CN112039387A - Fault diagnosis method for permanent magnet synchronous motor position sensor - Google Patents
Fault diagnosis method for permanent magnet synchronous motor position sensor Download PDFInfo
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- CN112039387A CN112039387A CN202010883321.6A CN202010883321A CN112039387A CN 112039387 A CN112039387 A CN 112039387A CN 202010883321 A CN202010883321 A CN 202010883321A CN 112039387 A CN112039387 A CN 112039387A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
-
- 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
- G01R31/343—Testing dynamo-electric machines in operation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/30—Circuit design
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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Abstract
The invention discloses a fault diagnosis method for a permanent magnet synchronous motor position sensor. The method comprises the following steps: firstly, the permanent magnet synchronous electricity is constructedThe machine driving system completes the construction of each module and the integration of the whole driving system; secondly, completing classification and induction of common faults of the permanent magnet synchronous motor position sensor through mathematical modeling; then respectively measuring and calculating the rotor position signal value at the t moment
And signal estimation without position algorithm
(ii) a And finally, according to the fault diagnosis criterion of the position sensor of the permanent magnet synchronous motor, carrying out fault diagnosis on the position sensor of the motor and judging the specific fault type. The method is simple and easy to implement, high in reliability, rapid in diagnosis process and accurate in fault result judgment, can diagnose faults in time, is beneficial to the healthy operation of the permanent magnet synchronous motor, improves the operation stability of the position sensor, and enhances the robustness of a permanent magnet synchronous motor driving system.
Description
Technical Field
The invention relates to the technical field of fault diagnosis of permanent magnet synchronous motors, in particular to a fault diagnosis method of a position sensor of a permanent magnet synchronous motor.
Background
With the development of multi-electric and all-electric airplanes and hybrid and pure electric vehicles, motor driving systems meet new development opportunities and challenges, and need to have high output performance and high reliability in addition to high power density and high efficiency, which has become the key of the motor driving systems. In the 90 s of the 20 th century, the safety and reliability of a system are improved due to the permanent magnet synchronous motor and a control system thereof, and the permanent magnet synchronous motor is applied to the field of aviation. However, some sensor faults often occur in the permanent magnet synchronous motor driving system, and the accuracy of the feedback quantity of each sensor is directly related to the precision of the control method and the stability of the system. In special application occasions such as automatic production, elevators, aviation, nuclear energy, dangerous chemical processing and the like, the requirements of users on indexes such as reliability, maintainability, viability and the like of driving system equipment are high, so that the fault of the driving system is diagnosed quickly and accurately, and on the basis, a corresponding fault-tolerant control strategy is adopted to improve the reliability of the system, and the fault-tolerant control method has great significance. Therefore, it is very important to research fault diagnosis technology for normal operation of the driving system of the permanent magnet synchronous motor.
Because the position sensor mostly adopts a precise photoelectric encoder, the position sensor is easily influenced by surrounding use environments, such as humidity, dust, vibration and the like, and becomes a weak link in a control system. When the motor driving system operates in a vector control mode with a position sensor, if the position sensor fails, a closed loop system in the closed loop vector control of the motor driving system is damaged, so that the closed loop system is opened, equipment is damaged to different degrees, and even casualties and other accidents occur.
The existing fault diagnosis technology is mostly aimed at the fault of a motor winding, and the fault diagnosis method is different for different types of sensors. However, the fault diagnosis method for the sensor can be roughly divided into a hardware method and a software method, the hardware fault diagnosis method for the position sensor is generally effective and feasible in a small number of partial position sensor faults, however, if a large number of position sensors of the same electric equipment have faults, the hardware detection method has a series of low diagnosis speed, large resource consumption and the like, which means that the motor runs for more time in a fault state, and the loss and the risk of the system are increased. Meanwhile, the defects of more sensors, more electrical equipment requirements and the like exist, and the problems that the design of a driving system is complex, the diagnosis method is lack of intellectualization, the fault type cannot be judged and the like are caused inevitably. In summary, it is necessary to provide a position sensor fault diagnosis method which is simple and easy to implement, rapid in processing, accurate in judgment, and strong in reliability, and is suitable for a permanent magnet synchronous motor.
Disclosure of Invention
The invention aims to provide a position sensor fault diagnosis method which is simple and easy to implement, rapid in processing, accurate in judgment and strong in reliability, and is suitable for a permanent magnet synchronous motor, so that the sensor fault of the position of the permanent magnet synchronous motor can be effectively detected and judged.
