CN114859282A - Double salient pole motor current sensor signal loss fault diagnosis method - Google Patents
Double salient pole motor current sensor signal loss fault diagnosis method Download PDFInfo
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Abstract
The invention relates to a double salient pole motor current sensor signal loss fault diagnosis method. The method is provided with a current sensor group for acquiring the phase current of the doubly salient motor and a fault detection expression for signal loss of a current sensor in the current sensor group, and when any current sensor is subjected to fault diagnosis, a fault detection flag bit F is detected de And when the number of the rotating speed information is 1, acquiring the rotating speed information of the doubly salient motor, and judging that the current sensor in the current sensor group is in a signal loss fault state when the doubly salient motor is determined to be in a rotating speed increasing state according to the acquired rotating speed information. The method can effectively realize fault diagnosis of the signal loss of the double salient pole motor current sensor and improve the precision and reliability of the fault diagnosis.
Description
Technical Field
The invention relates to a current sensor fault diagnosis method, in particular to a double salient pole motor current sensor signal loss fault diagnosis method.
Background
A common control strategy for double salient pole motor drive systems is rotating speed current double closed loop control, where the current closed loop requires accurate phase current feedback information. The signal loss fault of the current sensor is represented as that the output of the sensor is constantly 0, and when the signal loss fault of the current sensor exists, the double salient pole motor driving system is influenced as follows: an overcurrent is generated, which seriously affects the system performance.
On the other hand, when the body of the doubly salient motor proposed by the existing research literature is in an open-circuit fault and/or the power tube is in an open-circuit fault, the output of the current sensor is also 0, namely the output value of the current sensor is the same as the output value of the current sensor when the signal of the current sensor is lost and the fault-tolerant control is based on accurate fault positioning. Therefore, how to accurately diagnose the signal loss fault of the current sensor is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a double salient pole motor current sensor signal loss fault diagnosis method which can effectively realize fault diagnosis of double salient pole motor current sensor signal loss and improve the precision and reliability of fault diagnosis.
According to the technical scheme provided by the invention, the double salient pole motor current sensor signal loss fault diagnosis method,
the method comprises the steps of configuring a current sensor group for obtaining a phase current of a doubly salient motor and configuring a fault detection expression of a current sensor in the current sensor group, wherein the configured fault detection expression of the current sensor is as follows:
F de ＝T F ∩F Z
wherein, F de For fault detection of flag bits, T F Determination of the flag for the duration of the fault detection, F Z Judging a flag bit for the equivalent zero current threshold;
flag bit T for judging fault detection duration F And an equivalent zero current threshold judgment flag bit F Z Then, there are:
wherein the content of the first and second substances,t is the duration of fault detection for a current sensor, δ 1 For the fault detection time threshold, i is the current value output by a current sensor in the current sensor group, Z 0 Is an equivalent zero current threshold, Z 0 >0；
When fault diagnosis is carried out on any current sensor, a fault detection flag bit F de And when the number of the rotating speed information is 1, acquiring the rotating speed information of the doubly salient motor, and judging that the current sensor in the current sensor group is in a signal loss fault state when the doubly salient motor is determined to be in a rotating speed increasing state according to the acquired rotating speed information.
For fault detection time threshold delta 1 Then, there are:
wherein k is 1 Is a positive integer, T s Is the current sampling period of the current sensor, T m The current of a rotor of a doubly salient motor rises from 0 to an equivalent zero current threshold Z when starting in a sector 0 Time of (d).
For time T m Then, there are:
wherein L is pmax Is the maximum self-inductance of the motor, L pmin Is the minimum value of self-inductance of the motor, R is the internal resistance of the armature winding of the motor, U dc Is the dc bus voltage.
Determining a fault detection flag F de And when the current fault is 1, determining that the double salient pole motor is in a rotating speed reduction state according to the acquired rotating speed information, and judging that the current fault is an inverter fault or an open-circuit fault of a phase winding of the double salient pole motor.
