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CN114563732A - Open-circuit fault diagnosis method for composite energy source power tube based on Longberger observer - Google Patents

Open-circuit fault diagnosis method for composite energy source power tube based on Longberger observer Download PDF

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CN114563732A
CN114563732A CN202210081783.5A CN202210081783A CN114563732A CN 114563732 A CN114563732 A CN 114563732A CN 202210081783 A CN202210081783 A CN 202210081783A CN 114563732 A CN114563732 A CN 114563732A
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storage battery
output current
open
super capacitor
power tube
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杭俊
葛朝强
汤德伟
丁石川
鲍海波
郭小璇
李国丽
王群京
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Anhui University
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Abstract

The invention provides a composite energy source power tube open-circuit fault diagnosis method based on a Luenberger observer, which comprises the following steps: s1, establishing a global mathematical model; s2, constructing a global Lambertian observer, and observing by using the Lambertian observer; s3, comparing the observed value of the Luenberger observer with the measured value of the actual system to obtain the residual error of the fault signal; judging whether the power tube is open-circuited according to whether a residual error evaluation function of the direct-current bus voltage exceeds a threshold value; if an open circuit occurs, comparing the magnitude of the absolute value of the observed residual error of the output current of the storage battery side with the magnitude of the absolute value of the observed residual error of the output current of the super capacitor side, and enabling the power tube on the side with the larger absolute value of the residual error to have an open circuit fault; and finally, judging the object with the open circuit according to the running state of the permanent magnet synchronous motor. The invention can efficiently and accurately realize the open-circuit fault detection and positioning of the bidirectional DC/DC power tube in the composite energy source system.

Description

基于龙伯格观测器的复合能量源功率管开路故障诊断方法Open-circuit fault diagnosis method of composite energy source power tube based on Lomborg observer

技术领域technical field

本发明涉及故障诊断技术领域，尤其涉及基于龙伯格观测器的复合能量源功率管开路故障诊断方法。The invention relates to the technical field of fault diagnosis, in particular to a method for diagnosing open circuit faults of a composite energy source power tube based on a Lumberg observer.

背景技术Background technique

对于电动汽车而言，多选用蓄电池作为车载能量源，但是蓄电池功率密度难以满足高性能电动汽车动力需求，同时制动能量回收效率低，并且较为频繁的进行大电流充放电会严重削弱蓄电池使用寿命和安全性。超级电容器的功率密度和循环寿命性能十分优异，近年来使用日益广泛，但其能量密度低，无法成为电动汽车的主能量源。作为单一能量源的蓄电池与超级电容器都有着各自明显的优缺点，蓄电池与超级电容器组成的复合能量源可充分发挥蓄电池高能量密度与超级电容器高功率密度的优势，以最佳性价比显著提升电动汽车动力性能和制动能量回收效率。考虑到电动汽车行驶过程中负载功率具有随机性和波动性，提出了使用高功率密度、充放电循环使用寿命长及响应速度快的超级电容和高能量密度、但不易频繁充放电的电池构成高效可靠的复合储能源。考虑减少蓄电池充放电功率的波动性，有效保护电池，延长整个系统的使用寿命，采用低通滤波对负载功率在电池和超级电容两种储能源之间进行合理分配，通常将电池和超级电容两种储能源均与双向DC/DC变换器相连并联于直流母线，实现两种储能源的独立控制。For electric vehicles, batteries are often used as the on-board energy source, but the power density of the batteries is difficult to meet the power requirements of high-performance electric vehicles. At the same time, the braking energy recovery efficiency is low, and frequent high-current charging and discharging will seriously reduce the battery life. and security. Supercapacitors have excellent power density and cycle life performance, and they have been widely used in recent years, but their low energy density makes them unable to become the main energy source for electric vehicles. As a single energy source, batteries and supercapacitors have their own obvious advantages and disadvantages. The composite energy source composed of batteries and supercapacitors can give full play to the advantages of high energy density of batteries and high power density of supercapacitors, and significantly improve electric vehicles with the best cost performance. Dynamic performance and braking energy recovery efficiency. Considering the randomness and fluctuation of the load power during the driving of electric vehicles, it is proposed to use supercapacitors with high power density, long charge-discharge cycle life and fast response speed, and batteries with high energy density but not easy to charge and discharge frequently. Reliable composite energy storage. Consider reducing the volatility of battery charging and discharging power, effectively protect the battery, and prolong the service life of the entire system. Low-pass filtering is used to reasonably distribute the load power between the battery and the supercapacitor. Usually, the battery and the supercapacitor are two energy storage sources. All kinds of energy storage are connected to the bidirectional DC/DC converter in parallel with the DC bus to realize independent control of the two energy storages.

对于电动汽车用复合能量源系统，在实际运行工况中，双向DC/DC变换器是最易出现故障的部件，其故障主要包括功率管故障、电容故障和接口故障等。其中功率管故障大约占到变换器故障的31％，主要是功率管开路故障和短路故障；短路故障演变速度快，通常在变换器中增加快熔断器将短路故障转换成开路故障。功率管开路故障势必影响变流器控制功能乃至复合能量源永磁电机系统的正常功能的实现，长时间运行在故障状况下，将会降低复合能量源永磁电机系统的可靠性，甚至诱发次级故障从而引起整个系统的瘫痪。因此，研究电动汽车用复合能量源系统功率管故障诊断技术对保障电动汽车安全运行具有重要意义。但是目前功率管开路故障诊断方法较复杂，成本高且可靠性低，不实用。For the composite energy source system for electric vehicles, the bidirectional DC/DC converter is the most fault-prone component in actual operating conditions, and its faults mainly include power tube faults, capacitor faults and interface faults. Among them, power tube faults account for about 31% of converter faults, mainly power tube open-circuit faults and short-circuit faults; short-circuit faults evolve rapidly, and fast fuses are usually added in converters to convert short-circuit faults into open-circuit faults. The open-circuit fault of the power tube will inevitably affect the control function of the converter and even the realization of the normal function of the composite energy source permanent magnet motor system. Running under the fault condition for a long time will reduce the reliability of the composite energy source permanent magnet motor system, and even induce secondary level failures, thereby causing the paralysis of the entire system. Therefore, it is of great significance to study the power tube fault diagnosis technology of the composite energy source system for electric vehicles to ensure the safe operation of electric vehicles. However, the current power tube open-circuit fault diagnosis method is complex, has high cost and low reliability, and is not practical.

