CN114114062B - Direct-current bus single-current sensor inverter fault detection device and method - Google Patents
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Abstract
The invention relates to a direct-current bus single-current sensor inverter fault detection device and a method, wherein the detection method comprises the following steps: (1) Single current sensor phase current reconstruction based on MSVPWM strategy; (2) And detecting an open-circuit fault of the inverter by using the current information of the single-current sensor phase current reconstruction: (a) Calculating fault diagnosis parameters Ep and diagnosis variables Ep and Zp; (b) Judging whether Ep is not less than delta 0, if yes, inquiring a fault diagnosis table according to Ep and Zp, and determining the fault position. The invention can realize accurate phase current reconstruction in the whole space voltage vector plane, calculate the diagnosis variable by utilizing the phase current value obtained by reconstruction, and determine the specific position of the open-circuit fault of the inverter power tube by inquiring the fault diagnosis table, thereby having high accuracy.
Description
Technical Field
The invention relates to the technical field of inverter fault detection, in particular to a direct-current bus single-current sensor inverter fault detection device and method.
Background
Space vector pulse width modulation (Space vector pulse width modulation, SVPWM) technology utilizes PWM pulses generated by different voltage vector combinations to drive a three-phase voltage source inverter, thereby realizing space vector control of an alternating current motor. Under different switch states, current flows through different power devices, so that three-phase current information of an output end of the inverter is contained in the direct current bus. By installing a single current sensor on a direct current bus and sampling according to current information corresponding to a voltage vector in a PWM pulse in one period, phase current reconstruction can be realized, and the technology is called a direct current bus single current sensor phase current reconstruction technology.
Reconstructing three-phase current to realize vector control of an alternating current driving system, but how to realize accurate phase current reconstruction in the whole space voltage vector plane is a problem to be solved, and finally how to utilize current information obtained by reconstruction to perform fault detection and how to determine the specific position of an open circuit fault of an inverter power tube is one of important problems to be solved.
Disclosure of Invention
In order to solve the problems, the invention provides a direct-current bus single-current sensor inverter fault detection device and method, which are used for detecting and positioning an inverter power device open-circuit fault by reconstructing single-current sensor phase current based on MSVPWM strategies and utilizing current information reconstructed by the single-current sensor phase current. The number of current sensors in the electric drive system is reduced, so that the cost and the volume of the system are reduced, meanwhile, the inconsistency of multiple sensor parameters is avoided, and the control performance of the system is improved.
A direct current bus single current sensor inverter fault detection method comprises the following steps:
Step 1: single current sensor phase current reconstruction based on MSVPWM strategy;
Step 2: and detecting an open-circuit fault of the inverter by using the current information of the single-current sensor phase current reconstruction: (a) Calculating fault diagnosis parameters E p and diagnosis variables E p and Z p; (b) Judging whether E p is not less than delta 0, if yes, inquiring a fault diagnosis table according to E p and Z p, and determining a fault position; wherein,
ep＝λ-<|ipN|>；
Is the current vector defining the Clark transformation, I m Is the amplitude of the three-phase winding current, ω Is the electrical frequency of the motor,For the initial phase, i p (p=a, b, c) is the phase current, and i pN (p=a, b, c) is the normalized phase current;
Above, PS is a single power tube open circuit fault, PL is a double power tube open circuit fault, N is no fault, L is an upper bridge arm power tube fault, and H is a lower bridge arm power tube fault.
Further, the step 1 includes the following steps:
Step 1.1: determining a current unobservable region at MSVPWM;
Step 1.2: if the reference voltage vector V ref is in the invisible area, inserting a complementary vector to replace a zero vector; if not, executing MSVPWM strategies;
step 1.3: selecting different PWM wave generating modes according to different sector positions, and generating PWM waves to drive the inverter;
Step 1.4: sampling is carried out on the PWM wave corresponding to the current observation window, and three-phase current is reconstructed.
Further, the non-observable area in the step 1.1 is: the reference voltage vector V ref is positioned in the sector boundary and the low modulation area, and the effective voltage vector has too short acting time to meet the time required by current sampling, and the shortest time required by completing sampling is called the minimum current observation window duration T min,Tmin＝tdead+ton+trise+tsr+tA/D; wherein t dead is dead time, t rise is rising time when current suddenly changes, t sr is oscillation time before current is stabilized, and t A/D is A/D conversion time.
