CN108900120A - Permanent magnetic brushless hall position sensor fault tolerant control method - Google Patents
Permanent magnetic brushless hall position sensor fault tolerant control method Download PDFInfo
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- CN108900120A CN108900120A CN201810742109.0A CN201810742109A CN108900120A CN 108900120 A CN108900120 A CN 108900120A CN 201810742109 A CN201810742109 A CN 201810742109A CN 108900120 A CN108900120 A CN 108900120A
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- Prior art keywords
- permanent magnetic
- magnetic brushless
- position sensor
- hall
- steering
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Classifications
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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
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
-
- 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
- H02P6/30—Arrangements for controlling the direction of rotation
Abstract
The invention discloses a kind of permanent magnetic brushless hall position sensor fault tolerant control method, the technical issues of the practicability is poor for solving existing permanent magnetic brushless hall position sensor fault tolerant control method.Three road hall position sensor output sequences when technical solution is identification permanent magnetic brushless positive and negative rotation operation first.Then by determining fault bit to hall position sensor output signal, fault-signal is shielded.If permanent magnetic brushless actual steering and given steering are consistent, position compensation method is used, realizes permanent magnetic brushless hall position sensor faults-tolerant control；If permanent magnetic brushless actual steering and given steering are inconsistent, then use advanced commutation method, so that motor restarting, its actual steering and given steering are consistent, to realize faults-tolerant control using position compensation method, reduce torque pulsation, so that permanent magnetic brushless works normally, the reliability of Electrical Break System of Aircraft is improved, practicability is good.
Description
Technical field
The present invention relates to a kind of fault tolerant control method, in particular to a kind of permanent magnetic brushless hall position sensor is fault-tolerant
Control method.
Background technique
With the fast development of aircraft industry, electric aircraft (AEA All-Electric-Aircraft) has become future
The developing direction of aircraft industry.Core technology one of of the electrical brake as electric aircraft, the superiority and inferiority of performance directly affect
Aircraft can safety operation.Most aircraft uses servo motor of the permanent magnetic brushless as all-electric braking system, and obtains
Good result.However, aircraft is in brake process, by external environment high temperature, burn into macroseism, electromagnetic interference and poor contact
Deng influence, the output signal of hall position sensor will appear phenomenon of the failure, so that exception occurs in output signal, to cause forever
The damage of magnetic brushless motor causes brake system failure, causes the consequence that can not be made up.Therefore, to permanent magnetic brushless Hall position
The research for setting transducer fault tolerance control method has vital meaning.
For in the research of permanent magnetic brushless hall position sensor fault tolerant control method, " Hall sensor is former for document 1
Specified permanent magnetic brushless faults-tolerant control and its dynamic property research under barrier, Proceedings of the CSEE, 2017, Vol37 (12),
P3602-3611 " discloses the faults-tolerant control based on angle extrapolation estimation method, the faults-tolerant control based on closed loop angular observation device, base
In three kinds of permanent magnetic brushless hall position sensor fault tolerant control methods of faults-tolerant control of Hall vector tracking observer.
Document 2 " a kind of brshless DC motor Failure Detection and Fault-Tolerent Control strategy, micro machine, 2017, Vol50 (10),
P58-61 " discloses one kind in hall signal exception, and control software will be from there is Hall's mode to automatically switch to no Hall's mode
Motor is controlled, realizes permanent magnetic brushless hall position sensor faults-tolerant control.
Above-mentioned permanent magnetic brushless hall position sensor fault tolerant control method mainly for operating condition be constant direction,
The permanent magnetic brushless of high revolving speed operation can not be the Electrical Break System of Aircraft of the slow-speed of revolution, frequent positive and negative rotation to operating condition
Servo carries out faults-tolerant control with permanent magnetic brushless hall position sensor.
Summary of the invention
In order to overcome the shortcomings of existing permanent magnetic brushless hall position sensor fault tolerant control method, the practicability is poor, this hair
It is bright that a kind of permanent magnetic brushless hall position sensor fault tolerant control method is provided.This method is recognizing permanent magnetic brushless just first
Three road hall position sensor output sequences when reversion operation.Then by determining event to hall position sensor output signal
Hinder position, shields fault-signal.If permanent magnetic brushless actual steering and given steering are consistent, position compensation method is used, is realized
Permanent magnetic brushless hall position sensor faults-tolerant control；If permanent magnetic brushless actual steering and given steering are inconsistent,
Using advanced commutation method, so that motor restarting, its actual steering and given steering are consistent, to use position compensation method
It realizes faults-tolerant control, reduces torque pulsation, so that permanent magnetic brushless works normally, improve the reliable of Electrical Break System of Aircraft
Property, practicability is good.
