CN108732523A - Medium voltage sensor fault diagnosis method under a kind of direct current supply transmission system high pressure operating mode - Google Patents
Medium voltage sensor fault diagnosis method under a kind of direct current supply transmission system high pressure operating mode Download PDFInfo
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Abstract
The invention discloses medium voltage sensor fault diagnosis methods under a kind of direct current supply transmission system high pressure operating mode.Include the following steps：S1. direct current supply transmission system is established in normal state, the relational model of input current value, net pressure value and middle dc voltage value when different operating modes；S2. judge the current operating mode of direct current supply transmission system, according to judging result, corresponding relational model is selected to calculate middle dc voltage model output value；S3. the middle dc voltage model output value obtained by corresponding relational model is compared with collected intermediate voltage value, to judge the malfunction of medium voltage sensor.The present invention realizes the diagnosis medium voltage sensor fault under various high pressure operating modes, effectively increases the validity and accuracy of sensor fault diagnosis；And without increasing any hardware cost, algorithm is realized succinct.
Description
Technical field
The present invention is subordinated to fault diagnosis technology field, more particularly, to a kind of direct current supply transmission system high pressure work
Medium voltage sensor fault diagnosis method under condition.
Background technology
In the direct current supplys transmission system such as urban rail subway, medium voltage sensor is used for detecting intermediate loop direct current
Pressure, quality directly influence effective control and the error protection of transmission system, are had a major impact to system normal operation.Cause
This if energy efficient diagnosis goes out its malfunction, and carries out fault sensor isolation according to the fault message being diagnosed to be, and synthesis is sentenced
It has no progeny using effective intermediate voltage value, the availability of system can be greatly improved.Electricity in direct current supply transmission system at present
Pressure sensor fault diagnosis technology be usually under low pressure drift transfinite diagnosis, under high pressure operating mode can not to intermediate voltage sensor therefore
Barrier is diagnosed.Allow to realize the diagnosis under high pressure operating mode, all operating modes in high pressure operating mode can not be fully met.
Direct current supply transmission system main circuit schematic diagram is as shown in Figure 1, wherein HSCB is high-speed circuit breaker, and L is direct current
Anti- device, Cd are Support Capacitor, and LH1 is direct current input current sensor, and VH1 is direct current net pressure sensor, during VH2 is to be diagnosed
Between voltage sensor.The high pressure operating mode of direct current supply transmission system includes high-voltage charging operating mode and high pressure short circuit operating mode.System
Control function is completed by DCU, DCU：That is motion control unit (DriveControl Unit).System control sequential is as follows：Work as height
When fast breaker HSCB opens machine after being closed, contactor KM1 is closed, and KM2 is disconnected, and electric current passes through charging contactor KM1, charging resistor
Rchr and rectifier diode are to intermediate supports capacitor charging, at this point, system is in high-voltage charging operating mode；When medium voltage reaches one
When definite value, it is closed short circuit contactor KM2, at this point, system is in high pressure short circuit operating mode；Then system start completion is controlled according to department
Device handle signal controls traction invertor IGBT pulses, realizes the real-time control to traction electric machine.
Invention content
The present invention is at least one defect overcome described in the above-mentioned prior art, it is proposed that disclosure satisfy that direct current supply is driven
Medium voltage sensor fault diagnosis method under all high pressure operating modes of system.
Technical scheme is as follows：
Medium voltage sensor fault diagnosis method under a kind of direct current supply transmission system high pressure operating mode, the direct current are provided
Include sequentially connected power supply, direct current reactor, charge circuit, intermediate loop and load for electric drive system；The charging
Circuit is used to charge for intermediate loop, including contactor and charging resistor, and wherein contactor includes charging contactor and short
Contactor is connect, the charging contactor and charging resistor are in parallel with short circuit contactor after connecting；Method includes the following steps：S1.
Establish direct current supply transmission system in normal state, input current value, net pressure value and middle dc voltage when different operating modes
The relational model of value；S2. judge the current operating mode of direct current supply transmission system, according to judging result, select corresponding relationship mould
Type calculates middle dc voltage model output value；S3. the middle dc voltage model obtained by corresponding relational model is exported
Value is compared with collected intermediate voltage value, to judge the malfunction of medium voltage sensor.
