CN109188271B - Four-phase electro-magnetic doubly salient motor system and single-tube open-circuit fault detection method of power tube of four-phase electro-magnetic doubly salient motor system - Google Patents

Four-phase electro-magnetic doubly salient motor system and single-tube open-circuit fault detection method of power tube of four-phase electro-magnetic doubly salient motor system Download PDF

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CN109188271B
CN109188271B CN201810916002.3A CN201810916002A CN109188271B CN 109188271 B CN109188271 B CN 109188271B CN 201810916002 A CN201810916002 A CN 201810916002A CN 109188271 B CN109188271 B CN 109188271B
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CN109188271A (en
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胡豆豆
周波
张宁
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor

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Abstract

The invention discloses a four-phase electro-magnetic doubly salient motor system and a power tube single tube open-circuit fault detection method thereof, wherein the system adopts a double-channel connection method, A, C phases form a channel U, B, D phases form a channel V, each channel is provided with 4 power tubes, a four-phase electro-magnetic doubly salient motor is controlled in four phases and four states, each state is provided with 4 power tubes, 2 of the four power tubes are positioned in the channel U and comprise 1 upper tube and 1 lower tube; the other 2 are in the channel V, including 1 upper tube and 1 lower tube; the method comprises the steps of firstly reducing the fault range to two power tubes, and then determining whether the fault tube is an upper tube or a lower tube according to the midpoint voltage characteristic of a phase bridge arm.

Description

Four-phase electro-magnetic doubly salient motor system and single-tube open-circuit fault detection method of power tube of four-phase electro-magnetic doubly salient motor system
Technical Field
The invention relates to a fault detection method for a motor driving system converter, in particular to a four-phase electro-magnetic doubly salient motor system and a single-tube open-circuit fault detection method for a power tube of the four-phase electro-magnetic doubly salient motor system.
Background
The double-salient-pole motor belongs to a brushless motor, and normally carries out phase commutation by a power electronic converter during electric operation, when the power electronic device has an open-circuit fault, the normal phase commutation of the motor is influenced, and a double-salient-pole motor system can be stopped under severe conditions.
The electro-magnetic doubly salient motor has a simple structure, is flexible to control, has good fault-tolerant capability independently for each phase, and compared with the traditional three-phase electro-magnetic doubly salient motor, the four-phase electro-magnetic doubly salient motor has small output torque pulsation, is more excellent in fault-tolerant performance, has more advantages in the aspect of constructing a high-reliability motor system, and is disclosed in the granted Chinese patent invention 201510013255.6: a four-phase electro-magnetic doubly salient motor and an open-circuit fault diagnosis method thereof disclose a fault detection method, which comprises the steps of setting a detection resistor at the midpoint of two channels, sampling the detection voltage of the resistor and extracting fault characteristics to diagnose the type of the occurring fault; granted chinese invention patent 201210540201.1: a common open circuit fault diagnosis method for a brushless direct current motor inverter can detect and diagnose the fault position in time after the open circuit fault of the brushless direct current motor inverter occurs; granted chinese invention patent 201510127335.4: a four-phase electric excitation double-salient fault-tolerant motor single-phase open-circuit compensation control method provides a principle that inter-group reluctance torque is mutually offset, and the sum of inter-group excitation torque is unchanged compared with that before a fault, and calculates the fault-tolerant current of the remaining three phases; granted chinese invention patent 201410063547.6: a four-phase brushless direct current motor fault-tolerant power converter and a control method thereof provide a fault-tolerant converter with a fifth redundant bridge arm.
The existing fault-tolerant control strategy needs to be established on the basis of fault detection, and the single-tube open-circuit fault of a power tube is common in the system fault of the brushless motor, so that the fault detection after the single-tube open-circuit fault is mainly realized, devices such as extra resistors do not need to be added to the system, and the detection process is realized by using current sampling, voltage sampling and Hall position signals.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the prior art, a four-phase electro-magnetic doubly salient motor system and a power tube single-tube open-circuit fault detection method thereof are provided.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
a four-phase electro-magnetic doubly salient motor system, the system comprising: the system comprises a four-phase full-bridge converter, a bus capacitor C1, a current sampling module, a voltage sampling module, a Hall position sensor, a microcontroller and a four-phase electro-magnetic doubly salient motor; the four-phase full-bridge converter has four bridge arms A, B, C, D: the power tubes T1 and T2 form a bridge arm A, and the midpoint of the bridge arm is a; the power tubes T5 and T6 form a bridge arm C, and the midpoint of the bridge arm is C; the power tubes T3 and T4 form a bridge arm B, and the midpoint of the bridge arm is B; the power tubes T7 and T8 form a bridge arm D, and the midpoint of the bridge arm is D; the input end of the A-phase winding of the motor is connected to the midpoint a of the bridge arm, the input end of the C-phase winding is connected to the midpoint C of the bridge arm, the output ends of the A, C-phase windings are connected, and the A, C phases form a channel U; the input end of the phase B winding is connected to the middle point B of the bridge arm, the input end of the phase D winding is connected to the middle point D of the bridge arm, and the output ends of the phase B, D windings are connected; B. phase D constitutes channel V.
