CN110061673A - Motor control method and system based on Hall sensor - Google Patents
Motor control method and system based on Hall sensor Download PDFInfo
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- CN110061673A CN110061673A CN201910380868.1A CN201910380868A CN110061673A CN 110061673 A CN110061673 A CN 110061673A CN 201910380868 A CN201910380868 A CN 201910380868A CN 110061673 A CN110061673 A CN 110061673A
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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Abstract
The present invention provides a kind of motor control method and system based on Hall sensor, is related to motor field.In motor control method based on Hall sensor, after motor operation, first determine whether there is at least one Hall sensor to break down in the Hall sensor group in motor, if there is at least one Hall sensor breaks down, then judge whether Hall sensor group can work in a failure mode.If Hall sensor group can work in a failure mode, the angle of rotor with the preset coordinate axis being set on stator is calculated according to the first calculation method；Finally, carrying out vector controlled to motor according to angle.Fault diagnosis is carried out to Hall sensor first, it is ensured that calculated angle position is accurately credible when motor operating using the above method.Meanwhile when Hall sensor failure is serious, forbid motor operation, guarantees vehicle safety.
Description
Technical field
The present invention relates to motor fields, more particularly to a kind of motor control method and system based on Hall sensor.
Background technique
The back emf waveform of permanent magnet synchronous motor is partially different than the trapezoidal wave of DC brushless motor, but sine wave.
If controlled using square-wave voltage motor, the control voltage of square wave and the counter electromotive force of sine wave can make motor
Current waveform distorts, so as to cause output torque fluctuation.Therefore, the control voltage of permanent magnet synchronous motor is needed using arrow
Amount control, this just needs accurately to know very much position of the rotor magnetic pole relative to stator winding.Usual new-energy automobile is forever
Magnetic-synchro motor obtains the accurate location in rotor magnetic field using rotary transformer, however the cost of rotary transformer is very
It is high.
In the prior art, in order to reduce cost, the Field orientable control to motor is completed using Hall sensor.But
Be, due to Hall sensor failure cause calculated angle to will appear biggish error, may jeopardize automobile and at
The safety of member.
Summary of the invention
It is an object of the present invention to provide a kind of motor control method based on Hall sensor, to solve Yin Huoer
The problem of sensor failure causes calculated angle to will appear large error.
A further object of the present invention is to carry out fault diagnosis to Hall sensor, to judge whether motor allows
Hall sensor group operates with failure.
On the one hand, the present invention provides a kind of motor control methods based on Hall sensor, comprising:
Judge whether there is at least one Hall sensor to break down in the Hall sensor group in motor；
When at least one Hall sensor breaks down, judge whether Hall sensor group can work in a failure mode
Make；
If Hall sensor group can work in a failure mode, calculates rotor according to the first calculation method and be set to and determine
The angle between preset coordinate axis on son；
Vector controlled is carried out to motor according to angle.
Optionally, judge whether to have in the Hall sensor group in motor at least one Hall sensor to break down packet
It includes:
Continuous sampling is carried out to the signal value of Hall sensor group output；
Compare the signal value that Hall sensor group exports twice in succession；
If the signal value exported twice is identical, determine that Hall sensor group does not break down；If the signal exported twice
Value is different, then determines that Hall sensor group may break down, and carries out in next step；
Obtain changed multiple numerical value in the signal value that Hall sensor group exports after rotor rotates a circle, wherein
Any two numerical value is all different in multiple numerical value；
Judge whether the result calculated according to multiple numerical value is pre-set value；
If so, determine Hall sensor group do not break down, then according to the second calculation method calculate motor rotor with
The angle of default axis；If it is not, then determining that Hall sensor group breaks down.
Optionally, when at least one Hall sensor breaks down, judge whether Hall sensor group can be in failure mould
It works under formula and includes:
When a Hall sensor in Hall sensor group breaks down, determine that Hall sensor group can be in failure mould
It works under formula；
When two in Hall sensor group and more than two Hall sensors break down, Hall sensor is determined
Group cannot work in a failure mode, and control motor stops working.
