CN116633088A - Zero-bias fault diagnosis and fault-tolerant control method for current sensor of doubly salient motor - Google Patents

Zero-bias fault diagnosis and fault-tolerant control method for current sensor of doubly salient motor Download PDF

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CN116633088A
CN116633088A CN202310597996.8A CN202310597996A CN116633088A CN 116633088 A CN116633088 A CN 116633088A CN 202310597996 A CN202310597996 A CN 202310597996A CN 116633088 A CN116633088 A CN 116633088A
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current
current sensor
phase
output value
fault
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CN116633088B (en
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张义军
周波
房文静
周文博
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/27—Devices for sensing current, or actuated thereby
    • 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
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Abstract

The application discloses a zero bias fault diagnosis and fault-tolerant control method of a current sensor of a doubly salient motor, and relates to the field of doubly salient motors. The method can avoid the phenomenon of overcurrent, does not need complex phase current structure, has wide diagnosis range, is simple and reliable, and has the same torque output under fault-tolerant control as normal.

Description

Zero-bias fault diagnosis and fault-tolerant control method for current sensor of doubly salient motor
Technical Field
The application relates to the field of doubly salient motors, in particular to a zero bias fault diagnosis and fault tolerance control method for a doubly salient motor current sensor.
Background
The double salient pole motor is a novel motor developed on the basis of a switched reluctance motor, the stator and the rotor of the double salient pole motor are of salient pole structures, the three-phase armature winding is intensively arranged on the stator, and the rotor is free of windings, so that the double salient pole motor has the advantages of simple structure, flexible control, good fault tolerance, suitability for high-speed operation and the like, and becomes a research hot spot.
A common control strategy for doubly salient motor drive systems is rotational speed current double closed loop control, wherein the current closed loop requires accurate phase current feedback information. However, in the operation process of the doubly salient motor drive system, zero offset faults of the current sensor are easy to occur, when the zero offset faults occur to the current sensor, the output value of the current sensor is equal to a true value, a zero offset current value is overlapped, and the influence of the zero offset faults of the current sensor on the operation process of the doubly salient motor drive system is mainly represented by: (1) According to the current closed-loop action, overcurrent can occur to a doubly salient motor drive system, and large torque pulsation is caused; (2) The control of the doubly salient motor drive system requires accurate phase current information, and once the current sensor has zero offset fault, the control performance of the system is reduced. Both of the above conditions affect the operational reliability of the doubly salient motor drive system.
Disclosure of Invention
Aiming at the problems and the technical requirements, the inventor provides a zero offset fault diagnosis and fault tolerance control method for a doubly salient motor current sensor, and the technical scheme of the application is as follows:
a zero bias fault diagnosis and fault tolerance control method for a current sensor of a doubly salient motor comprises the following steps:
acquiring a current output value i of the first current sensor CS1 cs1 The current output value i of the second current sensor CS2 cs2 The first current sensor CS1 is connected in series with a first phase winding of the doubly salient motor, the second current sensor CS2 is connected in series with a second phase winding of the doubly salient motor, and the direction of a bridge arm of the bridge type converter flowing to a neutral point of the three-phase winding is taken as a current positive direction, and the first phase winding and the second phase winding are any two phases of the three-phase winding of the doubly salient motor;
according to the current input of the first current sensor CS1 at the first commutation point theta 1Output value i cs1 | θ1 And a current output value i of the second current sensor CS2 at a second commutation point θ2 cs2 | θ2 Performing zero offset fault diagnosis on the two current sensors; the first commutation point theta 1 is a commutation angle of an electrical angle section with the first phase winding as a non-conducting phase, and the second commutation point theta 2 is a commutation angle of an electrical angle section with the second phase winding as a non-conducting phase;
when it is determined that both current sensors are operating normally and zero offset fault is not occurred, the current output value i is used cs1 Phase current as first phase winding with current output value i cs2 The phase current used as the second phase winding is subjected to closed loop feedback to drive the doubly salient motor; otherwise, according to the current output value i cs1 And a current output value i cs2 And performing fault tolerance control.
