CN114441958A - IGBT open-circuit fault diagnosis method for permanent magnet synchronous motor driver - Google Patents

IGBT open-circuit fault diagnosis method for permanent magnet synchronous motor driver Download PDF

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CN114441958A
CN114441958A CN202111569670.1A CN202111569670A CN114441958A CN 114441958 A CN114441958 A CN 114441958A CN 202111569670 A CN202111569670 A CN 202111569670A CN 114441958 A CN114441958 A CN 114441958A
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permanent magnet
magnet synchronous
synchronous motor
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尹忠刚
原敏昕
罗培恩
刘静
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Xian University of Technology
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    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract

The invention discloses a method for diagnosing IGBT open-circuit fault of a permanent magnet synchronous motor driver, which is implemented according to the following steps: step 1: establishing a permanent magnet synchronous motor dynamic model and a Luenberger observer model; step 2: comparing the collected three-phase stator current with the three-phase stator current estimated by a Luenberger observer to obtain the current residual error as a diagnosis variable, and comparing the current residual error with a designed self-adaptive threshold value TkComparing and detecting faults; and step 3: design of the orientation variable F by the alpha beta current polaritylCombined with a detection variable rkAnd a positioning variable FlThe 15 fault types are diagnosed. The invention improves the problem of accuracy and robustness of fault diagnosis caused by motor parameter change due to working point change or unknown disturbance inside and outside.

Description

IGBT open-circuit fault diagnosis method for permanent magnet synchronous motor driver
Technical Field
The invention belongs to the technical field of fault diagnosis of motor drivers (inverters), and relates to a method for diagnosing IGBT open-circuit faults of a permanent magnet synchronous motor driver.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of small volume, high power density, high efficiency and the like, and is widely applied to an alternating current speed regulation system. Meanwhile, a state monitoring and fault diagnosis technology capable of realizing preventive maintenance of a motor driver (inverter) has also received wide attention. Motor drives can be affected by many different types of faults, such as stator faults, rotor faults, mechanical faults, sensor faults, and power switching device faults. According to statistics, in the power equipment, the fault probability of the power switch device is about 34%; in ac systems, the failure probability of a power switching device is about 38%. Therefore, research on the motor driver IGBT fault diagnosis technology has very important significance for improving the reliability and stability of the system.
The motor driver IGBT failures are mainly classified into short-circuit failures and open-circuit failures. The short-circuit fault occurrence time is short, usually several microseconds, and is not easy to detect, and a system usually connects a hardware protection circuit such as a fast fuse in series to convert the short-circuit fault into an open-circuit fault for processing. The open-circuit fault can still continue to operate in a short time, but if the open-circuit fault is not detected in time, the current of other healthy switches is increased, the heating is serious, and secondary fault can be caused in serious conditions, so that huge economic loss is caused. Therefore, research on motor drive fault diagnosis focuses on IGBT open fault diagnosis. Taking a three-phase two-level inverter as an example, the types of faults are mainly divided into single-tube faults and double-tube faults, and because the probability that three or more IGBTs simultaneously have open-circuit faults is low, it is generally assumed that at most two IGBTs simultaneously have open-circuit faults.
At present, the diagnosis method based on the observer has short detection time, good diagnosis effect and very wide application. However, in actual operating conditions, parameters such as resistance and inductance of the motor are susceptible to external influences due to changes of operating points or unknown disturbance inside and outside. The diagnosis method based on the observer diagnoses based on the current residual error, the diagnosis variable is very sensitive to the change of the motor parameter, if a fixed threshold value is used, the adjustment is needed according to the change of the working point or the change of the motor parameter caused by the unknown disturbance inside and outside, and the robustness and the accuracy of the fault diagnosis system are reduced. Therefore, the invention provides an improved adaptive threshold permanent magnet synchronous motor driver IGBT open circuit fault diagnosis method based on a Luenberger observer.
