4, [ G ] a ,G b ,G c ]＝[P,P,N](ii) a If G =5, [ G ] a ,G b ,G c ]＝[N,P,P]；
If G =6, [ G ] a ,G b ,G c ]＝[P,N,N](ii) a If G =7, [ G ] a ,G b ,G c ]＝[N,N,P]；
If G =8, [ G ] a ,G b ,G c ]＝[P,N,P](ii) a If G =9, [ G ] a ,G b ,G c ]＝[N,P,N]；
Wherein G is x = P represents a switching signal of [ G ] for a given x-phase four power switches x1 ,G x2 ,G x3 ,G x4 ]＝[1,1,0,0]，G x = O represents switching signal G for four power switches of given x-phase x1 ,G x2 ,G x3 ,G x4 ]＝[0,1,1,0]，G x = N represents switching signal G for four power switches of given x-phase x1 ,G x2 ,G x3 ,G x4 ]＝[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 4, wherein the fault injection strategy designed in the step S5 is as follows:
first, according to the currently diagnosable power switch set P 1 Sum voltage residual polarity d xy (k) Bridge arm F for judging most possible open circuit fault at present 1 The method of including two power switches and selecting the injected fault G is as follows:
when P is present 1 ∈{A 2 ,B 1 ,C 2 In time:
if d is ab ＝-1,d bc ＝0,d ca If not 1, then F 1 ＝A 2 And G =7; if d is ab ＝-1,d bc ＝1,d ca If not less than 0, then F 1 ＝B 1 And G =2; if d is ab ＝0,d bc ＝1,d ca =1, then F 1 ＝C 2 And G =6;
when P is 1 ∈{A 2 ,B 1 ,C 1 When the position is right:
if d is ab ＝-1,d bc ＝0,d ca If not 1, then F 1 ＝A 2 And G =3; if d is ab ＝-1,d bc ＝1,d ca If not less than 0, then F 1 ＝B 1 And G =4; if d is ab ＝0,d bc ＝-1,d ca If not 1, then F 1 ＝C 1 And G =8;
when P is present 1 ∈{A 2 ,B 2 ,C 1 In time:
if d is ab ＝-1,d bc ＝0,d ca If not 1, then F 1 ＝A 2 And G =9; if d is ab ＝1,d bc ＝-1,d ca If not less than 0, then F 1 ＝B 2 And G =6; if d is ab ＝0,d bc ＝-1,d ca If not 1, then F 1 ＝C 1 And G =2;
when P is present 1 ∈{A 1 ,B 2 ,C 1 When the position is right:
if d is ab ＝1,d bc ＝0,d ca =1, then F 1 ＝A 1 And G =4; if d is ab ＝1,d bc ＝-1,d ca =0, then F 1 ＝B 2 And G =3; if d is ab ＝0,d bc ＝-1,d ca If not 1, then F 1 ＝C 1 And G =5;
when P is present 1 ∈{A 1 ,B 2 ,C 2 When the position is right:
if d is ab ＝1,d bc ＝0,d ca =1, then F 1 ＝A 1 And G =2; if d is ab ＝1,d bc ＝-1,d ca If not less than 0, then F 1 ＝B 2 And G =7; if d is ab ＝0,d bc ＝1,d ca =1, then F 1 ＝C 2 And G =9;
when P is present 1 ∈{A 1 ,B 1 ,C 2 In time:
if d is ab ＝1,d bc ＝0,d ca =1, then F 1 ＝A 1 And G =8; if d is ab ＝-1,d bc ＝1,d ca If not less than 0, then F 1 ＝B 1 And G =5; if d is ab ＝0,d bc ＝1,d ca =1, then F 1 ＝C 2 And G =3;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is given a ,G b ,G c ]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation module a ,S b ,S c ]To control the switching on and off of the rectifier power switch, S a ＝[S a1 ,S a2 ,S a3 ,S a4 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b4 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c4 ]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 4, 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 located 2 Voltage residual polarity d xy (k) And the diagnosis area R (k) judges that the bridge arm F possibly has open circuit fault at present 1 Or bridge arm set F 2 And the method of selecting the injected fault G is as follows:
when P is present 2 ＝A 1 The method comprises the following steps:
if d is ab ＝-1,d bc ＝0,d ca =1,R =1, then F 2 ＝A 2 And G =7; if d is ab ＝-1,d bc ＝0,d ca If =1,R =2, then F 2 ＝A 2 And G =3; if d is ab ＝-1,d bc ＝0,d ca If =1,R =3, F 2 ＝A 2 And G =9; if d is bc If not 1, then F 2 ∈{B 1 ,C 2 And G =9; if d is bc =1, then F 2 ∈{B 2 ,C 1 And G =5;
when P is 2 ＝A 2 The method comprises the following steps:
if d is ab ＝1,d bc ＝0,d ca If =1,R =4, F 2 ＝A 1 And G =4; if d is ab ＝1,d bc ＝0,d ca If =1,R =5, F 2 ＝A 1 And G =2; if d is ab ＝1,d bc ＝0,d ca =1,R =6, then F 2 ＝A 1 And G =8; if d is bc If not 1, then F 2 ∈{B 1 ,C 2 And G =4; if d is bc =1, then F 2 ∈{B 2 ,C 1 And G =8;
