CN112505581B - Double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method - Google Patents
Double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method Download PDFInfo
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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
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
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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
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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
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/72—Testing of electric windings
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Abstract
The invention discloses a double-stator permanent magnet synchronizationThe method for diagnosing the turn-to-turn short circuit fault of the motor comprises the steps of firstly injecting high-frequency voltage signals with equal amplitude and same phase into alpha shafts and beta shafts of a stator 1 and a stator 2 respectively, and secondly carrying out two-phase rotation transformation on current signals of the alpha shafts and the beta shafts of the stator 1 and the stator 2 to obtain direct current components and phase angle information of the current signals. Then, whether turn-to-turn short circuit faults occur in the stator 1 and the stator 2 is respectively judged: if the fault index of the stator 1
The stator 1 is judged to be normal, and the stator 2 is the same. And if no turn-to-turn fault occurs in the stator 1 and the stator 2, judging that the motor is normal. If the fault index of stator 1 or stator 2
Then the turn-to-turn short circuit fault of the corresponding stator is judged. And finally, if the stator 1 or the stator 2 has a fault independently, obtaining a phase difference by making a difference between the current phases, and judging the specific fault phase.
Description
Technical Field
The invention belongs to the technical field of motor fault diagnosis, and particularly relates to a method for diagnosing turn-to-turn short circuit faults of a double-stator permanent magnet synchronous motor.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of high power density, high efficiency, large torque-inertia ratio, wide speed regulation range and the like.
In recent years, PMSM has been widely used and noticed in electric vehicles, wind power generation, and the like. The double-stator permanent magnet synchronous motor has the advantages of low speed, large torque, high energy density and the like, and the control method of the double-stator permanent magnet synchronous motor is basically the same as that of the traditional permanent magnet synchronous motor. In addition, the double-stator permanent magnet motor can be turned off when a certain motor fails, so that the electric automobile can continuously run to a specified place, and the safety and reliability of the system are improved. Common motor faults are excessive motor vibration, motor overheating, bearing overheating, rotor/stator coil short circuits, and the like. Among the stator winding faults, the most common is the stator winding turn-to-turn short circuit fault, which can generate a large amount of eddy current in a short circuit loop, and if the fault is not detected, the fault is aggravated, so that a ground short circuit or a phase-to-phase short circuit is caused, the temperature of the motor is continuously increased, and finally the motor is completely damaged, so that the turn-to-turn short circuit fault of the PMSM needs to be diagnosed in time.
At present, some methods have been proposed to diagnose turn-to-turn short circuit faults of the permanent magnet synchronous motor, among which the most common methods are an analysis method based on a stator current signal, and the like. Common signal analysis techniques include fast fourier transform, short-time fourier transform wavelet transform, empirical mode decomposition, order analysis, and the like. However, the fault diagnosis method has certain disadvantages, on one hand, the sensitivity of the current signal is relatively poor, and on the other hand, the calculated amount of the signal analysis technologies is relatively large, so that real-time fault diagnosis is not easy to realize. In addition, the turn-to-turn short circuit fault diagnosis method can only diagnose the turn-to-turn short circuit fault and cannot judge a specific fault phase.
Disclosure of Invention
The invention aims to: aiming at the prior art, the method for diagnosing the turn-to-turn short circuit fault based on the permanent magnet synchronous motor is provided, the turn-to-turn short circuit fault can be diagnosed in real time, and a fault phase can be judged.
The technical scheme is as follows: a double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method comprises the following steps:
step 1: injecting a high-frequency voltage signal u into the alpha axis and the beta axis of the stator 1 and the stator 2 respectively α ，u β Then detecting the corresponding high-frequency response current generated in the motor, wherein the high-frequency response current corresponding to the stator 1 is i α1 ,i β1 The high-frequency response current corresponding to the stator 2 is i α2 ,i β2 ；
Step 2: the high-frequency response current i α1 ,i β1 By transforming the matrix T i Obtaining the current i on the gamma delta of the rotating coordinate system γ1 ,i σ1 (ii) a The high-frequency response current i α2 ,i β2 Also via the same transformation matrix T i Obtaining the current i on the gamma delta of the rotating coordinate system γ2 ,i σ2 ；
And 3, step 3: applying the current i γ1 Detecting the DC component thereof by a low-pass filter if the detected DC component
The stator 1 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; the current i is measured γ2 Detecting the DC component thereof by a low-pass filter, if the detected DC component
The stator 2 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; wherein eta is the number of winding short circuit turns for generating inter-turn short circuit phase, V i For the amplitude of the injected high-frequency voltage, R f Is a short-circuit resistor;
and 4, step 4: if the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, the phase which is different from the other two phases in the phase angle difference is a fault phase under the condition of single-phase turn-to-turn short circuit by comparing the corresponding current phase angles of the two stators.
