CN104793161B - Motor driven systems current sensor faults diagnostic method - Google Patents
Motor driven systems current sensor faults diagnostic method Download PDFInfo
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- CN104793161B CN104793161B CN201410021002.9A CN201410021002A CN104793161B CN 104793161 B CN104793161 B CN 104793161B CN 201410021002 A CN201410021002 A CN 201410021002A CN 104793161 B CN104793161 B CN 104793161B
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Abstract
The invention discloses a kind of motor driven systems current sensor faults diagnostic method, detect the electric current of any two-phase of three phase electric machine respectively using two current sensors, phase current, second current sensor obtained to first current sensor detection detects that obtained phase current is sampled, and the sampling number in a phase current cycle is N；Calculate the phase current magnitude in a phase current cycleIf phase current magnitude is more multiple beyond the threshold range that balances each other in a phase current cycle, judge occur phase current imbalance, current sensor has serious or Accuracy trouble.The motor driven systems current sensor faults diagnostic method of the present invention, is that the fault diagnosis of current sensor in itself can be achieved using two current sensors, saves cost.
Description
Technical field
The present invention relates to motor technology, more particularly to a kind of motor driven systems current sensor faults diagnostic method.
Background technology
It is electronic（Pure electric or hybrid）Electric motor of automobile drive system mainly includes motor, electric machine controller and related control
Circuit processed.Electric automobile torque control is realized by closed-loop current control, therefore current sensor faults will be produced to moment of torsion control
Directly affect.Current sensor faults are broadly divided into two classes：Catastrophe failure and Accuracy trouble.Catastrophe failure mainly includes：Electric current
Short circuit sensor, open circuit, constant etc.；And Accuracy trouble includes：Current sensor biasing, drift, ratio failure etc..
Because current of electric is directly related with torque safety, therefore current sensor used for electric vehicle needs higher diagnosis covering
Rate.To ensure high-grade torque safety demand, using three current sensors more than existing electric automobile motor drive system（Wherein
Two are realized moment of torsion control function, the 3rd redundancy）, utilize Kirchhoff's current law (KCL)（I.e. motor three-phase current and for 0 original
Reason）To solve the fault diagnosis of single current sensor.Though the program improves torque safety grade, due to needing three electricity
Flow sensor, cost increase is more.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of motor driven systems current sensor faults diagnostic method, profit
It is that the fault diagnosis of current sensor in itself can be achieved with two current sensors, saves cost.
In order to solve the above technical problems, the motor driven systems current sensor faults diagnostic method that the present invention is provided, is
Any two-phase of three phase electric machine is detected respectively using first current sensor, second current sensor, two current sensors
Electric current；
Phase current, second current sensor obtained to first current sensor detection detects that obtained phase current enters
Row sampling, the sampling number in a phase current cycle is N；
N number of phase current magnitude in a phase current cycle is calculated,
In formula, A (M) is the m-th phase current magnitude in the phase current cycle, IUMThe phase electricity obtained for first current sensor detection
Flow the m-th sampling within the phase current cycle, IWMDetect obtained phase current in the phase current for second current sensor
M-th sampling in cycle, N is positive integer, positive integers of the M from 1 to N；
If N number of phase current magnitude in a phase current cycle, there is more than Q phase current magnitude beyond the threshold values that balances each other
Scope, Q is the positive integer less than N, then judges occur phase current imbalance, and current sensor has serious or Accuracy trouble.
Preferably, also calculating a current sensor obtained phase current of detection from peak value moment（Peak value moment can both be selected
In positive peak value, negative peak also may be selected）Each accumulated current value in a phase current cycle started, and calculate sine
Degree,If N number of sine degree in this phase current cycle, there is sinusoidal more than P
Degree exceedes sine degree threshold range, then judges the phase current non-sine, and the current sensor has serious or Accuracy trouble；I′M
For to the accumulated current value of the m-th sampled point in the phase current cycle, IMFor the m-th sampled value in the phase current cycle, Ik
For k-th of sampled value within this phase current cycle, k is the positive integer from 1 to M, QMFor the M in this phase current cycle
Individual sine degree, P is the positive integer less than N.
Preferably, within a phase current cycle, if the sampled value for the phase current that a current sensor detection is obtained
It is always steady state value, then judges that the current sensor is unreasonable, the current sensor has catastrophe failure.
Preferably, the motor driven systems, are the motor driven systems of electric automobile.