Preferably, the power tubes T1, T2, T3, T4, T5, T6, T7 and T8 are divided into four groups, which are respectively:
a first group F1 comprising an upper tube T1 and a lower tube T6, constituting a channel U;
a second group F2, comprising an upper tube T3 and a lower tube T8, constituting a channel V;
the third group is F3 and comprises an upper pipe T5 and a lower pipe T2 which form a channel U;
a fourth group F4 comprising an upper tube T7 and a lower tube T4, forming a channel V;
the motor adopts a four-phase four-state control square wave current strategy:
the first state: the power tubes T5, T2, T7 and T4 are switched on, the power tubes T1, T6, T3 and T8 are switched off, and the positive and negative of the current are A-, B-, C + and D +;
and a second state: the power tubes T1, T6, T7 and T4 are switched on, the power tubes T5, T2, T3 and T8 are switched off, and the positive and negative currents are A +, B-, C-and D +;
and a third state: the power tubes T1, T6, T3 and T8 are switched on, the power tubes T5, T2, T7 and T4 are switched off, and the positive and negative currents are A +, B +, C and D-;
and a fourth state: the power tubes T5, T2, T3 and T8 are switched on, the power tubes T1, T6, T7 and T4 are switched off, and the positive and negative of the current are A-, B +, C + and D-;
the signals of the four hall position sensors in the four operating states are:
P1:0,1,1,0；P2:0,0,1,1；P3:1,0,0,1；P4:1,1,0,0；
performing logic operation on the Hall position signal to obtain four operation states:
the signal S1 is P3 · P4, which is high in the first operating state and low in the other states;
the signal S2 is P1 · P4, high in the second operating state and low in the other states;
the signal S3 is P1 · P2, high in the third operating state and low in the other states;
the signal S4 is P2 · P3, and is high in the fourth operating state and low in the other states.
In another embodiment of the invention, a single-tube open-circuit fault detection method for power tubes of a four-phase electrically-excited doubly-salient motor system adopts a two-channel connection method, wherein A, C phases form a channel U, B, D phases form a channel V, each channel is provided with 4 power tubes, the four-phase electrically-excited doubly-salient motor is controlled in four phases and four states, and each state is provided with 4 power tubes, wherein 2 power tubes are positioned in the channel U and comprise 1 upper tube and 1 lower tube; the other 2 are in the channel V, including 1 upper tube and 1 lower tube;
the single-tube open-circuit fault detection method comprises the following steps:
(1) firstly, the fault range is reduced to two power tubes
Sampling currents of a channel U and a channel V in 10 continuous sampling periods, calculating absolute values and accumulating, and if the accumulated value of one channel current is lower than a set threshold value, enabling an open-circuit fault tube to be positioned in the channel, and reducing the fault to 4 power tubes; performing logical operation on signals of the four Hall position sensors, determining which running state the fault current is in, and reducing the fault to two switching tubes by combining a channel where the fault is located;
(2) then determining a fault tube according to the midpoint voltage characteristic of the phase bridge arm
And determining whether the fault tube is an upper tube or a lower tube according to the midpoint voltage characteristic of the phase bridge arm.
Further, the step (1) comprises the steps of:
(1-1) detecting A, B-phase current value as current i of channel U, V in real timeu、iv: evaluating i in 10 consecutive sampling periodsuAnd ivIs added to obtain | iu|(sum)And | iv|(sum)Setting epsilon as 20% Iamp，IampIs the current amplitude during normal operation;
(1-2) if iu|(sum)<ε and | iv|(sum)>Epsilon, the open-circuit fault of the power tube is positioned in the channel U, the possible faults in the channel U are F1 and F3, the state signals S2 and S3 at the moment are subjected to OR operation to obtain S23, if the state signals S2 and S3 are subjected to OR operation, the open-circuit fault of the power tube is positioned in the channel U, the possible faults in the channel UIf S23 is equal to 1, the fault is F1, otherwise, the fault is F3;
(1-3) if iu|(sum)>ε and | iv|(sum)<Epsilon, the open-circuit fault of the power tube is located in the channel V, the possible faults in the channel V are F2 and F4, the state signals S3 and S4 at the moment are subjected to OR operation to obtain S34, if S34 is equal to 1, the fault is F2, otherwise, the fault is F4;
(1-4) if iu|(sum)<ε and | iv|(sum)<If epsilon, multi-phase open circuit fault occurs, other processing is carried out, and then the detection is finished.