The technical solution adopted by the present invention to solve the technical problems：A kind of permanent magnetic brushless hall position sensor appearance
Wrong control method, its main feature is that including the following steps：
The first step, permanent magnetic brushless positive and negative rotation operation when, respectively identifying motor forward and reverse operation three tunnels suddenly
That position sensor output sequence.
Second step analyzes permanent magnetic brushless hall position sensor signal, determines hall position sensor fault bit,
Shield fault-signal.
Third step, identification permanent magnetic brushless actual steering, and permanent magnetic brushless actual steering and brushless, permanently is electric
The comparison of machine assigned direction enters the 4th step if actual steering is identical in assigned direction；If actual steering and given steering are not
Together, into the 5th step.
4th step, when permanent magnetic brushless actual steering is identical as given steering, using position compensation method, by normally suddenly
Your signal calculates the commutation moment for the hall signal that is out of order, and control permanent magnetic brushless works on, and returns to third step.
5th step, when permanent magnetic brushless actual steering is opposite with given steering, using advanced commutation method, changed by 6 steps
Advanced progress commutation to phase, realizes restarting for motor, changes so that permanent magnetic brushless turns to, and protects with assigned direction
Hold consistent, return third step.
The beneficial effects of the invention are as follows：Three road hall positions when this method recognizes permanent magnetic brushless positive and negative rotation operation first
Sensor output sequence.Then by determining fault bit to hall position sensor output signal, fault-signal is shielded.If forever
Magnetic brushless motor actual steering and given steering are consistent, then use position compensation method, realize that permanent magnetic brushless hall position passes
Sensor faults-tolerant control；If permanent magnetic brushless actual steering and given steering are inconsistent, advanced commutation method is used, so that motor
Its actual steering and given steering are consistent by restarting, to realize faults-tolerant control using position compensation method, reduce torque arteries and veins
It is dynamic, so that permanent magnetic brushless works normally, the reliability of Electrical Break System of Aircraft is improved, practicability is good.
Specifically：First, the present invention obtains rotor-position letter in hall position sensor failure, through position compensation method
Breath, and by early commutation method realize motor inverted running so that near zero-speed frequent positive and negative rotation aircraft electric braking system
When servo permanent magnetic brushless single channel of uniting or two-way hall position sensor failure, it is ensured that permanent magnetic brushless operates normally,
The reliability for improving Electrical Break System of Aircraft, ensures the safe operation of aircraft；
Second, the present invention obtains the accurate information of rotor-position, can also realize permanent magnetic brushless single channel or two-way Hall
When position sensor failure, the normal starting and stable state speed regulation of permanent magnetic brushless；
Third, the present invention are applicable not only to the Electrical Break System of Aircraft using permanent magnetic brushless as servo motor, also suitable
It is the permanent magnetic brushless servo-system permanent magnetic brushless hall position sensing of the slow-speed of revolution, frequent positive and negative rotation for operating condition
Device faults-tolerant control；
4th, the present invention is not related to any hardware design, and method is simple, reliable, is suitble to engineer application.
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Detailed description of the invention
Fig. 1 is the flow chart of permanent magnetic brushless hall position sensor fault tolerant control method of the present invention.
Fig. 2 is permanent magnetic brushless drive system schematic diagram in the method for the present invention.
Fig. 3 is permanent magnetic brushless operation principle schematic diagram in the method for the present invention.
Fig. 4 is hall position sensor signal curve of output under normal circumstances in the method for the present invention.
Fig. 5 is hall position sensor signal curve of output under single channel failure in the method for the present invention.
Specific embodiment
Following embodiment referring to Fig.1-5.
In the case of the present invention is for the permanent magnetic brushless slow-speed of revolution of Electrical Break System of Aircraft servo, frequent positive and negative rotation,
Permanent magnetic brushless Hall sensor failure problems, propose a kind of permanent magnetism that position compensation method and advanced commutation method blend without
Brush motor hall position sensor fault tolerant control method.This method passes through position compensation method in hall position sensor failure
Rotor position information is obtained, and motor inverted running is realized by early commutation method, so that the slow-speed of revolution, frequent positive and negative rotation are run
Permanent magnetic brushless is worked normally in hall position sensor failure, it is ensured that the reliability service of Electrical Break System of Aircraft, control
Method processed is simple, reliable.