When the doubly salient motor is determined to be in a rotating speed increasing state or a rotating speed decreasing state according to the rotating speed information, the method comprises the following steps:
Δn＝n(t 0 +k w T w )-n(t 0 )
where Δ n is the amount of change in rotation speed, t 0 Flag bit F for fault detection de Time k corresponding to 1 w Is a positive integer, T w A rotating speed sampling period; n (t) 0 ) Is t 0 Value of the rotational speed at the moment, n (t) 0 +k w T w ) Is t 0 +k w T w A value of the rotational speed at a moment;
when Δ n>n th Determining that the doubly salient motor is in a rotating speed increasing state; when Δ n<-n th Determining that the doubly salient motor is in a rotating speed reduction state; n is th Is a rotational speed threshold.
Positive integer k w Then, there are:
wherein, T n To detect flag bit F from a fault de 1 to the time corresponding to the rotor commutation of the doubly salient motor, θ n Flag bit F for fault detection de 1, p is the number of pole pairs of a rotor of the doubly salient motor, n' is the steady-state rotating speed, k is the difference value of the corresponding electrical angle to the phase change moment w1 Is a positive integer.
The DC bus voltage U dc The current sensor group at least comprises two current sensors, and the two current sensors are respectively in adaptive connection with corresponding windings of the doubly salient motor.
The inverter comprises a power tube T 1 Power tube T 2 Power tube T 3 Power tube T 4 Power tube T 5 And a power tube T 6 Wherein, in the step (A),
power tube T 1 Collector terminal, power tube T 3 Collector terminal and power tube T 5 Collector and DC bus voltage U dc Is connected with the positive terminal of the power tube T 1 Emitter terminal and power tube T 4 And one end of the A-phase winding of the doubly salient motor is connected withA power tube T 3 Emitter terminal and power tube T 6 Is connected with one end of a B-phase winding of the doubly salient motor, and a power tube T 5 Emitter terminal and power tube T 2 The collector end of the motor is connected with one end of a C-phase winding of the doubly salient motor, and the other end of the A-phase winding, the other end of the B-phase winding and the other end of the C-phase winding are connected with each other;
power tube T 4 Emitter terminal, power tube T 6 Emitter terminal and power tube T 2 Emitter terminal of the same voltage as the DC bus voltage U dc The negative ends of the two ends are connected in a matching way.
The power tube T 1 Emitter terminal and diode D 1 Is connected to the anode terminal of a diode D 1 Cathode terminal and power tube T 1 Is connected to the collector terminal of the power transistor T 3 Emitter terminal and diode D 3 Is connected to the anode terminal of a diode D 3 Is connected with the collector terminal of the power tube T3, the power tube T 5 Emitter terminal and diode D 5 Is connected to the anode terminal of a diode D 5 Cathode terminal and power tube T 5 Is connected with the collector terminal;
power tube T 4 Emitter terminal and diode D 4 Is connected to the anode terminal of a diode D 4 Cathode terminal and power tube T 4 Is connected to the collector terminal of the power transistor T 6 Emitter terminal and diode D 6 Is connected to the anode terminal of a diode D 6 Cathode terminal and power tube T 6 Is connected with the collector terminal; power tube T 2 Emitter terminal and diode D 2 Is connected to the anode terminal of a diode D 2 Cathode terminal and power tube T 2 Is connected to the collector terminal.
Also comprises a DC bus voltage U dc A filter capacitor C1 connected in parallel.
The invention has the advantages that: configuring a fault detection expression for the current sensors within the current sensor group, wherein the configured current sensor fault detection expression includes determining a flag bit T for a fault detection duration F And an equivalent zero current threshold judgment flag bit F Z (ii) a When fault diagnosis is carried out on any current sensor, a fault detection flag bit F de When the current state of the doubly salient motor is 1, the rotation speed information of the doubly salient motor is obtained, and when the rotation speed of the doubly salient motor is determined to be in a rotation speed increasing state according to the obtained rotation speed information, the current sensor in the current sensor group is judged to be in a signal loss fault state, so that the fault diagnosis of the signal loss of the doubly salient motor current sensor can be effectively realized, and the precision and the reliability of the fault diagnosis are improved.
Drawings
Fig. 1 is a flow chart of the fault diagnosis of the present invention.
