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CN112285607B - Single-tube open-circuit fault diagnosis method of open-winding electric drive system based on predictive control - Google Patents

Single-tube open-circuit fault diagnosis method of open-winding electric drive system based on predictive control Download PDF

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CN112285607B
CN112285607B CN202011019765.1A CN202011019765A CN112285607B CN 112285607 B CN112285607 B CN 112285607B CN 202011019765 A CN202011019765 A CN 202011019765A CN 112285607 B CN112285607 B CN 112285607B
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CN112285607A (en
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杜贵平
李土焕
雷雁雄
陈思强
郑燕宾
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South China University of Technology SCUT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/54—Testing for continuity
    • 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
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Abstract

本发明公开了一种基于预测控制的开绕组电驱动系统单管开路故障诊断方法，该方法利用模型预测控制在每个控制周期内开关状态确定且不变的特点，由预测的开关状态得到每一相的预估电压；将预估电压与实测电压的差值跟给定阈值作比较，判断出可能的故障相和故障开关对；为消除开关过程和测量噪声的影响，将故障相误差电压在一定时间长度上作积分并与另一阈值作比较，确定故障的发生；根据故障相桥臂开关信号与误差电压的关系，构造诊断函数，诊断出发生开路故障的具体开关管。本发明简单有效，能在较短时间内实现故障诊断，定位到具体的故障开关管，且诊断过程不易受系统运行扰动的影响，具有较高的可靠性。

Figure 202011019765

The invention discloses a single-tube open-circuit fault diagnosis method for an open-winding electric drive system based on predictive control. The method utilizes the characteristics of model predictive control that the switching state is determined and unchanged in each control cycle, and obtains each switching state from the predicted switching state. The estimated voltage of one phase; the difference between the estimated voltage and the measured voltage is compared with the given threshold to determine the possible faulty phase and faulty switch pair; in order to eliminate the influence of the switching process and measurement noise, the faulty phase error voltage Integrate over a certain length of time and compare it with another threshold to determine the occurrence of the fault; according to the relationship between the switch signal of the faulty phase bridge arm and the error voltage, construct a diagnostic function to diagnose the specific switch tube that has an open-circuit fault. The invention is simple and effective, can realize fault diagnosis in a relatively short time, locate a specific fault switch tube, and the diagnosis process is not easily affected by the disturbance of system operation, and has high reliability.

Figure 202011019765

Description

Single-tube open-circuit fault diagnosis method of open-winding electric drive system based on predictive control
Technical Field
The invention relates to the technical field of single-tube open-circuit fault diagnosis of an open-winding electric drive system, in particular to a single-tube open-circuit fault diagnosis method of the open-winding electric drive system based on predictive control.
Background
The open winding motor is a novel motor, has the advantages of three-phase independent control, high output power, large rotating speed range and the like, and is a research hotspot in the field of electric drive of electric vehicles. The operation reliability of the open-winding electric drive system is directly related to the safety performance of the whole vehicle and the personal safety of personnel, and the power switch device is a weak link which is easy to break down. The research on the corresponding fault diagnosis scheme and the fault-tolerant control strategy of the electric drive system is of great significance.
For power devices of electric drive systems, when a short-circuit fault occurs, a fast fuse is usually used to convert the short-circuit fault into an open-circuit fault, and an open-circuit diagnosis method is used to process the short-circuit fault. In the aspect of open-circuit diagnosis, the current research mostly focuses on the field of conventional inverters, and the research on fault diagnosis of open-winding electric drive systems is rarely reported. Due to the unique symmetry and redundancy of the double-inverter driving topology of the open-winding motor, the characteristics of fault current and voltage generated in a system when some switching tubes are in fault are completely the same, and the traditional diagnosis algorithm can only position a certain pair of failed switches but cannot realize the positioning of specific fault switching tubes. Researchers research a diagnosis algorithm based on a current envelope line and instantaneous frequency, but the accurate positioning of a specific fault switch tube cannot be realized; the method has the advantages that a learner adopts a current detection method to realize accurate diagnosis and positioning of the fault switch tube, but the algorithm is complex, the diagnosis time is long, 0.5-1 fundamental wave period is needed, the influence of load disturbance is easy, and misdiagnosis is easily caused.
