CN114812655A - Fault diagnosis method and device for position sensor of rail locomotive - Google Patents
Fault diagnosis method and device for position sensor of rail locomotive Download PDFInfo
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Abstract
The invention relates to the technical field of rail transit transportation, and particularly provides a method and a device for diagnosing faults of a position sensor of a rail locomotive, wherein the method comprises the following steps: determining the running state of the rail locomotive based on the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive detected by the position sensor; fault diagnosis is carried out on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive; the method comprises the following steps of obtaining a position residual error and a rotating speed residual error of a driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode. The technical scheme provided by the invention can complete fault diagnosis at millisecond level, and is convenient for maintenance of the rail locomotive.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a method and a device for diagnosing faults of a position sensor of a rail locomotive.
Background
The railway transportation industry is the basic industry of national economy, occupies a key position in a transportation system, and plays a powerful supporting role in the development of the national economy. By taking typical industries such as steel, mines, petrifaction, ports and the like as examples, freight rail locomotives in enterprises are important components of industrial production and transportation operations.
In the field of freight rail locomotives, the freight rail locomotives are mainly divided into electric locomotives and internal combustion engine powered locomotives. 1) The conventional electric locomotive adopts a catenary electricity taking technical route, and is suitable for long-distance fixed line freight. However, in the field of working condition enterprises, particularly steel enterprises and other pipelines and bridges are more, the construction of erecting power lines and power taking devices on fixed lines is difficult, and factors such as production requirement line change are not beneficial to the application of the traditional contact power taking electric locomotive. 2) The internal combustion engine powered locomotive does not need to build a power supply network, so that the working condition enterprise freight locomotive almost completely adopts the scheme of the internal combustion engine powered locomotive, but the fuel cost and the operation and maintenance cost are high, and the environmental protection problem is particularly prominent. 3) A hybrid power rail locomotive is developed by a middle-sized vehicle and a resource sun plant, a traditional internal combustion engine is combined with a battery system, energy saving is realized by improving the generating power and energy efficiency of a low-power internal combustion engine, but the internal combustion engine still has the problems of environmental protection and emission and the maintenance workload is increased. The diesel locomotive is not required to be provided with a contact net along the railway, is not influenced by the environment, weather and power supply, and is widely used for internal railway transportation. However, the diesel locomotive has the defects of high pollution emission, high operation cost, poor locomotive performance and the like.
The motor is used as a main power source of the rail locomotive, and the main function of the motor is to convert electric energy into mechanical energy to drive the locomotive to run. The traction converter usually adopts vector control based on rotor magnetic field orientation, and can achieve the purpose of respectively controlling motor torque and flux linkage. Therefore, accurate acquisition of rotor position information is an indispensable link for vector control.
In a rail locomotive traction converter system, a resolver is typically employed to obtain rotor position information. However, the operating process of the rail locomotive often generates vibration and impact working conditions, which easily causes the problems of dislocation, disconnection, blocking and the like of the position sensor, and causes deviation faults, open circuit faults or failure faults of the position sensor. Failure of the position sensor may cause the magnetic field to be inaccurately oriented, resulting in the motor not outputting the desired drive torque, resulting in locomotive power failure or even a failed start.
To date, position sensor fault diagnosis techniques for rail locomotive traction converters have been less studied. The invention patent CN 112304608A discloses a method, a system and related components for diagnosing faults of a traction drive system in 10/2020, which proposes to extract electrical characteristic data and mechanical characteristic data to determine the fault type according to system status signals, but does not relate to fault diagnosis for a position sensor. The invention discloses a fault diagnosis method for a permanent magnet synchronous motor position sensor, which is published in 12 months in 2020 by patent CN 112039387A, and provides a position sensor fault diagnosis algorithm based on a sliding-mode observer. However, the sliding-mode observer can effectively observe the position only when the rotating speed of the motor is high, and is not suitable for the working condition of the rail locomotive with low operating rotating speed.
Disclosure of Invention
In order to overcome the defects, the invention provides a method and a device for diagnosing the fault of a position sensor of a rail locomotive.