Fig. 2 is an inverter topology of a doubly salient electric machine of the present invention.
Fig. 3 is a schematic diagram of inductance variation curve of a doubly salient motor during operation.
Fig. 4 is a logic state diagram of the operation of the power tube in the inverter.
Fig. 5 is a corresponding relationship diagram of phase current and rotation speed variation in the starting process of the double salient pole motor.
Fig. 6 is a specific flowchart for determining the fault location characteristic value according to the present invention.
Detailed Description
The invention is further illustrated by the following specific figures and examples.
As shown in fig. 1: in order to effectively realize fault diagnosis of signal loss of a double salient pole motor current sensor and improve the precision and reliability of fault diagnosis, the fault diagnosis method of the double salient pole motor current sensor comprises the following steps:
the method comprises the steps of configuring a current sensor group for obtaining a phase current of a doubly salient motor and configuring a fault detection expression of a current sensor in the current sensor group, wherein the configured fault detection expression of the current sensor is as follows:
F de ＝T F ∩F Z
wherein, F de For fault detection of flag bits, T F Determining a flag bit for the duration of the fault detection, F Z Judging a flag bit for the equivalent zero current threshold;
for fault detection durationJudgment zone bit T F And an equivalent zero current threshold judgment flag bit F Z Then, there are:
where t is the duration of fault detection for a current sensor, δ 1 For the fault detection time threshold, i is the current value output by a current sensor in the current sensor group, Z 0 Is an equivalent zero current threshold, Z 0 >0；
When fault diagnosis is carried out on any current sensor, a fault detection flag bit F de And when the number of the rotating speed information is 1, acquiring the rotating speed information of the doubly salient motor, and judging that the current sensor in the current sensor group is in a signal loss fault state when the doubly salient motor is determined to be in a rotating speed increasing state according to the acquired rotating speed information.
Specifically, the current sensor group is used for acquiring and outputting the phase current corresponding to the operation of the doubly salient motor, and the specific condition of the configured current sensor group is subject to the fact that the phase current of the doubly salient motor in the operation can be effectively acquired; when the phase current of the doubly salient motor during working is acquired through the current sensor group, the current closed-loop control of the doubly salient motor can be realized, and the diagnosis of the signal loss fault of the current sensor can also be realized. The phase windings of the doubly salient motor are generally connected in a star shape, and according to the current relationship of the star connection, only two current sensors may be included in a current sensor group, and in fig. 2, a specific implementation of the configured current sensor group is shown.
In fig. 2, the two current sensors are respectively connected with the a-phase winding and the C-phase winding of the doubly salient motor in a matching manner, and the two current sensors are LEM1 and LEM 2; the current sensor LEM1 and the current sensor LEM2 are matched with an A-phase winding and a C-phase winding of a doubly salient motor, and the current sensor LEM1 can be used for acquiring the phase current i of the A-phase winding a The phase current i of the C-phase winding can be obtained by using the current sensor LEM2 c Specifically, phase current i is acquired and outputted a Phase current i c The specific manner and process of the method can be consistent with the existing method, and are specifically selected according to actual needs, which are not described herein again. During specific work, the phase current relationship of the three-phase winding of the doubly salient motor is as follows: i.e. i a +i b +i c When phase current i is obtained as 0 a Phase current i c Then, phase current i of the B-phase winding can be obtained b 。
In specific implementation, the fault diagnosis of the signal loss of the double-salient-pole motor current sensor is specifically to perform fault diagnosis on two current sensors LEM1 and the current sensor LEM2 in a current sensor group so as to determine whether the current sensor LEM1 and/or the current sensor LEM2 are in a signal loss fault state.
When any current sensor is diagnosed to be in a signal loss fault, a fault detection expression needs to be configured first, wherein when fault diagnosis is carried out on two current sensors in a current sensor group, the same current sensor fault detection expression is adopted for detection and judgment.