Disclosure of Invention
The invention aims to provide a method for diagnosing the IGBT open-circuit fault of a permanent magnet synchronous motor driver, which solves the problems of accuracy and robustness of fault diagnosis caused by motor parameter change due to working point change or unknown disturbance inside and outside.
The technical scheme adopted by the invention is that the method for diagnosing the IGBT open-circuit fault of the permanent magnet synchronous motor driver specifically comprises the following steps:
step 1, establishing a permanent magnet synchronous motor dynamic model and a Luenberger observer model;
step 2, comparing the collected three-phase stator current with the three-phase stator current estimated by the Luenberger observer model, taking the obtained current residual error as a diagnosis variable, and comparing the current residual error with a designed self-adaptive threshold value rkComparing and detecting faults;
step 3, designing a positioning variable F through the polarity of the alpha beta currentlCombined with a detection variable rkAnd a positioning variable FlDifferent open circuit fault types are located.
The invention is also characterized in that:
in step 1, the current dynamic model of the permanent magnet synchronous motor is as follows:
Figure BDA0003422958540000031
in the formula (1), id、iqD and q axis current components, respectively; u. ofd、uqD and q axis voltage components, respectively; rS、LSRespectively a stator winding resistance and a stator winding inductance; omegarIs the mechanical angular velocity; psifIs the rotor flux linkage;
the general form of converting a dynamic model into a linear system is:
Figure BDA0003422958540000032
wherein:
Figure BDA0003422958540000033
Figure BDA0003422958540000034
the Luenberger State observer equation is:
Figure BDA0003422958540000035
wherein the content of the first and second substances,
Figure BDA0003422958540000036
and
Figure BDA0003422958540000037
are estimates of x (t) and y (t), respectively, and K is a feedback gain matrix, expressed as:
Figure BDA0003422958540000041
assuming that the error between the observed value and the feedback is e, then:
Figure BDA0003422958540000042
by substituting formula (2) and formula (4) for formula (6):
Figure BDA0003422958540000043
equation (7) is a homogeneous differential equation, and can be solved:
e(t)＝exp((A-KC)t)e(t0),t≥0 (8)。
the specific process of the step 2 is as follows:
three-phase stator current collected and estimated by observer
Figure BDA0003422958540000044
Respectively calculate the correspondencesCurrent factor F ofk、
Figure BDA0003422958540000045
Comprises the following steps:
Figure BDA0003422958540000046
Fk、
Figure BDA0003422958540000047
the resulting residual is expressed as:
Figure BDA0003422958540000048
bringing formula (9) into formula (10):
Figure BDA0003422958540000049
wherein epsilonskIs the observation error, expressed as:
Figure BDA00034229585400000410
in the formula (11), the current residual rkThe following adjustment was made:
Figure BDA0003422958540000051
adaptive threshold TkExpressed as:
Figure BDA0003422958540000052
in equation (14), k is an adaptive threshold coefficient.
In step 3, in a basic period, the vector phase changes from 0 ° to 360 °, the average value of α β axis components is 0, and after an open-circuit fault occurs, the average value of α β current does not change uniformly in each period, so that the variable can be used as a fault location feature.
In step 3, a positioning variable F is designedlThe specific process comprises the following steps:
the collected three-phase stator current is subjected to Clark conversion to obtain alpha and beta axis current:
Figure BDA0003422958540000053
normalizing the alpha and beta axis current to obtain a current corresponding amplitude value as follows:
Figure BDA0003422958540000054
wherein, ω iseIs the electrical angular velocity;
defining a positioning variable F according to equation (16)l1And Fl2Expressed as:
Figure BDA0003422958540000061
wherein H represents a failure threshold;
two positioning variables Fl1And Fl2Unify as a positioning index:
Fl＝3Fl1+Fl2 (18)。
the invention has the beneficial effects that: the invention provides a method for diagnosing an IGBT open-circuit fault of a permanent magnet synchronous motor driver. In actual operation conditions, parameters such as resistance, inductance and the like of the motor are easily affected by the outside due to changes of the working point or unknown disturbance inside and outside, and if a fixed threshold is used during fault diagnosis, adjustment is needed according to uncertainty of the motor parameters.
