CN110596547B - On-line monitoring method for turn insulation state of inverter driving motor - Google Patents
On-line monitoring method for turn insulation state of inverter driving motor Download PDFInfo
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- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
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Abstract
The invention relates to an on-line monitoring method for the turn insulation state of an inverter driving motor, which takes the output transient terminal voltage of a switch of an inverter power device as high-frequency excitation, takes the motor oscillation current during the transient state of the switch as transient response, and realizes the on-line monitoring of the turn insulation state by acquiring the frequency response curve of a motor winding in the transient state of the switch and utilizing the high-frequency sensitive characteristic component in the frequency response curve. When the inverter normally works, the frequency of switching on and off of the power device is frequent, and a large number of switching oscillation signals can be excited, so that the continuous online monitoring of the insulation state of a motor turn can be realized; the high-frequency voltage sensor and the high-frequency current sensor are used for detecting and acquiring the switching signal and the switching transient oscillation current in real time, so that the detection mode is simple to operate, and the state change of the turn insulation can be rapidly monitored; the high-frequency sensitive characteristic component is used as an index for identifying the degradation of the insulation state of the turns of the motor, so that the method has strong anti-interference capability and high sensitivity.
Description
Technical Field
The invention relates to a safety monitoring technology, in particular to an on-line monitoring method for the turn insulation state of an inverter driving motor.
Background
Compared with the conventional power frequency motor, the inverter driving motor adopting the pulse width modulation technology has the remarkable advantages of energy conservation, easiness in starting, high efficiency, good speed regulation performance and the like, and is widely applied to multiple fields of new energy automobiles, rail transit, wind power generation, variable frequency speed regulation, ship propulsion and the like.
During normal operation of the inverter, the rapid turn-on and turn-off of the power switching tubes generates periodic high dv/dt surge voltages to increase the electrical stress of the insulating material, and additional heat losses are generated by high frequency voltage and current harmonics during operation. The above factors make the turn insulation one of the weakest links in the motor, and further accelerate the degradation process of the whole motor insulation system. Studies have shown that approximately 80% of motor insulation failures result from early degradation of the inter-turn insulation. Once the inter-turn insulation fails, inter-turn short circuit current can be formed to damage the winding coil, so that the failure of the inter-turn insulation and the main insulation is further accelerated, and finally, the motor is subjected to serious inter-phase or phase-ground short circuit faults. The progression from early turn-to-turn insulation degradation to severe motor failure is typically a few seconds to hours. Therefore, timely and effective monitoring of the turn insulation operation state of the inverter driving motor is of great importance to safe and reliable operation of equipment.
Patent No. 201610185687.X invented "automatic testing system and method for inter-phase and phase-to-ground insulation PDIV of variable frequency motor". The system comprises a control module, and high-voltage probes, a sensor, a high-voltage switch assembly, a signal conditioning circuit and other assemblies which are connected with the control module, wherein the PDIV test of the motor insulation chamber is realized by controlling the opening and closing state of each high-voltage switch so as to evaluate the insulation quality of the motor. The partial discharge test equipment is expensive and difficult to implement on line, and the partial discharge field can only be excited under the condition of a strong electric field, so that the partial discharge test equipment is not suitable for a low-voltage motor.
Patent No. 201710270394.6 discloses "an insulation device and a detection method for a permanent magnet wind power generator". The detection device comprises a constant voltage source, a communication module, an overvoltage protection device, a temperature sensor and the like, the insulation resistance is automatically detected by utilizing the condition that the generator set is normally stopped at low wind speed, and diagnosis is carried out by detecting the insulation resistance, the polarization index, the absorption ratio and the trend curve of the stator. The detection method needs to be provided with additional insulation detection device elements, so that the detection cost is increased.
Patent No. 201510548717.4 invented "a variable frequency motor insulation automatic detection system". The system carries out data statistics on the motor insulation condition, and finds the change rule of the motor insulation according to the statistical result, thereby achieving the purpose of monitoring the variable frequency motor insulation. The system can only realize the off-line detection of the motor insulation, and cannot accurately detect the insulation state change of the variable frequency motor in normal operation in real time.
The patent No. 201710137083.2 discloses an on-line monitoring method for stator insulation of a three-phase asynchronous alternating current motor. The method is used for motor insulation state pre-diagnosis as training integration of a support vector machine by extracting characteristic indexes such as MCSA (multi-core synchronous SA) of voltage and current signals and current signal statistical identification. Although the detection method can realize insulation on-line monitoring, when the characteristic indexes are extracted, the sensitivity and the effectiveness of the method are reduced by model parameter estimation, and the diagnosis capability of slight state change of motor insulation is weak.
