CN103414433B - A kind of Hall position sensor fault emergency method - Google Patents
A kind of Hall position sensor fault emergency method Download PDFInfo
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- CN103414433B CN103414433B CN201310312331.4A CN201310312331A CN103414433B CN 103414433 B CN103414433 B CN 103414433B CN 201310312331 A CN201310312331 A CN 201310312331A CN 103414433 B CN103414433 B CN 103414433B
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Abstract
The invention discloses a kind of Hall position sensor fault emergency method, after hall position sensor breaks down, and non-immediate disable motor, the basis of reporting to the police make motor work on, greatly reduce the hazard rating of hall position sensor fault, add the reliability of system.Hall position sensor fault emergency method is in motor operation course, and eight kinds of states may appear at most in three road hall position sensors, wherein complete zero or a full state be malfunction, initial value all composes 0; Enclose as a sense cycle using electric machine rotation two, if there is a kind of state of hall position sensor, then compose 1 to corresponding variable; Observe the value of array; When motor has fault, be the state of 0 by analysis, analyze and determine which hall position sensor breaks down; By software, Hall position sensor of motor fault is accurately located, make user after system stalls, and change fault sensor timely and accurately according to fault message.
Description
Technical field
The present invention relates to a kind of fault handling method of brshless DC motor, specifically, relate to a kind of Hall position sensor fault emergency method.
Background technology
In recent years, along with the development of power electronic technology, microelectric technique and novel magnetic materials, brshless DC motor, so that its volume is little, lightweight, efficiency is high, moment is large, the feature of good speed adjustment features, is applied widely in fields such as Aeronautics and Astronautics, Digit Control Machine Tool, robots.Brshless DC motor basic structure is made up of motor body, controller, position transducer.The effect of position transducer detects the position of main rotor in motion process, the position signalling of rotor magnetic steel magnetic pole is converted to the signal of telecommunication, for logic switching circuit provides correct commutation information, to control their conducting and cut-off, make the electric current in motor armature winding along with the change commutation in order of rotor-position, form step-type rotating magnetic field in air gap, drive p-m rotor continuously to rotate.Tradition has brushless motor permanent magnet pole or excitation winding to be positioned on stator, and armature is positioned on rotor, and it carries out commutation, without the need to controller intervention by carbon brush and phase changer.Brushless DC motor rotor adopts high residual magnetic flux density and large coercitive rare earth permanent-magnetic material, and often pair magnetic pole accounts for 180 ° of electrical degrees; And armature is positioned on stator, by three-phase alternating current, produce rotating magnetic potential, drive rotor to rotate.Owing to eliminating phase changer structure, brushless direct current motor controller must can learn the position of current rotor, to control the direction of magnetic potential, thus motor is rotated.
