CN103472263A - Fault diagnosing method for hall sensor of permanent magnet synchronous motor - Google Patents
Fault diagnosing method for hall sensor of permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention belongs to the technical field of fault diagnosis of new energy automobile parts and relates to a fault diagnosing method for a hall sensor of a permanent magnet synchronous motor. The fault diagnosing method can judge whether a hall signal sequence is right, or whether an electrical angle where a rotor passes through a hall area is larger than the minimum value, or whether the electrical angle where the rotor passes through the hall area is smaller than the maximum value. The invention further provides a fault determining method for the hall sensor of the permanent magnet synchronous motor. When the hall sensor normally hops, signals of the hall sensor are sampled. During every n electrical periods, whether the sum of 2n collected signals is equal to n is utilized to remove diagnosing errors. Thus, the stability and the robustness of a system are improved. The fault diagnosing method can quickly diagnose fault hall sensors, can timely remove diagnosing errors, improves the accuracy and the stability of the whole fault diagnosing system and is low in cost and easy to achieve. The fault diagnosing method can be widely applied to the using occasions of the permanent magnet synchronous motors with the hall sensors.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor Hall element method for diagnosing faults, and fault sensor fault recognition method, new-energy automobile parts fault diagnosis technology field belonged to.
Background technology
Permagnetic synchronous motor is with its high torque (HT), high-energy-density, and high-level efficiency and low noise advantages are widely used in the drive system of new-energy automobile.Need the high precision rotor-position sensor in traditional permagnetic synchronous motor vector controlled, but be subject in some scenarios the restriction of installing space and cost, can't use.By contrast, it is little, easy for installation that Hall element (HALL Sensors) has a volume, and the advantage such as cheap, in recent years, caused people's great attention, is widely used in the permanent-magnetic synchronous motor rotor phase-detection.
The coded signal that the three-phase Hall element produces can be divided into six zones by an electric cycle of permagnetic synchronous motor (electricity cycle and the relation of physics between the cycle are linearly related to the motor pole logarithm), as shown in Figure 1.Coded signal is respectively: 101(5), 001(1), 011(3), 010(2), 110(6), 100(4), 6 zones are 60 electrical angles uniformly-spaced, and at regional intersection, 6 fixed phases (phase place 0---phase place 5) are accurately arranged.
The method of estimation rotor phase is incessantly a kind of, and relatively more commonly used have zeroth order estimation and single order are estimated.At first, according to before rotor pass by certain (several) individual Hall zone institute elapsed time, can estimate the angular velocity that rotor; Can determine rotor region and this regional fixed phase according to current hall signal.So-called single order estimation, be exactly to utilize the spinner velocity of estimation and rotor through the time of one's respective area use, calculates the electrical angle of passing by one's respective area, then calculate this rotor phase constantly in conjunction with fixed phase; Corresponding second order estimating and measuring method not only utilizes the rotor speed of estimation to be estimated phase place, also rotor acceleration is estimated, and then rotor estimation rotating speed is compensated, and finally more accurately estimates rotor phase.The second order estimating and measuring method is compared the single order estimation and is had some superiority under motor acceleration, decelerating mode, can more accurately to rotor phase, be estimated.
The control method that permagnetic synchronous motor is commonly used has Six Steps and vector control method, rotor phase all has vital effect in these two kinds of control methods, once Hall element breaks down, the hall signal of mistake just there will be, electric machine controller will parse wrong rotor phase signal the control signal of output error, this probably brings terrible consequences, and for example, torque ripple, phase current are excessive, the short circuit of the excessive even motor internal of motor heat load.The fault of motor can directly affect the power system of car load, probably causes the car load paralysis serious driving accident even to occur.
Automobile is very high to the reliability requirement of parts, does not allow any parts to break down easily, even break down, corresponding fault diagnosis and fault-tolerant control strategy also will be arranged as backup, guarantees vehicle safety in the process of moving.Fault diagnosis and fault tolerant control method for permanent magnet synchronous electric drive circuit, coil itself are studied by Chinese scholars and propose, and have obtained good effect.But regrettably, for the fault diagnosis work of permagnetic synchronous motor Hall element, not yet by the people, paid close attention to, at present, do not find relevant scientific paper and patent.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of permagnetic synchronous motor Hall element method for diagnosing faults, the method is applicable in the control procedure of three, two Hall element permagnetic synchronous motors, can correctly detect fast and judge the Hall element broken down.
