CN116208064A - Temperature anomaly online monitoring and fault tolerance method for permanent magnet synchronous motor - Google Patents
Temperature anomaly online monitoring and fault tolerance method for permanent magnet synchronous motor Download PDFInfo
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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
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- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- 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
- H02P27/08—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 with pulse width modulation
- H02P27/085—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 with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/66—Controlling or determining the temperature of the rotor
- H02P29/662—Controlling or determining the temperature of the rotor the rotor having permanent magnets
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- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a temperature anomaly online monitoring and fault-tolerant method of a permanent magnet synchronous motor, and belongs to the technical field of motor control. According to the invention, the direct-axis high-frequency resistance and the high-frequency inductance of the motor are calculated in real time by injecting high-frequency voltage into the direct axis of the motor and extracting direct-axis high-frequency response current. And determining the winding temperature of the motor according to the direct-axis high-frequency resistance-winding temperature relation table, and determining the permanent magnet temperature of the motor according to the direct-axis high-frequency inductance-permanent magnet temperature relation table. If the temperature of the stator winding is monitored to be abnormal, the amplitude of the stator current of the motor needs to be limited, the temperature of the stator winding is prevented from being further increased, and the motor is prevented from being damaged, and if the temperature of the stator winding is monitored to be in a normal range and the temperature of the rotor permanent magnet is monitored to be abnormal, the direct axis demagnetization current of the motor needs to be limited, and the irreversible demagnetization of the permanent magnet is avoided. The invention can prevent the insulation failure of the winding or the irreversible demagnetization of the permanent magnet caused by the over-temperature of the motor, and effectively prolong the service life of a motor system.
Description
Technical Field
The invention is used for solving the problems of temperature anomaly on-line monitoring and fault-tolerant operation of a permanent magnet synchronous motor, and belongs to the technical field of motor measurement and control. Through the on-line monitoring of motor winding temperature and permanent magnet temperature to carry out fault-tolerant control according to temperature abnormal state, can prevent insulation failure and the irreversible demagnetization of permanent magnet that excessive temperature rise of motor leads to, effectively improve motor drive system's operating life.
Background
In recent years, the permanent magnet synchronous motor has been widely used in the fields of industrial robots, electric automobiles, aerospace and the like due to the advantages of high power density, high efficiency, high instantaneous power and the like. However, due to the reasons of complex and changeable load working conditions, severe running environment and heat dissipation conditions of the permanent magnet synchronous motor, the motor may have a problem of too high temperature rise, and further bring serious hidden danger to the service life, running performance and reliability of the motor.
The temperature monitoring method of the permanent magnet synchronous motor is mainly divided into two types, namely direct measurement and indirect estimation. The direct measurement method generally needs to embed a temperature sensor in advance in the motor, changes the original mechanical and electromagnetic structural characteristics of the motor, and has a certain influence on the running state of the motor. The environment condition inside the motor is very bad, the sensor is very easy to break down, and the maintenance and replacement cost is high. In addition, it is difficult for the motor rotor portion to directly measure the temperature using the sensor. Thus, such methods are commonly used in laboratory research and can impose significant cost pressures in practical industrial applications. The indirect estimation rule is to utilize the number relation between the specific parameters of the motor and the temperature to monitor the temperature of the motor on line. At present, a plurality of temperature estimation methods based on motor winding resistance and flux linkage observation have been proposed by students. However, such methods are mostly based on complex algorithms such as extended kalman filtering, least square recognition, model reference adaptation, and the like, which can bring a large operation burden. In addition, researches on fault-tolerant methods of motor temperature anomalies are also reported.
Disclosure of Invention
The invention aims to provide an online temperature abnormality monitoring and fault-tolerant method for a permanent magnet synchronous motor. According to the method, a high-frequency signal injection method is introduced to calculate the direct-axis high-frequency resistance and inductance of the motor, the on-line monitoring of the temperature abnormality of the motor stator winding and the rotor permanent magnet is realized based on the relation between the temperature of the direct-axis high-frequency resistance and the temperature of the winding and the temperature of the direct-axis high-frequency inductance and the permanent magnet, and the monitoring result is more accurate and reliable. Subsequently, the invention provides a fault tolerant method for motor stator winding temperature anomalies and permanent magnet temperature anomalies. The method has important practical significance for improving the operation reliability and the service life of the motor driving system.
The invention adopts the following technical scheme for realizing the purposes of the invention:
a temperature anomaly on-line monitoring and fault-tolerant method of a permanent magnet synchronous motor comprises the following three steps:
the first step, injecting high-frequency voltage signals into the motor through the frequency converter, extracting direct-axis high-frequency response current, and calculating direct-axis high-frequency resistance and direct-axis high-frequency inductance of the motor in real time.