Model predictive control is applied to the control field of open-winding electric drive systems by more and more scholars due to the advantages of fast dynamic response, strong robustness, easiness in adding constraints and the like. In addition, the characteristic that the switching state of the model predictive control is determined and unchanged in each control period and the excellent dynamic response capability of the model predictive control can be utilized to realize a fast and reliable open-circuit fault diagnosis algorithm of the switching tube.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a single-tube open-circuit fault diagnosis method of an open-winding electric drive system based on predictive control.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the single-tube open-circuit fault diagnosis method of the open-winding electric drive system based on predictive control comprises a direct-current power supply VdcThe three-phase 3H bridge inverter (double parallel inverters) and the three-phase stator winding of the open winding motor; the DC power supply VdcIs connected in parallel with a three-phase 3H bridge inverter; in the three-phase 3H bridge inverter, each phase comprises two bridge arms, each bridge arm comprises two switching tubes with anti-parallel diodes, namely the three-phase 3H bridge inverter has 12 switching tubes, and the switching tubes are respectively marked as SnijWhere n represents the phase sequence, n ═ a, b, c, i represents the bridge arm serial number of each phase, i ═ 1,2, j represents the switching order of each bridge armThe number j is 1,2, the arms of the three-phase 3H bridge inverter are connected in parallel, the middle points of the A-phase arm are respectively marked as a1 and a2, the middle points of the B-phase arm are respectively marked as B1 and B2, and the middle points of the C-phase arm are respectively marked as C1 and C2; the three-phase stator winding of the open-winding motor is respectively connected with the midpoints of the bridge arms, namely two ends of the A-phase stator winding are respectively connected with the midpoint a1 and the midpoint a2 of the bridge arms, two ends of the B-phase stator winding are respectively connected with the midpoint B1 and the midpoint B2 of the bridge arms, and two ends of the C-phase stator winding are respectively connected with the midpoint C1 and the midpoint C2 of the bridge arms;
the single-tube open-circuit fault diagnosis method of the open-winding electric drive system based on the predictive control comprises the following steps of:
step 1: sampling phase voltages of three-phase stator windings of the open-winding motor in real time;
step 2: the estimated voltage is differed with the actually measured voltage at the corresponding moment to obtain the error voltage epsilon of three phasesa、εbAnd εcRespectively, with a given threshold h1And comparing, and preliminarily judging whether the fault occurs, wherein the following two conditions exist:
in the first case, | εa|≤h1，|εb|≤h1And | εc|≤h1Judging that no fault occurs, and returning to the step 1;
in the second case, when one of the following six states occurs, the fault is preliminarily determined, and the fault state variable F is set11, preliminarily judging the fault range of the switching tube:
state 1, epsilona＞h1Switching tube Sa11Or Sa22An open circuit fault occurs;
state 2, epsilona＜-h1Switching tube Sa12Or Sa21An open circuit fault occurs;
state 3, epsilonb＞h1Switching tube Sb11Or Sb22An open circuit fault occurs;
state 4, epsilonb＜-h1Switching tube Sb12Or Sb21Occurrence of open circuit failure
State 5,. epsilonc＞h1Switching tube Sc11Or Sc22Occurrence of open circuit failure；
State 6, εc＜-h1Switching tube Sc12Or Sc21An open circuit fault occurs;
and step 3: fault state variable F1After setting to 1, the respective states in the second case of step 2 are processed accordingly, i.e. the error voltage is integrated over a defined period of time and compared with a given threshold h2Comparing to further confirm whether the fault occurs; if the fault is judged not to occur, the fault state variable F is set1 Setting 0, and returning to the step 1; if the fault is judged to have occurred, the fault state variable F is set2 Setting 1 and executing the step 4;
and 4, step 4: fault state variable F2After setting 1, determining a faulty switch pair, and still further positioning a specific faulty switch tube; for each state in the step 2, constructing a corresponding diagnosis function J by using the relation between the fault phase bridge arm switch state and the error voltagekTo locate a specific faulty switching tube, where k represents each state in step 2, and k is 1,2,3,4,5, 6;
and 5: and finishing the fault diagnosis.
In step 2, a threshold h is given1And setting the voltage to be 50, and obtaining the estimated voltage of each phase from the predicted switching state by utilizing the characteristic that the switching state of the model predictive control is determined and unchanged in each control period.
