CN109633436A - A kind of control method of hub motor fault diagnosis and reconstruct - Google Patents
A kind of control method of hub motor fault diagnosis and reconstruct Download PDFInfo
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- G—PHYSICS
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- 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
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- G—PHYSICS
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- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
- G01R19/16528—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values using digital techniques or performing arithmetic operations
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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
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Abstract
The invention discloses the control methods of a kind of hub motor fault diagnosis and reconstruct, on the basis of three kinds of major failure type analysis to sensor, the expression formula for establishing hub motor speed closed loop control lower sensor output electric current provides a kind of control method that the diagnosis of In-wheel motor driving current sensor faults is reconfigured with current information.The method of proposition can be used for handling the entirely ineffective failure of sensor, while can be realized the on-line amending ability to sensor droop and drift error.The controller model is measured in real time and controls by current information and motor rotor position information, and the variation for motor driven systems parameter is simultaneously insensitive, therefore effectively increases the robustness and real-time of the controller.
Description
Technical field
The invention belongs to new-energy automobile field, in particular to a kind of controlling party of hub motor fault diagnosis and reconstruct
Method.
Background technique
Since traditional combustion engine automobile belt comes serious energy consumption and problem of environmental pollution, just actively research is opened for various countries
New-energy automobile is sent out to cope with and solve oil consumption and pollution problem, it is desirable to which face is reformed to solve by the new technology of auto industry
The energy and environment crisis faced.Various countries constantly promote automotive energy-saving emission-reducing relevant policies standard simultaneously, and traditional power automobile is gradually
To new-energy automobile transition, the motor-drive technique of new-energy automobile is fast-developing.
Hub motor technology is the distributed driving being all integrated into power device, transmission device and brake apparatus in wheel hub
Mode, due to the design feature of itself, hub motor has many advantages, such as: eliminating each portion of power drive system of orthodox car
Part keeps vehicle overall structure simple, and chassis space utilization rate increases；Single wheel can be easily realized independently to drive, make vehicle
The design of drive mode is more flexible, can achieve the optimum allocation of driving force；It can be by single or multiple wheel hub electricity
Machine is controlled, and the ability of Study on Vehicle Dynamic Control is improved, and wheel response is rapider, reduces power in transmittance process
The loss of middle generation improves the whole efficiency of automobile.Therefore, hub motor drive system becomes drive system of electric automobile
Preferably selection.
The reliable and stable operation of hub motor depends on electric machines control technology, therefore to controlling under the various operation conditions of motor
The research of strategy is essential.In the especially high performance speed regulation occasion of actual industrial control system, current sensor is weight
The element for the acquisition current signal wanted, may break down under the environment such as high/low temperature, humidity causes the reduction of precision even to be damaged
Bad, this will directly influence the speed adjusting performance of motor, influence motor operation stability and controllability, or even causes damages and influence vehicle
The life security of driver.Therefore, the Fault Control research of hub motor current sensor is highly important.
Patent application disclosed in domestic same technique field has: title is " current sensor faults reconstructing method ", application
Number: 201610033585.6, which, which is directed to, is used for permanent magnet synchronous motor current sensor faults reconstructing method and device.
Firstly, the control method obtains normal current observation by structural regime equation, this needs accurate motor driven systems
Model and specific system parameter, it is well known that motor is in actual moving process since the variation of temperature can cause motor to be joined
Several variations, therefore, the control method do not have good robustness, while the control method is needed to entire motor driven system
Construction in a systematic way formwork erection type requires system computing capacity relatively high.
Summary of the invention
The purpose of the present invention is on the basis of three kinds of major failure type analysis to sensor, build regarding to the issue above
Vertical wheel hub motor speed closed-loop control lower sensor exports the expression formula of electric current, provides a kind of In-wheel motor driving current sensor
The control method that fault diagnosis and current information reconfigure.The method of proposition can be used for handling the entirely ineffective failure of sensor,
It can be realized the on-line amending ability to sensor droop and drift error simultaneously.
