CN106849774A - Motor control fault-tolerant processing device, motor and electric motor car - Google Patents
Motor control fault-tolerant processing device, motor and electric motor car Download PDFInfo
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- CN106849774A CN106849774A CN201710122915.3A CN201710122915A CN106849774A CN 106849774 A CN106849774 A CN 106849774A CN 201710122915 A CN201710122915 A CN 201710122915A CN 106849774 A CN106849774 A CN 106849774A
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Abstract
The invention discloses a kind of motor control fault-tolerant processing device, motor and electric motor car, wherein, the device includes：Motor position sensor, decoding circuit, current sensor, motor speed sensor, counting circuit, process circuit；Judge whether rotor current location θ n are located in the range of the setting position determined according to the present load of rotor last time position θ n 1, motor, the current rotating speed of motor, if rotor current location θ n are not belonging to the setting position scope in the setting sampling period, the current rotating speed of present load, motor according to rotor last time position θ n 1, motor determines the correction position θ n ' of rotor.Device, motor and electric motor car that the present invention is provided, can effectively prevent the out of control of motor, with fault-tolerant ability, keep the stability of control.
Description
Technical field
The present invention relates to machine field, more particularly to a kind of motor control fault-tolerant processing device, motor and electric motor car.
Background technology
Conventional motors control is operation of situations such as conventional closed loop control, the interference and vibration in the external world all to motor shadow
Ring.Motor operating state follows the change of sensor signal and changes, motor fortune when electromechanical transducer signal is interfered
Row state can also be interfered, run well when running status if subjected to interference and undergo mutation, can be to using
The equipment belt of motor is damaged, and motor body can also be damaged.
Therefore, it is necessary to provide a kind of motor control fault-tolerant processing device to solve above-mentioned technology present in prior art
Problem.
The content of the invention
The invention solves the problems that a technical problem be how to provide it is a kind of can effectively prevent motor it is out of control, have
The motor control fault-tolerant processing device of fault-tolerant ability.
The present invention provides a kind of motor control fault-tolerant processing device, including：Motor position sensor, decoding circuit, electric current
Sensor, motor speed sensor, counting circuit, process circuit；Wherein, in the motor position sensor collection setting sampling period
The position signalling of rotor；Decoding circuit is electrically connected with the motor position sensor, is gathered according to motor position sensor
Position signalling determine motor rotor position in the setting sampling period, wherein, the position of the rotor includes rotor
Current location θ n and rotor last time position θ n-1；The load signal of current sensor collection motor simultaneously determines motor
Present load；Motor speed sensor gathers the tach signal of motor and determines the current rotating speed of motor；Counting circuit with it is described
Decoding circuit, current sensor, motor speed sensor electrical connection, judge whether rotor current location θ n are located at according to electricity
In the range of the setting position that machine rotor last time position θ n-1, the present load of motor, the current rotating speed of motor determine；Treatment electricity
Road electrically connects with counting circuit, if rotor current location θ n are not belonging to the setting position in the setting sampling period
Scope, the current rotating speed according to rotor last time position θ n-1, the present load of motor, motor determines the school of rotor
Positive position θ n ', so that the correction position θ n ' using the rotor are controlled to motor.
Further, if process circuit is used for rotor current location θ n in the setting sampling period and belongs to described
Setting position scope, determines that motor position sensor is not undergone mutation, and the motor gathered according to the motor position sensor turns
Sub- current location θ n output PWM waveforms according to motor rotor position to adjust current control motor.
Further, the device also determines circuit including setting position scope, setting position scope determine circuit with it is described
Decoding circuit, current sensor, motor speed sensor electrical connection, work as according to rotor last time position θ n-1, motor
Preceding load, the current rotating speed of motor determine the rational position θ n* of rotor；Rational position θ n* according to rotor and
Given threshold range delta θ determines setting position scope [θ n*- Δs θ, θ n*+ Δs θ], wherein, the given threshold range delta θ and institute
State the current rotating speed of rotor into positive correlation.
Further, the given threshold scope includes [- 10 °, 10 °] or [- 5 °, 5 °].