In step 3, a threshold h is given2Set to 0.05, the corresponding processing for each state in the second case of step 2 is specifically as follows:
for state 1 or state 2, for |. epsilonaL performing integration in time, when the integration time length T reaches 5 control periods, namely 5TsAnd is and
Figure BDA0002700208850000041
less than a given threshold h2If no fault occurs, the fault state variable F is set1Resetting 0 and returning to the step 1; when the integration time length T does not reach 5TsWhen the temperature of the water is higher than the set temperature,
Figure BDA0002700208850000042
has been equal to or greater than a given threshold h2If the fault is determined to have occurred, the fault state variable F is set21, placing;
for state 3 or state 4, for |. epsilonbL performing integration in time, when the integration time length T reaches 5 control periods, namely 5TsAnd is and
Figure BDA0002700208850000043
less than a given threshold h2If no fault occurs, the fault state variable F is set1Resetting 0 and returning to the step 1; when the integration time length T does not reach 5TsWhen the temperature of the water is higher than the set temperature,
Figure BDA0002700208850000044
has been equal to or greater than a given threshold h2If the fault is determined to have occurred, the fault state variable F is set21, placing;
for state 5 or state 6, for |. epsiloncL performing integration in time, when the integration time length T reaches 5 control periods, namely 5TsAnd is and
Figure BDA0002700208850000045
less than a given threshold h2If no fault occurs, the fault state variable F is set1Resetting 0 and returning to the step 1; when the integration time length T does not reach 5TsWhen the temperature of the water is higher than the set temperature,
Figure BDA0002700208850000046
has been equal to or greater than a given threshold h2If the fault is determined to have occurred, the fault state variable F is set21, placing.
In step 4, a diagnostic function is constructed by using the relation between the switching states of the bridge arms of the fault phase and the error voltage, and the switching states of the two bridge arms of each phase are respectively set as sn1And sn2Wherein n represents a phase sequence, n is a, b, c, and a switching state of 1 indicates that the upper tube is on and the lower tube is off, and a switching state of 0 indicates that the upper tube is off and the lower tube is on;
the diagnostic function construction for each state in step 2, and the specific diagnostic method is as follows:
for State 1, a diagnostic function is constructed
Figure BDA0002700208850000047
If J1If it is less than 0, S is judgeda11A failure; if J1If it is greater than 0, S is judgeda22A failure;
for State 2, a diagnostic function is constructed
Figure BDA0002700208850000048
If J2If it is less than 0, S is judgeda12A failure; if J2If it is greater than 0, S is judgeda21A failure;
for State 3, a diagnostic function is constructed
Figure BDA0002700208850000051
If J3If it is less than 0, S is judgedb11A failure; if J3If it is greater than 0, S is judgedb22A failure;
for State 4, a diagnostic function is constructed
Figure BDA0002700208850000052
If J4If it is less than 0, S is judgedb12A failure; if J4If it is greater than 0, S is judgedb21A failure;
for State 5, a diagnostic function is constructed
Figure BDA0002700208850000053
If J5If it is less than 0, S is judgedc11A failure; if J5If it is greater than 0, S is judgedc22A failure;
for State 6, a diagnostic function is constructed
Figure BDA0002700208850000054
If J6If it is less than 0, S is judgedc12A failure; if J6If it is greater than 0, S is judgedc21A failure;
wherein, T is the integration duration, which indicates that the integration process continues until the system executes the fault-tolerant operation mode.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention directly utilizes the characteristic that the switching state of the model predictive control is determined and unchanged in each control period, namely, the stator phase voltage of the open-winding motor is kept unchanged in one control period and can be predicted in advance, so that the method is simple and effective to realize.
2. The voltage quantity is the state variable which can most directly reflect the fault characteristics of the inverter, the invention directly extracts the voltage information as the basis of fault diagnosis and combines the excellent dynamic response capability of model predictive control, thereby realizing fault diagnosis in a shorter time.
3. When the system operation state is suddenly changed, the current detection diagnosis method has the advantages that the current transient state process is long in duration and irregular in waveform, misdiagnosis is easily caused, the voltage can more directly reflect the fault characteristics of the inverter, and the influence of system operation disturbance is not easily caused, so that the method has high reliability.
4. The invention overcomes the unique symmetry and redundancy of the double-inverter driving topology of the open-winding motor and can position a specific fault switch tube.
Drawings
FIG. 1 is a circuit diagram of an open-winding electric drive system.
FIG. 2 is a flow chart of the method of the present invention.
FIG. 3 shows a switching tube Sa11Or Sa22Error voltage before and after open circuit fault, fault state variable F1、
Figure BDA0002700208850000061
And a fault state variable F2And (4) waveform diagrams.
