CN116131221A - Short circuit detection and fault protection method for power tube of double three-phase motor controller - Google Patents

Short circuit detection and fault protection method for power tube of double three-phase motor controller Download PDF

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Publication number
CN116131221A
CN116131221A CN202310071243.3A CN202310071243A CN116131221A CN 116131221 A CN116131221 A CN 116131221A CN 202310071243 A CN202310071243 A CN 202310071243A CN 116131221 A CN116131221 A CN 116131221A
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short
phase
double
fault
current
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韩寻
安星
严大亮
徐中行
张宇
许兵
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AECC Aero Engine Control System Institute
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AECC Aero Engine Control System Institute
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
    • H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
    • H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
    • H02H7/1225—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters responsive to internal faults, e.g. shoot-through
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/52—Testing for short-circuits, leakage current or ground faults
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors

Abstract

The invention discloses a method for detecting short circuit of a power tube of a double three-phase motor controller, which comprises the following steps: turning off all the switching tubes according to the DESAT fault signal; detecting three-phase current in one electric period, and judging that the current DESAT detection signal corresponds to a short circuit fault when the three-phase current continuously increases in one electric period and the three-phase current shows two same polarity and one opposite polarity, wherein the position of the opposite polarity phase is a fault point, and judging that a short-circuited switching tube is an upper tube or a lower tube through positive and negative judgment of the current of the opposite polarity phase; the invention also discloses a method for protecting the short circuit fault of the power tube of the double three-phase motor controller, which comprises the following steps: cutting off all switching tubes according to the DESAT fault signal; determining a short-circuit fault point by adopting a power tube short-circuit detection method, and shorting the switching tubes of the other two phases according to the short-circuit fault point to enable the three phases of the double three-phase motor to be short-circuited; the driver of the other winding of the double three-phase motor enters a fault control mode.