Position transducer kind is a lot, has electromagnetic type, photoelectric type, Mageneto-sensitive type etc.; They differ from one another, but have that structure is simple, volume is little, convenient and flexible installation, are easy to the advantages such as electromechanical integration due to Mageneto-sensitive type hall position sensor, obtain applying more and more widely.Brshless DC motor adopts three-phase structure usually, and hall position sensor number is equal with number of motor phases, is uniformly distributed every 120 ° of electrical degrees, and therefore brshless DC motor is equipped with three hall position sensors usually, is used to indicate current rotor position.Hall position sensor output signal overturns when pole orientation changes.Due to 120 °, hall position sensor interval electrical degree, and account for 180 ° of electrical degrees every magnetic pole, the situation under also namely there will not be three hall position sensors to be positioned at same magnetic pole, be not the same corresponding to sensor output signal Ye Ji tri-road signal.Therefore, only may there is six kinds, " 001 " ~ " 110 " state in three road Hall element signal HA, HB, HC, often kind of Hall state continuance 60 ° of electrical degrees.Electric machine controller constantly controls stator field direction by reading this three-way sensor signal, thus drive motors rotates.Brshless DC motor adopts three phase full bridge structure, and conduction mode is " between two conducting ".Adopt this topological structure, produce different magnetic potentials by different switch combinations, therefore, as long as the correct switch relation of acquisition sensor signal and switch combination and commutation table just can reliably rotate by drive motors.As hall position sensor fault causes commutation mistake, very likely cause motor rotation blockage, make motor winding bear very large electric current, cause the electric machine controller even damage of motor.Position transducer is generally arranged on motor body inside, is easily hit, not easy heat radiation, and is easily subject to the impact of motor high-intensity magnetic field, is one of the weakest link of brshless DC motor.Brshless DC motor is usually used in some occasions needing long-time continuous, stable operation, as fuel pump, electric steering engine etc.; Therefore after breaking down, the operating state of motor does not allow hard stop, now just requires a kind of first aid mode and makes motor continue to run, until allow to change corresponding fault element when stopping.Being only when detecting that three road Hall elements occur complete zero or for the moment complete for the processing mode that hall position sensor fault is present, stopping machine operation immediately and irrecoverable.This processing mode is too rough, if now motor is key element, such processing mode can make system paralyse immediately, may cause catastrophic consequence.
Summary of the invention
In order to avoid the deficiency that prior art exists, the present invention proposes a kind of Hall position sensor fault emergency method, the method can not change on the basis of hardware circuit, the first aid of failure system is only realized by software, and can ensure that brshless DC motor can work on after generation hall position sensor fault, until system allows the stop timing, method simple practical.
Hall position sensor fault emergency method of the present invention, is characterized in comprising the following steps:
Step 1. pair variable carries out initialization; In motor operation course, may there are at most eight kinds of states in three road hall position sensors, wherein complete zero or a full state be malfunction, represent with one-dimension array HALL [8] eight kinds of states that hall position sensor may occur, initial value all composes 0;
Step 2. is enclosed as a sense cycle using electric machine rotation two, if there is a kind of state of hall position sensor, then composes 1 to corresponding variable HALL [x] (x=0 ~ 7);
Step 3. observes the value of array HALL [8];
(1) if HALL [1] ~ HALL [6] is 1, and the value of HALL [0] and HALL [7] is 0, then represent motor fault-free;
(2) if HALL [1] ~ HALL [6] part is 0, and the value of HALL [0] and HALL [7] is 1, then represent that motor has fault;
(3) when motor has fault, by being the state of 0 in analysis HALL [1] ~ HALL [6], analyzing and determining which hall position sensor breaks down;
Step 4., in brshless DC motor running, detects the on off state of three road hall position sensors, records the service time that each road hall position sensor is real-time;
Step 5. is on the basis determining fault road hall position sensor, to host computer reception and registration malfunction and with the real-time service time of other two-way hall position sensor for benchmark, when fault road hall position sensor should be opened, a given virtual hall position sensor signal, makes system work on;
Step 6. array HALL [8] resets, for next sense cycle is prepared.
Beneficial effect
A kind of Hall position sensor fault emergency method that the present invention proposes, after hall position sensor breaks down, and the motor of non-immediate closedown work, but motor can be made to work on the basis of reporting to the police, significantly reduce the hazard rating of hall position sensor fault, add the reliability of system.First-aid method of the present invention accurately can be located Hall position sensor of motor fault by software, makes user after system stalls, and changes fault sensor timely and accurately according to fault message.First-aid method of the present invention is not changing on the basis of hardware circuit, and the first aid only realizing failure system by software can obtain good effect, and Cost optimization is low.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of Hall position sensor fault emergency method of the present invention is described in further detail.
Fig. 1 is brushless DC motor structure schematic diagram.
Fig. 2 is brushless DC motor control system circuit diagram.
Rotor-position and magnetic potential direction when Fig. 3-a Hall state is 110.
Rotor-position and magnetic potential direction when Fig. 3-b Hall state is 010.