发明内容SUMMARY OF THE INVENTION

基于背景技术中存在的技术问题，本发明提出了基于龙伯格观测器的复合能量源功率管开路故障诊断方法。Based on the technical problems existing in the background art, the present invention proposes a method for diagnosing an open circuit fault of a power tube of a composite energy source based on a Lumberg observer.

本发明提出的基于龙伯格观测器的复合能量源功率管开路故障诊断方法，包括以下步骤：The open-circuit fault diagnosis method of the composite energy source power tube based on the Lumberg observer proposed by the present invention includes the following steps:

S1、根据复合能量源系统状态方程，建立全局数学模型；S1. According to the state equation of the composite energy source system, establish a global mathematical model;

S2、根据复合能量源系统状态方程构造全局的龙伯格观测器，利用龙伯格观测器对直流母线电压、蓄电池侧输出电流、超级电容侧输出电流进行观测；S2. Construct a global Lomborg observer according to the state equation of the composite energy source system, and use the Lomborg observer to observe the DC bus voltage, the output current on the battery side, and the output current on the supercapacitor side;

S3、将龙伯格观测器的观测值与实际系统测量值进行比较，得到故障信号的残差；根据直流母线电压的残差评估函数是否超过阈值来判断功率管是否发生开路；若发生开路，将蓄电池侧输出电流的观测残差绝对值大小与超级电容侧输出电流的观测残差绝对值大小进行比较，残差绝对值较大的一侧功率管发生了开路故障；最后依据永磁同步电机的运行状态来判断发生开路对象。S3. Compare the observed value of the Lomborg observer with the measured value of the actual system to obtain the residual error of the fault signal; according to whether the residual evaluation function of the DC bus voltage exceeds the threshold value to determine whether the power tube has an open circuit; if an open circuit occurs, The absolute value of the observed residual error of the output current on the battery side is compared with the absolute value of the observed residual error of the output current on the supercapacitor side. The power tube on the side with the larger absolute value of the residual error has an open-circuit fault. Finally, according to the permanent magnet synchronous motor The operating status of the open circuit object is judged.

优选的，步骤S1中全局数学模型为：Preferably, the global mathematical model in step S1 is:

Figure BDA0003486188820000021
Figure BDA0003486188820000021

式中：R1、L1分别是蓄电池侧的电阻、电感；R2、L2分别是超级电容侧的电阻、电感；Cdc为直流母线滤波电容；Vbat是蓄电池电压；Vsc是超级电容电压；io是直流母线输出电流；ibat是蓄电池侧输出电流；isc是超级电容侧输出电流；Vdc是直流母线电压；υ01、υ23分别为蓄电池侧双向DC/DC变换器、超级电容侧双向DC/DC变换器的控制信号。In the formula: R 1 and L 1 are the resistance and inductance of the battery side respectively; R 2 and L 2 are the resistance and inductance of the super capacitor side respectively; C dc is the DC bus filter capacitor; V bat is the battery voltage; V sc is the super capacitor capacitor voltage; i o is the DC bus output current; i bat is the battery side output current; isc is the super capacitor side output current; V dc is the DC bus voltage; υ 01 , υ 23 are the battery side bidirectional DC/DC converters respectively , The control signal of the bidirectional DC/DC converter on the supercapacitor side.

优选的，步骤S1具体步骤如下：Preferably, the specific steps of step S1 are as follows:

S11、二进制开关函数的定义：S11. Definition of binary switch function:

根据蓄电池充放电状态定义蓄电池储能单元的二进制开关函数k：The binary switching function k of the battery energy storage unit is defined according to the charging and discharging state of the battery:

Figure BDA0003486188820000031
Figure BDA0003486188820000031

式中：ibat,ref为蓄电池侧输出电流的参考值；In the formula: i bat,ref is the reference value of the output current of the battery side;

根据超级电容的充放电状态定义超级电容储能单元的二进制开关函数m：The binary switching function m of the supercapacitor energy storage unit is defined according to the charging and discharging state of the supercapacitor:

Figure BDA0003486188820000032
Figure BDA0003486188820000032

式中：isc,ref为超级电容侧输出电流的参考值；In the formula: i sc,ref is the reference value of the output current of the super capacitor side;

S12、局部模型的建立：S12, the establishment of the local model:

根据基尔霍夫定律列写电路方程并整理得蓄电池储能单元、超级电容储能单元在放电模式下的状态方程分别为：According to Kirchhoff's law, the circuit equations are written and sorted out, and the state equations of the battery energy storage unit and the supercapacitor energy storage unit in the discharge mode are:

Figure BDA0003486188820000033
Figure BDA0003486188820000033

Figure BDA0003486188820000034
Figure BDA0003486188820000034

式中：υ0、υ2分别是开关管S0、S2的占空比；i1、i2分别是蓄电池、超级电容对负载的输出电流；In the formula: υ 0 and υ 2 are the duty ratios of the switches S 0 and S 2 respectively; i 1 and i 2 are the output currents of the battery and the super capacitor to the load, respectively;

根据基尔霍夫定律列写电路方程并整理得蓄电池储能单元、超级电容储能单元在充电模式下的状态方程分别为：According to Kirchhoff's law, the circuit equations are listed and sorted out, and the state equations of the battery energy storage unit and the supercapacitor energy storage unit in the charging mode are:

Figure BDA0003486188820000041
Figure BDA0003486188820000041

Figure BDA0003486188820000042
Figure BDA0003486188820000042

式中：υ1、υ3分别是开关管S1、S3的占空比；In the formula: υ 1 and υ 3 are the duty ratios of the switches S 1 and S 3 respectively;