when P is present 2 ＝B 1 When the method is used:
if d is ab ＝1,d bc ＝-1,d ca If =0, R =3, then F 2 ＝B 2 And G =6; if d is ab ＝1,d bc ＝-1,d ca If =0, R =4, then F 2 ＝B 2 And G =3; if d is ab ＝1,d bc ＝-1,d ca If =0, R =5, then F 2 ＝B 2 And G =7; if d is ca If not 1, then F 2 ∈{C 1 ,A 2 And G =7; if d is ca =1, then F 2 ∈{C 2 ,A 1 And G =6;
when P is present 2 ＝B 2 The method comprises the following steps:
if d is ab ＝-1,d bc ＝1,d ca If =0,R =6, F 2 ＝B 1 And G =5; if d is ab ＝-1,d bc ＝1,d ca If =0, R =1, then F 2 ＝B 1 And G =2; if d is ab ＝-1,d bc ＝1,d ca If =0, R =2, then F 2 ＝B 1 And G =4; if d is ca If not 1, then F 2 ∈{C 1 ,A 2 And G =5; if d is ca =1, then F 2 ∈{C 2 ,A 1 And G =4;
when P is present 2 ＝C 1 When the method is used:
if d is ab ＝0,d bc ＝1,d ca If =1,R =5, F 2 ＝C 2 And G =9; if d is ab ＝0,d bc ＝1,d ca =1,R =6, then F 2 ＝C 2 And G =3; if d is ab ＝0,d bc ＝1,d ca (ii) = -1,R =1, then F 2 ＝C 2 And G =6; if d is ab If not 1, then F 2 ∈{A 1 ,B 2 And G =6; if d is ab =1, then F 2 ∈{A 2 ,B 1 And G =9;
when P is present 2 ＝C 2 The method comprises the following steps:
if d is ab ＝0,d bc ＝-1,d ca If =1,R =2, then F 2 ＝C 1 And G =8; if d is ab ＝0,d bc ＝-1,d ca If =1,R =3, F 2 ＝C 1 And G =2; if d is ab ＝0,d bc ＝-1,d ca If =1,R =4, F 2 ＝C 1 And G =5; if d is ab If not 1, then F 2 ∈{A 1 ,B 2 And G =8; if d is ab =1, then F 2 ∈{A 2 ,B 1 And G =5;
second, a selected fault is injected, i.e. the switching signal [ G ] for which G is given a ,G b ,G c ]To a rectifier, replacing the switching signal [ S ] emitted by the original modulation module a ,S b ,S c ]To control the switching on and off of the rectifier power switch, S a ＝[S a1 ,S a2 ,S a3 ,S a4 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b4 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c4 ]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 4, wherein the fault injection strategy for distinguishing the faults of the internal and external power switches 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, a switching signal [ G ] represented by G is given a ,G b ,G c ]To a rectifier, instead of the switching signal emitted by the original modulation moduleNumber [ S ] a ,S b ,S c ]To control the switching on and off of the rectifier power switch, S a ＝[S a1 ,S a2 ,S a3 ,S a4 ]、S b ＝[S b1 ,S b2 ,S b3 ,S b4 ]、S c ＝[S c1 ,S c2 ,S c3 ,S c4 ]The fault injection process lasts for two sampling periods;
next, during fault injection, a fault indication variable D is calculated in step S7 xy (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 fault xy (k) Obtaining a diagnostic result F xj The method of (2) is as follows:
if F = A 1 G =6, during fault injection:
if min { | D ab |,|D ca L =0.5, then F a1 =1; if | D ab |＝1&&|D ca If | =1, then F a2 ＝1；
If F = A 2 G =5, during fault injection:
if min { | D ab |,|D ca I } =0.5, then F a4 =1; if | D ab |＝1&&|D ca If | =1, then F a3 ＝1；
If F = B 1 G =9, during fault injection:
if min { | D ab |,|D bc L =0.5, then F b1 =1; if | D ab |＝1&&|D bc If | =1, then F b2 ＝1；
If F = B 2 G =8, during fault injection:
if min { | D ab |,|D bc L =0.5, then F b4 =1; if | D ab |＝1&&|D bc If | =1, then F b3 ＝1；
If F = C 1 G =7, during fault injection:
if min { | D bc |,|D ca L =0.5, then F c1 =1; if | D bc |＝1&&|D ca If | =1, then F c2 ＝1；
If F = C 2 G =4, during fault injection:
if min { | D bc |,|D ca L =0.5, then F c4 =1; if | D bc |＝1&&|D ca If | =1, then F c3 ＝1。
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| CN106160533A (en) * | 2016-08-12 | 2016-11-23 | 大连理工大学 | A kind of pulse rectifier sensor fault fault tolerant control method based on sliding mode observer |
| CN111624514A (en) * | 2020-07-02 | 2020-09-04 | 南京师范大学 | Method for diagnosing short-circuit and open-circuit faults of switching tube of three-level rectifier |
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