In a first aspect, a method for diagnosing a fault of a position sensor of a rail locomotive is provided, which includes:
determining the running state of the rail locomotive based on the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive detected by the position sensor;
fault diagnosis is carried out on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
the method comprises the following steps of obtaining a position residual error and a rotating speed residual error of a driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode.
Optionally, the determining the operation state of the rail locomotive based on the detected position value and the detected speed value of the rotor of the driving motor of the rail locomotive detected by the position sensor includes:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
Further, the determining a torque detection value of the driving motor based on a rotor position detection value and a rotation speed detection value of the driving motor of the rail locomotive detected by the position sensor includes:
determining a direct-axis current value and a quadrature-axis current value of a stator of the driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor and a current value of a three-phase stator winding of the driving motor;
and determining a torque detection value of the driving motor based on the direct-axis current value and the quadrature-axis current value of the stator of the driving motor.
Further, the direct-axis current value and the quadrature-axis current value of the stator of the driving motor are calculated by the following formula:
in the above formula, the first and second carbon atoms are,i a 、i b 、i c are respectively driving motorsa、b、cThe value of the phase stator winding current,i d 、i q respectively is a direct-axis current value and a quadrature-axis current value of a stator of the driving motor,θ r is a rotor position detection value of the driving motor.
Further, the torque detection value of the drive motor is calculated by the following equation:
in the above-mentioned formula, the compound has the following structure,T e in order to detect the torque of the drive motor,n p in order to drive the number of pole pairs of the motor,Ψ f in order to drive the permanent magnet flux linkage of the motor,L d 、L q respectively a direct-axis inductance value and a quadrature-axis inductance value of the driving motor.
Further, the determining an operating state of the rail locomotive based on the torque residual includes:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
Optionally, the process of obtaining the position residual error and the rotational speed residual error of the driving motor rotor of the rail locomotive by using a high-frequency sinusoidal voltage signal injection mode includes:
drive the electric machine by means of a traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a rotor position estimated value and a rotating speed estimated value of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
Further, the high-frequency sinusoidal voltage signal is calculated as follows:
in the above formula, the first and second carbon atoms are,u αh andu βh are respectively a driving motorαShaft andβa high-frequency sinusoidal voltage signal of the shaft,V h is the amplitude of the high frequency sinusoidal voltage signal,ω h is the angular velocity of the high frequency sinusoidal voltage signal,tis the current time.
Further, the fault diagnosis of the position sensor of the rail locomotive based on the operation state of the rail locomotive and the residual error of the position and the rotation speed of the driving motor rotor of the rail locomotive comprises:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
In a second aspect, there is provided a position sensor fault diagnosis device for a rail locomotive, the position sensor fault diagnosis device comprising:
the determining module is used for determining the running state of the rail locomotive based on the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive detected by the position sensor;
the fault diagnosis module is used for carrying out fault diagnosis on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
the method comprises the following steps of obtaining a position residual error and a rotating speed residual error of a driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode.
Optionally, the determining module is specifically configured to:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
Further, the determining module is specifically configured to:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
Optionally, the process of obtaining the position residual error and the rotational speed residual error of the driving motor rotor of the rail locomotive by using a high-frequency sinusoidal voltage signal injection mode includes:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a position estimated value and a rotating speed estimated value of a rotor of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
Further, the fault diagnosis module is specifically configured to:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
In a third aspect, there is provided a rail locomotive comprising: a position sensor fault diagnosis device, a position sensor and a current sensor;
the position sensor fault diagnosis device is used for carrying out fault diagnosis on the position sensor of the rail locomotive based on a driving motor rotor position detection value, a rotating speed detection value and a three-phase stator winding current value, and reporting a fault diagnosis result to a vehicle control unit of the rail locomotive;
the position sensor is used for detecting a position detection value and a rotating speed detection value of a driving motor rotor of the rail locomotive;
and the current sensor is used for detecting the current value of the three-phase stator winding of the driving motor.