S13、全局数学模型的建立：S13, the establishment of the global mathematical model:

将蓄电池储能单元的二进制开关函数分别代入蓄电池储能单元充电、放电模式下的状态方程，得到蓄电池储能单元在充电、放电模式下的全局数学模型分别为：Substitute the binary switching function of the battery energy storage unit into the state equations of the battery energy storage unit in the charging and discharging modes, respectively, and obtain the global mathematical models of the battery energy storage unit in the charging and discharging modes:

Figure BDA0003486188820000043
Figure BDA0003486188820000043

将超级电容储能单元的二进制开关函数分别代入超级电容储能单元充电、放电模式下的状态方程，得到超级电容储能单元在充电、放电模式下的全局数学模型分别为：Substitute the binary switching function of the supercapacitor energy storage unit into the state equations of the supercapacitor energy storage unit in the charging and discharging modes, respectively, and obtain the global mathematical models of the supercapacitor energy storage unit in the charging and discharging modes:

Figure BDA0003486188820000044
Figure BDA0003486188820000044

定义式(8)、(9)中等号右侧第一个系数项分别为蓄电池侧双向DC/DC变换器、超级电容侧双向DC/DC变换器的控制信号，即：The first coefficient term on the right side of the equations (8) and (9) is the control signal of the bidirectional DC/DC converter on the battery side and the bidirectional DC/DC converter on the supercapacitor side, namely:

υ01＝k(1-υ0)+(1-k)υ1 (10)υ 01 =k(1-υ 0 )+(1-k)υ 1 (10)

υ23＝m(1-υ2)+(1-m)υ3 (11)υ 23 =m(1-υ 2 )+(1-m)υ 3 (11)

通过直流母线电容的电流idc为：The current i dc through the DC bus capacitor is:

Figure BDA0003486188820000051
Figure BDA0003486188820000051

根据式(8)、(9)、(10)、(11)、(12)得到复合能源系统的全局数学模型为：According to formulas (8), (9), (10), (11), (12), the global mathematical model of the composite energy system is obtained as:

Figure BDA0003486188820000052
Figure BDA0003486188820000052

优选的，步骤S2中全局的龙伯格观测器为：Preferably, the global Lomborg observer in step S2 is:

Figure BDA0003486188820000053
Figure BDA0003486188820000053

式中：

Figure BDA0003486188820000054
为蓄电池侧输出电流观测值；
Figure BDA0003486188820000055
为超级电容侧输出电流观测值；
Figure BDA0003486188820000056
为直流母线电压观测值；ke1、ke2、ke3为反馈增益系数。where:
Figure BDA0003486188820000054
is the observed value of the output current on the battery side;
Figure BDA0003486188820000055
is the observed value of the output current on the supercapacitor side;
Figure BDA0003486188820000056
is the observed value of the DC bus voltage; ke1 , ke2 , and ke3 are the feedback gain coefficients.

优选的，步骤S3具体包括以下步骤：Preferably, step S3 specifically includes the following steps:

S31、定义直流母线电压残差为龙伯格观测器的直流母线电压的观测值与实际值之间的误差，即

Figure BDA0003486188820000057
S31. Define the DC bus voltage residual as the error between the observed value and the actual value of the DC bus voltage of the Lomborg observer, that is,
Figure BDA0003486188820000057

S32、确定残差信号的评估函数：S32. Determine the evaluation function of the residual signal:

Figure BDA0003486188820000058
Figure BDA0003486188820000058

式中：w是滑动窗口的大小；Where: w is the size of the sliding window;

当系统无故障时，在转速稳定期间和突变期间各选取残差评估函数的最大值作为对应状态的阈值，选择的阈值如下：When there is no fault in the system, the maximum value of the residual evaluation function is selected as the threshold value of the corresponding state during the speed stabilization period and the sudden change period. The selected threshold values are as follows:

Jth＝max(Jr) (15)；J th =max(J r ) (15);

S33、比较Jr((t)、Jth：若Jr(t)＜Jth，未发生开路故障；否则，发生开路故障；发生开路时，将蓄电池侧输出电流和超级电容侧输出电流的观测残差绝对值大小进行比较，绝对值较大的一侧双向DC/DC功率管发生了开路故障；S33. Compare J r ((t) and J th : if J r (t)<J th , no open-circuit fault occurs; otherwise, an open-circuit fault occurs; when an open-circuit occurs, compare the output current of the battery side and the output current of the super capacitor side Observing and comparing the absolute value of the residual error, the bidirectional DC/DC power tube on the side with the larger absolute value has an open-circuit fault;

S34、依据永磁同步电机的运行状态来判断发生开路对象。S34, according to the running state of the permanent magnet synchronous motor, determine the open-circuit object.

优选的，步骤S34具体步骤如下：Preferably, the specific steps of step S34 are as follows:

S341、电机处于稳定运行时，功率波动不大，功率由蓄电池侧供应，蓄电池侧双向DC/DC处于放电升压模式，放电功率管工作；若此时检测到蓄电池侧输出电流观测残差绝对值大于超级电容侧输出电流的观测残差绝对值，判定蓄电池侧放电功率管发生了开路；S341. When the motor is in stable operation, the power fluctuation is not large, the power is supplied by the battery side, the bidirectional DC/DC on the battery side is in the discharge boost mode, and the discharge power tube works; if the battery side output current is detected at this time, the absolute value of the residual error is observed. If it is greater than the absolute value of the observed residual error of the output current on the supercapacitor side, it is determined that the discharge power tube on the battery side has an open circuit;

