CN107153147B - Inter-turn short circuit fault detection method for five-phase OWFTFSCW-IPM motor - Google Patents
Inter-turn short circuit fault detection method for five-phase OWFTFSCW-IPM motor Download PDFInfo
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- CN107153147B CN107153147B CN201710423064.6A CN201710423064A CN107153147B CN 107153147 B CN107153147 B CN 107153147B CN 201710423064 A CN201710423064 A CN 201710423064A CN 107153147 B CN107153147 B CN 107153147B
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses a kind of shorted-turn fault detection methods for five phase OW FTFSCW-IPM motors, comprising the following steps: step 1: the actual current in five phase windings detected using current sensor；Step 2: obtaining the estimation torque value of motor using torque calculation formula；Step 3: the actual torque output valve of motor at this time is measured by torque sensor；Step 4: the reality output torque of motor and estimation torque being subtracted each other, torque deviation is obtained；Step 5: torque deviation being filtered out into AC compounent by filter, obtains the DC component in torque deviation, if there is the presence of DC component then judges that shorted-turn fault has occurred.Method realization provided by the invention is fairly simple, and of less demanding to controller, calculation amount is small, is conducive to Project Realization；The generation of shorted-turn fault can be effectively detected out in this method during motor dynamics, and easy to operate, False Rate is low.
Description
Technical field
The invention belongs to electrical fault detection field, in particular to a kind of circle for five phase OW FTFSCW-IPM motors
Between short circuit failure detection method.
Background technique
For energy crisis and environmental pollution bring adverse effect is effectively relieved, full electric power is greatly developed in the world
Driving automobile is a kind of effective solution approach.The performance of Motor for Electric Automobile concerning entire drive system runnability and
Reliability, the development of rare earth material so that permanent magnet synchronous motor having very compared with other motors in terms of power density and efficiency
Strong competitiveness, because having formed the preference scheme of electric car.Motor driven systems, which break down, will affect entire system
The normal work of system, or even safety accident occurs.Therefore fault diagnosis research is carried out to motor driven systems, improves motor driven
System reliability has realistic meaning, and interturn in stator windings short trouble has concealed spy as a kind of common motor side failure
Point cannot such as be diagnosed in time and is out of order, it will made electric machine operating characteristic by extreme influence, or even developed into more serious event
Barrier.
Existing document converts (Fast Fourier in motor high speed, using fast Fourier analysis
Transformation, FFT), the generation of shorted-turn fault is detected by detecting the amplitude of 9 subharmonic, but in motor
Under dynamic operating conditions, fft analysis will be difficult to realize fault diagnosis.For this purpose, there is document to introduce wavelet transform (Discrete
Wavelet Transform, DWT), it can realize motor low speed, middling speed and high speed situation dynamic operation condition shorted-turn fault electricity
Stream is analyzed, and determines the generation of failure, but this method is excessively complicated, is unfavorable for Project Realization.
Summary of the invention
Goal of the invention: in view of the problems of the existing technology, providing one kind can more accurate, simply sentence the present invention
The generation of disconnected shorted-turn fault opens winding fractional-slot concentratred winding fault-tolerant motor (open-winding for five phases
fault-tolerant fractional-slot concentrated winding interior permanent
Magnet, hereinafter referred are as follows: OW FTFSCW-IPM) shorted-turn fault degree detecting method.
Technical solution: the present invention provides a kind of shorted-turn fault detections for five phase OW FTFSCW-IPM motors
Method, comprising the following steps:
Step 1: the actual current in five phase windings detected using current sensor；
Step 2: the torque value estimated under motor normal operation is obtained using torque calculation formula；
Step 3: the actual torque output valve of motor at this time is measured by torque sensor；
Step 4: the reality output torque of motor and estimation torque being subtracted each other, torque deviation is obtained；
Step 5: torque deviation is filtered out into AC compounent by filter, obtains the DC component in torque deviation, if
There is the presence of DC component then to judge that shorted-turn fault has occurred.
Further, torque calculation formula is in the step 2Wherein, TeIndicate that motor works normally feelings
The torque value estimated under condition, p are motor number of pole-pairs, iqFor the quadrature axis current of motor, ψPMFor permanent magnet flux linkage amplitude.
Further, the torque sensor used in the step 3 is the RK060 of high-precision contactless transmission mode.
Further, the filter used in the step 5 is one-order lag digital filtering device.
