CN106411190B - Fault tolerant control method suitable for multiphase permanent magnet brushless direct current generator Hall sensor - Google Patents
Fault tolerant control method suitable for multiphase permanent magnet brushless direct current generator Hall sensor Download PDFInfo
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- CN106411190B CN106411190B CN201610736292.4A CN201610736292A CN106411190B CN 106411190 B CN106411190 B CN 106411190B CN 201610736292 A CN201610736292 A CN 201610736292A CN 106411190 B CN106411190 B CN 106411190B
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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)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
In view of the deficiencies of the prior art, the present invention proposes a kind of fault tolerant control methods suitable for multiphase permanent magnet brushless direct current generator Hall sensor.Traditional Hall sensor fault detection method; the code error caused by encountering Hall sensor failure; halt instruction requirement can be taken to replace Hall sensor according to program setting; although this method can reduce due to motor reversal or fly dangerous caused by turning; but it can not be avoided due to shutting down the loss brought; and Hall sensor is often mounted on casing internal, replacement not easy to repair.Patent of the present invention can effectively solve the problems, such as such, by analyzing the relationship of error coded and normal encoding, for multiphase DC brushless motor, can make system still stable operation of holding system under a small amount of Hall sensor fault condition.
Description
Technical field
The present invention relates to a kind of control method of permanent-magnet brushless DC electric machine more particularly to the faults-tolerant controls of Hall sensor
Method.
Technical background
Permanent-magnet brushless DC electric machine be along with Development of Power Electronic Technology and occur a kind of novel electromechanical integration electricity
Machine is the product that modern electronic technology, control theory and motor technology are combined.Motor is divided into the research of permanent magnetic brushless
Technology, electronic technology and control theory carry out, and three is mutual indepedent and interknits.
Permanent-magnet brushless DC electric machine is similar to brushed DC motor, and differing only in does not have brush commutation, but uses electricity
Sub- commutation.It is in the nature the autosynchronous motor of the position sensor feedback control driven by electronic inverter, and common
Brush DC motors compared 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 ontology, rotor position detector and power electronic switching (inverter)
Three parts are constituted.Power-up sequence, energization moment and the conduction time length of wherein each phase winding depend on rotor magnetic pole and stator
The relative position of winding space, this is to perceive, produce the position signal of each phase by rotor position detector, and pass through logic
The drive signal of power switch component is formed after processing, power amplification, then goes the break-make of control stator winding.Common position inspection
It is mainly electromagnetic position sensor, magnetic sensitive position sensor and photoelectric position sensor to survey device.
DC brushless motor under rectangular wave driving commutates by equidistant intervals, and hall position senses reverse and uses
One group of fixed Hall sensor and the permanent magnet on rotor or additional magnet, with some position on Hall sensor detection rotor
The magnetic pole set, generation encode correspondingly with motor status, therefore reading coding can determine rotor-position and commutate,
Realize the rotation of motor.The DC brushless motor failure for showing 90% is counted all due to caused by sensor degradation, studying
Hall position sensor reverse is significant.
Multi-phase brushless DC motor with it is common it is single-phase compared with three-phase brushless dc motor, have output torque big, effect
The features such as rate is high, and torque ripple is small is suitable for compared with low engine speed range, the big place of power demand, such as electric vehicle, motor
Tool mechanism etc..
Invention content
Being suitable for multiphase permanent magnet brushless direct current generator hall sensing in view of the deficiencies of the prior art, the present invention proposes a kind of
The fault tolerant control method of device.This method can effectively improve the stability and reliability of the commutation of DC brushless motor.
The present invention is according to the conduction mode that multiphase (m phases, m ＞ 3) permanent-magnet brushless DC electric machine angle of flow is 180 (m-1)/m
Under control mode, commutation signal is acquired using m Hall sensor, passes through the characteristics of analyzing Hall encoded signal design and calculates
Method, to improve the commutation reliability of polyphase machine Hall sensor so that the operation of DC brushless motor is more stable.