Drawings
FIG. 1 is a block diagram of a fault diagnosis of a permanent magnet synchronous motor based on vector control in the IGBT open-circuit fault diagnosis method of a permanent magnet synchronous motor driver according to the present invention;
FIG. 2 is a block diagram of an improved adaptive threshold open-circuit fault diagnosis based on a Luenberger observer in the method for diagnosing the IGBT open-circuit fault of the permanent magnet synchronous motor driver according to the invention;
fig. 3 is a schematic diagram of a three-phase two-level motor driver architecture.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a method for diagnosing IGBT open-circuit faults of a permanent magnet synchronous motor driver, wherein a block diagram of the fault diagnosis of the permanent magnet synchronous motor based on vector control is shown in figure 1, and the method is implemented according to the following steps:
step 1, establishing a permanent magnet synchronous motor current dynamic model and a Luenberger observer model, which specifically comprises the following steps:
the dynamic model of the current of the permanent magnet synchronous motor is as follows:
Figure BDA0003422958540000071
in the formula (1), id、iqD and q axis current components, respectively; u. ofd、uqD and q axis voltage components, respectively; rS、LSRespectively a stator winding resistance and a stator winding inductance; omegarIs the mechanical angular velocity; psifIs the rotor flux linkage.
The general form of converting a dynamic model into a linear system is:
Figure BDA0003422958540000072
wherein:
Figure BDA0003422958540000073
Figure BDA0003422958540000074
the Luenberger State observer equation is:
Figure BDA0003422958540000081
wherein the content of the first and second substances,
Figure BDA0003422958540000082
and
Figure BDA0003422958540000083
are estimates of x (t) and y (t), respectively, and K is a feedback gain matrix, expressed as:
Figure BDA0003422958540000084
the feedback gain determines the dynamic performance of the observer, assuming that the error between the observed value and the feedback is e:
Figure BDA0003422958540000085
by substituting formula (2) and formula (4) for formula (6):
Figure BDA0003422958540000086
equation (7) is a homogeneous differential equation, and can be solved:
e(t)＝exp((A-KC)t)e(t0),t≥0 (8)
in the formula (8), when the characteristic value is λi(a-KC) (i ═ 1, 2.., n) has a negative real part, e has progressive stability, and the larger the absolute value of the negative real part isThe faster the error e converges.
The open-circuit fault types diagnosed by the invention comprise 15 types of single-tube and double-tube faults. Wherein, simulating the IGBT open-circuit fault is realized by eliminating the corresponding gate pole command signal.
Step 2, as shown in fig. 2, the improved adaptive threshold open-circuit fault diagnosis block diagram based on the Luenberger observer compares the collected three-phase stator current with the three-phase stator current estimated by the Luenberger observer to obtain the current residual error as a diagnosis variable, and compares the current residual error with the designed adaptive threshold rkComparing and detecting faults, specifically:
collecting three-phase stator current isk(k ═ a, b, c) and three-phase stator currents estimated by the observer
Figure BDA0003422958540000091
Respectively calculating the corresponding current factors Fk、
Figure BDA0003422958540000092
Comprises the following steps:
Figure BDA0003422958540000093
the residual resulting from both can be expressed as:
Figure BDA0003422958540000094
under normal and steady state operating conditions, the current residual rkShould be equal to zero. Considering the change of the motor parameters caused by the change of the working point or the interference of measurement noise, the residual error is equal to zero.