The present invention is based on transmission system main circuit structure parameters, establish the pass of middle dc voltage value under high pressure difference operating mode
It is model, realizes the real-time diagnosis of medium voltage sensor fault under each operating mode.
Further, in step sl, it under high pressure short circuit operating mode, according to equivalent circuit modeling method, detects in difference
The middle dc voltage value exported when input current value, different net pressure values establishes input current value, net pressure value and intermediate dc electricity
High pressure short circuit operating mode relational model between pressure value.
Further, the short circuit operating mode relational model is：
Wherein, idFor direct current input current sampled value, UpSampled value, U are pressed for direct current netdIt is passed for medium voltage to be diagnosed
Sensor sampled value；L is direct current reactor inductance value.
Further, first-order difference discrete method is used to formula (1), is obtained under high pressure short circuit operating mode according to formula (2)
Middle dc voltage model output value；
Wherein, TsFor data sampling period.
Further, in the step S1, under high-voltage charging operating mode, during detection exports when inputting different net pressure values
Between DC voltage value, establish the high-voltage charging operating mode relational model between net pressure value and middle dc voltage value.
Further, the high-voltage charging operating mode relational model is
I.e.：
Ud_m(k)=- a1Ud_m(k-1)-a2Ud_m(k-2)+b0Up(k-1)+b1Up(k-2) (4)
Wherein, Ud_mFor intermediate voltage value model output value, UpFor direct current net pressure sensor VH1 sampled values, a1, a2, b0, b1
For that need to recognize and the relevant unknown model parameters of system main circuit component parameter.
Further, using model parameter described in least squares identification.
Further, in the step S3, the medium voltage sensor sample value output relation model in the case where establishing each operating mode
Afterwards, according to modeling error step-up error threshold value；If within preset a period of time current medium voltage sensor sample value with
Error between model output value persistently exceeds error threshold value, then judges medium voltage sensor failure；Otherwise, in judgement
Between voltage sensor it is normal.
Compared with prior art, the advantageous effect of technical solution of the present invention is：
The present invention is by refining the diagnostic method under high pressure difference operating mode, it is proposed that a kind of direct current supply power train
System medium voltage Novel Sensor Fault Diagnosis Method realizes the diagnosis medium voltage sensor fault under various high pressure operating modes；
Voltage sensor diagnostic method based on operating mode feature, according to high pressure operating mode by diagnostic method be divided into high-voltage charging Diagnosis of Work Conditions and
High pressure short circuit Diagnosis of Work Conditions effectively increases the validity and accuracy of sensor fault diagnosis；Short circuit work is used in a creative way
Condition equivalent circuit modeling method, it is discrete using the progress of first-order difference method, and use and charged using least square method
State modeling is combined with short circuit operating mode, is compensated for using single modeling to result using different modeling methods to different operating modes
Adverse effect, algorithm is realized succinct；The diagnostic method is based on existing direct current supply transmission system, any hard without increasing
Part cost.
Description of the drawings
Fig. 1 is direct current supply transmission system main circuit principle schematic.
Fig. 2 is the step flow chart of embodiment 1.
Fig. 3 is that flow chart is embodied in the part of embodiment 1.
Fig. 4 is high-voltage charging floor data sample schematic diagram.
Fig. 5 is high-voltage charging operating mode object model output voltage and sample output voltage contrast schematic diagram.
Fig. 6 is high-voltage charging operating mode medium voltage model predictive error schematic diagram.
Fig. 7 is high pressure short circuit floor data sample schematic diagram.
Fig. 8 is high pressure short circuit operating mode object model output voltage and sample output voltage contrast schematic diagram.
Fig. 9 is high pressure short circuit operating mode medium voltage model predictive error schematic diagram.
Figure 10 is medium voltage sensor VH2 fault diagnosis result schematic diagrames in the specific embodiment of the invention.
