CN113447854B - Converter system open-circuit fault diagnosis method and system based on predictive control - Google Patents
Converter system open-circuit fault diagnosis method and system based on predictive control Download PDFInfo
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Abstract
The invention provides a converter system open-circuit fault diagnosis method and system based on predictive control, which comprises the following steps: acquiring a state quantity measured value of a converter system; accurately modeling the converter system to obtain a state quantity predicted value of the converter system; calculating the state quantity deviation based on the state quantity measured value and the state quantity predicted value, and stabilizing the state quantity deviation to obtain a deviation increase rate; comparing the magnitude relation between the deviation increase rate and a preset theoretical deviation threshold, and if the absolute value of the deviation increase rate is smaller than the preset theoretical deviation threshold, enabling the converter system to be in a normal operation state; if the absolute value of the deviation increase rate is larger than the preset theoretical deviation threshold value, the converter system has an open-circuit fault, and fault location is realized through the numerical sign of the state quantity deviation. The method can quickly diagnose and position the open-circuit fault in the converter, provides guidance for fault processing, and improves the reliability and stability of the converter system.
Description
Technical Field
The disclosure belongs to the technical field of power system fault diagnosis, and particularly relates to a converter system open-circuit fault diagnosis method and system based on predictive control.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The converter is used as a key component for realizing energy conversion, is widely applied to occasions such as high-performance motor drive, new energy grid connection and the like, and the high reliability of the converter is the basis for normal work of an integrated application system. However, when a converter in an application field such as industrial motor driving works under severe working conditions such as high voltage, large current, strong electromagnetic interference, time-varying load, limited heat dissipation and the like for a long time, the converter often works abnormally due to the failure of a power switching tube caused by the failure of a semiconductor component and a driving circuit, and even the system is broken down, so that serious economic loss is caused.
The faults of the power switching tube are mainly divided into short-circuit faults and open-circuit faults, the short-circuit faults are usually accompanied by destructive overcurrent and overvoltage, the damage to a converter system is huge, and the diagnosis and the protection are usually carried out by a hardware circuit. Although the open-circuit fault cannot immediately cause system breakdown, the converter is locally out of control, so that the system performance is influenced, the control precision is reduced, and the load of other parts of the converter is increased. If the fault is not found in time, secondary faults of the converter and even system breakdown are easily caused.
As the inventor knows, the existing open-circuit fault diagnosis method is mainly divided into model-based analysis diagnosis and data-driven identification diagnosis, the former diagnoses and positions a fault switch by analyzing and comparing the characteristic difference of system state quantities before and after the open-circuit fault based on a system model, the method diagnosis is rapid mainly based on the analysis processing of the system state quantities (voltage and current) and takes the voltage quantity as an analysis object, but the method diagnosis is influenced by a modulation mode, and an additional sensor or circuit is needed, so that the cost and the complexity of the system are increased; the method using the current magnitude as an analysis object does not need to add an additional sensor, but the diagnosis and positioning process is complex, the current amplitude is easily influenced by the operation condition of the converter, and the anti-jamming capability is poor; the data-driven identification diagnosis of the latter is driven by data, historical data of a converter system is trained through artificial intelligence algorithms such as a neural network and a support vector machine, fault identification and positioning based on real-time state quantity of the system are achieved, and the fault identification and positioning method is strong in expansibility depending on the adopted artificial intelligence algorithms, but is serious in calculation burden and difficult to be applied to large scale in industry.
Therefore, how to quickly and accurately diagnose the open-circuit fault of the converter system has important scientific and engineering significance for the reliable operation of the converter system.
Disclosure of Invention
In order to solve the defects of the prior art, the method and the system for diagnosing the open-circuit fault of the converter system based on predictive control are provided in the disclosure.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides a converter system open-circuit fault diagnosis method based on predictive control.