Traditional non-brush permanent-magnet DC motor that six state of three-phase is only applicable to for Hall sensor fault detection method,
3 Hall sensors are equipped with, corresponding 6 kinds of encoding states, it is efficient coding to remove outside 000 and 111 two kind of invalid state.And
In actual production, multi-phase brushless DC motor has output torque big, efficient, torque compared with three-phase brushless dc motor
The features such as small is fluctuated, is had a wide range of applications.If assuming, the number of phases of motor is m (m ＞ 3), and the angle of flow is all made of to improve efficiency
For the conduction mode of 180 (m-1)/m, the Hall sensor quantity being at least equipped at this time is m, using group/cording quantity 2mMore than 2m
The effective motor status of kind.For this purpose, utilizing the Hall sensor fault-tolerant control proposed by the present invention for multiphase DC brushless motor
Method processed can effectively utilize coding redundancy to realize reliable control.
Traditional Hall sensor fault detection method, code error situation caused by encountering Hall sensor failure
Under, halt instruction requirement can be taken to replace Hall sensor according to program setting, although this method can be reduced since motor is anti-
Turn or fly danger caused by turning, but can not be avoided due to shutting down the loss brought, and Hall sensor is often mounted in casing
Portion, replacement not easy to repair.Patent of the present invention can effectively solve the problems, such as such, by the pass for analyzing error coded and normal encoding
System can make system remain unchanged under a small amount of Hall sensor fault condition the steady of holding system for multiphase DC brushless motor
Fixed operation.
A kind of fault tolerant control method suitable for multiphase permanent magnet brushless direct current generator Hall sensor, this method specifically include
Following steps：
Step 1：The winding commutation process and encoder position for determining multiphase DC brushless motor theoretically obtain effectively
" encoder position-commutation process " correspondence.The process specifically includes：
(1) it draws square wave under the conduction mode that the multiphase DC brushless motor angle of flow is 180 (m-1)/m electrical angles and drives shape
State figure；
(2) oscillogram of the Hall sensor of corresponding m equiphase difference is drawn, the theory of the Hall sensor accounts for
Sky is than being 50%；
(3) obtain the effective 2m kinds state of multiphase DC brushless motor " encoder position-commutation process " according to this, with two into
System and hexadecimal representation.
Step 2：Foundation and the Hamming distance of efficient coding classification redundancy encoding.The process specifically includes：
(1) by 2m- 2m kind redundant coding sequences states are sequentially written in serial shift register S, enable 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 kinds Hall sensor encoding state write-in corresponding with commutation process is sequentially written in serial shift register
In U, U is enabledj=(Uj1,Uj2···Ujm), j=1 ..., 2m, wherein Uj1, Uj2..., Uj2mFor the binary system of jth kind coded sequence
The digits of expression；
(3) Hamming distance of each redundant coding sequences and effective commutation coding is calculated successively.Define SiAnd UjHamming distance
From for dij,WhereinExpression XOR operation, i=1 ..., 2m- 2m, j=1 ..., 2m.
(4) for efficient coding sequence Uj, classification Hamming distance be 1 redundancy encoding setIt is stored in register Q1In；
For efficient coding sequence Uj, redundancy encoding set of the classification Hamming distance more than or equal to 2It is stored in register Q2In；For
Efficient coding sequence Uj, classification Hamming distance is the redundancy encoding set of [(m-0.1)/2]It is stored in register Q[(m -0.1)/2]In, j=1 ..., 2m, wherein [*] indicates rounding.
Step 3：Classification setIn redundancy encoding, further determine that redundancy encoding and
The correspondence of efficient coding.The process specifically includes：
(1) difference statistic registers Q1、Q2、…、Q[(m-0.1)/2]In it is each coding occur frequency C, this makes it possible to obtain C=
1 ..., [(m-0.1)/2.