Bringing formula (9) into formula (10):
Figure BDA0003422958540000095
wherein epsilonskIs an observation error, expressed as：
Figure BDA0003422958540000096
In the formula (11), the current residual rkThis can be adjusted as follows:
Figure BDA0003422958540000097
in order to avoid the problem of motor parameter change caused by working point change or unknown disturbance inside and outside, the selection of the threshold value is more critical. The larger threshold value increases the robustness of the diagnostic method, but also increases the detection time, and a missed diagnosis condition may occur; smaller thresholds shorten detection time, but reduce the robustness of the algorithm and false alarms occur. Therefore, this problem can be solved by using an adaptive threshold, TkCan be expressed as:
Figure BDA0003422958540000101
in equation (14), k is an adaptive threshold coefficient, the change of which depends on the change of the motor operating point and the change of the estimation error, and the estimation error epsilonskDepending on the dynamics of the estimated current and the actual current.
Under normal steady state operation, the current residual of each phase should be below its corresponding adaptive threshold TkIndependent of current transients and speed variations. When the motor driver power tube has an open circuit fault, the corresponding residual current exceeds the corresponding threshold, so that the fault can be detected by comparing the current residual with the adaptive threshold.
Step 3, designing a positioning variable F through the polarity of the alpha beta currentlCombined with a detection variable rkAnd a positioning variable FlThe diagnosis is carried out on 15 fault types, and a fault detection and location table is shown in table 1. The method comprises the following specific steps:
in one fundamental period, the vector phase varies from 0 ° to 360 °, and the α β axis component has an average value of 0. When an open circuit fault occurs, the average value of the α β current does not change uniformly in each cycle, so that the variable can be used as a fault location feature.
The acquired three-phase stator current is subjected to Clark transformation to obtain alpha beta axis current:
Figure BDA0003422958540000102
normalizing the alpha and beta axis current to obtain a corresponding amplitude value as follows:
Figure BDA0003422958540000111
wherein, ω iseIs the electrical angular velocity.
Defining a positioning variable F according to equation (16)l1And Fl2It can be expressed as:
Figure BDA0003422958540000112
wherein, H represents a fault threshold value, which can be selected according to actual conditions.
To simplify the equation, two localization variables F are usedl1And Fl2Unify as a positioning index:
Fl＝3Fl1+Fl2 (18)；
from equations (17) and (18), α β current polarities corresponding to 15 open circuits can be obtained.
Combining the detected variables r of step 2 and step 3kAnd a positioning variable FlThe diagnosis of the open circuit fault can be completed, and is shown in table 1.
TABLE 1
Figure BDA0003422958540000113
Figure BDA0003422958540000121
A block diagram of a fault diagnosis of a permanent magnet synchronous motor based on vector control is shown in fig. 1. Firstly, three-phase current i of the motor in a three-phase static coordinate system is detected through a current Hall sensorsk(k ═ a, b, c), and Clark conversion (3s/2s) of the current into a current i under a two-phase stationary coordinate systemα、iβAt this time, the angular velocity ω collected by the encoderrBy integrating to obtain an angle θ, iα、iβAnd theta is converted into current i under a two-phase rotating coordinate system through Park conversion (2s/2r)d、iq. Then, the rotation speed is adjusted to the angular speed omegarWith a given angular velocity
Figure BDA0003422958540000122
Obtaining a given q-axis current through a PI regulator
Figure BDA0003422958540000123
d-axis current setting
Figure BDA0003422958540000124
Is 0. D-axis current given
Figure BDA0003422958540000125
d-axis current idAnd q-axis current setting
Figure BDA0003422958540000126
And q-axis current iqRespectively differencing to obtain d-axis voltage set through PI regulator
Figure BDA0003422958540000127
And q-axis voltage given
Figure BDA0003422958540000128
Is obtained by inverse Park transformation (2r/2s)
Figure BDA0003422958540000129
And
Figure BDA00034229585400001210
and finally, controlling the VSI through SVPWM vector control drive converter so as to control the permanent magnet synchronous motor.
