CN108803462B - Fault detection method for servo system position feedback - Google Patents
Fault detection method for servo system position feedback Download PDFInfo
- Publication number
- CN108803462B CN108803462B CN201710289695.3A CN201710289695A CN108803462B CN 108803462 B CN108803462 B CN 108803462B CN 201710289695 A CN201710289695 A CN 201710289695A CN 108803462 B CN108803462 B CN 108803462B
- Authority
- CN
- China
- Prior art keywords
- encoder
- fault
- hall
- fault detection
- judging whether
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a fault detection method for position feedback of a servo system, which comprises a Hall fault detection algorithm, an encoder fault detection algorithm and encoder fault and overcurrent signal fault grading judgment.
Description
Technical Field
The present invention relates to a fault detection method, and more particularly, to a fault detection method for position feedback of a servo system.
Background
At present, a servo system needs to perform feedback control on the real-time position of a motor shaft, and the accuracy of a position feedback signal is the key for judging whether the system can normally run. Most of servo systems adopt a photoelectric encoder in an ABZ + UVW output mode, and the output signals of the sensor have no error state signals and can be only realized by adding hardware detection or software detection. The hardware detection scheme has the advantages of improving the system cost and the complexity and reducing the robustness of the system. In the software scheme, the problem of position feedback fault can be detected to a certain extent by a method for detecting and identifying whether the current loop instruction is continuously saturated, but the reason for causing the current loop instruction to be saturated is caused by the position feedback fault or the motor under the locked-rotor state due to overlarge load is difficult to distinguish. Therefore, the invention provides a detection method, which can accurately position the position feedback fault problem on line in real time on the premise of ensuring the stable operation of the motor through the mutual verification of the encoder and the Hall signal and the scheme of detecting the fault of the encoder again under the overcurrent signal.
Aiming at the problems in the prior art, the method for detecting the fault of the servo system position feedback has important significance.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for detecting a failure of position feedback of a servo system.
In order to achieve the above purpose, the fault detection method for servo system position feedback of the present invention comprises a hall fault detection algorithm, an encoder fault detection algorithm, and a classification judgment of encoder faults and overcurrent signal faults, and specifically comprises the following steps: step 1, detecting a Hall signal by using the Hall fault detection algorithm in a fault state, judging whether Hall feedback has faults or not, if yes, finishing detection, and if not, executing step 2; step 2, detecting the encoder by using the encoder fault detection algorithm, judging whether the encoder has a fault, if so, continuing to execute the step 3, and if not, ending the detection; step 3, further confirming whether the faults come from the encoder by using the encoder faults and overcurrent signal fault grading judgment;
further, the hall fault detection algorithm specifically includes the following steps: step 11, continuously collecting three Hall signals for 10 times respectively; step 12, respectively judging whether the 10-time level states of each Hall signal are all the same, if so, changing the Hall signal to an acquired value, and if not, keeping the original value of the Hall signal unchanged; step 13, judging whether the level states of the three Hall signals are the same, if so, recording the zone bit as 1 and storing the zone bit into FIFO, and if not, recording the zone bit as 0; step 14, repeatedly executing the steps 11 to 13 until the zone bits in the FIFO are full, judging whether all the zone bits in the FIFO are 1, if so, determining that the Hall feedback fails;
further, the depth of the FIFO is 20;
further, the encoder fault detection algorithm specifically includes the following steps: step 21, continuously collecting three Hall signals for 10 times respectively; step 22, respectively judging whether the 10-time level states of each Hall signal are all the same, if so, changing the Hall signal to an acquired value, and if not, keeping the original value of the Hall signal unchanged; step 23, placing the three hall signals into 6 electrical angle sectors of the motor, soThe 6 electrical sectors respectively correspond to a sector number, whether the level states of the three Hall signals in one electrical angle sector are completely the same or not is judged, if so, the sector number of the electrical angle sector is changed into 10, and if not, the original sector number is kept unchanged; step 24, judging whether the current electrical angle sector is the initial placement of the three hall signals, if so, storing the sector number of the electrical angle sector in FIFOA, and storing the current position of the encoder in FIFOB, if not, the motor continuously rotates for a period, recording the values in the FIFOA and the FIFOB at the moment, and the depths of the FIFOA and the FIFOB are both 6; step 25, repeatedly executing steps 21 to 24 until the motor rotates for 4 cycles continuously, and calculating the variable increment of the position of the encoder when the motor rotates for 4 cycles; step 26, determining whether the encoded signal of the encoder is erroneous, specifically, the determining method is to set a determination threshold for the decoder fault, where the calculation formula of the determination threshold is:
wherein t is the judgment threshold, mencnt is the number of encoder lines, and the calculation formula of the number of encoder lines is as follows:
wherein mTheta is the corresponding mechanical angle when the motor rotates for 4 cycles, and the calculation formula of mTheta is as follows:
wherein P is a magnetic pole pair number, the numerical value of the magnetic pole pair number is an initially set numerical value, and when the absolute value of the variable increment is smaller than the judgment threshold in step 25, it is determined that the encoder has failed;
further, the step-by-step judgment of the encoder fault and the overcurrent signal fault specifically comprises the following steps: step 31, judging the rotation direction of the motor, calculating the change direction of the sector number in the last two periods in the FIFOA, wherein the rotation direction of the motor is positive when the values in the FIFOA are sequentially increased, and the rotation direction of the motor is negative when the values in the FIFOA are sequentially decreased; step 32, resetting the servo system and switching the control mode of the servo system into an open-loop voltage control mode; step 33, detecting the encoder by using the encoder fault detection algorithm again, judging whether the encoder has a fault, if so, further determining that the fault is from the encoder, and if not, determining that the fault is an overcurrent signal fault;
further, when the encoder is detected again by the encoder failure detection algorithm in step 33, the voltage command is limited to 60% of the rated voltage command, and the motor can be prevented from rotating and falling into a dead cycle.
The fault detection method for the position feedback of the servo system, which is disclosed by the invention, aims at the servo system in a Hall and encoder feedback mode, and provides an on-line real-time detection algorithm for the position feedback fault on the premise of not increasing the hardware cost, so that the position feedback fault signal can be accurately positioned, omission is prevented, and the stability of system operation is improved.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic flow diagram of a Hall fault detection algorithm;
FIG. 3 is a schematic flow chart of an encoder fault detection algorithm;
FIG. 4 is a schematic flow chart of the encoder fault and over-current signal fault classification determination.
Detailed Description
The structure, operation, and the like of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the process schematic diagram of the method of the present invention includes a hall fault detection algorithm, an encoder fault detection algorithm, and a hierarchical determination of encoder fault and overcurrent signal fault, and specifically includes the following steps:
step one S1, in a fault state, detecting a Hall signal by using the Hall fault detection algorithm, judging whether Hall feedback has faults or not, if yes, finishing detection, and if not, executing step two;
step two S2, detecting the encoder by using the encoder fault detection algorithm, judging whether the encoder has a fault, if so, continuing to execute step three, and if not, ending the detection;
step three S3, the encoder fault and overcurrent signal fault grading judgment is used to further confirm whether the fault comes from the encoder.
As shown in fig. 2, fig. 2 is a schematic flow chart of the hall fault detection algorithm according to the present invention, and generally, three hall signals may form 6 signals, which respectively correspond to 6 sectors of the electrical angle of the motor, and the single angle of the sector is 60 degrees. In the fault state, the Hall signal has two states: the hall fault detection method comprises the following steps of (1) carrying out on-line detection on a hall signal according to the difference between a same-position low state and a same-position high state, wherein the hall signal can be detected on line according to the difference between the two states, and the hall fault detection algorithm specifically comprises the following steps: step S11, continuously collecting three Hall signals for 10 times respectively, collecting the Hall signals in each system control and performing primary filtering processing; step S12, respectively judging whether the 10-time level states of each Hall signal are all the same, if so, changing the Hall signal to an acquired value, and if not, keeping the original value of the Hall signal unchanged; step S13, judging whether the level states of the three Hall signals are the same, if so, recording the zone bit as 1 and storing the zone bit into FIFO, and if not, recording the zone bit as 0; step S14, repeatedly executing the step S11 to the step S13 until the flag bits in the FIFO are full, judging whether the flag bits in the FIFO are all 1, and if so, determining that the Hall feedback fails; the FIFO is provided with the detection allowance, so that error report caused by interference can be prevented, the time is set, the consumption of a system is reduced, and meanwhile, the detection allowance is also increased, and the purpose of filtering interference noise is achieved.