The converter system open-circuit fault diagnosis method based on predictive control comprises the following steps:
acquiring a state quantity measured value of a converter system;
accurately modeling the converter system to obtain a state quantity predicted value of the converter system;
calculating the state quantity deviation based on the state quantity measured value and the state quantity predicted value, and stabilizing the state quantity deviation to obtain a deviation increase rate;
comparing the magnitude relation between the deviation increase rate and a preset theoretical deviation threshold, and if the absolute value of the deviation increase rate is smaller than the preset theoretical deviation threshold, enabling the converter system to be in a normal operation state; if the absolute value of the deviation increase rate is larger than the preset theoretical deviation threshold value, the converter system has an open-circuit fault, and fault location is realized through the numerical sign of the state quantity deviation.
A second aspect of the present disclosure provides a converter system open circuit fault diagnosis system based on predictive control.
The predictive control-based converter system open-circuit fault diagnosis system adopts the predictive control-based converter system open-circuit fault diagnosis method of the first aspect, and comprises the following steps:
the measuring unit is used for acquiring a state quantity measured value of the converter system;
the modeling unit is used for accurately modeling the converter system to obtain a state quantity predicted value of the converter system;
the processing unit is used for calculating the state quantity deviation through the state quantity measured value and the state quantity predicted value on the basis of the measuring unit and the modeling unit, and stabilizing the state quantity deviation to obtain the deviation growth rate;
the diagnosis unit is used for comparing the magnitude relation between the deviation increase rate and a preset theoretical deviation threshold value, and if the absolute value of the deviation increase rate is smaller than the preset theoretical deviation threshold value, the converter system is in a normal operation state; if the absolute value of the deviation increase rate is larger than the preset theoretical deviation threshold value, the converter system has an open-circuit fault, and fault location is realized through the numerical sign of the state quantity deviation.
A third aspect of the disclosure provides a computer-readable storage medium.
A computer readable storage medium, having stored thereon a program which, when executed by a processor, carries out the steps of the predictive control-based open circuit fault diagnosis method for a converter system according to the first aspect of the disclosure.
A fourth aspect of the present disclosure provides an electronic device.
An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, the processor implementing the steps of the predictive control-based open-circuit fault diagnosis method for a converter system according to the first aspect of the disclosure when executing the program.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the method does not need to measure the output voltage of the converter system, has strong adaptability to the operation condition, and effectively solves the problems of increased diagnosis cost (voltage type) and poor anti-interference capability (current type) in the model-based analysis and diagnosis method.
2. According to the method, the quick diagnosis and positioning of the faults of the converter system under different application scenes can be realized by modifying the constructed load model of the converter system, the expansibility is strong, the calculation burden is low, and the problem that the traditional data-driven identification diagnosis method is difficult to apply in real time is effectively solved.
3. The method can quickly diagnose and position the open-circuit fault in the converter, provides guidance for subsequent fault treatment (fault-tolerant control, shutdown maintenance and the like), greatly improves the reliability and stability of the converter system, and avoids huge economic loss caused by the fault of the converter in application occasions such as new energy grid connection, high-performance motor driving and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a flowchart of a converter system open-circuit fault diagnosis method based on predictive control according to a first embodiment of the disclosure;
fig. 2 is a topology structure diagram of a two-level converter in the first embodiment of the disclosure;
fig. 3(a) is a current path circuit diagram of a two-level converter bridge arm in a first embodiment of the disclosure;
fig. 3(b) is a circuit diagram of a current path of a two-level converter bridge arm in the first embodiment of the disclosure
Fig. 3(c) is a circuit diagram of a current path of a two-level converter bridge arm in the first embodiment of the disclosure;
fig. 3(d) is a circuit diagram of a current path of a two-level converter bridge arm in the first embodiment of the disclosure;
fig. 4 is a block diagram of a converter system open-circuit fault diagnosis system based on predictive control according to a second embodiment of the present disclosure.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example one
The embodiment of the disclosure provides a converter system open-circuit fault diagnosis method based on predictive control, and realizes quick and accurate positioning of a fault switch.