The technical solution adopted by the present invention is that using following steps:
A kind of control method of hub motor fault diagnosis and reconstruct, comprising the following steps:
1) event of hub motor speed closed loop control lower sensor is established according to the three of current sensor kinds of major failure types
Electric current i is exported when barrierxExpression formula；2) pass through current sensor measurement three-phase current ia, ib, ic；3) phase current magnitude pair is utilized
Electric current carries out marking change processing, is marked the phase current i changedxN；4) by the expression formula of construction fault detection variable W, U to electricity
Flow sensor carries out fault detection；5) priority of structure sensor troubleshooting, and pass through construction fault diagnosis variable Rx、
SxExpression formula determine the position of sensor fault；6) according to troubleshooting priority and sensor fault diagnosis information, lead to
It crosses calculating and reconfigures current output value；7) after completing sensor current fault diagnosis and fault current reconstruct, by reconstruct
Electric current and normal current output sensor export the feedback current as closed-loop current control jointly, realize the normal fortune of motor
Row.
Further, three kinds of major failure types include: that the unexpected failure that failure 1 is sensor measurement causes measuring signal to lose
It loses；Failure 2 is that there are constant errors with true value for measurement value sensor；Failure 3 is the deviation of measurement value sensor and true value
It changes at any time.
Further, when x phase current sensor failure, sensor phase current output valve can change, including electricity
The variation of amplitude and phase angle is flowed, at this time x phase current current output sensor expression formula are as follows:
ix=(1+A) Imsin(ωt+φx)+B (1-1)
Wherein, A is drift bias coefficient, and B is droop, ImFor current amplitude, ω is electrical angular frequency, φxFor x phase
The starting phase angle of current sensor output electric current；
If fault-free occurs, A=0, B=0；When failure 1 occurs, then A=-1, B=0；When failure 2 occurs, then A
=0, B ≠ 0, when failure 3 occurs, then A ≠ 0, B=0.
Further, the detection variable expression of construction are as follows:
D=ia+ib+ic (1-5)
Wherein, T is output current wave period, ia、ib、icRespectively a, b, c three-phase current, iaN、ibN、icNRespectively a,
B, c three-phase mark galvanic current, W are the mean value of three-phase current and absolute value, and U is the mean value of three-phase mark galvanic current and absolute value；
If do not have sensor fault, detection variable W, U value is 0, it is contemplated that the variation of load torque and revolving speed, setting
Variable W, U threshold value CW、CU, when meeting W > CWOr U > CU, that is, can determine whether that current sensor breaks down.
Further, the priority of structure sensor troubleshooting is failure 1, failure 2, failure 3, first determines whether that sensor is
No there are failures, if judging, there are failures, first judge whether it is failure 1, if failure 1, according to the electric current reconstructing mould of failure 1
The reconstruction calculations of type progress electric current；If judgement is not failure 1, failure 2 is judged whether it is, if failure 2, according to failure 2
The reconstruction calculations of electric current reconstructing model progress electric current；If interpretation is not failure 2, for failure 3, according to the electric current reconstructing of failure 3
The reconstruction calculations of model progress electric current.