The further technical scheme is that the zero offset fault diagnosis is carried out on two current sensors, and the method comprises the following steps:
the current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ1 Current output value i of second current sensor CS2 at second commutation point θ2 and=0 cs2 | θ2 When the value is=0, determining that both current sensors work normally and zero offset faults do not occur;
otherwise, determining that the zero offset fault exists in the current sensor and positioning the current sensor with the zero offset fault.
According to the further technical proposal, according to the current output value i cs1 And a current output value i cs2 Performing fault-tolerant control, including:
determining the phase current of a phase winding corresponding to the current sensor according to the current output value of the current sensor with zero offset fault at the corresponding phase change point, and directly taking the current output value of the current sensor without zero offset fault as the phase current of the corresponding phase winding;
and performing closed loop feedback driving on the doubly salient motor based on the determined phase currents of the first phase winding and the second phase winding.
The further technical scheme is that the method for determining the phase current of the phase winding corresponding to the current sensor comprises the steps of:
and taking the current output value of the current sensor at the corresponding phase change point as a zero offset current value of the current sensor, and correcting the phase current of the corresponding phase winding by utilizing the zero offset current value.
The further technical scheme is that the current sensor for locating zero offset fault comprises:
the current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ1 Not equal to 0, the current output value i of the second current sensor CS2 at the second commutation point θ2 cs2 | θ2 When=0, it is determined that the first current sensor CS1 has zero bias fault and zero bias current value i set1 ＝i cs1 | θ1 While the second current sensor CS2 operates normally;
the current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ＝0° =0, the current output value i of the second current sensor CS2 at the second commutation point θ2 cs2 | θ＝120° When not equal to 0, the first current sensor CS1 is determined to work normally, and the second current sensor CS2 has zero bias fault and zero bias current value i set2 ＝i cs2 | θ＝120° ；
The current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ1 Not equal to 0, and the current output value i of the second current sensor CS2 at the second commutation point θ2 cs2 | θ2 When not equal to 0, determining that the first current sensor CS1 has zero bias fault and zero bias current value i set1 ＝i cs1 | θ1 The second current sensor CS2 also has zero bias fault and zero bias current value i set2 ＝i cs2 | θ2 。
The further technical proposal is that when the first current sensor CS1 has zero offset fault and the second current sensor CS2 works normally, the phase current i of the first phase winding is determined a ＝i cs1 -i set1 Phase current i of second phase winding b ＝i cs2 ；
When the second current sensor CS2 has zero offset fault and the first current sensor CS1 works normally, the phase current i of the first phase winding is determined a ＝i cs1 Phase current i of second phase winding b ＝i cs2 -i set2 ；
When zero offset faults occur in the first current sensor CS1 and the second current sensor CS2, determining the phase current i of the first phase winding a ＝i cs1 -i set1 Phase current i of second phase winding b ＝i cs2 -i set2 ；
The beneficial technical effects of the application are as follows:
the application discloses a zero offset fault diagnosis and fault-tolerant control method of a doubly salient motor current sensor, which can realize the diagnosis of zero offset faults of a single current sensor and two current sensors by only acquiring the current output value and the rotor position angle of the current sensor without adding other devices or changing the placement position of the current sensor, thereby avoiding the phenomenon of overcurrent, avoiding complex phase current structure, and having wide diagnosis range and simple and reliable diagnosis method.
The method not only can position the current sensor with zero offset fault, but also can realize zero offset fault tolerant operation of the current sensor, and the torque output under fault tolerant control is the same as that of normal, namely, the torque performance is not lost. The method can be further popularized to zero offset fault diagnosis of the current sensor in the brushless direct current motor driving system.
Drawings
Fig. 1 is a power converter topology of a common bi-salient motor drive system.
Fig. 2 is an inductance profile, power tube turn-on logic, and phase current profile of the bi-salient motor drive system of fig. 1 over one electrical angle cycle.
Fig. 3 is a flow chart of a zero bias fault diagnosis and fault tolerance control method of a doubly salient motor current sensor according to the present application.
Detailed Description
The following describes the embodiments of the present application further with reference to the drawings.