Position of the permanent magnetic brushless motor controller by the output signal of detection hall position sensor as rotor
With reference to, and then control the power-up sequence of permanent magnetic brushless threephase stator winding.Stator winding electrifying generates in motor later
Electromagnetic field and rotor magnetic steel caused by interact between electromagnetic field, the torque of driving rotor operating is generated, by certain suitable
Sequence changes the energized state of stator winding, and rotor can be made to rotate to certain direction.The permanent magnetic brushless of the present embodiment drives
Dynamic system uses three-phase full-bridge inverting circuit, and machine winding connection type is star-like connection.
The present embodiment is using the TMS320F2812 of Texas Instruments as control chip, permanent magnet brushless dc
Machine is as Electrical Break System of Aircraft servo motor, and IR2136 is as three-phase bridge circuit driving chip, in aircraft electric braking
When work, C phase hall signal Hall_C simulation Hall failure is artificially cut off using control switch.
Specific step is as follows for permanent magnetic brushless hall position sensor fault tolerant control method of the present invention：
The first step, when permanent magnetic brushless is run forward or backwards, under three road hall position sensor normal conditions
There are certain sequences for output.The operation of motor forward direction and inverted running are not recorded in permanent magnetic brushless positive and negative rotation motion time
When corresponding three roads hall position sensor output sequence.
In the present embodiment, three road hall position sensor signal output sequences are 6-2- when permanent magnetic brushless forward direction is run
3-1-5-4, three road hall position sensor signal output sequences are 4-5-1-3-2-6 when permanent magnetic brushless inverted running.
Second step, control chip TMS 320 F 2812 acquisition permanent magnetic brushless hall position sensor signal carry out failure
Diagnosis determines hall position sensor fault bit, shields fault-signal.
In the present embodiment, determines hall position sensor fault bit Hall_Fault=Hall_C, shields the fault-signal,
Positive Hall combined value Hall_A/Hall_B after shielding failure is 3-1-1-0-2-2, and reversed Hall combined value is 2-2-0-1-
1-3, into third step.
Third step, identification permanent magnetic brushless actual steering, and it is compared with permanent magnetic brushless assigned direction, if forever
Magnetic brushless motor actual steering is identical as assigned direction, Direction=1, into the 4th step；Turn if permanent magnetic brushless is practical
To, Direction=0 different from assigned direction, into the 5th step；.
4th step, when permanent magnetic brushless actual steering is identical as given steering, using position compensation method, by normally suddenly
Your signal calculates the commutation moment for the hall signal that is out of order, and control permanent magnetic brushless works on, and returns to third step.
In the present embodiment, C phase hall position sensor output signal Hall_C is in A phase hall position sensor output signal
It is jumped after postponing the 1/6 of hall signal Hall_A a cycle after Hall_A jump.It is exported in C phase hall position sensor
When signal Hall_C breaks down, A phase hall position sensor output signal Hall_A a cycle is measured using control chip
Time span Period, after after the jump 1/6 Period time occurs for Hall_A output signal, to current A phase Hall
Sensor output signal Hall_A negates the output signal Hall_C as C phase hall position sensor, obtains brushless, permanently electricity
The reference by location of machine rotor, and then control the power-up sequence of permanent magnetic brushless threephase stator winding.
5th step, when permanent magnetic brushless actual steering is opposite with given steering, using advanced commutation method, changed by 6 steps
Advanced progress commutation to phase, realizes restarting for motor, changes so that permanent magnetic brushless turns to, and protects with assigned direction
Hold consistent, return third step.
