Method of diagnosing a fault in a motor circuit

Abstract

A method of diagnosing an open phase fault condition comprising the steps of: determining the q axis motor current in the motor, the motor speed, the q axis motor current demand, and the demanded phase voltage from the controller and outputting a signal indicative of that an open phase fault condition of motor is present when the following conditions are met: (1) the q axis current demand amplitude is above a threshold; (2) the q axis motor current is below a first predefined fraction of the demanded q axis motor current; (3) the demanded phase voltage is greater than a second predefined fraction of the saturated phase voltage value of the motor circuit; and (4) the motor speed is below a threshold speed.

Claims

1. A method of diagnosing an open phase fault condition of a motor in a motor circuit of the kind comprising an electric motor, an inverter bridge that applies pulse width modulated sinusoidal current waveforms to each phase, and a controller which receives as an input an error signal dependent on the difference between the current demanded from the motor Idq and the actual current flowing in the motor idq and outputs a voltage demand signal for each phase of the motor that is fed to the inverter, in which the method comprising the steps of: determining the q axis motor current in the motor, the motor speed, the q axis motor current demand, and the demanded phase voltage from the controller and outputting a signal indicative of that an open phase fault condition of motor is present when the following conditions are satisfied: (1) the q axis current demand amplitude is above a threshold; (2) the q axis motor current is below a first predefined fraction of the demanded q axis motor current; (3) the demanded phase voltage is greater than a second predefined fraction of the saturated phase voltage value of the motor circuit; and (4) the motor speed is below a threshold speed.

2. The method of claim 1 wherein each of the q axis motor current in the motor, the motor speed, the q axis motor current demand, and the demanded phase voltage from the controller are sampled periodically to form sets of samples, and in which each time a set of captured samples meets the conditions, a counter is incremented until a set of captured samples that does not meet the conditions is obtained whereby the counter is reset, the method indicating a fault condition when the counter reaches a threshold corresponding to the predefined number of consecutive samples but otherwise not indicating a fault.

3. The method according to claim 1 further comprising the steps of: periodically sampling the motor q axis current, and outputting a signal indicative of that an open phase fault condition of motor in the event that the value of the motor q axis current sample being zero for a predefined number of sequential samples where the predefined number is at least two; and where the demanded q axis current is above a threshold non-zero demanded current corresponding to those samples.

4. The method according to claim 1 further comprising the step of: sampling the average d axis current error and outputting a signal indicative of that an open phase fault condition of motor is present in the event that: (1) he average d axis current error over a predefined number of sequential samples is above a threshold; (2) the phase current is zero; and (3) the rotor position is outside a certain range corresponding to a zero crossing.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) There will now be described by way of example only one embodiment of the present disclosure with reference to and as illustrated in the accompanying drawings of which:

(2) FIG. 1 is a block diagram of the key components of an exemplary motor circuit in combination with a motor diagnostic circuit;

(3) FIG. 2 is a view of an example motor of the circuit of FIG. 1;

(4) FIG. 3 is a view of the motor inverter connected to the motor phases and showing an isolation switch in each phase;

(5) FIG. 4 is detailed view of the functional parts of the zero phase current motor diagnostic circuit;

(6) FIG. 5 shows the region of operation of the high speed mode of the motor diagnostic circuit;

(7) FIG. 6 shows the region of operation of the low speed mode of the motor diagnostic circuit;

(8) FIG. 7 is a flow chart of the steps performed by the diagnostic circuit in the high speed mode; and

(9) FIG. 8 is a flow chart of the steps performed by the diagnostic circuit in the low speed mode.

(10) FIG. 9 is a flow chart of the steps performed by the diagnostic circuit in the zero speed mode; and

(11) FIG. 10 shows the region of operation of the low speed mode of the motor diagnostic circuit.

DETAILED DESCRIPTION

(12) FIG. 1 shows an exemplary embodiment of a motor circuit 1 in combination with a motor diagnostic circuit 2 in accordance with an aspect of the present disclosure.

