CN106411190A - Fault tolerance control method suitable for Hall sensors of multi-phase permanent magnet brushless DC motor - Google Patents
Fault tolerance control method suitable for Hall sensors of multi-phase permanent magnet brushless DC motor Download PDFInfo
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- CN106411190A CN106411190A CN201610736292.4A CN201610736292A CN106411190A CN 106411190 A CN106411190 A CN 106411190A CN 201610736292 A CN201610736292 A CN 201610736292A CN 106411190 A CN106411190 A CN 106411190A
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a fault tolerance control method suitable for Hall sensors of a multi-phase permanent magnet brushless DC motor to overcome disadvantages in the prior art. In a traditional Hall sensor fault detection method, a halt instruction is adopted and replacement of the Hall sensors is required based on program setting when code errors caused by Hall sensor faults are encountered. The traditional Hall sensor fault detection method can reduce danger caused by reverse rotation or rapid rotation of the motor, but cannot avoid loss caused by machine halt; and the Hall sensors which are usually installed at the interior of a shell are not easy to replace and maintain. The fault tolerance control method suitable for the Hall sensors of the multi-phase permanent magnet brushless DC motor can solve the problems abovementioned efficiently; and aiming at the multi-phase DC brushless motor, stable operation of a system still can be kept by analyzing a relationship between the wrong code and the normal code when a few of Hall sensors are in fault.
Description
Technical field
The present invention relates to a kind of control method of permanent-magnet brushless DC electric machine, the more particularly, to faults-tolerant control of Hall element
Method.
Technical background
A kind of novel electromechanical integration electricity that permanent-magnet brushless DC electric machine is accompanied by Development of Power Electronic Technology and occurs
Machine, is the product that modern electronic technology, control theory and motor technology combine.Research to permanent magnetic brushless is divided into motor
Technology, electronic technology and control theory are carried out, and three is separate and interknits.
Permanent-magnet brushless DC electric machine is similar to brushed DC motor, differs only in and does not have brush commutation, but using electricity
Sub- commutation.It is in the nature the autosynchronous motor of the position sensor feedback control being driven by electronic inverter, and common
Brush DC motors compare with induction conductivity, have that controllability is good, speed-regulating range width, low-maintenance rate, efficient
Feature.Permanent-magnet brushless DC electric machine is mainly by magneto body, rotor position detector and power electronic switching (inverter)
Three parts are constituted.The power-up sequence of wherein each phase winding, energising moment and conduction time length depend on rotor magnetic pole and stator
The relative position of winding space, this is the position signalling to be perceived, to produce each phase by rotor position detector, and through logic
Form the drive signal of power switch component after process, power amplification, then go to control the break-make of stator winding.Conventional position inspection
Survey device and be mainly electromagnetic position sensor, Mageneto-sensitive type position sensor and photoelectric position sensor.
DC brushless motor under square wave drives is commutated by equidistant intervals, and hall position sensing reverse adopts
Permanent magnet on the Hall element and rotor of one group of fixation or extra Magnet, with certain position on Hall element detection rotor
The magnetic pole put, is generated and is encoded correspondingly with motor status, therefore reads coding and can determine rotor-position and commutated,
Realize the rotation of motor.Statistics shows what 90% DC brushless motor fault was all caused due to sensor degradation, therefore studies
Hall position sensor reverse is significant.
Multi-phase brushless DC motor with common single-phase compare with three-phase brushless dc motor, it is big to have an output torque, effect
Rate is high, is applied to compared with low engine speed range, the big place of power demand, such as electric vehicle, motor the features such as torque ripple is little
Tool mechanism etc..
Content of the invention
The present invention is directed to the deficiencies in the prior art it is proposed that one kind is applied to multiphase permanent magnet brushless direct current generator hall sensing
The fault tolerant control method of device.The method can effectively improve stability and the reliability of the commutation of DC brushless motor.
The present invention is the conduction mode of 180 (m-1)/m according to multiphase (m phase, m ＞ 3) the permanent-magnet brushless DC electric machine angle of flow
Under control mode, commutation signal is gathered using m Hall element, is calculated by analyzing the feature design of Hall encoded signal
Method, thus improve the commutation reliability of polyphase machine Hall element so that the operation of DC brushless motor is more stable.