A block diagram of the improved adaptive threshold open-circuit fault diagnosis based on the Luenberger observer is shown in fig. 2. Collected three-phase current isk(k ═ a, b, c) through a Luenberger observer to obtain estimated three-phase currents
Figure BDA0003422958540000131
Three-phase current i to be collectedsk(k ═ a, b, c) and estimated three-phase currents
Figure BDA0003422958540000132
Respectively obtaining current factors F through the formulas (9)kAnd
Figure BDA0003422958540000133
the difference between the two can obtain the current residual rk. To improve the accuracy and robustness of fault detection, i is addedsk(k ═ a, b, c) and
Figure BDA0003422958540000134
deriving T by designing adaptive thresholdskResidual of current rkAnd an adaptive threshold TkThe comparison may enable fault detection. Then three-phase current i is suppliedsk(k ═ a, b, c) by equations (15) to (17) to obtain the localization variable FlIncorporating fault detection and localization variables FlFinally, fault location is realized.
A schematic diagram of a three-phase two-level motor driver structure is shown in fig. 3. The driver mainly comprises 6 IGBT power tubes T1～T6Each IGBT is connected with a diode in series in the forward direction to increase the reverse blocking capability of the device, and the power supply on the direct current side is UdcCapacitor C1、C2The permanent magnet synchronous motor PMSM plays a role in stabilizing voltage and filtering, and the load is the permanent magnet synchronous motor PMSM. The upper and lower power tubes of each phase of the motor driver are conducted complementarily, and at any time, each phase has one power tube conducted, namely 180 degreesElectrically. Dead zones need to be added between the upper power tube and the lower power tube of the same bridge arm to avoid straight-through. The three-phase two-level motor driver has 9 working modes in total, which are respectively as follows: t1 and T6 are turned on; t1 and T2 are turned on; t3 and T4 are turned on; t3 and T2 are turned on; t5 and T4 are turned on; t5 and T6 are turned on; t1 and T4 are turned on; t3 and T6 are turned on; t5 and T2 are turned on.
The invention provides an improved adaptive threshold permanent magnet synchronous motor driver IGBT open circuit fault diagnosis method based on a Luenberger observer. In actual operation conditions, parameters such as resistance and inductance of the motor are easily affected by the outside due to working point changes or unknown disturbance of the inside and the outside. The observer-based diagnosis method diagnoses based on current residual errors, diagnosis variables are very sensitive to motor parameter changes, and if a fixed threshold value is used, adjustment needs to be performed according to working points and uncertainty of a parameter model. Therefore, the method for improving the self-adaptive threshold is adopted, and compared with the traditional method for fixing the threshold, the method improves the problems of accuracy and robustness of fault diagnosis caused by the change of motor parameters due to the change of the working point or the unknown disturbance of the inside and the outside.

Claims (5)

1. The IGBT open-circuit fault diagnosis method for the permanent magnet synchronous motor driver is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, establishing a permanent magnet synchronous motor dynamic model and a Luenberger observer model;
step 2, comparing the collected three-phase stator current with the three-phase stator current estimated by the Luenberger observer model, taking the obtained current residual error as a diagnosis variable, and comparing the current residual error with a designed self-adaptive threshold value rkComparing and detecting faults;
step 3, designing a positioning variable F through the polarity of the alpha beta currentlCombined with a detection variable rkAnd a positioning variable FlDifferent open circuit fault types are located.