In the embodiment of the invention, the configured fault detection expression of the current sensor is as follows: f de ＝T F ∩F Z Wherein, n is intersection operation, F de For fault detection of flag bits, T F Determining a flag bit for the duration of the fault detection, F Z The flag is determined for an equivalent zero current threshold, so that the flag T is determined only if the fault detection duration is exceeded F Is 1 and the equivalent zero current threshold value judges the flag bit F Z When also "1", the fault detection flag bit F de Is "1". When the fault detects flag bit F de When the value is 1, the fault condition of the whole double-salient-pole motor system is indicated, and when the fault detection flag bit F is detected de At 0, it can be generally considered that the double salient pole motor system operates without a failure.
Generally, fault diagnosis is performed on two current sensors in a current sensor group respectively, specifically, fault diagnosis is performed during a process of acquiring phase currents of corresponding phase windings by using the current sensors. In the embodiment of the present invention, for any current sensor, corresponding fault diagnosis needs to be performed according to the current detected and output by the current sensor, and when the fault detection flag is 1, it indicates that a fault exists, and as described above, it is not possible to directly determine whether the current sensor is a signal loss fault of the current sensor.
In specific implementation, when the fault detection flag bit F is determined by using the fault detection expression of the current sensor de When the number of the motor shaft is 1, the rotation speed information of the doubly salient motor also needs to be acquired, wherein the rotation speed information of the doubly salient motor can be acquired by adopting a rotation speed sensor and the like, and the specific method for acquiring the rotation speed information can be selected according to the requirement so as to be subject to the acquisition of the rotation speed information. After the rotating speed information is obtained, when the double-salient-pole motor is determined to be in a rotating speed increasing state according to the obtained rotating speed information, the current sensor in the current sensor group can be judged to be in a signal loss fault state.
The following flag bit F for judging equivalent zero current threshold Z And a fault detection duration judgment zone bit T F The case of (2) will be specifically described in detail.
FIG. 2 is a schematic diagram of the operating circuit of the doubly salient motor of the present invention, i.e. during operation, a DC bus voltage U is required to be provided dc The DC bus voltage U dc The inverter is connected with the double salient pole motor in a matching way. In addition, the voltage of the DC bus line U is also included dc Parallel filter capacitor C1, DC bus voltage U dc The mode and the process for controlling the operation of the doubly salient motor by matching the inverter with the doubly salient motor are consistent with those of the prior art.
Specifically, the inverter comprises a power tube T 1 Power tube T 2 Power tube T 3 Power tube T 4 Power tube T 5 And a power tube T 6 Wherein, in the step (A),
power tube T 1 Collector terminal, power tube T 3 Collector terminal and power tube T 5 Collector and DC bus voltage U dc Is connected with the positive terminal of the power tube T 1 Emitter terminal and power tube T 4 Is connected with one end of A-phase winding of doubly salient motor, and power tubeT 3 Emitter terminal and power tube T 6 A collector terminal of the power tube T is connected with one end of a B-phase winding of the doubly salient motor 5 Emitter terminal and power tube T 2 The collector end of the motor is connected with one end of a C-phase winding of the doubly salient motor, and the other end of the A-phase winding, the other end of the B-phase winding and the other end of the C-phase winding are connected with each other;
power tube T 4 Emitter terminal, power tube T 6 Emitter terminal and power tube T 2 Emitter terminal of the same voltage as the DC bus voltage U dc The negative ends of the two ends are connected in a matching way.
In the embodiment of the invention, the power tube T 1 Power tube T 6 May be an IGBT device, and generally, further includes a power transistor T 1 Power tube T 6 An adapted diode set, in particular:
the power tube T 1 Emitter terminal and diode D 1 Is connected to the anode terminal of a diode D 1 Cathode terminal and power tube T 1 Is connected to the collector terminal of the power transistor T 3 Emitter terminal and diode D 3 Is connected to the anode terminal of a diode D 3 Is connected with the collector terminal of the power tube T3, the power tube T 5 Emitter terminal and diode D 5 Is connected to the anode terminal of a diode D 5 Cathode terminal and power tube T 5 Is connected with the collector terminal;
power tube T 4 Emitter terminal and diode D 4 Is connected to the anode terminal of a diode D 4 Cathode terminal and power tube T 4 Is connected to the collector terminal of the power transistor T 6 Emitter terminal and diode D 6 Is connected to the anode terminal of a diode D 6 Cathode terminal and power tube T 6 Is connected with the collector terminal; power tube T 2 Emitter terminal and diode D 2 Is connected to the anode terminal of a diode D 2 Cathode terminal and power tube T 2 Is connected to the collector terminal.
