A motor rotary transformer fault detection method based on a limited frequency domain observer

Abstract

This invention discloses a motor resolver fault detection method based on a finite frequency domain observer. The method includes collecting three-phase current, voltage, motor speed, and the resolved transformer's calculated position angle during the operation of a vehicle drive motor, and converting these data to a fixed coordinate system. Based on the periodic measurement error of the position angle caused by the resolver's eccentricity fault and the motor's operating speed, the sensitive frequency band for the eccentricity fault is determined. A linear variable parameter model of the vehicle drive motor is established, and a finite frequency domain H- / H∞ fault detection observer is constructed based on this model. First, the residual state deviation index is used to determine whether the state is healthy or abnormal. Then, the eccentricity order characteristic index and persistence criterion are used to distinguish the resolver's eccentricity fault from other anomalies. This invention can introduce the periodic order characteristics of eccentricity faults into the observer design, enhancing the response to minor eccentricity faults while suppressing the influence of non-fault disturbances, thereby improving the sensitivity, accuracy, and robustness of resolver eccentricity fault detection.

Description

Technical Field

[0001] This invention relates to the field of fault diagnosis and condition monitoring technology for vehicle electric drive systems, and in particular to a method for detecting motor resolver faults based on a finite frequency domain observer. Background Technology

[0002] Automotive drive motors mostly employ permanent magnet synchronous motors and vector control strategies, and their stable operation depends on accurate rotor position angle and speed information. Rotary transformers, with their advantages of high reliability, strong anti-interference capability, and adaptability to complex operating environments, are commonly used for rotor position detection in automotive drive motors. The accuracy of their calculated position angle directly affects current control, torque output, and overall vehicle drive performance. During actual vehicle operation, factors such as assembly errors, bearing wear, shaft misalignment, and mechanical vibration can cause eccentricity between the rotor and stator of the rotary transformer. This distortion of the sine and cosine output signals introduces periodic measurement errors related to the rotor's mechanical position into the calculated position angle, leading to fluctuations in current, speed, and torque, thus affecting the control accuracy and operational stability of the automotive electric drive system.

[0003] Existing methods for detecting faults in rotary transformers mainly include signal-based, model-based, and data-based methods. Signal-based methods often utilize the sine and cosine output signals of the rotary transformer for amplitude, phase, or frequency characteristic analysis. These methods are relatively direct but are easily affected by speed variations, measurement noise, and operating condition disturbances. Model-based methods detect faults by establishing models of the rotary transformer or electric drive system, incorporating system dynamic characteristics. However, their detection effectiveness depends on model accuracy, and they may exhibit strong conservatism when applying uniform fault sensitivity and disturbance suppression constraints across the entire frequency domain. Data-based methods possess some fault identification capabilities but rely on a large number of fault samples and lack adaptability across different operating conditions.

[0004] Eccentric faults in resolvers typically exhibit periodicity, order, and small amplitude characteristics. Their fault components are mainly concentrated in a characteristic frequency band related to mechanical speed, making them easily masked by non-fault factors such as load disturbances, measurement noise, and model uncertainties, leading to unclear fault characteristics or false alarms. Therefore, it is necessary to propose a motor resolver fault detection method based on a finite frequency domain observer. This method determines the finite frequency domain observation band based on the order characteristics of the eccentric fault, enhances fault sensitivity within the main frequency band of the eccentric fault, and suppresses the influence of non-fault factors on the residual, thereby improving the accuracy, stability, and robustness of small eccentric fault detection under different operating conditions. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a motor resolver fault detection method based on a finite frequency domain observer, which solves the problems of indistinct minor fault characteristics, susceptibility to disturbances, and conservative design of traditional full frequency domain observers in existing resolver eccentricity fault detection.

[0006] Technical solution: The motor resolver fault detection method based on a finite frequency domain observer described in this invention includes the following steps:

[0007] The system collects three-phase current, voltage, speed, and position angle signals calculated by a rotary transformer during the operation of the vehicle drive motor, and converts the three-phase current and voltage signals into signals in a fixed coordinate system.

