CN106374789B - Permanent-magnet brushless DC electric machine low torque ripple Hall fault tolerant control method - Google Patents
Permanent-magnet brushless DC electric machine low torque ripple Hall fault tolerant control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention discloses a kind of permanent-magnet brushless DC electric machine low torque ripple Hall fault tolerant control methods, this method passes through vector analysis and coordinate transformation method, it converts the brshless DC motor parameter under abc coordinate systems to α β coordinate system parameters, obtains the electrical equation under the α β coordinate systems comprising the parameter of electric machine；It obtains about current phasor i and counter electromotive force vector e and rotor speed ωmInstantaneous torque equation；Obtain resultant current vector ipMovement locus；Pulse-width signal PWM is generated, control motor is run as required；Using vector tracking observer by the discrete rotor information of hall position sensor, continuous rotor position information is obtained by estimation；Hall signal under normal and malfunction is decomposed and decoupled using Fourier space analysis tool, waveform is decoupled using lookup table storage harmonic waves, observer is tracked using vector and estimation and compensation is completed by fundamental signal feedback and harmonic signal feedback.
Description
Technical Field
The invention relates to the field of control of permanent magnet motors for electric vehicles, in particular to a low-torque ripple Hall fault-tolerant control method for a permanent magnet brushless direct current motor.
Background
The permanent magnet brushless dc motor has higher efficiency and power density than the dc motor and the induction motor of the same size, and thus is widely used in the servo field, and the fields of electric vehicles, home appliances, and the like. Traditional permanent magnetism brushless DC motor is under 120 electric angle square wave current's drive, because the restriction of motor phase winding inductance and DC power supply power for phase commutation time phase current can not be transient, forms non-ideal square wave current, and then leads to commutation torque ripple, in addition because motor manufacturing process makes the counter electromotive force nonideal, has aggravated the torque ripple of motor, and brushless DC motor's torque ripple has hindered its application in the servo field of high accuracy.
The traditional brushless direct current motor control mode mostly adopts a two-phase conduction and three-phase six-state control mode, square wave current is introduced into a motor phase winding, a proper PWM (pulse width modulation) modulation mode is selected for modulation, in the aspect of torque ripple inhibition, a three-phase common modulation mode is mostly adopted during phase commutation to balance the rates of opening and closing phases, the current of a non-conduction phase tends to be stable, and the effect of inhibiting the phase commutation torque ripple is achieved.
At present, a vector control technology is more and more widely adopted in the control of a permanent magnet brushless direct current motor, the torque pulsation of the motor is greatly reduced by a high-performance vector control technology, continuous rotor position information is required by the vector control, but a used rotor position sensor (such as a photoelectric encoder, a rotary transformer and the like) is expensive, the stability is easily influenced by the environment, and the cost of a control system is greatly increased in the low-cost field, so that a low-cost vector control method based on a Hall position sensor becomes a research focus.
However, brushless dc motors are not used in different applications, and the requirements for stability of the control system are different, and in the operation process of the motors, due to erosion environment, severe jitter and connection problems, the hall position sensors may fail, so that the motors stall or suddenly stop.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
In view of this, the present invention provides a low torque ripple hall fault-tolerant control method for a permanent magnet brushless dc motor, so as to at least solve the problems of low execution efficiency and error accumulation in a serial computing structure in the existing PIE technology.
according to one aspect of the invention, the control method comprises the steps of converting brushless direct current motor parameters in an α β coordinate system into alpha beta coordinate system parameters through a vector analysis and coordinate transformation method to obtain an electric equation in an alpha beta coordinate system containing the motor parameters, wherein the α β coordinate system is a three-dimensional static space coordinate system, the alpha beta coordinate system is a two-dimensional static coordinate system, the brushless direct current motor parameters comprise phase current, voltage and opposite electromotive force, and obtaining a current vector i, a counter electromotive force vector e and a rotor rotation speed omega according to a brushless direct current motor performance equation under the drive of ideal square wave current in the alpha beta coordinate systemmunder the alpha beta coordinate system, according to the phase limit condition and the amplitude limit condition, the synthetic current vector i is obtainedpalpha, beta components under α β coordinate system to obtain the resultant current vector ipWherein the resultant current vector ipEnabling the motor torque in the instantaneous torque equation to be a constant value at any rotating speed; according to coordinate transformationObtaining the reference component I of the resultant current vector in dq coordinate systemd,ref、Iq,refBy referencing the component Id,ref、Iq,refFeedback currents I respectively converted with actual phase currents detected by current sensorsd,fb、Iq,fbComparing to obtain an error, and obtaining a reference input component V of the SVPWM after the error passes through a PI controllerd,ref、Vq,refTo generate a pulse width modulation signal PWM and control the motor to operate according to requirements; adopting a vector tracking observer to obtain continuous rotor position information by estimating the discrete rotor information of the Hall position sensor; decomposing and decoupling Hall signals in normal and fault states by utilizing a Fourier series analysis tool, storing harmonic decoupling waveforms by utilizing a lookup table, and completing the states by utilizing a vector tracking observer through fundamental wave signal feedback and harmonic wave signal feedbackState estimation and compensation.