S342、电机处于陡然升速时，功率波动大，功率由蓄电池和超级电容同时供应，蓄电池侧双向DC/DC、超级电容侧双向DC/DC同时处于放电升压模式，即两侧的放电功率管同时工作；若此时检测到蓄电池侧输出电流观测残差绝对值大于超级电容侧输出电流的观测残差绝对值，判定蓄电池侧放电功率管发生了开路；若检测到蓄电池侧输出电流观测残差绝对值小于超级电容侧输出电流的观测残差绝对值，判定超级电容侧放电功率管发生了开路；S342. When the motor is in a sudden acceleration, the power fluctuates greatly. The power is supplied by the battery and the super capacitor at the same time. The bidirectional DC/DC on the battery side and the bidirectional DC/DC on the super capacitor side are in the discharge boost mode at the same time, that is, the discharge power tubes on both sides Work at the same time; if it is detected that the absolute value of the observed residual error of the output current on the battery side is greater than the absolute value of the observed residual error of the output current on the super capacitor side, it is determined that the discharge power tube on the battery side has an open circuit; if the observed residual error of the output current on the battery side is detected If the absolute value is less than the absolute value of the observed residual error of the output current on the supercapacitor side, it is determined that the discharge power tube on the supercapacitor side has an open circuit;

S343、电机处于陡然减速时，功率波动大，电机能量同时回馈到蓄电池和超级电容，蓄电池侧双向DC/DC、超级电容侧双向DC/DC同时处于充电降压模式，即两侧的充电功率管同时工作；若此时检测到蓄电池侧输出电流观测残差绝对值大于超级电容侧输出电流的观测残差绝对值，判定蓄电池侧充电功率管发生了开路；若检测到蓄电池侧输出电流观测残差绝对值小于超级电容侧输出电流的观测残差绝对值，判定超级电容侧充电功率管发生了开路。S343. When the motor is decelerating abruptly, the power fluctuates greatly, and the motor energy is fed back to the battery and the super capacitor at the same time. The two-way DC/DC on the battery side and the two-way DC/DC on the super capacitor side are in the charging step-down mode at the same time, that is, the charging power tubes on both sides Work at the same time; if it is detected that the absolute value of the observed residual error of the output current on the battery side is greater than the absolute value of the observed residual error of the output current on the super capacitor side, it is determined that the charging power tube on the battery side has an open circuit; if the observed residual error of the output current on the battery side is detected If the absolute value is less than the absolute value of the observed residual error of the output current on the supercapacitor side, it is determined that the charging power tube on the supercapacitor side has an open circuit.

本发明提出的基于龙伯格观测器的复合能量源功率管开路故障诊断方法，对复合能量源及其两个接口电路双向DC/DC构造了全局数学模型，进而建立了一个全局的龙伯格观测器，只需一个观测器就可对直流母线电压、蓄电池侧输出电流、超级电容侧输出电流进行同时观测，可以高效、准确地实现复合能量源系统中双向DC/DC功率管开路故障检测与定位，降低了观测器模型的复杂度，简单实用、成本低、可靠性高，使得故障诊断方案更加实用，便捷。The open-circuit fault diagnosis method of the composite energy source power tube based on the Lumberg observer proposed by the invention constructs a global mathematical model for the bidirectional DC/DC of the composite energy source and its two interface circuits, and then establishes a global Lumberg Observer, only one observer can simultaneously observe the DC bus voltage, the output current of the battery side, and the output current of the super capacitor side, which can efficiently and accurately realize the open-circuit fault detection and detection of the bidirectional DC/DC power tube in the composite energy source system. The positioning reduces the complexity of the observer model, is simple and practical, has low cost and high reliability, and makes the fault diagnosis scheme more practical and convenient.

附图说明Description of drawings

图1为复合能量源系统拓扑结构图；Fig. 1 is the topological structure diagram of the composite energy source system;

图2为复合能量源系统中双向DC/DC变换器龙伯格观测器结构框图；Fig. 2 is the structural block diagram of the bidirectional DC/DC converter Lumberg observer in the composite energy source system;

图3为本发明基于龙伯格观测器的故障诊断原理图。FIG. 3 is a schematic diagram of the fault diagnosis based on the Lumberg observer of the present invention.

具体实施方式Detailed ways

下面结合附图和具体实施方式对本发明作更进一步的说明。The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

如图1所示，该系统由蓄电池和超级电容组成复合能量源系统，两个双向DC/DC为其接口电路以及五相永磁同步电机驱动系统构成。As shown in Figure 1, the system consists of a battery and a super capacitor to form a composite energy source system, two bidirectional DC/DC as its interface circuit and a five-phase permanent magnet synchronous motor drive system.

本发明提出基于龙伯格观测器的复合能量源功率管开路故障诊断方法，包括以下步骤：The present invention proposes a method for diagnosing open-circuit faults of a composite energy source power tube based on a Lumberg observer, comprising the following steps:

S1、根据图1的复合能量源系统状态方程，建立全局数学模型：S1. According to the state equation of the composite energy source system in Fig. 1, establish a global mathematical model:

Figure BDA0003486188820000071
Figure BDA0003486188820000071

式中：R1、L1分别是蓄电池侧的电阻、电感；R2、L2分别是超级电容侧的电阻、电感；Cdc为直流母线滤波电容；Vbat是蓄电池电压；Vsc是超级电容电压；io是直流母线输出电流；ibat是蓄电池侧输出电流；isc是超级电容侧输出电流；Vdc是直流母线电压；υ01、υ23分别为蓄电池侧双向DC/DC变换器、超级电容侧双向DC/DC变换器唯一的控制信号。In the formula: R 1 and L 1 are the resistance and inductance of the battery side respectively; R 2 and L 2 are the resistance and inductance of the super capacitor side respectively; C dc is the DC bus filter capacitor; V bat is the battery voltage; V sc is the super capacitor capacitor voltage; i o is the DC bus output current; i bat is the battery side output current; isc is the super capacitor side output current; V dc is the DC bus voltage; υ 01 , υ 23 are the battery side bidirectional DC/DC converters respectively , The only control signal for the bidirectional DC/DC converter on the supercapacitor side.