Doubly salient machine inductance curves, as shown in fig. 3. The turn-on logic of the inverter, as shown in fig. 4; during specific work, one electrical angle period is divided into three conducting states, namelyIs otherwise T 1 T 2 →T 3 T 4 →T 5 T 6 . For convenience of description, 0-120 degrees are defined as sector 1, 120-240 degrees are defined as sector 2, and 240-360 degrees are defined as sector 3. When the doubly salient motor is started, the corresponding phase current and the corresponding rotating speed are shown in the figure 5.
As can be seen from the above description, the current that can be output by the current sensor LEM1 is i a_out Using the current i that can be output from the current sensor LEM2 c_out . According to the star connection matching of the three-phase windings, the sum of the three-phase currents is 0, so that the following results are obtained:
with reference to fig. 3 and 4, according to the inductance curve of the doubly salient motor, the current relationship of different sector phases in one electrical angle period of the doubly salient motor can be obtained:
sector 1: g 1 ＝1，G 2 ＝0，G 3 0, power tube T 1 And a power tube T 2 Conducting operation, power tube T 3 Power tube T 4 Power tube T 5 Power tube T 6 Are all in a closed state, the current is A + C-, | i | a |＝|i c |；
Sector 2: g 1 ＝0，G 2 ＝1，G 3 0, power tube T 3 And a power tube T 4 Conducting operation, power tube T 1 Power tube T 2 Power tube T 5 Power tube T 6 Are all in a closed state, the current is positive and negative B + A-, | i | b |＝|i a |；
Sector 3: g 1 ＝0，G 2 ＝0，G 3 1, power tube T 5 And a power tube T 6 Conducting operation, power tube T 1 Power tube T 2 Power tube T 3 Power tube T 4 Are all in an off state, the current is positive or negative C + B-, | i | c |＝|i b |。
Since three sectors are relatively independent, sector 1 is taken as an example for analysis, and the description can be referred to for the remaining two sectors. The loss of signal fault is represented by equation (2):
and the fault corresponding to the open circuit of the power tube in the inverter or the open circuit of the phase winding of the doubly salient motor is shown as the formula (3):
therefore, the comparison of equations (2) and (3) can obtain the same signal loss fault characteristics as the open-circuit fault characteristics of the power tube or the phase winding, so that further differentiation is needed.
As can be seen from the expressions (2) and (3), i is the time of failure a_out 0. Considering the situation that measurement errors exist in the measurement of the current sensor LEM1 and the measurement of the current sensor LEM2 in actual operation, after a fault occurs, the phase current i a_out And is not strictly 0. To prevent missed diagnosis, define Z 0 Is an equivalent zero current threshold, wherein Z 0 >0 and equivalent zero current threshold value Z 0 The specific situation of the current value when the doubly salient motor operates in the no-load state corresponds to the working parameter of the doubly salient motor, and the specific determination of the magnitude and the mode of the current value when the doubly salient motor operates in the no-load state are well known to those skilled in the art, and are not described herein again.
In conclusion, the equivalent zero current threshold judgment flag F is obtained Z Comprises the following steps:
where i is a current value output to the current fault diagnosis current sensor.
In specific implementation, during the starting process of the double-salient-pole motor, F also appears Z In the case of 1, the doubly salient machine is started in sector 1, as shown in fig. 4The rotating speed n is gradually increased from 0 to a given value, and the current i a Gradually increasing from 0 to a current maximum value, i b ＝0，i c Increasing from 0 inversely. Similarly, other sectors may be started up.
Therefore, the flag F is judged only by the equivalent zero current threshold Z Whether the current sensor is in a signal loss fault or not is judged, and the condition of misjudgment is easy to occur.
