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高速列车牵引电机转子断条和速度传感器联合诊断方法

许水清 柴晖 胡友强 黄大荣 张可 柴毅

许水清, 柴晖, 胡友强, 黄大荣, 张可, 柴毅. 高速列车牵引电机转子断条和速度传感器联合诊断方法. 自动化学报, 2023, 49(6): 1214−1227 doi: 10.16383/j.aas.c220461
引用本文: 许水清, 柴晖, 胡友强, 黄大荣, 张可, 柴毅. 高速列车牵引电机转子断条和速度传感器联合诊断方法. 自动化学报, 2023, 49(6): 1214−1227 doi: 10.16383/j.aas.c220461
Xu Shui-Qing, Chai Hui, Hu You-Qiang, Huang Da-Rong, Zhang Ke, Chai Yi. Simultaneous fault diagnosis of broken rotor bar and speed sensor for traction motor in high-speed train. Acta Automatica Sinica, 2023, 49(6): 1214−1227 doi: 10.16383/j.aas.c220461
Citation: Xu Shui-Qing, Chai Hui, Hu You-Qiang, Huang Da-Rong, Zhang Ke, Chai Yi. Simultaneous fault diagnosis of broken rotor bar and speed sensor for traction motor in high-speed train. Acta Automatica Sinica, 2023, 49(6): 1214−1227 doi: 10.16383/j.aas.c220461

高速列车牵引电机转子断条和速度传感器联合诊断方法

doi: 10.16383/j.aas.c220461
基金项目: 国家自然科学基金 (62273128, 61803140, U2034209), 中国博士后面上基金 (2020M682474), 重庆市技术创新与应用发展专项重点项目 (cstc2019jscx-msxmX0073), 四川省川渝合作重点研发项目 (2020YFQ0057) 资助
详细信息
    作者简介:

    许水清:合肥工业大学电气与自动化工程学院副教授. 主要研究方向为电气设备在线监测与故障诊断. E-mail: xsqanhui91@gmail.com

    柴晖:合肥工业大学电气与自动化工程学院硕士研究生. 主要研究方向为电气设备故障诊断与应用. E-mail: chaihui0915@163.com

    胡友强:重庆大学自动化学院副研究员. 主要研究方向为故障诊断, 机器学习. E-mail: yqhu@cqu.edu.cn

    黄大荣:安徽大学人工智能学院教授. 主要研究方向为故障诊断与预测. 本文通信作者. E-mail: drhuang@cqjtu.edu.cn

    张可:重庆大学自动化学院教授. 主要研究方向为智能控制, 故障诊断. E-mail: smeta@163.com

    柴毅:重庆大学自动化学院教授. 主要研究方向为智能系统故障诊断与应用. E-mail: chaiyi@cqu.edu.cn

Simultaneous Fault Diagnosis of Broken Rotor Bar and Speed Sensor for Traction Motor in High-speed Train

Funds: Supported by National Natural Science Foundation of China (62273128, 61803140, U2034209), China Postdoctoral Science Foundation (2020M682474), Special Key Project of Chongqing Technological Innovation and Application Development (cstc2019jscx-msxmX0073), and Sichuan-Chongqing Cooperation Key Project (2020YFQ0057)
More Information
    Author Bio:

    XU Shui-Qing Associate professor at the School of Electrical Engineering and Automation, Hefei University of Technology. His research interest covers online monitoring and fault diagnosis of electrical equipment

    CHAI Hui Master student at the School of Electrical Engineering and Automation, Hefei University of Technology. His research interest covers electrical equipment fault diagnosis and its applications

    HU You-Qiang Associate researcher at the School of Automation, Chongqing University. His research interest covers fault diagnosis and machine learning

    HUANG Da-Rong Professor at the School of Artificial Intelligence, Anhui University. His research interest covers fault diagnosis and prediction. Corresponding author of this paper