Further, the step (2) comprises the following steps:
(2-1) Voltage detection, upper and lower tube fault location algorithm
Sampling to obtain voltages U of the midpoints a, b, c and d of the four-phase bridge arm relative to the negative pole of the busan，Ubn，Ucn，UdnThe current control adopts hysteresis control, the upper and lower tubes are chopped, and when T1 and T6 are switched on, U is turned onanWhen the bus voltage value is T1 and T6 are turned off, U isanIs 0; when T5 and T2 are on, UcnWhen the bus voltage value is T5 and T2 are turned off, U iscnIs 0; when T3 and T8 are on, UbnWhen the bus voltage value is T3 and T8 are turned off, U isbnIs 0; when T7 and T4 are on, UdnWhen the bus voltage value is T7 and T4 are turned off, U isdnIs 0;
(2-2) positioning of Single tube Fault
(2-2-1) if the fault is F1, namely the upper pipe T1 or the lower pipe T6 is in fault; sampling voltage UanThe state signal S2 is or-ed with S3 to obtain S23 being S2+ S3, and when S23 being 1, 0 is selected<Uan<Udc/2, failure is upper pipe T1, if Udc/2<Uan<UdcThe fault is lower tube T6;
(2-2-2) if the fault is F2, namely the upper pipe T3 or the lower pipe T8 is in fault; sampling voltage UbnThe state signal S3 is or-ed with S4 to obtain S34 being S3+ S4, and when S34 being 1, 0 is selected<Ubn<Udc/2, failure is upper pipe T3, if Udc/2<Ubn<UdcThe fault is as followsA tube T8;
(2-2-3) if the fault is F3, namely the upper tube T5 or the lower tube T2 is in fault, sampling the voltage UcnThe state signal S1 is or-ed with S4 to obtain S14 being S1+ S4, and when S14 being 1, 0 is selected<Ucn<Udc/2, failure is upper pipe T5, if Udc/2<Ucn<UdcThe fault is lower tube T2;
(2-2-4) if the fault is F4, namely the upper tube T7 or the lower tube T4 is in fault, sampling the voltage UdnThe state signal S1 is or-ed with S2 to obtain S12 being S1+ S2, and when S12 being 1, 0 is selected<Udn<Udc/2, failure is upper pipe T7, if Udc/2<Udn<UdcThe fault is down tube T4.
Furthermore, if the fault tube in the step (2-2-1) is T1, the states one and four are the same as in normal operation, and due to the open-circuit fault of T1 in the states two and three, the midpoint voltage of the A-phase bridge arm
Figure BDA0001763021010000041
Wherein U isanRepresenting the voltage of the midpoint of the A-phase arm with respect to the negative pole of the bus bar, ea、ecRepresenting the counter potential of A, C phases ifRepresenting the excitation current, Laf、LcfMutual inductance between A-phase and excitation winding, mutual inductance between C-phase and excitation winding, and theta represents rotor position angleanThis value is slightly greater than 0, and is compared with U in normal operationanThere is a difference between either the bus voltage value or 0; if the fault tube is T6, the same as normal operation is performed in the first state and the fourth state, and the midpoint voltage of the A-phase bridge arm is caused by the open-circuit fault of T6 in the second state and the third state
Figure BDA0001763021010000042
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expressedanThis value is slightly less than the bus voltage value UdcAnd in normal operation UanThere is a difference between either the bus voltage value or 0; distinguishing whether the failed pipe is an upper pipe T1 or a lower pipe based on this featureT6。
Furthermore, if the fault tube in the step (2-2-2) is T3, the states I and II are the same as those in normal operation, and the midpoint voltage of the B-phase bridge arm is caused by the open-circuit fault of T3 in the states III and IV
Figure BDA0001763021010000051
Wherein U isbnRepresenting the voltage of the midpoint of the B-phase arm with respect to the negative pole of the bus bar, eb、edRepresenting the counter potential of B, D phases ifRepresenting the excitation current, Lbf、LdfRepresents mutual inductance between B-phase and excitation winding, mutual inductance between D-phase and excitation winding, and theta represents rotor position anglebnThis value is slightly greater than 0, and is compared with U in normal operationbnThere is a difference between either the bus voltage value or 0; if the fault tube is T8, the same as normal operation is performed in the third state and the fourth state, and the midpoint voltage of the B-phase bridge arm is generated due to the open-circuit fault of T8 in the first state and the second state
Figure BDA0001763021010000052
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expressedbnThis value is slightly less than the bus voltage value UdcAnd in normal operation UbnThere is a difference between either the bus voltage value or 0; it is distinguished from this feature whether the failed tube is an upper tube T3 or a lower tube T8.
Furthermore, if the fault tube in the step (2-2-3) is T5, the states two and three are the same as in normal operation, and the midpoint voltage of the C-phase bridge arm is caused by the open-circuit fault of T5 in the states one and four
Figure BDA0001763021010000053
Wherein U iscnRepresenting the voltage of the midpoint of the C-phase arm with respect to the negative pole of the bus bar, ec、eaRepresenting the counter potential of C, A phases ifRepresenting the excitation current, Lcf、LafMutual inductance of C-phase and excitation winding, mutual inductance of A-phase and excitation winding, and theta represents rotor position anglecnThis value is slightly greater than 0, and is compared with U in normal operationcnThere is a difference between either the bus voltage value or 0; if the fault tube is T2, the same as normal operation is performed in the first state and the fourth state, and the midpoint voltage of the C-phase bridge arm is generated due to the open-circuit fault of T2 in the second state and the third state
Figure BDA0001763021010000054
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expressedcnThis value is slightly less than the bus voltage value UdcAnd in normal operation UcnThere is a difference between either the bus voltage value or 0; it is distinguished from this feature whether the failed tube is an upper tube T5 or a lower tube T2.