Has the beneficial effects that: the method for detecting the turn-to-turn short circuit fault of the double-stator permanent magnet synchronous motor can diagnose the turn-to-turn fault in real time and judge the specific stator with the fault and the fault phase thereof; in the fault detection process, the calculation amount is small, and the method is easy to realize. The reliability, effectiveness and rapidity of diagnosis can be improved.
Drawings
FIG. 1 is a flow chart of a double stator permanent magnet machine turn-to-turn short circuit fault detection;
FIG. 2 is a system block diagram of a method of vector controlled turn-to-turn short fault diagnosis for a dual stator PMSM;
fig. 3 is an equivalent diagram of a single stator turn-to-turn short circuit of a double-stator permanent magnet synchronous motor.
Detailed Description
The invention is further explained below with reference to the drawings.
As shown in fig. 1, a method for diagnosing turn-to-turn short circuit fault of a double-stator permanent magnet synchronous motor includes the following steps:
step 1: injecting a high-frequency voltage signal u into the alpha axis and beta axis of the stator 1 and the stator 2 respectively α ，u β Then detecting the corresponding height generated in the motorThe frequency response current is i corresponding to the stator 1 α1 ,i β1 The high-frequency response current corresponding to the stator 2 is i α2 ,i β2 ；
And 2, step: will respond to the current i at high frequency α1 ,i β1 By transforming the matrix T i Obtaining the current i on the gamma delta of the rotating coordinate system γ1 ,i σ1 (ii) a Will respond to the current i at high frequency α2 ,i β2 Also via the same transformation matrix T i Obtaining the current i on the gamma delta of the rotating coordinate system γ2 ,i σ2 。
And step 3: will current i γ1 Detecting the DC component by a low-pass filter, if the detected DC component
The stator 1 has a turn-to-turn short circuit fault, otherwise no turn-to-turn short circuit fault occurs. In the same way, the current i γ2 Detecting the DC component of the DC signal by a low-pass filter if the detected DC component is detected
The stator 2 has a turn-to-turn short circuit fault, otherwise no turn-to-turn short circuit fault occurs.
And 4, step 4: if the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, by comparing the corresponding current phase angles of the two stators, in the case of a single-phase turn-to-turn short circuit, the phase in which the difference between the phase angles is different from the other two phases is the phase in which the turn-to-turn short circuit occurs.
As shown in fig. 2, the system based on the method is composed of a speed controller, a q-axis current controller, a d-axis current controller, park (Park) inverse transformation, SVPWM (space vector pulse width modulation), a three-phase inverter, a dual-stator permanent magnet synchronous motor, clarke transformation, a rotor position sensor, and a fault diagnosis module. The system is a speed and current double closed-loop structure, the outer ring is a rotating speed ring, the inner ring is a dq-axis current ring under vector decoupling, and the speed is used as the feedback quantity of the speed ring. The input quantity of the fault diagnosis module is a direct current component along a gamma axis after the current of the alpha axis and the current of the beta axis are converted through a gamma delta rotating coordinate system.