Further, counting circuit according to rotor last time position θ n-1, the present load of motor, motor it is current
Rotating speed determines the rational position θ n* of rotor；Process circuit judges rotor current location θ in the setting sampling period
Whether the difference of the n and rational position θ n* of rotor exceedes given threshold range delta θ；If motor in the setting sampling period
The difference of the rotor current location θ n and rational position θ n* of rotor exceedes given threshold range delta θ, is turned using the motor
The rational position θ n* of son are controlled as correction position θ n ' to motor.
Further, the counting circuit includes add circuit, mlultiplying circuit, division circuit, subtraction circuit；Counting circuit
According to rotor last time position θ n-1, the present load of motor, the current rotating speed of motor in the setting sampling period by above-mentioned
Circuit counting determines the rotor rational position θ n* and given threshold range delta θ of correction.
Further, motor position sensor sets the sampling period as 1-20 milliseconds.
Further, the motor includes motor, 6 pairs of pole motors of the 2 pairs of pole motors, the 4 pairs of pole；Wherein, if motor is 4
To the motor of pole, motor turns 1 circle, and the electrical angle of rotary transformer is 4 360 degree of cycle, and the electrical angle of motor is 4 360
Described 360 degree of cycle set corresponding digital signals are 1 ~ 4096 by the cycle of degree, and decoding circuit is according to motor position sensor
The value of the corresponding data signal of above-mentioned motor rotor position of collection determines motor rotor position.
The present invention also provides a kind of motor, including motor control fault-tolerant processing device as described above.
The present invention also provides a kind of electric motor car, including motor as described above.
Motor control fault-tolerant processing device, motor and electric motor car that the present invention is provided, can effectively prevent motor
Out of control, when anti-stop signal is disturbed there is control fault alarm in motor, with fault-tolerant ability, keep the continuity of control and steady
It is qualitative, impact will not be brought to the equipment using motor and personnel, protect the safety of equipment and personnel.
Brief description of the drawings
Fig. 1 shows the structured flowchart of the motor control fault-tolerant processing device of one embodiment of the invention.
Fig. 2 shows a kind of schematic flow sheet of the fault-tolerance processing method based on motor control fault-tolerant processing device of the present invention.
Specific embodiment
The present invention is described more fully with reference to the accompanying drawings, wherein illustrating exemplary embodiment of the invention.
Fig. 1 shows the structured flowchart of the motor control fault-tolerant processing device of one embodiment of the invention.As shown in figure 1, should
Motor control fault-tolerant processing device 100 mainly includes：Motor position sensor 101, decoding circuit 102, current sensor 103,
Motor speed sensor 104, counting circuit 105, process circuit 106.
Motor position sensor 101 can gather the position signalling of rotor in the setting sampling period.Decoding circuit 102
Electrically connected with the motor position sensor, the position signalling gathered according to motor position sensor was determined in the setting sampling period
Motor rotor position, wherein, the position of the rotor includes current location θ n and rotor last time position θ n-1.
Current sensor 103 gathers the load signal of motor and determines the present load of motor, and current sensor can also
Referred to as motor load sensor, the load situation of change for being primarily used to determine motor and the motor for determining each moment are negative
Load value.
The tach signal of the collection motor of motor speed sensor 104 simultaneously determines the current rotating speed of motor, and the rotating speed can be with
It is the angular speed of motor, the rotation number of turns in the motor unit interval is determined by angular speed.
Counting circuit 105 is electrically connected with the decoding circuit 102, current sensor 103, motor speed sensor 104, is sentenced
Whether power-off machine rotor current location θ n are located at according to rotor last time position θ n-1, the present load of motor, motor
In the range of the setting position that current rotating speed determines；Process circuit 106 is electrically connected with counting circuit 105, if the setting sampling
Rotor current location θ n are not belonging to the setting position scope in cycle, then can determine that motor position sensor occurs prominent
Become, the current rotating speed according to rotor last time position θ n-1, the present load of motor, motor determines the correction of rotor
Position θ n ', so that the correction position θ n ' using the rotor are controlled to motor.