Further, the current vector i and the back electromotive force vector e follow the rotor electrical angle θeforms a regular hexagonal current trajectory and a back electromotive force trajectory having six vertices in the α β coordinate system.
Further, the resultant current vector ipthe motion track under each sector of the α β coordinate system is a part of a track circle under the α β coordinate system.
The invention has the beneficial effects that: 1) by means of vector analysis and coordinate transformation, the performance equation of the brushless direct current motor is analyzed in a two-dimensional static coordinate system, so that a synthetic current capable of enabling instantaneous torque to be constant at any rotating speed is obtained, and electromagnetic torque pulsation of the motor is greatly reduced. 2) And the Hall position sensor is adopted to collect the position information of the rotor, so that the vector control of the brushless direct current motor with low cost is realized. 3) The Hall fault-tolerant control algorithm is adopted, detection, confirmation and compensation are carried out on single Hall faults and double Hall faults of the Hall position sensor, the system can be ensured to stably operate when the Hall faults occur, and the stability of the system and the redundancy of the position sensor are increased. These and other advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings.
Drawings
The invention may be better understood by referring to the following description in conjunction with the accompanying drawings, in which like reference numerals are used throughout the figures to indicate like or similar parts. The accompanying drawings, which are incorporated in and form a part of this specification, illustrate preferred embodiments of the present invention and, together with the detailed description, serve to further explain the principles and advantages of the invention. In the drawings:
FIG. 1A is a flow chart of a low torque ripple Hall fault tolerant control method of a permanent magnet brushless DC motor according to the present invention;
FIG. 1B is a block diagram of a brushless DC motor low torque ripple Hall fault tolerant control system;
FIG. 2 shows a sector s of a composite current vector in a two-dimensional stationary coordinate system3The trajectory of (2);
FIG. 3 is a trace of a composite current vector over various sectors in a two-dimensional stationary coordinate system;
FIGS. 4A and 4B are traces of a single Hall fault in a two-dimensional stationary coordinate system;
fig. 5A and 5B are traces of a current vector i of a dual hall fault in a two-dimensional stationary coordinate system.
Skilled artisans appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help improve the understanding of the embodiments of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described hereinafter with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in the specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
The invention provides a low-torque ripple Hall fault-tolerant control method for a permanent magnet brushless direct current motor. FIG. 1A is a flow chart of a low torque ripple Hall fault tolerant control method of a permanent magnet brushless DC motor according to the present invention; fig. 1B is a block diagram of a brushless dc motor low torque ripple hall fault tolerant control system.
as shown in fig. 1A, in step S110, parameters of the brushless dc motor in the abc coordinate system, which is a three-dimensional stationary space coordinate system, are converted into parameters of an α β coordinate system, which is two-dimensional stationary coordinate system parameters, by a vector analysis and coordinate transformation method, so as to obtain an electrical equation in the α β coordinate system including the motor parameters, which includes phase currents, voltages, and counter electromotive forces.
next, in step S120, a current vector i, a back electromotive force vector e, and a rotor speed ω are obtained according to the performance equation of the brushless dc motor driven by the ideal square wave current in the α β coordinate systemmThe instantaneous torque equation of (c).
then, in step S130, a composite current vector i is obtained according to the phase limitation condition and the amplitude limitation condition in the α β coordinate systempalpha, beta components under α β coordinate system to obtain the resultant current vector ipWherein the resultant current vector ipAnd the motor torque in the instantaneous torque equation is made to be a constant value at any rotating speed.