In the present embodiment, when turning to identification signal Direction=0, i.e. the permanent magnetic brushless of control chip identification is real
When border turns to opposite with given steering, motor needs inverted running.But due to C phase hall position sensor failure, cause to change at 6
It can not be determined in phase state by 2 states, therefore early commutation method can be used, motor is allowed to restart, realize brushless, permanently electricity
Machine inverted running.After determining C phase hall position sensor failure, when A phase and B phase hall position sensor output signal combine
When value Hall_A/Hall_B is 01, the combined value after shielding corresponds to combined value Hall_A/Hall_B/ under normal circumstances
Hall_C is 010 or 011, it is clear that can not obtain accurate rotor-position signal by two-phase hall signal.Therefore, it is giving forever
When the steering of magnetic brushless motor is positive, according to its corresponding commutation sequence 6-2-3-1-5-4, using advanced commutation method in acquisition group
Conjunction value Hall_A/Hall_B is under 01 situation, with the latter of two position, according to 6-3-1-4 sequence commutation, so that motor
Actual steering be consistent with given steering.When it is reversed that permanent magnetic brushless, which turns to, with 5-1-2-6 sequence commutation.When
When permanent magnetic brushless actual steering and given steering are consistent, C phase hall position sensing is extrapolated using position compensation method
Device output signal, control permanent magnetic brushless works on, to reduce torque pulsation caused by advanced commutation.
Claims (1)
1. a kind of permanent magnetic brushless hall position sensor fault tolerant control method, it is characterised in that include the following steps：
The first step, permanent magnetic brushless positive and negative rotation operation when, respectively identifying motor forward and reverse operation three road Hall positions
Set sensor output sequence；
Second step analyzes permanent magnetic brushless hall position sensor signal, determines hall position sensor fault bit, shields
Fault-signal；
Third step, identification permanent magnetic brushless actual steering, and permanent magnetic brushless actual steering is given with permanent magnetic brushless
Determine direction comparison, if actual steering is identical in assigned direction, enters the 4th step；If actual steering is different from given steering, into
Enter the 5th step；
4th step, when permanent magnetic brushless actual steering is identical as given steering, using position compensation method, believed by ordinary Hall
Number the commutation moment of hall signal of being out of order is calculated, control permanent magnetic brushless works on, and returns to third step；
5th step, when permanent magnetic brushless actual steering is opposite with given steering, using advanced commutation method, commutate phase by 6 steps
Advanced progress commutation, realize restarting for motor so that permanent magnetic brushless turn to change, with assigned direction keep one
It causes, returns to third step.
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| CN201810742109.0A CN108900120A (en) | 2018-07-09 | 2018-07-09 | Permanent magnetic brushless hall position sensor fault tolerant control method |
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| CN201810742109.0A CN108900120A (en) | 2018-07-09 | 2018-07-09 | Permanent magnetic brushless hall position sensor fault tolerant control method |
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| CN109546901A (en) * | 2018-12-24 | 2019-03-29 | 南京理工大学 | A kind of DC brushless motor phase change method |
| CN109687809A (en) * | 2018-12-05 | 2019-04-26 | 北京控制工程研究所 | A kind of brshless DC motor Hall sensor real time fail identification reconfiguration system and method |
| CN110429874A (en) * | 2019-08-23 | 2019-11-08 | 江苏科技大学 | The method and system that brshless DC motor inversely drives under Hall random ordering |
| CN111181450A (en) * | 2019-10-12 | 2020-05-19 | 江苏科技大学 | Fault-tolerant control device and control method for Hall sensor of brushless direct current motor |
| CN111969930A (en) * | 2020-10-26 | 2020-11-20 | 天津飞旋科技有限公司 | Repairable Hall motor for molecular pump and control method |
| CN112671270A (en) * | 2020-12-07 | 2021-04-16 | 珠海格力电器股份有限公司 | Motor start control method and device, processor and nonvolatile storage medium |
| CN114123885A (en) * | 2020-08-28 | 2022-03-01 | 威刚科技股份有限公司 | Calibration system for motor |
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| CN109687809A (en) * | 2018-12-05 | 2019-04-26 | 北京控制工程研究所 | A kind of brshless DC motor Hall sensor real time fail identification reconfiguration system and method |
| CN109687809B (en) * | 2018-12-05 | 2020-06-09 | 北京控制工程研究所 | Brushless direct current motor Hall sensor real-time fault identification reconstruction system and method |
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| CN114123885A (en) * | 2020-08-28 | 2022-03-01 | 威刚科技股份有限公司 | Calibration system for motor |
| CN111969930A (en) * | 2020-10-26 | 2020-11-20 | 天津飞旋科技有限公司 | Repairable Hall motor for molecular pump and control method |
| CN112671270A (en) * | 2020-12-07 | 2021-04-16 | 珠海格力电器股份有限公司 | Motor start control method and device, processor and nonvolatile storage medium |
| CN112671270B (en) * | 2020-12-07 | 2023-10-24 | 珠海格力电器股份有限公司 | Motor start control method and device, processor and nonvolatile storage medium |
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