The method for diagnosing the open-circuit fault of the converter system based on the predictive control, as shown in fig. 1, comprises the following steps:
step S01: acquiring a state quantity measured value of a converter system;
step S02: accurately modeling the converter system to obtain a state quantity predicted value of the converter system;
step S03: calculating the state quantity deviation based on the state quantity measured value and the state quantity predicted value, and stabilizing the state quantity deviation to obtain a deviation increase rate;
step S04: comparing the magnitude relation between the deviation increase rate and a preset theoretical deviation threshold, and if the absolute value of the deviation increase rate is smaller than the preset theoretical deviation threshold, enabling the converter system to be in a normal operation state; if the absolute value of the deviation increase rate is larger than the preset theoretical deviation threshold value, the converter system has an open-circuit fault, and fault location is realized through the numerical sign of the state quantity deviation.
In this embodiment, a converter model, a motor model, a converter arm current path, and an open-circuit fault diagnosis method of a converter system are respectively described by taking a two-level inverter permanent magnet synchronous motor driving system as an example.
As shown in fig. 2, the two-level converter model is composed of three-phase bridge arms and a dc capacitor, each phase of bridge arm is formed by connecting two power switching tubes in series, and the three-phase bridge arms are connected to the dc capacitor in parallel. By giving different gate signals, the two-level converter has two switching states, namely P (upper side switching tube is conducted, lower side switching tube is turned off) or N (lower side switching tube is conducted, upper side switching tube is turned off). The output end of the two-level converter is connected with the permanent magnet synchronous motor through a cable, the three-phase voltage of the converter is controlled, and the stable operation of the motor is realized.
For the convenience of designing a control algorithm, modeling of the PMSM is performed under a synchronous rotating coordinate system, i.e.
Wherein the content of the first and second substances,
representing terminal voltage, R, of a permanent magnet synchronous machinesDenotes the stator resistance, LsIn order to be the stator inductance, the inductance,
which is representative of the stator current,
for synthesizing magnetic chains, omegaeRepresenting the electrical angular velocity, psi, of the rotorpmIs a permanent magnetic linkage.
Discretizing the formulas (1) and (2) by using a forward Euler method to obtain a prediction equation of the stator current:
wherein, TsFor the sampling period, the index k indicates the value of the variable at the kth sampling instant and the index k +1 indicates the value of the variable at the (k + 1) th sampling instant.
The two-level converter in fig. 2 has only 4 kinds of current flow paths in the arms, and specific current flow paths are shown in fig. 3(a), fig. 3(b), fig. 3(c) and fig. 3(d), respectively. Specifically, when the bridge arm switching state is P, the phase current flows out through the upper switching tube (as shown in fig. 3 (a)) or flows in through the upper freewheeling diode (as shown in fig. 3 (c)); when the bridge arm switching state is N, the phase current flows in through the lower switching tube (as shown in fig. 3 (d)) or flows out through the lower freewheeling diode (as shown in fig. 3 (b)).
The fault diagnosis method in the embodiment is directed to the open-circuit fault of a single switching tube of the converter. When the open-circuit fault occurs to the switching tube of the converter, the predicted current path of the fault bridge arm is not identical to the actual current path, so that the predicted value of the phase voltage is deviated, and the influence of the faults of the switching tubes on the upper side and the lower side of the bridge arm on the voltage deviation is shown in the following table 1.
Table 1 effect of switching tube faults on voltage deviation (specified current out is "+", current in is "-", dc capacitor voltage is V |)dc)
Taking number 1 as an example, when the upper side switch tube
When an open-circuit fault occurs, the switching state of the bridge arm is P, and the phase current flows out of the bridge arm in the positive direction, the controller predicts that the current path is shown in figure 3(a), and the predicted value of the output voltage is VdcHowever, the fault of the switch tube opens the circulation path,the actual current path is shown in FIG. 3(b), the actual value of the output voltage is 0, and the predicted deviation of the phase voltage is-Vdc。
Through the stator current prediction equation formula (3), the current prediction value at the next moment can be obtained:
in the formula (I), the compound is shown in the specification,
and the voltage at the current moment is predicted value.
From the equations (3) and (4), the current deviation value due to the voltage deviation can be obtained:
in the formula (I), the compound is shown in the specification,
is the voltage deviation at the present moment.