Rotor-position and magnetic potential direction when Fig. 3-c Hall state is 011.
Rotor-position and magnetic potential direction when Fig. 3-d Hall state is 001.
Rotor-position and magnetic potential direction when Fig. 3-e Hall state is 101.
Rotor-position and magnetic potential direction when Fig. 3-f Hall state is 100.
Fig. 4 is Hall running status schematic diagram.
Fig. 5 is Hall fault emergency method signal flow graph.
In figure:
1. bearing 2. casing 3. stator 4. rotor 5. position transducer 6. electronic switch circuit 7. motor 8. hall position sensor
Embodiment
The present embodiment is a kind of Hall position sensor fault emergency method.
Fig. 1 is the structural representation of brshless DC motor, and as can be seen from the figure position transducer is positioned at motor body inside, is easily subject to the impact of high-intensity magnetic field and concussion, easily breaks down.The control system of brshless DC motor adopts three phase full bridge structure; As shown in Figure 2, wherein T1 ~ T6 is power switch pipe, and D1 ~ D6 is fly-wheel diode.Adopt this topology, can produce different magnetic potentials by different switch combinations, drive motors rotates, and the Hall switch state of brshless DC motor commutation process and correspondence is as shown in Fig. 3 a ~ Fig. 3 f, and concrete Hall switch state as shown in Figure 4.In the present embodiment, adopt TMS320F2812 as main control chip, IR2130 as driving chip, select three-phase inverter bridge circuit and on cut down the chopping way do not cut, select three-phase three to the brshless DC motor of pole herein.As shown in Figure 5, application Hall position sensor fault emergency method operates, and concrete steps are:
The first step, carries out initialization to variable; Represent with one-dimension array HALL [8] eight kinds of state " 000 " ~ " 111 " that hall position sensor may occur, wherein, HALL [0] represents " 000 ", HALL [1] represents " 001 ",, HALL [7] represents 111, and initial value all composes 0; The service time of three road hall position sensors is represented with one-dimension array HallTime [3], wherein HallTime [0] represents A phase Hall element, HallTime [1] represents B phase Hall element, and HallTime [2] represents C phase Hall element, and initial value all composes 0; Represent Hall state variation number of times with variable P_cnt, initial value composes 0, and concrete meaning as shown in Figure 4;
Second step, adopts capture interrupt, equal triggered interrupts when arranging input from low level to high level and from high level to low level, with Hall element output signal triggered interrupts, if there is a kind of state of hall position sensor, then compose 1 to corresponding variable, if do not occur, then retain initial value 0; Record the Hall service time on each road current, and be saved in one-dimension array HallTime [3]; Record Hall state variation number of times by variable P_cnt, be at least a circle, the number of turns is more, and when being switched to first aid state from normal condition, the impact suffered by system is larger, but false alarm rate is lower;
With P_cnt, 3rd step, remembers that 36 is a sense cycle, when end cycle and P_cnt remember 36, the value of observation variable HALL [8], carries out comprehensive descision to Hall state and draw motor whether fault; Embodiment is as follows:
If 1. HALL [1] ~ HALL [6] is 1 and the value of HALL [0] or HALL [7] is 0, then represent motor fault-free;
2. if HALL [1] ~ HALL [6] part is 0 and the value of HALL [0] or HALL [7] is 1, then represent that motor has fault;
4th step, if motor generation Hall element fault, then which hall position sensor is the state by analysis HALL [1] ~ HALL [6] being 0, can analyze and break down; Concrete grammar is: if Hall element breaks down, then have three HALL [x] (x=1 ~ 6) to be 0, be always in three kinds of corresponding Hall states 0 or 1 be the Hall element broken down;
5th step, troubleshooting; On the basis of clear failure road hall position sensor, to host computer reception and registration malfunction and with the real-time service time of other two-way hall position sensor for benchmark, when fault road hall position sensor should be opened, a given virtual hall position sensor signal, makes system work on; Such as there is open circuit fault in B phase hall position sensor, namely only there will be if Fig. 3-d is to Fig. 3-f three kinds of states, and there will not be if Fig. 3-a is to these three kinds of states of Fig. 3-c, now according to the Hall running status shown in Fig. 4, according to A phase Hall element running status HA and C phase Hall element running status HC, fictionalize the running status HB of B phase Hall element, the state replacing the actual B phase Hall element detected with virtual HB, makes system work on;
6th step, array HALL [8] and variable P_cnt resets, for next sense cycle is prepared.