(2) remember registerThe coded sequence of middle C=1 is " secondary efficient coding ", deposit register Q1-1In；Remember registerThe coded sequence of middle C=2 is " low precision encoding ", deposit register Q1-2In；And so on, coded sequence reliability is gradually
It reduces；Most postscript register 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 sensor faults-tolerant control is calculated
Method.The process specifically includes：
(1) system reset, initialization, electric motor starting；
(2) coded sequence of commutation signal and Hall sensor is detected, in fact it could happen that several situations：
The coded sequence of (2-1) Hall sensor is an element in set U, as one kind in ordered sequence, then
The coded sequence is efficient coding sequence, normal commutation；
The coded sequence of (2-2) Hall sensor is set Q1-1In an element, as one by one with efficient coding sequence
Corresponding redundant coding sequences, the sequence are that time efficient coding sequence completes commutation according to the correspondence with efficient coding；
The coded sequence of (2-3) Hall sensor is set Q1-2In an element, i.e., the redundant coding sequences with it is equal general
The efficient coding sequence pair of rate is answered, which is low precision encoding sequence, randomly chooses an efficient coding sequence, completes to change
Phase；
The coded sequence of (2-4) Hall sensor is set Q[(m-0.1)/2]In an element, as invalid code sequence,
Wait for next commutation moment.
The beneficial effects of the invention are as follows：It is asked for the Hall sensor failure that multi-phase permanent DC brushless motor is likely to occur
Topic programs the fault-tolerant and control algolithm of realization system.In the method, sensor-based redundancy encoding and logic, which correspond to, closes
System, the concept of Hamming distance during combining information is discussed, algorithm for design improve the faults-tolerant control energy of brshless DC motor Hall sensor
Power ensures that motor realizes reliable and stable operation.This method has certain portable simultaneously, can be used for various polyphase machines
Control mode.
Description of the drawings
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 detection circuit schematic diagram；
Fig. 5 is ideally hall signal position and motor status corresponding diagram.
Specific implementation mode
Below according to attached drawing, the present invention will be described in detail, and the objects and effects of the present invention will be more apparent.
Fig. 1 is five phase permanent-magnet brushless direct current generator rotor schematic diagrames of experiment, and the motor uses score as seen from the figure
The classification of Z/2p=5/4 is chosen in slot concentratred winding, star-like connection, that is, it is 20 to design slot number, and design number of poles is 16 grades, while
Each stator core crown opens two auxiliary flutes, to weaken cogging torque fluctuation.
Fig. 2 is Brush-Less DC motor control frame diagram, and STM32 chips is selected to drive main control chip as motor.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 detection 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 circuits of 10 N-channels,
Q3, Q5, Q7, Q9 are as upper arm, and Q2, Q4, Q6, Q8, Q10 are as underarm.By additional drive signal control metal-oxide-semiconductor conducting with
Driving function is realized in cut-off.It should avoid upper down tube straight-through during driving, in order to reduce metal-oxide-semiconductor fever, improve system effect
Rate, it is necessary to enough driving capabilities are provided for metal-oxide-semiconductor, asked when making metal-oxide-semiconductor rising edge with failing edge it is short, MOS be connected when be operated in
Saturation region.
Fig. 4 is hall position detection circuit schematic diagram.It is usually the power drives by 5V that Hall open position, which sets sensor,.Due to suddenly
Your position sensor is open-drain output, so pull-up resistor must be connected, because STM32 supply voltages used are 3.3V,
Pull-up resistor voltage is 3.3V.To prevent the interference of high-intensity magnetic field and brushless motor controller PWM carrier frequencies in brushless motor,
To be that hall position sensor adds low pass R/C filters processing.
