CN115754867B - Fault diagnosis method for current sensor in electro-magnetic doubly-salient motor driving system - Google Patents
Fault diagnosis method for current sensor in electro-magnetic doubly-salient motor driving system Download PDFInfo
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Abstract
The application discloses a fault diagnosis method of a current sensor in an electro-magnetic doubly salient motor driving system, which relates to the field of electro-magnetic doubly salient motors, and comprises the following steps: when the fault occurrence sector detects that the sum of three-phase currents of the normalized electro-magnetic doubly-salient motor is not 0 and the electro-magnetic doubly-salient motor driving system has current sensor faults, fault diagnosis is carried out in a plurality of continuous sectors after the fault occurrence sector according to corresponding sector detection parameters, and fault diagnosis results can be obtained in a third sector after the fault occurrence sector at most, not only the current sensor with the fault occurrence can be positioned, but also the type of the fault occurrence can be diagnosed, the fault diagnosis speed is high, the accuracy is high, the technical gap in the field is overcome, a proper fault-tolerant control method is adopted later, and the reliability of the electro-magnetic doubly-salient motor driving system is improved.
Description
Technical Field
The application relates to the field of electro-magnetic doubly salient motors, in particular to a fault diagnosis method of a current sensor in an electro-magnetic doubly salient motor driving system.
Background
The electric excitation doubly salient motor is a reluctance motor with a doubly salient structure and stator concentrated excitation, has the advantages of simple structure, flexible control and good fault tolerance, and has wide application prospects in the fields of aviation, wind power and the like.
The electrically excited doubly salient motor usually needs to perform current detection in the operation process, so that a current sensor is generally introduced into the electrically excited doubly salient motor. However, the current sensor is easy to fail in severe working environments such as humidity, overheat, dust, vibration and the like, the torque pulsation of the electro-magnetic doubly salient motor can be increased due to the failure of the current sensor, and even under the action of current closed-loop control, the current rapidly rises, so that the performance of the electro-magnetic doubly salient motor driving system can be further deteriorated.
Disclosure of Invention
The applicant provides a fault diagnosis method for a current sensor in an electro-magnetic doubly-salient motor driving system aiming at the problems and the technical requirements, and the technical scheme of the application is as follows:
a fault diagnosis method of a current sensor in an electro-magnetic doubly salient motor driving system, the fault diagnosis method comprising:
when the fault occurrence sector detects that the sum of three-phase currents of the normalized electro-magnetic doubly-salient motor is not 0, determining that a current sensor fault exists in the electro-magnetic doubly-salient motor driving system;
performing fault diagnosis in the first sector according to the first sector detection parameters to obtain a fault diagnosis result and complete fault diagnosis or enter a second sector; the first sector detection parameter comprises normalized phase current of a two-phase armature winding in an operating state in the first sector;
when the fault diagnosis is not completed in the first sector, performing fault diagnosis in the second sector according to the second sector detection parameters to obtain a fault diagnosis result and complete the fault diagnosis or enter a third sector; the second sector detection parameter comprises the follow current state of the armature winding which follows current in the second sector and the normalized phase current of the two-phase armature winding in the working state;
when the fault diagnosis is not completed in the second sector, performing fault diagnosis in the third sector according to the third sector detection parameters to obtain a fault diagnosis result and complete the fault diagnosis; the third sector detection parameter comprises the follow current state of the armature winding which follows current in the third sector and the normalized phase current of the two-phase armature winding in the working state;
wherein the fault occurrence sector, the first sector, the second sector and the third sector are four consecutive sectors, and the fault diagnosis result indicates the current sensor with fault and the fault type thereof.
The further technical scheme is that the method for fault diagnosis according to the first sector detection parameter comprises the following steps:
respectively determining integral values zeta and sigma of normalized phase currents of two-phase armature windings in a working state in a first sector in the first sector;
when ζ=0 or σ=0, obtaining a fault diagnosis result according to ζ and σ and completing fault diagnosis;
when ζ is not equal to 0 and σ is not equal to 0, no fault diagnosis result is obtained in the first sector, and the second sector is entered for fault diagnosis.
The further technical scheme is that the method for obtaining the fault diagnosis result according to zeta and sigma comprises the following steps:
when ζ=0, determining that a signal loss fault occurs in the current sensor of the armature winding corresponding to the integrated value ζ;
when σ=0, the current sensor of the armature winding corresponding to the integrated value σ is determined to have a loss of signal failure.