FIG. 4 shows a switching tube Sa11Diagnostic function J at open-circuit fault occurrence1Waveform diagram, and diagnosis duration diagram.
FIG. 5 shows a switching tube Sa22Diagnostic function J at open-circuit fault occurrence1Waveform diagram, and diagnosis duration diagram.
FIG. 6a is a graph of error voltage waveforms before and after a load disturbance occurs when an open-winding electric drive system is operating without a fault.
FIG. 6b is a graph of error voltage waveforms before and after a speed disturbance occurs when the open-winding electric drive system is operating without a fault.
Detailed Description
The present invention will be further described with reference to the following specific examples.
As shown in FIG. 1, the open-winding electric drive system of the present embodiment includes a DC power supply VdcThe three-phase 3H bridge inverter (double parallel inverters) and the three-phase stator winding of the open winding motor; the DC power supply VdcIs connected in parallel with a three-phase 3H bridge inverter; in the three-phase 3H bridge inverter, each phase comprises two bridge arms, each bridge arm comprises two switching tubes with anti-parallel diodes, namely the three-phase 3H bridge inverter has 12 switching tubes, and the switching tubes are respectively marked as SnijThe neutral points of the bridge arms of the three-phase 3H bridge inverter are respectively marked as a1 and a2, the neutral points of the bridge arms of the phase A are respectively marked as B1 and B2, and the neutral points of the bridge arms of the phase C are respectively marked as C1 and C2; the three-phase stator winding of the open-winding motor is respectively connected with the middle points of the bridge arms, namely two ends of the A-phase stator winding are respectively connected with the middle points a1 and a2 of the bridge arms, two ends of the B-phase stator winding are respectively connected with the middle points B1 and B2 of the bridge arms, and two ends of the C-phase stator winding are respectively connected with the middle points C1 and C2 of the bridge arms.
As shown in fig. 2, the single-tube open-circuit fault diagnosis method for an open-winding electric drive system based on predictive control provided by the present embodiment includes the following steps:
step 1: and sampling phase voltages of three-phase stator windings of the open-winding motor in real time.
Step 2: the output switching signal is predicted and controlled by the model to obtain the estimated voltage of each phase, and the estimated voltage is differenced with the actually measured voltage at the corresponding moment to obtain the error voltage epsilon of three phasesa、εbAnd εcRespectively, with a given threshold h1For comparison, h1Is provided withAt 50, there are two cases:
in the first case, | εa|≤h1，|εb|≤h1And | εc|≤h1Judging that no fault occurs, and returning to the step 1;
in the second case, when one of the following six states occurs, the fault is preliminarily determined, and the fault state variable F is set11, preliminarily judging the fault range of the switching tube:
state 1, epsilona＞h1Switching tube Sa11Or Sa22An open circuit fault occurs;
state 2, epsilona＜-h1Switching tube Sa12Or Sa21An open circuit fault occurs;
state 3, epsilonb＞h1Switching tube Sb11Or Sb22An open circuit fault occurs;
state 4, epsilonb＜-h1Switching tube Sb12Or Sb21Occurrence of open circuit failure
State 5,. epsilonc＞h1Switching tube Sc11Or Sc22An open circuit fault occurs;
state 6, εc＜-h1Switching tube Sc12Or Sc21An open circuit fault occurs.
And step 3: fault state variable F1After setting to 1, the respective states in the second case of step 2 are processed accordingly, with a threshold h being specified2Set to 0.05:
for state 1 or state 2, for |. epsilonaL performing integration in time, when the integration time length T reaches 5 control periods, namely 5TsAnd is and
Figure BDA0002700208850000081
less than a given threshold h2If no fault occurs, the fault state variable F is set1 Resetting 0 and returning to the step 1; when the integration time length T does not reach 5TsWhen the temperature of the water is higher than the set temperature,
Figure BDA0002700208850000082
has been equal to or greater than a given threshold h2If the fault is determined to have occurred, the fault state variable F is set21, placing;
for state 3 or state 4, for |. epsilonbL performing integration in time, when the integration time length T reaches 5 control periods, namely 5TsAnd is and
Figure BDA0002700208850000083
less than a given threshold h2If no fault occurs, the fault state variable F is set1 Resetting 0 and returning to the step 1; when the integration time length T does not reach 5TsWhen the temperature of the water is higher than the set temperature,
Figure BDA0002700208850000084
has been equal to or greater than a given threshold h2If the fault is determined to have occurred, the fault state variable F is set21, placing;
for state 5 or state 6, for |. epsiloncL performing integration in time, when the integration time length T reaches 5 control periods, namely 5TsAnd is and
Figure BDA0002700208850000085
less than a given threshold h2If no fault occurs, the fault state variable F is set1 Resetting 0 and returning to the step 1; when the integration time length T does not reach 5TsWhen the temperature of the water is higher than the set temperature,
Figure BDA0002700208850000086
has been equal to or greater than a given threshold h2If the fault is determined to have occurred, the fault state variable F is set21, placing.