Preferably, the position sensor failure diagnosis device includes:
the information acquisition module is used for acquiring a position detection value and a rotating speed detection value of a driving motor rotor of the rail locomotive detected by the position sensor and a current value of a three-phase stator winding of the driving motor detected by the current sensor;
the information comparison module is used for judging the running state of the rail locomotive based on the rotor position detection value, the rotating speed detection value and the three-phase stator winding current value of the driving motor;
the fault diagnosis module is used for carrying out fault diagnosis on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
and the fault alarm module is used for uploading fault information to the vehicle control unit.
Further, the information comparing module is specifically configured to:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
Further, the information comparing module is specifically configured to:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
Further, the process of acquiring the position residual error and the rotating speed residual error of the driving motor rotor of the rail locomotive by adopting a high-frequency sinusoidal voltage signal injection mode comprises the following steps:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a position estimated value and a rotating speed estimated value of a rotor of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
Further, the fault diagnosis module is specifically configured to:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
In a fourth aspect, there is provided a computer device comprising: one or more processors;
the processor to store one or more programs;
the one or more programs, when executed by the one or more processors, implement the method for position sensor fault diagnosis for a rail locomotive.
In a fifth aspect, a computer readable storage medium having a computer program stored thereon, the computer program when executed, implementing the method for diagnosing a fault of a position sensor of a rail locomotive is provided.
One or more technical schemes of the invention at least have one or more of the following beneficial effects:
the invention provides a fault diagnosis method and a fault diagnosis device for a position sensor of a rail locomotive, which comprise the following steps: determining the running state of the rail locomotive based on the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive detected by the position sensor; fault diagnosis is carried out on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive; and obtaining the position residual error and the rotating speed residual error of the driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode. According to the technical scheme provided by the invention, the fault of the position sensor is diagnosed by adopting a high-frequency sinusoidal voltage signal injection method, the fault position type can be quickly locked by driving the position residual error and the rotating speed residual error of the motor rotor, the speed reaches millisecond level, and the maintenance of a rail locomotive is facilitated.
Drawings
FIG. 1 is a schematic flow chart of the main steps of a method for diagnosing a fault in a position sensor of a rail locomotive in accordance with an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a coaxial filter based rotor position and speed estimation according to an embodiment of the present invention;
fig. 3 is a main structural block diagram of a position sensor failure diagnosis apparatus of a rail locomotive according to an embodiment of the present invention;
fig. 4 is a detailed block diagram of a position sensor failure diagnosis apparatus of a rail locomotive according to an embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, fig. 1 is a flow chart illustrating the main steps of a method for diagnosing a fault of a position sensor of a rail locomotive according to an embodiment of the present invention. As shown in fig. 1, the method for diagnosing a fault of a position sensor of a rail locomotive according to an embodiment of the present invention mainly includes the following steps:
step S101: determining the running state of the rail locomotive based on the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive detected by the position sensor;
step S102: fault diagnosis is carried out on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
and obtaining the position residual error and the rotating speed residual error of the driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode.
In this case, the determining the operation state of the rail locomotive based on the detected position value and the detected speed value of the driving motor rotor of the rail locomotive detected by the position sensor includes:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
In one embodiment, the determining a torque detection value of a driving motor based on a driving motor rotor position detection value and a rotation speed detection value of a rail locomotive detected by a position sensor includes:
determining a direct-axis current value and a quadrature-axis current value of a stator of the driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor and a current value of a three-phase stator winding of the driving motor;
and determining a torque detection value of the driving motor based on the direct-axis current value and the quadrature-axis current value of the stator of the driving motor.
In one embodiment, the driving motor stator direct axis current value and quadrature axis current value are calculated by the following formula:
in the above formula, the first and second carbon atoms are,i a 、i b 、i c are respectively driving motorsa、b、cThe value of the phase stator winding current,i d 、i q respectively is a direct-axis current value and a quadrature-axis current value of a stator of the driving motor,θ r is a rotor position detection value of the driving motor.
In one embodiment, the torque detection value of the drive motor is calculated by the following equation:
in the above formula, the first and second carbon atoms are,T e in order to drive the torque detection value of the motor,n p in order to drive the number of pole pairs of the motor,Ψ f in order to drive the permanent magnet flux linkage of the motor,L d 、L q respectively a direct-axis inductance value and a quadrature-axis inductance value of the driving motor.