Next, in step S140, in the vector control, the rotor position and the rotation speed of the motor are obtained by the rotor position and speed estimation module, and the current is referenced to the calculation module according to the estimated rotor position θeCalculating a resultant current vector ipalpha, beta components in α β coordinate system, then according to coordinate transformationObtaining the reference component I of the resultant current vector in dq coordinate systemd,ref、Iq,refBy referencing the component Id,ref、Iq,refFeedback currents I respectively converted with actual phase currents detected by current sensorsd,fb、Iq,fbComparing to obtain an error, and obtaining an input V of the SVPWM after the error passes through a PI controllerd,ref、Vq,refTo generate a pulse width modulation signal PWM to control the motor to operate as required (i.e., to control the motor to operate with low torque ripple). Wherein the dq coordinate system is a space rotation coordinate system.
In step S150, since the vector control requires continuous rotor position information, a vector tracking observer is used to collect discrete rotor information of the hall position sensor, and continuous rotor position information is obtained by estimation.
The detection, confirmation and compensation processes of the Hall faults are completed through modification of the vector tracking observer, therefore, in step S160, a Fourier series analysis tool is used for decomposing and decoupling Hall signals under normal and fault states (6 single Hall faults and 12 double Hall faults), a lookup table is used for storing harmonic decoupling waveforms, correct harmonic decoupling waveforms and harmonic feedback are the keys of correct confirmation and compensation of the Hall fault types, and the vector tracking observer is used for completing state estimation and fault compensation through fundamental signal feedback and harmonic signal feedback.
Further, the current vector i and the back electromotive force vector e follow the rotor electrical angle θeforms a regular hexagonal current trajectory and a back electromotive force trajectory having six vertices in the α β coordinate system.
Further, the resultant current vector ipthe motion track under the α β coordinate system is a part of a track circle under the α β coordinate system.
Further, the function of the synthetic current reference module is mainly to calculate a synthetic current vector ipin the alpha beta coordinate systemthe alpha and β components are obtained, and the components are converted into the reference component I in the dq coordinate systemd,ref、Iq,ref。
Further, for the identified hall fault types, correct harmonic decoupling waveform feedback is critical for correct compensation.
PREFERRED EMBODIMENTS
The invention provides a low-torque ripple Hall fault-tolerant control method of a permanent magnet motor, which can be applied to the control of a permanent magnet brushless direct current motor for an electric vehicle, and the specific control scheme is as follows:
the parameters (back electromotive force, phase current and voltage) of the brushless direct current motor under a three-dimensional static coordinate system abc are converted into variables under a two-dimensional static coordinate system α β by a coordinate transformation method in vector analysis, as shown in an equation (1),
wherein x represents any motor parameter, and the motor equation under the two-dimensional stationary coordinate system α β can be obtained by formula (1) as follows:
wherein i ═ iα,iβ]T,v＝[vα,vβ]T,e＝[eα,eβ]TRepresenting the current, voltage and back emf vectors, respectively.
under a two-dimensional static coordinate system α β, the brushless direct current motor driven by ideal square wave current is analyzed along with the electrical angle thetaein an α β coordinate system, the current vector i and the back emf vector e are along an electrical angle θeForm a regular hexagonal motion trajectory for sector s3The amplitude value of the current vector i at the two ends of the sector is transformed by analysisRemains constant within a sector; conversely, the back electromotive force e follows the electrical angle theta in the sectoreIs changed, the back electromotive force vector e is in the sector s3the α, β components in the interior are shown in equation (3):
wherein,
easy to obtain, the instantaneous torque of the brushless DC motor under the α β coordinate system is
Wherein ω ismIndicating the mechanical speed e of the motorm＝e/ωm。
From equation (4), there is a resultant current vector ipMaking the instantaneous torque of the motor constant at any speed, in order to make the resultant current vector ipAs small as possible, for the resultant current vector ipThe phase and amplitude constraints are applied as follows:
from the resultant current vector i, in combination with equations (3), (4) and (5)pThe resulting current vector i can be derivedpIn sector s3Lower resultant current vector ipthe α, β components of (a) are as follows:
similarly, the resultant current vector i for the other sectorspthe alpha β components in the two-dimensional space stationary coordinate system are shown in table 1.