And 4, step 4: fault state variable F2After setting to 1, the faulty switch pair is determined, but the specific faulty switch tube still needs to be further positioned. Constructing a diagnosis function by using the relation between the switching states of the bridge arms of the fault phase and the error voltage, and setting the switching states of the two bridge arms of each phase as sn1And sn2Where n represents the phase sequence, n ═ a, b, and c, a switch state of 1 indicates top tube on and bottom tube off, and a switch state of 0 indicates top tube offThe tube is disconnected and connected. For each state in step 2, a corresponding diagnostic function J is constructedkWherein k represents each state in step 2, k is 1,2,3,4,5, 6; the specific diagnostic function construction and diagnostic method is as follows:
for State 1, a diagnostic function is constructed
Figure BDA0002700208850000087
If J1If it is less than 0, S is judgeda11A failure; if J1If it is greater than 0, S is judgeda22A failure;
for State 2, a diagnostic function is constructed
Figure BDA0002700208850000088
If J2If it is less than 0, S is judgeda12A failure; if J2If it is greater than 0, S is judgeda21A failure;
for State 3, a diagnostic function is constructed
Figure BDA0002700208850000091
If J3If it is less than 0, S is judgedb11A failure; if J3If it is greater than 0, S is judgedb22A failure;
for State 4, a diagnostic function is constructed
Figure BDA0002700208850000092
If J4If it is less than 0, S is judgedb12A failure; if J4If it is greater than 0, S is judgedb21A failure;
for State 5, a diagnostic function is constructed
Figure BDA0002700208850000093
If J5If it is less than 0, S is judgedc11A failure; if J5If it is greater than 0, S is judgedc22A failure;
for State 6, a diagnostic function is constructed
Figure BDA0002700208850000094
If J6If it is less than 0, it is judgedSc12A failure; if J6If it is greater than 0, S is judgedc21And (4) failure.
Wherein, the integration duration T represents that the integration process continues until the system executes the fault-tolerant operation mode.
And 5: and finishing the fault diagnosis.
This embodiment is a pair of switch tubes Sa11Or Sa22Simulink simulation is carried out under the condition of open-circuit fault, and direct-current voltage Vdc300V, control period TsWas 100. mu.s. FIG. 3 shows a switching tube Sa11Or Sa22Error voltage before and after open circuit fault, fault state variable F1、
Figure BDA0002700208850000095
And a fault state variable F2Waveform diagram of which the threshold h1Set to 50, threshold h2Set to 0.05.
FIG. 4 shows a switching tube Sa11Diagnostic function J at open-circuit fault occurrence1Waveform diagram and diagnosis duration diagram, FIG. 5 is a switch tube Sa22Diagnostic function J at open-circuit fault occurrence1Waveform diagram and diagnosis duration diagram, it can be seen that the diagnosis duration of the method of the present invention is 0.26ms, and rapid diagnosis can be realized.