Working principle: the present invention passes through the mathematical model of motor under fault model, is converted using virtual a phase current, by event
Torque estimating value when torque and normal operation under the conditions of barrier is compared to obtain the expression of the DC component in torque deviation value
Formula, and the initial phase by seeking inter-turn short circuit current substitutes into deviation expression formula, obtains the final expression formula of DC component, leads to
The DC component of real-time monitoring torque deviation is crossed to determine the generation of shorted-turn fault.
The utility model has the advantages that compared with prior art, method realization provided by the invention is fairly simple, controller is required not
Height, calculation amount is small, is conducive to Project Realization.The diagnostic method is when non-shorted-turn fault occurs for machine winding, current sense
The electric current that device detects is the actual current in winding, the electromagnetic torque calculated after coordinate transform and actually measured output
Torque is similar, does not have the appearance of DC component, therefore speed change, variable load, phase shortage and pulse missing can occur for this method
Under conditions of effectively judge the generation of shorted-turn fault.Circle can be effectively detected out during motor dynamics in this method
Between short trouble generation, easy to operate, False Rate is low.
Detailed description of the invention
Fig. 1 is five phase OW FTFSCW-IPM motor A phase winding short trouble illustratons of model；
Fig. 2 is that shorted-turn fault occurs the actual torque of front and back and estimates torque and torque error figure；
Fig. 3 is the DC component figure of short circuit current and torque error；
Fig. 4 is the torque error DC component figure under speed change, variable load, phase shortage, the different situations in the case of pulse missing,
Middle Fig. 4 (a) is the torque error DC component figure in the case of speed change；Fig. 4 (b) is the torque error DC component in the case of variable load
Figure；Fig. 4 (c) is the torque error DC component figure in the case of phase shortage；Fig. 4 (d) is that the torque error in the case of pulse missing is straight
Flow point spirogram.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
The present invention is based on design of electrical motor theory, machine winding relevant parameter directly depends on total series connection circle of every phase winding
Number.When there is shorted-turn fault in the five-phase PMSM phase winding, it will cause motor stator side uneven.With
For shorted-turn fault occurs for a phase winding in five phase windings, if each phase winding the number of turns is mutually all Ntotal, winding short circuit the number of turns is
Nf, then the short-circuit turn ratioIntroduce short-circuit loop resistance RfTo indicate the insulation damages degree of short-circuiting percentage, value size
Depending on short-circuit loop fault severity level.Compared with motor natural system of coordinates mathematical model under normal mode, five-phase induction motor event
It is as shown in Figure 1 to hinder illustraton of model.
According to the relationship between resistance, inductance, counter electromotive force and umber of turn, following quantum relationship can be obtained:
Rb=Rc=Rd=Re=Rs, Ra1=(1- μ) Rs, Ra2=μ Rs；
Lb=Lc=Ld=Le=Ls, La1=(1- μ)2Ls, La2=μ2Ls；
Ma1b=Ma1c=Ma1d=Ma1e=(1- μ) Lm；
Ma2b=Ma2c=Ma2d=Ma2e=μ Lm；
Ma1a2=μ (1- μ) La；
ea1=(1- μ) ea, ea2=μ ea；
Wherein, Ra、Rb、Rc、Rd、ReThe resistance of five phase winding of a, b, c, d, e in five-phase PMSM is respectively indicated,
Ra1、La1、ea1It is resistance, self-induction and the back-emf that shorted-turn fault coil does not occur for a phase winding respectively.Ra2、La2、ea2It is
Resistance, self-induction and the back-emf of shorted-turn fault occur for A phase winding, and the resistance of five phase windings is equal and is equal to stator winding
Resistance Rs；La、Lb、Lc、Ld、LeThe self-induction of this five phase winding of a, b, c, d, e in this five-phase PMSM of difference, Ls is stator
Winding self-induction；MxyIndicate five-phase PMSM x phase and y phase winding mutual inductance thus, wherein x=a, b, c, d, e, y=a, b,
c,d,e,x≠y。Ma1b, Ma1c, Ma1d, Ma1eIt is that a phase winding shorted-turn fault coil does not occur for b, c, d, e phase winding respectively
Mutual inductance, Ma2b, Ma2c, Ma2d, Ma2eIt is the mutual inductance that b, c, d, e phase winding a phase winding occur shorted-turn fault coil respectively.
ea、eb、ec、ed、eeIt is anti-electronic in the zero load of motor under normal circumstances to respectively indicate this five phase of a, b, c, d, e in five phase permanent-magnet synchronous
Gesture, LmFor winding mutual inductance.