Description

Short circuit detection and fault protection method for power tube of double three-phase motor controller
Technical Field
The invention belongs to the technical field of alternating current transmission, and particularly relates to a method for detecting short circuit and protecting faults of a power tube of a double three-phase motor controller.
Background
The invention mainly uses the double three-phase permanent magnet synchronous motor as an application object, and utilizes redundancy to realize the fault tolerance function of the short circuit fault of the power tube, and mainly designs a software and hardware control strategy of the double three-phase motor to ensure that the system is not stopped after any single fault occurs in the controller. In general, a common three-phase motor is controlled by one driver, and a double three-phase motor (as shown in fig. 1) is designed to have a winding form in a mode that two windings are connected in parallel, so that one motor needs to be driven by two drivers simultaneously to achieve the purpose of high power output. However, any switching tube in the main full bridge circuit of both drives will have a short circuit failure, forcing the motor to stop. Even if the other drive in the motor is completely fault-free, the motor cannot operate due to the clamping action on the fault side. Therefore, for the electric part of the motor with the double-winding design, a control strategy needs to be designed to ensure that the system is not stopped after any single short circuit fault occurs to two drivers, such as winding turn-to-turn short circuit, inter-phase short circuit of a winding leading-out end, winding open circuit and position sensor fault. As for mechanical faults of the motor body, such as bearing faults, rotor faults, coupling faults and the like, due to the limitation of the scheme, the system can not be ensured to still operate (or to be degraded to operate) after the single fault.
Under the condition that a single power tube of the double three-phase permanent magnet synchronous motor driver is short-circuited, the problem of fault detection and fault coping of the double three-phase permanent magnet synchronous motor driver cannot be solved under the condition that a hardware circuit breaker is not added in the prior art.
Disclosure of Invention
The invention aims to: aiming at the problems that the existing double three-phase motor system cannot detect the short circuit of a power tube, is difficult to cope with the short circuit of a single power tube and has low reliability, the invention provides a double three-phase motor controller power tube short circuit detection and fault protection method.
The technical scheme is as follows: a power tube short circuit detection method of a double three-phase motor controller is applied to a double three-phase motor, wherein the double three-phase motor comprises two windings connected in parallel, and each winding is matched with a driver; the driver is a main full-bridge circuit formed by a plurality of switching tubes; comprising the following steps:
turning off all the switching tubes according to the DESAT fault signal;
when the three-phase current continuously increases in one electric period and the three-phase current presents two same polarity and one opposite polarity, the current DESAT detection signal is judged to correspond to a short circuit fault, the position of the opposite polarity phase is a fault point, and the short circuit switching tube is judged to be an upper tube or a lower tube by the positive and negative of the current of the opposite polarity phase.
Further, the switching tube for judging the short circuit by positive and negative current of the reverse polarity phase is an upper tube or a lower tube, and comprises:
when the polarity of the current of the reverse polarity phase is constant, the short-circuited switching tube is an upper tube;
when the polarity of the current of the reverse polarity phase is constant negative, the short-circuited switching tube is a lower tube.
The invention discloses a power tube short-circuit fault protection method of a double three-phase motor controller, which is applied to a double three-phase motor, wherein the double three-phase motor comprises two windings connected in parallel, and each winding is matched with a driver; the driver is a main full-bridge circuit formed by a plurality of switching tubes; the method comprises the following steps:
cutting off all switching tubes according to the DESAT fault signal;
determining a short-circuit fault point by adopting a power tube short-circuit detection method, and shorting the switching tubes of the other two phases according to the short-circuit fault point to enable the three phases of the double three-phase motor to be short-circuited;
a driver of the other winding of the double three-phase motor enters a fault control mode;
the power tube short circuit detection method is the double three-phase motor controller power tube short circuit detection method according to claim 1 or 2.
Further, the driver of the other winding of the double three-phase motor enters a fault control mode while the switching tubes of the other two phases are short-circuited according to the short-circuit fault point.
The beneficial effects are that: compared with the prior art, the invention has the following advantages:
(1) The method can realize the short circuit detection and protection of the power tube of the double three-phase motor;
(2) The method is improved on the basis of a controller widely applied in industry, and has strong universality and reliability;
(3) The method is implemented by pure software, and no extra specific circuit is needed in the prior art.
Drawings
FIG. 1 is a schematic diagram of a double three-phase winding motor;
FIG. 2 is a schematic diagram of a power tube short circuit fault;
FIG. 3 is a schematic diagram of a current path after a power tube is shorted; wherein (a) in fig. 3 is a schematic diagram of a short-circuit current path; fig. 3 (b) is a schematic diagram of a short-circuit current equivalent path;
FIG. 4 is a schematic diagram of three current paths after a power tube is shorted; in fig. 4, (a) is a flow path 1; fig. 4 (b) shows a flow path 2; fig. 4 (c) shows a flow path 3;