In order to avoid loss of generality, the method is described below by taking an example of a phase a of a stator 1 of a double-stator permanent magnet synchronous motor having an inter-turn short circuit fault:
as shown in fig. 3, when the stator 1 of the double-stator permanent magnet synchronous motor fails in the a phase, the voltage equation of the winding of the stator 1 in the abcf coordinate system is expressed as follows:
in the formula:
[u abcf1 ]＝[u a1 -u n1 ,u b1 -u n1 ,u c1 -u n1 ,0] T
[i abcf1 ]＝[i a1 ,i b1 ,i c1 ,i f1 ] T
[ψ abcf1 ]＝[ψ a1 ,ψ b1 ,ψ c1 ,ηψ a1 ] T
wherein u is abcf1 Is a representation of the voltage of the stator 1 winding in the abcf coordinate system, R abcf1 Is a representation of the resistance of the stator 1 in the abcf coordinate system, i abcf1 Is a representation of the current of the stator winding in the abcf coordinate system, L abcf1 Is a representation of the inductance of the stator 1 in the abcf coordinate system, # abcf1 Is a representation of the permanent magnet flux linkage of the stator 1 in the abcf coordinate system, u a1 Is the A-phase voltage, u, of the stator 1 b1 Is the B-phase voltage, u, of the stator 1 c1 Is the C-phase voltage, u, of the stator 1 n1 Is the neutral point voltage, R, of the stator 1 s Is the stator resistance, η is the number of short circuit turns, R f Is a short-circuit resistance i a1 Is the A-phase current of the stator 1, i b1 Is the B-phase current of the stator 1, i c1 Is the C-phase current of stator 1, i f1 Is short-circuit loop current, L AA Is self-induction of phase A, L BB Is self-induction of phase B, L CC Is self-induction of phase C, M AB Is the mutual inductance between A and B, M AC Is the mutual inductance between A and C, M BC Is the mutual inductance between the two phases B and C,. Psi a1 Is the permanent magnet flux linkage of the A winding of the stator 1, psi b1 Is the permanent magnet flux linkage of the B winding of the stator 1 c1 Is the permanent magnet flux linkage of the C winding of the stator 1 f1 Is the amplitude of the fundamental component of the flux linkage of the stator 1, theta is the rotor position angle, phi 3h1 Is the amplitude of the third harmonic component of the flux linkage of the stator 1.
And (3) performing coordinate transformation on the formula (7), wherein a transformed matrix T is as follows:
after the coordinates are transformed from the abcf coordinate system to the dq0f coordinate system through coordinate transformation in the formula (7), u d1 ，u q1 The equation of (a) is:
wherein u is d1 、u q1 Dq-axis voltage of stator 1, ω rotor angular velocity, p motor pole, respectivelyLogarithm, L d 、L q Are dq-axis inductances, i, respectively d1 、i q1 Dq-axis currents, e, of stator 1, respectively df1 、e qf1 Respectively the dq-axis component of the back emf in a fault condition of the stator 1.
From (7), it can be solved:
high-frequency voltage signal u injected into alpha axis and beta axis of stator 1 α1 ，u β1 Comprises the following steps:
when injecting high frequency voltage, the stator resistance Rs can be neglected. Therefore, the response current neglecting Rs is:
wherein, ω is i Is the frequency of the injected high-frequency voltage, theta r Is the rotor position angle, V i Is the amplitude of the injected high frequency voltage, L is the average inductance, and Δ L is the half-differential inductance.
If the motor fails, the abcf coordinate system is converted into an alpha beta 0f coordinate system by Clarke transformation, and a matrix T is converted x The method comprises the following steps:
by substituting (15) into (7), the voltage equation for a PMSM with turn-to-turn fault at rest is obtained as:
wherein, e' α1 、e′ β1 Respectively, are the alpha beta axis components of the back emf in the fault condition of the stator 1, respectively.
u a1 The expression of (1) is:
u a1 ＝V i cosω i t (17)
according to (11), (12) and (17), i f1 The solution of (a) is:
wherein k is 1 、k 2 Is an intermediate variable, L 0 Is the leakage inductance of the motor.