In one embodiment, the determining an operational status of the rail locomotive based on the torque residuals includes:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
In this case, the process of obtaining the position residual error and the rotation speed residual error of the driving motor rotor of the rail locomotive by adopting a high-frequency sinusoidal voltage signal injection mode includes:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a position estimated value and a rotating speed estimated value of a rotor of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
In one embodiment, the high frequency sinusoidal voltage signal is calculated as follows:
in the above formula, the first and second carbon atoms are,u αh andu βh are respectively driving motorsαShaft andβa high-frequency sinusoidal voltage signal of the shaft,V h is the amplitude of the high frequency sinusoidal voltage signal,ω h is the angular velocity of the high frequency sinusoidal voltage signal,tis the current time.
Further, the process of decomposing the high-frequency current signal by using the coaxial filter and obtaining the estimated value of the rotor position and the estimated value of the rotation speed of the driving motor, as shown in fig. 2, includes:
to the motor by means of a traction converterαβInjecting high-frequency sinusoidal voltage signal into axis static coordinate systemu αh 、u βh . Extracting with Band Pass Filter (BPF)αβThe high-frequency component of the shafting current is transformed into a shafting rotating synchronously with the injected high-frequency voltage vector through coordinate transformation, at the moment, the positive sequence component becomes direct current, and the negative sequence component becomes double frequency division of the high-frequency voltage signal. Then, a coaxial filter is used to filter out the positive sequence component, wherein a High Pass Filter (HPF) is used. And transforming the negative sequence component into a static shafting, wherein the transformation angle is 2 times of a high-frequency angle. And the rotor position estimated value and the rotating speed estimated value can be solved by adopting the arc tangent.
In one embodiment, the fault diagnosing a position sensor of a rail locomotive based on an operational state of the rail locomotive and a drive motor rotor position residual and a rotational speed residual of the rail locomotive comprises:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value, and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
Example 2
Based on the same inventive concept, the present invention further provides a position sensor fault diagnosis apparatus for a rail locomotive, as shown in fig. 3, the position sensor fault diagnosis apparatus for a rail locomotive includes:
the determining module is used for determining the running state of the rail locomotive based on the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive detected by the position sensor;
the fault diagnosis module is used for carrying out fault diagnosis on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
the method comprises the following steps of obtaining a position residual error and a rotating speed residual error of a driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode.
Optionally, the determining module is specifically configured to:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
Further, the determining a torque detection value of the driving motor based on a rotor position detection value and a rotation speed detection value of the driving motor of the rail locomotive detected by the position sensor includes:
determining a direct-axis current value and a quadrature-axis current value of a stator of the driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor and a current value of a three-phase stator winding of the driving motor;
and determining a torque detection value of the driving motor based on the direct-axis current value and the quadrature-axis current value of the stator of the driving motor.
Further, the direct-axis current value and the quadrature-axis current value of the stator of the driving motor are calculated by the following formula:
in the above formula, the first and second carbon atoms are,i a 、i b 、i c are respectively provided withFor driving an electric motora、b、cThe value of the phase stator winding current,i d 、i q respectively is a direct-axis current value and a quadrature-axis current value of a stator of the driving motor,θ r is a rotor position detection value of the driving motor.
Further, the torque detection value of the drive motor is calculated by the following equation:
in the above formula, the first and second carbon atoms are,T e in order to drive the torque detection value of the motor,n p in order to drive the number of the pole pairs of the motor,Ψ f in order to drive the permanent magnet flux linkage of the motor,L d 、L q respectively a direct-axis inductance value and a quadrature-axis inductance value of the driving motor.
Further, the determining module is specifically configured to:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
Optionally, the process of obtaining the position residual error and the rotational speed residual error of the driving motor rotor of the rail locomotive by using a high-frequency sinusoidal voltage signal injection mode includes:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a rotor position estimated value and a rotating speed estimated value of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
Further, the high-frequency sinusoidal voltage signal is calculated as follows:
in the above formula, the first and second carbon atoms are,u αh andu βh are respectively driving motorsαShaft andβa high-frequency sinusoidal voltage signal of the shaft,V h is the amplitude of the high frequency sinusoidal voltage signal,ω h is the angular velocity of the high frequency sinusoidal voltage signal,tis the current time.