The further technical scheme is that the method for fault diagnosis in the second sector according to the second sector detection parameters comprises the following steps:
detecting whether the armature winding freewheels in the second sector to zero;
when the freewheel armature winding in the second sector does not freewheel to zero, determining that a zero-point offset fault occurs in a freewheel current sensor of the armature winding;
when the freewheel of the armature winding in the second sector reaches zero, fault diagnosis is carried out according to the value of the ratio k of the absolute value of the normalized phase current of the first armature winding in the working state in the second sector to the absolute value of the normalized phase current of the second armature winding in the working state; the first armature winding is an armature winding freewheeling in the sector where the fault occurred.
The further technical scheme is that the fault diagnosis method for the second sector according to the value of the ratio k comprises the following steps:
determining that the current sensor of the second armature winding has a loss of signal fault when k=0;
determining that a gain change fault occurs in a current sensor of the armature winding freewheeling in the second sector when k=1;
otherwise, determining that the current sensor of the second armature winding has a current sensor fault, or that the current sensor of the first armature winding has a current sensor fault in a commutation interval of the fault occurrence sector, and entering a third sector for fault diagnosis.
When the value of k is unchanged, k is not equal to 0 and k is not equal to 1, determining that a gain change fault occurs in a current sensor of the second armature winding or that a gain change fault occurs in a phase change section of a sector where the fault occurs in the first armature winding;
when the value of k is continuously changed, determining that the current sensor of the second armature winding has zero offset fault, or that the first armature winding has zero offset fault in the phase change section of the fault occurrence sector.
The further technical scheme is that the method for fault diagnosis in the third sector according to the third sector detection parameters comprises the following steps:
detecting whether the armature winding freewheels in the third sector to zero;
when the freewheel armature winding in the third sector does not freewheel to zero, determining that a zero-point offset fault occurs in a freewheel current sensor of the armature winding;
and when the freewheel of the armature windings in the third sector reaches zero, performing fault diagnosis according to the value of the ratio eta of the absolute values of the normalized phase currents of the two armature windings in the working state in the third sector.
The further technical scheme is that the fault diagnosis method for the third sector according to the value of the ratio eta comprises the following steps:
when the k value calculated in the second sector is unchanged and k is not equal to 0 and k is not equal to 1, and the eta calculated in the third sector is unchanged and eta is not equal to 1, determining that a gain change fault occurs in the current sensor of the second armature winding;
when the k value calculated in the second sector is unchanged, k is not equal to 0, k is not equal to 1, and eta=1 calculated in the third sector, determining that the first armature winding has gain change faults in the phase change section of the fault generating sector.
The further technical scheme is that the fault diagnosis method for the third sector according to the value of the ratio eta comprises the following steps:
when the k value obtained by calculation in the second sector is changed continuously, and the third sector detects that the armature winding freewheeling in the third sector reaches zero, determining that a zero offset fault occurs in a current sensor of the second armature winding; the armature winding freewheeling in the third sector is the first armature winding.
The further technical scheme is that the fault diagnosis method further comprises the following steps: and when the fault occurrence sector detects that the sum of the normalized three-phase currents of the electro-magnetic doubly-salient motor is 0, determining that no current sensor fault exists in the electro-magnetic doubly-salient motor driving system.
The beneficial technical effects of this application are:
the application discloses a fault diagnosis method of a current sensor in an electro-magnetic doubly-salient motor driving system, which can diagnose faults of a single current sensor in the electro-magnetic doubly-salient motor driving system, can position the failed current sensor and diagnose the type of the faults, makes up for technical gaps in the field, is favorable for adopting a proper fault-tolerant control method subsequently, and improves the reliability of the electro-magnetic doubly-salient motor driving system. The method can realize diagnosis of faults of the current sensor on each armature winding, can realize diagnosis of possible faults of the types such as signal loss, gain change, zero offset and the like, has wide diagnosis range and high accuracy, can obtain fault diagnosis results in a third sector after the fault occurs at most, and has high diagnosis speed.
Drawings
Fig. 1 is a topology diagram of a typical main power converter of an electro-magnetic doubly salient motor drive system.
Fig. 2 is a schematic diagram of a standard angle control scheme for an electro-magnetic doubly salient motor drive system.
FIG. 3 is a method flow diagram of a fault diagnosis method in one embodiment of the present application.
Detailed Description
The following describes the embodiments of the present application further with reference to the accompanying drawings.