The application discloses a zero-bias fault diagnosis and fault-tolerant control method of a doubly salient motor current sensor, which aims at a doubly salient motor driving system, please refer to a topological diagram of the universal doubly salient motor driving system shown in fig. 1, and a direct current power supply U dc The positive and negative ends of the direct current bus of the bridge converter are connected, and the direct current bus capacitor C is connected between the positive and negative ends of the direct current bus of the bridge converter in a bridging mode. The bridge converter comprises a switching tube T 1 、T 2 、T 3 、T 4 、T 5 And T 6 The three bridge arms are formed, the midpoints of the bridge arms of the three bridge arms are respectively connected with a three-phase winding A, B, C of the doubly salient motor, and the three-phase winding A, B, C is connected in a star shape and has a neutral point N.
The double-salient motor driving system is provided with two current sensors, a first current sensor CS1 is connected in series with a first phase winding of the double-salient motor, and a second current sensor CS2 is connected in series with a second phase winding of the double-salient motor. The first phase winding and the second phase winding are any two phases of three-phase windings of the doubly salient motor, for example, fig. 1 takes the first phase winding as an a-phase winding and the second phase winding as a B-phase winding as an example.
The current sensor is used for sensing the phase current of the phase windings connected in series, and the direction of the bridge arm of the bridge type converter flowing to the neutral point of the three-phase windings is taken as the positive current direction. During the operation of the doubly salient motor drive system, a current output value i of the first current sensor CS1 is obtained cs1 The current output value i of the second current sensor CS2 cs2 And determining a rotor position angle theta of the doubly salient motor. The current output value i obtained by the application cs1 And a current output value i cs2 Is a continuous current curve, and the current output value i under each rotor position angle theta can be determined by combining the acquired rotor position angle theta cs1 And a current output value i cs2 . One electrical angle period of the doubly salient motor driving system covers 0-360 degrees and is divided into three electrical angle intervals of 0-120 degrees, 120-240 degrees and 240-360 degrees, and a topological diagram shown in fig. 1 is taken as an example, and the bridge converter is connected with a logic gateThe editing is as follows:
(1) The switch tube T is in an electric angle interval of 0-120 DEG 1 And T 2 The phase A winding and the phase C winding are conductive phase windings, and the phase B winding is a non-conductive phase winding.
(2) The switch tube T is in an electric angle range of 120-240 DEG 3 And T 4 The phase A winding and the phase B winding are conductive phase windings, and the phase C winding is a non-conductive phase winding.
(3) The switch tube T is in an electric angle interval of 240-360 DEG 5 And T 6 The B-phase winding and the C-phase winding are conductive phase windings, and the A-phase winding is a non-conductive phase winding.
The inductance curve, power tube turn-on logic and phase current curve over an electrical angle period are shown in FIG. 2, where L a 、L b 、L c The self-inductance of the A phase winding, the B phase winding and the C phase winding are respectively represented, i a 、i b 、i c The phase currents of the a-phase winding, the B-phase winding, and the C-phase winding are represented, respectively.
As can be seen in connection with fig. 2, when the doubly salient motor drive system is operating normally: in the electrical angle interval of 0-120 DEG, the B phase winding is a non-conductive phase winding, and phase change is carried out at 120 DEG, and at the moment, the phase current i of the B phase winding is equal to the phase current i of the B phase winding b Should be 0. In the 120-240 degree electric angle interval, the C phase winding is a non-conductive phase winding, and the phase is changed when the temperature is 240 degree, and the phase current i of the C phase winding is the same as the phase current i of the C phase winding c Should be 0. In the electric angle interval of 240-360 degrees, the A-phase winding is a non-conducting phase winding, and phase change is carried out at 0 or 360 degrees, and at the moment, the phase current i of the A-phase winding is equal to the phase current i of the A-phase winding a Should be 0.