TABLE 1
The angle parameter gamma is eliminated for the deformation of the formula (6), and the resultant current vector i can be obtainedpcorresponding to sector s in the α β coordinate system3The trajectory equation of (a) is,
from the trajectory equation, the resultant current vector iptaking the track as the center of a circle under the alpha beta coordinate systemAs shown in fig. 2. The same way can be said that the resultant current vector ipEquation of the trajectory under other sectors, as a function of electrical angle thetaeThrough six sectors, the resultant current vector ipIs shown in fig. 3.
Obtaining a resultant current vector i through theoretical analysispAfter the motion equation is obtained, a vector control mode is introduced to control the brushless direct current motor, firstly, a reference rotating speed is estimated through a rotor position and a speed observer, then, the reference rotating speed is compared with a given rotating speed, PI adjustment is carried out on a difference value, and after the PI adjustment, the value and continuous electrical angle information theta are obtainedeinputting the angle information into a synthetic current vector calculation module, which calculates α β synthetic current vector i in an alpha-beta coordinate system by the synthetic current calculation module according to the input angle information and a formula (7) or a related formula of other sectors in a table 2palpha, beta components of (a) according to coordinatesChangeable pipeWill synthesize the current vector ipis converted into a reference component I under the dq coordinate systemd,ref、Iq,refThe reference component and the phase current measured by the current sensor are fed back to the feedback variable I in the coordinate system dq after coordinate transformationd,fb、Iq,fbAfter comparison, the respective difference values are regulated by a PI controller to obtain an input voltage reference component v of the space vector SVPWM moduled,ref、vq,refAnd then the SVPWM module generates a PWM waveform to control the on-off of the power switch tube.
In the resultant current vector ipThe continuous rotor position information is obtained by the estimation of discrete signals from the hall position sensors by the vector tracking observer during the control process of (1), and the detection, confirmation and compensation of hall fault signals are also completed by the appropriate modification of the vector tracking observer.
the Hall fault-tolerant control algorithm comprises detection, confirmation and compensation of Hall fault signals, Hall fault types comprise single Hall faults (6 types) and double-fault errors (12 types), each Hall fault type has a unique motion track in an α β coordinate system, after a zero vector is detected for a single Hall fault, the type of the single Hall fault can be uniquely determined according to the phase position of the first vector after the zero vector is separated from the zero vector, the track of a Hall position sensor in the single Hall fault α β coordinate system, which is constant to be 1 or 0, can be detected for the double Hall fault types, the back-and-forth transformation of two continuous vectors can be determined, the type of the double Hall fault can be uniquely determined according to the phase angle of the two vectors, and the current vector i track in the double Hall fault shown in the attached figures 5A and 5B can be used for uniquely judging the type of the double Hall fault.
After the Hall fault type is confirmed, the next step is to compensate the fault Hall signal according to the fault type so as to ensure the correctness of the rotor position and speed estimation. The compensation of Hall fault signals takes a vector tracking observer as a main body, and discrete Hall position signals are converted into position signals containing fundamental waves and harmonic waves through Fourier series analysis
Fundamental wave and harmonic wave information of 6 single Hall faults and fundamental wave and harmonic wave information of 12 double Hall faults can be obtained according to Fourier series analysis, harmonic decoupling waveforms of 18 Hall faults are stored in a lookup table, and Hall signal waveforms are compared with 18 Hall fault types during Hall level conversion every time so as to determine Hall fault types and harmonic wave feedback types, and correct harmonic wave feedback is the key of compensation.
After harmonic wave feedback, the harmonic wave feedback is compared with an actual Hall position signal to obtain filtered fundamental wave position information, after the harmonic wave feedback is compared with estimated obtained fundamental wave position information, a phase difference is detected through a vector difference multiplication phase detection module, after the phase difference is processed through a PID (proportion integration differentiation) controller, the signal is compared with feedforward torque, and then the signal is input into an electromechanical model of a motor to obtain related compensated rotor speed information and rotor position information, so that stable operation of the system during Hall fault is guaranteed.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed in an illustrative rather than a restrictive sense, and the scope of the present invention is defined by the appended claims.