Further, the MSVPWM strategy in the step 1.2 is: if V ref is located in the observable region, two adjacent voltage vectors V 1 and V 2 with applied times T 1 and T 2 are used to synthesize V ref, the remaining time T 0 is complemented with zero voltage loss, and,
T0＝T000+T111＝Ts-T1-T2
If V ref is located in the unobservable region, V 0 and V 7 would be replaced by complementary effective voltage vectors V 3 and V 6, with T 0 equally distributed to two complementary vectors, i.e., T 0/2＝T3＝T6, then the zero voltage vector can be represented by the following formula:
Wherein V 3 and V 6 are two complementary voltage vectors; according to the volt-second balance principle, the reference voltage vector V ref in the invisible area is satisfied,
Vref(cosθ+jsinθ)Ts＝V1T1+V2T2+V3T3+V6T6
Wherein θ is the rotation angle of V ref; v ref is the modulus of the reference voltage vector; t s is the PWM carrier period; t k is the time of action of the voltage space vector V k (k=1, 2,3, 6); the time of action expression of each space vector of ESM-PWM is as follows,
Wherein M is modulation degree, M is epsilon [0,0.906]; when θ is located in the II to VI sectors, the current value of pi/3 is subtracted, i.e., θ - (N-1) pi/3, where N is the sector number.
Further, when the reference voltage vector V ref is located in the observable region (T 1/2>Tmin and T 2/2>Tmin), the bus current is zero at V 0 and V 7, and i a and-i c are respectively located at current observation windows T spl1 and T spl2 generated by the action of the effective voltage vectors V 1 and V 2; when the reference voltage vector V ref is located in the unobservable region (T spl1<Tmin or T spl2<Tmin,T2<T1), the zero voltage vector V 7 is replaced by the effective vector V 6 with the action time T 0/2, which corresponds to the generation of the current observation window T spl4 for the acquisition of the phase current-i b. The phase current i b generated by the opposite direction insertion vector V 3 is added to zero.
The invention also relates to a direct-current bus single-current sensor inverter fault detection device, which comprises a single-current sensor phase current reconstruction module based on MSVPWM strategy and an inverter open-circuit fault detection module for carrying out inverter open-circuit fault detection by utilizing current information of single-current sensor phase current reconstruction; the open circuit fault detection module is used for calculating fault diagnosis parameters E p and diagnosis variables E p and Z p, judging whether E p is not smaller than delta 0, if yes, inquiring a fault diagnosis table according to E p and Z p, and determining a fault position; wherein,
ep＝λ-<|ipN|>；
Is the current vector defining the Clark transformation, I m Is the amplitude of the three-phase winding current, ω Is the electrical frequency of the motor,For the initial phase, i p (p=a, b, c) is the phase current, and i pN (p=a, b, c) is the normalized phase current;
Above, PS is a single power tube open circuit fault, PL is a double power tube open circuit fault, N is no fault, L is an upper bridge arm power tube fault, and H is a lower bridge arm power tube fault.
Further, the single current sensor phase current reconstruction module based on MSVPWM policy is configured to determine a current unobservable region under MSVPWM, and insert a complementary vector instead of a zero vector if the reference voltage vector V ref is within the unobservable region; if the reference voltage vector V ref is within the observable region, executing MSVPWM strategy; selecting different PWM wave generating modes according to different sector positions to generate PWM waves to drive an inverter; sampling is carried out on the PWM wave corresponding to the current observation window, and three-phase current is reconstructed.
Further, the non-observable region is: the reference voltage vector V ref is positioned in the sector boundary and the low modulation area, and the effective voltage vector has too short acting time to meet the time required by current sampling, and the shortest time required by completing sampling is called the minimum current observation window duration T min,Tmin＝tdead+ton+trise+tsr+tA/D; wherein t dead is dead time, t rise is rising time when current suddenly changes, t sr is oscillation time before current is stabilized, and t A/D is A/D conversion time.