Further, the variable R that the fault type judgement of construction and abort situation determinex、SxExpression formula are as follows:
Wherein, RxFor the mean value of x phase current absolute value, SxFor the mean value of x phase current；
If sensor does not have failure, R can be obtainedx=0.64, Sx=0, when detecting the presence of failure, according to priority
It is first determined whether breaking down 1；
Enable Fx=0.64-Rx (1-8)
Wherein, FxFor the mark of x phase current sensor failure 1；
When x phase is there is no when failure 1, locator variable Rx=0.64, Fx=0；When x phase breaks down 1
When, locator variable Rx=0, Fx=0.64, it is contemplated that variable F is arranged in the variation of load torque and revolving speedxThreshold value CF, work as judgement
It breaks down and meets Fx> CF, that is, can determine that x phase breaks down 1；
If judgement breaks down and debugs 1, judge whether to break down 2 according to priority；
When x sensor is there is no when failure 2, Sx=0；When x sensor failure 2, Sx≠ 0, it is contemplated that load turns
Variable S is arranged in the variation of square and revolving speedxThreshold value CS, work as satisfaction | Sx| > CS, it may be determined that x phase breaks down 2；
When detect current sensor faults exist, and debug 1,2 when, it may be determined that sensor fault be failure 3；It is logical
It crosses the sum of three-phase current d and rotor position information θ determines the diagnosis of abort situation；
If d (k π)=0, a phase failure, if d (+2 π/3 k π)=0, b phase failure, if d (k π -2
π/3)=0, then c phase failure.
Further, the detailed process of the step 6) are as follows:
In order to calculate the expression formula of reconstruct electric current, it is assumed that failure occurs in a phase；
When determining sensor failure 1, the input current of motor is measured by sensor, passes through the failure of step 5)
It diagnoses and determines location of fault, be added the phase current values reconstructed using other normal biphase current sensor current value,
As the feedback current in closed-loop current control, i.e.,
i′a=-(ib+ic) (1-10)
When determining sensor failure 2, the position of fault sensor is determined by the fault diagnosis of step 5, according to
The step iteration calculating current droop of setting obtains school as difference using the current output value and droop of fault sensor
Positive current value, and calculate diagnostic variable | Sx|, judge whether it is less than threshold value, if variable is less than threshold value, completes electricity
Stream reconstruct, the electric current output of reconstruct, if variable is greater than threshold value, continue iteration meter as the feedback current in closed-loop current control
Droop is calculated, until the electric current of correction can make diagnostic variable be less than threshold value, electric current droop is eliminated at this time, i.e.,
i′a=ia-istp·sign(Sa) (1-11)
Wherein, istepFor the current offset values of each iteration, sign is sign function, i 'aFor a phase current correction value；
When determine a phase break down 3 when, the position of fault sensor is determined by the fault diagnosis of step 5, so
There are the drift bias coefficient A of offset current for calculating afterwards, using the current output value of fault sensor divided by drift bias coefficient
The current value reconstructed meets at this time:
The symbol of drift_flux model A is determined by the sum of three-phase current d and rotor position information θ, if d (2k π+pi/2)
Value is positive, then the symbol of drift_flux model A be positive sign, on the contrary it is then be negative sign, drift_flux model A value are as follows:
The output electric current reconstructed by the ratio calculation of sensor current and current gain are as follows:
The beneficial effects of the present invention are:
1, using sensor current information and motor rotor position information, current sensor faults diagnosis and electric current are established
The controller model of signal reconstruct, because without accurate hub motor drive system model and specific system parameter.It should
The simplicity and reliability of control method make this method especially suitable in the limited real-time control system of computing capability.
2, the controller model is measured in real time and controls by current information and motor rotor position information, for electricity
The variation of machine drive system parameters is simultaneously insensitive, therefore effectively increases the robustness and real-time of the controller.
3, the controller model can be directed to three kinds of failures of current sensor, while realizing fault diagnosis, Neng Goutong
The reconstruct that current information quickly has been calculated into is crossed, stablizes normal operation to meet hub motor, greatly enhances motor
The error resilience performance of sensor when operation.
Detailed description of the invention
Fig. 1 is to realize that sensor fault position is determining and carries out fault current for the entirely ineffective failure of current sensor
The control flow chart of reconstruct.
Fig. 2 is to realize that sensor fault position is determining and droop calculates for current sensor droop failure
And carry out the modified control flow chart of electric current droop.
Fig. 3 is to realize the determination of sensor fault position and drift bias coefficient for current sensor drift bias failure
Calculating and carry out the control flow chart of current drift drift correction.
Fig. 4 is to change processing module, current sensor faults judgment module and event by current sensor module, electric current mark
Hinder the basic flow chart of priority diagnosis reconstruction processing module composition.