Claims (3)
1. The low-torque ripple Hall fault-tolerant control method of the permanent magnet brushless direct current motor is characterized by comprising the following steps:
converting parameters of a permanent magnet brushless direct current motor in an abc coordinate system into parameters of an α β coordinate system through a vector analysis and coordinate transformation method to obtain an electrical equation in the α β coordinate system containing the parameters of the permanent magnet brushless direct current motor, wherein the abc coordinate system is a three-dimensional static space coordinate system, the α β coordinate system is a two-dimensional static coordinate system, and the parameters of the permanent magnet brushless direct current motor comprise phase current, voltage and opposite electromotive force;
under the α β coordinate system, according to a performance equation of the permanent magnet brushless direct current motor under the drive of ideal square wave current, a current vector i, a back electromotive force vector e and a rotor rotating speed omega are obtainedmThe instantaneous torque equation of (a);
under α β coordinate system, obtaining a synthetic current vector i according to a phase limiting condition and an amplitude limiting conditionpalpha, beta components under α β coordinate system to obtain the resultant current vector ipWherein the resultant current vector ipEnabling the torque of the permanent magnet brushless direct current motor in the instantaneous torque equation to be a constant value at any rotating speed;
according to coordinate transformationObtaining the reference component I of the resultant current vector in dq coordinate systemd,ref、Iq,refBy referencing the component Id,ref、Iq,refFeedback currents I respectively converted with actual phase currents detected by current sensorsd,fb、Iq,fbComparing to obtain an error, and obtaining an input V of the SVPWM after the error passes through a PI controllerd,ref、Vq,refGenerating a pulse width modulation signal PWM to control the permanent magnet brushless direct current motor to operate according to requirements;
adopting a vector tracking observer to obtain continuous rotor position information by estimating the discrete rotor information of the Hall position sensor;
the method comprises the steps of decomposing and decoupling Hall signals in normal and fault states by using a Fourier series analysis tool, storing harmonic decoupling waveforms by using a lookup table, and finishing fault estimation and compensation by using a vector tracking observer through fundamental wave signal feedback and harmonic wave signal feedback.
2. The low-torque ripple Hall fault-tolerant control method of the permanent magnet brushless direct current motor according to claim 1, characterized in that: the current vector i and the counter electromotive force vector e follow the rotor electrical angle thetaeis formed to have six in the α β coordinate systemThe vertex regular hexagonal current trajectory and the back emf trajectory.
3. The fault-tolerant control method for the low-torque ripple Hall of the permanent magnet brushless direct current motor according to claim 1 or 2, characterized in that: resultant current vector ipthe motion track under each sector of the α β coordinate system is a part of a track circle under the α β coordinate system.
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| CN106787992B (en) * | 2017-03-24 | 2019-08-02 | 哈尔滨理工大学 | Permanent magnetic brushless Hall sensor fault tolerant control method |
| CN107222133B (en) * | 2017-05-18 | 2019-08-06 | 哈尔滨工程大学 | A method of inhibiting brshless DC motor commutation torque ripple |
| CN109039201A (en) * | 2018-08-20 | 2018-12-18 | 凡己科技(苏州）有限公司 | A method of extracting continuous rotor position information from the vector of rotation position |
| CN109039202B (en) * | 2018-08-20 | 2022-07-19 | 凡己科技(苏州）有限公司 | Vector observation method for estimating position and speed of motor rotor of electric forklift |
| CN109039171B (en) * | 2018-08-23 | 2020-04-28 | 浙江大学 | High-speed permanent magnet brushless direct current motor control method based on variable conduction period |
| CN111245304B (en) * | 2018-11-29 | 2021-08-20 | 安徽美芝精密制造有限公司 | Compensation method, compensation device, motor and storage medium |
| US20200195180A1 (en) * | 2018-12-18 | 2020-06-18 | Magna Closures Inc. | Hall sensor based field oriented control system for brushless electric motor |
| JP7268941B2 (en) | 2019-11-13 | 2023-05-08 | ▲広▼▲東▼美的白色家▲電▼技▲術▼▲創▼新中心有限公司 | Motor phase conversion error compensation method, device and storage medium |
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| CN101951211B (en) * | 2010-07-23 | 2012-06-06 | 南京航空航天大学 | Brushless direct current motor electromagnetic torque observation method based on self-adapting slipform observer |
| DE102013211151A1 (en) * | 2013-06-14 | 2014-12-18 | Robert Bosch Gmbh | Electronically commutated electric motor with harmonic compensation |
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