The technical solution for realizing the purpose of the invention is as follows: a fault diagnosis method for a permanent magnet synchronous motor position sensor comprises the following steps:
step 1, constructing a permanent magnet synchronous motor driving system, and completing construction of each module and integration of the whole driving system; the permanent magnet synchronous motor driving system comprises a three-phase permanent magnet synchronous motor, a set of three-phase inverter, a set of speed PI controller, a set of current PI controller, a set of position sensor, an algorithm module based on a sliding-mode observer and a position sensor fault diagnosis module;
step 2, performing mathematical modeling on three fault states of a position sensor disconnection fault, a jamming fault and an offset fault of a permanent magnet synchronous motor driving system, wherein the specific mathematical model is as follows:
wherein,
to be the time at which the fault occurred,
in order to be the time for the trouble shooting,
is the position signal detection value of the sensor at the current time t,
for a position signal estimate based on sliding mode observation, i.e. the correct position signal reference,
indicating the position signal value when the broken wire deadlocking fault occurs,Ca fixed offset representing the position signal at the time of the offset fault;
step 3, detecting the rotor position signal value at the time t through a position sensor
(ii) a Meanwhile, the estimated value of the position signal is measured and calculated through a position-free algorithm based on a sliding-mode observer
；
Step 4, carrying out fault diagnosis according to a fault diagnosis criterion of the position sensor of the permanent magnet synchronous motor, wherein the diagnosis criterion is to diagnose whether the position sensor has faults or not in a mathematical model by utilizing a rotor position signal and a rotating speed signal of the motor; and then the specific type of the fault is judged by combining the classification of the fault in the established mathematical model.
Further, the method for determining the fault type according to the fault diagnosis criterion of the position sensor in step 4 specifically includes the following steps:
byd-qShaft voltageu d、u qAndd-qshaft currenti d、i qObtaining the estimated values of the position and the rotating speed of the rotor through a sliding-mode observer, and estimating the position
Position detected by sensor
Making a difference, and estimating the rotation speed
Speed of rotation detected by sensor
Making difference, and respectively making the obtained residual error and threshold value of position and rotating speed
And
comparing, thereby performing fault diagnosis of the position sensor;
wherein the residual error of the rotation speed
For diagnosing stuck-at faults: when the position sensor is stuck, the rotating speed detected by the sensor can fall to 0, the detected rotating speed is still the running rotating speed of the motor, and the rotating speed residual error can exceed the rotating speed threshold value
And setting a high level for the fault diagnosis mark, and judging the stuck fault of the position sensor, wherein the specific stuck fault diagnosis criterion of the permanent magnet synchronous motor is as follows:
when in use
When the position sensor is in normal operation;
when in use
When the position sensor is in a stuck fault, the position sensor is stuck;
position residual
For diagnosing offset faults: when the position sensor has an offset fault, a constant offset is generated between the detected position and the actual position, and the position estimated by the observer can still follow the actual position, so that the position difference exceeds the position threshold value
And setting a high level for the fault diagnosis mark, and judging the offset fault of the position sensor, wherein the specific offset fault diagnosis criterion of the permanent magnet synchronous motor is as follows:
when in use
When the position sensor is in normal operation;
when in use
When the position sensor is in an offset fault, the position sensor is in an offset fault;
absolute value of position signal
For diagnosing a disconnection fault: when the position sensor has a disconnection fault, the detected position signal value is constantly equal to 0 within a certain time, the fault diagnosis mark is set to be at a high level, and the disconnection fault of the position sensor is judged, wherein the specific disconnection fault diagnosis criterion of the permanent magnet synchronous motor is as follows:
when in use
The position sensor has a disconnection fault, whereint m Andt n t is a time threshold value for diagnosing the disconnection fault at any two moments during the running period of the motor.
Compared with the prior art, the invention has the beneficial effects that:
the position sensor fault diagnosis method based on the permanent magnet synchronous motor mathematical model has the advantages of high reliability and strong practicability;
(1) compared with the fault diagnosis of a plurality of position sensors by adopting a large amount of hardware, the diagnosis method based on the sliding-mode observer algorithm is simpler and more stable in system design, has high robustness and greatly reduces the system cost;
(2) the method is simple and easy to implement, has short diagnosis time, can effectively diagnose the fault in time and judge the fault type in the position sensor of the permanent magnet synchronous motor, reduces the running time of the fault state of the system, reduces the damage to the motor and lays a foundation for the implementation of a fault-tolerant control strategy;
(3) the invention is beneficial to the healthy operation of the permanent magnet synchronous motor, improves the operation stability of the position sensor and enhances the robustness of the permanent magnet synchronous motor driving system.
Drawings
Fig. 1 is a schematic block diagram of a fault diagnosis method of a permanent magnet synchronous motor position sensor according to the present invention.