Technical scheme provided by the invention is:
A kind of permagnetic synchronous motor Hall element method for diagnosing faults, the method comprises following three kinds of methods:
1) judge whether the hall signal order is correct
In the normal situation of hall signal, the rule that during electric machine rotation, hall signal changes is certain, and hall signal during forward is sequentially 5(101), 1(001), 3(011), 2(010), 6(110), 4(100); Hall signal during reversion is sequentially 5(101), 4(100), 6(110), 2(010), 3(011), 1(001).The hall signal of the Error type I caused after Hall element breaks down can be summed up as the hall signal sequence error, therefore the moment occurred in the Hall saltus step, can whether correctly judge whether that Hall element breaks down according to the hall signal order, if which phase Hall element is the hall signal sequence error, can further judge according to concrete hall signal and break down.
2) judge whether the electrical angle that rotor is passed by through certain Hall zone is greater than minimum value
Equations of The Second Kind Hall fault can't cause the mistake of hall signal order, but can cause that the Hall saltus step occurs in advance.The core of this judgment criterion is to determine the minimum electrical angle of rotor through passing by a certain Hall Region Theory, certainly this theoretical value is for the rotor accumulative total lower limit that the electrical angle estimated value gets of passing by, the electrical angle that rotor should be passed by through any Hall zone is in fact determined, but due to the rotating speed estimation error, rotor through certain Hall zone the electrical angle of process be according to estimation rotating speed integration gained, therefore wherein must there is estimation error, this error is to change caused by the motor actual speed, owing to there being inertia, therefore the motor speed fluctuation must bounded, and then can go out rotor through should the pass by theory maximum of electrical angle of certain Hall zone according to fluctuation of speed range computation, minimum value.Therefore, once the Hall saltus step, occur that rotor is less than theoretical minimum value through the accumulation electrical angle in Hall zone before saltus step, just can be according to the interval definite Hall element broken down of corresponding Hall.
3) judge whether the electrical angle that rotor is passed by through certain Hall zone is less than maximal value
The 3rd class Hall fault can cause the hysteresis of Hall saltus step, similar with method 2, the maximum electrical angle that should pass through through certain Hall Region Theory according to the calculative determination rotor, once the electrical angle that rotor is passed by this zone is greater than this maximal value, just can diagnose out the Hall element broken down in conjunction with hall signal.With the difference of method 1,2, be, the diagnosis of 3 pairs of faults of method is all the time, and can't help the hall signal saltus step and trigger.
Described three diagnostic methods are applicable to the Hall element fault diagnosis under three Hall element control models, and are equally applicable to the Hall element fault diagnosis under two Hall element control models, and principle, method, concrete form are the same.
In addition, the present invention also provides a kind of method for permagnetic synchronous motor Hall element fault recognition, it is also the Hall element troubleshooting methodology, constantly detect " fault " signal, confirm the certain fault of respective sensor, and then get rid of due to loose contact or signal noise caused " wrong diagnosis ", fully guarantee accuracy and the robustness of system.
A kind of method for permagnetic synchronous motor Hall element fault recognition, the method is after a certain (two) phase hall signal is identified fault, jumping moment at normal Hall element, signal to the fault Hall element is sampled, through n(n, be positive integer) all after dates of individual electricity, by 2n sampled signal addition, if signal and whether equal n, judge that " fault " Hall element is normal, its " fault " caused by signal noise or loose contact, and recovers to use this Hall element; If sampled signal and be not equal to n, assert that there is fault really in this fault Hall element, and continue to carry out the fault recognition method.Also carry out same operation when the two-phase hall signal breaks down, two fault-signals are sampled simultaneously, and utilize identical decision criteria to determine their whether necessary being faults, principle is identical.
The present invention has the following advantages:
1, utilize three methods, the fault hall signal can be classified clearly, and can diagnose rapidly out of order Hall element, and then the signal of fixing a breakdown.In addition, the method not only is used in the fault diagnosis of three-phase hall signal, is equally applicable in the fault diagnosis of two-phase hall signal, and Principle Method is all consistent, therefore makes method itself very short and sweet.
2, the fault recognition method can constantly be confirmed whether necessary being of Hall element fault, and can get rid of in time due to signal noise, the caused wrong diagnosis of Hall element loose contact, has therefore improved the Stability and veracity of whole fault diagnosis system.
3, this method cost is low, easily realizes.
In sum, the present invention can be widely used in and utilize Hall element to carry out in the various use occasions of permagnetic synchronous motor of phase-detection.
The accompanying drawing explanation
Fig. 1 is a three-phase hall signal schematic diagram under the electric cycle.
