变频器故障诊断及相应控制策略研究
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摘要
三相交流变频驱动系统以其优良的调速性能,良好的节能效果,越来越广泛的应用于工业、商业、航空等领域。由于控制算法的复杂性及半导体器件的自身特点,驱动器易发生故障。在一些特殊的应用场合,如自动化、航空、核能和危险的化学品工厂中,由于用户对变频驱动系统的可靠性、可维护性、生存能力等指标的要求明显提高,因此对系统中各组成部分的故障进行快速、准确诊断,并在此基础上,采取相应的容错控制策略以提高系统可靠性具有重大意义。本文以矢量控制变频调速系统为研究对象,为了提高变频器的容错性能,分别针对影响变频器可靠性的传感器故障和变流器故障进行了研究。
感应电机闭环变频驱动系统中,核心问题在于转速和磁链的估算,而转速传感器、电流传感器、电压传感器所给出的信号是进行估算的基础,传统驱动系统中当上述传感器出现故障时会被迫停机。本文将感应电机的四种基本控制方法进行融合,提出了一种新颖的容错控制方案,实现变频器在传感器故障条件下的容错运行,通过仿真和实验证明了所提出的控制方法的有效性。
在系统地研究了感应电机电压型PWM变频器驱动系统的各种故障类型的基础上,本文对两种关键故障即输入电源缺相和驱动电路开路故障,进行了初步的数学分析。设计了输入缺相故障检测电路,并对故障情况下变频驱动系统的性能进行了仿真分析;针对驱动开路故障,在对平均电流Park矢量法进行仿真和实验研究的基础上,提出了改进的故障诊断方法,解决了传统方法会在突加、减负载及闭环控制时出现误诊断的问题,并通过仿真和实验研究进行了验证。
最后,为了验证文中所述传感器故障的容错控制策略和驱动开路故障诊断方法,在实验室搭建7.5kW调速系统实验平台并进行系统实验,实验结果表明,采用本文提出的容错控制方法,与传统矢量控制方法相比,系统对传感器故障的容错能力获得了极大提升,通过本课题的研究,实现了在各种传感器故障情况下变频驱动系统的不间断运行。
Induction motor drive system has been widely used in industrial, commercial and aerospace applications, etc, for its excellent speed control performance and energy saving. However, the complexity of the control strategy and the features of semiconductor results easily in various failures of the drive system. In some special applications, such as automotive and aerospace systems, nuclear power and hazardous chemical plants, there is significantly increasing demand for the drive system capable of high reliability, maintainability and survivability. Therefore, it is important to diagnose the system failures fast and accurately to improve the system reliability using fault-tolerant control strategy. To improve the fault-tolerant capability of the induction motor drive system, sensors malfunction and converter faults are researched in this paper.
In induction motor drive system, the key technology is accurate estimation of the motor flux and speed. And the estimation is applied based on the signals of speed, current and voltage, which are sampled by various kinds of sensors. Consequently, the conventional drive system will have to halt to prevent an even worse damage when sensor failures encountered. This paper investigated four different control strategies of induction machine drive system and proposed a tolerant control scheme based on data fusion. Simulation and experimental results verify the validity of the proposed scheme.
Furthermore, this paper analyzed various types of faults of PWM voltage source inverter and performed theoretical analysis for the input supply single line to ground fault and the IGBT base drive open fault. The diagnosis circuit was designed for input supply single line to ground fault and the performance of the driver system was studied on the fault condition. A modified current vector method for the diagnosis of IGBT base drive open fault was proposed for the diagnosis of IGBT base drive open fault based on the simulation and experiment of the Park vector method. At last the validity of proposed method was verified by simulation and experiment.
At last, to validate the validity and performance of the fault-tolerant method and the fault diagnosis method, all the methods presented above are applied in the 7.5kW induction motor drive system. The experimental results demonstrated that the fault-tolerant capability of the driver system is improved greatly comparing with the conventional vector control system. By adopting the proposed method, continuous operation of the inverter are achieved in the event of losing some or all sensors.
