CN106026821B - A kind of permanent-magnetic synchronous motor stator winding resistance imbalance fault diagnosis method of triangle connection - Google Patents
A kind of permanent-magnetic synchronous motor stator winding resistance imbalance fault diagnosis method of triangle connection Download PDFInfo
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Abstract
The invention discloses a kind of permanent-magnetic synchronous motor stator winding resistance imbalance fault diagnosis method of triangle connection, comprise the following steps：S1, establish relation between zero-sequence current and resistance shift amount, phase current and resistance shift amount, and derives the average value and resistance shift amount of zero-sequence current, the relational expression between the average value of phase current and resistance shift amount；S2, inject direct current signals different three times into two-phase rotating coordinate system in d-axis reference current, and records the phase current and zero-sequence current of the permanent magnet synchronous motor after each Injection Signal；The average value of S3, the average value for calculating the phase current recorded three times respectively and zero-sequence current, estimate the offset Δ R of stator winding resistancea、ΔRb、ΔRc；S4, judge whether the unbalance failure of resistive：If Δ Ra>0, showing the A phases of permanent magnet synchronous motor, there are the unbalance failure of resistive；If Δ Rb>0, showing B phases, there are the unbalance failure of resistive；If Δ Rc>0, showing C phases, there are the unbalance failure of resistive.
Description
Technical Field
The invention relates to the technical field of fault diagnosis, in particular to a fault diagnosis method for resistive imbalance of stator windings of a triangular connection permanent magnet synchronous motor.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of high power density, high efficiency, large torque-inertia ratio, wide speed regulation range and the like. In recent years, the wind power generation and elevator driving device has been widely used in high power applications such as wind power generation and elevator driving, and high and new energy applications such as electric vehicles and numerical control machines.
In a stator winding fault of a permanent magnet synchronous motor, the resistive unbalance of the stator winding is a common fault. When an early unbalance fault occurs, the motor can still continue to operate, but if the fault severity is aggravated due to non-timely detection, the rotating speed of the motor and the like can be caused to vibrate, if the fault is not detected in the initial stage, the fault can be aggravated, the temperature of the motor is continuously increased, and finally the motor is completely damaged. Therefore, it is necessary to diagnose stator winding faults of the permanent magnet synchronous motor in a timely manner.
At present, some methods have been proposed to diagnose the stator winding resistive imbalance of the permanent magnet synchronous motor, such as a third harmonic method and a zero sequence voltage method in the stator current. However, the existing method has certain defects, on one hand, the existing method is mainly directed at the permanent magnet synchronous motor connected in a star shape and is not suitable for the permanent magnet synchronous motor connected in a triangle shape; on the other hand, when multiple phases fail, most of the conventional methods cannot judge the failed phase and the failure degree of the resistive unbalance failure.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a method for diagnosing resistive unbalance faults of a stator winding of a permanent magnet synchronous motor in triangular connection.
The invention provides a method for diagnosing resistive unbalance faults of a stator winding of a triangular-connection permanent magnet synchronous motor, which comprises the following steps of:
s1, establishing a relation between zero sequence current and resistance offset and between phase current and resistance offset, and further deducing mathematical expressions between an average value of the zero sequence current and the resistance offset and between the average value of the phase current and the resistance offset;
s2, injecting three different direct current signals into the direct axis reference current in the two-phase rotating coordinate system, and recording phase current and zero sequence current of the permanent magnet synchronous motor after each signal injection;
s3, respectivelyCalculating the average value of the phase currents recorded three times and the average value of the zero sequence current, substituting the average values into a mathematical expression derived from S1, and estimating the offset delta R of the stator winding resistance a 、ΔR b 、ΔR c ；
S4, judging whether resistive unbalance faults exist or not: if Δ R is a >, 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in phase A, and according to phase resistance deviation delta R a Estimating the fault degree; if Δ R is b > 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in phase B according to phase resistance deviation delta R b Estimating the fault degree; if Δ R c > 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in C phase according to phase resistance deviation delta R c The degree of failure is estimated.