Further, the fault diagnosis module is specifically configured to:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
Example 3
Based on the same inventive concept, the present invention also provides a rail locomotive, as shown in fig. 4, the rail locomotive comprising: a position sensor fault diagnosis device, a position sensor and a current sensor;
the position sensor fault diagnosis device is used for carrying out fault diagnosis on the position sensor of the rail locomotive based on a driving motor rotor position detection value, a rotating speed detection value and a three-phase stator winding current value, and reporting a fault diagnosis result to a vehicle control unit of the rail locomotive;
the position sensor is used for detecting a position detection value and a rotating speed detection value of a driving motor rotor of the rail locomotive;
and the current sensor is used for detecting the current value of the three-phase stator winding of the driving motor.
Preferably, the position sensor failure diagnosis device includes:
the information acquisition module is used for acquiring a position detection value and a rotating speed detection value of a driving motor rotor of the rail locomotive detected by the position sensor and a current value of a three-phase stator winding of the driving motor detected by the current sensor;
the information comparison module is used for judging the running state of the rail locomotive based on the rotor position detection value, the rotating speed detection value and the three-phase stator winding current value of the driving motor;
the fault diagnosis module is used for carrying out fault diagnosis on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
and the fault alarm module is used for uploading fault information to the vehicle control unit.
Further, the information comparing module is specifically configured to:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
Further, the determining a torque detection value of the driving motor based on a rotor position detection value and a rotation speed detection value of the driving motor of the rail locomotive detected by the position sensor includes:
determining a direct-axis current value and a quadrature-axis current value of a stator of the driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor and a current value of a three-phase stator winding of the driving motor;
and determining a torque detection value of the driving motor based on the direct-axis current value and the quadrature-axis current value of the stator of the driving motor.
Further, the direct-axis current value and the quadrature-axis current value of the stator of the driving motor are calculated by the following formula:
in the above formula, the first and second carbon atoms are,i a 、i b 、i c are respectively driving motorsa、b、cThe value of the phase stator winding current,i d 、i q respectively is a direct-axis current value and a quadrature-axis current value of a stator of the driving motor,θ r is a rotor position detection value of the driving motor.
Further, the torque detection value of the drive motor is calculated by the following equation:
in the above-mentioned formula, the compound has the following structure,T e in order to drive the torque detection value of the motor,n p in order to drive the number of the pole pairs of the motor,Ψ f in order to drive the permanent magnet flux linkage of the motor,L d 、L q respectively a direct-axis inductance value and a quadrature-axis inductance value of the driving motor.
Further, the information comparing module is specifically configured to:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
Further, the process of acquiring the position residual error and the rotating speed residual error of the driving motor rotor of the rail locomotive by adopting a high-frequency sinusoidal voltage signal injection mode comprises the following steps:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a position estimated value and a rotating speed estimated value of a rotor of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
Further, the high-frequency sinusoidal voltage signal is calculated as follows:
in the above formula, the first and second carbon atoms are,u αh andu βh are respectively driving motorsαShaft andβa high-frequency sinusoidal voltage signal of the shaft,V h is the amplitude of the high frequency sinusoidal voltage signal,ω h is the angular velocity of the high frequency sinusoidal voltage signal,tis the current time.
Further, the fault diagnosis module is specifically configured to:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
Example 4
Based on the same inventive concept, the present invention also provides a computer apparatus comprising a processor and a memory, the memory being configured to store a computer program comprising program instructions, the processor being configured to execute the program instructions stored by the computer storage medium. The Processor may be a Central Processing Unit (CPU), or may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable gate array (FPGA) or other Programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc., which is a computing core and a control core of the terminal, and is specifically adapted to implement one or more instructions, and to load and execute one or more instructions in a computer storage medium to implement a corresponding method flow or a corresponding function, so as to implement the steps of the method for diagnosing the fault of the position sensor of the rail locomotive in the above embodiments.