Optionally, the angle packet of rotor and preset coordinate axis is calculated according to the calculating of the first calculation method or the second calculation method
It includes:
Calculate the extreme value a0 of the angle of rotor and preset coordinate axis；
Correct the error of Hall sensor group；
Calculate the tarnsition velocity of rotor；
Calculate the corner acceleration of rotor；
According to extreme value, error, the angle of tarnsition velocity and corner acceleration rotor and preset coordinate axis.
Optionally, it when calculating the angle of rotor and preset coordinate axis according to the first calculation method, calculates rotor and presets
The extreme value a0 of the angle of reference axis includes；
By the circumferential area where stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, Hall sensor group exports a different signal value
Y1,Y2,Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~
R34)、(R34~R45)、(R45~R56)、(R56~R61)；
When one of Hall sensor breaks down, failure Hall sensor cannot generate signal value, extreme value a0 meter
It calculates as follows:
If signal value jumps to Y2, extreme value R from Y112；
If signal value jumps to Y3, extreme value R from Y223；
If signal value jumps to Y0, extreme value R from Y330；
If signal value jumps to Y1, extreme value R from Y001。
Optionally, when the angle of the rotor and default axis that calculate motor according to the second calculation method, rotor and pre- is calculated
If the extreme value a0 of the angle of reference axis includes；
By the circumferential area where stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, Hall sensor group exports a different signal value
Y1,Y2,Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~
R34)、(R34~R45)、(R45~R56)、(R56~R61)；
Extreme value a0 calculates as follows:
If signal value jumps to Y2, extreme value R from Y112；
If signal value jumps to Y3, extreme value R from Y223；
If signal value jumps to Y4, extreme value R from Y334；
If signal value jumps to Y5, extreme value R from Y445；
If signal value jumps to Y6, extreme value R from Y556；
If signal value jumps to Y1, extreme value R from Y661。
Optionally, detecting the method for Hall sensor specifically to break down in Hall sensor group includes:
Obtain rotor rotate a circle Hall sensor group output signal value in changed multiple numerical value, wherein it is more
Any two numerical value is all different in a numerical value；The part number unrelated with target Hall sensor is extracted in multiple numerical value simultaneously
Value；
Judge whether the first result calculated according to multiple numerical value is the first pre-set value；Judge simultaneously according to component values
Whether the second result calculated is the second pre-set value；
If the first result is different from the first pre-set value, and the second result is identical as the second pre-set value, then determines target
Hall sensor breaks down.
Optionally, at least one Hall sensor whether breaks down it in judging the Hall sensor group in motor
Before, further includes:
Judge whether the revolving speed of motor is lower than preset threshold；
If revolving speed is lower than preset threshold, the preset coordinate that rotor is calculated according to third calculation method and is set on stator
Then the angle of axis carries out vector controlled to motor according to angle；If revolving speed is more than or equal to preset threshold, judge in motor
Whether there is at least one Hall sensor to break down in Hall sensor group.
Optionally, third calculation method includes:
By the circumferential area where stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, Hall sensor group export a different signal value Y1, Y2,
Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~R34)、(R34~
R45)、(R45~R56)、(R56~R61)。
On the other hand, the present invention also provides a kind of motor using any of the above-described motor control method, the stators of motor
The circumferential area of stator is divided into six regions by Hall sensor there are three fixed, three Hall sensors.
In motor control method based on Hall sensor of the invention, after motor operation, first determine whether in motor
Whether there is at least one Hall sensor to break down in Hall sensor group, if there is event occurs at least one Hall sensor
Barrier, then judges whether Hall sensor group can work in a failure mode.If Hall sensor group can work in a failure mode
Make, then calculates the angle of rotor with the preset coordinate axis being set on stator according to the first calculation method；Finally, according to angle pair
Motor carries out vector controlled.Fault diagnosis is carried out to Hall sensor first when motor operating using the above method,
Ensure that calculated angle position is accurately credible.Degraded functionality is carried out to motor by calculated angle, keeps motor operating flat
Surely, driver can be allowed to overhaul vehicle drive to maintenace point in the case where Hall sensor breaks down.Meanwhile
When Hall sensor failure is serious, forbid motor operation, guarantees vehicle safety.