FIG. 5 is a graph showing waveforms of line voltage, phase voltage, and phase current after a power tube is shorted;
FIG. 6 is a schematic diagram of the id, iq current ripple phenomenon after a power tube is shorted;
FIG. 7 is a current diagram of a power tube when the upper and lower tubes are shorted, respectively
FIG. 8 is a graph of current trace variation on the alpha beta axis when different power transistors are shorted;
fig. 9 is a waveform diagram of current before and after a short-circuit fault operation.
Detailed Description
The technical scheme of the invention is further described with reference to the accompanying drawings and the embodiments.
Example 1:
fig. 2 shows the occurrence position of a power tube short-circuit fault, the short-circuit failure of the power tube is represented as a D-S short-circuit fault of any power tube of the three-phase full bridge, and the abnormal gate driving of the power device, such as the abnormal continuous output of a driving sheet, can also be represented by the fault mode of the power tube short-circuit fault. In the power tube short-circuit fault mode, the bridge arm potential is continuously +270V (upper tube short-circuit) or continuously 0V (lower tube short-circuit), and huge fluctuation of current is caused. After the power tube short-circuit fault occurs, the DESAT fault of the other power tube of the same bridge arm is triggered, and the driver DESAT signal triggers all the switching tubes to be closed immediately. When all driving signals of the full bridge are cut off, due to the existence of the anti-parallel diode of the power tube, the latent circuit shown in fig. 3 exists, and if the rotating speed of the motor is not 0 at the moment, larger short-circuit current is generated when the back electromotive force of the U-V line is negative or the back electromotive force of the U-W line is negative.
Taking a U-phase upper tube short circuit as an example, three opposite potentials of the motor during short circuit are respectively e a 、e b 、e c Since the potential of the U point is embedded at 270V, the midpoint potential of the motor is not fixed, and the calculation expression is:
Figure BDA0004064841960000031
in U N Represents the midpoint voltage of the motor, e u Counter potential expressed as the phase of motor U, L expressed as the phase inductance of motor, i u Represented as phase current of motor, R s Represented as phase resistance of motor, U ZU Denoted as phase resistance to pressure drop of the motor, and subscript U denotes the U phase.
The potential calculation expression of the V point is:
Figure BDA0004064841960000032
in the formula e V Represented as the opposite potential of motor V, i V Expressed as motor V-phase current, U ZV Expressed as the voltage drop of the V-phase impedance of the motor, e U Expressed as the back-emf of the motor U phase, the subscript V denotes the V phase.
Potential U at V point V Above 270V, the V-phase upper diode turns on and V-phase turns on. The same applies to the W-phase conduction condition. It follows that there are three cases in the path through which the short-circuit current flows, as shown in fig. 4.
The whole short-circuit channel has three paths, and it is obvious that under any path, the phase current of the current at the short-circuit side is continuous, and the bridge arm current with normal two phases is alternately conducted in a discontinuous state, and the path conversion depends on the state conversion of the inter-phase voltage. The current of the two-phase normal bridge arm has a cut-off period with the current of 0, and the cut-off period depends on the inductance of the motor. The waveforms of line voltage, phase voltage and phase current after the U-phase upper tube is short-circuited are shown in figure 5. The phase voltage appears a narrow pulse phenomenon, and the imbalance of the phase voltage leads to the imbalance of the three-phase current.
The unbalanced current in the three phases is converted into the d-q axis as shown in fig. 6. The phenomenon of fluctuation of d-q axis current can be obviously seen, and the frequency of fluctuation is the fundamental frequency of the motor. The average value of the d-axis current is negative and is expressed as demagnetizing current, and the instantaneous current can reach twice the rated value; the q-axis current is negative in average value, however, the average torque generated by the small average value is small, but the fluctuation torque is large in amplitude and almost rated torque, and a great interference effect on the rotation speed of the rotor is likely to exist.
The waveforms of the three-phase currents when the upper pipe and the lower pipe have short-circuit faults, respectively, are shown in fig. 7. It can be seen that the phase current on the short-circuit side and the other two phase current are both unipolar and opposite in polarity: the polarity of the short-circuit side phase current is constant positive when the upper pipe is short-circuited, and the polarity of the short-circuit side phase current is constant negative when the lower pipe is short-circuited, so that the characteristic can be used for further judging the position of the short-circuit switching tube independently of the DESAT fault signal to distinguish the open-circuit fault DESAT alarm.
In summary, the impact and risk points after the switching tube is shorted are as follows:
the phase current on the short-circuit side and the other two phase current are unipolar and opposite in polarity: the polarity of the short-circuit side phase current is constant positive when the upper pipe is short-circuited, the polarity of the short-circuit side phase current is constant negative when the lower pipe is short-circuited, and the normal two-phase current has the phenomena of intermittent and alternate conduction, so that the imbalance of three-phase current is caused;
the magnitude of the short circuit current depends on the magnitude of the line impedance: because the short-circuit current flow path is an inter-phase path, the counter potential difference between the phases is completely shared by the resistance and inductance of the circuit, and increasing the resistance and inductance is a necessary means for reducing the short-circuit current, from the simulation, the instantaneous current can be increased to more than 1.5 times of rated current, and the corresponding stress tolerance capability needs to be considered in the process of selecting a power module and designing a motor body;