感应电机闭环变频驱动系统中,核心问题在于转速和磁链的估算,而转速传感器、电流传感器、电压传感器所给出的信号是进行估算的基础,传统驱动系统中当上述传感器出现故障时会被迫停机。本文将感应电机的四种基本控制方法进行融合,提出了一种新颖的容错控制方案,实现变频器在传感器故障条件下的容错运行,通过仿真和实验证明了所提出的控制方法的有效性。
在系统地研究了感应电机电压型PWM变频器驱动系统的各种故障类型的基础上,本文对两种关键故障即输入电源缺相和驱动电路开路故障,进行了初步的数学分析。设计了输入缺相故障检测电路,并对故障情况下变频驱动系统的性能进行了仿真分析;针对驱动开路故障,在对平均电流Park矢量法进行仿真和实验研究的基础上,提出了改进的故障诊断方法,解决了传统方法会在突加、减负载及闭环控制时出现误诊断的问题,并通过仿真和实验研究进行了验证。
最后,为了验证文中所述传感器故障的容错控制策略和驱动开路故障诊断方法,在实验室搭建7.5kW调速系统实验平台并进行系统实验,实验结果表明,采用本文提出的容错控制方法,与传统矢量控制方法相比,系统对传感器故障的容错能力获得了极大提升,通过本课题的研究,实现了在各种传感器故障情况下变频驱动系统的不间断运行。
Induction motor drive system has been widely used in industrial, commercial and aerospace applications, etc, for its excellent speed control performance and energy saving. However, the complexity of the control strategy and the features of semiconductor results easily in various failures of the drive system. In some special applications, such as automotive and aerospace systems, nuclear power and hazardous chemical plants, there is significantly increasing demand for the drive system capable of high reliability, maintainability and survivability. Therefore, it is important to diagnose the system failures fast and accurately to improve the system reliability using fault-tolerant control strategy. To improve the fault-tolerant capability of the induction motor drive system, sensors malfunction and converter faults are researched in this paper.
In induction motor drive system, the key technology is accurate estimation of the motor flux and speed. And the estimation is applied based on the signals of speed, current and voltage, which are sampled by various kinds of sensors. Consequently, the conventional drive system will have to halt to prevent an even worse damage when sensor failures encountered. This paper investigated four different control strategies of induction machine drive system and proposed a tolerant control scheme based on data fusion. Simulation and experimental results verify the validity of the proposed scheme.
Furthermore, this paper analyzed various types of faults of PWM voltage source inverter and performed theoretical analysis for the input supply single line to ground fault and the IGBT base drive open fault. The diagnosis circuit was designed for input supply single line to ground fault and the performance of the driver system was studied on the fault condition. A modified current vector method for the diagnosis of IGBT base drive open fault was proposed for the diagnosis of IGBT base drive open fault based on the simulation and experiment of the Park vector method. At last the validity of proposed method was verified by simulation and experiment.
At last, to validate the validity and performance of the fault-tolerant method and the fault diagnosis method, all the methods presented above are applied in the 7.5kW induction motor drive system. The experimental results demonstrated that the fault-tolerant capability of the driver system is improved greatly comparing with the conventional vector control system. By adopting the proposed method, continuous operation of the inverter are achieved in the event of losing some or all sensors.
引文
1 F. Tahami, A. Shojaei and D. Ahmadi Khatir. A Diversity Based Reconfigurable Method for Fault Tolerant Control of Induction Motors. International Symposium on Power Electronics, Electrical Drives, Automation and Motion. 2006, 12-17
2周东华,叶银忠.现代故障诊断与容错控制.清华大学出版社, 2000
3黄松清,徐东玉.电压型交流变频器异步机调速系统故障分析及容错性策略.安徽工业大学学报, 2006,23(3):293~297
4赵文祥,程明,朱孝勇,张建忠,花为.驱动用微特电机及其控制系统的可靠性技术研究综述.电工技术学报, 2007,22(4):38~45
5 R.V. Beard. Failure Accommodation in Linear Systems through Self-reorganization. Report MVT-71-1, Man Vehicle Lab, MIT, Cambridge, Massachusetts, 1971.
6叶银忠,潘日芳,蒋慰孙.动态系统的故障检测与诊断方法.信息与控制, 1985,14(6):27-34.
7周东华,孙优贤.控制系统的故障检测与诊断技术.清华大学出版社, 1994.
8王德军.故障诊断与容错控制方法研究.吉林大学博士学位论文. 2-18
9 Mendes AMS, Marques Cardoso A J. Voltage source inverter fault diagnosis in variable speed AC drives, by the average current Park’s vector approach. IEEE international Electric Machines and Drives Conference, 1999:704-706
10 Kai Rothenhagen, Friedrich W. Fuchs. Performance of Diagnosis Methods for IGBT Open Circuit Faults in Three Phase Voltage Source Inverters for AC Variable Speed Drives. European Conference on Power Electronics and Applications, 2005, P:1-10
11 Ribeiro R L A, Jacobina C B,Silva ERCD, etal. Fault detection of open-switch damage in voltage fed PWM motor drive systems. IEEE Transactions on Power Eleetronics, 2003,18(2):587-593.
12 K.Debebe, V.Rajagopalan,and T.S.Sankar. Expert systems for fault diagnosis of VSI fed AC drives.inProc.IAS’91 Conf.1991, 368-373.
13崔博文,周继华等. PWM逆变器主电路故障诊断研究.电工技术杂志, 2001,7:5-7
14苏鹏声,王志强,姜建国.用人工神经网络诊断电力电子电路主回路故障.清华大学学报(自然科学版), 1999, 39(3):19-22
15马皓,徐德鸿,卞敬明.基于神经网络的电力电子电路故障诊断.电力电子技术, 1997, 4:10-12
16 K. Debebe, V. RajagoPalan, T.S. Sankat. Diagnosis and monitoring for AC drives. Industry Applications Society Annual Meeting, 1992,1:370-377
17朱涛.变频器设计中电流检测方式与过电流保护可靠性的研究.电气传动自动化,2005,27(6):39-44
18 Challenges to Control: A Collective View, Report of the Workshop held at the University of Santa Clara, 1986, IEEE Transaction on Automatic Control, 1987,32(4):275-285
19 Ron Patton. Robustness Issues in Fault Tolerant Control. Proceedings of International Conference on Fault Diagnosis, 1993:1-25
20 R.J. Patton. Fault-Tolerant Control: the 1997 Situation. Proceedings of IFAC/IMACs Symposium on Fault Detection and Safety for Technical Process, 1997:1033-1054
21张翰英.必须加速发展实用性的容错系统.控制工程, 1986,2:2-7
22郑应平.控制科学面临的挑战:专家意见综述.控制理论与应用, 1987, 4(3):1-9
23葛建华,孙优贤,周春辉.故障系统容错能力判别的研究.信息与控制, 1989,18(4):8-11
24葛建华等.传感器失效故障系统的容错控制研究.浙江大学学报, 1990,24(3):481-483
25程一.线性多变量系统执行器和传感器的功能冗余性分析.信息与控制, 1990,1:12-17
26胡寿松,程炯.动态系统的鲁棒容错控制方法.自动化学报,1991, 17(3):280-287
27倪茂林,吴宏鑫.具有完整性的最优控制系统设计.控制理论与应用,1992, 9(3):245-249
28 J.S.Eterno, D.P.Looze, J.L.Weiss. Willsky A.S. Design Issues for Fault–Tolerant Restructurable Aircraft Control. Proceedings of 24th Conference on Decision&Control, Fort Lauderdale,1985:900-905
29 B.A. Welchko, T.A. Lipo, T.M. Jahns, S.E. Schulz. Fault Tolerant Three-PhaseAC Motor Drive Topologies; a Comparison of Features, Cost, and Limitations. Electric Machines and Drive Conference, 2003, 1:539-546
30陈伯时.电力拖动自动控制系统.机械工业出版社. 2003:190-213
31冯垛生,曾岳南.无速度传感器矢量控制原理与实践. 2006:16-27
32 Debaprasad Kastha, Bimal K. Bose. Investigation of Fault Modes of Voltage-Fed Inverter System for Induction Motor Drive. IEEE Transactions on Idustry Applications, 1994,30(4):1028-1038
33 R.J.Patton. Robustness Issues in Fault Tolerant Control. Proceedings of International Conference on Fault Diagnosis, Toulouse, France, 1993:1081-1117.
34 Liu TH, Fu JR, Lipo TA. A strategy for improving reliability of field-oriented controlled induction motor drives. IEEE Transactions on Industry Applications, 1993,29(5):910-917
35 Ribeiro R.L.A., Jacobina C.B., Da Silva E.R.C., etal. A fault tolerant induction motor drive system by using a compensation strategy on the PWM-VSI topology. IEEE Power Electronics Specialists Conference. 2001,(2):1191-1196
36李岩.交--交变频电源计算机控制系统的容错设计方法.山东电力技术, 2005, 3:69-71
37胡大伟,谢利理,袁战军.基于空间矢量脉宽调制的小功率变频器设计.计算机测量与控制, 2008,16(3)
38王研,杜军红,陶伟宜等.基于DSP的空间电压矢量法PWM的研究.电机与控制学报,2000,2:98-105
39孙薇薇,周虹,有效的冗余设计.可靠性设计与工艺控制. 2008, 26(3):47-50
40刘成印,马鹏祥,徐红春.变频调速多CPU控制计算机系统的容错设计.电工技术杂志, 2001,1:9-11
41 Yufan Guan, Dan Sun, Yikang He. Mean Current Vector Based Online Real-Time Fault Diagnosis for Voltage Source Inverter fed Induction Motor Drives. Electric Machines & Drives Conference, 2007, (2):1114-1118
42 Ricardo Lúcio de Araujo Ribeiro, Cursino Brand?o Jacobina . Fault-Tolerant Voltage-Fed PWM Inverter AC Motor Drive Systems. Industrial Electronics, 2004, 51(2):439-446
43 Dan Sun, Jun Meng. Research on Fault Tolerant Inverter based Permanent Magnet Synchronous Motor Direct Torque Control Drives. 2006 1ST IEEEConference on Industrial Electronics and Applications, 2006:1-5
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45 H. Chen, Z. Shao. Fault Tolerant Control for Switched Reluctance Machine System. Annual Conference on Industrial Electronics Society, 2004, (3):2526-2529
46 Bimal K. Bose. Modern Power Electronics and AC Drives.机械工业出版社. 2003:360-370
47 F. Filippetti, G. Franceschini, C. Tassoni, P. Vas, Recent Developments of Induction Motor Drives Fault Diagnosis Using AI Techniques. 2000, 47(5):994-1004
48王会清,韩艳玲.基于多传感器与数据融合技术的研究.计算机与现代化, 2002, 9:64-67
49张兰红,胡育文,黄文新.三相变频驱动系统中逆变器的故障诊断与容错技术.电工技术学报, 2004, 12:1-9
50王江,胡龙根,赵忠堂.基于观测器的方法在三相逆变器故障诊断中的应用.电源技术应用, 2001,6:24-27
51秦娟英,王胜东.一种基于电流矢量轨迹的PWM逆变器故障诊断方法.电子质量, 2004, 4:11-12
52崔博文,任章.基于傅里叶变换和神经网络的逆变器故障检测与诊断.电工技术学报, 2006, 7:37-43
53 M.R. Mamat-Ibrahimm, M.R. Tamjis, T. Lachman. Condition Monitoring Algorithm for Induction Motor Drive. Proceedings of 2005 International Symposium on Intelligent Signal Processing and Communication Systems, 2005:773-776
54 M.S. Khanniche, M.R. Ibrahim. Condition Monitoring of PWM Voltage Source Inverters. TENCON 2000 Proceedings, 2000,3:295-299
55 Tae-Jin Kim, Woo-Cheol Lee, Dong-Seok Hyun. Detection Method for Open-Circuit Fault in Neutral-Point-Clamped Inverter Systems. IEEE Transactions on Industrial Electronics, 2009,56(7):2754-2763
56 Marc Renaudin, Yannick Monnet. Asynchronous design: fault robustness and security characteristics. On-Line Testing Symposium, 2006
57 Malakondaiah Naidu, Suresh Gopalakrishnan, Thomas. Nehl. Fault TolerantPermanent Magnet Motor Drive Topologies for Automotive X-By-Wire Systems. Industry Applications Society Annual Meeting, 2008:1-8
58 Yu Min, He Zhengyou, Qian Qingquan. Reliability and Safety Modeling of Fault Tolerant Control System. International Conference on Computer Science and Software Engineering, 2008,3:465-468
2周东华,叶银忠.现代故障诊断与容错控制.清华大学出版社, 2000
3黄松清,徐东玉.电压型交流变频器异步机调速系统故障分析及容错性策略.安徽工业大学学报, 2006,23(3):293~297
4赵文祥,程明,朱孝勇,张建忠,花为.驱动用微特电机及其控制系统的可靠性技术研究综述.电工技术学报, 2007,22(4):38~45
5 R.V. Beard. Failure Accommodation in Linear Systems through Self-reorganization. Report MVT-71-1, Man Vehicle Lab, MIT, Cambridge, Massachusetts, 1971.
6叶银忠,潘日芳,蒋慰孙.动态系统的故障检测与诊断方法.信息与控制, 1985,14(6):27-34.
7周东华,孙优贤.控制系统的故障检测与诊断技术.清华大学出版社, 1994.
8王德军.故障诊断与容错控制方法研究.吉林大学博士学位论文. 2-18
9 Mendes AMS, Marques Cardoso A J. Voltage source inverter fault diagnosis in variable speed AC drives, by the average current Park’s vector approach. IEEE international Electric Machines and Drives Conference, 1999:704-706
10 Kai Rothenhagen, Friedrich W. Fuchs. Performance of Diagnosis Methods for IGBT Open Circuit Faults in Three Phase Voltage Source Inverters for AC Variable Speed Drives. European Conference on Power Electronics and Applications, 2005, P:1-10
11 Ribeiro R L A, Jacobina C B,Silva ERCD, etal. Fault detection of open-switch damage in voltage fed PWM motor drive systems. IEEE Transactions on Power Eleetronics, 2003,18(2):587-593.
12 K.Debebe, V.Rajagopalan,and T.S.Sankar. Expert systems for fault diagnosis of VSI fed AC drives.inProc.IAS’91 Conf.1991, 368-373.
13崔博文,周继华等. PWM逆变器主电路故障诊断研究.电工技术杂志, 2001,7:5-7
14苏鹏声,王志强,姜建国.用人工神经网络诊断电力电子电路主回路故障.清华大学学报(自然科学版), 1999, 39(3):19-22
15马皓,徐德鸿,卞敬明.基于神经网络的电力电子电路故障诊断.电力电子技术, 1997, 4:10-12
16 K. Debebe, V. RajagoPalan, T.S. Sankat. Diagnosis and monitoring for AC drives. Industry Applications Society Annual Meeting, 1992,1:370-377
17朱涛.变频器设计中电流检测方式与过电流保护可靠性的研究.电气传动自动化,2005,27(6):39-44
18 Challenges to Control: A Collective View, Report of the Workshop held at the University of Santa Clara, 1986, IEEE Transaction on Automatic Control, 1987,32(4):275-285
19 Ron Patton. Robustness Issues in Fault Tolerant Control. Proceedings of International Conference on Fault Diagnosis, 1993:1-25
20 R.J. Patton. Fault-Tolerant Control: the 1997 Situation. Proceedings of IFAC/IMACs Symposium on Fault Detection and Safety for Technical Process, 1997:1033-1054
21张翰英.必须加速发展实用性的容错系统.控制工程, 1986,2:2-7
22郑应平.控制科学面临的挑战:专家意见综述.控制理论与应用, 1987, 4(3):1-9
23葛建华,孙优贤,周春辉.故障系统容错能力判别的研究.信息与控制, 1989,18(4):8-11
24葛建华等.传感器失效故障系统的容错控制研究.浙江大学学报, 1990,24(3):481-483
25程一.线性多变量系统执行器和传感器的功能冗余性分析.信息与控制, 1990,1:12-17
26胡寿松,程炯.动态系统的鲁棒容错控制方法.自动化学报,1991, 17(3):280-287
27倪茂林,吴宏鑫.具有完整性的最优控制系统设计.控制理论与应用,1992, 9(3):245-249
28 J.S.Eterno, D.P.Looze, J.L.Weiss. Willsky A.S. Design Issues for Fault–Tolerant Restructurable Aircraft Control. Proceedings of 24th Conference on Decision&Control, Fort Lauderdale,1985:900-905
29 B.A. Welchko, T.A. Lipo, T.M. Jahns, S.E. Schulz. Fault Tolerant Three-PhaseAC Motor Drive Topologies; a Comparison of Features, Cost, and Limitations. Electric Machines and Drive Conference, 2003, 1:539-546
30陈伯时.电力拖动自动控制系统.机械工业出版社. 2003:190-213
31冯垛生,曾岳南.无速度传感器矢量控制原理与实践. 2006:16-27
32 Debaprasad Kastha, Bimal K. Bose. Investigation of Fault Modes of Voltage-Fed Inverter System for Induction Motor Drive. IEEE Transactions on Idustry Applications, 1994,30(4):1028-1038
33 R.J.Patton. Robustness Issues in Fault Tolerant Control. Proceedings of International Conference on Fault Diagnosis, Toulouse, France, 1993:1081-1117.
34 Liu TH, Fu JR, Lipo TA. A strategy for improving reliability of field-oriented controlled induction motor drives. IEEE Transactions on Industry Applications, 1993,29(5):910-917
35 Ribeiro R.L.A., Jacobina C.B., Da Silva E.R.C., etal. A fault tolerant induction motor drive system by using a compensation strategy on the PWM-VSI topology. IEEE Power Electronics Specialists Conference. 2001,(2):1191-1196
36李岩.交--交变频电源计算机控制系统的容错设计方法.山东电力技术, 2005, 3:69-71
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