2. The method for diagnosing the IGBT open-circuit fault of the permanent magnet synchronous motor driver according to claim 1, characterized in that: in the step 1, the current dynamic model of the permanent magnet synchronous motor is as follows:
Figure FDA0003422958530000011
in the formula (1), id、iqD and q axis current components, respectively; u. ofd、uqD and q axis voltage components, respectively; rS、LSRespectively a stator winding resistance and a stator winding inductance; omegarIs the mechanical angular velocity; psifIs the rotor flux linkage;
the general form of converting a dynamic model into a linear system is:
Figure FDA0003422958530000012
wherein:
Figure FDA0003422958530000021
Figure FDA0003422958530000022
the Luenberger State observer equation is:
Figure FDA0003422958530000023
wherein the content of the first and second substances,
Figure FDA0003422958530000024
and
Figure FDA0003422958530000025
are estimates of x (t) and y (t), respectively, and K is a feedback gain matrix, expressed as:
Figure FDA0003422958530000026
assuming that the error between the observed value and the feedback is e, then:
Figure FDA0003422958530000027
by substituting formula (2) and formula (4) for formula (6):
Figure FDA0003422958530000028
equation (7) is a homogeneous differential equation, and can be solved:
e(t)＝exp((A-KC)t)e(t0),t≥0 (8)。
3. the method for diagnosing the IGBT open-circuit fault of the permanent magnet synchronous motor driver according to claim 2, wherein the method comprises the following steps: the specific process of the step 2 is as follows:
three-phase stator current collected and estimated by observer
Figure FDA0003422958530000029
Respectively calculating the corresponding current factors Fk、
Figure FDA0003422958530000031
Comprises the following steps:
Figure FDA0003422958530000032
Fk、
Figure FDA0003422958530000033
the resulting residual is expressed as:
Figure FDA0003422958530000034
bringing formula (9) into formula (10):
Figure FDA0003422958530000035
wherein epsilonskIs the observation error, expressed as:
Figure FDA0003422958530000036
in the formula (11), the current residual rkThe following adjustment was made:
Figure FDA0003422958530000037
adaptive threshold TkExpressed as:
Figure FDA0003422958530000038
in equation (14), k is an adaptive threshold coefficient.
4. The method for diagnosing the IGBT open-circuit fault of the permanent magnet synchronous motor driver according to claim 3, wherein the method comprises the following steps: in step 3, in a basic cycle, the vector phase changes from 0 ° to 360 °, the average value of α β axis components is 0, and after an open-circuit fault occurs, the average value of α β current does not change uniformly in each cycle, so that the variable can be used as a fault location feature.
5. The method for diagnosing the IGBT open-circuit fault of the permanent magnet synchronous motor driver according to claim 4, wherein the method comprises the following steps: in the step 3, a positioning variable F is designedlThe specific process comprises the following steps:
the collected three-phase stator current is subjected to Clark conversion to obtain alpha and beta axis current:
Figure FDA0003422958530000041
normalizing the alpha and beta axis current to obtain a current corresponding amplitude value as follows:
Figure FDA0003422958530000042
wherein, ω iseIs the electrical angular velocity;
defining a positioning variable F according to equation (16)l1And Fl2Expressed as:
Figure FDA0003422958530000043
wherein H represents a failure threshold;
two positioning variables Fl1And Fl2Unify as a positioning index:
Fl＝3Fl1+Fl2 (18)。
CN202111569670.1A 2021-12-21 2021-12-21 IGBT open-circuit fault diagnosis method for permanent magnet synchronous motor driver Pending CN114441958A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113281680A (en) * 2021-05-21 2021-08-20 合肥工业大学 Open-circuit fault diagnosis method for single-phase three-level rectifier of high-speed rail traction system
CN114755610A (en) * 2022-05-25 2022-07-15 安徽大学 Fault diagnosis method of single-phase parallel inverter
CN117783929A (en) * 2024-02-26 2024-03-29 西北工业大学 Switching tube fault diagnosis method of direct current converter

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113281680A (en) * 2021-05-21 2021-08-20 合肥工业大学 Open-circuit fault diagnosis method for single-phase three-level rectifier of high-speed rail traction system
CN113281680B (en) * 2021-05-21 2022-08-05 合肥工业大学 Open-circuit fault diagnosis method for single-phase three-level rectifier of high-speed rail traction system
CN114755610A (en) * 2022-05-25 2022-07-15 安徽大学 Fault diagnosis method of single-phase parallel inverter
CN114755610B (en) * 2022-05-25 2023-09-26 安徽大学 Fault diagnosis method for single-phase parallel inverter
CN117783929A (en) * 2024-02-26 2024-03-29 西北工业大学 Switching tube fault diagnosis method of direct current converter
CN117783929B (en) * 2024-02-26 2024-05-03 西北工业大学 Switching tube fault diagnosis method of direct current converter

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