Specific implementation mode
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；It is attached in order to more preferably illustrate the present embodiment
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connects, and can also be electrical connection；It can be directly connected, can also be to be indirectly connected with by intermediary, it may be said that two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment
As shown in Figure 1, direct current supply transmission system include sequentially connected power supply, direct current reactor L, charge circuit, in
Between circuit and load；Charge circuit is used to charge for intermediate loop, including contactor and charging resistor, wherein contactor
Including charging contactor KM1 and short circuit contactor KM2, after charging contactor KM1 and charging resistor Rchr series connection with shorting contact
Device KM2 is in parallel.In figure, HSCB is high-speed circuit breaker, and Cd is Support Capacitor, and LH1 is direct current input current sensor, and VH1 is straight
Drift net pressure sensor, VH2 are medium voltage sensor to be diagnosed.
It opens after machine when charging contactor KM1 is closed, system is in high-voltage charging operating mode, and system can be equivalent to a second order
Rlc circuit, DC power supply are charged by direct current reactor, charging resistor to Support Capacitor.When medium voltage reaches a set threshold
When, short circuit contactor KM2 is closed, and charging resistor is bypassed, and DC power supply is directly connect by direct current reactor with Support Capacitor,
System enters high pressure short circuit operating mode, allows traction invertor to put into normal work at this time.
As shown in Fig. 2, including the following steps to intermediate voltage sensor VH2 method for diagnosing faults：
S1. direct current supply transmission system is established in normal state, the input current value, net pressure value when different operating modes are in
Between DC voltage value relational model.
S11. the foundation of high-voltage charging operating mode relational model；
Direct current supply transmission system in normal state, when system is in high-voltage charging, by Circuit theory it is found that this work
Main circuit can be equivalent to second-order system under condition.Since charging resistor resistance value is influenced by conduction time, it will slowly deviate nominal resistance,
Therefore, the present invention will using data modeling method, according to the historical data under normal high-voltage charging operating mode to model parameter into
Row identification.The second-order system mathematical model of discretization can be used (3) formula to indicate,
I.e.：
Ud_m(k)=- a1Ud_m(k-1)-a2Ud_m(k-2)+b0Up(k-1)+b1Up(k-2) (4)
Wherein, Ud_mIntermediate voltage value, U are exported for modelpFor direct current net pressure sensor VH1 sampled values, a1, a2, b0, b1For
Need to recognize with the relevant unknown model parameters of system main circuit component parameter, can according to historical data directly utilize least square
Method identification obtains.
By formula (4) it is found that the key point of the present invention is to obtain a of needs using linear least squares method algorithm1, a2,
b0, b1Four parameters illustrate the derivation of four parameters below.
If medium voltage sensor VH2 sampled values are Ud, then
Ud(k)=- a1Ud(k-1)-a2Ud(k-2)+b0Up(k-1)+b1Up(k-2)+e(k) (5)
Wherein, e (k) is modeling error；
Being write (5) formula as vector form is：
Ud(k)=φT(k)θ+e(t) (6)
In formula, φT(k)=[- Ud(k-1),-Ud(k-2),Up(k-1),Up(k-2)] it is 1 × 4 dimension recursive vector, θ=
[a1,a2,b0,b1]TFor 4 × 1 dimension parameter vectors.
Assuming that initial time is k=0, it is the sampled value U of N to take sequence numberd(k), (k=1,2 ..., N),
Then
Y=Φ θ+ε (7)
In formula, Y=[Ud(1),Ud(2),…,Ud(N)]TFor the dimensional vectors of N × 1,For N
× 4 dimension matrixes, ε=[e (1) e (2) ... e (N)]TFor the dimensional vectors of N × 1.
The target of least-squares algorithm is to utilize Ud(k), φT(k) vector parameter is estimatedMake Identification Errors e (k)=Ud
(k)-Ud_m(k) minimum, that is, minimize variance
V (θ)=εTε=(Y- Φ θ)T(Y- Φ θ)=YTY-θTΦTY-YTΦθ+θTΦTΦθ
To V (θ) derivations and it is enabled to be equal to 0, obtained
-2ΦTY+2ΦTθ=0 Φ
If ΦTΦ is nonsingular, then
By taking certain project transmission system as an example, using 10ms as the sampling period, the historical data under nominal situation shown in Fig. 4 is utilized
Sample k=1~300 calculate Φ, and then pick out unknown parameterObtain a1=-0.566318, a2=-0.412345, b0=
0.00694, b1=0.014502.Then model output value can be calculated with formula (8).