Specific embodiment
The present invention specifically implements point or less 6 steps:
1, the expression formula of sensor current when establishing hub motor failure.Current sensor faults mainly include three types
Type, failure 1 are entirely ineffective failure, i.e. the unexpected failure of sensor measurement causes measuring signal to lose；Failure 2 is droop
There are constant errors with true value for failure, i.e. measurement value sensor；Failure 3 be drift bias failure, i.e., measurement value sensor with
The deviation of true value changes at any time.
When x phase current sensor failure, sensor phase current output valve can change, including current amplitude and
The variation of phase angle, current sensor exports expression formula at this time are as follows:
ix=(1+A) Im sin(ωt+φx)+B (1-1)
Wherein, A is drift bias coefficient, and B is droop, ImFor current amplitude, ω is electrical angular frequency, φxFor x phase
The starting phase angle of current sensor output electric current.
If fault-free occurs, A=0, B=0；When failure 1 occurs, then A=-1, B=0；When failure 2 occurs, then A
=0, B ≠ 0, when failure 3 occurs, then A ≠ 0, B=0.
2, current sensor three-phase current i is detecteda, ib, ic。
3, electric current is carried out using phase current magnitude marking change processing, the electric current i after mark changexNExpression formula are as follows:
Wherein Im-estFor the maximum value of three-phase current amplitude, i.e. Im-est=max { Ia-est, Ib-est, Ic-est}；ixNValue
Range is ± 1.4, the expression formula for constructing fault diagnosis variable W, U carries out fault detection to current sensor, judges that sensor is
It is no to break down.The detection variable expression of construction are as follows:
D=ia+ib+ic (1-5)
Wherein, T is output current wave period, ia、ib、icRespectively a, b, c three-phase current, iaN、ibN、icNRespectively a,
B, c three-phase mark galvanic current, W are the mean value of three-phase current and absolute value, and U is the mean value of three-phase mark galvanic current and absolute value.
If do not have sensor fault, detection variable W, U value is 0, it is contemplated that the variation of load torque and revolving speed, setting
Variable W, U threshold value CW、CU.When meeting W > CWOr U > CU, that is, can determine whether that current sensor breaks down.
5, in view of three kinds of current sensor faults cannot occur simultaneously, the priority of structure sensor troubleshooting is event
Hinder 1, failure 2, failure 3.The sensor for determining fault type and determining failure generation is calculated by construction fault diagnosis variable
Position.As shown in figure 4, first determine whether that sensor first judges whether it is failure 1 if there are failures for judgement with the presence or absence of failure,
If failure 1, the reconstruction calculations of electric current are carried out according to the electric current reconstructing model of failure 1；If judgement is not failure 1, judgement is
No is failure 2, and if failure 2, the reconstruction calculations of electric current are carried out according to the electric current reconstructing model of failure 2；If interpretation is not failure
2, then it is failure 3, the reconstruction calculations of electric current is carried out according to the electric current reconstructing model of failure 3.
The variable R that the fault type of construction judges and abort situation determinesx、SxExpression formula are as follows:
Wherein, RxFor the mean value of x phase current absolute value, SxFor the mean value of x phase current.
If sensor does not have failure, R can be obtainedx=0.64, Sx=0, when detecting the presence of failure, according to priority
It is first determined whether breaking down 1.
Enable Fx=0.64-Rx (1-8)
Wherein, FxFor the mark of x phase current sensor failure 1.
When x phase is there is no when failure 1, locator variable Rx=0.64, Fx=0；When x phase breaks down 1
When, locator variable Rx=0, Fx=0.64, it is contemplated that variable F is arranged in the variation of load torque and revolving speedxThreshold value CF, work as judgement
It breaks down and meets Fx> CF, that is, can determine that x phase breaks down 1.
If judgement breaks down and debugs 1, judge whether to break down 2 according to priority.