The motor driven systems current sensor faults diagnostic method of the present invention, is obtained according to two current sensor detections
Any two-phase current value, to motor driven systems carry out phase current balance diagnosis, and then find current sensor in itself
Catastrophe failure or Accuracy trouble problem.The motor driven systems current sensor faults diagnostic method of the present invention, the motor
It is that current sensor can be achieved in itself using two current sensors when drive system is the motor driven systems of electric automobile
Fault diagnosis, and torque safety control is realized, save cost.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, simple is made to the accompanying drawing used required for the present invention below
Introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill people
For member, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is motor driven systems structure chart；
Fig. 2 is motor two-phase current balance amplitude phasor schematic diagram；
Balance simulation waveform when Fig. 3 electric machine phase currents are without harmonic wave；
Fig. 4 is the principle schematic that monophase current sine degree diagnosis is carried out using integration method.
Embodiment
Below in conjunction with accompanying drawing, clear, complete description is carried out to the technical scheme in the present invention, it is clear that described
Embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is general
All other embodiment that logical technical staff is obtained on the premise of creative work is not made, belongs to protection of the present invention
Scope.
Embodiment one
Motor driven systems are as shown in figure 1, including motor, electric machine controller, fault identification and control unit, driving electricity
The electric current of any two-phase in road and two current sensors, U, V, W of two current sensor detection three phase electric machines, therefore
Barrier identification carries out fault diagnosis in itself according to the current detection value of two current sensors with control unit to current sensor.
Motor driven systems current sensor faults diagnostic method：
Detect that three phase electric machine is appointed respectively using first current sensor, second current sensor, two current sensors
The electric current for two-phase of anticipating；
Phase current, second current sensor obtained to first current sensor detection detects that obtained phase current enters
Row sampling, the sampling number in a phase current cycle is N；
N number of phase current magnitude in a phase current cycle is calculated,
In formula, A (M) is the m-th phase current magnitude in the phase current cycle, IUMThe phase electricity obtained for first current sensor detection
Flow the m-th sampling within the phase current cycle, IWMDetect obtained phase current in the phase current for second current sensor
M-th sampling in cycle, N is positive integer, positive integers of the M from 1 to N；
If N number of phase current magnitude in a phase current cycle is non-constant（There is more than Q phase current magnitude to exceed phase
Threshold range is balanced, Q is the positive integer less than N, and the threshold range that balances each other is obtained by matching）, then judge occur phase current injustice
There is serious or Accuracy trouble in weighing apparatus, current sensor.
Sampling number N in one phase current cycle, rule of thumb with being actually needed determination.
When Fig. 2 is biphase-equilibrium, the amplitude phasor schematic diagram of motor U, W two-phase current is very easy to find by the figure,With90 ° are differed in phase,Amplitude be'sTimes, it is assumed that phase current magnitude is A,
Then Re is to take phasor real part computing, then (IU+IW)2
+(IU-IW)2/3=A2.Within a phase current cycle, the m-th sampling point for the phase current that two current sensor detections are obtained
Wei not IUM、IWM, carry out following computing：And A (M) is recorded, if a phase
A (M) operation result in current cycle is non-constant, or A (M) operation result within a phase current cycle exceedes balance threshold
When the number of times of value scope is more, then it can determine whether occur phase current imbalance.
Balance simulation waveform when electric machine phase current is without harmonic wave is as shown in Figure 3, it can be seen that now A2(M) operation result
For steady state value, i.e. A (M) is steady state value.
The motor driven systems current sensor faults diagnostic method of embodiment one, is detected according to two current sensors
Motor driven systems are carried out phase current balance diagnosis, and then find current sensor sheet by the current value of any two-phase arrived
The catastrophe failure or Accuracy trouble problem of body.The motor driven systems current sensor faults diagnostic method of embodiment one, it is described
It is that current sensor sheet can be achieved using two current sensors when motor driven systems are the motor driven systems of electric automobile
The fault diagnosis of body, and torque safety control is realized, save cost.
Embodiment two
Motor driven systems current sensor faults diagnostic method based on embodiment one, also calculates current sensor inspection
The phase current measured is from peak value moment（Peak value moment can both be selected in positive peak value, and negative peak also may be selected）One started
Each accumulated current value in the individual phase current cycle, and calculate sine degree,If should
N number of sine degree in the individual phase current cycle is non-constant（There is more than P sine degree to exceed sine degree threshold value model, P is less than N's
Positive integer, sine degree threshold range is obtained by matching）, then judge the phase current non-sine, the current sensor exist it is serious or
Accuracy trouble；I′MFor to the accumulated current value of the m-th sampled point in the phase current cycle, IMFor in the phase current cycle
M sampled value, IkFor k-th of sampled value within this phase current cycle, I1For the electricity of peak value moment in this phase current cycle
Sampled value is flowed, k is the positive integer from 1 to M, QMFor the m-th sine degree in this phase current cycle.
The motor driven systems current sensor faults diagnostic method of embodiment two, also calculates a current sensor and detects
The electric current arrived is from peak value moment（Peak value moment can both be selected in positive peak value, and negative peak also may be selected）The a cycle of beginning
Interior each accumulated current value, carries out monophase current sine degree diagnosis using integration method, judges that the current sensor whether there is
Serious or Accuracy trouble, failure in itself that can be with the specific current sensor of Precise Diagnosis.