Furthermore, if the fault tube in the step (2-2-4) is T7, the states three and four are the same as in normal operation, and due to the open-circuit fault of T7 in the states one and two, the midpoint voltage of the D-phase bridge arm
Figure BDA0001763021010000061
Wherein U isdnRepresenting the voltage of the midpoint of the D-phase arm with respect to the negative pole of the bus, ed、ebRepresenting the counter potential of D, B phases ifRepresenting the excitation current, Ldf、LbfMutual inductance between phase D and the excitation winding, mutual inductance between phase B and the excitation winding, and theta represents rotor position anglednThis value is slightly greater than 0, and is compared with U in normal operationdnThere is a difference between either the bus voltage value or 0; if the fault tube is T4, the same as normal operation is performed in the first state and the second state, and the midpoint voltage of the D-phase bridge arm is generated due to the open-circuit fault of T4 in the third state and the fourth state
Figure BDA0001763021010000062
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expresseddnThis value is slightly less than the bus voltage value UdcAnd in normal operation UdnThere is a difference between either the bus voltage value or 0; discriminating faults based on this featureWhether the tube is an upper tube T7 or a lower tube T4.
Has the advantages that: the existing four-phase winding double-channel connection converter fault detection technology of the four-phase electro-magnetic doubly salient motor has fewer reports, the single-tube open-circuit fault detection method is applicable to the field, and has important significance for improving the reliability of an electro-magnetic doubly salient motor system.
Drawings
FIG. 1 is a block diagram of a four-phase electrically excited doubly salient machine system employed in the present invention;
FIG. 2 is a graph of inductance curves and ideal four-phase current waveforms for a four-phase electro-magnetic doubly salient machine employed in the present invention;
FIG. 3 is a Hall position signal of the present invention and its signal after logical operation;
FIG. 4 is a flow chart of a single tube open fault detection method of the present invention;
FIG. 5 is a Simulink model for single tube open circuit fault detection of a four-phase electro-magnetic doubly salient motor system converter of the present invention;
FIG. 6(a) is a Uan voltage waveform and a T1 open fault flag signal resulting from a simulation of the T1 open fault of the present invention;
FIG. 6(b) is U resulting from simulation of an open circuit fault at T6 according to the present inventionanThe voltage waveform and T6 open fault flag signal.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a block diagram of a four-phase electrically-excited doubly-salient motor system adopted by the invention, and the system is composed of a four-phase full-bridge converter, a microcontroller, a current sampling module, a voltage sampling module, a hall position signal acquisition module, a bus capacitor C1 and a four-phase electrically-excited doubly-salient motor. Wherein, the constitution of four-phase full-bridge converter is: the power tubes T1 and T2 form a bridge arm A, and the midpoint of the bridge arm is a; the power tubes T3 and T4 form a bridge arm B, and the midpoint of the bridge arm is B; the power tubes T5 and T6 form a bridge arm C, and the midpoint of the bridge arm is C; the power tubes T7 and T8 form a bridge arm D, and the midpoint of the bridge arm is D. The current obtained by the current sampling module, the voltage obtained by the voltage sampling module and the position signal obtained by the Hall position signal acquisition module are transmitted to the microcontroller and are processed by the microcontroller to generate corresponding single-tube open-circuit fault marking signals; the input end of the A-phase winding of the motor is connected to the midpoint a of the bridge arm, the input end of the C-phase winding is connected to the midpoint C of the bridge arm, the output ends of the A, C-phase windings are connected, and the A, C phases form a channel U; the input end of the phase B winding is connected to the middle point B of the bridge arm, the input end of the phase D winding is connected to the middle point D of the bridge arm, and the output ends of the phase B, D windings are connected; B. phase D constitutes channel V.
The 8 power tubes are divided into four groups:
a first group F1 comprising an upper tube T1 and a lower tube T6, constituting a channel U;
a second group F2, comprising an upper tube T3 and a lower tube T8, constituting a channel V;
the third group is F3 and comprises an upper pipe T5 and a lower pipe T2 which form a channel U;
the fourth group, designated F4, includes an upper tube T7 and a lower tube T4, forming channel V.
Fig. 2 is an inductance curve diagram and an ideal four-phase current waveform of a four-phase electrically-excited doubly-salient motor adopted by the invention, when the electrically-excited doubly-salient motor operates, the principle that a phase winding corresponding to an inductance rising interval is introduced with positive current and a phase winding corresponding to an inductance falling interval is introduced with negative current is followed, so that the motor can obtain torque in a constant direction, and thus the motor can continuously operate. The motor adopts a four-phase four-state control square wave current strategy:
the first state: the power tubes T5, T2, T7 and T4 are switched on, the power tubes T1, T6, T3 and T8 are switched off, and the positive and negative of the current are A-, B-, C + and D +;
and a second state: the power tubes T1, T6, T7 and T4 are switched on, the power tubes T5, T2, T3 and T8 are switched off, and the positive and negative currents are A +, B-, C-and D +;
and a third state: the power tubes T1, T6, T3 and T8 are switched on, the power tubes T5, T2, T7 and T4 are switched off, and the positive and negative of the current are A +, B +, C and D-;
and a fourth state: the power tubes T5, T2, T3 and T8 are switched on, the power tubes T1, T6, T7 and T4 are switched off, and the positive and negative of the current are A-, B +, C + and D-;
fig. 3 shows the hall position signal and its logical operation signal of the present invention, wherein the signal S1 is P3 · P4, which is high in the first operating state and low in the other states; the signal S2 is P1 · P4, high in the second operating state and low in the other states; the signal S3 is P1 · P2, high in the third operating state and low in the other states; the signal S4 is P2 · P3, high in the fourth operating state and low in the other states; thus, the four signals S1, S2, S3, and S4 respectively represent the four states of the motor in one operating electrical cycle.