[0008] Based on the periodic measurement error of the position angle caused by the eccentric fault of the rotary transformer and the operating speed of the motor, the finite frequency domain observation band corresponding to the eccentric fault is determined.

[0009] A linear variable parameter model of a vehicle drive motor containing a rotary transformer eccentricity fault channel is established, and a finite frequency domain H- / H∞ fault detection observer is constructed based on the linear variable parameter model.

[0010] The estimated signals of current, speed and position angle are obtained by using the finite frequency domain H- / H∞ fault detection observer, and a multi-channel observation residual signal is constructed by selecting a matrix based on the estimated signal, the corresponding measured signal and the residual output.

[0011] Based on the multi-channel observed residual signals, the residual state deviation index and the eccentricity order characteristic index are constructed sequentially. The former is used to determine whether the system is healthy or abnormal, and the latter and the persistence criterion are used to distinguish between eccentricity faults and other abnormalities.

[0012] Furthermore, the finite frequency domain observation band is determined based on the characteristic mechanical order corresponding to the periodic measurement error of the eccentric fault position angle and the motor mechanical speed. The characteristic mechanical order and the motor mechanical speed are jointly mapped to obtain the finite frequency domain observation band corresponding to the eccentric fault.

[0013] Furthermore, the linear variable parameter model of the vehicle drive motor is established based on the electromagnetic equations, mechanical motion equations, and the mechanism of eccentric fault in the rotary transformer. The position angle channel caused by the eccentric fault is directly applied to the rotary transformer to calculate the position angle, and the current and speed states in the state equation are affected through the coupling relationship between the position closed loop and the current closed loop.

[0014]

[0015] in Let be the system state vector. , To control the input vector, , For non-fault inputs such as load disturbances, measurement noise, and model uncertainties, For the system output vector, , The system matrix varies with the scheduling variable. Here are the perturbation state matrix and the perturbation output matrix. For the system output matrix, This is the input for eccentricity faults in a rotary transformer, used to characterize the severity of eccentricity. This represents the fault input matrix for the eccentric fault in the state equation. This is the direct effect matrix of the eccentric fault in the output equation; the eccentric fault is through... Directly affects the position angle output of the resolver. It affects the motor's current, speed, and position angle state response.

[0016] Furthermore, the aforementioned As the system matrix that varies with scheduling variables, select As a scheduling variable, For electrical angle, ;Depend on Form a four-vertex model, and follow the... Perform a weighted combination, where and .

[0017] Furthermore, the gain of the finite frequency domain H− / H∞ fault detection observer is obtained by jointly solving the fault sensitivity index, the disturbance suppression index, and the observation error system stability condition under the constraint of the finite frequency domain observation band.

[0018] Furthermore, the constraints for solving the observer gain include the eccentricity fault sensitive frequency band. Fault sensitivity constraints and disturbance suppression frequency bands within The disturbance suppression constraints within the model and the observation error system stability constraints that hold true for all linear variable parameter vertex models; the eccentric fault sensitive frequency band With the disturbance suppression frequency band The design should be based on the specific circumstances of the fault and disturbance.

[0019] Furthermore, the finite frequency domain observation band satisfies:

[0020]

[0021] The fault sensitivity index for enhanced fault propagation to the residual channel satisfies:

[0022]

[0023] The disturbance suppression index for suppressing the propagation of disturbances to the residual channel satisfies:

[0024]

[0025] in, Indicates the fault-sensitive frequency band The upper and lower limits, Indicates the disturbance suppression frequency band The upper and lower limits; These are the finite frequency domain constraint coefficients corresponding to the fault frequency band and the disturbance frequency band, respectively. These represent the observation error responses under fault input and disturbance input, respectively. Indicators representing fault sensitivity Indicates the disturbance suppression index; The imaginary unit; These are the error responses under fault input and disturbance input, respectively; It represents fault signals and disturbance signals under finite frequency domain constraints.