Ud(k)=0.566318727667367Ud(k-1)+0.412345277112787·Ud(k-2)
+0.006939017398796·Up(k-1)+0.014501553731994·Up(k-2)
(9)
The plant characteristic model output voltage picked out is with sample output voltage waveforms as shown in figure 5, model predictive error
Curve is as shown in Figure 6.As seen from the figure, the error very little of the data model output and sample output that fit, worst error do not surpass
Cross 15V (the 1% of nominal DC net pressure).
S12. the foundation of high pressure short circuit operating mode relational model.
After short circuit contactor KM2 is closed, system is in high pressure short circuit operating mode.Direct current supply transmission system main circuit equation
It can be described with formula (1)；
In formula, idFor direct current input current sensor LH1 sampled values, UpFor direct current net pressure sensor VH1 sampled values, UdFor
Medium voltage sensor VH2 sampled values to be diagnosed.
Based on the relational model between LH1, VH1, VH2, the discrete sampled value through and using LH1, VH1 of (1) formula is realized
Sampled value prediction to VH2, obtains
In formula, L is direct current reactor inductance value, TsFor data sampling period.
By taking certain project transmission system as an example, using 200us as the sampling period, the history number under nominal situation shown in Fig. 7 is utilized
Obtain model output voltage with the comparison of sample output voltage as shown in figure 8, mould using formula (2) computation model output valve according to sample
Type predicts that error curve is as shown in Figure 9.As seen from the figure, the error very little of the data model output and sample output that fit, most
Big error about 100V (the 3.2% of nominal DC net pressure).
S2. judge the current operating mode of direct current supply transmission system, according to judging result, corresponding relational model is selected to calculate
Middle dc voltage model output value.
If high-voltage charging operating mode, "current" model output valve U is calculated according to formula (5)d_m(k)；If high pressure short circuit operating mode,
"current" model output valve U is then calculated according to formula (2)d_m(k)。
S3. by the middle dc voltage model output value obtained by corresponding relational model and collected intermediate voltage value
It is compared, to judge the malfunction of medium voltage sensor.
According to modeling error, threshold value U appropriate is setth, and it is defeated based on current medium voltage sensor sample value and model
Go out error E (k) between value=| Ud(k)-Ud_m(k) | to carry out comprehensive descision to sensor fault state.If at preset one section
Current error between medium voltage sensor sample value and model output value persistently exceeds error threshold value in time, then in judging
Between voltage sensor break down；Otherwise, judge that medium voltage sensor is normal.
After the relational model under establishing different high pressure operating modes, specific diagnostic process is as shown in Figure 3.EN_J examines for failure
Disconnected enable signal, N are for indicating to carry out that the counting variable of periodicity, RST are the reset signal for resetting failure.Work as EN_J
When being 1, into the judgement to current working, and i is sampledd(k)、Up(k)、Ud(k).If high-voltage charging operating mode, according to formula (5)
Computation model output valve；If high pressure short circuit operating mode, according to formula (2) computation model output valve.Judge medium voltage sensor
Sampled value Ud(k) with model output value Ud_m(k) whether difference E (k) exceeds threshold value Uth, if so, and continuing defined
100 periods, then it is 1 to set fault flag Flag, judges that failure has occurred in medium voltage sensor；Otherwise, it is normal.
Figure 10 is that medium voltage sensor VH2 the example of failure of removal occurs, and low pressure drift and high pressure error threshold value are equal
For 100V, horizontal axis is time shaft, sampling period 10ms in figure.As can be seen from Fig., medium voltage sensor VH2 fails
Failure, sampled value are constant in 50V or so.When t=3.6s, charging contactor KM1 is closed, and short circuit contactor KM2 is disconnected, and is judged
Main circuit enters high-voltage charging operating mode；Voltage sensor fault diagnosis subprogram proceeds by diagnosis, computation model output valve,
Error is increasing between sampled value and model output value, and as t=4.7s, subprogram judges VH2 sampled values more than its mistake
Poor threshold value 100V (the 6% of specified net pressure), VH2 voltage sensor fault flags become high level (1 state), and program is correct
It has been diagnosed to be the malfunction of medium voltage sensor VH2.During entire charging short circuit, model output value and actual value base
This coincidence, model error very little.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (8)
1. medium voltage sensor fault diagnosis method under a kind of direct current supply transmission system high pressure operating mode, the direct current supply passes
Dynamic system includes sequentially connected power supply, direct current reactor, charge circuit, intermediate loop and load；The charge circuit is used
It charges in for intermediate loop, including contactor and charging resistor, wherein contactor includes charging contactor and shorting contact
It is in parallel with short circuit contactor after device, the charging contactor and charging resistor series connection；It is characterized by comprising the following steps：S1.