As shown in fig. 3, fig. 3 is a schematic flow chart of an encoder fault detection algorithm, and in a normal state, one sector corresponds to an electrical angle of 60 degrees and a corresponding electrical angleThe mechanical angle of the crankshaft is 60/magnetic pole pair number, and in the state that the Hall has no fault, the mechanical angle rotated by Hall fault detection and the mechanical angle rotated by the encoder are compared, so that the error is judged to judge whether the encoder has fault, and the encoder fault detection algorithm specifically comprises the following steps: step S21, continuously collecting three Hall signals for 10 times respectively; step S22, respectively judging whether the 10-time level states of each Hall signal are all the same, if so, changing the Hall signal to an acquired value, and if not, keeping the original value of the Hall signal unchanged; step S23, placing the three Hall signals into 6 electric angle sectors of the motor, wherein the 6 electric sectors respectively correspond to a sector number, judging whether the level states of the three Hall signals in one electric angle sector are completely the same, if so, changing the sector number of the electric angle sector into 10, and if not, keeping the original sector number unchanged; step S24, judging whether the current electric angle sector is the initial placement of the three Hall signals, if so, storing the sector number of the electric angle sector in FIFOA, and storing the current position of the encoder in FIFOB, if not, the motor continuously rotates for a period, recording the values in the FIFOA and the FIFOB at the moment, and the depths of the FIFOA and the FIFOB are both 6; step S25, repeatedly executing steps S21 to S24 until the motor is rotated for 4 consecutive periods, calculating the delta of the position of the encoder when the motor is rotated for 4 consecutive periods; step S26, determining whether the encoded signal of the encoder is erroneous, specifically, the determining method is to set a determination threshold for the decoder fault, where the calculation formula of the determination threshold is:
wherein t is the judgment threshold, mencnt is the number of encoder lines, and the calculation formula of the number of encoder lines is as follows:
wherein mTheta is the corresponding mechanical angle when the motor rotates for 4 cycles, and the calculation formula of mTheta is as follows:
and when the absolute value of the variable increment in the step S25 is smaller than the judgment threshold, determining that the encoder fails.
As shown in fig. 4, fig. 4 is a schematic flow chart of the encoder fault and overcurrent signal fault grading determination of the present invention, because the response speed of the system current control is much higher than the encoder fault detection speed, when a position feedback occurs an error to the encoder, the system will first generate an overcurrent warning signal, and therefore, it needs to determine whether the system is an overcurrent warning caused by a feedback error of the encoder or an overcurrent warning caused by other problems, and the encoder fault and overcurrent signal fault grading determination specifically includes the following steps: step S31, judging the rotation direction of the motor, calculating the change direction of the sector number in the last two periods in the FIFOA, wherein the rotation direction of the motor is positive when the values in the FIFOA are sequentially increased, and the rotation direction of the motor is negative when the values in the FIFOA are sequentially decreased; step S32, resetting the servo system and switching the control mode of the servo system to an open-loop voltage control mode; and step S33, detecting the encoder by the encoder fault detection algorithm again, judging whether the encoder has a fault, if so, further determining that the fault comes from the encoder, and if not, determining that the fault is an overcurrent signal fault. And in order to ensure the running stability, the open-loop voltage instruction is linearly and smoothly added, and when the encoder fault detection algorithm is used for detecting the encoder again, the voltage instruction is limited to 60% of the rated voltage instruction, so that the motor can be effectively prevented from rotating and falling into the dead cycle.
The foregoing is merely illustrative of the present invention, and it will be appreciated by those skilled in the art that various modifications may be made without departing from the principles of the invention, and the scope of the invention is to be determined accordingly.
Claims (5)
1. A fault detection method for servo system position feedback is characterized by comprising a Hall fault detection algorithm, an encoder fault detection algorithm and encoder fault and overcurrent signal fault classification judgment, and specifically comprises the following steps:
step 1, detecting a Hall signal by using the Hall fault detection algorithm in a fault state, judging whether Hall feedback has faults or not, if yes, finishing detection, and if not, executing step 2;
step 2, detecting the encoder by using the encoder fault detection algorithm, judging whether the encoder has a fault, if so, continuing to execute the step 3, and if not, ending the detection;
step 3, further confirming whether the faults come from the encoder by using the encoder faults and overcurrent signal fault grading judgment;
the Hall fault detection algorithm specifically comprises the following steps:
step 11, continuously collecting three Hall signals for 10 times respectively;
step 12, respectively judging whether the 10-time level states of each Hall signal are all the same, if so, changing the Hall signal to an acquired value, and if not, keeping the original value of the Hall signal unchanged;
step 13, judging whether the level states of the three Hall signals are the same, if so, recording the zone bit as 1 and storing the zone bit into FIFO, and if not, recording the zone bit as 0;
and 14, repeatedly executing the steps 11 to 13 until the zone bits in the FIFO are full, judging whether all the zone bits in the FIFO are 1, and if so, determining that the Hall feedback fails.