Fig. 4 is a flowchart of the single-tube open-circuit fault detection method of the present invention, and as shown in fig. 4, the single-tube open-circuit fault detection method of the power tube of the four-phase electro-magnetic doubly salient motor system includes the following steps:
(1) the process of reducing the fault range to two power tubes:
(1-1) detecting A, B-phase current value as current i of channel U, V in real timeu、iv: evaluating i in 10 consecutive sampling periodsuAnd ivIs added to obtain | iu|(sum)And | iv|(sum)Setting epsilon as 20% Iamp，IampIs the current amplitude during normal operation;
(1-2) if iu|(sum)<ε and | iv|(sum)>Epsilon, the open-circuit fault of the power tube is located in the channel U, the possible faults in the channel U are F1 (upper tube T1 or lower tube T6) and F3 (upper tube T5 or lower tube T2), the state signals S2 and S3 at the moment are subjected to OR operation to obtain S23, if S23 is equal to 1, the fault is F1, otherwise, the fault is F3;
(1-3) if iu|(sum)>ε and | iv|(sum)<Epsilon, the open-circuit fault of the power tube is located in the channel V, the possible faults in the channel V are F2 (upper tube T3 or lower tube T8) and F4 (upper tube T7 or lower tube T4), the state signals S3 and S4 at the moment are subjected to OR operation to obtain S34, if S34 is equal to 1, the fault is F2, otherwise, the fault is F4;
(1-4) if iu|(sum)<ε and | iv|(sum)<If epsilon, multi-phase open circuit fault occurs, other processing is carried out, and then the detection is finished.
(2) Determining a fault tube according to the midpoint voltage characteristic of the phase bridge arm:
(2-1) sampling to obtain the voltages U of the midpoints a, b, c and d of the four-phase bridge arms relative to the negative pole of the busan，Ubn，Ucn，UdnThe current control adopts hysteresis control, the upper and lower tubes are chopped, and when T1 and T6 are switched on, U is turned onanWhen the bus voltage value is T1 and T6 are turned off, U isanIs 0; when T5 and T2 are on, UcnWhen the bus voltage value is T5 and T2 are turned off, U iscnIs 0; when T3 and T8 are on, UbnWhen the bus voltage value is T3 and T8 are turned off, U isbnIs 0; when T7 and T4 are on, UdnWhen the bus voltage value is T7 and T4 are turned off, U isdnIs 0;
(2-2) if the fault is F1, namely the upper pipe T1 or the lower pipe T6 is in fault;
if the fault tube is T1, the same as normal operation is performed in the first state and the fourth state, and the midpoint voltage of the A-phase bridge arm is caused by the open-circuit fault of T1 in the second state and the third state
Figure BDA0001763021010000081
This value is slightly greater than 0, and is compared with U in normal operationaThere is a difference between either the bus voltage value or 0; if the fault tube is T6, the same as normal operation is performed in the first state and the fourth state, and the midpoint voltage of the A-phase bridge arm is caused by the open-circuit fault of T6 in the second state and the third state
Figure BDA0001763021010000082
This value is slightly less than the bus voltage value UdcAnd in normal operation UanThere is a difference between either the bus voltage value or 0;
sampling voltage UanThe state signal S2 is or-ed with S3 to obtain S23 being S2+ S3, and when S23 being 1, 0 is selected<Uan<Udc/2, failure is upper pipe T1, if Udc/2<Uan<UdcThe fault is down tube T6.
The same principle is as follows:
(2-3) if the fault is F2, namely the upper pipe T3 or the lower pipe T8 is in fault;
if the fault tube is T3, the normal operation is performed in the state one and the state twoThe traveling time is the same, and the midpoint voltage of the B-phase bridge arm is caused by the open-circuit fault of T3 in the third state and the fourth state
Figure BDA0001763021010000091
This value is slightly greater than 0, and is compared with U in normal operationbnThere is a difference between either the bus voltage value or 0;
if the fault tube is T8, the same as normal operation is performed in the third state and the fourth state, and the midpoint voltage of the B-phase bridge arm is generated due to the open-circuit fault of T8 in the first state and the second state
Figure BDA0001763021010000092
This value is slightly less than the bus voltage value UdcAnd in normal operation UbnThere is a difference between either the bus voltage value or 0;
sampling voltage UbnThe state signal S3 is or-ed with S4 to obtain S34 being S3+ S4, and when S34 being 1, 0 is selected<Ubn<Udc/2, failure is upper pipe T3, if Udc/2<Ubn<UdcThe fault is lower tube T8;
(2-4) if the fault is F3, namely the upper pipe T5 or the lower pipe T2 is in fault;
if the fault tube is T5, the same as normal operation is performed in the second state and the third state, and the midpoint voltage of the C-phase bridge arm is generated due to the open-circuit fault of T5 in the first state and the fourth state
Figure BDA0001763021010000093
This value is slightly greater than 0, and is compared with U in normal operationcnThere is a difference between either the bus voltage value or 0;
if the fault tube is T2, the same as normal operation is performed in the first state and the fourth state, and the midpoint voltage of the C-phase bridge arm is generated due to the open-circuit fault of T2 in the second state and the third state
Figure BDA0001763021010000094
This value is slightly less than the bus voltage value UdcAnd in normal operation UcnThere is a difference between either the bus voltage value or 0;
sampling voltage UcnThe state signal S1 is or-ed with S4 to obtain S14 being S1+ S4, and when S14 being 1, 0 is selected<Ucn<Udc/2, failure is upper pipe T5, if Udc/2<Ucn<UdcThe fault is lower tube T2;
(2-5) if the fault is F4, namely the upper pipe T7 or the lower pipe T4 is in fault;
if the fault tube is T7, the same as normal operation is performed in the third state and the fourth state, and the midpoint voltage of the D-phase bridge arm is generated due to the open-circuit fault of T7 in the first state and the second state
Figure BDA0001763021010000095
This value is slightly greater than 0, and is compared with U in normal operationdnThere is a difference between either the bus voltage value or 0;
if the fault tube is T4, the same as normal operation is performed in the first state and the second state, and the midpoint voltage of the D-phase bridge arm is generated due to the open-circuit fault of T4 in the third state and the fourth state
Figure BDA0001763021010000096
This value is slightly less than the bus voltage value UdcAnd in normal operation UdnThere is a difference between either the bus voltage value or 0;
sampling voltage UdnThe state signal S1 is or-ed with S2 to obtain S12 being S1+ S2, and when S12 being 1, 0 is selected<Udn<Udc/2, failure is upper pipe T7, if Udc/2<Udn<UdcThe fault is down tube T4.