Disclosure of Invention
The invention provides an on-line monitoring method for the turn insulation state of an inverter driving motor, aiming at the problem of motor insulation diagnosis, which can realize the sustainable on-line monitoring of the insulation state, and has the advantages of strong anti-jamming capability and high sensitivity by adopting the high-frequency sensitive characteristic component of a switching frequency response curve as an index for identifying the change of the insulation state of a motor turn.
The technical scheme of the invention is as follows: an on-line monitoring method for the turn insulation state of an inverter driving motor is characterized in that the output transient terminal voltage of a switch of an inverter power device is used as high-frequency excitation, the motor oscillation current in the transient state of the switch is used as transient response, the frequency response curve of a motor winding in the transient state of the switch is obtained, and the high-frequency sensitive characteristic component in the frequency response curve is used for realizing on-line monitoring of the turn insulation state.
The on-line monitoring method for the turn insulation state of the inverter driving motor specifically comprises the following steps:
1) respectively acquiring voltage V at output end of inverter by using high-frequency voltage sensor and high-frequency current sensorceAnd motor current IG；
2) Opposite terminal voltage VcePerforming edge detection to judge whether the power device is in a switching state;
3) if the detection is not the switch transient process, returning to the step 2) to the terminal voltage V at the next acquisition momentceCarrying out edge detection and state judgment;
4) when the switch transient state is detected, the terminal voltage V in the switch transient state process is recordedce(n) data and extraction of high-frequency oscillation current I of the motor during the same time periodG(n) data, and respectively calculating the amplitude-frequency characteristics V of the two data by a fast Fourier transform algorithmce(k) And IG(k) As shown in formula (1) and formula (2):
in the formula: n is 0, 1, …, Ns-1；0≤k≤Ns-1；NsThe sampling point number of the switch transient process is calculated;
5) calculating a switching transient frequency response curve Z (k) of the motor winding according to the formula (3):
6) extracting frequency band characteristics sensitive to the insulation degradation of the motor turns from the switching transient frequency response curve Z (k) for monitoring the turn insulation state, wherein the frequency band is used as a characteristic frequency band; respectively calculating the switching-on transient frequency response curve Z when the motor turn insulation is normal and the state is degradedn(k) And Zd(k) (ii) a Calculating the average change amplitude Delta Z of the switching transient frequency response in the characteristic frequency band according to the formula (4)avg(f) As an index reflecting the deterioration of the turn insulation,
characteristic frequency band of from fLTo fH。
The step 6) is a frequency band determination method sensitive to the insulation degradation of the motor turns: two taps are led out from a certain phase winding of the driving motor and are connected with different capacitors in parallel to simulate the early degradation state of the turn insulation of the servo motor; simulating a switching transient frequency response curve of the motor winding under different loads by repeating the steps 2) -5), wherein a frequency band range which is remarkably corresponding to amplitude change in the switching transient frequency response curve is a frequency band characteristic sensitive to motor turn insulation degradation; and repeating the steps 2) to 5) to simulate the switching transient frequency response curve of the motor winding under different fundamental wave frequencies, verifying that the amplitude change of the switching transient frequency response curve in the determined frequency band range is consistent with the change under different loads, and determining that the frequency band range can be used for realizing the motor turn insulation state monitoring.
The invention has the beneficial effects that: according to the on-line monitoring method for the turn insulation state of the inverter driving motor, when the inverter works normally, the frequency of switching on and off of a power device is frequent, a large number of switching oscillation signals can be excited, and therefore the continuous on-line monitoring of the turn insulation state of the motor can be realized; the high-frequency voltage sensor and the high-frequency current sensor are used for detecting and acquiring the switching signal and the switching transient oscillation current in real time, so that the detection mode is simple to operate, and the state change of the turn insulation can be rapidly monitored; the high-frequency sensitive characteristic component is used as an index for identifying the degradation of the insulation state of the turns of the motor, so that the method has strong anti-interference capability and high sensitivity.
Drawings
FIG. 1 is a flow chart of an on-line monitoring method for the turn insulation state of an inverter driving motor according to the present invention;
FIG. 2 is a schematic view of an experimental system according to the present invention;
FIG. 3 is a diagram of the transient terminal voltage V of the inventionceAnd transient current oscillation waveform IGA drawing;
FIG. 4 is a diagram of the response curve Z (k) of the transient frequency of the switching on under different loads when the fundamental frequency of the present invention is 30 Hz;
FIG. 5 is a diagram of transient frequency response curves Z (k) of turn-on under different fundamental waves when the load of the present invention is half load.