Fig. 2 is the hall signal sequence error schematic diagram that A phase Hall opens circuit and causes.
Fig. 3 is that the Hall saltus step caused of opening circuit of A phase Hall shifts to an earlier date schematic diagram.
Fig. 4 is the Hall saltus step hysteresis schematic diagram that A phase Hall opens circuit and causes.
Fig. 5 is the limit value schematic diagram through electrical angle through a certain Hall Region Theory.
Fig. 6 carries out the fault recognition schematic diagram to A phase hall signal within an electric cycle.
Fig. 7 is the caused fault hall signal of A phase Hall loose contact schematic diagram.
Fig. 8 carries out the fault recognition schematic diagram to A, B phase hall signal within an electric cycle.
Embodiment
Further illustrate the books invention below in conjunction with the drawings and specific embodiments.
The invention provides a kind of permagnetic synchronous motor Hall element method for diagnosing faults.The present invention also provides a kind of method for permagnetic synchronous motor Hall element fault recognition.
(1) Hall element method for diagnosing faults: the method is applied under three, two Hall element control models, and because principle is the same with embodiment, the three Hall control models of therefore take are introduced as example.
At first, in any Hall zone, before any Hall saltus step occurs, whether method 3, be greater than maximal value through this regional electrical angle, capital was checked in each PWM cycle, if find, the electrical angle that the current time rotor is passed by this zone has been greater than maximal value, determines the fault Hall element according to the region hall signal, and abandons in time fault-signal, can be with reference to figure 4, Fig. 4 is the Hall saltus step hysteresis schematic diagram that A phase Hall opens circuit and causes; On the contrary, if confirm that the electrical angle that the current time rotor is passed by this zone is less than maximal value, carries out other control command as usual, do not do any change, wait for the arrival of Hall saltus step, can be with reference to figure 1, Fig. 1 is a three-phase hall signal schematic diagram under the electric cycle; Once the Hall saltus step occurs, first whether correct according to method 1(hall signal order) and motor steering judge whether to occur the Hall element fault, if break down, according to hall signal after hall signal before saltus step and saltus step, determine Hall element the timely eliminating error signal broken down, can be with reference to figure 2, Fig. 2 is the hall signal sequence error schematic diagram that A phase Hall opens circuit and causes; If the hall signal order is quite right, whether the electrical angle that judgement is passed by through a upper zone (being the zone before saltus step occurs) rotor is less than minimum value, if be less than, the Hall element that judgement is broken down according to hall signal, can be with reference to figure 3, Fig. 3 is that the Hall saltus step caused of opening circuit of A phase Hall shifts to an earlier date schematic diagram; If the minimum value of being greater than, carry out control command and do not do any action.Method 2,3 can be with reference to figure 5, Fig. 5 is the limit value schematic diagram through electrical angle through a certain Hall Region Theory, only have the Hall saltus step to occur in (representation theory minimum value and theoretical maximum respectively) in two formed zones of collection signal solid line, just assert and break down without any Hall element.
Under two Hall control models, the embodiment of Hall fault diagnosis is the same, uniquely different be, two hall signals divide an electric cycle for irregular four zones, as shown in Figure 7, therefore theoretical electrical angle largest interval and the theoretical electrical angle minimum interval of respective regions will be set according to concrete hall signal, as the basis for estimation of method 2,3.
The Hall method for diagnosing faults is nested in motor control method, it does not change the core methed of Electric Machine Control, only carry out the Hall fault diagnosis, the confidence level of judgement hall signal, and then make electric machine controller can utilize the correct judgement rotor-position of hall signal reliably, produced correct control signal, reduced the noise vibrations of machine operation, improved its efficiency.
(2) Hall element fault recognition method:
Hall fault recognition method is applied to two, single Hall control model, has had Hall element to be identified that, in the situation of fault, its embodiment is as follows:
Under two Hall control models, utilize one of them normal hall signal, the moment in its saltus step is sampled to the fault hall signal, (Fig. 6 carries out the fault recognition schematic diagram to A phase hall signal within an electric cycle as shown in Figure 6, utilize B phase hall signal jumping moment to be sampled to A phase Hall), n the electricity cycle of process added up the 2n of a collection signal, judge 2n signal and whether equal n, if equal, the Hall element of assert " fault " can work, " fault " before is by non-failure factor, as signal noise or loose contact caused (as Fig. 7, Fig. 7 is the caused fault hall signal of A phase Hall loose contact schematic diagram.); If 2n signal sum is not equal to n, assert that there is fault really in this Hall element, and continue to carry out this method, the accuracy of raising method, the stability of whole system and robustness.