Preferably, the method for deriving the mathematical expressions between the average value of the zero-sequence current and the resistance offset, and between the average value of the phase current and the resistance offset is as follows:
the voltage equation of a delta-connected permanent magnet machine in the abc coordinate system can be expressed as
In the formula: u. of a 、u b 、u c Is a three-phase stator voltage, i a 、i b 、i c The three-phase stator current, L is the self inductance of the stator winding, and M is the mutual inductance of the stator winding; r is a 、R b 、R c For three-phase stator resistance, R is used when the permanent magnet motor has no stator winding resistive unbalance fault a 、R b 、R c Are equal; when resistive unbalance fault of stator winding occurs, R a 、R b 、R c Are no longer equal; lambda [ alpha ] PM,a 、λ PM,b 、λ PM,c Is a permanent magnet flux linkage of a three-phase stator winding, denoted as
In the formula: lambda [ alpha ] PM,1 Is the amplitude of the fundamental flux linkage, v is the harmonic order, λ PM,v Is the amplitude of the v-th harmonic flux linkage, theta is the rotor electrical angle, theta v Is the angle between the v-th harmonic flux linkage and the fundamental flux linkage;
the stator resistance of each phase is considered to be composed of two parts, which can be expressed as
According to kirchhoff's voltage law, in a delta-connected permanent magnet machine, the following equation holds
u a +u b +u c ＝0 (4)
By substituting formula (1) for formula (4) and considering formula (3), the following can be obtained
In the formula:
define zero sequence current as
i zsc ＝i a +i b +i c (6)
Neglecting higher harmonics in the stator current, the stator current can be expressed as
In the formula: i is j And theta j (j = a, b, c) are stator currents i, respectively j The magnitude of the medium fundamental and the initial phase angle.
Substituting equations (6) and (7) into equation (5) neglects analysis for simplicity since only the fundamental component in the zero sequence current is consideredSlightly lambda PM,0 Is differentiated to obtain
Conversion of formula (8) to
In the formula: omega e And d θ/dt is the rotor electrical angular velocity.
In the formula (9), if θ is regarded as an independent variable, i zsc Equation (9) is a first-order constant coefficient heterogeneous linear differential equation, which is considered as a dependent variable. Thus, i zsc Can be calculated to obtain
In the formula: c is an arbitrary constant, and gamma is represented by
γ＝tan -1 (-ω e (L+2M)/R s ) (11)
When theta tends to infinity, the last term on the right side of the equal sign of the formula (11) is close to zero; therefore, equation (11) is simplified to
For computational convenience, equation (12) can be transformed into
In the formula:
the average value of the zero sequence current can be expressed as
The method for diagnosing the resistive unbalance fault comprises the steps of injecting three different direct current signals into a direct-axis reference current in a two-phase rotating coordinate system, calculating the average value of phase currents recorded for three times and the average value of zero-sequence current, establishing a three-element linear equation set by a simultaneous formula, estimating the offset of a resistor, judging whether the resistive unbalance fault exists according to the offset of the resistor, and estimating the fault degree. The method provided by the invention is suitable for the permanent magnet synchronous motor in triangular connection, and overcomes the defects that the diagnosis method for the resistive unbalance fault in the prior art mostly only aims at the permanent magnet synchronous motor in star connection; the method disclosed by the invention can still judge the fault phase of the resistive unbalance fault and estimate the fault degree when multiple phases simultaneously have faults, and the method does not need to add extra detection equipment, saves the production cost and improves the pertinence and reliability of the diagnosis of the resistive unbalance fault of the stator winding of the permanent magnet synchronous motor.
Drawings
Fig. 1 is a block diagram of a method for diagnosing a resistive unbalance fault of a stator winding of a delta-connected permanent magnet synchronous motor.
Detailed Description
As shown in fig. 1, fig. 1 is a method for diagnosing a resistive imbalance fault of a stator winding of a delta-connected permanent magnet synchronous motor according to the present invention.