Detailed Description
An inverter driving motor turn insulation state on-line monitoring method is characterized in that inverter power device switch output transient state terminal voltage is used as high-frequency excitation, motor oscillation current in switch transient state is used as transient response, a frequency response curve of a motor winding in the switch transient state is obtained, and high-frequency sensitive characteristic components are used for realizing on-line monitoring of turn insulation state.
An on-line monitoring method for the turn insulation state of an inverter driving motor comprises the following steps, as shown in figure 1:
1) firstly, a high-frequency voltage sensor and a high-frequency current sensor are utilized to respectively acquire voltage V at the output end of an inverterceAnd motor current IG。
2) Then, the opposite terminal voltage VceAnd performing edge detection to judge whether the power device is in a switching state.
3) If the detection is not the switch transient process, returning to the step 2) to the terminal voltage V at the next acquisition momentceAnd performing edge detection and state judgment.
4) When a switching transient is detected, a fixed length of time (fixed length of time: fixed time length: when a switching transient is detected, the terminal voltage and motor current data of a fixed time slice are taken for calculating amplitude-frequency characteristics, mainly for ensuring the consistency in calculation) and the terminal voltage Vce(n) data and extraction of high-frequency oscillation current I of the motor during the same time periodG(n) data, and calculating their amplitude-frequency characteristics V by Fast Fourier Transform (FFT) algorithmce(k) And IG(k) As shown in formula (1) and formula (2):
in the formula: n is 0, 1, …, Ns-1；0≤k≤Ns-1；NsThe number of sampling points in the switching transient process is shown.
5) Calculating a switching transient frequency response curve Z (k) of the motor winding according to the formula (3):
6) extracting frequency band characteristics sensitive to motor turn insulation deterioration from switch transient frequency response curve C (k) for turn insulation state monitoringIs a characteristic frequency band; respectively calculating the switching-on transient frequency response curve Z when the motor turn insulation is normal and the state is degradedn(k) And Zd(k) In that respect Calculating the characteristic frequency band (f) according to the formula (4)L～fH) Mean amplitude of change Δ Z of the internal turn-on transient frequency responseavg(f) As an index (unit: dB Ω/kHz) reflecting the turn insulation deterioration.
Fig. 2 is a schematic diagram of an inverter-motor experimental system. The experimental system comprises a frequency converter, an induction motor, a permanent magnet servo motor, an MDO3054 oscilloscope (500MHz), a DP6150A high-frequency voltage probe (1500V/100MHz) and a CP8030B high-frequency current probe (30A/50 MHz).
In the experiment, two taps are led out of a W-phase winding of a permanent magnet servo motor and are connected with different capacitors (C) in parallelf0.5nF,1nF,2nF) was used to simulate the early degradation state of the servo motor turn insulation.
The experimental contents and procedures of this example are as follows:
1. effect of different loads on the switching transient frequency response curve:
1) when the permanent magnet servo motor normally works at 1/5 load current, the transient terminal voltage and transient current oscillation response waveform of the power device on are shown in fig. 3.
2) Extracting V of fixed time length in switch transient processce(n) and extracting the high-frequency oscillation current I of the motorG(n) data, and obtaining their amplitude-frequency characteristics V through Fast Fourier Transform (FFT) algorithmce(k) And IG(k)；
3) Calculating a switching transient frequency response curve Z (k) of the motor winding;
4) keeping the servo motor working at 1/5 load, and connecting taps on the W phase of the servo motor in parallel with capacitors 0.5nF,1.0nF and 2.0nF in sequence to simulate turn insulation degradation;
5) repeating the step 2) and the step 3), and obtaining a switching transient frequency response curve z (k) in the states of the parallel capacitances of 0.5nF,1.0nF and 2.0nF, as shown in (a) of fig. 4.
6) Changing the load of the permanent magnet servo motor, sequentially working under the working conditions of half load and full load, and repeating the steps 2-5) to obtain the normal turn insulation and the degraded turn insulation (parallel capacitor C) of the permanent magnet servo motorfSwitching transient frequency response curve z (k) of 0.5nF,1.0nF,2.0nF) as shown in fig. 4 (b), (c).