And secondly, determining the temperature of a motor winding according to a direct-axis high-frequency resistance-winding temperature relation table, and determining the temperature of a motor permanent magnet according to a direct-axis high-frequency inductance-permanent magnet temperature relation table.
And thirdly, determining whether fault-tolerant operation is required to be carried out according to the temperature anomaly monitoring result. If the temperature of the motor winding is monitored to be abnormal, the amplitude of the motor stator current needs to be limited, the temperature of the stator winding is prevented from being further increased, the motor is prevented from being damaged, and if the temperature of the stator winding is monitored to be normal and the temperature of the rotor permanent magnet is monitored to be abnormal, the direct axis demagnetizing current of the motor needs to be limited, and irreversible demagnetization of the permanent magnet is avoided.
Preferably, in the first step, the frequency of the high-frequency voltage signal is about 10 times of the rated fundamental frequency of the motor, and the amplitude is typically within 10% of the DC link voltage of the frequency converter.
Preferably, in the second step, the direct-axis high-frequency resistance and the winding temperature have a relation in the motor operation
R dh (t w )＝R dh0 (1+α(t w -20℃)) (1)，
Wherein R is dh Is a motor straight shaft high-frequency resistor, t w For winding temperature, R dh0 The resistance is a motor straight shaft high-frequency resistance at 20 ℃, and alpha is a coefficient to be determined. And (3) completing the construction of a motor direct-axis high-frequency resistance-winding temperature relation table through experimental measurement data fitting.
The temperature of the direct-axis high-frequency inductor and the permanent magnet in the motor operation has a relation
In which L dh Is the direct axis high frequency inductance of the motor, t m For rotor permanent magnet temperature, A, B and C are coefficients to be determined. And (3) completing the construction of a motor straight-axis high-frequency inductance-permanent magnet temperature relation table through fitting experimental measurement data.
Preferably, in the third step, the motor stator winding temperature t is compared w When the temperature of the winding exceeds the set temperature, the temperature of the winding is abnormal, the amplitude of the stator current is limited in a control link, and the more serious the abnormal degree of the temperature of the winding is, the larger the amplitude limit of the stator current is, so that the temperature of the stator winding is ensured not to be further increased.
Preferably, in the third step, the motor rotor permanent magnet temperature t is compared m When the temperature of the permanent magnet exceeds the set temperature, the temperature of the permanent magnet is abnormal, and the direct axis demagnetizing current of the motor needs to be limited in a control link, so that irreversible demagnetization of the rotor permanent magnet is avoided.
Preferably, the stator winding set temperature and the rotor permanent magnet set temperature can be comprehensively determined according to the motor operating environment, the heat dissipation condition and the material property.
Preferably, the limiting value of the motor direct axis demagnetizing current is obtained according to the relation between the irreversible inflection point and the temperature on the permanent magnet material demagnetizing curve.
The temperature anomaly on-line monitoring and fault-tolerant method of the permanent magnet synchronous motor is suitable for a three-phase motor or a multi-phase motor.
The beneficial effects are that: according to the invention, the direct-axis high-frequency resistance and inductance parameters of the motor are obtained on line through a high-frequency signal injection method, the temperature monitoring of the stator winding and the rotor permanent magnet is respectively realized based on the relationship between the temperature of the direct-axis high-frequency resistance and the temperature of the winding and the temperature of the direct-axis high-frequency inductance and permanent magnet, the temperature monitoring precision is high, and the algorithm is simple and reliable. The reliability and the service life of the motor are improved by fault tolerance methods of abnormal winding temperature and abnormal permanent magnet temperature.
Drawings
Fig. 1 is a flow chart of a permanent magnet synchronous motor temperature anomaly monitoring and fault tolerance method.
Fig. 2 is a control schematic diagram of a permanent magnet synchronous motor temperature anomaly monitoring and fault tolerance method.
Fig. 3 is a waveform diagram of fault tolerant operation of motor winding temperature anomalies.
Fig. 4 is a waveform diagram of fault tolerant operation of motor permanent magnet temperature anomalies.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings. The flow chart of the online temperature abnormality monitoring and fault-tolerant method of the permanent magnet synchronous motor disclosed by the invention is shown in fig. 1, and comprises the following 3 steps.
(1) Direct axis high frequency resistance and high frequency inductance calculation
And injecting a high-frequency voltage signal into the direct shaft of the permanent magnet synchronous motor through the frequency converter, wherein the frequency of the injected high-frequency voltage signal is about 10 times of the rated fundamental frequency of the motor, and the amplitude is within 10% of the voltage of a direct current bus of the frequency converter. Direct-axis high-frequency resistance R of motor is calculated by extracting direct-axis high-frequency response current in real time dh And a high-frequency inductance L dh 。
Recording high-frequency voltage u injected into motor straight shaft dh Is that
u dh ＝V h cos(ω h t) (3)，
Wherein V is h For injection of the amplitude, omega, of the high-frequency voltage signal of the motor's direct axis h Is the angular frequency of the high frequency voltage signal.