Further, the present invention normally and when breaking down, estimates electricity by different algorithms respectively in Hall sensor
The angle of machine rotor and preset coordinate axis, while considering the foozle of Hall sensor, manufacture is corrected by compensation rate
With the angular error generated in installation process, to obtain accurate angle position of the rotor in whole circumference so that Hall pass
Sensor is accurately run.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is the schematic flow of the motor control method according to an embodiment of the invention based on Hall sensor
Figure；
Fig. 2 is the schematic diagram that Hall sensor group according to an embodiment of the invention is arranged on motor；
Fig. 3 is the schematic flow of the motor control method in accordance with another embodiment of the present invention based on Hall sensor
Figure；
Fig. 4 is the output signal diagram that Hall sensor group shown in Fig. 2 works normally；
Output signal diagram when Fig. 5 is the C sensor failure in Hall sensor group shown in 2.
Specific embodiment
Fig. 1 is the schematic flow of the motor control method according to an embodiment of the invention based on Hall sensor
Figure.Fig. 2 is the schematic diagram that Hall sensor group according to an embodiment of the invention is arranged on motor.Fig. 3 is root
According to the schematic flow chart of the motor control method based on Hall sensor of another embodiment of the present invention.Fig. 4 is shown in Fig. 2
Hall sensor group work normally output signal diagram.Fig. 5 is that event occurs for the C sensor in Hall sensor group shown in 2
Output signal diagram when barrier.The motor control based on Hall sensor of the embodiment of the present invention is described referring to Fig. 1 to Fig. 5
Method and system.
As shown in Figure 1, the motor control method of the invention based on Hall sensor, comprising:
Step S101 judges whether have at least one Hall sensor to break down in the Hall sensor group in motor；
Step S102 judges whether Hall sensor group can be in failure when at least one Hall sensor breaks down
It works under mode；
Step S103 calculates rotor according to the first calculation method if Hall sensor group can work in a failure mode
With the angle for the preset coordinate axis being set on stator；
Step S104 carries out vector controlled to motor according to angle.
Fault diagnosis is carried out to Hall sensor first, it is ensured that calculate when motor operating using the above method
Angle position it is accurately credible.Degraded functionality is carried out to motor by calculated angle, makes motor smooth running, can allow
Driver overhauls vehicle drive to maintenace point in the case where Hall sensor breaks down.Meanwhile working as hall sensing
When device failure is serious, forbid motor operation, guarantees vehicle safety.
Specifically, in step s101, judge whether there is at least one hall sensing in the Hall sensor group in motor
Device, which breaks down, includes:
Continuous sampling is carried out to the signal value of Hall sensor group output, continuous sampling here refers to Hall sensor
The signal acquired every time is all collected processing；
Compare the signal value that exports twice in succession of Hall sensor group, generally, each Hall sensor it is adjacent twice
200 microseconds are divided between output signal, it is, of course, also possible to be 100 microseconds, 300 microseconds or other time, the numerical value enumerated here
It is not to limit its range, an only illustration；
If the signal value exported twice is identical, determine that Hall sensor group does not break down；If the signal exported twice
Value is different, then determines that Hall sensor group may break down, and carries out in next step；
Obtain changed multiple numerical value in the signal value that Hall sensor group exports after rotor rotates a circle, wherein
Any two numerical value is all different in multiple numerical value；
Judge whether the result calculated according to multiple numerical value is pre-set value；
If so, determine Hall sensor group do not break down, then according to the second calculation method calculate motor rotor with
The angle of default axis；If it is not, then determining that Hall sensor group breaks down.
Further, in step s 102, when at least one Hall sensor breaks down, judge Hall sensor group
Whether can work in a failure mode and include:
When a Hall sensor in Hall sensor group breaks down, determine that Hall sensor group can be in failure mould
It works under formula；
When two in Hall sensor group and more than two Hall sensors break down, Hall sensor is determined
Group cannot work in a failure mode, and control motor stops working.
Further, in an embodiment of the present invention, three Hall sensors are included at least in Hall sensor group, it can be with
It is four, five or six.Preferably, include three sensors in Hall sensor group, in this way, just saving cost, and can make
Algorithm is accurate and reliable.