Fig. 5 is a MaTLAB model for single tube open-circuit fault detection of a four-phase electro-magnetic doubly salient motor system converter of the present invention.
FIG. 6(a) is a Uan voltage waveform and a T1 open circuit fault flag signal obtained by simulating a T1 open circuit fault, and by using the single-tube open circuit fault detection method and simulation by using a Simulink model, the bus voltage is set to be 200V, and the T1 is set to have an open circuit fault at 0.1s, so that an obtained sampling voltage U is obtainedanAnd a T1 open fault flag signal flag T1, the fault flag signal is set high after the fault occurs, and the T1 open fault is successfully detected.
FIG. 6(b) is U resulting from simulation of an open circuit fault at T6 according to the present inventionanVoltage waveform and T6 open circuit fault sign signal, the single tube open circuit fault detection method is used, a Simulink model is used for simulation, the bus voltage is set to be 200V, the T6 is set to have open circuit fault at 0.1s, and the obtained sampling voltage U is obtainedanAnd a T6 open fault flag signal flag T6, the fault flag signal is set high after the fault occurs, and the T6 open fault is successfully detected.

Claims (7)

1. A four-phase electro-magnetic doubly salient motor system, comprising: the system comprises a four-phase full-bridge converter, a bus capacitor C1, a current sampling module, a voltage sampling module, a Hall position sensor, a microcontroller and a four-phase electro-magnetic doubly salient motor; the four-phase full-bridge converter has four bridge arms A, B, C, D: the power tubes T1 and T2 form a bridge arm A, and the midpoint of the bridge arm is a; the power tubes T5 and T6 form a bridge arm C, and the midpoint of the bridge arm is C; the power tubes T3 and T4 form a bridge arm B, and the midpoint of the bridge arm is B; the power tubes T7 and T8 form a bridge arm D, and the midpoint of the bridge arm is D; the input end of the A-phase winding of the motor is connected to the midpoint a of the bridge arm, the input end of the C-phase winding is connected to the midpoint C of the bridge arm, the output ends of the A, C-phase windings are connected, and the A, C phases form a channel U; the input end of the phase B winding is connected to the middle point B of the bridge arm, the input end of the phase D winding is connected to the middle point D of the bridge arm, and the output ends of the phase B, D windings are connected; B. the phase D forms a channel V;
the power tubes T1, T2, T3, T4, T5, T6, T7 and T8 are divided into four groups, which are respectively:
a first group F1 comprising an upper tube T1 and a lower tube T6, constituting a channel U;
a second group F2, comprising an upper tube T3 and a lower tube T8, constituting a channel V;
the third group is F3 and comprises an upper pipe T5 and a lower pipe T2 which form a channel U;
a fourth group F4 comprising an upper tube T7 and a lower tube T4, forming a channel V;
the motor adopts a four-phase four-state control square wave current strategy:
the first state: the power tubes T5, T2, T7 and T4 are switched on, the power tubes T1, T6, T3 and T8 are switched off, and the positive and negative of the current are A-, B-, C + and D +;
and a second state: the power tubes T1, T6, T7 and T4 are switched on, the power tubes T5, T2, T3 and T8 are switched off, and the positive and negative currents are A +, B-, C-and D +;
and a third state: the power tubes T1, T6, T3 and T8 are switched on, the power tubes T5, T2, T7 and T4 are switched off, and the positive and negative currents are A +, B +, C and D-;
and a fourth state: the power tubes T5, T2, T3 and T8 are switched on, the power tubes T1, T6, T7 and T4 are switched off, and the positive and negative of the current are A-, B +, C + and D-;
the signals of the four hall position sensors in the four operating states are:
P1:0,1,1,0；P2:0,0,1,1；P3:1,0,0,1；P4:1,1,0,0；
performing logic operation on the Hall position signal to obtain four operation states:
the signal S1 is P3 · P4, which is high in the first operating state and low in the other states;
the signal S2 is P1 · P4, high in the second operating state and low in the other states;
the signal S3 is P1 · P2, high in the third operating state and low in the other states;
the signal S4 is P2 · P3, and is high in the fourth operating state and low in the other states.