[0026] Furthermore, the system output matrix according to Output order settings, residual output selection matrix The deviation between the estimated output and the measured output is used to construct a multi-channel observation residual containing current and speed channels; the position angle calculated by the rotary transformer is used to participate in the observer correction.

[0027] Furthermore, the residual state deviation index is constructed based on the residual mean square and the health baseline within the complete mechanical transformation analysis interval, and is used to characterize the degree of deviation of the residual from the health state; the eccentricity order characteristic index is constructed based on the zero-order residual component and the mechanical order residual component of the eccentricity fault characteristic, and is used to characterize the eccentricity fault order characteristic in the residual.

[0028] Furthermore, when the residual state deviation index exceeds the health determination threshold and the eccentricity order characteristic index continues to exceed the eccentricity identification threshold, it is determined that the rotary transformer has an eccentricity fault.

[0029] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0030] (1) The present invention determines the finite frequency domain observation band based on the periodicity and order characteristics of the eccentric fault of the rotary transformer, so that the performance constraints of the observer are concentrated in the main frequency range of the eccentric fault, reducing the conservatism of the traditional full-frequency domain design and improving the detection sensitivity of small eccentric faults.

[0031] (2) The present invention enhances the response of the eccentric fault channel to the residual channel in the characteristic frequency band of the eccentric fault by using a finite frequency domain H- / H∞ fault detection observer, while suppressing the influence of non-fault factors such as load disturbance and measurement noise on the residual, thereby improving the sensitivity of the residual signal to the eccentric fault.

[0032] (3) The present invention utilizes the current and speed multi-channel residual signals to construct the residual state deviation index and the eccentricity order characteristic index, which can not only determine whether the system deviates from the healthy state, but also identify the eccentricity fault order characteristics in the residual, which is beneficial to distinguish the eccentricity fault of the rotating transformer from other non-eccentricity anomalies, and improves the reliability and identification ability of fault judgment. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the eccentricity fault mechanism of the rotary transformer of the present invention;

[0034] Figure 2 This is a flowchart of the rotary transformer eccentricity fault detection method of the present invention;

[0035] Figure 3 This is a graph showing the experimental results of the residual state deviation index during the eccentric fault process of a rotary transformer according to the present invention;

[0036] Figure 4 This is an experimental comparison diagram of the eccentricity order characteristic index under eccentric fault and non-eccentricity abnormal conditions in a rotary transformer according to the present invention. Detailed Implementation

[0037] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0038] This embodiment describes a motor resolver fault detection method based on a finite frequency domain observer, such as... Figure 2 As shown, it includes:

[0039] The system collects three-phase current, voltage, speed, and position angle signals calculated by a rotary transformer during the operation of the vehicle drive motor, and converts the three-phase current and voltage signals to a fixed coordinate system.

[0040] Based on the periodic measurement error of the position angle caused by the eccentricity fault of the rotary transformer and the operating speed of the motor, a finite frequency domain observation band is determined, and a linear variable parameter model of the vehicle drive motor containing the eccentricity fault of the rotary transformer is established.

[0041] Based on the linear variable parameter model, a finite frequency domain H- / H∞ fault detection observer is constructed to realize motor state estimation, and a multi-channel observation residual is constructed using the deviation between the estimated signal and the measured signal.

[0042] Based on the observed residuals, a residual state deviation index is constructed to determine the abnormal state of the system; for the abnormal state, the mechanical order component of the eccentric fault feature in the residuals is extracted, and an eccentric order feature index is constructed to realize the identification of eccentric faults in the rotary transformer.

[0043] First, the three-phase current of the vehicle drive motor during operation is collected. Three-phase voltage Motor speed and the position angle of the rotary transformer By transforming the coordinates, the three-phase current and voltage are converted to a fixed coordinate system, thus obtaining the current in the fixed coordinate system. and voltage in a fixed coordinate system , which serves as the input and output signals for subsequent linear variable parameter models and fault detection observers.