The application discloses a fault diagnosis method of a current sensor in an electro-magnetic doubly-salient motor driving system, wherein the typical main power converter topology structure of the electro-magnetic doubly-salient motor driving system is shown in figure 1, and an upper bridge arm power tube T is aimed at by the method 1 、T 3 And T 5 Are all connected to the DC bus U dc Positive electrode of diode D 1 Is connected with an upper bridge arm power tube T 1 Emitter of (D), diode D 3 Is connected with an upper bridge arm power tube T 3 Emitter of (D), diode D 5 Is connected with an upper bridge arm power tube T 5 Emitter of (D), diode D 1 、D 3 And D 5 Is connected to the positive electrode of the dc bus. Upper bridge arm power tube T 1 Emitter of (c) is connected with lower bridge arm power tube T 2 Collector and diode D of (c) 2 Cathode of upper bridge arm power tube T 3 Emitter of (c) is connected with lower bridge arm power tube T 4 Collector and diode D of (c) 4 Cathode of upper bridge arm power tube T 5 Emitter of (c) is connected with lower bridge arm power tube T 6 Collector and diode D of (c) 6 Is provided. Diode D 2 、D 4 、D 6 Anode of (c) and lower bridge arm power tube T 2 、T 4 、T 6 The emitters of the (C) are connected with each other and are connected with a DC bus U dc Is a negative electrode of (a). A-phase armature windingAnd T is 1 Emitter and T of (2) 2 Is connected with the collector of the B-phase armature winding and T 3 Emitter and T of (2) 4 Is connected with the collector of the C-phase armature winding and T 5 Emitter and T of (2) 6 Is connected to the collector of the (c).
Each phase of armature winding is respectively connected with a corresponding current sensor for current detection, as shown in FIG. 1, a current sensor CS a Phase current i of A-phase armature winding is collected by connecting A-phase armature winding a Current sensor CS b Connecting B-phase armature winding for collecting phase current i of B-phase armature winding b Current sensor CS c Connecting the C-phase armature winding for collecting the phase current i of the C-phase armature winding c 。
A schematic diagram of a standard angle control mode of an electro-magnetic doubly-salient motor drive system is shown in FIG. 2, wherein L af 、L bf And L cf And the mutual inductance between the A-phase armature winding, the B-phase armature winding, the C-phase armature winding and the exciting winding is respectively represented. Following the principle of "positive current is conducted in the rising region of the inductance, negative current is conducted in the region under the inductance", one electrical cycle comprises three sectors: the electric angle θ covers a sector in the interval of 0 ° -120 ° (hereinafter referred to as 0 ° -120 °), the electric angle θ covers a sector in the interval of 120 ° -240 ° (hereinafter referred to as 120 ° -240 °), and the electric angle θ covers a sector in the interval of 240 ° -360 ° (hereinafter referred to as 240 ° -360 °). In the sector of 0-120 deg., the A-phase armature winding and the C-phase armature winding are in working state, and the B-phase armature winding freewheels. In the sector of 120-240 deg., the B-phase armature winding and the A-phase armature winding are in working state, and the C-phase armature winding freewheels. In the sector of 240-360 deg., the C-phase armature winding and the B-phase armature winding are in working state, and the A-phase armature winding freewheels. The electrical angle range of each sector just started is a phase change interval, and the remaining electrical angle ranges of the sector are non-phase change intervals, for example, the electrical angle range included in the shaded portion of each sector in fig. 2 represents a phase change interval, and the remaining non-phase change intervals.
Based on the general topology structure and the angle control method of the electro-magnetic doubly-salient motor driving system, the fault diagnosis method disclosed in the application comprises the following steps, please refer to a flow chart shown in fig. 3:
and step 1, detecting whether a current sensor fault occurs in the current sector in the running process of the electro-magnetic doubly salient motor driving system.
Step 2, when the normalized three-phase current i of the electro-magnetic doubly-salient motor in the current sector a 、i b And i c And when the sum is 0, determining that no current sensor fault exists in the electro-magnetic doubly-salient motor driving system, and returning to the step 1 to continuously detect in the next sector.
Step 3, when the normalized three-phase current i of the electrically excited doubly salient motor in the current sector a 、i b And i c And when the sum is not 0, determining that a current sensor fault exists in the electro-magnetic doubly-salient motor driving system and the current sector is a fault occurrence sector.
The following steps are performed to obtain a fault diagnosis result, wherein the fault diagnosis result indicates a current sensor with faults and the fault types of the current sensor, the current sensor connected with any one phase armature winding can possibly have faults, and the fault types of any current sensor can possibly have signal loss faults, gain change faults and zero offset faults.
And 4, performing fault diagnosis in the first sector according to the first sector detection parameters. The first sector is the next sector immediately following the failed sector. For example, the fault occurrence sector is a 0 ° -120 ° sector, and the corresponding first sector is a 120 ° -240 ° sector of the same electrical cycle. For another example, the fault occurrence sector is a 240 ° -360 ° sector, and the corresponding first sector is a 0 ° -120 ° sector of the next electrical cycle.