To solve the problem of using the equivalent zero current threshold value to judge the mark F Z In the embodiment of the invention, a fault detection time threshold delta is configured 1 Having a value of the sampling period T s Is an integer multiple of (1), the sampling period T s Is the sampling period for the current sensor output current. When a rotor of a doubly salient motor is started in a sector 1, starting current rises from 0 to an equivalent zero current threshold value Z 0 Time of (a) is T m Since the speed response speed is not as fast as the current response speed, the speed can be approximately considered to be 0 in the process.
From the circuit KVL, one obtains:
the current response is found to be:
wherein, R is the internal resistance of the armature winding of the motor, and tau is (La + Lc)/2R; referring to fig. 3, La + Lc in sector 1 is L pmax +L pmin Thereby obtaining a time T m ：
Wherein L is pmax Is the maximum self-inductance of the motor, L pmin Is the minimum value of self-inductance of the motor.
Maximum self-inductance L of motor pmax Minimum self-inductance L of motor pmin Is identical to the prior art, as shown in fig. 3, namely the maximum self-inductance L of the motor pmax Minimum self-inductance of motor L pmin The specific value can be determined by adopting the technical means in the technical field. When the double salient pole is started in sector 2 or 3, the current is increased from 0 to Z 0 Time T of m The same as in the above formula (7).
Combining the above analysis, a time threshold delta for fault detection 1 Then, there are:
in the formula, k 1 Is a positive integer. For positive integer k 1 Due to the sampling period T s As is known, the time T is determined using equation (7) m Then, the positive integer k can be specifically determined 1 。
Thus, the failure detection duration determination flag bit T can be obtained F ：
Further, the flag bit T is judged when the fault detection duration is obtained F And equivalent zero current threshold judgment flag F Z Then, it can be obtained that the configured current sensor fault detection expression is:
F de ＝T F ∩F Z (10)
according to the equation of motion and the equation of torque of the doubly salient motor, as shown in equations (11) and (12), T e Is an electromagnetic torque, T L Is the load torque, J is the moment of inertia, ω is the rotor angular velocity, a is the rotor acceleration, i f For exciting current, k pf Is the rate of change of mutual inductance.
During specific work, if the current sensor has a signal loss fault, the driving state is constantly 1 according to the current closed loop feedback effect, and the current loop is as follows: u shape dc → power tube T 1 → A phase winding → C phase winding → power tube T 2 Phase current (said phase current is i) a Or phase current i c ) Rise, T e Gradually increasing, obtainable according to formula (11), Ja>0, the rotating speed of the corresponding doubly salient motor is in an ascending trend. If the power tube or the phase winding has open-circuit fault, the driving state is constantly 1 according to the current closed-loop feedback function, but the A-phase winding and the C-phase winding cannot be connected with the DC power supply U dc Form a loop, current i p Continuously maintained at 0, T e 0, obtainable according to formula (11), Ja<0, the rotating speed of the corresponding doubly salient motor is in a descending trend.
In specific implementation, for accurately judging the variation trend of the rotating speed of the doubly salient motor and determining the variation trend of the rotating speed n of the doubly salient motor, a rotating speed difference value delta n and a fault positioning characteristic value F are defined loc Then, there are:
Δn＝n(t 0 +k w T w )-n(t 0 ) (13)
wherein, t 0 Flag bit F for fault detection de Time k corresponding to 1 w Is a positive integer, T w Is a rotational speed sampling period, n th Is a rotational speed threshold.
n(t 0 ) Is t 0 Value of the rotational speed at the moment, n (t) 0 +k w T w ) Is t 0 +k w T w The value of the rotational speed at the moment. Threshold value n of the rotational speed th Generally, the concentration of the surfactant can be set to 10r/min to 20 r/min. From the above analysis, it can be seen that under normal conditions, the fault location featureValue F loc 0; if the signal of the current sensor loses the fault, the fault location characteristic value F loc 2; if the power tube or the phase winding is in open-circuit fault, the fault location characteristic value F loc 1. Therefore, when fault diagnosis is carried out, the characteristic value F can be positioned according to the fault loc Determines the fault type of the doubly salient machine.
To select a suitable k w Considering that the speed of response of the rotational speed is slower than that of the current, the flag bit F is detected from the fault de Time T corresponding to rotor commutation of a doubly salient motor n The following formula:
wherein, theta n Flag bit F for fault detection de And p is the number of pole pairs of the rotor of the doubly salient motor, and n' is the steady-state rotating speed.