The high-frequency response current of the motor straight shaft is
Wherein I is h For the amplitude of the motor direct axis high frequency current response,
is the phase difference between the high frequency current response and the injected high frequency voltage signal. The vertical shaft high-frequency resistance R of the motor can be obtained by calculation through the combined type (3) and (4) dh And a direct axis high frequency inductance L dh
(2) Stator winding and rotor permanent magnet temperature determination
During operation of the motor, the direct-axis high-frequency resistor R of the motor dh And stator winding temperature t w The relationship of (2) can be written as
R dh (t w )＝R dh0 (1+α(t w -20℃)) (6)，
Direct-axis high-frequency inductance L of motor dh Temperature t of rotor permanent magnet m The relationship of (2) can be expressed as
Wherein R is dh0 、t w The temperature of the motor direct-axis high-frequency resistor and the stator winding at 20 ℃ respectively, and alpha, A, B and C are undetermined coefficients influenced by the running load and the rotating speed of the motor. R is completed through fitting experimental measurement data of motor dh And t w L and dh and t m By means of table look-up, i.e. according to the calculated straight-axis high-frequency resistance R dh And a direct axis high frequency inductance L dh Is used for checking the table to determine the temperature t of the stator winding of the motor w And rotor permanent magnet temperature t m 。
(3) Fault tolerant operation of temperature anomalies
At the motor stator winding temperature t w >Winding set temperature t 1 During fault-tolerant operation, the maximum reference current amplitude I is controlled in the MTPA control link s_max Limiting is performed to prevent the stator temperature from further increasing. If the temperature t of the permanent magnet of the motor rotor m >Permanent magnet set temperature t 2 When the temperature of the rotor permanent magnet is increased, the permanent magnet is easier to generate irreversible demagnetization, and the direct axis demagnetization current i of the motor should be limited in the MTPA control link d Should satisfy |i d |<I d_max Wherein I d_max According to the relation between the irreversible inflection point and the temperature on the permanent magnet material demagnetizing curve, the amplitude limiting of the direct-axis demagnetizing current can effectively avoid irreversible demagnetization of the rotor permanent magnet.
FIG. 2 is a schematic diagram of a method for monitoring temperature anomalies and fault tolerance of a permanent magnet synchronous motor, wherein MTPA is maximum torque current ratio control; the LPF is a low-pass filter and is used for filtering high-frequency components from the direct-axis current signal and the quadrature-axis current signal; the BPF is a band-pass filter, the filtering center frequency is the frequency of the injected high-frequency signal and is used for extracting the direct-axis high-frequency response current i from the direct-axis current signal dh The method comprises the steps of carrying out a first treatment on the surface of the Given high frequency voltage signal u dh The direct axis component of the motor control link is overlapped and injected; combining a given high-frequency voltage signal u dh And an extracted direct-axis high-frequency response current i dh The direct-axis high-frequency resistance and inductance can be calculated, and then the direct-axis high-frequency resistance R is obtained according to the calculation dh And a direct axis high frequency inductance L dh To determine the stator winding temperature t of the motor by means of a numerical lookup table w And rotor permanent magnet temperature t m The method comprises the steps of carrying out a first treatment on the surface of the At stator winding temperature t w And rotor permanent magnet temperature t m Based on the temperature, whether the temperature of the permanent magnet synchronous motor is carried out or not can be judgedAnd (5) controlling the abnormal fault-tolerant operation.
Motor stator winding temperature t w >t 1 The fault-tolerant operation waveform is shown in fig. 3, and it can be seen that the operation current amplitude of the motor is reduced from 10A to 5.3A from 0.2s (the output torque of the motor is reduced to 50% of rated value, I) s_max 5.3A), the further temperature rise of the motor winding can be effectively relieved due to the reduction of the stator current amplitude, and insulation degradation or short circuit fault of the winding can be avoided.
Motor stator winding temperature t m >t 2 The fault tolerant operating waveforms are shown in FIG. 4, and it can be seen that the direct axis demagnetizing current is limited to-1A (I after 0.2s d_max 1A). The amplitude limiting of the direct-axis demagnetizing current can effectively avoid irreversible demagnetization of the rotor permanent magnet.