When x sensor is there is no when failure 2, Sx=0；When x sensor failure 2, Sx≠ 0, it is contemplated that load turns
Variable S is arranged in the variation of square and revolving speedxThreshold value CS, work as satisfaction | Sx| > CS, determine that x phase breaks down 2.
When detect current sensor faults exist, and debug 1,2 when, it may be determined that sensor fault be failure 3.It is logical
It crosses the sum of three-phase current d and rotor position information θ determines the diagnosis of abort situation.
If d (k π)=0, a phase failure, if d (+2 π/3 k π)=0, b phase failure, if d (k π -2
π/3)=0, then c phase failure.
Sensor diagnostic logic concludes such as table 1
1 diagnosis logic of table
6, according to troubleshooting priority and sensor fault diagnosis information, electric current output is reconfigured by calculating
Value.In order to calculate the expression formula of reconstruct electric current, it is assumed that failure occurs in a phase.
When determining sensor failure 1, electric current reconstructing is calculated as shown in Figure 1, the input current of motor passes through sensing
Device measures, and determines location of fault by the fault diagnosis of step 5, utilizes other normal biphase current sensor current value phase
Add the phase current values reconstructed, as the feedback current in closed-loop current control, i.e.,
i′a=-(ib+ic) (1-10)
When determining sensor failure 2, electric current reconstructing is calculated as shown in Fig. 2, the fault diagnosis by step 5 determines
The position of fault sensor is exported according to the step iteration calculating current droop of setting using the electric current of fault sensor
Value and droop make the current value that difference is corrected, and calculate diagnostic variable | Sx|, judge whether it is less than threshold value, if becoming
Amount is less than threshold value, then completes electric current reconstructing, and the electric current of reconstruct is exported as the feedback current in closed-loop current control.If variable
Greater than threshold value, continue to iterate to calculate droop, until the electric current of correction can make diagnostic variable be less than threshold value, it is electric at this time
Stream droop is eliminated, i.e.,
i′a=ia-istep·sign(Sa) (1-11)
Wherein, iskpFor the current offset values of each iteration, sign is sign function, i 'aFor a phase current correction value.
When determine a phase break down 3 when, electric current reconstructing calculates as shown in figure 3, by the fault diagnosis of step 5
It determines the position of fault sensor, then calculates there are the drift bias coefficient A of offset current, utilize the electric current of fault sensor
The current value that output valve is reconstructed divided by drift bias coefficient meets at this time:
The symbol of drift_flux model A is determined by the sum of three-phase current d and rotor position information θ, if d (2k π+pi/2)
Value is positive, then the symbol of drift_flux model A be positive sign, on the contrary it is then be negative sign.Drift_flux model A value are as follows:
The output electric current reconstructed by the ratio calculation of sensor current and current gain are as follows:
7, after completing sensor current fault diagnosis and fault current reconstruct, by the electric current of reconstruct and normal sensor
Feedback current of the electric current output as closed-loop current control is exported, realizes the normal operation of motor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (7)
1. a kind of control method of hub motor fault diagnosis and reconstruct, which comprises the following steps:
1) when establishing hub motor speed closed loop control lower sensor failure according to the three of current sensor kinds of major failure types
Export electric current ixExpression formula；2) pass through current sensor measurement three-phase current ia, ib, ic；3) using phase current magnitude to electric current
It carries out marking change processing, is marked the phase current i changedxN；4) electric current is passed by the expression formula of construction fault detection variable W, U
Sensor carries out fault detection；5) priority of structure sensor troubleshooting, and pass through construction fault diagnosis variable Rx、Sx's
Expression formula determines the position of sensor fault；6) according to troubleshooting priority and sensor fault diagnosis information, pass through meter
Calculation reconfigures current output value；7) after completing sensor current fault diagnosis and fault current reconstruct, by the electric current of reconstruct
It exports the feedback current as closed-loop current control jointly with normal current output sensor, realizes the normal operation of motor.