根据图1的复合能量源拓扑结构，可以以局部建模为基础，建立混合能量源的全局数学模型，具体的建模过程可按以下三步进行：According to the topology of the composite energy source in Figure 1, a global mathematical model of the hybrid energy source can be established based on local modeling. The specific modeling process can be carried out in the following three steps:

S11、二进制开关函数的定义：S11. Definition of binary switch function:

根据蓄电池充放电状态定义蓄电池储能单元的二进制开关函数k：The binary switching function k of the battery energy storage unit is defined according to the charging and discharging state of the battery:

Figure BDA0003486188820000081
Figure BDA0003486188820000081

式中：ibat,ref为蓄电池侧输出电流的参考值。In the formula: i bat,ref is the reference value of the output current of the battery side.

根据超级电容的充放电状态定义超级电容储能单元的二进制开关函数m：The binary switching function m of the supercapacitor energy storage unit is defined according to the charging and discharging state of the supercapacitor:

Figure BDA0003486188820000082
Figure BDA0003486188820000082

式中：isc,ref为超级电容侧输出电流的参考值。In the formula: i sc,ref is the reference value of the output current of the super capacitor side.

S12、局部模型的建立：S12, the establishment of the local model:

a.放电模式(k＝1,m＝1)a. Discharge mode (k=1, m=1)

根据基尔霍夫定律列写电路方程并整理得蓄电池储能单元、超级电容储能单元在放电模式下的状态方程分别为：According to Kirchhoff's law, the circuit equations are written and sorted out, and the state equations of the battery energy storage unit and the supercapacitor energy storage unit in the discharge mode are:

Figure BDA0003486188820000083
Figure BDA0003486188820000083

Figure BDA0003486188820000084
Figure BDA0003486188820000084

式中：υ0、υ2分别是开关管S0、S2的占空比；i1、i2分别是蓄电池、超级电容对负载的输出电流。In the formula: υ 0 and υ 2 are the duty ratios of the switching tubes S 0 and S 2 respectively; i 1 and i 2 are the output currents of the battery and the super capacitor to the load, respectively.

b.充电模式(k＝0,m＝0)b. Charging mode (k=0, m=0)

根据基尔霍夫定律列写电路方程并整理得蓄电池储能单元、超级电容储能单元在充电模式下的状态方程分别为：According to Kirchhoff's law, the circuit equations are listed and sorted out, and the state equations of the battery energy storage unit and the supercapacitor energy storage unit in the charging mode are:

Figure BDA0003486188820000091
Figure BDA0003486188820000091

Figure BDA0003486188820000092
Figure BDA0003486188820000092

式中：υ1、υ3分别是开关管S1、S3的占空比。In the formula: υ 1 and υ 3 are the duty ratios of the switches S 1 and S 3 respectively.

S13、全局数学模型的建立：S13, the establishment of the global mathematical model:

将蓄电池储能单元的二进制开关函数分别代入蓄电池储能单元充电、放电模式下的状态方程，得到蓄电池储能单元在充电、放电模式下的全局数学模型分别为：Substitute the binary switching function of the battery energy storage unit into the state equations of the battery energy storage unit in the charging and discharging modes, respectively, and obtain the global mathematical models of the battery energy storage unit in the charging and discharging modes:

Figure BDA0003486188820000093
Figure BDA0003486188820000093

将超级电容储能单元的二进制开关函数分别代入超级电容储能单元充电、放电模式下的状态方程，得到超级电容储能单元在充电、放电模式下的全局数学模型分别为：Substitute the binary switching function of the supercapacitor energy storage unit into the state equations of the supercapacitor energy storage unit in the charging and discharging modes, respectively, and obtain the global mathematical models of the supercapacitor energy storage unit in the charging and discharging modes:

Figure BDA0003486188820000094
Figure BDA0003486188820000094

定义式(8)、(9)中等号右侧第一个系数项分别为蓄电池侧双向DC/DC变换器、超级电容侧双向DC/DC变换器唯一的控制信号，即：The first coefficient term on the right side of the equations (8) and (9) is the only control signal of the bidirectional DC/DC converter on the battery side and the bidirectional DC/DC converter on the supercapacitor side, namely:

υ01＝k(1-υ0)+(1-k)υ1 (10)υ 01 =k(1-υ 0 )+(1-k)υ 1 (10)

υ23＝m(1-υ2)+(1-m)υ3 (11)υ 23 =m(1-υ 2 )+(1-m)υ 3 (11)

通过直流母线电容的电流idc为：The current i dc through the DC bus capacitor is:

Figure BDA0003486188820000101
Figure BDA0003486188820000101

根据式(8)、(9)、(10)、(11)、(12)得到复合能源系统的全局数学模型为：According to formulas (8), (9), (10), (11), (12), the global mathematical model of the composite energy system is obtained as:

Figure BDA0003486188820000102
Figure BDA0003486188820000102

S2、根据复合能量源系统状态方程构造全局的龙伯格观测器，利用龙伯格观测器对直流母线电压、蓄电池侧输出电流、超级电容侧输出电流进行观测；S2. Construct a global Lomborg observer according to the state equation of the composite energy source system, and use the Lomborg observer to observe the DC bus voltage, the output current on the battery side, and the output current on the supercapacitor side;

全局的龙伯格观测器为：The global Lomborg observer is:

Figure BDA0003486188820000103
Figure BDA0003486188820000103

式中：

Figure BDA0003486188820000104
为蓄电池侧输出电流观测值；
Figure BDA0003486188820000105
为超级电容侧输出电流观测值；
Figure BDA0003486188820000106
为直流母线电压观测值；ke1、ke2、ke3为反馈增益系数。where:
Figure BDA0003486188820000104
is the observed value of the output current on the battery side;
Figure BDA0003486188820000105
is the observed value of the output current on the supercapacitor side;
Figure BDA0003486188820000106
is the observed value of the DC bus voltage; ke1 , ke2 , and ke3 are the feedback gain coefficients.