According to the method provided by the invention, the high-frequency resistance and inductance parameters of the motor direct shaft are calculated by the high-frequency signal injection method, the abnormal temperature on-line monitoring of the motor stator winding and the rotor permanent magnet is realized based on the relation between the direct-shaft high-frequency resistance and inductance parameters and the temperature, and the monitoring result is more accurate and reliable. The invention provides fault-tolerant operation strategies for abnormal temperature of the motor stator winding and abnormal temperature of the permanent magnet. The method has important value for improving the running reliability and service life of the motor in industrial production and application.
It should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (7)
1. A temperature anomaly on-line monitoring and fault-tolerant method of a permanent magnet synchronous motor is characterized by comprising the following steps of: the method comprises the following steps:
injecting a high-frequency voltage signal into a motor through a frequency converter, extracting a direct-axis high-frequency response current, and calculating a direct-axis high-frequency resistance and a direct-axis high-frequency inductance of the motor in real time;
secondly, determining the temperature of a motor winding according to a direct-axis high-frequency resistance-winding temperature relation table, and determining the temperature of a motor permanent magnet according to a direct-axis high-frequency inductance-permanent magnet temperature relation table;
thirdly, determining whether fault-tolerant operation is required to be performed according to the temperature anomaly monitoring result; if the temperature of the motor winding is monitored to be abnormal, the amplitude of the motor stator current needs to be limited, the temperature of the stator winding is prevented from being further increased, the motor is prevented from being damaged, and if the temperature of the stator winding is monitored to be normal and the temperature of the rotor permanent magnet is monitored to be abnormal, the direct axis demagnetizing current of the motor needs to be limited, and irreversible demagnetization of the permanent magnet is avoided.
2. The method for online monitoring and fault tolerance of temperature anomaly of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: in the first step, the frequency of the high-frequency voltage signal is 10 times of the rated fundamental frequency of the motor, and the amplitude is within 10% of the DC link voltage of the frequency converter.
3. The method for online monitoring and fault tolerance of temperature anomaly of permanent magnet synchronous motor according to claim 2, wherein the method comprises the following steps: in the second step, the direct-axis high-frequency resistance and the winding temperature have a relation in the operation of the motor
R dh (t w )＝R dh0 (1+α(t w -20℃)) (1)，
Wherein R is dh Is a motor straight shaft high-frequency resistor, t w For winding temperature, R dh0 The resistance is a motor straight shaft high-frequency resistance at 20 ℃, and alpha is a coefficient to be determined; the construction of a motor straight-axis high-frequency resistance-winding temperature relation table is completed through experimental measurement data fitting;
the temperature of the direct-axis high-frequency inductor and the permanent magnet in the motor operation has a relation
In which L dh Is the direct axis high frequency inductance of the motor, t m A, B and C are coefficients to be determined for rotor permanent magnet temperature; motor straight-axis high-frequency inductance-permanent magnet temperature relation table completed through experimental measurement data fittingIs a construction of (3).
4. The online monitoring and fault-tolerant method for temperature anomalies of a permanent magnet synchronous motor according to claim 3, wherein the method comprises the following steps: in the third step, the temperature t of the stator winding of the motor is compared w When the temperature of the winding exceeds the set temperature, the temperature of the winding is abnormal, the amplitude of the stator current is limited in a control link, and the more serious the abnormal degree of the temperature of the winding is, the larger the amplitude limit of the stator current is, so that the temperature of the stator winding is ensured not to be further increased.
5. The online monitoring and fault-tolerant method for temperature anomalies of a permanent magnet synchronous motor according to claim 4, wherein the method comprises the following steps: in the third step, the temperature t of the permanent magnet of the motor rotor is compared m When the temperature of the permanent magnet exceeds the set temperature, the temperature of the permanent magnet is abnormal, and the direct axis demagnetizing current of the motor needs to be limited in a control link, so that irreversible demagnetization of the rotor permanent magnet is avoided.
6. The online monitoring and fault-tolerant method for temperature anomalies of a permanent magnet synchronous motor according to claim 5, wherein the method comprises the following steps: the set temperature of the stator winding and the set temperature of the rotor permanent magnet are comprehensively determined according to the running environment of the motor, the heat dissipation condition and the material property.
7. The method for online monitoring and fault tolerance of temperature anomaly of permanent magnet synchronous motor according to claim 6, wherein the method comprises the following steps: and (5) looking up a table according to the relation between the irreversible inflection point and the temperature on the permanent magnet material demagnetizing curve to obtain the amplitude limiting value of the motor direct axis demagnetizing current.
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| Title |
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| HWIGON KIM, ET AL.: "stator winding temperarure and magnet temperature estimation of IPMSM based on high-frequency voltage signal injection", 《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》, vol. 70, no. 3, 17 May 2022 (2022-05-17), pages 2296 - 2306, XP011927814, DOI: 10.1109/TIE.2022.3174285 * |
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