The steady state rotating speed n' is the obtained fault detection flag bit F de 1, the rotating speed value measured before. As known to those skilled in the art, the phase change time angle of the doubly salient motor is fixed, and the electrical angle difference theta can be directly obtained n Determining the electrical angle difference theta n The detailed process of the present invention will not be described herein.
Therefore, by the above equation (15), the time T can be calculated n . The time T can be obtained from the formula (15) n After that, the period T is sampled due to the rotation speed w Is known, and thus according to the time T n And the sampling period T of the rotating speed w Determining a positive integer k w A value range of (1), positive integer k w The value range is specifically as follows:
wherein k is w1 Is a positive integer.
In summary, it was determined that the variation of the rotation speed of the doubly salient motor tends toWhen potential, when Δ n>n th When the rotation speed of the doubly salient motor is in the rising trend, the rotation speed of the doubly salient motor can be determined; when Δ n<-n th And when the rotation speed of the doubly salient motor is determined to be in a descending trend.
Based on the above analysis, the flag bit F is detected when the fault occurs de When the rotation speed of the doubly salient motor is 1, if the rotation speed of the doubly salient motor is in an ascending trend, the fault is a signal loss fault of the current sensor. Determining a fault detection flag F de And when the current fault is 1, determining that the double salient pole motor is in a rotating speed reduction state according to the acquired rotating speed information, and judging that the current fault is an inverter fault or an open-circuit fault of a phase winding of the double salient pole motor.
Fig. 6 is a flow chart showing the fault diagnosis and the fault diagnosis type determination for the doubly salient motor, and the characteristic value F can be located according to the fault loc And determining the corresponding fault type of the doubly salient motor. Of course, according to the flow in fig. 6, determining the positive integer k is also given w The specific value process can determine the positive integer k through the process steps shown in fig. 6 w The value of (a).
Claims (10)
1. A double salient pole motor current sensor signal loss fault diagnosis method is characterized by comprising the following steps:
the method comprises the steps of configuring a current sensor group for obtaining a phase current of a doubly salient motor and configuring a fault detection expression of a current sensor in the current sensor group, wherein the configured fault detection expression of the current sensor is as follows:
F de ＝T F ∩F Z
wherein, F de For fault detection of flag bits, T F Determining a flag bit for the duration of the fault detection, F Z Judging a flag bit for the equivalent zero current threshold;
flag bit T for judging fault detection duration F And an equivalent zero current threshold judgment flag bit F Z Then, there are:
where t is the duration of fault detection for a current sensor, δ 1 For the fault detection time threshold, i is the current value output by a current sensor in the current sensor group, Z 0 To an equivalent zero current threshold, Z 0 ＞0；
When fault diagnosis is carried out on any current sensor, a fault detection flag bit F de And when the number of the detected rotating speed is 1, acquiring the rotating speed information of the doubly salient motor, and determining that the current sensor in the current sensor group is in a signal loss fault state when the doubly salient motor is determined to be in a rotating speed increasing state according to the acquired rotating speed information.
2. The double salient pole motor current sensor signal loss fault diagnosis method of claim 1, wherein a fault detection time threshold δ is detected 1 Then, there are:
wherein k is 1 Is a positive integer, T s Is the current sampling period of the current sensor, T m For a rotor of a doubly salient motor, the current rises from 0 to an equivalent zero current threshold Z at a start of a sector 0 Time of (d).
3. The doubly salient motor current sensor signal loss fault diagnosis method of claim 2, wherein T is a time T m Then, there are:
wherein L is pmax Is the maximum self-inductance of the motor, L pmin Is the minimum value of self-inductance of the motor, R is the internal resistance of the armature winding of the motor, U dc Is the dc bus voltage.
4. The double-salient-pole motor current sensor signal loss fault diagnosis method as claimed in any one of claims 1 to 3, wherein a fault detection flag F is determined de And when the current fault is 1, determining that the double salient pole motor is in a rotating speed reduction state according to the acquired rotating speed information, and judging that the current fault is an inverter fault or an open-circuit fault of a phase winding of the double salient pole motor.