Specifically, can be calculated according to motor present load, rotating speed and the motor rotor position of last time calculates motor
Rotor correction position θ n ', settle accounts control electric current and are controlled according to correction position θ n '.
The motor control fault-tolerant processing device that the present invention is provided, can effectively prevent the out of control of motor, keep control
Stability, impact will not be brought to the equipment using motor and personnel, protect the safety of equipment and personnel.
In one embodiment, if process circuit 106 is used for rotor current location θ in the setting sampling period
N belongs to the setting position scope, determines that motor position sensor is not undergone mutation, and is gathered according to the motor position sensor
Rotor current location θ n output PWM waveforms to adjust current control motor according to rotor-position.
In one embodiment, the device can also determine circuit 107 including setting position scope, and setting position scope is true
Determine circuit 107 to be electrically connected with the decoding circuit 102, current sensor 103, motor speed sensor 104, according to rotor
Last position θ n-1, the present load of motor, the current rotating speed of motor determine the rational position θ n* of rotor；According to electricity
The rational position θ n* and given threshold range delta θ of machine rotor determine setting position scope [θ n*- Δs θ, θ n*+ Δs θ].
In one embodiment, the given threshold range delta θ is closed with the current rotating speed of the rotor into positive correlation
System, for example, Δ θ=k*V, wherein rotating speed represent rotor rotating speed.It is determined that may not necessarily consider to bear during the given threshold scope
The influence of load, because the application uses the other acquisition time of Millisecond, within the so short time, motor rotor position one
As will not undergo mutation, therefore can ignore due to the load influence that causes of change.Simultaneously can given threshold scope maximum
[- 10 °, 10 °], [- 5 °, 5 °] or [- 10 °, 20 °] are may range from, specifically threshold value maximum magnitude can be according to actual conditions
It is determined that.
In one embodiment, counting circuit 105 according to rotor last time position θ n-1, the present load of motor,
The current rotating speed of motor determines the rational position θ n* of rotor；Process circuit 106 judges motor in the setting sampling period
Whether the difference of the rotor current location θ n and rational position θ n* of rotor exceedes given threshold range delta θ；If setting is adopted
The difference of the rotor current location θ n and rational position θ n* of rotor exceedes given threshold range delta θ in the sample cycle, adopts
Motor is controlled as correction position θ n ' with the rational position θ n* of the rotor.
In one embodiment, the sampling period as 1-20 milliseconds is set.The specific setting sampling period can for 5 milliseconds,
10 milliseconds, 15 milliseconds.Motor in the present invention can be motor, 6 pairs of pole motors of 2 pairs of pole motors, the 4 pairs of pole；If motor is 4
To the motor of pole, motor turns 1 circle, and the electrical angle of rotary transformer is 4 360 degree of cycle, and motor electrical angle is exactly 4 360
360 degree of cycle set corresponding digital signals are 1 ~ 4096 by the cycle of degree, and the module of decoding circuit 102 is passed according to motor position
The value of the data signal of the collection of sensor 101 determines motor rotor position.
For example, if the position signalling of last rotor is 50 degree, motor speed 1000rpm, during load
200Nm, because the sampling period is a millisecond rank, rotating speed will not be mutated in a cycle, and this position signalling substantially may be used
Calculated with according to last rotating speed, what is calculated should be a digital scope.For example, current electricity can be calculated
The zone of reasonableness estimated of the position signalling of machine rotor can be [45 degree, 55 degree], if the collection of motor position sensor 101
Data signal is not belonging to the scope of [45 degree, 55 degree], it is determined that motor is undergone mutation.
Using another counting circuit, can first determine that the rational position of motor is 48 degree by accurate calculating, can sentence
Whether difference of the power-off machine rotor current location with 48 degree exceedes the given threshold scope of [- 5 degree, 5 degree], if it exceeds the setting
Threshold range, it is determined that motor is undergone mutation, using the rational position of the rotor being accurately calculated as correction bit
Put and motor is controlled.
In one embodiment, if the setting sampling period for setting motor position sensor 101 can be 10 milliseconds, this
Shi Ruguo motors are 4 pairs of motors of pole, 10000rpm rotating speeds motor speed rate of change in 1 turn/millisecond.