Traditional non-brush permanent-magnet DC motor being only applicable to three-phase six state for Hall element fault detection method,
It is equipped with 3 Hall elements, corresponding 6 kinds of encoding states, remove and be efficient coding outside 000 and 111 two kind of disarmed state.And
In actual production, multi-phase brushless DC motor, compared with three-phase brushless dc motor, has output torque greatly, efficiency high, torque
The features such as fluctuate little, has a wide range of applications.If assuming, the number of phases of motor is m (m ＞ 3), for improving efficiency all using the angle of flow
For the conduction mode of 180 (m-1)/m, the Hall element quantity of now minimum outfit is m, available group/cording quantity 2mMore than 2m
Plant effective motor status.For this reason, utilizing the fault-tolerant control of the Hall element for multiphase DC brushless electric machine proposed by the present invention
Method processed, can effectively utilize coding redundancy to realize reliable control.
Traditional Hall element fault detection method, in the code error situation running into Hall element fault and leading to
Under, can according to program setting take halt instruction requirement change Hall element, although the method can reduce due to motor anti-
Turn or fly to turn the danger causing, but cannot avoid due to shutting down the loss bringing, and Hall element is often arranged in casing
Portion, not easy-maintaining replacing.Patent of the present invention can be with such problem of effectively solving, by analyzing the pass of error coded and normal encoding
System, for multiphase DC brushless electric machine, can make system remain unchanged under a small amount of Hall element failure condition the steady of holding system
Fixed operation.
A kind of fault tolerant control method being applied to multiphase permanent magnet brushless direct current generator Hall element, the method specifically includes
Following steps：
Step 1：Determine winding commutation process and the encoder position of multiphase DC brushless electric machine, theoretically obtain effectively
" encoder position-commutation process " corresponding relation.This process specifically includes：
(1) draw square wave drive shape under the conduction mode that the multiphase DC brushless electric machine angle of flow is 180 (m-1)/m electrical angles
State figure；
(2) draw the oscillogram of the Hall element of corresponding m equiphase difference, the theory of this Hall element accounts for
Empty ratio is 50%；
(3) obtain multiphase DC brushless electric machine effective 2m kind state " encoder position-commutation process " according to this, enter with two
System and hexadecimal representation.
Step 2：According to the Hamming distance classification redundancy encoding with efficient coding.This process specifically includes：
(1) by 2m- 2m kind redundant coding sequences state writes in serial shift register S successively, makes Si=(S1m,
S2m,…,Sim), i=1 ..., 2m- 2m, wherein m are the digit of Hall coded sequence, Sim, Sim..., SimFor i-th kind of coded sequence
Binary representation digits；
(2) 2m kind Hall element encoding state write corresponding with commutation process is write serial shift register successively
In U, make Uj=(Uj1,Uj2···Ujm), j=1 ..., 2m, wherein Uj1, Uj2..., Uj2mBinary system for jth kind coded sequence
The digits representing；
(3) every kind of redundant coding sequences and the Hamming distance of effective commutation coding are calculated successively.Define SiAnd UjHamming distance
From for dij,WhereinExpression XOR, i=1 ..., 2m- 2m, j=1 ..., 2m.
(4) for efficient coding sequence Uj, classification Hamming distance is 1 redundancy encoding setIt is stored in depositor Q1In；
For efficient coding sequence Uj, the redundancy encoding set more than or equal to 2 for the classification Hamming distanceIt is stored in depositor Q2In；For
Efficient coding sequence Uj, classification Hamming distance is the redundancy encoding set of [(m-0.1)/2]It is stored in depositor Q[(m -0.1)/2]In, j=1 ..., 2m, wherein [*] expression rounds.
Step 3：Classification setIn redundancy encoding, further determine that redundancy encoding and
The corresponding relation of efficient coding.This process specifically includes：
(1) difference statistic registers Q1、Q2、…、Q[(m-0.1)/2]In each coding occur frequency C, thus can get C=
1 ..., [(m-0.1)/2.
(2) remember depositorThe coded sequence of middle C=1 is " secondary efficient coding ", is stored in depositor Q1-1In；Note depositorThe coded sequence of middle C=2 is " low precision encoding ", is stored in depositor Q1-2In；By that analogy, coded sequence reliability is gradually
Reduce；Postscript depositor Q[(m-0.1)/2]In coded sequence be " invalid code ", j=1 ..., 2m.
Step 4：According to the classification to redundant coding sequences, design DC brushless motor Hall element faults-tolerant control is calculated
Method.This process specifically includes：
(1) system reset, initialization, electric motor starting；
(2) coded sequence of detection commutation signal and Hall element is in fact it could happen that several situation：
(2-1) coded sequence of Hall element is one of set U element, as one of ordered sequence, then
This coded sequence is efficient coding sequence, normal commutation；
(2-2) coded sequence of Hall element is set Q1-1One of element, as with efficient coding sequence one by one
Corresponding redundant coding sequences, this sequence is time efficient coding sequence, according to the corresponding relation with efficient coding, completes commutation；
(2-3) coded sequence of Hall element is set Q1-2One of element, that is, this redundant coding sequences with wait general
The efficient coding sequence pair of rate is answered, and this sequence is low precision encoding sequence, randomly chooses an efficient coding sequence, completes to change
Phase；
(2-4) coded sequence of Hall element is set Q[(m-0.1)/2]One of element, as invalid code sequence,
Wait next commutation moment.