The first sector detection parameter includes normalized phase currents of a two-phase armature winding in an active state within the first sector.
The method for fault diagnosis according to the first sector detection parameter comprises the following steps:
(1) And respectively determining integral values zeta and sigma of the normalized phase currents of the two-phase armature windings in the working state in the first sector.
(2) When ζ=0 or σ=0, a fault diagnosis result is obtained according to ζ and σ, and fault diagnosis is completed, and a signal loss fault occurs in the current sensor of the armature winding corresponding to the integral value determined to be 0, so that a fault diagnosis result is obtained, and fault diagnosis is completed.
For example, if the fault occurrence sector is a 0 ° -120 ° sector, the corresponding first sector is a 120 ° -240 ° sector with the same electrical cycle, two-phase armature windings in the first sector in a working state are a B-phase armature winding and an a-phase armature winding respectively, and when the integral value ζ=0 of the normalized phase current of the a-phase armature winding in the first sector, it is determined that the current sensor of the a-phase armature winding has a signal loss fault. When the integrated value σ=0 of the normalized phase current of the B-phase armature winding in the first sector, it is determined that the current sensor of the B-phase armature winding has a loss of signal failure.
When the fault diagnosis is performed in the first sector according to the first sector detection parameters, a fault diagnosis result is obtained
(3) When ζ is not equal to 0 and σ is not equal to 0, determining that no signal loss fault occurs in the two-phase armature winding in the working state in the first sector, and if no fault diagnosis result is obtained in the first sector in this case, entering the second sector to execute the following step 5 to continue fault diagnosis.
And 5, when the fault diagnosis is not completed in the first sector, performing the fault diagnosis in a second sector according to the second sector detection parameters, wherein the second sector is the next sector immediately adjacent to the first sector.
The second sector detection parameter includes a freewheel state of the armature winding freewheel in the second sector and a normalized phase current of the two-phase armature winding in an operating state. The method for fault diagnosis in the second sector according to the second sector detection parameters comprises the following steps:
(1) It is detected whether the freewheeling armature winding in the second sector freewheels to zero.
(2) When the freewheel armature winding in the second sector does not freewheel to zero, a zero-point offset fault is determined to occur in the freewheel current sensor of the armature winding.
(3) When the freewheel of the freewheel armature winding in the second sector reaches zero, it is determined that a zero-point offset fault has not occurred in the freewheel current sensor of the freewheel armature winding, and further fault diagnosis is required. Comprising the following steps: and carrying out fault diagnosis according to the value of the ratio k of the absolute value of the normalized phase current of the first armature winding in the working state to the absolute value of the normalized phase current of the second armature winding in the working state in the second sector. The first armature winding here is also the armature winding freewheeling in the fault-generating sector.
The method for fault diagnosis in the second sector according to the value of the ratio k comprises the following steps: when k=0, determining that the current sensor of the second armature winding has a signal loss fault, obtaining a fault diagnosis result and completing fault diagnosis. When k=1, determining that the current sensor of the armature winding freewheeling in the second sector has gain change faults, obtaining fault diagnosis results and completing fault diagnosis. Otherwise, it is determined that the current sensor of the second armature winding has a current sensor fault, or the current sensor of the first armature winding has a current sensor fault in a commutation interval of the fault occurrence sector, that is, there are multiple possible current sensor faults, and the fault cannot be accurately located, in this case, a fault diagnosis result cannot be obtained in the second sector, and then it is necessary to enter a third sector to perform fault diagnosis as in step 6 below.
In the above-described embodiment, for the cases other than k=0 and k=1, the following two types are mainly included:
(a) When the value of k is unchanged, k is not equal to 0 and k is not equal to 1, determining that the current sensor of the second armature winding has a gain change fault, or that the first armature winding has a gain change fault in a commutation interval of a fault generating sector.
(b) When the value of k is continuously changed, determining that the current sensor of the second armature winding has zero offset fault, or that the first armature winding has zero offset fault in the phase change section of the fault occurrence sector.