构造全局的龙伯格观测器具体步骤如下：The specific steps for constructing a global Lomborg observer are as follows:

将式(1)改为状态空间方程的描述形式：Change Equation (1) into the description form of the state space equation:

Figure BDA0003486188820000107
Figure BDA0003486188820000107

式中：

Figure BDA0003486188820000111
x(t)＝[ibatisc Vdc]T,u(t)＝[Vbat Vsc io]T。where:
Figure BDA0003486188820000111
x(t)=[i bat isc V dc ] T , u(t)=[V bat V sc i o ] T .

在设计龙伯格观测器之前，进行系统的能观性分析，因为C矩阵的秩为3，所以系统能观性矩阵的秩一定为

Figure BDA0003486188820000112
即满秩，该系统完全能观，满足龙伯格观测器的要求。设计其龙伯格观测器如下所示：Before designing the Lomborg observer, the observability analysis of the system is carried out. Because the rank of the C matrix is 3, the rank of the system observability matrix must be
Figure BDA0003486188820000112
That is, the full rank, the system is completely observable and meets the requirements of the Lomborg observer. Design its Lomborg observer as follows:

Figure BDA0003486188820000113
Figure BDA0003486188820000113

式中：

Figure BDA0003486188820000114
为状态变量x的观测值，
Figure BDA0003486188820000115
为输出变量y的观测值，增益系数矩阵Ke表达式为
Figure BDA0003486188820000116
where:
Figure BDA0003486188820000114
is the observed value of the state variable x,
Figure BDA0003486188820000115
is the observed value of the output variable y, the gain coefficient matrix Ke is expressed as
Figure BDA0003486188820000116

只需选取合适的增益系数矩阵Ke，观测误差收敛，收敛的速度可以通过调节Ke来实现。状态观测器与实际系统控制框图如图2所示，因此所设计的龙伯格观测器为：It is only necessary to select an appropriate gain coefficient matrix Ke , the observation error converges, and the speed of convergence can be achieved by adjusting Ke. The state observer and the actual system control block diagram are shown in Figure 2, so the designed Lomborg observer is:

Figure BDA0003486188820000117
Figure BDA0003486188820000117

S3、如图3所示，将龙伯格观测器的观测值与实际系统测量值进行比较，得到故障信号的残差；根据直流母线电压的残差评估函数是否超过阈值来判断功率管是否发生开路；若发生开路，将蓄电池侧输出电流的观测残差绝对值大小与超级电容侧输出电流的观测残差绝对值大小进行比较，残差绝对值较大的一侧功率管发生了开路故障；最后依据永磁同步电机的运行状态来判断充电功率管和放电功率管哪一个发生了开路情况。具体包括以下步骤：S3. As shown in Figure 3, compare the observed value of the Lomborg observer with the measured value of the actual system to obtain the residual error of the fault signal; according to whether the residual error evaluation function of the DC bus voltage exceeds the threshold value to determine whether the power tube has occurred Open circuit; if an open circuit occurs, compare the absolute value of the observed residual error of the output current on the battery side with the absolute value of the observed residual error of the output current on the supercapacitor side, and the power tube on the side with the larger absolute value of the residual error has an open circuit fault; Finally, according to the operating state of the permanent magnet synchronous motor, it is judged which one of the charging power tube and the discharging power tube is open-circuited. Specifically include the following steps:

S31、首先，定义直流母线电压残差为龙伯格观测器的直流母线电压的观测值与实际值之间的误差，即

Figure BDA0003486188820000121
S31. First, define the DC bus voltage residual as the error between the observed value and the actual value of the DC bus voltage of the Lomborg observer, that is,
Figure BDA0003486188820000121

S32、确定残差信号的评估函数：S32. Determine the evaluation function of the residual signal:

Figure BDA0003486188820000122
Figure BDA0003486188820000122

式中：w是滑动窗口的大小；Where: w is the size of the sliding window;

当系统无故障时，在转速稳定期间和突变期间各选取残差评估函数的最大值作为对应状态的阈值，选择的阈值如下：When there is no fault in the system, the maximum value of the residual evaluation function is selected as the threshold value of the corresponding state during the speed stabilization period and the sudden change period. The selected threshold values are as follows:

Jth＝max(Jr) (15)；J th =max(J r ) (15);

S33、最后，将剩余信号Jr((t)与Jth进行比较，可以实现基于如下逻辑开关管开路故障检测：S33. Finally, the residual signal J r ((t) is compared with J th , and the open-circuit fault detection of the switch tube based on the following logic can be realized:

Figure BDA0003486188820000123
Figure BDA0003486188820000123

由式(13)可知，选取合适的增益系数矩阵，双向DC/DC功率管正常时，观测值可以快速收敛于实际值；双向DC/DC功率管开路时，系统的数学模型已经改变，因而龙伯格观测器的观测残差会在短时间内迅速发散，超过所设定的阈值。It can be seen from equation (13) that, by selecting an appropriate gain coefficient matrix, when the bidirectional DC/DC power tube is normal, the observed value can quickly converge to the actual value; when the bidirectional DC/DC power tube is open, the mathematical model of the system has changed, so the long The observation residuals of the Burger observer will diverge rapidly in a short period of time, exceeding the set threshold.

首先观察直流母线电压的残差评估函数Jr((t)是否超过阈值Jth来判断双向DC/DC功率管是否发生开路；若Jr(t)＜Jth，未发生开路故障；否则，发生开路故障。发生开路时，将蓄电池侧输出电流和超级电容侧输出电流的观测残差绝对值大小进行比较，绝对值较大的一侧双向DC/DC功率管发生了开路故障；First, observe whether the residual evaluation function J r ((t) of the DC bus voltage exceeds the threshold value J th to judge whether the bidirectional DC/DC power tube has an open circuit; if J r (t) < J th , no open circuit fault has occurred; otherwise, An open circuit fault occurs. When an open circuit occurs, the absolute value of the observed residual error of the output current on the battery side and the output current on the super capacitor side is compared, and the bidirectional DC/DC power tube on the side with the larger absolute value has an open circuit fault;