The principle of monophase current sine degree diagnosis is carried out as shown in figure 4, within a phase current cycle using integration method,
From the sampled result of current peak moment start recording phase current, calculate electric current that current sensor detection obtains from peak value when
Each accumulated current value in a cycle started is carved, and calculates sine degree.
The theoretical proof of sine degree checking is as follows：
Integrated since maximum of points, so for each later cos φ, sin φ can be obtained, then basis
sin2φ+cos2φ=1, can determine whether as just（It is remaining）String ripple.
The necessary and sufficient condition that the above method is set up is the Xie Weiyu of the following differential equation（Just）String.
(y′)2+y2=1 （2）
Obvious y=1 is one particular solution, as y ≠ 1
Y=cos θ are made, then（5）Formula is represented by：
That is ± d θ=dx
So θ=± x+C, therefore y=cos (± x+C) is remaining（Just）String.Meet（2）The function of formula is in addition to particular solution, and one is set to just
The proposition of string function is proven.
Embodiment three
Motor driven systems current sensor faults diagnostic method based on embodiment two, within a phase current cycle,
If the sampled value for the phase current that a current sensor detection is obtained is steady state value always, such as：± Imax, or between ± Imax
Between a certain steady state value, then judge that the current sensor is unreasonable, the current sensor has catastrophe failure.
It should be noted that, in special operation condition, such as stall or torque command wide fluctuations operating mode, first electric current can be forbidden to pass
Sensor Accuracy trouble is diagnosed（I.e. disabling balance is diagnosed with sine degree）, and the catastrophe failure only to single current sensor is carried out
Diagnosis（The monophase current rationality diagnostic in embodiment three is only opened, stall operating mode can be learnt by motor position sensor）,
To avoid reporting tracing trouble by mistake.Due to stall or the limited duration of torque command wide fluctuations, therefore current sensor
Accuracy trouble problem, can be detected, this section retards can typically receive after phase current is stable.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements done etc. should be included within the scope of protection of the invention.
Claims (2)
1. a kind of motor driven systems current sensor faults diagnostic method, it is characterised in that first current sensor of utilization,
Second current sensor, two current sensors detect the electric current of any two-phase of three phase electric machine respectively；
Phase current, second current sensor obtained to first current sensor detection detects that obtained phase current is adopted
Sample, the sampling number in a phase current cycle is N；
N number of phase current magnitude in a phase current cycle is calculated,In formula,
A (M) is the m-th phase current magnitude in the phase current cycle, IUMThe phase current obtained for first current sensor detection exists
M-th sampling in the phase current cycle, IWMDetect obtained phase current in the phase current cycle for second current sensor
Interior m-th sampling, N is positive integer, and M is the positive integer from 1 to N；
If N number of phase current magnitude in a phase current cycle, there is more than Q phase current magnitude beyond the threshold values model that balances each other
Enclose, Q is the positive integer less than N, then judge occur phase current imbalance, current sensor has serious or Accuracy trouble.
2. the motor driven systems current sensor faults diagnostic method according to claim carries out 1, it is characterised in that
The motor driven systems, are the motor driven systems of electric automobile.
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| CN105656377A (en) * | 2016-04-11 | 2016-06-08 | 中国矿业大学 | Fault-tolerant control method of current sensor of permanent magnet synchronous motor |
| CN109031177B (en) * | 2018-08-15 | 2020-03-31 | 浙江大学 | Diagnosis method considering inverter current sensor fault and power tube open-circuit fault |
| CN113219277A (en) * | 2021-04-16 | 2021-08-06 | 唐山不锈钢有限责任公司 | Method for detecting roller bearing degradation by adopting motor current |
| CN116755011A (en) * | 2023-05-24 | 2023-09-15 | 闪渡新能源科技（上海）有限公司 | Double-current sensor fault diagnosis method applied to three-phase alternating current motor controller |
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| CN103018698A (en) * | 2011-09-23 | 2013-04-03 | 通用汽车环球科技运作有限责任公司 | Protection of motor drive systems from current sensor faults |
| CN103197188A (en) * | 2013-03-05 | 2013-07-10 | 上海翼锐汽车科技有限公司 | Battery current sensor fault diagnosis system and method thereof |
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| CN103018698A (en) * | 2011-09-23 | 2013-04-03 | 通用汽车环球科技运作有限责任公司 | Protection of motor drive systems from current sensor faults |
| CN103197188A (en) * | 2013-03-05 | 2013-07-10 | 上海翼锐汽车科技有限公司 | Battery current sensor fault diagnosis system and method thereof |
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