2. The method of fault detection of servo system position feedback of claim 1 wherein said FIFO depth is 20.
3. The method of claim 1, wherein the encoder fault detection algorithm comprises the steps of:
step 21, continuously collecting three Hall signals for 10 times respectively;
step 22, respectively judging whether the 10-time level states of each Hall signal are all the same, if so, changing the Hall signal to an acquired value, and if not, keeping the original value of the Hall signal unchanged;
step 23, placing the three hall signals into 6 electrical angle sectors of the motor, wherein the 6 electrical sectors respectively correspond to a sector number, judging whether the level states of the three hall signals in one electrical angle sector are completely the same, if so, changing the sector number of the electrical angle sector into 10, and if not, keeping the original sector number unchanged;
step 24, judging whether the current electrical angle sector is the initial placement of the three hall signals, if so, storing the sector number of the electrical angle sector in FIFOA, and storing the current position of the encoder in FIFOB, if not, the motor continuously rotates for a period, recording the values in the FIFOA and the FIFOB at the moment, and the depths of the FIFOA and the FIFOB are both 6;
step 25, repeatedly executing steps 21 to 24 until the motor rotates for 4 cycles continuously, and calculating the variable increment of the position of the encoder when the motor rotates for 4 cycles;
step 26, determining whether the encoded signal of the encoder is erroneous, specifically, the determining method is to set a determination threshold for the decoder fault, where the calculation formula of the determination threshold is:
wherein t is the judgment threshold, mencnt is the number of encoder lines, and the calculation formula of the number of encoder lines is as follows:
wherein mTheta is the corresponding mechanical angle when the motor rotates for 4 cycles, and the calculation formula of mTheta is as follows:
and P is a magnetic pole logarithm, the numerical value of the magnetic pole logarithm is an initially set numerical value, and when the absolute value of the variable increment is smaller than the judgment threshold in the step 25, the encoder fault is determined.
4. The method as claimed in claim 3, wherein the step of determining the encoder fault and the overcurrent signal fault in stages comprises the steps of:
step 31, judging the rotation direction of the motor, calculating the change direction of the sector number in the last two periods in the FIFOA, wherein the rotation direction of the motor is positive when the values in the FIFOA are sequentially increased, and the rotation direction of the motor is negative when the values in the FIFOA are sequentially decreased;
step 32, resetting the servo system and switching the control mode of the servo system into an open-loop voltage control mode;
and step 33, detecting the encoder by using the encoder fault detection algorithm again, judging whether the encoder has a fault, if so, further determining that the fault is from the encoder, and if not, determining that the fault is an overcurrent signal fault.
5. The method as claimed in claim 4, wherein the step 33 of detecting the encoder by the encoder fault detection algorithm again limits the voltage command to 60% of the rated voltage command, so as to prevent the motor from rotating and falling into a dead cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710289695.3A CN108803462B (en) | 2017-04-27 | 2017-04-27 | Fault detection method for servo system position feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710289695.3A CN108803462B (en) | 2017-04-27 | 2017-04-27 | Fault detection method for servo system position feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108803462A CN108803462A (en) | 2018-11-13 |
| CN108803462B true CN108803462B (en) | 2021-03-19 |
Family
ID=64069465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710289695.3A Active CN108803462B (en) | 2017-04-27 | 2017-04-27 | Fault detection method for servo system position feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108803462B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112698197A (en) * | 2019-10-22 | 2021-04-23 | 深圳市优必选科技股份有限公司 | Motor parameter measuring method and device, computer equipment and storage medium |
| CN112748712A (en) * | 2019-10-31 | 2021-05-04 | 中国科学院长春光学精密机械与物理研究所 | Fault monitoring method, photoelectric equipment electric control system and readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3698977B2 (en) * | 2000-09-29 | 2005-09-21 | 山洋電気株式会社 | Servo controller abnormality diagnosis device |