5. The double salient pole motor current sensor signal loss fault diagnosis method as claimed in claim 4, wherein when it is determined that the double salient pole motor is in a rotation speed increasing state or a rotation speed decreasing state according to the rotation speed information, the method comprises the following steps:
Δn＝n(t 0 +k w T w )-n(t 0 )
where Δ n is the amount of change in rotation speed, t 0 Flag bit F for fault detection de Time k corresponding to 1 w Is a positive integer, T w A rotating speed sampling period; n (t) 0 ) Is t 0 Value of the rotational speed at the moment, n (t) 0 +k w T w ) Is t 0 +k w T w A value of the rotational speed at a moment;
when Δ n > n th Determining that the doubly salient motor is in a rotating speed increasing state; when Δ n < -n th Determining that the doubly salient motor is in a rotating speed reduction state; n is th Is a rotational speed threshold.
6. The double salient-pole motor current sensor signal loss fault diagnosis method of claim 5, wherein the positive integer k is w Then, there are:
wherein, T n To detect flag bit F from fault de 1 to the time corresponding to the rotor commutation of the doubly salient motor, θ n Flag bit F for fault detection de 1 to the difference value of the corresponding electrical angle from the phase change moment,p is the number of pole pairs of the rotor of the doubly salient motor, n' is the steady-state rotating speed, k w1 Is a positive integer.
7. The double salient pole motor current sensor signal loss fault diagnosis method of claim 3, wherein the direct current bus voltage U is U dc The current sensor group at least comprises two current sensors which are respectively connected with corresponding windings of the doubly salient motor in a matching way.
8. The doubly salient motor current sensor signal loss fault diagnosis method of claim 7, wherein the inverter comprises a power tube T 1 Power tube T 2 Power tube T 3 Power tube T 4 Power tube T 5 And a power tube T 6 Wherein, in the step (A),
power tube T 1 Collector terminal of (2), power tube T 3 Collector terminal and power tube T 5 Collector and DC bus voltage U dc Is connected with the positive terminal of the power tube T 1 Emitter terminal and power tube T 4 Is connected with one end of an A-phase winding of the doubly salient motor, and a power tube T 3 Emitter terminal and power tube T 6 Is connected with one end of a B-phase winding of the doubly salient motor, and a power tube T 5 Emitter terminal and power tube T 2 The collector end of the motor is connected with one end of a C-phase winding of the doubly salient motor, and the other end of the A-phase winding, the other end of the B-phase winding and the other end of the C-phase winding are connected with each other;
power tube T 4 Emitter terminal, power tube T 6 Emitter terminal and power tube T 2 Emitter terminal of the same voltage as the DC bus voltage U dc The negative ends of the two ends are connected in a matching way.
9. The double salient pole motor current sensor signal loss fault diagnosis method of claim 8, wherein the power tube T 1 Emitter terminal and diode D 1 Is connected to the anode terminal of a diode D 1 Cathode terminal and power tube T 1 Is connected to the collector terminal of the power transistor T 3 Emitter terminal and diode D 3 Anode terminal of (D) is connected to diode 3 Is connected with the collector terminal of the power tube T3, the power tube T 5 Emitter terminal and diode D 5 Is connected to the anode terminal of a diode D 5 Cathode terminal and power tube T 5 Is connected with the collector terminal;
power tube T 4 Emitter terminal and diode D 4 Is connected to the anode terminal of a diode D 4 Cathode terminal and power tube T 4 Is connected to the collector terminal of the power transistor T 6 Emitter terminal and diode D 6 Is connected to the anode terminal of a diode D 6 Cathode terminal and power tube T 6 Is connected with the collector terminal; power tube T 2 Emitter terminal and diode D 2 Is connected to the anode terminal of a diode D 2 Cathode terminal and power tube T 2 Is connected to the collector terminal.
10. The double salient pole motor current sensor signal loss fault diagnosis method according to any one of claims 7 to 9, further comprising comparing the signal loss fault with a direct current bus voltage U dc A filter capacitor C1 connected in parallel.
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