[0044] Among them, the eccentricity fault mechanism of the rotary transformer is as follows: Figure 1 As shown, under normal conditions, the rotor center and stator center of the rotary transformer are basically coincident. When eccentricity occurs, the air gap distribution between the rotor and stator changes, causing distortion of the sine and cosine output signals of the rotary transformer. This introduces a periodic measurement error related to the rotor's mechanical position into the calculated position angle, which can be expressed as:

[0045]

[0046] in, To calculate the position angle for the rotary transformer, This is the actual mechanical position angle of the rotor. This is a periodic measurement error in the position angle caused by an eccentricity fault.

[0047] The periodic measurement error of the position angle can be expressed as:

[0048]

[0049] in, This represents the number of pole pairs of the rotary transformer. For eccentricity fault parameters, Let be the number of harmonic terms. From the above equation, it can be seen that the periodic measurement error of the position angle caused by the eccentricity fault of the rotary transformer mainly manifests as order components related to the mechanical position; when When, you can select The mechanical order is considered as the main characteristic of eccentric faults.

[0050] Based on the mechanical order of the eccentric fault characteristics and combined with the current mechanical speed of the motor, a finite frequency domain observation band is determined. This finite frequency domain observation band is used to constrain the design of the subsequent H- / H∞ fault detection observer, so that the observer performance is concentrated in the main frequency range of the eccentric fault, rather than being uniformly constrained in the entire frequency domain, thereby reducing the conservatism brought about by the full frequency domain design.

[0051] In this embodiment, the vehicle drive motor is a permanent magnet synchronous motor. The linear variable parameter model is established based on the electrical equations, mechanical motion equations, and electromagnetic torque equations of the permanent magnet synchronous motor in a fixed coordinate system. Its state equation in the fixed coordinate system can be expressed as:

[0052]

[0053] in, For stator resistance, For stator winding inductance, It is a permanent magnet flux chain. This represents the number of pole pairs of the motor. For rotational inertia, The coefficient of viscous drag. For load torque, The electromagnetic torque of the motor. It is an electrical angle, and Subsequent eccentricity fault order analysis is based on mechanical position angle. For reference only.

[0054] Since the above permanent magnet synchronous motor model contains nonlinear terms related to the rotor electrical angle, a scheduling variable is introduced to facilitate the design of the subsequent observer. Based on the aforementioned scheduling variables, the permanent magnet synchronous motor can be transformed into a linear variable parameter model:

[0055]

[0056] in Let be the system state vector. , To control the input vector, , For non-fault inputs such as load disturbances, measurement noise, and model uncertainties, For the system output vector, , The system matrix varies with the scheduling variable. These are the perturbation state matrix and the perturbation output matrix.

[0057] Considering the periodic measurement error of the position angle caused by the eccentricity fault of the rotary transformer, the eccentricity fault is introduced as a fault input into the system state equation and output equation, resulting in a linear variable parameter model of the vehicle drive motor containing the input channel of the rotary transformer eccentricity fault:

[0058]

[0059] in, This is the input for eccentricity faults in rotary transformers, used to characterize the severity of eccentricity. This represents the fault input matrix for the eccentric fault in the state equation. This is the direct effect matrix of the eccentricity fault in the output equation. The eccentricity fault, on the one hand, through... It directly acts on the position angle output calculated by the rotary transformer, and on the other hand, it is through It affects the motor's current, speed, and position angle, among other state responses.

[0060] Since the scheduling variable is bounded, the linear variable parameter model can be further expressed as a weighted combination of multiple vertex models:

[0061]

[0062]

[0063] in, For the first The system matrix of a vertex model The corresponding weighting coefficients are used for solving the gain of the finite frequency domain H- / H∞ fault detection observer.