Further, the MSVPWM strategy is: if V ref is located in the observable region, two adjacent voltage vectors V 1 and V 2 with applied times T 1 and T 2 are used to synthesize V ref, the remaining time T 0 is complemented with zero voltage loss, and,
T0＝T000+T111＝Ts-T1-T2
If V ref is located in the unobservable region, V 0 and V 7 would be replaced by complementary effective voltage vectors V 3 and V 6, with T 0 equally distributed to two complementary vectors, i.e., T 0/2＝T3＝T6, then the zero voltage vector can be represented by the following formula:
Wherein V 3 and V 6 are two complementary voltage vectors; according to the volt-second balance principle, the reference voltage vector V ref in the invisible area is satisfied,
Vref(cosθ+jsinθ)Ts＝V1T1+V2T2+V3T3+V6T6
Wherein θ is the rotation angle of V ref; v ref is the modulus of the reference voltage vector; t s is the PWM carrier period; t k is the time of action of the voltage space vector V k (k=1, 2,3, 6); the time of action expression of each space vector of ESM-PWM is as follows,
Wherein M is modulation degree, M is epsilon [0,0.906]; when θ is located in the II to VI sectors, the current value of pi/3 is subtracted, i.e., θ - (N-1) pi/3, where N is the sector number.
The invention has the following technical effects:
1. The single current reconstruction technology reduces the number of current sensors in the electric drive system, thereby reducing the cost and the volume of the system, avoiding the inconsistency of parameters of multiple sensors and improving the control performance of the system.
2. The invention realizes accurate phase current reconstruction in the whole space voltage vector plane, calculates the diagnosis variable by utilizing the phase current value obtained by reconstruction, determines the specific position of the open-circuit fault of the inverter power tube by inquiring the fault diagnosis table, and has high accuracy.
Drawings
FIG. 1 is a basic voltage vector action control plan area and vector division diagram;
FIG. 2 principle MSVPWM when the reference voltage vector is in the I sector;
FIG. 3 Vref illustrates the phase current reconstruction principle at different areas MSVPWM of the I sector;
FIG. 4 is a table of the operating sequence of the unobservable area switch;
FIG. 5 effective vectors and measurement ampere meters for each sector;
FIG. 6 is a chart of sample currents for each sector after conversion;
FIG. 7 is a table of open circuit fault diagnostics for the inverter power device;
fig. 8 MSVPWM is a flowchart of an embodiment of an open circuit fault detection of an inverter power tube.
Detailed Description
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood that when an element such as a layer, region or substrate is referred to as being "on" or extending "over" another element, it can be directly on or extend directly onto the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" or "directly extending onto" another element, there are no intervening elements present. It will also be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.
Relative terms such as "below" or "above," "over" or "below" or "horizontal" or "vertical" may be used herein to describe one element, layer or region's relationship to another element, layer or region. As shown, it will be understood that these terms are intended to encompass different orientations of the device in addition to the orientation depicted in the figures.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention is described below with reference to flowchart illustrations and/or block diagrams of methods, systems, and computer program products according to embodiments of the invention. It will be understood that some blocks of the flowchart illustrations and/or block diagrams, and combinations of some blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be stored or implemented in a microcontroller, microprocessor, digital Signal Processor (DSP), field Programmable Gate Array (FPGA), state machine, programmable Logic Controller (PLC) or other processing circuit, general purpose computer, special purpose computer. The use computer or other programmable data processing apparatus (e.g., a production machine) to create means or block diagrams for implementing the functions/acts specified in the flowchart and/or block diagrams by the instructions being executed by the processor of the computer or other programmable data processing apparatus.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means. The functions/acts specified in the flowchart and/or block diagram block or blocks are implemented.
The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus. Other programmable devices provide steps for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. It should be understood that the functions/acts noted in the blocks may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Although some of the figures include arrows on the communication paths to illustrate the primary direction of communication, it should be understood that communication may occur in a direction opposite to the depicted arrows.
The specific implementation process of the invention is as follows:
Current unobservable region under SVPWM technique:
under the conventional SVPWM method, an effective voltage vector V i (i=1, 2,3,4,5, 6) and a zero voltage vector (V 0、V7) are defined, and when the reference voltage vector V ref is located at a sector boundary and a low modulation region, there is a case where the effective voltage vector acts for too short a time to satisfy the time required for current sampling, as shown in fig. 1, these regions are defined as unobservable regions. The minimum time required to complete the sampling is referred to as the minimum current observation window duration T min, as in equation (1),
Tmin＝tdead+ton+trise+tsr+tA/D (1)
Wherein t dead is dead time, t rise is rising time when current suddenly changes, t sr is oscillation time before current is stabilized, and t A/D is A/D conversion time.