Under single Hall control model, logic and the embodiment of Hall fault recognition method there is no essential distinction, for example, shown in Fig. 8, Fig. 8 carries out the fault recognition schematic diagram to A, B phase hall signal within an electric cycle, utilize normal hall signal, respectively two fault sensor signals are sampled at its jumping moment, through 10 electric cycles, according to judgment criterion, confirmed respectively whether two fault Hall elements exist fault really.
Three methods of the present invention can be classified the fault hall signal clearly, can diagnose rapidly out of order Hall element; Can get rid of in time wrong diagnosis, improve the Stability and veracity of whole fault diagnosis system; Cost is low, easily realizes.The present invention can be widely used in the various use occasions with the Hall element permagnetic synchronous motor.
Claims (2)
1. a permagnetic synchronous motor Hall element method for diagnosing faults, is characterized in that, the method comprises following three kinds of methods:
1) judge whether the hall signal order is correct
In the normal situation of hall signal, during electric machine rotation, the hall signal variation is rule, and hall signal during forward is sequentially 5(101), 1(001), 3(011), 2(010), 6(110), 4(100); Hall signal during reversion is sequentially 5(101), 4(100), 6(110), 2(010), 3(011), 1(001); In the moment occurred in the Hall saltus step, if the hall signal order is correct, Hall element does not break down, if the hall signal order is incorrect, Hall element breaks down;
If the hall signal order is incorrect, can further according to incorrect hall signal, judges any phase Hall element and break down; Or,
2) judge whether the electrical angle that rotor is passed by through certain Hall zone is greater than minimum value;
Determine the minimum electrical angle of rotor through passing by a certain Hall Region Theory, the described minimum electrical angle that should pass by theory is for the rotor accumulative total lower limit that the electrical angle estimated value gets of passing by---rotor through certain Hall zone the electrical angle of process be according to estimation rotating speed integration gained, wherein have estimation error, this error is to change institute by the motor actual speed to cause; Owing to there being inertia, motor speed fluctuation must bounded, and then can go out rotor according to fluctuation of speed range computation and should pass by through certain Hall zone that the theory of electrical angle is maximum, minimum value;
Once rotor is less than theoretical minimum value through the accumulation electrical angle in the front Hall of Hall saltus step zone, judgement is broken down; Simultaneously, according to the interval definite Hall element broken down of corresponding Hall; Or,
3) judge whether the electrical angle that rotor is passed by through certain Hall zone is less than maximal value
The maximum electrical angle that the calculative determination rotor should pass through through certain Hall Region Theory, once the electrical angle that rotor is passed by this zone is greater than this maximal value, judge that Hall element breaks down; Simultaneously, diagnose out in conjunction with hall signal the Hall element broken down; The method is all the time to the diagnosis of fault, and can't help the hall signal saltus step and trigger.
2. the method for permagnetic synchronous motor Hall element fault recognition, is characterized in that, the method after a certain two-phase or three-phase hall signal are identified fault,
At the jumping moment of normal Hall element, the signal of fault Hall element is sampled;
Through n electric all after date, n is positive integer, by 2n sampled signal addition;
If signal and whether equal n, judge that " fault " Hall element is normal, its " fault " caused by signal noise or loose contact, and recovers to use this Hall element; If sampled signal and be not equal to n, assert that there is fault really in this fault Hall element, and continue to carry out the fault recognition method.
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| CN104459593A (en) * | 2014-12-08 | 2015-03-25 | 中国矿业大学 | Fault diagnosis and positioning method for three-phase switch reluctance motor position sensor |
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| CN105262398A (en) * | 2015-09-25 | 2016-01-20 | 广东高标电子科技有限公司 | Vector control method and apparatus for permanent magnet synchronous motor based on Hall sensor |
| CN105573304A (en) * | 2016-02-22 | 2016-05-11 | 南京航空航天大学 | Fault diagnosis method for Hall position sensor of permanent magnet synchronous motor |
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| CN105871283B (en) * | 2016-05-08 | 2019-01-22 | 浙江理工大学 | The fault-tolerant drive system of automobile permanent magnet synchronous motor and method under sensor fault |
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| CN110061673A (en) * | 2019-05-08 | 2019-07-26 | 浙江吉利控股集团有限公司 | Motor control method and system based on Hall sensor |
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Application publication date: 20131225 |