Example 5
Based on the same inventive concept, the present invention further provides a storage medium, in particular a computer readable storage medium (Memory), which is a Memory device in a computer device and is used for storing programs and data. It is understood that the computer readable storage medium herein can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space storing an operating system of the terminal. Also, one or more instructions, which may be one or more computer programs (including program code), are stored in the memory space and are adapted to be loaded and executed by the processor. It should be noted that the computer-readable storage medium may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory. One or more instructions stored in a computer readable storage medium may be loaded and executed by a processor to implement the steps of a method for diagnosing a fault in a position sensor of a rail locomotive according to one of the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (22)
1. A method of diagnosing a fault in a position sensor of a rail vehicle, the method comprising:
determining the running state of the rail locomotive based on the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive detected by the position sensor;
fault diagnosis is carried out on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
the method comprises the following steps of obtaining a position residual error and a rotating speed residual error of a driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode.
2. The method of claim 1, wherein determining the operating condition of the rail vehicle based on the detected position and detected speed of the drive motor rotor of the rail vehicle as detected by the position sensor comprises:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
3. The method of claim 2, wherein determining a torque detection value for the drive motor based on a drive motor rotor position detection value and a rotational speed detection value for the rail vehicle detected by the position sensor comprises:
determining a direct-axis current value and a quadrature-axis current value of a stator of the driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor and a current value of a three-phase stator winding of the driving motor;
and determining a torque detection value of the driving motor based on the direct-axis current value and the quadrature-axis current value of the stator of the driving motor.
4. The method of claim 3, wherein the drive motor stator direct current value and quadrature current value are calculated as follows:
in the above formula, the first and second carbon atoms are,i a 、i b 、i c are respectively driving motorsa、b、cThe value of the phase stator winding current,i d 、i q respectively is a direct-axis current value and a quadrature-axis current value of a stator of the driving motor,θ r is a rotor position detection value of the driving motor.
5. The method according to claim 4, wherein the torque detection value of the drive motor is calculated as follows:
in the above formula, the first and second carbon atoms are,T e in order to drive the torque detection value of the motor,n p in order to drive the number of the pole pairs of the motor,Ψ f in order to drive the permanent magnet flux linkage of the motor,L d 、L q respectively a direct-axis inductance value and a quadrature-axis inductance value of the driving motor.
6. The method of claim 2, wherein said determining an operational status of the rail locomotive based on the torque residual comprises:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
7. The method of claim 1, wherein obtaining a drive motor rotor position residual and a rotational speed residual of the rail vehicle using high frequency sinusoidal voltage signal injection comprises:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a position estimated value and a rotating speed estimated value of a rotor of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
8. The method of claim 7, wherein the high frequency sinusoidal voltage signal is calculated as follows:
in the above formula, the first and second carbon atoms are,u αh andu βh are respectively driving motorsαShaft andβa high-frequency sinusoidal voltage signal of the shaft,V h is the amplitude of the high frequency sinusoidal voltage signal,ω h is the angular velocity of the high frequency sinusoidal voltage signal,tis the current time.
9. The method of claim 6, wherein said fault diagnosing a position sensor of a rail locomotive based on an operating condition of the rail locomotive and a drive motor rotor position residual and a rotational speed residual of the rail locomotive comprises:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value, and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
10. A position sensor fault diagnostic apparatus for a rail locomotive, the apparatus comprising:
the determining module is used for determining the running state of the rail locomotive based on a position detection value and a rotating speed detection value of a driving motor rotor of the rail locomotive detected by a position sensor;
the fault diagnosis module is used for carrying out fault diagnosis on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
the method comprises the following steps of obtaining a position residual error and a rotating speed residual error of a driving motor rotor of the rail locomotive in a high-frequency sinusoidal voltage signal injection mode.