In the case of no zero-bias fault, the current output value of the current sensor connected in series with the phase winding is the phase current of the connected phase winding, such as the current output value i of the first current sensor CS1 in FIG. 1 cs1 It should be the phase current i of the a-phase winding a The same second current sensor CS2 has a current output value i when no zero offset fault occurs cs2 The phase current i of the B-phase winding should be b 。
It is therefore known based on the above analysis, no matter which phase winding the current sensor is connected in series with, when no zero offset fault occurs in the current sensor: the current sensor in series with the B-phase winding should be 0 when commutation is performed at 120 °. The current sensor in series with the C-phase winding should be 0 when commutation is performed at 240 °. The current sensor in series with the a-phase winding should be 0 when commutation is performed at 0 ° or 360 °. Based on this principle, the control logic of the doubly salient motor driving control method of the present application is as shown in fig. 3:
according to the installation positions of the first current sensor CS1 and the second current sensor CS2, by combining the conduction logic of a switching tube in the bridge converter, a first phase change point theta 1 corresponding to the first current sensor CS1 and a second phase change point theta 2 corresponding to the second current sensor CS2 can be determined, wherein the first phase change point theta 1 is a phase change angle of an electric angle section taking the first phase winding as a non-conduction phase, and the second phase change point theta 2 is a phase change angle of the electric angle section taking the second phase winding as the non-conduction phase. For example, on the basis of the topology structure of fig. 1 and the turn-on logic of fig. 2, the first commutation point θ1 corresponding to the first current sensor CS1 is 0 ° or 360 °, the second commutation point θ2 corresponding to the second current sensor CS2 is 120 °, and the other topology structures and the turn-on logic are similar.
According to the current output value i of the first current sensor CS1 at the first commutation point theta 1 cs1 | θ1 And a current output value i of the second current sensor CS2 at a second commutation point θ2 cs2 | θ22 And performing zero bias fault diagnosis on the two current sensors to determine whether zero bias faults occur to the current sensors. Comprising the following steps:
the current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ1 Current output value i of second current sensor CS2 at second commutation point θ2 and=0 cs2 | θ2 When=0, it is determined that both current sensors are operating normally, and zero offset failure does not occur. Otherwise, determining that zero offset faults exist in the current sensor.
After the zero bias fault of the current sensor is determined, the current sensor with the zero bias fault can be further positioned, which comprises the following cases:
(1) The current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ1 Not equal to 0, the current output value i of the second current sensor CS2 at the second commutation point θ2 cs2 | θ2 When=0, it is determined that the first current sensor CS1 has zero bias fault and zero bias current value i set1 ＝i cs1 | θ1 While the second current sensor CS2 operates normally.
(2) The current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ1 =0, the current output value i of the second current sensor CS2 at the second commutation point θ2 cs2 | θ2 When not equal to 0, the first current sensor CS1 is determined to work normally, and the second current sensor CS2 has zero bias fault and zero bias current value i set2 ＝i cs2 | θ2 ；
(3) The current output value i of the first current sensor CS1 at the first commutation point θ1 cs1 | θ1 Not equal to 0, and the current output value i of the second current sensor CS2 at the second commutation point θ2 cs2 | θ2 When not equal to 0, determining that the first current sensor CS1 has zero bias fault and zero bias current value i set1 ＝i cs1 | θ1 The second current sensor CS2 also has zero bias fault and zero bias current value i set2 ＝i cs2 | θ2 。
In another embodiment, after determining that the current sensor has a zero-bias fault and further locating the current sensor having the zero-bias fault, the fault-tolerant control may be further implemented, referring to the flowchart shown in fig. 3, where the fault-tolerant control method includes:
when the first current sensor CS1 has zero offset fault and the second current sensor CS2 works normally, the phase current i of the first phase winding is determined a ＝i cs1 -i set1 Phase current i of second phase winding b ＝i cs2 ；
When the second current sensor CS2 has zero offset fault and the first current sensor CS1 works normally, the phase of the first phase winding is determinedCurrent i a ＝i cs1 Phase current i of second phase winding b ＝i cs2 -i set2 ；
When zero offset faults occur in the first current sensor CS1 and the second current sensor CS2, determining the phase current i of the first phase winding a ＝i cs1 -i set1 Phase current i of second phase winding b ＝i cs2 -i set2 ；
The above is only a preferred embodiment of the present application, and the present application 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 deemed to be included within the scope of the present application.