FIG. 6a is a voltage waveform diagram of an error voltage before and after a load disturbance occurs when an open-winding electric drive system operates without a fault, and a rated load torque is suddenly changed from 2 N.m to 4 N.m; FIG. 6b is a voltage waveform diagram of an error voltage before and after a rotational speed disturbance occurs when the open-winding electric drive system operates without a fault, and the rated rotational speed is suddenly changed from 3000r/min to 2000 r/min. As can be seen from the graph, the error voltage is far smaller than the threshold value before and after the disturbance, and the misdiagnosis cannot be caused. Therefore, the diagnosis method is not greatly influenced by system operation disturbance, has good reliability and is worthy of popularization.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims (3)

1.基于预测控制的开绕组电驱动系统单管开路故障诊断方法，所述开绕组电驱动系统结构包括直流电源Vdc、三相3H桥逆变器以及开绕组电机三相定子绕组；所述直流电源Vdc与三相3H桥逆变器并联连接；所述三相3H桥逆变器中，每一相包含了两个桥臂，每个桥臂包括两个带反并联二极管的开关管，即三相3H桥逆变器共有12个开关管，开关管分别记为Snij，其中n代表相序，n＝a,b,c，i代表每一相的桥臂序号，i＝1,2，j代表每个桥臂的开关管序号，j＝1,2，三相3H桥逆变器的各桥臂并联连接，A相桥臂中点分别记为a1和a2，B相桥臂中点分别记为b1和b2，C相桥臂中点分别记为c1和c2；所述开绕组电机三相定子绕组分别与各桥臂中点连接，即A相定子绕组两端分别接桥臂中点a1和a2，B相定子绕组两端分别接桥臂中点b1和b2，C相定子绕组两端分别接桥臂中点c1和c2；1. A single-tube open-circuit fault diagnosis method for an open-winding electric drive system based on predictive control, wherein the structure of the open-winding electric drive system includes a DC power supply V dc , a three-phase 3H bridge inverter, and an open-winding motor three-phase stator winding; the The DC power supply V dc is connected in parallel with the three-phase 3H bridge inverter; in the three-phase 3H bridge inverter, each phase includes two bridge arms, and each bridge arm includes two switch tubes with anti-parallel diodes , that is, the three-phase 3H bridge inverter has a total of 12 switch tubes, and the switch tubes are respectively denoted as S nij , where n represents the phase sequence, n=a, b, c, i represents the bridge arm serial number of each phase, i=1 ,2,j represent the switch tube serial number of each bridge arm, j=1,2, the bridge arms of the three-phase 3H bridge inverter are connected in parallel, the midpoints of the A-phase bridge arms are respectively recorded as a1 and a2, and the B-phase bridge The midpoints of the arms are denoted as b1 and b2 respectively, and the midpoints of the C-phase bridge arms are denoted as c1 and c2 respectively; the three-phase stator windings of the open-winding motor are respectively connected to the midpoints of each bridge arm, that is, the two ends of the A-phase stator windings are respectively connected to each other. The midpoints a1 and a2 of the bridge arm, the two ends of the B-phase stator winding are respectively connected to the midpoints b1 and b2 of the bridge arm, and the two ends of the C-phase stator winding are respectively connected to the midpoints c1 and c2 of the bridge arm; 其特征在于，所述基于预测控制的开绕组电驱动系统单管开路故障诊断方法，包括以下步骤：It is characterized in that, the method for diagnosing single-tube open-circuit faults of an open-winding electric drive system based on predictive control includes the following steps: 步骤1：实时采样开绕组电机三相定子绕组的相电压；Step 1: Real-time sampling of the phase voltage of the three-phase stator winding of the open-winding motor; 步骤2：将预估电压与对应时刻的实测电压作差，得到三相的误差电压εa、εb和εc，分别将其与给定阈值h1作比较，初步判断故障是否发生，有以下两种情况：Step 2: Make the difference between the estimated voltage and the measured voltage at the corresponding moment to obtain the three-phase error voltages ε a , ε b and ε c , compare them with the given threshold h 1 respectively, and preliminarily judge whether the fault occurs. The following two situations: 第一种情况，|εa|≤h1，|εb|≤h1且|εc|≤h1，判断无故障发生，返回步骤1；In the first case, |ε a |≤h 1 , |ε b |≤h 1 and |ε c |≤h 1 , it is judged that no fault occurs, and the process returns to step 1; 第二种情况，出现以下六种状态之一时，初步判断有故障发生，将故障状态变量F1置1，并初步判定开关管故障范围：In the second case, when one