The present invention provides a kind of fault tolerant control methods being suitable for five phase permanent-magnet brushless direct current generator Hall sensors.It should
Method includes：
1, the winding commutation process and encoder position for determining five phase DC brushless motor theoretically obtain effective
" encoder position-commutation process " correspondence.The process specifically includes：
(1) square wave under the conduction mode that the five phase DC brushless motor angle of flow is 180 (m-1)/m=144 electrical angles is drawn
Driving condition figure, as 1-5 line, high level conducting, low level turn off Fig. 5 from top to bottom；
(2) oscillogram of the Hall sensor of corresponding 5 equiphases difference is drawn, the theory of the Hall sensor accounts for
Sky is than being 50%, as 6-10 line, high level conducting, low level turn off Fig. 5 from top to bottom；
(3) the effective 10 kinds of states " encoder position-commutation process " of five phase DC brushless motor are obtained according to this, with two into
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；
2, foundation and the Hamming distance of efficient coding classification redundancy encoding.The process specifically includes：
(1) by 25The write-in of -10=22 kind redundant coding sequences states is sequentially written in serial shift register S, enables Si=
(Si1, Si2, Si3, Si4, Si5), i=1 ..., 22, wherein Si1, Si2, Si3, Si4, Si5For the binary representation of i-th kind of coded sequence
Digits；
(2) 10 kinds of Hall sensor encoding states write-in corresponding with commutation process is sequentially written in serial shift register
In U, U is enabledj=(Uj1, Uj2, Uj3, Uj4, Uj5), j=1 ..., 10, wherein Uj1, Uj2, Uj3, Uj4, Uj5For jth kind coded sequence
The digits of binary representation；
(3) Hamming distance of each redundant coding sequences and effective commutation coding is calculated successively.Define SiAnd UjHamming distance
From for dij,WhereinExpression XOR operation, i=1 ..., 22, j=1 ..., 10.
(4) for efficient coding sequence Uj, classification Hamming distance be 1 redundancy encoding setIt is stored in register Q1In；
For efficient coding sequence Uj, classification Hamming distance be 2 redundancy encoding setIt is stored in register Q2In, j=1 ..., 10.
It 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 }；
3, classification setWithIn redundancy encoding, further determine that the corresponding of redundancy encoding and efficient coding is closed
System.The process specifically includes：
(1) difference statistic registers Q1And Q2In it is each coding occur frequency C, calculated by the way of poll and compiled two-by-two
The Hamming distance of code, the note C=2 that Hamming distance is 0, on the contrary note C=1.
(2) remember registerThe coded sequence of middle C=1 is " secondary efficient coding ", is stored in registerIn；Note deposit
DeviceThe coded sequence of middle C=2 is " low precision encoding ", is stored in registerIn；Remember register Q2In coded sequence be
" invalid code ", j=1 ..., 10.
It 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；
4, according to the classification to redundant coding sequences, DC brushless motor Hall sensor fault-tolerant control algorithm is designed.It should
Process specifically includes：
(1) system for writing and compiling software according to fig. 3, system reset, initialization, electric motor starting；
(2) coded sequence of commutation signal and Hall sensor is detected, in fact it could happen that four kinds of situations：
The coded sequence of (2-1) Hall sensor is an element in set U, as one kind in ordered sequence, then
The coded sequence is efficient coding sequence, normal commutation；
The coded sequence of (2-2) Hall sensor is set Q1-1In an element, as one by one with efficient coding sequence
Corresponding redundant coding sequences, the sequence are that time efficient coding sequence completes commutation according to the correspondence with efficient coding；
The coded sequence of (2-3) Hall sensor is set Q1-2In an element, i.e., the redundant coding sequences with it is equal general
2 efficient coding sequence pairs of rate are answered, which is low precision encoding sequence, randomly chooses an efficient coding sequence, is completed
Commutation；
The coded sequence of (2-4) Hall sensor is set Q2In an element, as invalid code sequence, under waiting
One commutation moment.