In one example, the failure occurrence sector is a 0 ° -120 ° sector, then the corresponding first sector is a 120 ° -240 ° sector of the same electrical cycle, and the second sector is a 240 ° -360 ° sector. In the second sector, C phase electricityThe pivot winding and the B-phase armature winding are in an operating state, the A-phase armature winding freewheels, the B-phase armature winding is a first armature winding, the B-phase armature winding freewheels in a sector of 0 DEG to 120 DEG which is a fault occurrence sector, and the C-phase armature winding is a second armature winding. It is first detected whether the a-phase armature winding freewheels in that sector to zero. When the A-phase armature winding freewheel is zero, it is determined that the zero-point offset fault does not occur in the current sensor of the A-phase armature winding. Then calculate normalized i b Is normalized with the absolute value of i a The ratio of the absolute values of (c) yields k. k=0, it is determined that the C-phase armature winding current sensor has failed due to loss of signal. And when k=1, determining that the gain change fault occurs in the A-phase armature winding. When the value of k is unchanged, k is not equal to 0 and k is not equal to 1, determining that the C-phase armature winding has gain change faults or the B-phase armature winding has gain change faults in the phase change section of the 0-120 DEG sector. And when the value of k is continuously changed, determining that the zero offset fault occurs in the current sensor of the C-phase armature winding, or that the zero offset fault occurs in the B-phase armature winding in the phase change interval of the 0-120 DEG sector.
And 6, when the fault diagnosis is not completed in the second sector, performing fault diagnosis in a third sector according to the detection parameters of the third sector, obtaining a fault diagnosis result and completing the fault diagnosis, wherein the third sector is the next sector in the second sector. And since the first electrical cycle covers three sectors, the third sector actually covers the same electrical angle interval as the failure occurring sector.
The third sector detection parameter includes a freewheel state of the armature winding freewheel in the third sector and a normalized phase current of the two-phase armature winding in an operating state. The method for fault diagnosis in the third sector according to the third sector detection parameter comprises the following steps:
(1) It is detected whether the freewheel in the third sector armature winding freewheel to zero.
(2) When the freewheel armature winding in the third sector does not freewheel to zero, a zero-point offset fault is determined to occur in the freewheel current sensor of the armature winding.
(3) When the k value calculated at the time of fault diagnosis in the second sector is continuously changed, there are two possible sensor faults: the current sensor of the second armature winding has zero-point offset fault, or the first armature winding has zero-point offset fault in the commutation interval of the fault generating sector.
When the armature winding determined to freewheel in the third sector freewheel to zero, it may be determined that the zero-point offset fault has not occurred in the armature winding determined to freewheel in the third sector. Based on the working process of the electro-magnetic doubly salient motor driving system, the first armature winding in the second sector is not only the armature winding which is in continuous current in the fault occurrence sector, but also the armature winding which is in continuous current in the third sector, so that when the continuous current of the armature winding in the third sector reaches zero, the fact that the zero point offset fault does not occur in the first armature winding can be determined. It can be directly determined that the current sensor of the second armature winding has zero-point offset fault by combining the two possible diagnosis results of the second sector and the conclusion that the first armature winding has no zero-point offset fault obtained in the third sector.
(4) When the value of k calculated during fault diagnosis in the second sector is unchanged, k is not equal to 0 and k is not equal to 1, when the flywheel armature winding is determined to be flywheel to zero in the third sector, it can be determined that the flywheel armature winding in the third sector, namely the first armature winding, has no zero offset fault, a fault diagnosis result can not be obtained yet, and the value of the ratio eta of the absolute values of the normalized phase currents of the two armature windings in the working state in the second sector is further calculated to perform fault diagnosis. Comprising the following steps:
(a) When the k value calculated in the second sector is unchanged and k is not equal to 0 and k is not equal to 1, and the eta calculated in the third sector is unchanged and eta is not equal to 1, determining that a gain change fault occurs in the current sensor of the second armature winding, obtaining a fault diagnosis result and completing fault diagnosis.
(b) When the k value calculated in the second sector is unchanged, k is not equal to 0, k is not equal to 1, and eta=1 calculated in the third sector, determining that the first armature winding has gain change faults in the phase change section of the fault occurrence sector, obtaining a fault diagnosis result and completing fault diagnosis.
Based on the fault diagnosis method provided by the application, the diagnosis process of current sensor faults occurring in different sectors is respectively described in the following three embodiments:
in the first embodiment, if the sum of the normalized three-phase currents is detected to be not 0 in the 0 ° -120 ° sector, the fault occurrence sector is the 0 ° -120 ° sector, the first sector is the 120 ° -240 ° sector in the same electrical period, the second sector is the 240 ° -360 ° sector in the same electrical period, and the third sector is the 0 ° -120 ° sector in the next electrical period.
In the sector of 120-240 deg. when normalized i a When the integrated value ζ=0 in the first sector, it is determined that the current sensor of the a-phase armature winding has a loss of signal failure. When normalized i b When the integrated value σ=0 in the first sector, it is determined that the current sensor of the B-phase armature winding has a loss of signal failure. Otherwise, the fault diagnosis is carried out by entering a 240-360 DEG sector.