2. A method for detecting a single-tube open-circuit fault of a power tube of a four-phase electro-magnetic doubly salient motor system as claimed in claim 1, wherein: the system adopts a double-channel connection method, wherein A, C phases form a channel U, B, D phases form a channel V, each channel is provided with 4 power tubes, a four-phase electro-magnetic doubly salient motor adopts four-phase and four-state control, and each state is provided with 4 power tubes, wherein 2 power tubes are positioned in the channel U and comprise 1 upper tube and 1 lower tube; the other 2 are in the channel V, including 1 upper tube and 1 lower tube;
the single-tube open-circuit fault detection method comprises the following steps:
(1) firstly, the fault range is reduced to two power tubes
Sampling currents of a channel U and a channel V in 10 continuous sampling periods, calculating absolute values and accumulating, and if the accumulated value of one channel current is lower than a set threshold value, enabling an open-circuit fault tube to be positioned in the channel, and reducing the fault to 4 power tubes; performing logical operation on signals of the four Hall position sensors, determining which running state the fault current is in, and reducing the fault to two switching tubes by combining a channel where the fault is located; the method specifically comprises the following steps:
(1-1) detecting A, B-phase current value as current i of channel U, V in real timeu、iv: evaluating i in 10 consecutive sampling periodsuAnd ivIs added to obtain | iu|(sum)And | iv|(sum)Setting epsilon as 20% Iamp，IampIs the current amplitude during normal operation;
(1-2) if iu|(sum)<ε and | iv|(sum)>Epsilon, the open-circuit fault of the power tube is located in the channel U, the possible faults in the channel U are F1 and F3, the state signals S2 and S3 at the moment are subjected to OR operation to obtain S23, if S23 is equal to 1, the fault is F1, otherwise, the fault is F3;
(1-3) if iu|(sum)>ε and | iv|(sum)<Epsilon, the open-circuit fault of the power tube is located in the channel V, the possible faults in the channel V are F2 and F4, the state signals S3 and S4 at the moment are subjected to OR operation to obtain S34, if S34 is equal to 1, the fault is F2, otherwise, the fault is F4;
(1-4) if iu|(sum)<ε and | iv|(sum)<If epsilon, multi-phase open circuit fault occurs, other processing is carried out, and then the detection is finished;
(2) then determining a fault tube according to the midpoint voltage characteristic of the phase bridge arm
And determining whether the fault tube is an upper tube or a lower tube according to the midpoint voltage characteristic of the phase bridge arm.
3. The single-tube open-circuit fault detection method for the power tube of the four-phase electrically-excited doubly-salient motor system according to claim 2, wherein the step (2) comprises the following steps:
(2-1) Voltage detection, upper and lower tube fault location algorithm
Sampling to obtain voltages U of the midpoints a, b, c and d of the four-phase bridge arm relative to the negative pole of the busan，Ubn，Ucn，UdnThe current control adopts hysteresis control, the upper and lower tubes are chopped, and when T1 and T6 are switched on, U is turned onanWhen the bus voltage value is T1 and T6 are turned off, U isanIs 0; when T5 and T2 are on, UcnWhen the bus voltage value is T5 and T2 are turned off, U iscnIs 0; when T3 and T8 are on, UbnWhen the bus voltage value is T3 and T8 are turned off, U isbnIs 0; when T7 and T4 are on, UdnWhen the bus voltage value is T7 and T4 are turned off, U isdnIs 0;
(2-2) positioning of Single tube Fault
(2-2-1) if the fault is F1, namely the upper pipe T1 or the lower pipe T6 is in fault; sampling voltage UanThe state signal S2 is or-ed with S3 to obtain S23 being S2+ S3, and when S23 being 1, 0 is selected<Uan<Udc/2, failure is upper pipe T1, if Udc/2<Uan<UdcThe fault is lower tube T6; wherein U isdcIs the bus voltage value;
(2-2-2) if the fault is F2, namely the upper pipe T3 or the lower pipe T8 is in fault; sampling voltage UbnThe state signal S3 is or-ed with S4 to obtain S34 being S3+ S4, and when S34 being 1, 0 is selected<Ubn<Udc/2, failure is upper pipe T3, if Udc/2<Ubn<UdcThe fault is lower tube T8;
(2-2-3) if the fault is F3, namely the upper tube T5 or the lower tube T2 is in fault, sampling the voltage UcnThe state signal S1 is or-ed with S4 to obtain S14 being S1+ S4, and when S14 being 1, 0 is selected<Ucn<Udc/2, failure is upper pipe T5, if Udc/2<Ucn<UdcThe fault is lower tube T2;
(2-2-4) if the fault is F4, namely the upper tube T7 or the lower tube T4 is in fault, sampling the voltage UdnThe state signal S1 is or-ed with S2 to obtain S12 being S1+ S2, and when S12 being 1, 0 is selected<Udn<Udc/2, failure is upper pipe T7, if Udc/2<Udn<UdcThe fault is down tube T4.