Converting the formula (5) into a three-phase coordinate system through coordinate transformation to obtain a phase current deviation value caused by phase voltage deviation
Is composed of
Wherein the content of the first and second substances,
the voltage deviation of each phase at the current moment.
By combining the voltage deviation in table 1 and the phase current deviation in equation (6), it can be clearly obtained that the theoretical errors of the phase current when the upper and lower switching tubes of the phase are failed are respectively the theoretical threshold values
While in normal operation the voltage deviation is zero and the phase current deviation is close to zero. Therefore, the error growth rate is between two thresholds to judge the normal state, the fault of the upper switching tube is judged when the error growth rate is lower than a negative threshold, and the fault of the lower switching tube is judged when the error growth rate is higher than a positive threshold; i.e. the presetting of the theoretical deviation threshold is achieved.
In order to weaken the influence of parameter errors, modulation delay and the like on the calculation of the phase current deviation, the instantaneous deviation of the phase current is stabilized by adopting a step-by-step difference method, and the deviation growth rate is obtained as follows:
wherein the content of the first and second substances,
is the current phase current deviation integrated value at the current moment, n is the control period delay time,
the variation growth rate after the stabilization treatment.
Increase rate of error
With a predetermined theoretical deviation threshold (in the present embodiment, the predetermined theoretical deviation threshold is taken)
) And comparing to locate the fault switch. For a two-level converter topology, the open circuit fault diagnosis table is shown in fig. 2 below.
TABLE 2 open-circuit diagnosis meter for two-level converter
The types and the number of the system state variables are different for different control modes; the calculation equation for the system state quantities is different for different load applications, and these requirements can all be adjusted by system modeling. For the converter topology shown in fig. 1, the topology can be generalized to any number of levels, and is applied to four-quadrant motor driving (including permanent magnet synchronous motors, induction motors and the like), and also can be applied to occasions such as grid-connected converters, back-to-back topology structures and the like. For the open-circuit fault diagnosis, the method can also be popularized to fault types such as short-circuit faults and the like which are converted into open-circuit faults through the configuration fuse.
According to the open-circuit fault diagnosis method based on predictive control, a current transformer system is accurately modeled to obtain a predicted value of the state quantity of the system, the predicted value is different from an acquired measured value of the state quantity, the predicted value is processed by a difference-by-difference method and then is compared with a theoretical threshold value, so that an effective open-circuit fault diagnosis theory of the current transformer system is established, open-circuit faults in the current transformer system can be rapidly diagnosed and positioned, guidance is provided for subsequent fault processing (fault-tolerant control, shutdown maintenance and the like), and the reliability of a grid-connected current transformer and a high-performance motor drive and other power electric electronic system is greatly improved.
Example two
The second embodiment of the disclosure provides a converter system open-circuit fault diagnosis system based on predictive control, and adopts the converter system open-circuit fault diagnosis method based on predictive control provided in the first embodiment.
The converter system open-circuit fault diagnosis system based on predictive control as shown in fig. 4 comprises:
the measuring unit is used for acquiring a state quantity measured value of the converter system;
the modeling unit is used for accurately modeling the converter system to obtain a state quantity predicted value of the converter system;
the processing unit is used for calculating the state quantity deviation through the state quantity measured value and the state quantity predicted value on the basis of the measuring unit and the modeling unit, and stabilizing the state quantity deviation to obtain the deviation growth rate;
the diagnosis unit is used for comparing the magnitude relation between the deviation increase rate and a preset theoretical deviation threshold value, and if the absolute value of the deviation increase rate is smaller than the preset theoretical deviation threshold value, the converter system is in a normal operation state; if the absolute value of the deviation increase rate is larger than the preset theoretical deviation threshold value, the converter system has an open-circuit fault, and fault location is realized through the numerical sign of the state quantity deviation.
EXAMPLE III
A third embodiment of the present disclosure provides a computer-readable storage medium, on which a program is stored, where the program, when executed by a processor, implements the steps in the method for diagnosing open circuit fault of a converter system based on predictive control according to the first embodiment of the present disclosure.
The detailed steps are the same as those of the method for diagnosing the open-circuit fault of the converter system based on the predictive control provided in the first embodiment, and are not described herein again.