In one embodiment, the counting circuit 105 includes add circuit, mlultiplying circuit, division circuit or subtraction electricity
Road；Specifically above-mentioned counting circuit can be realized by PLC circuit.Obtaining in the setting sampling period on rotor once position
After putting θ n-1, the present load of motor, the current rotating speed of motor, the above-mentioned counting circuit in counting circuit is calculated and determines correction
Rotor rational position θ n* and given threshold range delta θ.
For example, θ n*=θ n-1+k（Rotating speed * Δs t+load *（Δt）^2 /m）, Δ θ=k ' * rotating speeds, Δ t represent electricity
The time of machine rotor last time position θ n-1, m represented the effective mass of motor patent, logical to the time for crossing experience of current time
Add circuit, mlultiplying circuit, the division circuit crossed in counting circuit are capable of achieving above-mentioned calculating process, wherein+represent addition electricity
The computing on road, * represents mlultiplying circuit computing ,/represent the computing of division circuit.
Specifically, process circuit 106 can also include comparison circuit and subtraction circuit, rotor last time position θ
N-1, the rational position θ n* of rotor do subtraction and determine difference DELTA θ, and judge whether Δ θ belongs to by comparison circuit
In the threshold range of [- k ' * rotating speeds ,+k ' * rotating speeds], if Δ θ belongs to the threshold range.Then determine the motor position sensor
Sampled signal do not undergo mutation；If Δ θ is not belonging to [- k ' * rotating speeds ,+k ' * rotating speeds], it is determined that the motor position sensor
Sampled signal undergo mutation.Process circuit can be believed using the rational position θ n ' output controls of the rotor being calculated
Number carry out motor control.
In one embodiment, can specify that the threshold range of Δ θ for [- 10 °, 10 °], if Δ θ whether belong to [-
10 °, 10 °], it is determined that the sampled signal of the motor position sensor is not undergone mutation, and process circuit is passed according to the motor position
The sampled signal controlled motor of sensor, if Δ θ is not belonging to [- 10 °, 10 °], it is determined that the sampling letter of the motor position sensor
Number undergo mutation.
In one embodiment, the position to rotor in sampling period T1 detected, obtains the current of rotor
Position angle θ 1, by the load of current motor and the calculating of rotating speed along with system acquisition to position signalling obtained with last time
Rotor position 0 compare, when produce mutation when, then give up this collection position signalling, then use error when it is fault-tolerant
Treatment strategy, based on the rotor position 0 obtained by last time, and checks current load and speed conditions, draws working as correction
Preceding rotor position angle θ 1 ', is finally controlled using corrected value θ 1 ' to motor.
During motor operation, when the sensor such as rotary transformer of test position signal is in extraneous electromagnetism, shake
When there is mistake to motor rotor position detection in the case of the interference such as dynamic, or other related hardware components or transmission line
When road is broken down, by the control device with fault-tolerant processing function of the invention, the out of control of motor can be effectively prevented, protected
Hold the stability of control；Impact will not be brought to the equipment using motor and personnel, equipment and personnel are protected
Safety.
The motor control fault-tolerant processing device that the present invention is provided is a kind of functional device of self-regeneration regulation, anti-stop signal
When interference there is control fault alarm in motor, with fault-tolerant ability, that is to say, that within several sampling periods, if motor
Position signalling is lost or is mutated, and can be normal work, but, if continuous long-time lossing signal will trigger failure,
Vehicle will alarm and stop.
Fig. 2 shows a kind of schematic flow sheet of the fault-tolerance processing method based on motor control fault-tolerant processing device of the present invention,
As shown in Fig. 2 the process includes：
Step 201, motor position sensor is acquired to motor rotor position.
Step 202, decoding unit calculates motor rotor position.
Wherein, the position of the rotor includes current location θ n and rotor last time position θ n-1.
Step 203, electric machine controller judges rotor according to the present load of the position, motor of rotor last time and rotating speed
Whether current location is being set in rational scope.
Specifically, if rotor current location θ n are located in the rational scope of the setting, it is determined that motor position
Sensor is not undergone mutation, and performs step 204, if rotor current location θ n are not positioned at the rational scope of the setting
It is interior, it is determined that motor position sensor is undergone mutation, perform step 205.