Establish direct current supply transmission system in normal state, input current value, net pressure value and middle dc voltage when different operating modes
The relational model of value；S2. judge the current operating mode of direct current supply transmission system, according to judging result, select corresponding relationship mould
Type calculates middle dc voltage model output value；S3. the middle dc voltage model obtained by corresponding relational model is exported
Value is compared with collected intermediate voltage value, to judge the malfunction of medium voltage sensor.
2. medium voltage sensor fault diagnosis side under direct current supply transmission system high pressure operating mode according to claim 1
Method, which is characterized in that in step sl, under high pressure short circuit operating mode, according to equivalent circuit modeling method, detect in different inputs
The middle dc voltage value exported when current value, different net pressure values, establishes input current value, net pressure value and middle dc voltage value
Between high pressure short circuit operating mode relational model.
3. medium voltage sensor fault diagnosis side under direct current supply transmission system high pressure operating mode according to claim 2
Method, which is characterized in that the high pressure short circuit operating mode relational model is：
Wherein, idFor direct current input current sampled value, UpSampled value, U are pressed for direct current netdFor medium voltage sensor to be diagnosed
Sampled value；L is direct current reactor inductance value.
4. medium voltage sensor fault diagnosis side under direct current supply transmission system high pressure operating mode according to claim 3
Method, which is characterized in that first-order difference discrete method is used to formula (1), in being obtained under high pressure short circuit operating mode according to formula (2)
Between DC voltage model output value；
Wherein, TsFor data sampling period.
5. medium voltage sensor fault diagnosis side under direct current supply transmission system high pressure operating mode according to claim 4
Method, which is characterized in that in the step S1, under high-voltage charging operating mode, detection inputs the centre exported when different net pressure values
DC voltage value establishes the high-voltage charging operating mode relational model between net pressure value and middle dc voltage value.
6. medium voltage sensor fault diagnosis side under direct current supply transmission system high pressure operating mode according to claim 5
Method, which is characterized in that the high-voltage charging operating mode relational model is
I.e.：
Ud_m(k)=- a1Ud_m(k-1)-a2Ud_m(k-2)+b0Up(k-1)+b1Up(k-2) (4)
Wherein, Ud_mFor intermediate voltage value model output value, UpFor direct current net pressure sensor VH1 sampled values, a1, a2, b0, b1To need
Identification with the relevant unknown model parameters of system main circuit component parameter.
7. medium voltage sensor fault diagnosis side under direct current supply transmission system high pressure operating mode according to claim 6
Method, which is characterized in that using model parameter described in least squares identification.
8. medium voltage sensor under the direct current supply transmission system high pressure operating mode according to claim 1 to 7 any one
Method for diagnosing faults, which is characterized in that in the step S3, the medium voltage sensor sample value output pass in the case where establishing each operating mode
After being model, according to modeling error step-up error threshold value；If current medium voltage sensor is adopted within preset a period of time
Error between sample value and model output value persistently exceeds error threshold value, then judges medium voltage sensor failure；Otherwise,
Judge that medium voltage sensor is normal.
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| CN201710269253.2A CN108732523B (en) | 2017-04-21 | 2017-04-21 | Fault diagnosis method for intermediate voltage sensor under high-voltage working condition of direct-current power supply transmission system |
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| CN201710269253.2A CN108732523B (en) | 2017-04-21 | 2017-04-21 | Fault diagnosis method for intermediate voltage sensor under high-voltage working condition of direct-current power supply transmission system |
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| JP2006081341A (en) * | 2004-09-10 | 2006-03-23 | Toyota Motor Corp | Fault determination device in loading drive circuit |
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