MSVPWM strategy:
Taking sector i as an example, the reference voltage vector synthesis process in MSVPWM is shown in fig. 2. In one PWM carrier period, if V ref is located in the observable region, as shown in fig. 2 (a), two adjacent voltage vectors V 1 and V 2 with applied times T 1 and T 2 are used to synthesize V ref, the remaining time T 0 is complemented with zero voltage loss (111) or (000), and,
T0＝T000+T111＝Ts-T1-T2 (2)
If V ref is in the unobservable region, V 0 and V 7 in fig. 2 (a) will be replaced by complementary effective voltage vectors V 3 and V 6, as shown in fig. 2 (b). With T 0 equally distributed to two complementary vectors, T 0/2＝T3＝T6, the zero voltage vector can be represented by equation (3):
Wherein V 3 and V 6 are two complementary voltage vectors, and the effect of inserting complementary effective voltage vectors is the same as zero vector.
According to the volt-second balancing principle, the reference voltage vector V ref in figure 2 (b) is satisfied,
Vref(cosθ+jsinθ)Ts＝V1T1+V2T2+V3T3+V6T6 (4)
Wherein θ is the rotation angle of V ref; v ref is the modulus of the reference voltage vector; t s is the PWM carrier period; t k is the time of action of the voltage space vector V k (k=1, 2,3, 6). The time of action expression of each space vector of ESM-PWM is as follows,
Wherein M is a modulation degree, and M is 0,0.906. When θ is located in the II to VI sectors, an integer multiple of the current value of pi/3, i.e., θ - (N-1) pi/3, is subtracted, where N is the sector number.
The phase current reconstruction principle of the MSVPWM direct current bus single sensor is shown in figure 3. Taking sector i as an example, the upper part of the graph is a PWM waveform, the lower part is phase currents i a、ib and i c, and the thick line is superimposed to be a bus current i dc. As shown in fig. 3 (a), when V ref is located in the observable region (T 1/2>Tmin and T 2/2>Tmin), the bus current is zero at V 0 and V 7, i a and-i c at current observation windows T spl1 and T spl2 resulting from the action of effective voltage vectors V 1 and V 2, respectively; as shown in fig. 3 (b), when V ref is located in the unobservable region (T spl1<Tmin or T spl2<Tmin,T2<T1), the zero voltage vector V 7 is replaced by an effective vector V 6 having an active time of T 0/2, corresponding to the generation of a current observation window T spl4 for collecting phase current-i b. The phase current i b generated by the opposite direction insertion vector V 3 is added to zero. Thus, two sets of current observation windows T spl1、Tspl2 and T spl3、Tspl4 guarantee the implementation of phase current reconstruction throughout the sector. In the non-observable region, the inverter power device switching sequence is shown in fig. 2. Each sector is divided into front, middle and rear parts, and the corresponding sampling current value is shown in fig. 3.
The direct current bus single current sensor inverter fault detection method comprises the following steps:
Based on MSVPWM technology, phase current reconstruction of the direct-current bus single-current sensor can be realized, and open-circuit fault diagnosis of the inverter can be carried out by utilizing current information obtained by reconstruction. In a three-phase motor system, three-phase current information i a、ib and i c can be converted into current values i α and i β in a stationary coordinate system α - β by Clark transformation, i.e.
Where T abc/αβ is the conversion matrix.
Since most three-phase PMSMs mostly use star-connected winding forms, the zero sequence current i 0 is:
Combining formulas (6), (7) and (8) can give i α and i β,
In one PWM period, two current sampling values i sam1 and i sam2 are defined, and for convenience of calculation and analysis, current values obtained by sampling different space vector plane areas are converted into i a and i b according to kirchhoff current law, as shown in table 4. i α and i β are denoted as i a and i b,
The current vector in the Clark transformation is defined as I s,
Is＝iα+iβ＝|Is|∠θ (11)
The modulus of the current vector I s can be expressed as,
Defining three-phase winding current to be in sine distribution
Where I m is the amplitude of the three-phase winding current, ω is the electrical frequency of the motor,Is the initial phase. The current vector I s can thus be denoted as I m,
Normalizing the phase current i p (p=a, b, c) to a value of [ -1,1], the normalized phase current i pN can be expressed as,
The average value of the normalized phase current modulus value can be calculated from equation (16),
Under the normal operation of the permanent magnet synchronous motor, three-phase current is in sine distribution, a constant is calculated to be i pN, the constant is defined as lambda,
The introduction of the fault diagnosis parameter e p is defined as
ep＝λ-<|ipN|> (18)
When the three-phase alternating current motor is operating normally, e p is zero. When the inverter fails open, the load phase current is no longer sinusoidal, and e p is no longer zero and increases to a positive value. Based on the method, whether the inverter has an open-circuit fault can be judged, meanwhile, a period internal phase current normalized average value < i pN > is introduced, and the specific position of the fault of the power tube on each phase bridge arm is judged according to the positive and negative of the internal phase current normalized average value. The analysis can obtain the open-circuit fault diagnosis variable of the inverter power device as follows.