Based on each quantum relationship of above-mentioned motor, the five-phase induction motor mathematical model under natural system of coordinates is extended into failure
Under mode, according to circuit and the law of electromagnetic induction, it is added in the end voltage v at each phase winding both endssfEqual to the electricity of each phase stator winding
The sum of induced electromotive force and unloaded back-emf, gained voltage equation caused by damping drops, changes because of magnetic linkage are as follows:
Wherein, [vsf,abcde]=[va vb vc vd ve 0]TFor five phase winding ends and short-circuit loop voltage matrix, va,
vb, vc, vdAnd veIt is the anode-cathode voltage of each phase winding in five phase of motor a, b, c, d, e；Resistance is wherein obtained according to following formula
Matrix [Rsf]:
RsFor winding internal resistance, RfFor short-circuit loop resistance, the insulation damage of winding is represented, the size of value depends on event
The severity of barrier.Work as RfWhen → 0, the insulation for representing winding is all damaged, and failure is serious；Work as RfWhen → ∞, represent without reason
The generation of barrier.[isf,abcde]=[ia ib ic id ie if]TFor five phase windings and short-circuit loop current matrix, ia, ib, ic, id,
ieAnd ifRespectively indicate each phase winding of motor and short-circuit loop flows through electric current；Inductance matrix is obtained according to following formula
[Lsf,abcde]:
Wherein LsFor winding self-induction, LmFor winding mutual inductance.
For five phase windings and short-circuited winding counter electromotive force；It is five
The permanent magnet flux linkage matrix of phase winding and short-circuiting percentage linkage, ψPMFor permanent magnet flux linkage amplitude, θeFor the electrical angular velocity of rotation of motor.Zero
Sequence voltage matrix is [V0]=v0[1 1 1 1 1 0]T, wherein v0Represent the amplitude of residual voltage.
When machine winding is passed through electric current, which will generate armature reacting field, and and permanent magnetism in motor gas-gap
Magnetic field is superimposed, so that air-gap field changes.According to electromagnetic laws, when being passed through electric current in stator winding, energization winding
By the effect of electromagnetic force in magnetic field, since stator is fixed, rotor is rotated by electromagnetic torque reaction force.Failure feelings
Five-phase PMSM electromagnetic torque T under conditionefIt is following to indicate:
Wherein, ea, eb, ec, edAnd eeRespectively indicate the no-load back electromotive force of motor under normal circumstances, ωmFor the machine of motor
Tool angular speed, efThe back-emf generated for short-circuit loop winding linkage.
Under Frequency conversion control, the i under rotating coordinate system is obtained using rotating coordinate transformationdAnd iqElectric current, while through public affairs
FormulaThe output electromagnetic torque T under operating normally is calculatede, wherein p is motor number of pole-pairs, iqFor motor
Quadrature axis current.After shorted-turn fault occurs, in the case where taking no action to, the evaluation method of electromagnetic torque is remained unchanged,
Due to not counting and the influence of short-circuit current, so that the result that the electromagnetic torque and torque sensor of estimation measure generates mistake
Difference, interturn short-circuit failure diagnosing method proposed by the present invention are then to constitute diagnosis algorithm using the error.
To formulaIt is further to be converted, according to ef=μ eaIt obtains down
Formula:
Wherein ia'=ia-μif, can be by ia' it is referred to as virtual a phase current, in coordinate transform, utilize [ia’,ib,ic,id,
ie] replace [ia,ib,ic,id,ie], meter and short circuit current formulaInfluence, according to the following formula
To torque error Δ T:
Wherein, IfFor the amplitude of short circuit current, ω is that motor rotates angular rate, i'qIndicate the direct-axis current of motor,
For short circuit current initial phase.
Enable the DC component of torque deviationShort circuit current vectorIt can further be write as:
Wherein Indicate A phase winding current vector,Table
Show that the back-emf vector of shorted-turn fault occurs for A phase winding.