2. the control method of a kind of hub motor fault diagnosis and reconstruct according to claim 1, which is characterized in that three kinds
Major failure type includes: that the unexpected failure that failure 1 is sensor measurement causes measuring signal to lose；Failure 2 is sensor survey
There are constant errors with true value for magnitude；Failure 3 changes at any time for the deviation of measurement value sensor and true value.
3. the control method of a kind of hub motor fault diagnosis and reconstruct according to claim 2, which is characterized in that work as x
When phase current sensor failure, sensor phase current output valve can change, the variation including current amplitude and phase angle,
X phase current current output sensor expression formula at this time are as follows:
ix=(1+A) Imsin(ωt+φx)+B (1-1)
Wherein, A is drift bias coefficient, and B is droop, ImFor current amplitude, ω is electrical angular frequency, φxFor x phase current
The starting phase angle of current output sensor；
If fault-free occurs, A=0, B=0；When failure 1 occurs, then A=-1, B=0；When failure 2 occurs, then A=0,
B ≠ 0, when failure 3 occurs, then A ≠ 0, B=0.
4. the control method of a kind of hub motor fault diagnosis and reconstruct according to claim 1, which is characterized in that construction
Detection variable expression are as follows:
D=ia+ib+ic (1-5)
Wherein, T is output current wave period, ia、ib、icRespectively a, b, c three-phase current, iaN、ibN、icNRespectively a, b, c
Three-phase mark galvanic current, W are the mean value of three-phase current and absolute value, and U is the mean value of three-phase mark galvanic current and absolute value；
If do not have sensor fault, detection variable W, U value is 0, it is contemplated that variable is arranged in the variation of load torque and revolving speed
W, U threshold value CW、CU, when meeting W > CWOr U > CU, that is, can determine whether that current sensor breaks down.
5. the control method of a kind of hub motor fault diagnosis and reconstruct according to claim 1, which is characterized in that construction
The priority of sensor fault processing is failure 1, failure 2, failure 3, first determines whether sensor with the presence or absence of failure, if judgement is deposited
In failure, then failure 1 is first judged whether it is, if failure 1, the reconstruct meter of electric current is carried out according to the electric current reconstructing model of failure 1
It calculates；If judgement is not failure 1, failure 2 is judged whether it is, if failure 2, carry out electricity according to the electric current reconstructing model of failure 2
The reconstruction calculations of stream；If interpretation is not failure 2, for failure 3, the reconstruct of electric current is carried out according to the electric current reconstructing model of failure 3
It calculates.
6. the control method of a kind of hub motor fault diagnosis and reconstruct according to claim 5, which is characterized in that construction
Fault type judgement and abort situation determine variable Rx、SxExpression formula are as follows:
Wherein, RxFor the mean value of x phase current absolute value, SxFor the mean value of x phase current；
If sensor does not have failure, R can be obtainedx=0.64, Sx=0, when detecting the presence of failure, first according to priority
Judge whether to break down 1；
Enable Fx=0.64-Rx (1-8)
Wherein, FxFor the mark of x phase current sensor failure 1；
When x phase is there is no when failure 1, locator variable Rx=0.64, Fx=0；When x phase break down 1 when,
Locator variable Rx=0, Fx=0.64, it is contemplated that variable F is arranged in the variation of load torque and revolving speedxThreshold value CF, when judgement is sent out
It gives birth to failure and meets Fx> CF, that is, can determine that x phase breaks down 1；
If judgement breaks down and debugs 1, judge whether to break down 2 according to priority；
When x sensor is there is no when failure 2, Sx=0；When x sensor failure 2, Sx≠ 0, it is contemplated that load torque and
Variable S is arranged in the variation of revolving speedxThreshold value CS, work as satisfaction | Sx| > CS, it may be determined that x phase breaks down 2；
When detect current sensor faults exist, and debug 1,2 when, it may be determined that sensor fault be failure 3；Pass through three
The sum of phase current d and rotor position information θ determines the diagnosis of abort situation；
If d (k π)=0, a phase failure, if d (+2 π/3 k π)=0, b phase failure, if d (π/3 k π -2)
=0, then c phase failure.