In a specific embodiment,
It is calculated according to the first calculation method or the angle of the second calculation method calculating rotor and preset coordinate axis includes:
Calculate the extreme value a0 of the angle of rotor and preset coordinate axis；
Correct the error of Hall sensor group；
Calculate the tarnsition velocity of rotor；
Calculate the corner acceleration of rotor；
According to extreme value, error, the angle of tarnsition velocity and corner acceleration rotor and preset coordinate axis.
When calculating the angle of rotor and preset coordinate axis according to the first calculation method, rotor and preset coordinate axis are calculated
The extreme value a0 of angle includes；
By the circumferential area where stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, Hall sensor group exports a different signal value
Y1,Y2,Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~
R34)、(R34~R45)、(R45~R56)、(R56~R61)；
When one of Hall sensor breaks down, failure Hall sensor cannot generate signal value, extreme value a0 meter
It calculates as follows:
If signal value jumps to Y2, extreme value R from Y112；
If signal value jumps to Y3, extreme value R from Y223；
If signal value jumps to Y0, extreme value R from Y330；
If signal value jumps to Y1, extreme value R from Y001。
When the angle of the rotor and default axis that calculate motor according to the second calculation method, rotor and preset coordinate axis are calculated
The extreme value a0 of angle include；
By the circumferential area where stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, Hall sensor group exports a different signal value
Y1,Y2,Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~
R34)、(R34~R45)、(R45~R56)、(R56~R61)；
Extreme value a0 calculates as follows:
If signal value jumps to Y2, extreme value R from Y112；
If signal value jumps to Y3, extreme value R from Y223；
If signal value jumps to Y4, extreme value R from Y334；
If signal value jumps to Y5, extreme value R from Y445；
If signal value jumps to Y6, extreme value R from Y556；
If signal value jumps to Y1, extreme value R from Y661。
Further, the present invention normally and when breaking down, estimates electricity by different algorithms respectively in Hall sensor
The angle of machine rotor and preset coordinate axis, while considering the foozle of Hall sensor, manufacture is corrected by compensation rate
With the angular error generated in installation process, to obtain accurate angle position of the rotor in whole circumference so that Hall pass
Sensor is accurately run.
Particularly, detecting the method for Hall sensor specifically to break down in Hall sensor group includes:
Obtain rotor rotate a circle Hall sensor group output signal value in changed multiple numerical value, wherein it is more
Any two numerical value is all different in a numerical value；The part number unrelated with target Hall sensor is extracted in multiple numerical value simultaneously
Value；
Judge whether the first result calculated according to multiple numerical value is the first pre-set value；Judge simultaneously according to component values
Whether the second result calculated is the second pre-set value；
If the first result is different from the first pre-set value, and the second result is identical as the second pre-set value, then determines target
Hall sensor breaks down.
In a preferred embodiment, whether there is at least one Hall biography in judging the Hall sensor group in motor
Before sensor breaks down, further includes:
Judge whether the revolving speed of motor is lower than preset threshold；Wherein, preset threshold can be 30 revs/min, can also be it
His numerical value, does not do detailed restriction here；
If revolving speed is lower than preset threshold, the preset coordinate that rotor is calculated according to third calculation method and is set on stator
Then the angle of axis carries out vector controlled to motor according to angle；If revolving speed is more than or equal to preset threshold, judge in motor
Whether there is at least one Hall sensor to break down in Hall sensor group.
Further, third calculation method includes:
By the circumferential area where stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, Hall sensor group export a different signal value Y1, Y2,
Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~R34)、(R34~
R45)、(R45~R56)、(R56~R61)。
The present invention also provides a kind of motors using the motor control method introduced in any of the above-described embodiment, with reference to figure
2, the stator of motor is fixed there are three Hall sensor, and the circumferential area of stator is divided into six areas by three Hall sensors
Domain.
It is described in detail below with reference to Fig. 2-5 pairs of motors and motor control method.