| DE102005045323A1 (en) * | 2004-09-23 | 2006-04-13 | General Motors Corp. (N.D.Ges.D. Staates Delaware), Detroit | Position sensor fault tolerant control for automotive propulsion system |
| CN102025252A (en) * | 2009-09-15 | 2011-04-20 | 株式会社东芝 | Rotor position detection device |
| CN102801379A (en) * | 2012-08-08 | 2012-11-28 | 中国科学院长春光学精密机械与物理研究所 | Universal full-digital direct-current motor servo driver |
| CN103138662A (en) * | 2011-12-05 | 2013-06-05 | 株式会社电装 | Motor control apparatus |
| CN103697927A (en) * | 2012-09-27 | 2014-04-02 | 现代摩比斯株式会社 | Position sensor abnormality detection method of a smart booster system |
| CN104579110A (en) * | 2014-09-25 | 2015-04-29 | 湖南大学 | Variable-frequency speed regulation system and method of high-speed permanent magnet motor |
-
2017
- 2017-04-27 CN CN201710289695.3A patent/CN108803462B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3698977B2 (en) * | 2000-09-29 | 2005-09-21 | 山洋電気株式会社 | Servo controller abnormality diagnosis device |
| DE102005045323A1 (en) * | 2004-09-23 | 2006-04-13 | General Motors Corp. (N.D.Ges.D. Staates Delaware), Detroit | Position sensor fault tolerant control for automotive propulsion system |
| CN102025252A (en) * | 2009-09-15 | 2011-04-20 | 株式会社东芝 | Rotor position detection device |
| CN103138662A (en) * | 2011-12-05 | 2013-06-05 | 株式会社电装 | Motor control apparatus |
| CN102801379A (en) * | 2012-08-08 | 2012-11-28 | 中国科学院长春光学精密机械与物理研究所 | Universal full-digital direct-current motor servo driver |
| CN103697927A (en) * | 2012-09-27 | 2014-04-02 | 现代摩比斯株式会社 | Position sensor abnormality detection method of a smart booster system |
| CN104579110A (en) * | 2014-09-25 | 2015-04-29 | 湖南大学 | Variable-frequency speed regulation system and method of high-speed permanent magnet motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108803462A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106787992B (en) | Permanent magnetic brushless Hall sensor fault tolerant control method | |
| CN101995533A (en) | Real-time wire-break detection method and system for digital incremental encoder | |
| KR101394556B1 (en) | Apparatus and method for rotor position sensor fault detection of permanent magnet synchronous motor | |
| CN108803462B (en) | Fault detection method for servo system position feedback | |
| CN109490646A (en) | New-energy automobile driving motor method for detecting open phase | |
| CN105573304B (en) | A kind of permagnetic synchronous motor hall position sensor method for diagnosing faults | |
| CN105391362A (en) | DC brushless motor Hall sensor control algorithm | |
| CN109257002B (en) | Origin detection control method for reciprocating motion based on servo drive | |
| CN109217758B (en) | Online identification method for rotary transformer zero point, motor controller and storage medium | |
| CN102045020B (en) | Method for detecting position of rotor of permanent magnet motor | |
| WO2022193556A1 (en) | Motor phase loss detection method and device, and storage medium | |
| CN104079216B (en) | Three-phase has sensor BLDC motor driven systems and driving method thereof | |
| CN105628956A (en) | Rotating movement system detection method through orthogonal encoder | |
| CN116979528B (en) | Method, device and medium for quickly starting low-voltage ride through of power electronic converter | |
| CN107508520B (en) | Permanent magnet motor control method and device | |
| CN111181469A (en) | Servo driver position feedback abnormal jump multi-period joint detection processing method | |
| CN113794413B (en) | Permanent magnet motor driving system current sensor fault type identification method and device | |
| CN112187135B (en) | Chassis motor control method, chassis motor control device, robot, and medium | |
| JP2001249154A (en) | Disconnection detecting device for encoder and method for disconnection detection | |
| CN113794414A (en) | Permanent magnet synchronous motor Hall signal online correction method | |
| TW200401880A (en) | Method of detecting/estimating bit error of encoder detection position data | |
| WO2022142232A1 (en) | Method for implementing brushless direct current motor hall position sensor fault processing | |
| JP4604557B2 (en) | PWM cycloconverter and control method thereof | |
| CN110308364B (en) | Short-circuit current rapid discrimination method and discrimination system | |
| CN114499351B (en) | Motor system fault detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |