电动汽车电驱动系统故障诊断及容错控制

2006.07.30哈尔滨工业大学崔淑梅电动汽车电驱动系统故障诊断与容错NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室主要内容引言一六二三五四振动与噪声电驱动系统故障的分类电机故障分析与诊断电机控制器故障诊断及容错控制结论NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室一.引言NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室二.电驱动系统故障分类松脱型故障模式退化型故障模式失调型故障模式阻漏型故障模式其他型故障模式损坏型故障模式鼠笼断条永磁体退磁定子绕组短路/断路端环开裂轴承磨损定子绕组绝缘老化定子铁心松动转子偏心冷却水路堵塞/不畅噪声/振动冷却水路渗漏传感器插接件松动电机本体故障模式电驱动系统故障分类——电机本体NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室电驱动系统故障分类——阻漏型故障模式松脱型故障模式损坏型故障模式母线电容短路/断路驱动插接件松动冷却水路堵塞/不畅冷却水路渗漏功率器件短路/断路功能型故障模式电机控制器过热接触器断路预充电电阻断路失调型故障模式高压供电过压/欠压低压供电过压/欠压电机控制器过流/过载电机控制器过温电机控制器故障模式电机控制器二.电驱动系统故障分类NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室电驱动系统故障树电机运行不正常电机本体故障ABCDE电机控制器故障电机控制器至电机线路故障电机系统供电电源故障电机系统CAN通讯故障二.电驱动系统故障分类NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室电驱动系统故障树逆变单元故障控制单元故障滤波储能单元故障高压上电单元故障逆变电路故障传感器单元故障母排故障电容故障预充电继电器故障主继电器故障预充电电阻故障辅助电源故障功率器件故障辅助电源故障电流传感器故障温度传感器故障冷却故障水泵故障水路故障A短路断路B二.电驱动系统故障分类NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室HEV电机驱动系统故障树C定子故障转子故障轴承故障定子铁心定子绕组铁心松动局部过热匝间短路绝缘裂纹支架开裂不平衡振动温度过高带电冷却故障水泵故障水路故障电驱动系统故障树二.电驱动系统故障分类NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室高压电池故障高压直流电源故障低压直流电源供电高压电源接线故障低压电源接线故障低压电池故障短路断路短路断路DCAN传输线故障CAN传输信号故障短路断路信号干扰错误信号E电驱动系统故障树二.电驱动系统故障分类NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室0.000.010.020.03-40-30-20-10010203040Voltage(V)Time(s)Phase(A)Phase(B)Phase(C)0.000.010.020.03-40-30-20-10010203040Voltage(V)Time(s)Phase(A)Phase(B)Phase(C)0.000.010.020.03-40-30-20-10010203040Voltage(V)Time(s)Phase(A)Phase(B)Phase(C)1、永磁体局部失磁故障三.电机故障分析与诊断NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室0.000.010.020.030.040.050.06-140-120-100-80-60-40-20020406080100120140Current(A)Time(s)Phase(A)Phase(B)Phase(C)0.000.010.020.030.040.050.06-140-120-100-80-60-40-20020406080100120140Current(A)Time(s)Phase(A)Phase(B)Phase(C)0.000.010.020.030.040.050.06-140-120-100-80-60-40-20020406080100120140Current(A)Time(s)Phase(A)Phase(B)Phase(C)1、永磁体局部失磁故障0200400600800100012001400160018002000-50-40-30-20-1001020304050dBFrequency(Hz)NormalFault(50%)7913150200400600800100012001400160018002000-50-40-30-20-1001020304050dBFrequency(Hz)NormalFault(75%)791315三.电机故障分析与诊断NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室0.000.010.020.030.040.050.06-280-240-200-160-120-80-4004080120160200240280Current(A)Time(s)Phase(A)-1Phase(B)Phase(C)0.000.010.020.030.040.050.06-280-240-200-160-120-80-4004080120160200240280Current(A)Time(s)Phase(A)Phase(B)Phase(C)2、绕组匝间短路故障050100150200250300020406080100120140160180200220240Current(A)Frequency(Hz)NormalPhase(A)-1Phase(B)Phase(C)050100150200250300020406080100120140160180200220240Current(A)Frequency(Hz)NormalPhase(A)-2Phase(B)Phase(C)三.电机故障分析与诊断NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室0.000.010.020.030.040.050.06-280-240-200-160-120-80-4004080120160200240280Current(A)Time(s)Phase(A)Phase(B)Phase(C)0.000.010.020.030.040.050.06-800-600-400-2000200400600800Current(A)Time(s)Phase(A)-9Phase(B)Phase(C)2、绕组匝间短路故障050100150200250300020406080100120140160180200220240Current(A)Frequency(Hz)NormalPhase(A)-3Phase(B)Phase(C)050100150200250300050100150200250300350400450500550600650700750800Current(A)Frequency(Hz)NormalPhase(A)-9Phase(B)Phase(C)三.电机故障分析与诊断NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室-300-200-1000100200300-300-200-1000100200300iq(A)id(A)NormalFault-1Fault-2Fault-3-600-400-2000200400600-600-400-2000200400600iq(A)id(A)NormalFault-1Fault-2Fault-3Fault-92、绕组匝间短路故障三.电机故障分析与诊断NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室3、振动故障三.电机故障分析与诊断NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电子与电力传动实验室电动汽车驱动用电机噪声特点过载能力要求高：普通的工业驱动电机一般具有2倍的过载能力就足够了，而电动汽车驱动电机要求具有4~5倍的过载能力；扩速能力要求高：普通的工业驱动电机一般只要求2倍的扩速能力，而电动汽车驱动电机要求具有4~5倍的扩速能力；工作特性要求高：为了降低车重、延长续驶里程，要求电机具有较高的功率密度和较好的效率特性；工作环境恶劣：电动汽车驱动电机安装空间小、工况复杂；电源谐波含量大：一般采用变频调速。NEVFOCUS.COMLabofPEEDBringIdeasTogether电力电子与电力传动实验室LabofPEEDBringIdeasTogether电力电