S34、依据永磁同步电机的运行状态来判断发生开路对象，具体判断步骤如下：S34, according to the running state of the permanent magnet synchronous motor to determine the open-circuit object, and the specific determination steps are as follows:

S341、电机处于稳定运行时，功率波动不大，功率由蓄电池侧供应，蓄电池侧双向DC/DC处于放电升压模式，放电功率管工作；若此时检测到蓄电池侧输出电流观测残差绝对值大于超级电容侧输出电流的观测残差绝对值，判定蓄电池侧放电功率管发生了开路；S341. When the motor is in stable operation, the power fluctuation is not large, the power is supplied by the battery side, the bidirectional DC/DC on the battery side is in the discharge boost mode, and the discharge power tube works; if the battery side output current is detected at this time, the absolute value of the residual error is observed. If it is greater than the absolute value of the observed residual error of the output current on the supercapacitor side, it is determined that the discharge power tube on the battery side has an open circuit;

S342、电机处于陡然升速时，功率波动大，功率由蓄电池和超级电容同时供应，蓄电池侧双向DC/DC、超级电容侧双向DC/DC同时处于放电升压模式，即两侧的放电功率管同时工作；若此时检测到蓄电池侧输出电流观测残差绝对值大于超级电容侧输出电流的观测残差绝对值，判定蓄电池侧放电功率管发生了开路；若检测到蓄电池侧输出电流观测残差绝对值小于超级电容侧输出电流的观测残差绝对值，判定超级电容侧放电功率管发生了开路；S342. When the motor is in a sudden acceleration, the power fluctuates greatly. The power is supplied by the battery and the super capacitor at the same time. The bidirectional DC/DC on the battery side and the bidirectional DC/DC on the super capacitor side are in the discharge boost mode at the same time, that is, the discharge power tubes on both sides Work at the same time; if it is detected that the absolute value of the observed residual error of the output current on the battery side is greater than the absolute value of the observed residual error of the output current on the super capacitor side, it is determined that the discharge power tube on the battery side has an open circuit; if the observed residual error of the output current on the battery side is detected If the absolute value is less than the absolute value of the observed residual error of the output current on the supercapacitor side, it is determined that the discharge power tube on the supercapacitor side has an open circuit;

S343、电机处于陡然减速时，功率波动大，电机能量同时回馈到蓄电池和超级电容，蓄电池侧双向DC/DC、超级电容侧双向DC/DC同时处于充电降压模式，即两侧的充电功率管同时工作；若此时检测到蓄电池侧输出电流观测残差绝对值大于超级电容侧输出电流的观测残差绝对值，判定蓄电池侧充电功率管发生了开路；若检测到蓄电池侧输出电流观测残差绝对值小于超级电容侧输出电流的观测残差绝对值，判定超级电容侧充电功率管发生了开路。S343. When the motor is in abrupt deceleration, the power fluctuates greatly, and the motor energy is fed back to the battery and the super capacitor at the same time. The bidirectional DC/DC on the battery side and the bidirectional DC/DC on the super capacitor side are in the charging step-down mode at the same time, that is, the charging power tubes on both sides Work at the same time; if it is detected that the absolute value of the observed residual error of the output current on the battery side is greater than the absolute value of the observed residual error of the output current on the super capacitor side, it is determined that the charging power tube on the battery side has an open circuit; if the observed residual error of the output current on the battery side is detected If the absolute value is smaller than the absolute value of the observed residual error of the output current on the supercapacitor side, it is determined that the charging power tube on the supercapacitor side has an open circuit.

本发明能使复合能量源下双向DC/DC变换器功率管开路故障诊断方法更加简单、容易理解、易于实现、准确度高，是一种能够有效提高复合能量源下双向DC/DC变换器功率管开路故障诊断的可行性方案。The invention can make the open-circuit fault diagnosis method of the power tube of the bidirectional DC/DC converter under the compound energy source simpler, easier to understand, easy to implement, and has high accuracy, and is a method that can effectively improve the power of the bidirectional DC/DC converter under the compound energy source. A feasible scheme for fault diagnosis of pipe open circuit.

以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims (6)