Delta 0 in equation (19) is a fault occurrence diagnostic threshold of 0.1, indicating that a fault has occurred when e p is greater than delta 0. Delta 1 is used for judging the number of power devices with open-circuit faults, the value of the delta 1 is 0.5, and when e p is smaller than delta 1, open-circuit faults of a single power tube occur; when e p is greater than delta 1, a double power tube open circuit fault occurs. In order to determine the position of a specific bridge arm where a fault occurs, a judging threshold value mu 0,μ0 =0.1 is introduced, and when < i pN > is smaller than-mu 0, the fault occurs in a lower bridge arm; when < i pN > is greater than μ 0, a fault occurs in the upper leg. Thus, the fault diagnosis table can be summarized as shown in table 5.
In summary, the step of detecting the open circuit fault of the inverter power tube is implemented by the whole MSVPWM technology as shown in fig. 8. First, the current sector position is determined using the magnitude and phase angle of the reference voltage vector and a determination is made as to whether it is in an unobservable region. And then, selecting different PWM wave generating modes according to different sector positions, and sampling bus current in a corresponding current observation window, so that accurate phase current reconstruction in the whole space voltage vector plane is realized. And finally, calculating a diagnosis variable by using the phase current value obtained by reconstruction, and determining the specific position of the open-circuit fault of the power tube of the inverter by inquiring a fault diagnosis table.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and those skilled in the art, after reading the present application, may make various modifications or alterations to the present application with reference to the above embodiments, all of which are within the scope of the present application as defined in the appended claims.
Claims (5)
1. The method for detecting the faults of the inverter of the direct-current bus single-current sensor is characterized by comprising the following steps of:
Step 1: single current sensor phase current reconstruction based on MSVPWM strategy;
Step 2: and detecting an open-circuit fault of the inverter by using the current information of the single-current sensor phase current reconstruction: (a) Calculating fault diagnosis parameters E p and diagnosis variables E p and Z p; (b) Judging whether E p is not less than delta 0, if yes, inquiring a fault diagnosis table according to E p and Z p, and determining a fault position; wherein,
ep＝λ-<|ipN|>；
Is the current vector defining the Clark transformation, I m Is the amplitude of the three-phase winding current, ω Is the electrical frequency of the motor,For the initial phase, i p (p=a, b, c) is the phase current, and i pN (p=a, b, c) is the normalized phase current;
above, PS is a single power tube open circuit fault, PL is a double power tube open circuit fault, N is no fault, L is an upper bridge arm power tube fault, and H is a lower bridge arm power tube fault;
the step 1 comprises the following steps:
Step 1.1: determining a current unobservable region at MSVPWM;
Step 1.2: if the reference voltage vector V ref is in the invisible area, inserting a complementary vector to replace a zero vector; if not, executing MSVPWM strategies;
step 1.3: selecting different PWM wave generating modes according to different sector positions, and generating PWM waves to drive the inverter;
Step 1.4: sampling and reconstructing three-phase current in a current observation window corresponding to the PWM wave;
The MSVPWM strategy in the step 1.2 is: if V ref is located in the observable region, two adjacent voltage vectors V 1 and V 2 with applied times T 1 and T 2 are used to synthesize V ref, the remaining time T 0 is complemented with zero voltage loss, and,
T0＝T000+T111＝Ts-T1-T2
If V ref is located in the unobservable region, V 0 and V 7 would be replaced by complementary effective voltage vectors V 3 and V 6, with T 0 equally distributed to two complementary vectors, i.e., T 0/2＝T3＝T6, then the zero voltage vector can be represented by the following formula:
Wherein V 3 and V 6 are two complementary voltage vectors; according to the volt-second balance principle, the reference voltage vector V ref in the invisible area is satisfied,
Vref(cosθ+jsinθ)Ts＝V1T1+V2T2+V3T3+V6T6
Wherein θ is the rotation angle of V ref; v ref is the modulus of the reference voltage vector; t s is the PWM carrier period; t k is the time of action of the voltage space vector V k (k=1, 2,3, 6); the time of action expression of each space vector of ESM-PWM is as follows,
Wherein M is modulation degree, M is epsilon [0,0.906]; when θ is located in the II to VI sectors, the current value of pi/3 is subtracted, i.e., θ - (N-1) pi/3, where N is the sector number.