Permanent magnet synchronous motor is widely used in pure electric automobile and various hybrid vehicles, in the torque control of motor
During system, the relationship between the output torque and stator current of permanent magnet synchronous motor is as follows:
Trq=3/2p × ψf×is
Wherein p is the number of magnetic pole pairs (scalar that p is not unit) of rotor.ψfIt is the magnetic flux of rotor, ψfIt is
One vector, unit are webers.isIt is the current phasor of synchronous motor threephase stator winding synthesis, unit is ampere.Due to vapour
Vehicle is high to the output torque required precision of permanent magnet synchronous motor during starting, acceleration, deceleration, and the output torque of motor
It is ψfAnd isVector is multiplied, so the seat for just needing accurately to know rotor magnetic pole He be connected on stator when moment of torsion control
Target angle.
A kind of mounting means of the Hall sensor on permanent magnet synchronous motor is given with reference to Fig. 2, Fig. 2, wherein A, B, C device
Part is three Hall sensors, they are fixed on stator, will not be followed by rotor rotation.What it is labeled as N-S is synchronous
The rotor of motor, when the magnetic pole being fixed on rotor as rotor rotates and close to Hall sensor when can sense together
Electric current is induced on device, so that high level signal is exported, and when the magnetic pole being fixed on rotor is distant from Hall sensor
When, induced current can disappear, so that output is low level signal.It, can be in A, B, C tri- in this way when rotor magnetic pole rotates
High/low currents signal as shown in Figure 4 is induced on a Hall sensor.By the X-axis of coordinate system be fixed on stator and and Hall
On the same line, the N of rotor magnetic pole and the angle of X-axis are set as the angle a that we need to be calculated to sensor B, it is right
Crucial effect is played in the vector controlled of motor.Due to three Hall sensors being connected on stator, circumference is divided
At 6 sections, so we can not directly know by Hall sensor, but need to estimate using certain calculation method
Count the accurate location of rotor.
The signal that tri- Hall sensors of A, B, C export is input to the port of electric machine controller (MCU), MCU is real-time
The data for reading input port are denoted as Y=ABC and (are denoted as 1 when A or B or C is high level, are denoted as when being low level
0, Y is binary number), it is described below and how to estimate that rotor magnetic pole is denoted as angle a with the angle-for being fixed on X-axis on stator, it is single
Position is rad.
Corresponding to the mounting means of Fig. 1, (for example 101,100,110,010, Y value can be taken as Y5, Y4, Y6, Y2, Y3, Y1
011,001) six kind situations be respectively denoted as region U5, U4, U6, U2, U3, U1.With reference to flow chart shown in Fig. 3, brief description
The logical relation between step is calculated below.
It is inactive or when revolving speed is low in motor, rotor magnetic is estimated using a kind of calculation method (third calculation method)
The position of pole.Calculation method is as follows:
By the circumferential area where stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, Hall sensor group export a different signal value Y1, Y2,
Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~R34)、(R34~
R45)、(R45~R56)、(R56~R61)；
If Y=Y5, taking the range of the corner a of magnetic pole is R15~R54Value (as-π/6~π/6)；
If Y=Y4, taking the range of the corner a of magnetic pole is R54~R46Value (such as π/6~pi/2)；
If Y=Y6, taking the range of the corner a of magnetic pole is R46~R62Value (such as pi/2~5 π/6)；
If Y=Y2, taking the range of the corner a of magnetic pole is R62~R23Value (such as 5 π/6~7 π/6)；
If Y=Y3, taking the range of the corner a of magnetic pole is R23~R31Value (such as 7 π/6~3 pi/2s)；
If Y=Y1, taking the range of the corner a of magnetic pole is R31~R15Value (such as 3 pi/2s~11 π/6).
When motor speed is more than certain threshold value, the position for alternatively estimating rotor magnetic pole is adopted.Calculating side
Method is as follows:
Step 1, determine whether Y value jumps with the following method；
Continuous sampling is carried out to Y using MCU, remembers that current value is Y(k), the value in a upper sampling period is Y(k-1)If
Y(k)≠Y(k-1), then it is assumed that Y value is jumped, and the variation in region occurs in the angle of sensor, and timing at this time is t1(k)；?
When electric motor starting or low speed, the angular range of rotor is estimated, permanent magnetism can be allowed same using this rough angle
Motor output torque and the difference of desired torque are walked in system allowed band.