the current in d-q axis has large positive and negative fluctuation: in particular, the average value of the d-axis current is negative, which is expressed as a demagnetizing current, and the instantaneous current can reach twice the rated value, so that the motor is required to have corresponding demagnetizing resistance. The average value of the q-axis current is negative, however, the average value is small, so that the average torque is small, the amplitude of the fluctuation torque is huge and is almost rated torque, the pulsation frequency is the current period at the moment, and huge interference is brought to the control loop of the other set of windings, so that the risk of stopping the motor exists.
Based on the above knowledge, the embodiment discloses a method for detecting the short circuit of the power tube of the double three-phase motor controller, which monitors the position of the short circuit power tube through a current track tracking link, and can accurately distinguish the fault confusion caused by the open circuit fault and the short circuit fault when the fault detection occurs, so that the judging accuracy of the position of the short circuit fault is higher. The method specifically comprises the following steps:
for convenience in description, the short-circuit fault occurrence time of the single power tube is assumed that the potential of the point A of the phase A upper tube fault of the motor is continuously +270V, the opening time of the lower tube is assumed that the bridge arm is straight-through, the current rising rate is huge, and the driver reports the DESAT fault in microsecond level time. Therefore, the detection power of the driving circuit DESAT of the power tube complementary to the same bridge arm is reported in the form of short-circuit protection (SC). However, since the open circuit fault may trigger the DESAT detection signal, further monitoring is required to further determine the fault type and the fault power tube position.
Fig. 8 shows the current trace variation in the alpha beta axis at the time of short circuit of different power transistors. The track of the current alpha beta axis is approximately circular in a normal state, and the circle center is at the origin. When a short circuit fault occurs, the track gradually deviates from the original point due to the direct current bias of the unbalanced three-phase current, the stable track is approximately circular in about 4-5 electrical periods, the position of the circle center is determined according to the position of the short circuit power tube, and the position of the circle center can be approximately seen to be positioned on 6 lines 60 degrees apart. The current trace during short circuit is characterized in that: the current of the short-circuited phase is greatly biased (above the rated current), the upper pipe short is shown as positive large bias of the phase, and the lower pipe short is shown as negative large bias of the phase.
According to the characteristic, after all switching tubes are protected and turned off by the DESAT signal, three-phase current is continuously detected, if the three-phase current continuously increases in one electric period, and the two phases have the same polarity and the opposite polarity, the short circuit fault is judged, the fault point is the position of the opposite polarity phase, and the short circuit tube is judged by the positive and negative of the current of the opposite polarity phase. By adopting the fault detection, the short-circuit fault position can be diagnosed in an electric period after DESAT triggering, and the follow-up fault action is timely ensured, so that the shutdown caused by overlarge motor fluctuation torque is avoided.
Example 2:
the embodiment discloses a power tube short-circuit fault protection method of a double three-phase motor controller, which ensures that torque fluctuation is small after a single switching tube is short-circuited, and a motor is not stopped. Comprising the following steps:
step 1: after the short circuit fault triggers the SC protection of the driver, the driver cuts off all driving signals of the full bridge;
step 2: and waiting for one electric period to determine the position of the short-circuit fault of the power tube, and restarting the upper tube or the lower tube of the power tube with the other two phases according to the short-circuit position (the upper tube or the lower tube) so as to realize three-phase short circuit of the motor, ensure that the motor is in a three-phase balanced state again and achieve the aim of reducing the influence of unbalanced current. It should be noted that after the single power tube is short-circuited to the motor three-phase short circuit, the short circuit current needs to be reduced by the impedance of the motor itself, and the impedance of the motor body in the rated state needs to be designed to be large enough.
Step 3: the other winding control instruction of the double winding also enters a fault control mode to maintain the motor to continuously and stably run. In the normal mode, the duplex windings are simultaneously energized for driving, which is called cooperative control. In the fault mode, one channel is broken, and the other non-fault channel enters a fault control mode, which is equivalent to the effect of temporarily replacing the other channel to work and equivalent to the output of two channels; the switch state is unchanged, and the output command is doubled.
In addition, to ensure that the transition time is short enough, the rotational speed drop is small enough, and the action time of step 2 and step 3 occur simultaneously. The current waveforms before and after the short-circuit fault operation are shown in fig. 9.
The dq-axis current is attenuated after three-phase short circuit operation: the d-axis current is constant to be negative direct current, the numerical value is about 0.5 times of the rated current, and the demagnetization is realized; the q-axis current is almost 0, and the influence on the torque is small. The three-phase current is gradually balanced after all phase power tubes are short-circuited, and the three-phase current enters a steady state.