Fig. 2 is a schematic diagram of a fault type determination criterion of a permanent magnet synchronous motor position sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, a method for diagnosing a fault of a position sensor of a permanent magnet synchronous motor includes the steps of:
step 1, constructing a permanent magnet synchronous motor driving system, and completing construction of each module and integration of the whole driving system; the permanent magnet synchronous motor driving system comprises a three-phase permanent magnet synchronous motor, a set of three-phase inverter, a set of speed PI controller, a set of current PI controller, a set of position sensor, an algorithm module based on a sliding-mode observer and a position sensor fault diagnosis module;
step 2, performing mathematical modeling on three fault states of a position sensor disconnection fault, a jamming fault and an offset fault of a permanent magnet synchronous motor driving system, wherein the specific mathematical model is as follows:
wherein,
to be the time at which the fault occurred,
in order to be the time for the trouble shooting,
is the position signal detection value of the sensor at the current time t,
for a position signal estimate based on sliding mode observation, i.e. the correct position signal reference,
indicating the position signal value when the broken wire deadlocking fault occurs,Ca fixed offset representing the position signal at the time of the offset fault;
step 3, detecting the rotor position signal value at the time t through a position sensor
(ii) a Meanwhile, the estimated value of the position signal is measured and calculated through a position-free algorithm based on a sliding-mode observer
；
Step 4, carrying out fault diagnosis according to a fault diagnosis criterion of the position sensor of the permanent magnet synchronous motor, wherein the diagnosis criterion is to diagnose whether the position sensor has faults or not in a mathematical model by utilizing a rotor position signal and a rotating speed signal of the motor; and then the specific type of the fault is judged by combining the classification of the fault in the established mathematical model.
Further, the method for determining the fault type according to the fault diagnosis criterion of the position sensor in step 4 specifically includes the following steps:
as shown in FIG. 2, fromd-qShaft voltageu d、u qAndd-qshaft currenti d、i qObtaining the estimated values of the position and the rotating speed of the rotor through a sliding-mode observer, and estimating the position
Position detected by sensor
Making a difference, and estimating the rotation speed
Speed of rotation detected by sensor
Make a differenceThe obtained residual errors are respectively compared with the threshold values of the position and the rotating speed
And
comparing, thereby performing fault diagnosis of the position sensor;
wherein the residual error of the rotation speed
For diagnosing stuck-at faults: when the position sensor is stuck, the rotating speed detected by the sensor can fall to 0, the detected rotating speed is still the running rotating speed of the motor, and the rotating speed residual error can exceed the rotating speed threshold value
And setting a high level for the fault diagnosis mark, and judging the stuck fault of the position sensor, wherein the specific stuck fault diagnosis criterion of the permanent magnet synchronous motor is as follows:
when in use
When the position sensor is in normal operation;
when in use
When the position sensor is in a stuck fault, the position sensor is stuck;
position residual
For diagnosing offset faults: when the position sensor has an offset fault, a constant offset is generated between the detected position and the actual position, and the position estimated by the observer can still follow the actual position, so that the position difference exceeds the position threshold value
When the failure diagnosis flag is set to high level, the position sensor is judged to be deviatedThe fault diagnosis criteria of the offset fault of the permanent magnet synchronous motor are as follows:
when in use
When the position sensor is in normal operation;
when in use
When the position sensor is in an offset fault, the position sensor is in an offset fault;
absolute value of position signal
For diagnosing a disconnection fault: when the position sensor has a disconnection fault, the detected position signal value is constantly equal to 0 within a certain time, the fault diagnosis mark is set to be at a high level, and the disconnection fault of the position sensor is judged, wherein the specific disconnection fault diagnosis criterion of the permanent magnet synchronous motor is as follows:
when in use
The position sensor has a disconnection fault, whereint m Andt n t is a time threshold value for diagnosing the disconnection fault at any two moments during the running period of the motor.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (2)
1. A fault diagnosis method for a permanent magnet synchronous motor position sensor is characterized by comprising the following steps:
step 1, constructing a permanent magnet synchronous motor driving system, and completing construction of each module and integration of the whole driving system; the permanent magnet synchronous motor driving system comprises a three-phase permanent magnet synchronous motor, a set of three-phase inverter, a set of speed PI controller, a set of current PI controller, a set of position sensor, an algorithm module based on a sliding-mode observer and a position sensor fault diagnosis module;
step 2, performing mathematical modeling on three fault states of a position sensor disconnection fault, a jamming fault and an offset fault of a permanent magnet synchronous motor driving system, wherein the specific mathematical model is as follows:
wherein,
to be the time at which the fault occurred,
in order to be the time for the trouble shooting,
is the position signal detection value of the sensor at the current time t,
for a position signal estimate based on sliding mode observation, i.e. the correct position signal reference,
indicating the position signal value when the broken wire deadlocking fault occurs,Ca fixed offset representing the position signal at the time of the offset fault;
step 3, detecting time t by position sensorRotor position signal value
(ii) a Meanwhile, the estimated value of the position signal is measured and calculated through a position-free algorithm based on a sliding-mode observer
；
Step 4, carrying out fault diagnosis according to a fault diagnosis criterion of the position sensor of the permanent magnet synchronous motor, wherein the diagnosis criterion is to diagnose whether the position sensor has faults or not in a mathematical model by utilizing a rotor position signal and a rotating speed signal of the motor; and then the specific type of the fault is judged by combining the classification of the fault in the established mathematical model.