Specifically, can also be and judge that rotor current location θ n are with the difference of the rational position θ n* of rotor
It is no more than given threshold scope；If the rational position θ of rotor current location θ n and rotor in the setting sampling period
The difference of n* exceedes given threshold range delta θ, it is determined that motor position sensor is undergone mutation, then perform step 204, it is necessary to right
The signal of motor position sensor is adjusted；Else if rotor current location θ n turn with motor in the setting sampling period
The difference of the rational position θ n* of son is no more than given threshold range delta θ, it is determined that motor position sensor is not undergone mutation, then
Perform step 205.
Step 204, the present load of position, motor according to rotor last time and rotating speed determine that rotor is current
Correction position, calculates adjustment electric current and is adjusted.
Because, even if position sensor signal is undergone mutation, it is also possible to which the change according to current flow and rotating speed can be pushed away
The motor position for calculating next cycle should be in a zone of reasonableness.Can for example use according to rotor last time position
θ n-1, the present load of motor, the rational position θ n* of the rotor of the current rotating speed determination of motor are put as correction position θ
N ' is controlled to motor.Specifically, it is also possible to which the rotor-position according to rotating speed, load and last time recalculates determination
Motor rotor position after correction.
If electric system electric current, rotating speed, position signalling sampling period are essentially 10ms, so being adopted according to last electric current
The torque-demand of sample result and vehicle extrapolates the size of next cycle operating current, for example, electric current maximum rate of change is 2A/
ms。
Step 205, is adjusted electric current and is controlled according to motor rotor position.
Specifically, quadrature axis and the electric current and power angle to d-axis are extrapolated according to rotor-position and current torque demand,
It is also to compare popular maximum torque per ampere control at present, is exactly to export same torque with minimum electric current.
Step 206, exports correct PWM waveform.
The fault-tolerant processing strategy based on motor control fault-tolerant processing device that the present invention is provided, can effectively prevent motor
It is out of control, keep control stability, impact will not be brought to the equipment using motor and personnel, protect equipment with
The safety of personnel.
The present invention can also provide a kind of motor, and the motor can include motor control fault-tolerant processing device described above.
The present invention also provides a kind of electric motor car, and the electric motor car is provided with motor, and wherein the motor is by electricity as described above
Machine control fault-tolerant processing device realizes motor control.
Description of the invention is given for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are for the ordinary skill in the art obvious.Select and retouch
State embodiment and be to more preferably illustrate principle of the invention and practical application, and one of ordinary skill in the art is managed
The solution present invention is suitable to the various embodiments with various modifications of special-purpose so as to design.
Claims (10)
1. a kind of motor control fault-tolerant processing device, it is characterised in that including：Motor position sensor, decoding circuit, electric current are passed
Sensor, motor speed sensor, counting circuit, process circuit；
Wherein, the motor position sensor collection sets the position signalling of rotor in the sampling period；
The decoding circuit is electrically connected with the motor position sensor, according to the position letter that the motor position sensor is gathered
Number determine motor rotor position in the setting sampling period, wherein, the position of the rotor includes rotor current location θ
N and rotor last time position θ n-1；
The current sensor gathers the load signal of motor and determines the present load of motor；
The motor speed sensor gathers the tach signal of motor and determines the current rotating speed of motor；
The counting circuit is electrically connected with the decoding circuit, current sensor, motor speed sensor, judges that rotor is worked as
Whether front position θ n are located at and are determined according to the current rotating speed of rotor last time position θ n-1, the present load of motor, motor
Setting position in the range of；
The process circuit is electrically connected with the counting circuit, if θ n in rotor current location in the setting sampling period
The setting position scope is not belonging to, forward is worked as according to rotor last time position θ n-1, the present load of motor, motor
Speed determines the correction position θ n ' of rotor, so that the correction position θ n ' using the rotor are controlled to motor.