Referring to fig. 1, the method for diagnosing the resistive unbalance fault of the stator winding of the delta-connected permanent magnet synchronous motor provided by the invention comprises the following steps:
s1, establishing a relation between zero sequence current and resistance offset and between phase current and resistance offset, and further deducing mathematical expressions between an average value of the zero sequence current and the resistance offset and between the average value of the phase current and the resistance offset;
s2, injecting three different direct current signals into the direct axis reference current in the two-phase rotating coordinate system, and recording phase current and zero sequence current of the permanent magnet synchronous motor after each signal injection;
s3, respectively calculating the average value of the phase currents recorded for three times and the average value of the zero sequence current, substituting the average values into the mathematical expression deduced in the S1, and estimating the offset delta R of the stator winding resistance a 、ΔR b 、ΔR c ；
S4, judging whether a resistive unbalance fault exists or not: if Δ R a > 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in phase A, and according to phase resistance deviation delta R a Estimating the fault degree; if Δ R is b >, 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in phase B, and according to phase resistance deviation delta R b Estimating the fault degree; if Δ R c >, 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in C phase according to phase resistance deviation delta R c The degree of failure is estimated.
The invention is further illustrated below:
according to fig. 1, the voltage equation for a delta-connected permanent magnet machine in the abc coordinate system can be expressed as
In the formula: u. of a 、u b 、u c For three-phase stator voltages, i a 、i b 、i c For three-phase stator currents, L is the stator winding self-inductance and M is the stator winding mutual inductance. R is a 、R b 、R c Is a three-phase stator resistor, R when the permanent magnet motor is healthy a 、R b 、R c Are equal; when resistive unbalance fault of stator winding occurs, R a 、R b 、R c Are no longer equal. Lambda PM,a 、λ PM,b 、λ PM,c Is a permanent magnet flux linkage of a three-phase stator winding, denoted as
In the formula: lambda PM,1 Is the amplitude of the fundamental flux linkage, v is the harmonic order, λ PM,v Is the amplitude of the v-th harmonic flux linkage, θ is the rotor electrical angle, θ v Is the angle between the v-th harmonic flux linkage and the fundamental flux linkage;
the stator resistance of each phase is considered to be composed of two parts, which can be expressed as
According to kirchhoff's voltage law, in a delta-connected permanent magnet machine, the following equation holds
u a +u b +u c ＝0 (4)
By substituting formula (1) for formula (4) and considering formula (3), the following can be obtained
In the formula:
define zero sequence current as
i zsc ＝i a +i b +i c (6)
Neglecting higher harmonics in the stator current, the stator current can be expressed as
In the formula: i is j And theta j (j = a, b, c) are stator currents i, respectively j The magnitude of the medium fundamental and the initial phase angle. Substituting equations (6) and (7) into equation (5), since only the fundamental component in the zero sequence current is considered, λ is ignored for simplifying the analysis PM,0 Is differentiated to obtain
Conversion of formula (8) to
In the formula: omega e And d θ/dt is the rotor electrical angular velocity.
In the formula (9), if θ is regarded as an independent variable, i zsc Equation (9) is a first-order constant coefficient non-homogeneous linear differential equation, which is considered as a dependent variable. Thus, i zsc Can be calculated to obtain
In the formula: c is an arbitrary constant, and gamma is represented by
γ＝tan -1 (-ω e (L+2M)/R s ) (11)
When theta tends to infinity, the last term on the right side of the equal sign of the formula (11) is close to zero; therefore, equation (11) is simplified to
For computational convenience, equation (12) can be transformed into
In the formula:
the average value of the zero sequence current can be expressed as
From formulae (7) and (14), i' a 、i' b 、i' c And i a 、i b 、i c But differ by a certain phase angle, so that the average of both is approximately equal during a period. Due to omega e 、L、M、R m Are all known variables, so it can be seen from equation (15) that only three different direct current signals need to be injected, and that the zero sequence current i is recorded for three cases zsc Sum phase current i a 、i b 、i c Then calculating the average value, substituting the average value into the formula (15) and solving a ternary linear equation set to obtain the phase resistance deviation delta R a 、ΔR b 、ΔR c And the diagnosis, the positioning and the estimation of the fault degree of the resistive unbalance fault of the stator winding can be finished by observing the phase resistance deviation. The specific process is as follows: phase resistance deviation Δ R a &And 0, indicating that the permanent magnet synchronous motor has a resistive unbalance fault in the phase A and according to phase resistance deviation delta R a Estimating the fault degree; phase current resistance deviation Δ R b &When gt, 0, the permanent magnet synchronous motor is indicated to have resistive unbalance fault in the phase B and the fault is determined according to phase resistance deviation delta R b Estimating the fault degree; phase resistance deviation Δ R c &And 0, indicating that the permanent magnet synchronous motor has a resistive unbalance fault in the C phase and according to phase resistance deviation delta R c Estimating the fault degree; phase resistance deviation Δ R a 、ΔR b 、ΔR c When the concentration of the carbon dioxide is not more than 0,the method shows that the permanent magnet synchronous motor has no stator winding resistive unbalance fault and is in a normal running state.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (2)