Example four
The fourth embodiment of the present disclosure provides an electronic device, which includes a memory, a processor, and a program stored in the memory and executable on the processor, and when the processor executes the program, the steps in the converter system open-circuit fault diagnosis method based on predictive control according to the first embodiment of the present disclosure are implemented.
The detailed steps are the same as those of the method for diagnosing the open-circuit fault of the converter system based on the predictive control provided in the first embodiment, and are not described herein again.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (9)
1. The method for diagnosing the open-circuit fault of the converter system based on the predictive control is characterized by comprising the following steps of:
acquiring a state quantity measured value of a converter system;
accurately modeling the converter system to obtain a state quantity predicted value of the converter system;
calculating the state quantity deviation based on the state quantity measured value and the state quantity predicted value, and stabilizing the state quantity deviation to obtain a deviation increase rate; specifically, in order to weaken the influence of parameter errors and modulation delay on state quantity deviation calculation, a difference-by-difference method is adopted to stabilize the state quantity deviation;
comparing the magnitude relation between the deviation increase rate and a preset theoretical deviation threshold, and if the absolute value of the deviation increase rate is smaller than the preset theoretical deviation threshold, enabling the converter system to be in a normal operation state; if the absolute value of the deviation increase rate is larger than the preset theoretical deviation threshold value, the converter system has an open-circuit fault, and fault location is realized through the numerical sign of the state quantity deviation.
2. The predictive control-based open-circuit fault diagnosis method of a converter system as claimed in claim 1, wherein the measured value of the state quantity of the converter system is a current value of an output collected by a sensor provided in the converter system.
3. The predictive control-based open-circuit fault diagnosis method for the converter system as claimed in claim 1, wherein before the converter system is accurately modeled, the transformation of the coordinate system is performed, and the modeling of the converter system is realized under the synchronous rotating coordinate system.
4. The method for diagnosing the open-circuit fault of the converter system based on the predictive control as claimed in claim 3, wherein a forward euler method is used for discretizing the constructed converter system model to obtain the predicted value of the state quantity of the converter system.
5. The predictive control-based open-circuit fault diagnosis method for the converter system according to claim 1, characterized in that the fault diagnosis method is suitable for open-circuit fault diagnosis of a single switching tube of the converter, and when an open-circuit fault occurs in the switching tube of the converter, a predicted current path of a fault bridge arm is not identical to an actual current path, so that a predicted value of a phase voltage is deviated.
6. The predictive control-based open-circuit fault diagnosis method for the converter system as claimed in claim 1, wherein the fast diagnosis and positioning of different types of converter systems in different application scenarios are realized by adjusting the constructed converter system model.
7. The open-circuit fault diagnosis system for the converter system based on the predictive control is adopted by the open-circuit fault diagnosis method for the converter system based on the predictive control, which is characterized by comprising the following steps of:
the measuring unit is used for acquiring a state quantity measured value of the converter system;
the modeling unit is used for accurately modeling the converter system to obtain a state quantity predicted value of the converter system;
the processing unit is used for calculating the state quantity deviation through the state quantity measured value and the state quantity predicted value on the basis of the measuring unit and the modeling unit, and stabilizing the state quantity deviation to obtain the deviation growth rate; specifically, in order to weaken the influence of parameter errors and modulation delay on state quantity deviation calculation, a difference-by-difference method is adopted to stabilize the state quantity deviation;
the diagnosis unit is used for comparing the magnitude relation between the deviation increase rate and a preset theoretical deviation threshold value, and if the absolute value of the deviation increase rate is smaller than the preset theoretical deviation threshold value, the converter system is in a normal operation state; if the absolute value of the deviation increase rate is larger than the preset theoretical deviation threshold value, the converter system has an open-circuit fault, and fault location is realized through the numerical sign of the state quantity deviation.
8. A computer readable storage medium having a program stored thereon, wherein the program when executed by a processor implements the steps in the open circuit fault diagnosis of a predictive control based converter system according to any of claims 1-6.
9. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps in open circuit fault diagnosis of a converter system based on predictive control according to any of claims 1-6.
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