Claims (6)

1. The zero-bias fault diagnosis and fault tolerance control method for the current sensor of the doubly salient motor is characterized by comprising the following steps of:
acquiring a current output value i of the first current sensor CS1 cs1 The current output value i of the second current sensor CS2 cs2 The first current sensor CS1 is connected in series with a first phase winding of the doubly salient motor, the second current sensor CS2 is connected in series with a second phase winding of the doubly salient motor, and a direction of a bridge arm of a bridge converter flowing to a neutral point of a three-phase winding is taken as a current positive direction, wherein the first phase winding and the second phase winding are any two phases of the three-phase winding of the doubly salient motor;
according to the current output value i of the first current sensor CS1 at the first commutation point theta 1 cs1 | θ1 And the current output value i of the second current sensor CS2 at a second commutation point theta 2 cs2 | θ2 Performing zero offset fault diagnosis on the two current sensors; the first phase change point theta 1 is a phase change angle of an electric angle section taking the first phase winding as a non-conducting phase, and the second phase change point theta 2 is a phase change angle of the electric angle section taking the second phase winding as the non-conducting phase;
when two current sensors are determinedWhen the devices all work normally and zero offset fault does not occur, the current output value i is used cs1 Phase current as the first phase winding at the current output value i cs2 Performing closed loop feedback driving on the doubly salient motor as the phase current of the second phase winding; otherwise, according to the current output value i cs1 And the current output value i cs2 And performing fault tolerance control.
2. The drive control method of a doubly salient motor according to claim 1, wherein the zero-bias fault diagnosis of the two current sensors includes:
a current output value i of the first current sensor CS1 at the first commutation point theta 1 cs1 | θ1 A current output value i of the second current sensor CS2 at the second commutation point θ2, and=0 cs2 | θ2 When the value is=0, determining that both current sensors work normally and zero offset faults do not occur;
otherwise, determining that the zero offset fault exists in the current sensor and positioning the current sensor with the zero offset fault.
3. The drive control method of a doubly salient motor according to claim 2, wherein said current output value i is based on cs1 And the current output value i cs2 Performing fault-tolerant control, including:
determining the phase current of a phase winding corresponding to the current sensor according to the current output value of the current sensor with zero offset fault at the corresponding phase change point, and directly taking the current output value of the current sensor without zero offset fault as the phase current of the corresponding phase winding;
and performing closed-loop feedback driving on the doubly salient motor based on the determined phase currents of the first phase winding and the second phase winding.
4. A doubly salient motor drive control method as claimed in claim 3, wherein said determining phase currents of phase windings corresponding to said current sensors comprises, for any one of the current sensors having zero bias fault:
and taking the current output value of the current sensor at the corresponding commutation point as a zero offset current value of the current sensor, and correcting the current output value of the current sensor by utilizing the zero offset current value to obtain the phase current of the corresponding phase winding.
5. The drive control method of a doubly salient motor according to claim 4, wherein said locating a current sensor having a zero bias fault comprises:
a current output value i of the first current sensor CS1 at the first commutation point theta 1 cs1 | θ1 Not equal to 0, the current output value i of the second current sensor CS2 at the second commutation point theta 2 cs2 | θ2 When=0, determining that the first current sensor CS1 has zero bias fault and zero bias current value i set1 ＝i cs1 | θ＝0° While the second current sensor CS2 is operating normally;
a current output value i of the first current sensor CS1 at the first commutation point theta 1 cs1 | θ1 =0, the current output value i of the second current sensor CS2 at the second commutation point θ2 cs2 | θ2 When not equal to 0, determining that the first current sensor CS1 is working normally and the second current sensor CS2 is in zero bias fault and has zero bias current value i set2 ＝i cs2 | θ2 ；
A current output value i of the first current sensor CS1 at the first commutation point theta 1 cs1 | θ1 Not equal to 0, and the current output value i of the second current sensor CS2 at the second commutation point theta 2 cs2 | θ2 When not equal to 0, determining that the first current sensor CS1 has zero bias fault and zero bias current value i set1 ＝i cs1 | θ1 The second current sensor CS2 also has zero bias fault and zero bias current value i set2 ＝i cs2 | θ2 。
6. The drive control method of a doubly salient motor according to claim 5, wherein,
when the first current sensor CS1 has zero offset fault and the second current sensor CS2 works normally, the phase current i of the first phase winding is determined a ＝i cs1 -i set1 Phase current i of the second phase winding b ＝i cs2 ；
When the second current sensor CS2 has zero offset fault and the first current sensor CS1 works normally, the phase current i of the first phase winding is determined a ＝i cs1 Phase current i of the second phase winding b ＝i cs2 -i set2 ；
Determining a phase current i of the first phase winding when zero offset faults occur in both the first current sensor CS1 and the second current sensor CS2 a ＝i cs1 -i set1 Phase current i of the second phase winding b ＝i cs2 -i set2 。
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