For simplifying the analysis, ignore impedance voltage drop, obtain following formula:
WhereinTherefore basisObtain D ≈ 0.5p ψPMμIfsinδ。
By D it is found that there are DC components in torque deviation, and the DC component ability when short trouble occurs
In the presence of as shown in Figure 2.It can be seen in the drawing that estimation torque is identical as actual torque, and torque is inclined when not having failure
Difference is zero, and when short trouble occurs for t=0.05s, torque deviation is no longer zero, and is the friendship comprising DC component offset
Flow, Fig. 3 are the DC component in the torque differences after filtering out AC compounent using Kalman filter, it can be seen that the direct current point
Amount only just will appear after shorted-turn fault, and size is related to the severity of failure, therefore the DC component can be made
The criterion occurred for shorted-turn fault.Select suitable threshold value as decision content, wherein threshold value is the 10% of motor torque.Figure
4 (a)-(d) is the inspection in the dynamic processes such as speed change, variable load, phase shortage, pulse missing, to the DC component in torque differences respectively
It surveys results, it can be seen that this method still can be effectively detected whether shorted-turn fault is sent out when other failures occur
It is raw, embody the robustness of this method.The generation of shorted-turn fault, the diagnosis are judged compared to the distribution of analysis current harmonics
Method greatly reduces analytical calculation amount.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of shorted-turn fault detection method for five phase OW FTFSCW-IPM motors, it is characterised in that: including following
Step:
Step 1: the actual current in five phase windings detected using current sensor；
Step 2: the torque value estimated under motor normal operation is obtained using torque calculation formula；
Torque calculation formula isWherein, TeIndicate that the torque value estimated under motor normal operation, p are electricity
Machine number of pole-pairs, iqFor the quadrature axis current of motor, ψPMFor permanent magnet flux linkage amplitude；
Step 3: the actual torque output valve of motor at this time is measured by torque sensor；
Step 4: the reality output torque of motor and estimation torque being subtracted each other, torque deviation is obtained；
Step 5: torque deviation being filtered out into AC compounent by filter, whether also to be judged after torque deviation filters out AC compounent
DC component, if there is the presence of DC component then judges that shorted-turn fault has occurred.
2. the shorted-turn fault detection method according to claim 1 for being used for five phase OW FTFSCW-IPM motors, special
Sign is: the torque sensor used in the step 3 is the RK060 of contactless transmission mode.
3. the shorted-turn fault detection method according to claim 1 for being used for five phase OW FTFSCW-IPM motors, special
Sign is: the filter used in the step 5 is first-order lag low-pass filter.
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| CN110554313B (en) * | 2018-05-31 | 2021-10-19 | 蜂巢传动系统(江苏)有限公司保定研发分公司 | Current fault detection method and device |
| CN113848477B (en) * | 2021-10-19 | 2022-04-08 | 南京理工大学 | A kind of fault diagnosis method for inter-turn short circuit of multi-phase permanent magnet synchronous motor |
| CN115308494B (en) * | 2022-08-31 | 2025-05-09 | 哈尔滨工程大学 | A method for testing the self-inductance and mutual inductance of windings of a symmetrical five-phase permanent magnet synchronous motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06319294A (en) * | 1993-09-10 | 1994-11-15 | Nippon Parusumootaa Kk | Five-phase stepping motor |
| CN104753382A (en) * | 2015-04-10 | 2015-07-01 | 东南大学 | Fault tolerance inverter circuit of dual-power five-phase open-winding system for electric vehicle |
| CN106249150A (en) * | 2016-09-26 | 2016-12-21 | 东南大学 | Detection method for the shorted-turn fault degree of five phase OW FTFSCW ipm motors |
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2017
- 2017-06-07 CN CN201710423064.6A patent/CN107153147B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06319294A (en) * | 1993-09-10 | 1994-11-15 | Nippon Parusumootaa Kk | Five-phase stepping motor |
| CN104753382A (en) * | 2015-04-10 | 2015-07-01 | 东南大学 | Fault tolerance inverter circuit of dual-power five-phase open-winding system for electric vehicle |
| CN106249150A (en) * | 2016-09-26 | 2016-12-21 | 东南大学 | Detection method for the shorted-turn fault degree of five phase OW FTFSCW ipm motors |
Non-Patent Citations (3)
| Title |
|---|
| "Stator winding inter-turn short circuit faults severity detection controlled by OW-SVPWM without CMV of five-phase FTFSCW-IPM";Ying Fan et al.;《2015 18th International Conference on Electrical Machines and Systems (ICEMS)》;20160121;第1192-1197页 |
| "Winding turn-to-turn faults detection of five-phase fault-tolerant permanent-magnet machine based on parametric model";Wei Tang et al.;《2012 15th International Conference on Electrical Machines and Systems (ICEMS)》;20130117;第1-6页 |
| "基于开绕组的五相FTFSCW-IPM驱动系统故障分析及诊断研究";祝卫霞;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》;20170315(第03期);第C042-445页 |
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