2. The method according to claim 1, wherein the non-observable area of step 1.1 is: the reference voltage vector V ref is positioned in the sector boundary and the low modulation area, and the effective voltage vector has too short acting time to meet the time required by current sampling, and the shortest time required by completing sampling is called the minimum current observation window duration T min,Tmin＝tdead+ton+trise+tsr+tA/D; wherein t dead is dead time, t rise is rising time when current suddenly changes, t sr is oscillation time before current is stabilized, and t A/D is A/D conversion time.
3. The method according to claim 1, characterized in that when the reference voltage vector V ref is located in the observable region (T 1/2>Tmin and T 2/2>Tmin), the bus current is zero at V 0 and V 7, i a and-i c at the current observation windows T spl1 and T spl2 resulting from the action of the effective voltage vectors V 1 and V 2, respectively; when the reference voltage vector V ref is located in a non-observable area (T spl1<Tmin or T spl2<Tmin,T2<T1), the zero voltage vector V 7 is replaced by an effective vector V 6 with the action time of T 0/2, and a current observation window T spl4 is correspondingly generated for collecting phase current-i b; the phase current i b generated by the opposite direction insertion vector V 3 is added to zero.
4. The direct-current bus single-current sensor inverter fault detection device is characterized by comprising a single-current sensor phase current reconstruction module based on MSVPWM strategy and an inverter open-circuit fault detection module which utilizes current information of single-current sensor phase current reconstruction; the open circuit fault detection module is used for calculating fault diagnosis parameters E p and diagnosis variables E p and Z p, judging whether E p is not smaller than delta 0, if yes, inquiring a fault diagnosis table according to E p and Z p, and determining a fault position; wherein,
ep＝λ-<|ipN|>；
Is the current vector defining the Clark transformation, I m Is the amplitude of the three-phase winding current, ω Is the electrical frequency of the motor,For the initial phase, i p (p=a, b, c) is the phase current, and i pN (p=a, b, c) is the normalized phase current;
above, PS is a single power tube open circuit fault, PL is a double power tube open circuit fault, N is no fault, L is an upper bridge arm power tube fault, and H is a lower bridge arm power tube fault;
The single current sensor phase current reconstruction module based on MSVPWM strategy is used for determining a current unobservable region under MSVPWM, and if the reference voltage vector V ref is in the unobservable region, a complementary vector is inserted to replace a zero vector; if the reference voltage vector V ref is within the observable region, executing MSVPWM strategy; selecting different PWM wave generating modes according to different sector positions to generate PWM waves to drive an inverter; sampling and reconstructing three-phase current in a current observation window corresponding to the PWM wave;
The MSVPWM strategy is: if V ref is located in the observable region, two adjacent voltage vectors V 1 and V 2 with applied times T 1 and T 2 are used to synthesize V ref, the remaining time T 0 is complemented with zero voltage loss, and,
T0＝T000+T111＝Ts-T1-T2
If V ref is located in the unobservable region, V 0 and V 7 would be replaced by complementary effective voltage vectors V 3 and V 6, with T 0 equally distributed to two complementary vectors, i.e., T 0/2＝T3＝T6, then the zero voltage vector can be represented by the following formula:
Wherein V 3 and V 6 are two complementary voltage vectors; according to the volt-second balance principle, the reference voltage vector V ref in the invisible area is satisfied,
Vref(cosθ+jsinθ)Ts＝V1T1+V2T2+V3T3+V6T6
Wherein θ is the rotation angle of V ref; v ref is the modulus of the reference voltage vector; t s is the PWM carrier period; t k is the time of action of the voltage space vector V k (k=1, 2,3, 6); the time of action expression of each space vector of ESM-PWM is as follows,
Wherein M is modulation degree, M is epsilon [0,0.906]; when θ is located in the II to VI sectors, the current value of pi/3 is subtracted, i.e., θ - (N-1) pi/3, where N is the sector number.
5. The apparatus of claim 4, wherein the unobservable region is: the reference voltage vector V ref is located at the sector boundary and the low modulation region, when there is a time required for the effective voltage vector to act too short to meet the current sampling, the shortest time required for completing the sampling is called the minimum current observation window duration T min,
T min＝tdead+ton+trise+tsr+tA/D; wherein t dead is dead time, t rise is rising time when current suddenly changes, t sr is oscillation time before current is stabilized, and t A/D is A/D conversion time.
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