[0064] Based on the linear variable parameter model, a finite frequency domain H- / H∞ fault detection observer is constructed, which can be expressed as:

[0065]

[0066] in, This is the system state estimate. The system outputs an estimated value. Let be the observer gain matrix to be solved. The observer uses the deviation between the measured output and the estimated output to correct the state estimate, thereby obtaining the estimated signals of current, rotational speed and position angle.

[0067] Define the state estimation error as:

[0068]

[0069] The observation error system can then be expressed as:

[0070]

[0071] The residual signal can be expressed as:

[0072]

[0073] Take the residual output selection matrix The position angle calculated by the rotary transformer still participates in the observer calibration, but because the measured quantity is directly contaminated by the eccentricity fault and lacks an independent healthy position angle reference, it is not directly used as a residual evaluation channel.

[0074] As can be seen from the above formula, the residual signal is affected by both eccentric fault input and non-fault input. Therefore, this embodiment sets fault sensitivity constraints and disturbance suppression constraints simultaneously within the limited frequency domain observation range, so that the eccentric fault input to the residual channel has a high response, while suppressing the influence of load disturbance, measurement noise, model uncertainty and other factors on the residual.

[0075] Specifically, the gain of the finite frequency domain H- / H∞ fault detection observer is obtained by jointly solving for finite frequency domain constraints, fault sensitivity constraints, disturbance suppression constraints, and observation error system stability constraints.

[0076] The finite frequency domain constraint is used to limit the effective frequency range of fault sensitivity and disturbance suppression performance. The sensitive frequency band for eccentric faults is determined based on the characteristic mechanical order of the eccentric fault in the rotary transformer and the operating speed of the motor, so that the observer performance is concentrated within the main frequency range of the eccentric fault. The corresponding finite frequency domain constraint satisfies:

[0077]

[0078] in, These are the upper and lower limits of the frequency band sensitive to eccentricity faults. The upper and lower limits of the disturbance suppression frequency band. These are the constraint coefficients corresponding to the two frequency bands. The imaginary unit, These are the error responses under fault input and disturbance input, respectively. The above constraints are used to limit the effective frequency range of fault sensitivity and disturbance suppression performance, so that the observer performance is concentrated within a specified finite frequency domain.

[0079] The fault sensitivity constraint is used to enhance the transmission response of eccentric fault input to the residual channel, so that a significant change can be formed in the residual signal when an eccentric fault occurs in the rotary transformer, thereby improving the detection sensitivity for minor eccentric faults, corresponding to the H-performance index:

[0080]

[0081] The disturbance suppression constraint is used to weaken the transmission response of non-fault inputs such as load disturbances, measurement noise, and model uncertainties to the residual channel, reducing the possibility of abnormal changes in the residual caused by non-fault factors, corresponding to the H∞ performance index:

[0082]

[0083] in, As a fault sensitivity indicator, As a disturbance suppression index, It represents fault signals and disturbance signals under finite frequency domain constraints.

[0084] The observation error system stability constraint is used to ensure that the observation error system converges at all vertices, so that the observer can maintain stable state estimation performance under fault-free or disturbance-limited conditions.

[0085] Taking into account the above constraints, the problem of solving the gain of the finite frequency domain H- / H∞ fault detection observer is transformed into a feasibility problem of linear matrix inequalities, and the observer gain matrix is ​​obtained.

[0086] The residual signal is constructed from the estimated current, speed, and position angle output by the finite frequency domain H- / H∞ fault detection observer, based on the residual output selection matrix and the deviation between the estimated and measured signals. Furthermore, a secondary evaluation quantity for the instantaneous residual is constructed:

[0087]

[0088] Furthermore, a residual state deviation index is constructed within the complete mechanical transformation analysis interval to characterize the degree of deviation of the current residual from the healthy state:

[0089]

[0090]

[0091] in, Indicates the first A complete mechanical transfer zone This represents the number of sampling points within the entire mechanical rotation. For the first The first complete mechanical rotation The multi-channel observation residual vector corresponding to each sampling point Let this be the mean square of the residuals within the complete mechanical rotation. This represents the mean square of the residual baseline under the corresponding operating condition in a healthy state.