Claims (1)
1. the fault tolerant control method suitable for multiphase permanent magnet brushless direct current generator Hall sensor, it is characterised in that：This method has
Body includes the following steps：
Step 1：The winding commutation process and encoder position for determining multiphase DC brushless motor theoretically obtain effective
" encoder position-commutation process " correspondence；The process specifically includes：
(1) square wave driving condition under the conduction mode that the multiphase DC brushless motor angle of flow is 180 (m-1)/m electrical angles is drawn
Figure；
(2) oscillogram of the Hall sensor of corresponding m equiphase difference, the theoretical duty ratio of the Hall sensor are drawn
It is 50%；
(3) obtain the effective 2m kinds state of multiphase DC brushless motor " encoder position-commutation process " according to this, with binary system and
Hexadecimal representation；
Step 2：Foundation and the Hamming distance of efficient coding classification redundancy encoding；The process specifically includes：
(1) by 2m- 2m kind redundant coding sequences states are sequentially written in serial shift register S, enable Si=(S1m,
S2m,···,Sim), i=1 ..., 2m- 2m, wherein m are the digit of Hall coded sequence, S1m, S2m..., SimIt is compiled for i-th kind
The digits of the binary representation of code sequence；
(2) 2m kinds Hall sensor encoding state corresponding with commutation process is sequentially written in serial shift register U, enables Uj
=(Uj1,Uj2···Ujm), j=1 ..., 2m, wherein Uj1, Uj2..., Uj2mFor the binary representation of jth kind coded sequence
Digits；
(3) Hamming distance of each redundant coding sequences and effective commutation coding is calculated successively；Define SiAnd UjHamming distance be
dij,WhereinIndicate XOR operation, i=1 ..., 2m- 2m, j=1 ..., 2m；
(4) for efficient coding sequence Uj, classification Hamming distance be 1 redundancy encoding setIt is stored in register Q1In；For
Efficient coding sequence Uj, redundancy encoding set of the classification Hamming distance more than or equal to 2It is stored in register Q2In；For effective
Coded sequence Uj, classification Hamming distance is the redundancy encoding set of [(m-0.1)/2]It is stored in register Q[(m-0.1)/2]
In, j=1 ..., 2m, wherein [*] indicates rounding；
Step 3：Classification setIn redundancy encoding, further determine that redundancy encoding and effectively
The correspondence of coding；The process specifically includes：
(1) difference statistic registers Q1、Q2、…、Q[(m-0.1)/2]In it is each coding occur frequency C, this makes it possible to obtain C=
1 ..., [(m-0.1)/2]；
(2) remember registerThe coded sequence of middle C=1 is " secondary efficient coding ", deposit register Q1-1In；Remember registerIn
The coded sequence of C=2 is " low precision encoding ", deposit register Q1-2In；And so on, coded sequence reliability gradually reduces；
Most postscript register Q[(m-0.1)/2]In coded sequence be " invalid code ", j=1 ..., 2m；
Step 4：According to the classification to redundant coding sequences, DC brushless motor Hall sensor fault-tolerant control algorithm is designed；It should
Process specifically includes：
(1) system reset, initialization, electric motor starting；
(2), there are several situations in the coded sequence for detecting commutation signal and Hall sensor：
The coded sequence of (2-1) Hall sensor is an element in set U, as one kind in ordered sequence, then the volume
Code sequence is efficient coding sequence, normal commutation；
The coded sequence of (2-2) Hall sensor is set Q1-1In an element, as with efficient coding sequence correspond
Redundant coding sequences, which is time efficient coding sequence, according to the correspondence with efficient coding, completes commutation；
The coded sequence of (2-3) Hall sensor is set Q1-2In an element, i.e., the redundant coding sequences with it is equiprobable
Efficient coding sequence pair is answered, which is low precision encoding sequence, randomly chooses an efficient coding sequence, completes commutation；
The coded sequence of (2-4) Hall sensor is set Q[(m-0.1)/2]In an element, as invalid code sequence waits for
Next commutation moment.
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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 |
| 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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|---|---|---|---|---|
| US7002318B1 (en) * | 2004-09-23 | 2006-02-21 | General Motors Corporation | Position sensor fault tolerant control for automotive propulsion system |
| CN1972113A (en) * | 2006-11-10 | 2007-05-30 | 南京航空航天大学 | Fault diagnosis and fault-tolerant control method for brushless motor position signal |
| 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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| US8125170B2 (en) * | 2007-06-16 | 2012-02-28 | Board Of Regents, The University Of Texas System | Techniques and apparatus for the measurement of mutual inductance in a switched reluctance machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7002318B1 (en) * | 2004-09-23 | 2006-02-21 | General Motors Corporation | Position sensor fault tolerant control for automotive propulsion system |
| CN1972113A (en) * | 2006-11-10 | 2007-05-30 | 南京航空航天大学 | Fault diagnosis and fault-tolerant control method for brushless motor position signal |
| 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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