2. Effect of different fundamental frequencies on switch transient frequency response curves
1) Setting the fundamental frequency of the permanent magnet servo motor to be 50Hz, connecting capacitors 0.5nF,1.0nF and 2.0nF on the taps in parallel respectively to simulate the turn insulation degradation, and obtaining a switching transient frequency response curve Z (k) under the fundamental frequency in the same step as the step (A) shown in FIG. 5.
2) The fundamental frequency of the permanent magnet servo motor is changed into 80Hz and 100Hz in turn, (parallel capacitor C)fSwitching transient frequency response curve z (k) of 0.5nF,1.0nF,2.0nF) as shown in fig. 5 (b), (c).
As can be seen from FIGS. 4 and 5, the response curve of the turn-on transient frequency under different turn insulation states has a significant amplitude variation around 300kHz-400kHz, and the magnitude variation is along with the parallel capacitance value CfThe amplitude of Z (k) is reduced, so that the motor turn insulation state monitoring can be realized in the range of the characteristic frequency band of 300kHz-400 kHz.
Under different load currents and different carrier frequencies, the opening transient frequency response amplitude of a 300kHz-400kHz frequency band has a consistent change rule, the frequency band characteristic is insensitive to the operation condition of the motor, and the early state degradation caused by the weak insulation of the local turns of the servo motor can be effectively identified by using the amplitude frequency characteristic of the frequency band. Extracting average change amplitude Delta Z of switching transient frequency response of 300kHz-400kHz frequency band according to formula (4)avgThe statistical results under different conditions are shown in table 1. The extracted features all follow CfThe amplitude change of the switching transient frequency response between 300kHz and 400kHz can be used for carrying out online monitoring on early state degradation caused by weak insulation of local turns when the servo motor normally operates.
TABLE 1
Claims (2)
1. A turn insulation state on-line monitoring method of an inverter driving motor is characterized in that the turn insulation state is monitored on-line by taking the transient terminal voltage output by a switch of an inverter power device as high-frequency excitation and the motor oscillation current in the transient state of the switch as transient response, acquiring the frequency response curve of a motor winding in the transient state of the switch and utilizing the high-frequency sensitive characteristic component in the frequency response curve;
the method specifically comprises the following steps:
1) respectively acquiring voltage V at output end of inverter by using high-frequency voltage sensor and high-frequency current sensorceAnd motor current IG；
2) Opposite terminal voltage VcePerforming edge detection to judge whether the power device is in a switching state;
3) if the detection is not the switch transient process, returning to the step 2) to the terminal voltage V at the next acquisition momentceCarrying out edge detection and state judgment;
4) when the switch transient state is detected, the terminal voltage V in the switch transient state process is recordedce(n) data and extraction of high-frequency oscillation current I of the motor during the same time periodG(n) data, and respectively calculating the amplitude-frequency characteristics V of the two data by a fast Fourier transform algorithmce(k) And IG(k) As shown in formula (1) and formula (2):
in the formula: n is 0, 1, …, Ns-1；0≤k≤Ns-1；NsSampling points for this switching transientCounting;
5) calculating a switching transient frequency response curve Z (k) of the motor winding according to the formula (3):
6) extracting frequency band characteristics sensitive to the insulation degradation of the motor turns from the switching transient frequency response curve Z (k) for monitoring the turn insulation state, wherein the frequency band is used as a characteristic frequency band; respectively calculating the switching-on transient frequency response curve Z when the motor turn insulation is normal and the state is degradedn(k) And Zd(k) (ii) a Calculating the average change amplitude Delta Z of the switching transient frequency response in the characteristic frequency band according to the formula (4)avg(f) As an index reflecting the deterioration of the turn insulation,
characteristic frequency band of from fLTo fH。
2. The on-line monitoring method of the turn insulation state of the inverter-driven motor according to claim 1, wherein the step 6) of determining the frequency band sensitive to the deterioration of the turn insulation of the motor: two taps are led out from a certain phase winding of the driving motor and are connected with different capacitors in parallel to simulate the early degradation state of the turn insulation of the servo motor; simulating a switching transient frequency response curve of the motor winding under different loads by repeating the steps 2) -5), wherein a frequency band range which is remarkably corresponding to amplitude change in the switching transient frequency response curve is a frequency band characteristic sensitive to motor turn insulation degradation; and repeating the steps 2) to 5) to simulate the switching transient frequency response curve of the motor winding under different fundamental wave frequencies, verifying that the amplitude change of the switching transient frequency response curve in the determined frequency band range is consistent with the change under different loads, and determining that the frequency band range can be used for realizing the motor turn insulation state monitoring.
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