And detecting whether the A-phase armature winding is free-wheeling to zero in a 240-360 DEG sector, and determining that a zero-point offset fault occurs in a current sensor of the A-phase armature winding when the A-phase armature winding is not free-wheeling to zero. When freewheeling to zero, it is determined that the current sensor of the a-phase armature winding is free of zero-point offset faults. Calculating normalized i b Is normalized with the absolute value of i c The ratio of the absolute values of (c) yields k. k=0, it is determined that the current sensor of the C-phase armature winding has a loss of signal fault. And when k=1, determining that the gain change fault occurs in the A-phase armature winding. The value of k is unchanged, k is not equal to 0, and k is not equal to 1, so that the gain change fault of the current sensor of the C-phase armature winding is determined, or the gain change fault of the current sensor of the B-phase armature winding is determined in a sector commutation interval of 0-120 degrees. When the value of k is continuously changed, determining that the current sensor of the C-phase armature winding has zero offset fault, or that the current sensor of the B-phase armature winding has zero offset fault in a 0-120-degree sector commutation interval.
And detecting whether the B-phase armature winding is free-wheeling to zero in a sector of 0-120 degrees in the next electrical cycle, and determining that a zero-point offset fault occurs in a current sensor of the B-phase armature winding when the B-phase armature winding is not free-wheeling to zero. Determining B-phase armature winding when freewheel reaches zeroNo zero-point offset failure occurs. And when the k value calculated in the 240-360 DEG sector continuously changes, determining that the zero offset fault occurs in the current sensor of the C-phase armature winding. When the k value calculated in the sector of 240-360 degrees is unchanged and k is not equal to 0 and k is not equal to 1, further calculating normalized i a Is normalized with the absolute value of i c Is defined as the ratio η of the absolute values of (a) to (b). When the value of k is unchanged and k is not equal to 0, k is not equal to 1, eta is not equal to eta and eta is not equal to 1, determining that the gain change fault occurs in the current sensor of the C-phase armature winding. When the value of k is unchanged, k is not equal to 0, k is not equal to 1, eta=1, the gain change fault of the current sensor of the B-phase armature winding in the 0-120-degree sector commutation interval is determined.
In the second embodiment, if the sum of the normalized three-phase currents is detected to be not 0 in the 120 ° -240 ° sector, the fault occurrence sector is the 120 ° -240 ° sector, the first sector is the 240 ° -360 ° sector in the same electrical period, the second sector is the 0 ° -120 ° sector in the next electrical period, and the third sector is the 120 ° -240 ° sector in the next electrical period.
Within the sector of 240 DEG to 360 DEG, when normalized i b When the integrated value ζ=0 in the first sector, it is determined that the current sensor of the B-phase armature winding has a loss of signal failure. When normalized i c When the integrated value σ=0 in the first sector, it is determined that the current sensor of the C-phase armature winding has a loss of signal failure. Otherwise, the next electric period is entered into the sector of 0-120 degrees for fault diagnosis.
And detecting whether the B-phase armature winding is free-wheeling to zero in a sector of 0-120 degrees in the next electrical cycle, and determining that a zero-point offset fault occurs in a current sensor of the B-phase armature winding when the B-phase armature winding is not free-wheeling to zero. When freewheeling to zero, it is determined that the current sensor of the B-phase armature winding is free of zero-point offset faults. Calculating normalized i c Is normalized with the absolute value of i a The ratio of the absolute values of (c) yields k. k=0, it is determined that the current sensor of the a-phase armature winding has a loss of signal fault. And when k=1, determining that the B-phase armature winding has gain change faults. The value of k is unchanged, k is not equal to 0, k is not equal to 1, the gain change fault of the current sensor of the A-phase armature winding is determined, or the C-phase armature winding is determinedThe current sensor of the device has a gain change fault in a 120-240 DEG sector commutation interval. When the value of k is continuously changed, determining that the current sensor of the A-phase armature winding has zero offset fault, or that the current sensor of the C-phase armature winding has zero offset fault in a 120-240 DEG sector commutation interval.
And detecting whether the C-phase armature winding is free-wheeling to zero in a sector of 120-240 degrees in the next electrical cycle, and determining that a zero-point offset fault occurs in a current sensor of the C-phase armature winding when the C-phase armature winding is not free-wheeling to zero. When freewheeling reaches zero, it is determined that no zero-offset fault has occurred in the C-phase armature winding. And when the k value calculated in the 0-120 DEG sector continuously changes, determining that the zero offset fault occurs in the current sensor of the A-phase armature winding. When the k value calculated in the 0-120 DEG sector is unchanged and k is not equal to 0 and k is not equal to 1, further calculating normalized i b Is normalized with the absolute value of i a Is defined as the ratio η of the absolute values of (a) to (b). When the value of k is unchanged and k is not equal to 0, k is not equal to 1, eta is not equal to eta and eta is not equal to 1, determining that the gain change fault occurs in the current sensor of the A-phase armature winding. When the value of k is unchanged, k is not equal to 0, k is not equal to 1, eta=1, the gain change fault of the current sensor of the C-phase armature winding in the 120-240 DEG sector commutation interval is determined.
