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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2019, Vol. 53 Issue (9): 1815-1825    DOI: 10.3785/j.issn.1008-973X.2019.09.021
Communication Technology, Electrical Engineering     
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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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     
Received: 28 July 2018      Published: 12 September 2019
CLC:  TM 341  
Corresponding Authors: Yan-xia SHEN     E-mail: linjingjing112@163.com;shenyx@jiangnan.edu.cn
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Cite this article:

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.

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


永磁同步电机驱动系统电流传感器容错控制

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 
Fig.1 Frame Ⅰ oriented by $a$ phase
Fig.2 Frame Ⅱ oriented by $b$ phase
Fig.3 Frame Ⅲ oriented by $c$ phase
Fig.4 Block diagram of adaptive backstepping observer
Fig.5 Fault diagnosis diagram of stator current sensors
Fig.6 Diagram of $\alpha $-axis current logic judgment
Fig.7 Diagram of $\beta $-axis current logic judgment
Fig.8 Electrical angle logic judgment diagram
Fig.9 Diagram of $d\; {\rm{and}} \;q$-axis currents logic judgment
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 $
Tab.1 Table of fault tolerant strategy logic judgment
Fig.10 Structure of fault tolerant control system
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 ?
Tab.2 Parameters of surface mounted permanent magnet synchronous machine (PMSM)
Fig.11 Simulation results under fault in three-phase current sensors
Fig.12 Experimental platform of permanent magnet synchronous motor experimental based on dSPACE1007
Fig.13 Experimental results under fault in three-phase current sensors
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