1. A delta connection permanent magnet synchronous motor stator winding resistive unbalance fault diagnosis method is characterized by comprising the following steps:
s1, establishing a relation between zero sequence current and resistance offset and a relation between phase current and resistance offset, and further deducing mathematical expressions between an average value of the zero sequence current and the resistance offset and between an average value of the phase current and the resistance offset;
s2, injecting three different direct current signals into the direct-axis reference current in the two-phase rotating coordinate system, and recording the phase current and the zero sequence current of the permanent magnet synchronous motor after each signal injection;
s3, respectively calculating the average value of the phase currents recorded for three times and the average value of the zero sequence current, substituting the average values into the mathematical expression deduced in the S1, and estimating the offset delta R of the stator winding resistance a 、ΔR b 、ΔR c ；
S4, judging whether resistive unbalance faults exist or not: if Δ R is a >, 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in phase A, and according to phase resistance deviation delta R a Estimating the fault degree; if Δ R is b >, 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in phase B, and according to phase resistance deviation delta R b Estimating the fault degree; if Δ R is c >, 0, indicating that the permanent magnet synchronous motor has resistive unbalance fault and occurs in C phase according to phase resistance deviation delta R c The degree of failure is estimated.
2. The method for diagnosing the resistive unbalance fault of the stator winding of the delta-connected permanent magnet synchronous motor according to claim 1, wherein the method for deducing the mathematical expressions between the average value of the zero-sequence current and the resistance offset and between the average value of the phase current and the resistance offset is as follows:
the voltage equation of the permanent magnet motor with triangular connection under the abc coordinate system is expressed as
In the formula: u. of a 、u b 、u c For three-phase stator voltages, i a 、i b 、i c Three-phase stator current, L is stator winding self inductance, and M is stator winding mutual inductance; r a 、R b 、R c For three-phase stator resistance, R is set when the permanent magnet motor has no stator winding resistive unbalance fault a 、R b 、R c Are equal; when resistive unbalance fault of stator winding occurs, R a 、R b 、R c Are no longer equal; lambda [ alpha ] PM,a 、λ PM,b 、λ PM,c Is a permanent magnet flux linkage of a three-phase stator winding, denoted as
In the formula: lambda [ alpha ] PM,1 Is the amplitude of the fundamental flux linkage, v is the harmonic order, λ PM,v Is the amplitude of the v-th harmonic flux linkage, theta is the rotor electrical angle, theta v Is the angle between the v-th harmonic flux linkage and the fundamental flux linkage;
the stator resistance of each phase is considered to be composed of two parts, which are expressed as
According to kirchhoff's voltage law, in a delta-connected permanent magnet machine, the following equation holds
u a +u b +u c ＝0(4)
By substituting formula (1) for formula (4) and taking formula (3) into consideration, the compound is obtained
In the formula:
define zero sequence current as
i zsc ＝i a +i b +i c (6)
Neglecting higher harmonics in the stator current, the stator current is expressed as
In the formula: I.C. A j And theta j (j = a, b, c) are stator currents i, respectively j The amplitude and initial phase angle of the medium fundamental wave;
substituting equations (6) and (7) into equation (5), only considering the fundamental component in the zero sequence current, neglecting lambda PM,0 Is differentiated to obtain
Transform formula (8) into
In the formula: omega e = d θ/dt is rotor electrical angular velocity;
in the formula (9), θ is regarded as an independent variable, i zsc Viewed as a dependent variable, we obtain:
in the formula: c is an arbitrary constant, and γ is represented by
γ＝tan -1 (-ω e (L+2M)/R s ) (11)
Let θ go to infinity, equation (11) is simplified to
For convenience of calculation, equation (12) is transformed into
In the formula:
the average value of the zero sequence current is expressed as
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| CN114337430B (en) * | 2021-12-28 | 2023-11-14 | 江苏国传电气有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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