The invention has the beneficial effects as follows：Ask for the Hall element fault that multi-phase permanent DC brushless motor is likely to occur
Topic, the fault-tolerant and control algolithm of programming realization system.In the method, sensor-based redundancy encoding is corresponding with logic closes
System, in combining information opinion, the concept of Hamming distance, algorithm for design, improve the faults-tolerant control energy of brshless DC motor Hall element
Power is it is ensured that reliable and stable operation realized by motor.The method has certain portability simultaneously, can be used for various polyphase machines
Control mode.
Brief description
Fig. 1 is electric machine rotor schematic diagram；
Fig. 2 is Brush-Less DC motor control frame diagram；
Fig. 3 is five phase full bridge driving circuit figures；
Fig. 4 is hall position testing circuit schematic diagram；
Fig. 5 is ideally hall signal position and motor status corresponding diagram.
Specific embodiment
Describe the present invention below according to accompanying drawing in detail, the purpose of the present invention and effect will be apparent from.
Fig. 1 is five phase permanent-magnet brushless direct current generator rotor schematic diagrams of test, and this motor adopts fraction as seen from the figure
Groove concentratred winding, Y-connection, choose the classification of Z/2p=5/4, that is, design slot number is 20, design number of poles is 16 grades, exists simultaneously
Each stator core crown opens two auxiliary flutes, to weaken cogging torque fluctuation.
Fig. 2 is Brush-Less DC motor control frame diagram, from STM32 chip as Motor drive main control chip.Secondly right
The modules circuit of motor-drive circuit has carried out concrete analysis explanation, including five phase full bridge driving circuits, current detecting mould
Block, hall position testing circuit, current protecting circuit.
Fig. 3 is five phase full bridge driving circuits.Drive bridge circuit by Q1 in the metal-oxide-semiconductor 75NF75 built-up circuit of 10 N-channel,
, as upper arm, Q2, Q4, Q6, Q8, Q10 are as underarm for Q3, Q5, Q7, Q9.By additional drive signal control metal-oxide-semiconductor conducting with
Cut-off, realizes driving function.Down tube should be avoided during driving to lead directly to, in order to reduce metal-oxide-semiconductor heating, improve system effect
Rate, it is necessary to provide enough driving force for metal-oxide-semiconductor, makes to ask when metal-oxide-semiconductor rising edge and trailing edge short, MOS is operated in when turning on
Saturation region.
Fig. 4 is hall position testing circuit schematic diagram.It is usually by the power drives of 5V that Hall open position puts sensor.Due to suddenly
Your position sensor is open-drain output, so pull-up resistor must be connected, because STM32 supply voltage used is 3.3V,
Pull-up resistor voltage is 3.3V.For preventing the interference of high-intensity magnetic field in brushless electric machine and brushless motor controller PWM carrier frequency,
To add low pass R/C filters for hall position sensor to process.
The invention provides a kind of fault tolerant control method being applied to five phase permanent-magnet brushless direct current generator Hall elements.Should
Method includes：
1st, determine winding commutation process and the encoder position of five phase DC brushless motor, theoretically obtain effectively
" encoder position-commutation process " corresponding relation.This process specifically includes：
(1) draw square wave under the conduction mode that the five phase DC brushless motor angle of flow is 180 (m-1)/m=144 electrical angles
Driving condition figure, such as Fig. 5 1-5 bar line from top to bottom, high level turns on, and low level turns off；
(2) draw the oscillogram of the Hall element of corresponding 5 equiphases difference, the theory of this Hall element accounts for
Empty ratio is 50%, such as Fig. 5 6-10 bar line from top to bottom, and high level turns on, and low level turns off；
(3) obtain the effective 10 kinds of states of five phase DC brushless motor " encoder position-commutation process " according to this, enter with two
System and hexadecimal representation, are followed successively by：
State 1:10101；State 2:00101；State 3：01101；State 4:01001；
State 5:01011；State 6:01010；State 7：11010；State 8：10010；
State 9:10110；State 10:10100；
2nd, according to the Hamming distance classification redundancy encoding with efficient coding.This process specifically includes：
(1) by 25The write of -10=22 kind redundant coding sequences state writes in serial shift register S successively, makes Si=
(Si1, Si2, Si3, Si4, Si5), i=1 ..., 22, wherein Si1, Si2, Si3, Si4, Si5Binary representation for i-th kind of coded sequence
Digits；
(2) 10 kind Hall element encoding states write corresponding with commutation process is write serial shift register successively
In U, make Uj=(Uj1, Uj2, Uj3, Uj4, Uj5), j=1 ..., 10, wherein Uj1, Uj2, Uj3, Uj4, Uj5For jth kind coded sequence
The digits of binary representation；
(3) every kind of redundant coding sequences and the Hamming distance of effective commutation coding are calculated successively.Define SiAnd UjHamming distance
From for dij,WhereinExpression XOR, i=1 ..., 22, j=1 ..., 10.