4. A compound of claim 3The single-tube open-circuit fault detection method for the power tube of the phase electro-magnetic doubly salient motor system is characterized in that if the fault tube is T1 in the step (2-2-1), the fault tube is the same as that in normal operation in the state I and the state IV, and due to the T1 open-circuit fault in the state II and the state III, the midpoint voltage of the A-phase bridge arm
Figure FDA0002286522120000031
Wherein U isanRepresenting the voltage of the midpoint of the A-phase arm with respect to the negative pole of the bus bar, ea、ecRepresenting the counter potential of A, C phases ifRepresenting the excitation current, Laf、LcfMutual inductance between A-phase and excitation winding, mutual inductance between C-phase and excitation winding, and theta represents rotor position angleanThis value is slightly greater than 0, and is compared with U in normal operationanThere is a difference between either the bus voltage value or 0; if the fault tube is T6, the same as normal operation is performed in the first state and the fourth state, and the midpoint voltage of the A-phase bridge arm is caused by the open-circuit fault of T6 in the second state and the third state
Figure FDA0002286522120000032
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expressedanThis value is slightly less than the bus voltage value UdcAnd in normal operation UanThere is a difference between either the bus voltage value or 0; it is distinguished from this feature whether the failed tube is an upper tube T1 or a lower tube T6.
5. The single-tube open-circuit fault detection method for power tube of four-phase electrically-excited doubly-salient motor system according to claim 3, wherein in the step (2-2-2), if the fault tube is T3, the first state and the second state are the same as those in normal operation, and in the third state and the fourth state, due to T3 open-circuit fault, midpoint voltage of bridge arm in phase B is detected
Figure FDA0002286522120000041
Wherein U isbnRepresenting the voltage of the midpoint of the B-phase arm with respect to the negative pole of the bus bar, eb、edRepresenting the counter potential of B, D phases ifRepresenting the excitation current, Lbf、LdfRepresents mutual inductance between B-phase and excitation winding, mutual inductance between D-phase and excitation winding, and theta represents rotor position anglebnThis value is slightly greater than 0, and is compared with U in normal operationbnThere is a difference between either the bus voltage value or 0; if the fault tube is T8, the same as normal operation is performed in the third state and the fourth state, and the midpoint voltage of the B-phase bridge arm is generated due to the open-circuit fault of T8 in the first state and the second state
Figure FDA0002286522120000042
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expressedbnThis value is slightly less than the bus voltage value UdcAnd in normal operation UbnThere is a difference between either the bus voltage value or 0; it is distinguished from this feature whether the failed tube is an upper tube T3 or a lower tube T8.
6. The single-tube open-circuit fault detection method for power tube of four-phase electrically-excited doubly-salient motor system according to claim 3, wherein in the step (2-2-3), if the fault tube is T5, the two states and the three states are the same as normal operation, and in the one state and the four states, the midpoint voltage of C-phase bridge arm is caused by T5 open-circuit fault
Figure FDA0002286522120000043
Wherein U iscnRepresenting the voltage of the midpoint of the C-phase arm with respect to the negative pole of the bus bar, ec、eaRepresenting the counter potential of C, A phases ifRepresenting the excitation current, Lcf、LafMutual inductance of C-phase and excitation winding, mutual inductance of A-phase and excitation winding, and theta represents rotor position anglecnThis value is slightly greater than 0, and is compared with U in normal operationcnThere is a difference between either the bus voltage value or 0; if the fault tube is T2, the same as normal operation is performed in the first state and the fourth state, and the midpoint voltage of the C-phase bridge arm is generated due to the open-circuit fault of T2 in the second state and the third state
Figure FDA0002286522120000044
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expressedcnThis value is slightly less than the bus voltage value UdcAnd in normal operation UcnThere is a difference between either the bus voltage value or 0; it is distinguished from this feature whether the failed tube is an upper tube T5 or a lower tube T2.
7. The single-tube open-circuit fault detection method for power tube of four-phase electrically-excited doubly-salient motor system according to claim 3, wherein in the step (2-2-4), if the fault tube is T7, the three state and the four state are the same as those in normal operation, and in the first state and the second state, the midpoint voltage of the D-phase bridge arm is caused to be open-circuit fault due to T7
Figure FDA0002286522120000051
Wherein U isdnRepresenting the voltage of the midpoint of the D-phase arm with respect to the negative pole of the bus, ed、ebRepresenting the counter potential of D, B phases ifRepresenting the excitation current, Ldf、LbfMutual inductance between phase D and the excitation winding, mutual inductance between phase B and the excitation winding, and theta represents rotor position anglednThis value is slightly greater than 0, and is compared with U in normal operationdnThere is a difference between either the bus voltage value or 0; if the fault tube is T4, the same as normal operation is performed in the first state and the second state, and the midpoint voltage of the D-phase bridge arm is generated due to the open-circuit fault of T4 in the third state and the fourth state
Figure FDA0002286522120000052
Wherein U isdcThe bus voltage is represented, the definitions of other variables in the formula are the same as those of the variable in the previous formula in the current section, and at the moment, U is expresseddnThis value is slightly less than the bus voltage value UdcAnd in normal operation UdnThere is a difference between either the bus voltage value or 0; it is distinguished from this feature whether the failed tube is an upper tube T7 or a lower tube T4.
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