Substituting (18) into (16) yields a current response of i 'under fault conditions' α1 And i' β1 Expressed as:
for easy observation, at the frequency ω of the injected high-frequency voltage i A rotating coordinate system γ δ is introduced to convert the positive sequence component into a dc component. Transformation matrix T i Comprises the following steps:
response current i 'under rotating coordinate system gamma delta under fault condition' γ 1,i′ σ1 Comprises the following steps:
when the motor is in failure, the motor has a direct current component i along the gamma axis γd1 And is zero under normal conditions. Therefore, the fault Index of the turn-to-turn short circuit is designed as follows:
Index＝i γd1 (22)
if the turn-to-turn short circuit fault is small, R f Large, or η is small; thus, k 2 >>k 1 The Index is reduced approximately to:
detection of i by a low pass filter γ1 If the value of the direct current component is greater than
It is judged that the turn-to-turn short fault occurs in the stator 1. Similarly, when the phase B or the phase C is in a single turn-to-turn short circuit, the same magnitude of direct current components also appears, and the turn-to-turn short circuit fault of the stator 1 is also judged.
If the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, the phase angle difference between the two phases is different from that of the other two phases, and the phase is a fault phase in the case of single-phase turn-to-turn short circuit by comparing the corresponding current phase angles of the two stators.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method is characterized by comprising the following steps:
step 1: injecting a high-frequency voltage signal u into the alpha axis and the beta axis of the stator 1 and the stator 2 respectively α ，u β Then detecting the corresponding high-frequency response current generated in the motor, wherein the high-frequency response current corresponding to the stator 1 is i α1 ,i β1 The high-frequency response current of the stator 2 is i α2 ,i β2 ；
Step 2: the high-frequency response current i α1 ,i β1 By transforming the matrix T i Obtaining the current i on the gamma delta of the rotating coordinate system γ1 ,i σ1 (ii) a The high-frequency response current i α2 ,i β2 Also via the same transformation matrix T i Obtaining the current i on the gamma delta of the rotating coordinate system γ2 ,i σ2 ；
And 3, step 3: applying the current i γ1 Detecting the DC component thereof by a low-pass filter if the detected DC component
The stator 1 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; the current i is measured γ2 Detecting the DC component thereof by a low-pass filter if the detected DC component
The stator 2 has turn-to-turn short circuit fault, otherwise, the turn-to-turn short circuit fault does not occur; where eta is the number of winding short-circuit turns in which the inter-turn short-circuit phase occurs, and V i For the amplitude of the injected high-frequency voltage, R f Is a short-circuit resistor;
and 4, step 4: if the stator 1 or the stator 2 has a turn-to-turn short circuit fault alone, the phase which is different from the other two phases in the phase angle difference is a fault phase under the condition of single-phase turn-to-turn short circuit by comparing the corresponding current phase angles of the two stators.
2. The method for diagnosing turn-to-turn short circuit fault of double-stator permanent magnet synchronous motor according to claim 1, wherein in step 1, the high-frequency voltage signal u α ，u β Comprises the following steps:
wherein, ω is i The frequency of the injected high-frequency voltage is t, and the time is adopted.
3. The method for diagnosing turn-to-turn short circuit fault of double-stator permanent magnet synchronous motor according to claim 1, wherein in step 2, the transformation matrix T i Comprises the following steps:
wherein, ω is i The frequency of the injected high-frequency voltage is t, and the time is adopted.
4. The method for diagnosing turn-to-turn short circuit fault of double-stator permanent magnet synchronous motor according to claim 1, wherein current responses i 'of alpha axis and beta axis of stator m under fault condition' αm And i' βm Expressed as:
wherein the subscript m is 1, 2, omega i For the frequency of the injected high-frequency voltage, t is the sampling time, k 1 、k 2 Is the intermediate variable(s) of the variable,
ω i for the frequency of the injected high-frequency voltage, L 0 For leakage inductance of the motor, R s Is the stator resistance;
response current i 'in rotating coordinate system gamma delta under fault condition' γ m,i′ σm Comprises the following steps:
the fault index Indexm of turn-to-turn short circuit is as follows:
Indexm＝i γdm (5)
wherein i γdm Is the actual turn-to-turn short circuit time i of the stator m γm A direct current component of (a);
if turn-to-turn short circuit fault k 2 >>k 1 Then, the fault Indexm of the short circuit is simplified as:
detecting i 'through a low-pass filter' γm If the value of the DC component is greater than
The stator m is judged to have a turn-to-turn short circuit.
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