of the following six states occurs, it is preliminarily judged that a fault has occurred, the fault state variable F 1 is set to 1, and the fault range of the switch tube is preliminarily determined: 状态1，εa＞h1，开关管Sa11或Sa22发生开路故障；State 1, ε a >h 1 , the switch tube S a11 or S a22 has an open-circuit fault; 状态2，εa＜-h1，开关管Sa12或Sa21发生开路故障；State 2, ε a <-h 1 , the switch tube S a12 or S a21 has an open-circuit fault; 状态3，εb＞h1，开关管Sb11或Sb22发生开路故障；State 3, ε b >h 1 , the switch tube S b11 or S b22 has an open-circuit fault; 状态4，εb＜-h1，开关管Sb12或Sb21发生开路故障State 4, ε b <-h 1 , the switch tube S b12 or S b21 has an open-circuit fault 状态5，εc＞h1，开关管Sc11或Sc22发生开路故障；State 5, ε c >h 1 , the switch tube S c11 or S c22 has an open-circuit fault; 状态6，εc＜-h1，开关管Sc12或Sc21发生开路故障；State 6, ε c <-h 1 , the switch tube S c12 or S c21 has an open-circuit fault; 步骤3：故障状态变量F1置1后，对步骤2的第二种情况中的各状态进行相应处理，即对误差电压进行规定时间长度上的积分，并将其与给定阈值h2相比较，以进一步确认故障是否发生；此处若判断故障未发生，则将故障状态变量F1置0，返回步骤1；若判断故障确已发生，则将故障状态变量F2置1，执行步骤4；其中，给定阈值h2设置为0.05，对步骤2的第二种情况中的各状态进行的相应处理具体如下：Step 3: After the fault state variable F1 is set to 1 , each state in the second case of step 2 is processed correspondingly, that is, the error voltage is integrated over a specified time length, and it is phased with the given threshold h2. Compare to further confirm whether the fault has occurred; if it is judged that the fault has not occurred, set the fault state variable F 1 to 0, and return to step 1; if it is judged that the fault has indeed occurred, set the fault state variable F 2 to 1, and execute the steps 4; wherein, the given threshold h 2 is set to 0.05, and the corresponding processing performed on each state in the second case of step 2 is as follows: 对于状态1或状态2，对|εa|进行时间上的积分，当积分时长T达到5个控制周期即5Ts，且
Figure FDA0003102967990000021
小于给定阈值h2，则认为无故障发生，将故障状态变量F1重新置0，返回步骤1；当积分时长T未达到5Ts时，
Figure FDA0003102967990000022
已等于或大于给定阈值h2，则认为故障确已发生，将故障状态变量F2置1；For state 1 or state 2, integrate |ε a | in time, when the integration time T reaches 5 control cycles, that is, 5T s , and
Figure FDA0003102967990000021
If it is less than the given threshold h 2 , it is considered that no fault occurs, the fault state variable F 1 is reset to 0, and the process returns to step 1; when the integration time T does not reach 5T s ,
Figure FDA0003102967990000022
If it is equal to or greater than the given threshold h 2 , it is considered that a fault has indeed occurred, and the fault state variable F 2 is set to 1; 对于状态3或状态4，对|εb|进行时间上的积分，当积分时长T达到5个控制周期即5Ts，且
Figure FDA0003102967990000023
小于给定阈值h2，则认为无故障发生，将故障状态变量F1重新置0，返回步骤1；当积分时长T未达到5Ts时，
Figure FDA0003102967990000024
已等于或大于给定阈值h2，则认为故障确已发生，将故障状态变量F2置1；For state 3 or state 4, integrate |ε b | in time, when the integration time T reaches 5 control cycles, that is, 5T s , and
Figure FDA0003102967990000023
If it is less than the given threshold h 2 , it is considered that no fault occurs, the fault state variable F 1 is reset to 0, and the process returns to step 1; when the integration time T does not reach 5T s ,
Figure FDA0003102967990000024
If it is equal to or greater than the given threshold h 2 , it is considered that a fault has indeed occurred, and the fault state variable F 2 is set to 1; 对于状态5或状态6，对|εc|进行时间上的积分，当积分时长T达到5个控制周期即5Ts，且
Figure FDA0003102967990000025
小于给定阈值h2，则认为无故障发生，将故障状态变量F1重新置0，返回步骤1；当积分时长T未达到5Ts时，
Figure FDA0003102967990000026
已等于或大于给定阈值h2，则认为故障确已发生，将故障状态变量F2置1；For state 5 or state 6, integrate |ε c | in time, when the integration time T reaches 5 control cycles, ie 5T s , and
Figure FDA0003102967990000025
If it is less than the given threshold h 2 , it is considered that no fault occurs, the fault state variable F 1 is reset to 0, and the process returns to step 1; when the integration time T does not reach 5T s ,
Figure FDA0003102967990000026