[0092] The residual state deviation index is compared with the health threshold. If it does not exceed the health judgment threshold, the rotary transformer is determined to be in a healthy state. If it exceeds the health judgment threshold, the system is determined to be abnormal, and further eccentric fault characteristic order analysis is performed.

[0093] For the residual signal under abnormal conditions, the residual components corresponding to the characteristic mechanical orders of eccentric faults are extracted. In this embodiment, 4X, 8X, 12X, and 16X are selected as the main characteristic mechanical orders of eccentric faults. An eccentric order feature index is constructed based on the characteristic mechanical order components. When the eccentric order feature index continuously exceeds the eccentricity identification threshold, it is determined that the rotary transformer has an eccentric fault; when it does not continuously exceed the eccentricity identification threshold, it is determined to be another fault or a non-eccentric anomaly.

[0094]

[0095]

[0096]

[0097] in, For the first The mean square of the zero-order residual component within a complete mechanical rotation. For the first The total mean square of the residual components of the complete mechanical rotation internal eccentricity characteristic order. This represents the baseline mean square of the characteristic order residual components under healthy conditions.

[0098] Combination Figure 3 and Figure 4 It can be seen that, as Figure 3 This invention illustrates the change in the residual state deviation index during a rotary transformer eccentricity fault. When an eccentricity fault occurs, the residual state deviation index exceeds the health determination threshold, indicating that the method can detect the abnormal state caused by the rotary transformer eccentricity fault; compared with the full-frequency domain H- / H∞ observer, its distinction between the fault range and the healthy range is more obvious. Figure 4 This invention illustrates the difference in the eccentricity order characteristic index between eccentric fault and non-eccentric anomaly conditions in a rotary transformer. Under eccentric fault conditions, the deviation characteristic corresponding to the characteristic mechanical order changes steadily; under non-eccentric anomaly conditions, this characteristic does not continuously satisfy the eccentricity determination condition. Therefore, this invention can not only determine whether a system is abnormal, but also further identify whether the abnormality exhibits characteristics of a rotary transformer eccentric fault.

Claims

1. A method for detecting motor resolver faults based on a finite frequency domain observer, characterized in that, Includes the following steps: The system collects three-phase current, voltage, speed, and position angle signals calculated by a rotary transformer during the operation of the vehicle drive motor, and converts the three-phase current and voltage signals into signals in a fixed coordinate system. Based on the periodic measurement error of the position angle caused by the eccentric fault of the rotary transformer and the operating speed of the motor, the finite frequency domain observation band corresponding to the eccentric fault is determined. A linear variable parameter model of a vehicle drive motor containing a rotary transformer eccentricity fault channel is established, and a finite frequency domain H- / H∞ fault detection observer is constructed based on the linear variable parameter model. The estimated signals of current, speed and position angle are obtained by using the finite frequency domain H- / H∞ fault detection observer, and a multi-channel observation residual signal is constructed by selecting a matrix based on the estimated signal, the corresponding measured signal and the residual output. Based on the multi-channel observed residual signals, the residual state deviation index and the eccentricity order characteristic index are constructed sequentially. The former is used to determine whether the system is healthy or abnormal, and the latter and the persistence criterion are used to distinguish between eccentricity faults and other abnormalities.

2. The motor resolver fault detection method based on a finite frequency domain observer according to claim 1, characterized in that, The finite frequency domain observation band is determined based on the characteristic mechanical order and motor speed corresponding to the periodic measurement error of the eccentric fault position angle. The characteristic mechanical order and motor speed are jointly mapped to obtain the finite frequency domain observation band corresponding to the eccentric fault.