(III), in the third embodiment, if the sum of the normalized three-phase currents is detected to be not 0 in the 240-360 DEG sector, the fault occurrence sector is the 240-360 DEG sector, the first sector is the 0-120 DEG sector in the next electric period, the second sector is the 120-240 DEG sector in the next electric period, and the third sector is the 240-360 DEG sector in the next electric period.
In the sector of 0-120 deg. in the next electric period, when normalized i a When the integrated value ζ=0 in the first sector, it is determined that the current sensor of the a-phase armature winding has a loss of signal failure. When normalized i c When the integrated value σ=0 in the first sector, it is determined that the current sensor of the C-phase armature winding has a loss of signal failure. Otherwise, the 120-240 DEG sector in the next electrical cycle is entered for fault diagnosis.
Detecting whether the C-phase armature winding is in a sector of 120-240 DEG in the next electrical cycleAnd freewheeling to zero, and determining that the zero point offset fault occurs in the current sensor of the C-phase armature winding when the freewheeling does not reach zero. When freewheeling to zero, it is determined that the current sensor of the C-phase armature winding is free of zero-point offset faults. Calculating normalized i a Is normalized with the absolute value of i b The ratio of the absolute values of (c) yields k. k=0, it is determined that the current sensor of the B-phase armature winding has a loss of signal fault. And when k=1, determining that the C-phase armature winding has gain change faults. The value of k is unchanged, k is not equal to 0, and k is not equal to 1, so that the gain change fault of the current sensor of the B-phase armature winding is determined, or the gain change fault of the current sensor of the A-phase armature winding is determined in a 240-360-degree sector commutation interval. When the value of k is continuously changed, determining that the current sensor of the B-phase armature winding has zero offset fault, or that the current sensor of the A-phase armature winding has zero offset fault in a 240-360-degree sector phase change interval.
And detecting whether the A-phase armature winding is free-wheeling to zero in a sector of 240-360 degrees in the next electrical cycle, and determining that a zero-point offset fault occurs in a current sensor of the A-phase armature winding when the A-phase armature winding is not free-wheeling to zero. When freewheeling reaches zero, it is determined that no zero-offset fault has occurred in the a-phase armature winding. And when the k value calculated in the 120-240 DEG sector continuously changes, determining that the zero offset fault occurs in the current sensor of the B-phase armature winding. When the k value calculated in the 120-240 DEG sector is unchanged and k is not equal to 0 and k is not equal to 1, further calculating normalized i c Is normalized with the absolute value of i b Is defined as the ratio η of the absolute values of (a) to (b). When the value of k is unchanged and k is not equal to 0, k is not equal to 1, eta is not equal to eta and eta is not equal to 1, determining that the gain change fault occurs in the current sensor of the B-phase armature winding. When the value of k is unchanged, k is not equal to 0, k is not equal to 1, eta=1, the gain change fault of the current sensor of the A-phase armature winding in the 240-360-degree sector commutation interval is determined.
What has been described above is only a preferred embodiment of the present application, which is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are to be considered as being included within the scope of the present application.
Claims (10)
1. A fault diagnosis method for a current sensor in an electro-magnetic doubly-salient motor driving system, the fault diagnosis method comprising:
when the fault occurrence sector detects that the sum of three-phase currents of the normalized electro-magnetic doubly-salient motor is not 0, determining that a current sensor fault exists in the electro-magnetic doubly-salient motor driving system;
performing fault diagnosis in the first sector according to the first sector detection parameters to obtain a fault diagnosis result and complete fault diagnosis or enter a second sector; the first sector detection parameter comprises normalized phase current of a two-phase armature winding in a working state in the first sector;
when the fault diagnosis is not completed in the first sector, performing fault diagnosis in the second sector according to the second sector detection parameters to obtain a fault diagnosis result and complete the fault diagnosis or enter a third sector; the second sector detection parameters comprise the freewheel state of the armature winding freewheel in the second sector and the normalized phase current of the two-phase armature winding in the working state;
when the fault diagnosis is not completed in the second sector, performing fault diagnosis in the third sector according to the third sector detection parameters to obtain a fault diagnosis result and complete the fault diagnosis; the third sector detection parameters comprise the freewheel state of the armature winding freewheel in the third sector and the normalized phase current of the two-phase armature winding in the working state;
wherein the fault occurrence sector, the first sector, the second sector and the third sector are four consecutive sectors, and the fault diagnosis result indicates the current sensor that has a fault and the type of fault that has occurred.