(13) The motor circuit 1 comprises a brushless DC three phase electric synchronous motor 3. An example of such a motor 3 is shown in FIG. 2. The motor 3 may for example comprise a three phase wound stator element 4 and a rotor 5 having for example six embedded magnets within it which in this instance are arranged so as to provide six poles which alternate between north and south around the rotor. The rotor therefore defines three direct or d axes evenly spaced around the rotor and three quadrature or q axes interspaced between the d axes. The d axes are aligned with the magnetic poles of the magnets where the lines of magnetic flux from the rotor are in the radial direction, and the q axes are spaced between the d axes where the lines of magnetic flux from the rotor are in the tangential direction. In general current aligned with the q-axis generates motor torque and current aligned with the d-axis does not.

(14) The stator has six poles wound as three pairs, each pair defining one of three motor stator windings for phases a, b and c. The phases are connected in a star network.

(15) The free ends of the phase windings are connected to an inverter bridge 6 forming a switching stage of the motor circuit 1. This is shown in FIG. 3. Each arm 7, 8 and 9 of the inverter 6 comprises a pair of switches Ta, Ba; Tb, Bb and Tc, Bc in the form of a top transistor and a bottom transistor connected in series between the battery supply rail +V and ground line Ov. The motor windings are each tapped off from between a respective complementary pair of transistors. The transistors are turned on and off in a controlled manner in response to an output voltage demand signal Vdq from a PI controller. This is typically a dq voltage demand. A voltage converter block 11 converts the d-q demand voltage output from the current controller into three voltage demand components in a static reference frame Va,b,c, one for each phase of the motor a, b or c. These individual phase demand voltages are then converted by a drive circuit 12, into suitable PWM signals that are supplied to the switching motor phases by PWM of the switches. A range of PWM switching strategies are known in the art and so will not be described in detail here. The switch arrangement is well known and described in such documents as EP 1083650A2.

(16) The motor controller 10 in this example is a conventional PI controller. At the input to the controller an error signal e is applied which is formed by comparing a demanded dq motor current, Idq, with the actual current iDQ flowing in the motor. The primary function of the PI controller 10 is to drive the error term e to a low or ideally zero value.

(17) The dq current demand in this example is generated by feeding a motor torque demand signal into a block 13 that calculates the appropriate current demand Idq for the motor 3 needed to generate the demanded torque. This will depend on the motor parameters and the voltage available to the inverter.

(18) The motor circuit 1 also includes an isolation switch 14, 15, 16 in each phase of the motor 3, located in this example between the inverter 6 and the motor windings. Each switch 14, 15, 16 comprises a solid state switch which is normally closed to allow current to flow through the switch and the motor phase. The switch 14, 15, 16 may be opened under control of a safety manager, not shown, whenever it is deemed necessary to isolate the motor phase. Typically this will be done if a fault of the inverter is detected, and this prevents unwanted currents flowing through the motor.

(19) Although reliable, the isolation switches 14, 15, 16 may fail in an open condition, preventing the flow of current through the motor 3 which will limit or completely prevent the motor 3 from providing the required torque. The applicant has appreciated that in practice the motor 3 will eventually stall when an open phase fault condition of one phase has occurred and the motor may vibrate regardless of the demanded motor speed. This is because of the way the PI controller 10 operates whereby in the fault condition the current demand cannot be fulfilled but the d-axis voltage takes priority and saturates, leaving the q-axis voltage small and oscillating depending on the d-axis voltage error.

(20) A method within the scope of the present disclosure can identify open phase faults under a range of operating conditions.

(21) To detect an open phase fault condition the motor diagnostic circuit 2 is provided. This is shown in more detail in FIG. 4 and comprises a signal processor 14, a memory 15, a set of program instructions 16 stored in the memory for execution by the signal processing means, and a counter 17. The stored instructions are executed whenever the motor circuit 1 is operational so that the motor circuit 1 is being constantly diagnosed. The signal processor 14 receives at a set of input terminals 15 a set of samples of the following measurements: the q axis motor current in the motor iq; the motor speed; the q axis motor current demand, and the demanded phase voltage Vdq from the controller.

(22) Each set of these measurements may be captured at substantially the same instant, and sets may be obtained at regular time intervals. In this example they are captured every few milliseconds, so that a set of samples is produced corresponding to a series of moments in time.