2. The method for diagnosing the faults of the position sensor of the permanent magnet synchronous motor according to claim 1, wherein the fault diagnosis criterion of the position sensor in the step 4 is a method for judging the fault type, and specifically comprises the following steps:
byd-qShaft voltageu d、u qAndd-qshaft currenti d、i qObtaining the estimated values of the position and the rotating speed of the rotor through a sliding-mode observer, and estimating the position
Position detected by sensor
Making a difference, and estimating the rotation speed
Speed of rotation detected by sensor
Making difference, and respectively making the obtained residual error and threshold value of position and rotating speed
And
comparing, thereby performing fault diagnosis of the position sensor;
wherein the residual error of the rotation speed
For diagnosing stuck-at faults: when the position sensor is stuck, the rotating speed detected by the sensor can fall to 0, the detected rotating speed is still the running rotating speed of the motor, and the rotating speed residual error can exceed the rotating speed threshold value
And setting a high level for the fault diagnosis mark, and judging the stuck fault of the position sensor, wherein the specific stuck fault diagnosis criterion of the permanent magnet synchronous motor is as follows:
when in use
When the position sensor is in normal operation;
when in use
When the position sensor is in a stuck fault, the position sensor is stuck;
position residual
For diagnosing offset faults: when the position sensor has an offset fault, a constant offset is generated between the detected position and the actual position, and the position estimated by the observer can still follow the actual position, so that the position difference exceeds the position threshold value
Sensor for determining position with fault diagnosis flag set to high levelAnd (3) offset faults, wherein the specific offset fault diagnosis criteria of the permanent magnet synchronous motor are as follows:
when in use
When the position sensor is in normal operation;
when in use
When the position sensor is in an offset fault, the position sensor is in an offset fault;
absolute value of position signal
For diagnosing a disconnection fault: when the position sensor has a disconnection fault, the detected position signal value is constantly equal to 0 within a certain time, the fault diagnosis mark is set to be at a high level, and the disconnection fault of the position sensor is judged, wherein the specific disconnection fault diagnosis criterion of the permanent magnet synchronous motor is as follows:
when in use
The position sensor has a disconnection fault, whereint m Andt n t is a time threshold value for diagnosing the disconnection fault at any two moments during the running period of the motor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114499351A (en) * | 2022-01-21 | 2022-05-13 | 北京信息科技大学 | Motor system high-reliability operation method based on current phase closed-loop control |
| CN115765561A (en) * | 2022-12-30 | 2023-03-07 | 湖南大学 | Fault diagnosis and fault-tolerant control method of position sensor in hub motor drive system |
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| CN110726962A (en) * | 2019-10-31 | 2020-01-24 | 东南大学 | Gain fault diagnosis method for current sensor of permanent magnet linear motor |
| CN111458638A (en) * | 2020-04-16 | 2020-07-28 | 江苏航迅飞信息科技有限公司 | Power tube open-circuit fault diagnosis method for permanent magnet synchronous motor driving system |
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| CN110726962A (en) * | 2019-10-31 | 2020-01-24 | 东南大学 | Gain fault diagnosis method for current sensor of permanent magnet linear motor |
| CN111458638A (en) * | 2020-04-16 | 2020-07-28 | 江苏航迅飞信息科技有限公司 | Power tube open-circuit fault diagnosis method for permanent magnet synchronous motor driving system |
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| Title |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114499351A (en) * | 2022-01-21 | 2022-05-13 | 北京信息科技大学 | Motor system high-reliability operation method based on current phase closed-loop control |
| CN114499351B (en) * | 2022-01-21 | 2023-12-01 | 北京信息科技大学 | Motor system fault detection method |
| CN115765561A (en) * | 2022-12-30 | 2023-03-07 | 湖南大学 | Fault diagnosis and fault-tolerant control method of position sensor in hub motor drive system |
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Application publication date: 20201204 |