7. the control method of a kind of hub motor fault diagnosis and reconstruct according to claim 1, which is characterized in that described
The detailed process of step 6) are as follows:
In order to calculate the expression formula of reconstruct electric current, it is assumed that failure occurs in a phase；
When determining sensor failure 1, the input current of motor is measured by sensor, passes through the fault diagnosis of step 5)
It determines location of fault, is added the phase current values reconstructed using other normal biphase current sensor current value, as
Feedback current in closed-loop current control, i.e.,
i′a=-(ib+ic) (1-10)
When determining sensor failure 2, the position of fault sensor is determined by the fault diagnosis of step 5, according to setting
Step iteration calculating current droop, make difference using the current output value and droop of fault sensor and corrected
Current value, and calculate diagnostic variable | Sx|, judge whether it is less than threshold value, if variable is less than threshold value, completes electric current weight
Structure, the electric current output of reconstruct, if variable is greater than threshold value, it is solid to continue iterative calculation as the feedback current in closed-loop current control
Determine deviation, until the electric current of correction can make diagnostic variable be less than threshold value, electric current droop is eliminated at this time, i.e.,
i′a=ia-istep·sign(Sa) (1-11)
Wherein, istepFor the current offset values of each iteration, sign is sign function, i 'aFor a phase current correction value；
When determine a phase break down 3 when, the position of fault sensor is determined by the fault diagnosis of step 5, is then counted
It calculates there are the drift bias coefficient A of offset current, is obtained using the current output value of fault sensor divided by drift bias coefficient
The current value of reconstruct meets at this time:
The symbol of drift_flux model A is determined by the sum of three-phase current d and rotor position information θ, if d (2k π+pi/2) value is
Just, then the symbol of drift_flux model A be positive sign, on the contrary it is then be negative sign, drift_flux model A value are as follows:
The output electric current reconstructed by the ratio calculation of sensor current and current gain are as follows:
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112285413A (en) * | 2020-10-15 | 2021-01-29 | 中国第一汽车股份有限公司 | Current value determination method, device, controller, medium and battery management system |
| CN114499351A (en) * | 2022-01-21 | 2022-05-13 | 北京信息科技大学 | Motor system high-reliability operation method based on current phase closed-loop control |
| CN114859282A (en) * | 2022-06-02 | 2022-08-05 | 南京航空航天大学 | Double salient pole motor current sensor signal loss fault diagnosis method |
| TWI799744B (en) * | 2020-10-16 | 2023-04-21 | 達明機器人股份有限公司 | System and method for detecting current sensors of motor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272104A (en) * | 2019-11-21 | 2020-06-12 | 中国科学院国家天文台南京天文光学技术研究所 | Method suitable for automatically shielding position sensor fault reading head in extreme environment |
| CN112285413A (en) * | 2020-10-15 | 2021-01-29 | 中国第一汽车股份有限公司 | Current value determination method, device, controller, medium and battery management system |
| TWI799744B (en) * | 2020-10-16 | 2023-04-21 | 達明機器人股份有限公司 | System and method for detecting current sensors of motor |
| CN114499351A (en) * | 2022-01-21 | 2022-05-13 | 北京信息科技大学 | Motor system high-reliability operation method based on current phase closed-loop control |
| CN114499351B (en) * | 2022-01-21 | 2023-12-01 | 北京信息科技大学 | Motor system fault detection method |
| CN114859282A (en) * | 2022-06-02 | 2022-08-05 | 南京航空航天大学 | Double salient pole motor current sensor signal loss fault diagnosis method |
| CN114859282B (en) * | 2022-06-02 | 2023-04-18 | 南京航空航天大学 | Double salient pole motor current sensor signal loss fault diagnosis method |
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