Claims (1)
1. a Hall position sensor fault emergency method, is characterized in that comprising the following steps:
Step 1. pair variable carries out initialization; In motor operation course, may there are at most eight kinds of states in three road hall position sensors, wherein complete zero or a full state be malfunction, represent with one-dimension array HALL [8] eight kinds of states that hall position sensor may occur, initial value all composes 0;
Step 2. is enclosed as a sense cycle using electric machine rotation two, if there is a kind of state of hall position sensor, then composes 1 to corresponding variable HALL [x] (x=0 ~ 7);
Step 3. observes the value of array HALL [8];
(1) if HALL [1] ~ HALL [6] is 1, and the value of HALL [0] and HALL [7] is 0, then represent motor fault-free;
(2) if HALL [1] ~ HALL [6] part is 0, and the value of HALL [0] and HALL [7] is 1, then represent that motor has fault;
(3) when motor has fault, by being the state of 0 in analysis HALL [1] ~ HALL [6], analyzing and determining which hall position sensor breaks down;
Step 4., in brshless DC motor running, detects the on off state of three road hall position sensors, records the service time that each road hall position sensor is real-time;
Step 5. is on the basis determining fault road hall position sensor, to host computer reception and registration malfunction and with the real-time service time of other two-way hall position sensor for benchmark, when fault road hall position sensor should be opened, a given virtual hall position sensor signal, makes system work on;
Step 6. array HALL [8] resets, for next sense cycle is prepared.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110798127A (en) * | 2019-11-14 | 2020-02-14 | 广东高标电子科技有限公司 | Hall fault-tolerant operation method for motor of electric vehicle |
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| CN104165649B (en) * | 2014-08-28 | 2016-08-24 | 西北工业大学 | A kind of brshless DC motor Hall element power-on self-test surveys method |
| CN105024595B (en) * | 2015-07-22 | 2017-11-07 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | A kind of brshless DC motor failure monitoring method and device |
| KR101694047B1 (en) * | 2015-08-12 | 2017-01-09 | 현대자동차주식회사 | Control method of motor |
| CN105186456A (en) * | 2015-08-12 | 2015-12-23 | 周海波 | Brushless motor position sensor anomaly detection and protection device and method |
| CN105115416B (en) * | 2015-08-26 | 2017-07-11 | 南京航空航天大学 | Permagnetic synchronous motor switch Hall position sensor breakdown judge and localization method |
| DE102015223933A1 (en) * | 2015-12-01 | 2017-06-01 | Krones Aktiengesellschaft | Method for transporting containers |
| US9960716B2 (en) | 2016-02-29 | 2018-05-01 | Allegro Microsystems, Llc | Control timing and sequencing for a multi-phase electric motor |
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| CN201904748U (en) * | 2010-11-25 | 2011-07-20 | 中国电器科学研究院 | Five-phase brushless direct current motor controller with Hall fault tolerance function |
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| CN110798127A (en) * | 2019-11-14 | 2020-02-14 | 广东高标电子科技有限公司 | Hall fault-tolerant operation method for motor of electric vehicle |
| CN110798127B (en) * | 2019-11-14 | 2021-05-14 | 广东高标电子科技有限公司 | Hall fault-tolerant operation method for motor of electric vehicle |
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