    ZHANG Ke Professor at the School of Automation, Chongqing University. His research interest covers intelligent control and fault diagnosis

    CHAI Yi Professor at the School of Automation, Chongqing University. His research interest covers intelligent system fault diagnosis and its applications

  • 摘要: 为提升高速列车牵引系统的稳定性和可靠性, 针对其牵引电机提出一种基于未知输入观测器的转子断条和速度传感器故障联合诊断方法. 首先, 通过非奇异坐标变换, 将牵引电机系统解耦为两个分别只包含转子断条故障和速度传感器故障的子系统, 实现转子断条故障与速度传感器故障的解耦, 并进一步利用一阶低通滤波器将含速度传感器故障的子系统转化为增广系统. 其次, 对含转子断条故障的子系统和速度传感器故障增广系统分别设计未知输入区间观测器和未知输入滑模观测器. 在此基础上, 采用未知输入区间观测器上界和下界构建转子断条故障诊断的检测变量和自适应阈值, 利用未知输入滑模观测器的等效输出控制原理实现速度传感器故障估计. 最后, 通过仿真和TDCS-FIB平台实验验证了所提方法的有效性和鲁棒性.
  • 图  1  故障诊断原理图

    Fig.  1  Schematic diagram of fault diagnosis

    图  2  牵引电机转子断条数目较多时的故障诊断结果

    Fig.  2  Fault diagnosis results when the number of broken bar of traction motor rotor is large

    图  3  牵引电机转子断条数目较少时的故障诊断结果

    Fig.  3  Fault diagnosis results when the number of broken bar of traction motor rotor is small

    图  4  牵引电机速度传感器漂移故障估计结果

    Fig.  4  Drift fault estimation results of traction motor speed sensor

    图  5  牵引电机速度传感器时变故障估计结果

    Fig.  5  Time varying fault estimation results of traction motor speed sensor

    图  6  变负载转矩下牵引电机转子断条故障诊断结果

    Fig.  6  Fault diagnosis results of broken bar of traction motor rotor under variable load torque

    图  7  基于TDCS-FIB平台的牵引电机速度传感器时变故障估计结果

    Fig.  7  Time varying fault estimation results of traction motor speed sensor in TDCS-FIB platform

    图  8  基于TDCS-FIB平台的牵引电机转子断条故障诊断结果

    Fig.  8  Fault diagnosis results of broken bar of traction motor rotor in TDCS-FIB platform

    表  1  牵引电机主要参数

    Table  1  Main parameters of traction motor

    参数 符号 数值
    极对数 $ {n_p} $ 3
    定子电感 $ {L_s} $ $ 0.3410 \ {\rm{ H}} $
    定子电阻 $ {R_s} $ $0.0087 \; {{ \Omega } }$
    转子电感 $ {L_r} $ $ 0.0355 \ {\rm{ H}} $
    转子电阻 $ {R_r} $ $0.0087 \; {{ \Omega } }$
    磁链 $ {\psi _f} $ $ 0.1840 \ {\rm{ Wb}} $
    转动惯量 $ J $ $0.8620 \; {\rm{ kg} } {\cdot} {\rm{ m^2} }$
    直流侧电压 $ {U_{dc}} $ $ 311 \ {\rm{ V}} $
    下载: 导出CSV

    表  2  诊断方法对比

    Table  2  Comparison of diagnostic methods

    诊断方法 是否检测转子
    断条故障
    是否检测速度
    传感器故障
    数据量 检测时间 复杂度
    文献[23]中
    方法
    小于$ 10 \text{ ms} $
    文献[32]中
    方法
    大于$ 10 \text{ ms} $
    文献[33]中
    方法
    小于$ 10 \text{ ms} $
    文献[34]中
    方法
    大于$ 15 \text{ ms} $
    本文方法 小于$ 8 \text{ ms} $
    下载: 导出CSV
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  • 收稿日期:  2022-06-06
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  • 刊出日期:  2023-06-20

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