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浙江大学学报(工学版)
浙江大学学报(工学版)  2019, Vol. 53 Issue (9): 1815-1825    DOI: 10.3785/j.issn.1008-973X.2019.09.021
通信技术、电气工程     
永磁同步电机驱动系统电流传感器容错控制
林京京(),沈艳霞*()
江南大学 物联网技术应用教育部工程研究中心，江苏 无锡 214122
Stator current sensors’ fault tolerant control for permanent magnet synchronous motor drive system
Jing-jing LIN(),Yan-xia SHEN*()
Engineering Research Center of Internet of Things Technology Applications Ministry of Education, Jiangnan University, Wuxi 214122, China
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摘要：

为实现永磁同步电机矢量控制系统中电流传感器的故障诊断及其容错控制，确保系统的安全性，基于矢量旋转的概念提出一种新颖的故障诊断及容错控制方法. 建立3个不同轴定向的坐标系，将坐标系下α轴定子电流分量的指令值和测量值比较，判断3个电流传感器的故障信息；基于Lyapunov稳定性定理设计自适应反推观测器进行电流估计；根据3个坐标系设计逻辑判断机制，故障发生时以恰当的估计电流取代测量电流进行反馈以重构系统，保证电机在故障发生时稳定运行. 仿真和实验结果证明：该策略能够有效实现永磁同步电机驱动系统中三相电流传感器的故障诊断、准确判断故障相，在重构电流过程中，αβ坐标系电流分量的选取正确而稳定，测量电流与估计电流的不同组合能够保持较高性能，维持系统的稳定性，具有较高的可行性和可靠性.
关键词： 永磁同步电机(PMSM);  故障诊断;  容错控制;  矢量旋转;  自适应反推观测器    
Abstract:

A novel fault diagnosis and fault tolerant control method was introduced based on the concept of vector rotation to realize the current sensors' fault diagnosis and tolerant control in vector control system of permanent magnet synchronous motor (PMSM), to ensure system security. In order to get the fault information of three current sensors, three coordinate systems with different axes orientation was established, and the command value and the measured value of the α current components were compared. An adaptive backstepping observer was designed based on Lyapunov's stability theorem to estimate the current. Then, a logic-based detection mechanism was proposed based on the three coordinate systems; when fault occured, the measured current was replaced by the appropriate estimated current for feedback to reconstruct the system and ensure the stable operation of system. Simulations and experiments were carried out. Results show that this strategy can effectively realize the fault diagnosis of three current sensors in the PMSM drive system and accurately determine the fault phase. In the process of reconstructed current, the current component selection of αβ coordinate system was correct and stable, and the different combinations of measured current and estimated current can maintain high performance and system stability, which verifies the effectiveness and reliability of the proposed method.
Key words: permanent magnet synchronous machine (PMSM)    fault diagnosis    fault tolerant control    vector rotation    adaptive backstepping observer
收稿日期: 2018-07-28 出版日期: 2019-09-12
CLC:  TM 341  
通讯作者: 沈艳霞     E-mail: linjingjing112@163.com;shenyx@jiangnan.edu.cn
作者简介: 林京京（1994—），男，硕士生，从事永磁同步电机容错控制研究. orcid.org/0000-0003-0006-0372. E-mail： linjingjing112@163.com
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引用本文:

林京京,沈艳霞. 永磁同步电机驱动系统电流传感器容错控制[J]. 浙江大学学报(工学版), 2019, 53(9): 1815-1825.

Jing-jing LIN,Yan-xia SHEN. Stator current sensors’ fault tolerant control for permanent magnet synchronous motor drive system. Journal of ZheJiang University (Engineering Science), 2019, 53(9): 1815-1825.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.09.021    或    http://www.zjujournals.com/eng/CN/Y2019/V53/I9/1815

图 1  按定子 ${{a}}$相定向的坐标系Ⅰ
图 2  按定子 ${{b}}$相定向的坐标系Ⅱ
图 3  按定子 ${{c}}$相定向的坐标系Ⅲ
图 4  自适应反推观测器结构框图
图 5  定子电流传感器故障诊断图
图 6   ${{\alpha}} $轴电流逻辑判断图
图 7   $\;{{\beta}} $轴电流逻辑判断图
图 8  电角度逻辑判断图
图 9   ${{d}}\text{、}{{q}}$轴电流逻辑判断图
x y z a相 b相 c相 α轴 β轴 电角度
0 0 0 正常 正常 正常 $i_\alpha ^{\rm I}$ $i_\beta ^{\rm I}$ $\theta $
1 0 0 故障 正常 正常 $i_\alpha ^{{\rm I}{\rm I}}$ $i_\beta ^{{\rm I}{\rm I}}$ $ \theta - {120^\circ } $
0 1 0 正常 故障 正常 $i_\alpha ^{{\rm I}{\rm I}{\rm I}}$ $i_\beta ^{{\rm I}{\rm I}{\rm I}}$ $\theta + {120^\circ } $
0 0 1 正常 正常 故障 $i_\alpha ^{\rm I}$ $i_\beta ^{\rm I}$ $\theta $
1 1 0 故障 故障 正常 $i_\alpha ^{{\rm I}{\rm I}{\rm I}}$ $\mathop {i_\beta ^{{\rm I}{\rm I}{\rm I}}}\limits^ \wedge $ $ \theta + {120^\circ }$
1 0 1 故障 正常 故障 $i_\alpha ^{{\rm I}{\rm I}}$ $\mathop {i_\beta ^{{\rm I}{\rm I}}}\limits^ \wedge $ $ \theta -{120^\circ } $
0 1 1 正常 故障 故障 $i_\alpha ^{\rm I}$ $\mathop {i_\beta ^{\rm I}}\limits^ \wedge $ $\theta $
1 1 1 故障 故障 故障 $\mathop {i_\alpha ^{\rm I}}\limits^ \wedge $ $\mathop {i_\beta ^{\rm I}}\limits^ \wedge $ $\theta $
表 1  容错策略逻辑判断表
图 10  容错控制系统总体结构图
参数 含义 数值 单位
${P_{\rm{N}}}$ 额定功率 1.5 ${\rm{kW}}$
${\omega _{\rm{N}}}$ 额定转速 1 000 ${\rm{r}}/{\rm{min}}$
${i_{\rm{N}}}$ 额定相电流 6.76 ${\rm{A}}$
${T_{\rm{N}}}$ 额定转矩 14.32 ${\rm{N}} \cdot {\rm{m}}$
${R_{\rm{s}}}$ 定子电阻 1.79 $\Omega $
${L_q}$ 交轴电感 6.68 ${\rm{mH}}$
${L_d}$ 直轴电感 6.68 ${\rm{mH}}$
$J$ 转动惯量 17.92 ${\rm{kg}} \cdot {{\rm{m}}^{\rm{2}}}$
$p$ 极对数 4 ?
表 2  表贴式永磁同步电机(PMSM)参数
图 11  三相电流传感器故障仿真效果
图 12  基于dSPACE1007的永磁同步电机实验平台
图 13  三相电流传感器故障实验结果
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