1. A composite energy source power tube open-circuit fault diagnosis method based on a Luenberger observer is characterized by comprising the following steps:
s1, establishing a global mathematical model according to the state equation of the composite energy source system;
s2, constructing a global Longberg observer according to the state equation of the composite energy source system, and observing the voltage of the direct current bus, the output current of the storage battery side and the output current of the super capacitor side by using the Longberg observer;
s3, comparing the observed value of the Luenberger observer with the measured value of the actual system to obtain the residual error of the fault signal; judging whether the power tube is open-circuited according to whether a residual error evaluation function of the direct-current bus voltage exceeds a threshold value; if an open circuit occurs, comparing the magnitude of the absolute value of the observed residual error of the output current of the storage battery side with the magnitude of the absolute value of the observed residual error of the output current of the super capacitor side, and enabling the power tube on the side with the larger absolute value of the residual error to have an open circuit fault; and finally, judging the object with the open circuit according to the running state of the permanent magnet synchronous motor.
2. The method for diagnosing the open-circuit fault of the composite energy source power tube based on the lunberg observer according to claim 1, wherein the global mathematical model in the step S1 is as follows:
Figure FDA0003486188810000011
in the formula: r1、L1Resistance and inductance on the storage battery side respectively; r2、L2Respectively a resistor and an inductor at the side of the super capacitor; cdcIs a DC bus filter capacitor; vbatIs the battery voltage; vscIs the supercapacitor voltage; i.e. ioIs the output current of the direct current bus; i.e. ibatIs the battery side output current; i all right anglescIs the output current of the super capacitor side; vdcIs the dc bus voltage; upsilon is01、υ23The control signals are respectively the control signals of the bidirectional DC/DC converter at the side of the storage battery and the bidirectional DC/DC converter at the side of the super capacitor.
3. The method for diagnosing the open-circuit fault of the composite energy source power tube based on the lunberg observer according to claim 2, wherein the step S1 specifically comprises the following steps:
s11, definition of binary switching function:
defining a binary switching function k of the storage battery energy storage unit according to the charge and discharge states of the storage battery:
Figure FDA0003486188810000021
in the formula: i.e. ibat,refA reference value for the battery side output current;
defining a binary switch function m of the super-capacitor energy storage unit according to the charge-discharge state of the super-capacitor:
Figure FDA0003486188810000022
in the formula: i.e. isc,refA reference value of the output current for the super capacitor side;
s12, establishing a local model:
writing a circuit equation according to kirchhoff's law, and arranging the state equations of the storage battery energy storage unit and the super capacitor energy storage unit in a discharge mode to respectively be:
Figure FDA0003486188810000023
Figure FDA0003486188810000024
in the formula: upsilon is0、υ2Are respectively a switch tube S0、S2Duty cycle of (d); i all right angle1、i2The output currents of the storage battery and the super capacitor to the load are respectively;
writing a circuit equation according to kirchhoff's law, and arranging the circuit equation to obtain state equations of the storage battery energy storage unit and the super capacitor energy storage unit in a charging mode, wherein the state equations are respectively as follows:
Figure FDA0003486188810000025
Figure FDA0003486188810000031
in the formula: upsilon is1、υ3Are respectively a switch tube S1、S3Duty cycle of (d);
s13, establishing a global mathematical model:
substituting the binary switch function of the storage battery energy storage unit into the state equation of the storage battery energy storage unit in the charging and discharging modes respectively to obtain the global mathematical models of the storage battery energy storage unit in the charging and discharging modes respectively as follows:
Figure FDA0003486188810000032
substituting the binary switch function of the super-capacitor energy storage unit into the state equation of the super-capacitor energy storage unit in the charging and discharging modes respectively to obtain the global mathematical models of the super-capacitor energy storage unit in the charging and discharging modes as follows:
Figure FDA0003486188810000033
the first coefficient terms on the right side of the medium signs in the formulas (8) and (9) are respectively control signals of the bidirectional DC/DC converter on the storage battery side and the bidirectional DC/DC converter on the super capacitor side, namely:
υ01＝k(1-υ0)+(1-k)υ1 (10)
υ23＝m(1-υ2)+(1-m)υ3 (11)
current i through dc bus capacitordcComprises the following steps:
Figure FDA0003486188810000034
obtaining a global mathematical model of the compound energy system according to the formulas (8), (9), (10), (11) and (12) as follows:
Figure FDA0003486188810000041
4. the method for diagnosing the open-circuit fault of the composite energy source power tube based on the lunberg observer according to claim 1, wherein the global lunberg observer in step S2 is:
Figure FDA0003486188810000042
in the formula:
Figure FDA0003486188810000043
outputting a current observed value for the storage battery side;
Figure FDA0003486188810000044
outputting a current observation value for the super capacitor side;
Figure FDA0003486188810000045
the observed value is the DC bus voltage; k is a radical of formulae1、ke2、ke3Is a feedback gain factor.
5. The method for diagnosing the open-circuit fault of the composite energy source power tube based on the lunberg observer according to claim 1, wherein the step S3 specifically includes the steps of:
s31, defining the direct current bus voltage residual error as the error between the observed value and the actual value of the direct current bus voltage of the Luenberger observer, namely
Figure FDA0003486188810000046
S32, determining an evaluation function of the residual signal:
Figure FDA0003486188810000047
in the formula: w is the size of the sliding window;
when the system has no fault, the maximum value of the residual error evaluation function is selected as the threshold value of the corresponding state in the stable period and the sudden change period of the rotating speed, and the selected threshold values are as follows:
Jth＝max(Jr) (15)；
s33, comparison Jr((t)、Jth: if Jr(t)＜JthNo open circuit fault occurs; otherwise, an open circuit fault occurs; when an open circuit occurs, the magnitude of the absolute value of the observation residual error of the output current of the storage battery side and the output current of the super capacitor side is compared, and the bidirectional DC/DC power tube at the side with the larger absolute value has an open circuit fault;
and S34, judging the open-circuit object according to the running state of the permanent magnet synchronous motor.
6. The method for diagnosing the open-circuit fault of the composite energy source power tube based on the Luenberger observer according to claim 5, wherein the step S34 specifically comprises the following steps:
s341, when the motor runs stably, the power fluctuation is not large, the power is supplied by the storage battery side, the bidirectional DC/DC of the storage battery side is in a discharging and boosting mode, and the discharging power tube works; if the observation residual absolute value of the output current of the storage battery side is larger than the observation residual absolute value of the output current of the super capacitor side, judging that the storage battery side discharge power tube is open;
s342, when the motor is in a steep speed-up state, the power fluctuation is large, the power is supplied by the storage battery and the super capacitor at the same time, the bidirectional DC/DC at the side of the storage battery and the bidirectional DC/DC at the side of the super capacitor are in a discharging and boosting mode at the same time, namely, the discharging power tubes at two sides work at the same time; if the observation residual absolute value of the output current of the storage battery side is larger than the observation residual absolute value of the output current of the super capacitor side, judging that the storage battery side discharge power tube is open; if the observation residual absolute value of the output current of the storage battery side is smaller than the observation residual absolute value of the output current of the super capacitor side, judging that the discharge power tube of the super capacitor side is open;
s343, when the motor is in abrupt deceleration, the power fluctuation is large, the energy of the motor is fed back to the storage battery and the super capacitor at the same time, the bidirectional DC/DC at the side of the storage battery and the bidirectional DC/DC at the side of the super capacitor are in a charging step-down mode at the same time, namely, the charging power tubes at the two sides work at the same time; if the observation residual absolute value of the output current of the storage battery side is larger than the observation residual absolute value of the output current of the super capacitor side, judging that the charging power tube of the storage battery side is open; and if the observation residual absolute value of the output current of the storage battery side is smaller than the observation residual absolute value of the output current of the super capacitor side, judging that the charging power tube of the super capacitor side is open.
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