(4) for efficient coding sequence Uj, classification Hamming distance is 1 redundancy encoding setIt is stored in depositor Q1In；
For efficient coding sequence Uj, classification Hamming distance is 2 redundancy encoding setIt is stored in depositor Q2In, j=1 ..., 10.
Can obtain accordingly：
SetState 1:10101；
SetState 2:00101；
SetState 3：01101；
SetState 4:01001；
SetState 5:01011；
SetState 6:01010；
SetState 7：11010；
SetState 8：10010；
SetState 9:10110；
SetState 10:10100；
Set Q2={ 00000,11111 }；
3rd, classification setWithIn redundancy encoding, further determine that the corresponding pass of redundancy encoding and efficient coding
System.This process specifically includes：
(1) difference statistic registers Q1And Q2In each coding occur frequency C, calculated by the way of poll and compile two-by-two
The Hamming distance of code, Hamming distance is 0 note C=2, on the contrary note C=1.
(2) remember depositorThe coded sequence of middle C=1 is " secondary efficient coding ", is stored in depositorIn；Note is deposited
DeviceThe coded sequence of middle C=2 is " low precision encoding ", is stored in depositorIn；Note depositor Q2In coded sequence be
" invalid code ", j=1 ..., 10.
Can obtain accordingly：
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
SetSecondary efficient coding,
Low precision encoding；
Set Q2={ 00000,11111 }, invalid code；
4th, according to the classification to redundant coding sequences, design DC brushless motor Hall element fault-tolerant control algorithm.Should
Process specifically includes：
(1) according to Fig. 3 system for writing and compiling software, system reset, initialization, electric motor starting；
(2) coded sequence of detection commutation signal and Hall element is in fact it could happen that four kinds of situations：
(2-1) coded sequence of Hall element is one of set U element, as one of ordered sequence, then
This coded sequence is efficient coding sequence, normal commutation；
(2-2) coded sequence of Hall element is set Q1-1One of element, as with efficient coding sequence one by one
Corresponding redundant coding sequences, this sequence is time efficient coding sequence, according to the corresponding relation with efficient coding, completes commutation；
(2-3) coded sequence of Hall element is set Q1-2One of element, that is, this redundant coding sequences with wait general
2 efficient coding sequence pair of rate are answered, and this sequence is low precision encoding sequence, randomly chooses an efficient coding sequence, completes
Commutation；
(2-4) coded sequence of Hall element is set Q2One of element, as invalid code sequence, under wait
One commutation moment.