2. The method of fault diagnosis as claimed in claim 1, wherein the method of fault diagnosis based on the first sector detection parameter comprises:
respectively determining integral values zeta and sigma of normalized phase currents of two-phase armature windings in a working state in the first sector;
when ζ=0 or σ=0, obtaining a fault diagnosis result according to ζ and σ and completing fault diagnosis;
when ζ is not equal to 0 and σ is not equal to 0, fault diagnosis results are not obtained in the first sector, and fault diagnosis is performed by entering the second sector.
3. The fault diagnosis method according to claim 2, wherein the method of obtaining the fault diagnosis result from ζ and σ comprises:
when ζ=0, determining that a signal loss fault occurs in the current sensor of the armature winding corresponding to the integrated value ζ;
when σ=0, the current sensor of the armature winding corresponding to the integrated value σ is determined to have a loss of signal failure.
4. The method of claim 1, wherein the method of performing the fault diagnosis in the second sector based on the second sector detection parameter comprises:
detecting whether the armature winding freewheels in the second sector to zero;
when the freewheel armature winding in the second sector does not freewheel to zero, determining that a zero offset fault occurs in a freewheel current sensor of the armature winding;
when the freewheel of the armature winding in the second sector reaches zero, performing fault diagnosis according to the value of the ratio k of the absolute value of the normalized phase current of the first armature winding in the working state in the second sector to the absolute value of the normalized phase current of the second armature winding in the working state; the first armature winding is an armature winding freewheeling in the failure occurrence sector.
5. The method of diagnosing a fault as recited in claim 4, wherein said method of diagnosing a fault in said second sector based on the value of the ratio k comprises:
determining that the current sensor of the second armature winding has a loss of signal fault when k=0;
determining that a gain change fault occurs in a current sensor of an armature winding freewheeling in the second sector when k=1;
otherwise, determining that the current sensor of the second armature winding has a current sensor fault, or that the current sensor of the first armature winding has a current sensor fault in a phase change section of the fault occurrence sector, and entering the third sector for fault diagnosis.
6. The fault diagnosis method as claimed in claim 5, wherein,
when the value of k is unchanged, k is not equal to 0 and k is not equal to 1, determining that the current sensor of the second armature winding has a gain change fault, or the first armature winding has a gain change fault in a phase change section of the fault generating sector;
when the value of k is continuously changed, determining that the current sensor of the second armature winding has zero offset fault, or that the first armature winding has zero offset fault in the phase change section of the fault generating sector.
7. The method of claim 6, wherein the method of performing the fault diagnosis in the third sector based on the third sector detection parameter comprises:
detecting whether the armature winding freewheels in the third sector to zero;
when the freewheel armature winding in the third sector does not freewheel to zero, determining that a zero offset fault occurs in a freewheel current sensor of the armature winding;
and when the freewheel of the armature windings in the third sector reaches zero, performing fault diagnosis according to the value of the ratio eta of the absolute values of the normalized phase currents of the two armature windings in the working state in the third sector.
8. The method of claim 7, wherein the method of performing fault diagnosis in the third sector based on the value of the ratio η comprises:
when the k value calculated in the second sector is unchanged and k is not equal to 0 and k is not equal to 1, and the eta calculated in the third sector is unchanged and eta is not equal to 1, determining that a gain change fault occurs in a current sensor of the second armature winding;
and when the k value calculated in the second sector is unchanged, k is not equal to 0, k is not equal to 1, and eta=1 calculated in the third sector, determining that the first armature winding has gain change faults in the phase change section of the fault occurrence sector.
9. The method of claim 7, wherein the method of performing fault diagnosis in the third sector based on the value of the ratio η comprises:
when the k value obtained by calculation in the second sector is changed continuously, and the third sector detects that the armature winding freewheeling in the third sector reaches zero, determining that a zero offset fault occurs in a current sensor of the second armature winding; and the armature winding of the freewheel in the third sector is the first armature winding.
10. The fault diagnosis method according to claim 1, characterized in that the fault diagnosis method further comprises: and when the fault occurrence sector detects that the sum of the normalized three-phase currents of the electro-magnetic doubly-salient motor is 0, determining that no current sensor fault exists in the electro-magnetic doubly-salient motor driving system.
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