(23) The motor diagnostic circuit operates in two discrete modes. A first mode is used at high motor speeds, and a second at low motor speeds. Each mode is chosen because it has benefits at high speed and low speed respectively. The diagnostic circuit switches between modes in response to the value of the motor speed. In this example the transition from the low speed mode to the high speed mode occurs at 300 rpm, although this will be different for other motor designs. It is set as a function of the PWM period used by the motor drive stage of the circuit.

(24) The method of operation of the motor diagnostic circuit in each of the two modes is explained below.

(25) High speed mode: In the high speed mode the diagnostic circuit determines that the motor current is above a threshold, in this case 10 Amps, if the q axis current demand is above a threshold and if the average q axis current is above a threshold in this case and also if these conditions are met taking the average over 4 samples an open circuit fault condition is flagged a present. FIG. 5 shows the region of operation of the high speed mode.

(26) The steps carried out in the high speed mode are shown in FIG. 7. Initially a counter is set to zero and at time t=0 a set of samples of each of the measurements is captured. These are then processed to see if the condition is met. If the condition is met the counter is incremented by 1. A check on the value of the counter is then made and if it exceeds a threshold equal to a value of 4 an open fault is indicated. If the condition is not met the counter is reset to 0. The method then loops back to take the next sample set at time t=1, and so on as sample sets are periodically captured.

(27) Low Speed Mode: At low speeds two different tests are carried, one for very low speed referred to here as a zero speed mode and the other for low but generally higher speeds. The region of operation of the low speed mode is shown in FIG. 6 and the zero speed mode in FIG. 10. The skilled person will understand that the speed thresholds shown are exemplary only and that other limits may be used depending on the motor circuit design.

(28) In the zero speed mode a signal indicative of an open phase fault condition of the motor being present is output if the following 4 conditions are all met: (1) the q axis current demand is above a threshold; (2) the q axis motor current is below a first predefined fraction of the demanded q axis motor current; (3) the demanded phase voltage is less than a second predefined fraction of the saturated phase voltage value of the motor circuit; and (4) the motor speed is below a threshold speed which in this example is 300 rpm.

(29) In this example the threshold for the current demand is the same as for the high speed mode, e.g. 10 Amps, the first predefined threshold is set at 0.75 and the second predefined threshold is set at 0.9. The saturated phase voltage will be determined real time (for example every 200 microseconds) and will be dependent of the battery voltage available to the inverter.

(30) FIG. 10 shows the region of operation of the zero speed mode. The steps carried out in the zero speed mode are shown in FIG. 9. Initially a counter is set to zero and at time t=0 a set of samples of each of the measurements is captured. These are then processed to see if the low speed mode condition is met. If the condition is met the counter is incremented by 1. A check on the value of the counter is then made and if it exceeds a threshold equal to a value of 12 an open fault is indicated. If the condition is not met the counter is reset to 0. The method then loops back to take the next sample set at time t=1, and so on as sample sets are periodically captured. In the low speed mode more samples are taken than in the high speed mode because at very low speed for the phase current to travel −1 . . . 1A range can take many milliseconds, therefore more samples are needed. At high speed that milliseconds shrink very much. Example: at 60 rpm, the current needs 8 ms to travel from −1A to 1A.

(31) The zero speed mode described above works effectively even at zero motor speeds as can occur if the motor becomes stuck and is oscillating. However, it cannot identify which phase is at fault when at zero speeds. To determine which phase is stuck at low but non-zero speeds, the method may additionally check to see if the following conditions are met: —average d axis current error of the last 12 samples is above a threshold, phase current is zero, and the rotor position is outside a certain range corresponding to a zero crossing. This check may be performed for each phase enabling the specific phase that has the open phase fault condition to be identified. This is shown in FIG. 7 of the drawings. The low speed region of operation is shown in FIG. 6 and goes up to 400 rpm in this example.

(32) In practice, the method will constantly test to see if the zero speed conditions and the low speed (non zero current demand) conditions are met. Depending on the timing and nature of the fault, the zero speed test may flag a fault before the low speed test, or the other way round.