Claims (4)

1. A power tube short circuit detection method of a double three-phase motor controller is applied to a double three-phase motor, wherein the double three-phase motor comprises two windings connected in parallel, and each winding is matched with a driver; the driver is a main full-bridge circuit formed by a plurality of switching tubes; the method is characterized in that: comprising the following steps:
turning off all the switching tubes according to the DESAT fault signal;
when the three-phase current continuously increases in one electric period and the three-phase current presents two same polarity and one opposite polarity, the current DESAT detection signal is judged to correspond to a short circuit fault, the position of the opposite polarity phase is a fault point, and the short circuit switching tube is judged to be an upper tube or a lower tube by the positive and negative of the current of the opposite polarity phase.
2. The method for detecting the short circuit of the power tube of the double three-phase motor controller according to claim 1, wherein the method comprises the following steps of: the switching tube for judging the short circuit by positive and negative current of the reverse polarity phase is an upper tube or a lower tube, and comprises:
when the polarity of the current of the reverse polarity phase is constant, the short-circuited switching tube is an upper tube;
when the polarity of the current of the reverse polarity phase is constant negative, the short-circuited switching tube is a lower tube.
3. A power tube short-circuit fault protection method of a double three-phase motor controller is applied to a double three-phase motor, wherein the double three-phase motor comprises two windings connected in parallel, and each winding is matched with a driver; the driver is a main full-bridge circuit formed by a plurality of switching tubes; the method is characterized in that: the method comprises the following steps:
cutting off all switching tubes according to the DESAT fault signal;
determining a short-circuit fault point by adopting a power tube short-circuit detection method, and shorting the switching tubes of the other two phases according to the short-circuit fault point to enable the three phases of the double three-phase motor to be short-circuited;
a driver of the other winding of the double three-phase motor enters a fault control mode; the fault control mode is equivalent two-channel output;
the power tube short circuit detection method is the double three-phase motor controller power tube short circuit detection method according to claim 1 or 2.
4. A method for protecting a power tube of a double three-phase motor controller from a short circuit fault according to claim 3, wherein: and according to the short-circuit fault point, the driver of the other winding of the double-three-phase motor enters a fault control mode when the switching tubes of the other two phases are short-circuited, wherein the fault control mode is equivalent to two-channel output.
CN202310071243.3A 2023-02-07 2023-02-07 Short circuit detection and fault protection method for power tube of double three-phase motor controller Pending CN116131221A (en)

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CN202310071243.3A CN116131221A (en) 2023-02-07 2023-02-07 Short circuit detection and fault protection method for power tube of double three-phase motor controller

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Application Number Priority Date Filing Date Title
CN202310071243.3A CN116131221A (en) 2023-02-07 2023-02-07 Short circuit detection and fault protection method for power tube of double three-phase motor controller

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CN116131221A true CN116131221A (en) 2023-05-16

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