2. device according to claim 1, it is characterised in that
If the process circuit is used for rotor current location θ n in the setting sampling period belongs to the setting position
Scope, determines that motor position sensor is not undergone mutation, according to the rotor present bit that the motor position sensor is gathered
θ n output PWM waveforms are put to adjust current control motor according to motor rotor position.
3. device according to claim 1, it is characterised in that also determine circuit including setting position scope,
The setting position scope determines that circuit is electrically connected with the decoding circuit, current sensor, motor speed sensor, root
Current rotating speed according to rotor last time position θ n-1, the present load of motor, motor determines the rational position θ of rotor
n*；Rational position θ n* and given threshold range delta θ according to rotor determine setting position scope [θ n*- Δs θ, θ n*+
Δ θ], wherein, the current rotating speed of the given threshold range delta θ and the rotor is into positive correlation.
4. device according to claim 3, it is characterised in that the given threshold scope include [- 10 °, 10 °] or [-
5 °, 5 °].
5. device according to claim 3, it is characterised in that also include：
The counting circuit determines according to the current rotating speed of rotor last time position θ n-1, the present load of motor, motor
The rational position θ n* of rotor；
The process circuit judges the rational position θ of rotor current location θ n and rotor in the setting sampling period
Whether the difference of n* exceedes given threshold range delta θ；If rotor current location θ n turn with motor in the setting sampling period
The difference of the rational position θ n* of son exceedes given threshold range delta θ, using the rational position θ n* of the rotor as school
Positive position θ n ' are controlled to motor.
6. according to any described device in claim 1-5, it is characterised in that the counting circuit includes add circuit, multiplies
Method circuit, division circuit, subtraction circuit；
Counting circuit is current according to rotor last time position θ n-1, the present load of motor, motor in the setting sampling period
Rotating speed calculates the rotor rational position θ n* and given threshold range delta θ for determining correction by foregoing circuit.
7. device according to claim 1, it is characterised in that the motor position sensor sets the sampling period as 1-
20 milliseconds.
8. device according to claim 1, it is characterised in that motor includes 2 pairs of pole motors, the 4 pairs of pole motors, 6 pairs of extremely electricity
Machine；
Wherein, if motor is 4 pairs of motors of pole, motor turns 1 circle, and the electrical angle of rotary transformer is 4 360 degree of cycle,
Motor electrical angle is 4 360 degree of cycle, is 1 ~ 4096, decoding circuit by described 360 degree of cycle set corresponding digital signals
The value of the corresponding data signal of above-mentioned motor rotor position gathered according to motor position sensor determines motor rotor position.
9. a kind of motor, it is characterised in that including the motor control fault-tolerant processing device as described in any in claim 1-8.
10. a kind of electric motor car, it is characterised in that including motor as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710122915.3A CN106849774A (en) | 2017-03-03 | 2017-03-03 | Motor control fault-tolerant processing device, motor and electric motor car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710122915.3A CN106849774A (en) | 2017-03-03 | 2017-03-03 | Motor control fault-tolerant processing device, motor and electric motor car |
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| CN106849774A true CN106849774A (en) | 2017-06-13 |
Family
ID=59137195
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710122915.3A Pending CN106849774A (en) | 2017-03-03 | 2017-03-03 | Motor control fault-tolerant processing device, motor and electric motor car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108736447A (en) * | 2018-05-30 | 2018-11-02 | 刘顺炮 | New energy automobile motor and its angular transducer fault diagnosis and protection algorism |
| CN112254626A (en) * | 2020-09-08 | 2021-01-22 | 上海贝思特门机有限公司 | Angular velocity fluctuation self-checking method for door machine motor rotor position sensor |
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| CN103438920A (en) * | 2013-08-23 | 2013-12-11 | 同济大学 | Fault diagnosis method, fault-tolerant control method and fault-tolerant control system of BLDC position sensor |
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| CN105915123A (en) * | 2016-06-02 | 2016-08-31 | 智车优行科技（北京）有限公司 | Motor control fault tolerance processing method and apparatus thereof, motor and electric vehicle |
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| CN112254626B (en) * | 2020-09-08 | 2022-07-15 | 上海贝思特门机有限公司 | Angular velocity fluctuation self-checking method for door machine motor rotor position sensor |
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