If it is equal to or greater than the given threshold h 2 , it is considered that a fault has indeed occurred, and the fault state variable F 2 is set to 1; 步骤4：故障状态变量F2置1后，则已确定好故障的开关对，但仍需进一步定位具体的故障开关管；对于步骤2中的各状态，利用故障相桥臂开关状态和误差电压的关系，构造相应的诊断函数Jk来定位具体的故障开关管，其中k表示步骤2中的各状态，k＝1,2,3,4,5,6；Step 4: After the fault state variable F2 is set to 1 , the faulty switch pair has been determined, but the specific faulty switch tube still needs to be further located; for each state in step 2, the faulty phase bridge arm switch state and error voltage are used. , construct the corresponding diagnostic function J k to locate the specific fault switch tube, where k represents each state in step 2, k=1, 2, 3, 4, 5, 6; 步骤5：故障诊断结束。Step 5: Troubleshooting ends. 2.根据权利要求1所述的基于预测控制的开绕组电驱动系统单管开路故障诊断方法，其特征在于：在步骤2中，给定阈值h1设置为50，利用模型预测控制在每个控制周期内开关状态确定且不变的特点，由预测的开关状态得到每一相的预估电压。2. The single-tube open-circuit fault diagnosis method for an open-winding electric drive system based on predictive control according to claim 1, characterized in that: in step 2, the given threshold h 1 is set to 50, and the model predictive control is used in each The switch state is determined and unchanged in the control period, and the estimated voltage of each phase is obtained from the predicted switch state. 3.根据权利要求1所述的基于预测控制的开绕组电驱动系统单管开路故障诊断方法，其特征在于：在步骤4中，利用故障相桥臂开关状态和误差电压的关系来构造诊断函数，设每一相的两桥臂开关状态分别为sn1和sn2，其中n代表相序，n＝a,b,c，开关状态为1表示上管导通、下管关断，开关状态为0表示上管关断、下管导通；3. The single-tube open-circuit fault diagnosis method for an open-winding electric drive system based on predictive control according to claim 1, characterized in that: in step 4, a diagnosis function is constructed by utilizing the relationship between the switch state of the faulty phase bridge arm and the error voltage , the switch states of the two bridge arms of each phase are respectively s n1 and s n2 , where n represents the phase sequence, n=a, b, c, the switch state is 1, which means that the upper tube is turned on, the lower tube is turned off, and the switch state 0 means the upper tube is turned off and the lower tube is turned on; 对于步骤2中各状态的诊断函数构造，以及具体的诊断方法如下：For the diagnosis function structure of each state in step 2, and the specific diagnosis method are as follows: 对于状态1，构造诊断函数
Figure FDA0003102967990000031
若J1小于0，则判定Sa11故障；若J1大于0，则判定Sa22故障；For state 1, construct a diagnostic function
Figure FDA0003102967990000031
If J 1 is less than 0, it is judged that S a11 is faulty; if J 1 is greater than 0, it is judged that S a22 is faulty; 对于状态2，构造诊断函数
Figure FDA0003102967990000032
若J2小于0，则判定Sa12故障；若J2大于0，则判定Sa21故障；For state 2, construct a diagnostic function
Figure FDA0003102967990000032
If J 2 is less than 0, it is judged that S a12 is faulty; if J 2 is greater than 0, it is judged that S a21 is faulty; 对于状态3，构造诊断函数
Figure FDA0003102967990000041
若J3小于0，则判定Sb11故障；若J3大于0，则判定Sb22故障；For state 3, construct a diagnostic function
Figure FDA0003102967990000041
If J 3 is less than 0, it is judged that S b11 is faulty; if J 3 is greater than 0, it is judged that S b22 is faulty; 对于状态4，构造诊断函数
Figure FDA0003102967990000042
若J4小于0，则判定Sb12故障；若J4大于0，则判定Sb21故障；For state 4, construct a diagnostic function
Figure FDA0003102967990000042
If J 4 is less than 0, it is judged that S b12 is faulty; if J 4 is greater than 0, it is judged that S b21 is faulty; 对于状态5，构造诊断函数
Figure FDA0003102967990000043
若J5小于0，则判定Sc11故障；若J5大于0，则判定Sc22故障；For state 5, construct a diagnostic function
Figure FDA0003102967990000043
If J 5 is less than 0, it is judged that S c11 is faulty; if J 5 is greater than 0, it is judged that S c22 is faulty; 对于状态6，构造诊断函数
Figure FDA0003102967990000044
若J6小于0，则判定Sc12故障；若J6大于0，则判定Sc21故障；For state 6, construct a diagnostic function
Figure FDA0003102967990000044
If J 6 is less than 0, it is judged that S c12 is faulty; if J 6 is greater than 0, it is judged that S c21 is faulty; 其中，T为积分时长，表示积分过程持续至系统执行容错运行模式。Among them, T is the integration duration, which means that the integration process continues until the system executes the fault-tolerant operation mode.
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