Claims (1)
1. be applied to the fault tolerant control method of multiphase permanent magnet brushless direct current generator Hall element it is characterised in that：The method has
Body comprises the following steps：
Step 1：Determine winding commutation process and the encoder position of multiphase DC brushless electric machine, theoretically obtain effectively
" encoder position-commutation process " corresponding relation；This process specifically includes：
(1) draw square wave driving condition under the conduction mode that the multiphase DC brushless electric machine angle of flow is 180 (m-1)/m electrical angles
Figure；
(2) oscillogram of the Hall element of corresponding m equiphase difference, the theoretical dutycycle of this Hall element are drawn
For 50%；
(3) obtain multiphase DC brushless electric machine effective 2m kind state " encoder position-commutation process " according to this, with binary system and
Hexadecimal representation；
Step 2：According to the Hamming distance classification redundancy encoding with efficient coding；This process specifically includes：
(1) by 2m- 2m kind redundant coding sequences state writes in serial shift register S successively, makes Si=(S1m,
S2m,···,Sim), i=1 ..., 2m-2m, wherein m is the digit of Hall coded sequence, Sim, Sim..., SimCompile for i-th kind
The digits of the binary representation of code sequence；
(2) 2m kind Hall element encoding state write corresponding with commutation process is write in serial shift register U successively,
Make Uj=(Uj1,Uj2···Ujm), j=1 ..., 2m, wherein Uj1, Uj2..., Uj2mBinary form for jth kind coded sequence
The digits showing；
(3) every kind of redundant coding sequences and the Hamming distance of effective commutation coding are calculated successively；Define SiAnd UjHamming distance be
dij,WhereinRepresent XOR, i=1 ..., 2m- 2m, j=1 ..., 2m；
(4) for efficient coding sequence Uj, classification Hamming distance is 1 redundancy encoding setIt is stored in depositor Q1In；For
Efficient coding sequence Uj, the redundancy encoding set more than or equal to 2 for the classification Hamming distanceIt is stored in depositor Q2In；For effective
Coded sequence Uj, classification Hamming distance is the redundancy encoding set of [(m-0.1)/2]It is stored in depositor Q[(m-0.1)/2]
In, j=1 ..., 2m, wherein [*] expression rounds；
Step 3：Classification setIn redundancy encoding, further determine that redundancy encoding and effectively
The corresponding relation of coding；This process specifically includes：
(1) difference statistic registers Q1、Q2、…、Q[(m-0.1)/2]In each coding occur frequency C, thus can get C=
1 ..., [(m-0.1)/2]；
(2) remember depositorThe coded sequence of middle C=1 is " secondary efficient coding ", is stored in depositor Q1-1In；Note depositorIn
The coded sequence of C=2 is " low precision encoding ", is stored in depositor Q1-2In；By that analogy, coded sequence reliability gradually reduces；
Postscript depositor Q[(m-0.1)/2]In coded sequence be " invalid code ", j=1 ..., 2m；
Step 4：According to the classification to redundant coding sequences, design DC brushless motor Hall element fault-tolerant control algorithm；Should
Process specifically includes：
(1) system reset, initialization, electric motor starting；
(2) coded sequence of detection commutation signal and Hall element is in fact it could happen that several situation：
(2-1) coded sequence of Hall element is one of set U element, as one of ordered sequence, then this volume
Code sequence is efficient coding sequence, normal commutation；
(2-2) coded sequence of Hall element is set Q1-1One of element, as with efficient coding sequence correspond
Redundant coding sequences, this sequence is time efficient coding sequence, according to the corresponding relation with efficient coding, completes commutation；
(2-3) coded sequence of Hall element is set Q1-2One of element, that is, this redundant coding sequences with equiprobable
Efficient coding sequence pair is answered, and this sequence is low precision encoding sequence, randomly chooses an efficient coding sequence, completes commutation；
(2-4) coded sequence of Hall element is set Q[(m-0.1)/2]One of element, as invalid code sequence, wait
Next commutation moment.
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Cited By (3)
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|---|---|---|---|---|
| CN106787992A (en) * | 2017-03-24 | 2017-05-31 | 哈尔滨理工大学 | Permanent magnetic brushless Hall sensor fault tolerant control method |
| CN110504872A (en) * | 2019-08-13 | 2019-11-26 | 合肥格易集成电路有限公司 | A kind of interface circuit and interface system |
| WO2021068241A1 (en) * | 2019-10-12 | 2021-04-15 | 江苏科技大学 | Brushless direct current motor hall sensor fault-tolerant control device and control method therefor |
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| CN102075126A (en) * | 2010-10-29 | 2011-05-25 | 中国电器科学研究院 | Five-phase brushless direct-current motor control method having Hall fault-tolerance function |
| CN103424651A (en) * | 2013-07-23 | 2013-12-04 | 西北工业大学 | Fault detection method for Hall position sensors |
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| US7002318B1 (en) * | 2004-09-23 | 2006-02-21 | General Motors Corporation | Position sensor fault tolerant control for automotive propulsion system |
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| CN106787992A (en) * | 2017-03-24 | 2017-05-31 | 哈尔滨理工大学 | Permanent magnetic brushless Hall sensor fault tolerant control method |
| CN106787992B (en) * | 2017-03-24 | 2019-08-02 | 哈尔滨理工大学 | Permanent magnetic brushless Hall sensor fault tolerant control method |
| CN110504872A (en) * | 2019-08-13 | 2019-11-26 | 合肥格易集成电路有限公司 | A kind of interface circuit and interface system |
| CN110504872B (en) * | 2019-08-13 | 2021-12-17 | 苏州福瑞思信息科技有限公司 | Interface circuit and interface system |
| WO2021068241A1 (en) * | 2019-10-12 | 2021-04-15 | 江苏科技大学 | Brushless direct current motor hall sensor fault-tolerant control device and control method therefor |
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| CN106411190B (en) | 2018-10-12 |
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