3. The motor resolver fault detection method based on a finite frequency domain observer according to claim 1, characterized in that, The linear variable parameter model of the vehicle drive motor is established based on the electromagnetic equations, mechanical motion equations, and the mechanism of eccentricity faults in the rotary transformer. The position angle channel caused by the eccentricity fault is directly applied to the rotary transformer to calculate the position angle, and the current and speed states in the state equations are affected through the coupling relationship between the position closed loop and the current closed loop. in Let be the system state vector. , To control the input vector, , For non-fault inputs such as load disturbances, measurement noise, and model uncertainties, For the system output vector, , The system matrix varies with the scheduling variable. Here are the perturbation state matrix and the perturbation output matrix. For the system output matrix, This is the input for eccentricity faults in a rotary transformer, used to characterize the severity of eccentricity. This represents the fault input matrix for the eccentric fault in the state equation. This is the direct effect matrix of the eccentric fault in the output equation; the eccentric fault is through... Directly affects the position angle output of the resolver. It affects the motor's current, speed, and position angle state response.

4. The motor resolver fault detection method based on a finite frequency domain observer according to claim 3, characterized in that, The As the system matrix that varies with scheduling variables, select As a scheduling variable, For electrical angle, ;Depend on Form a four-vertex model, and follow the... Perform a weighted combination, where and .

5. The motor resolver fault detection method based on a finite frequency domain observer according to claim 1, characterized in that, The gain of the finite frequency domain H- / H∞ fault detection observer is obtained by jointly solving the fault sensitivity index, disturbance suppression index, and observation error system stability condition under the constraint of the finite frequency domain observation band.

6. The motor resolver fault detection method based on a finite frequency domain observer according to claim 5, characterized in that, The constraints for solving the observer gain include the eccentricity fault sensitive frequency band. Fault sensitivity constraints and disturbance suppression frequency bands within The disturbance suppression constraints within the model and the observation error system stability constraints that hold true for all linear variable parameter vertex models; the eccentric fault sensitive frequency band With the disturbance suppression frequency band The design should be based on the specific circumstances of the fault and disturbance.

7. The motor resolver fault detection method based on a finite frequency domain observer according to claim 1, characterized in that, The finite frequency domain observation band satisfies: The fault sensitivity index for enhanced fault propagation to the residual channel satisfies: The disturbance suppression index for suppressing the propagation of disturbances to the residual channel satisfies: in, Indicates the fault-sensitive frequency band The upper and lower limits, Indicates the disturbance suppression frequency band The upper and lower limits; These are the finite frequency domain constraint coefficients corresponding to the fault frequency band and the disturbance frequency band, respectively. These represent the observation error responses under fault input and disturbance input, respectively. Indicators representing fault sensitivity Indicates the disturbance suppression index; The imaginary unit; These are the error responses under fault input and disturbance input, respectively; It represents fault signals and disturbance signals under finite frequency domain constraints.

8. The motor resolver fault detection method based on a finite frequency domain observer according to claim 3, characterized in that, The system output matrix according to Output order settings, residual output selection matrix The deviation between the estimated output and the measured output is used to construct a multi-channel observation residual containing current and speed channels; the position angle calculated by the rotary transformer is used to participate in the observer correction.

9. The motor resolver fault detection method based on a finite frequency domain observer according to claim 1, characterized in that, The residual state deviation index is constructed based on the residual mean square and the healthy baseline within the complete mechanical transformation analysis interval, and is used to characterize the degree of deviation of the residual from the healthy state. The eccentricity order characteristic index is constructed based on the zero-order residual component and the mechanical order residual component of the eccentricity fault characteristic, and is used to characterize the eccentricity fault order characteristics in the residual.

10. The motor resolver fault detection method based on a finite frequency domain observer according to claim 9, characterized in that, When the residual state deviation index exceeds the health judgment threshold and the eccentricity order characteristic index continues to exceed the eccentricity identification threshold, the rotary transformer is determined to have an eccentricity fault.

Images