11. The apparatus of claim 10, wherein the determination module is specifically configured to:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
12. The apparatus of claim 11, wherein the determination module is specifically configured to:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
13. The apparatus of claim 10, wherein the process of obtaining a drive motor rotor position residual and a rotational speed residual of the rail vehicle using high frequency sinusoidal voltage signal injection comprises:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a position estimated value and a rotating speed estimated value of a rotor of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
14. The apparatus of claim 12, wherein the fault diagnosis module is specifically configured to:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
15. A rail vehicle, characterized in that it comprises: a position sensor fault diagnosis device, a position sensor and a current sensor;
the position sensor fault diagnosis device is used for carrying out fault diagnosis on the position sensor of the rail locomotive based on a driving motor rotor position detection value, a rotating speed detection value and a three-phase stator winding current value, and reporting a fault diagnosis result to a vehicle control unit of the rail locomotive;
the position sensor is used for detecting a position detection value and a rotating speed detection value of a driving motor rotor of the rail locomotive;
and the current sensor is used for detecting the current value of the three-phase stator winding of the driving motor.
16. The rail locomotive of claim 15, wherein the position sensor fault diagnostic device comprises:
the information acquisition module is used for acquiring a position detection value and a rotating speed detection value of a driving motor rotor of the rail locomotive detected by the position sensor and a current value of a three-phase stator winding of the driving motor detected by the current sensor;
the information comparison module is used for judging the running state of the rail locomotive based on the rotor position detection value, the rotating speed detection value and the three-phase stator winding current value of the driving motor;
the fault diagnosis module is used for carrying out fault diagnosis on a position sensor of the rail locomotive based on the running state of the rail locomotive and the residual errors of the position and the rotating speed of a driving motor rotor of the rail locomotive;
and the fault alarm module is used for uploading fault information to the vehicle control unit.
17. The rail locomotive according to claim 16, wherein the information comparison module is specifically configured to:
determining a torque detection value of a driving motor based on a position detection value and a rotating speed detection value of a rotor of the driving motor of the rail locomotive detected by a position sensor;
taking the difference between the torque target value and the torque detection value of the driving motor as a torque residual error;
determining an operating state of the rail locomotive based on the torque residuals.
18. The rail locomotive according to claim 17, wherein the information comparison module is specifically configured to:
if the torque residual is not larger than the torque threshold, the rail locomotive is in a normal running state, otherwise, the rail locomotive is in an abnormal running state.
19. The rail vehicle of claim 18, wherein the process of obtaining a drive motor rotor position residual and a rotational speed residual of the rail vehicle using high frequency sinusoidal voltage signal injection comprises:
drive motor by traction converterαβInjecting high-frequency sinusoidal voltage signal into the axis static coordinate system, and extracting the secondary driving motorαβExtracting a high-frequency current signal from an axis static coordinate system;
decomposing the high-frequency current signal by using a coaxial filter, and acquiring a position estimated value and a rotating speed estimated value of a rotor of a driving motor;
and taking the difference between the rotor position detection value and the rotor position estimation value of the driving motor as a position residual error, and taking the difference between the rotating speed detection value and the rotating speed estimation value of the driving motor as a rotating speed residual error.
20. The rail locomotive according to claim 19, wherein the fault diagnosis module is specifically configured to:
when the rail locomotive is in an abnormal operation state, if the position residual error is not larger than a position threshold value, the position sensor of the rail locomotive has no deviation fault, otherwise, the position sensor of the rail locomotive has a deviation fault;
when the rail locomotive is in an abnormal operation state, if the rotating speed residual error is not greater than a rotating speed threshold value, the position sensor of the rail locomotive does not have an open-circuit fault, otherwise, the position sensor of the rail locomotive has an open-circuit fault;
when the rail locomotive is in an abnormal operation state, if the position detection value and the rotating speed detection value of the driving motor rotor of the rail locomotive, which are detected by the position sensor, are both 0, the position residual error is greater than the position threshold value and the rotating speed residual error is greater than the rotating speed threshold value, the position sensor of the rail locomotive fails, otherwise, the position sensor of the rail locomotive does not fail.
21. A computer device, comprising: one or more processors;
the processor to store one or more programs;
the one or more programs, when executed by the one or more processors, implement the method of position sensor fault diagnosis for a rail locomotive of any of claims 1 to 9.
22. A computer-readable storage medium, having stored thereon a computer program which, when executed, carries out a method of diagnosing a fault in a position sensor of a rail vehicle according to any one of claims 1 to 9.
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