Step 2, the fault diagnosis of Hall sensor group；
Detecting the whether normal method of Hall sensor includes:
Such as (it is denoted as n times, and n >=6) several times recently and occurs the value of variation using the unit records Y value of MCU,
It is chronological to be denoted as queue S (0), S (1), S (2), S (3), S (4), S (5) ... S (n-1), while recording rotor
Direction of rotation indicates sgn.Separated in time Tcheck, the periodically analysis to this n data, if in the queue of record
From S (0) to S (n-1) no change has taken place for rotor direction of rotation in this period, we can be determined that out A, B, C tri-
Hall sensor whether there is failure.For example:
(1) whenWhen (S6 is constant), Hall sensor group fault-free, HallErr=0；
(2) whenWhen (S6 is constant), Hall sensor group breaks down, HallErr=1；
Further, the method for a failure in Hall sensor A, B or C is detected:
With reference to Fig. 5, when open circuit fault occurs in Hall sensor C, the signal of C output is always low level (when suddenly
When the circuit of your sensor C is occurred to power supply short circuit, C may also export high level always).
Periodically record, analysis queue S n data, if record queue in the process from S (0) to S (n-1) this section
No change has taken place for rotor direction of rotation in time, we can be determined that out A, B, C Hall sensor with the presence or absence of failure.
For example,
(1) whenAndWhen (S6 be with S4 constant):
By above method it can be concluded that the combination of two sensors whether the value of normal HalluvErr (u and v are ABC
Any one) and HallwErr (w is any one of ABC).Such as a kind of situation below, sensors A, B fault-free,
HallABErr=0, but sensor C breaks down, HallCErr=1.
(2) whenAndWhen (S6 be with S4 constant):
Sensors A, B failure, HallABErr=1；Sensor C breaks down, HallCErr=1.
When motor operating, fault diagnosis is carried out to Hall sensor group first, it is ensured that sensor is normal, counts in this way
The angle position of calculating is just accurate credible.Since the power section of automobile is related to the life safety of driver and occupant, and forever
For the position sensor of magnetic-synchro rotor magnetic pole once breaking down, give MCU is the angle feed-back of mistake, gently can then be led
Automobile is caused to run out of steam；Serious meeting so that motor output error torque, even opposite torque, this can generate automobile
It is serious to destroy so that jeopardizing the life safety of occupant.
It is therefore desirable to the sample circuits to A, B, C Hall sensor and MCU to carry out breakdown judge, once it monitors suddenly
That sensor fault takes motor and automobile on the control strategy of synchronous motor for the severity of fault mode respectively
Tape jam degraded running, motor forbid operation but automobile can operate with failure, forbid motor operating but automobile be allowed to transport
Row forbids motor and automobile starting to run.
Step 3, three Hall sensors are normally handled；In all normal situation of three Hall sensors, pass through
The angular speed and angular acceleration of rotor are estimated, to calculate accurate angle position of the rotor in whole circumference.Specifically such as
Under:
The extreme value a0 of the angle of rotor magnetic pole and X-axis is calculated,
If the value of Y is to jump to Y4 (or jumping to Y5 from Y4) from Y5, a0=R is taken54(such as π/6)；
If the value of Y is to jump to Y6 (or jumping to Y4 from Y6) from Y4, a0=R is taken46(such as pi/2)；
If the value of Y is to jump to Y2 (or jumping to Y6 from Y2) from Y6, a0=R is taken26(such as 5 π/6)；
If the value of Y is to jump to Y3 (or jumping to Y2 from Y3) from Y2, a0=R is taken23(such as 7 π/6)；
If the value of Y is to jump to Y1 (or jumping to Y3 from Y1) from Y3, a0=R is taken31(such as 3 pi/2s)；
If the value of Y is to jump to Y5 (or jumping to Y1 from Y5) from Y1, a0=R is taken15(such as 11 π/6)；
Step 4, there are the processing of failure by one in tri- Hall sensors of ABC；
1 among tri- Hall sensors of A, B, C when there is failure, when meeting some requirements (for example
Automobile rotational speed is steady etc.) we can still extrapolate the position angle of synchronous electric motor rotor magnetic pole by following method, it is denoted as
A can allow motor to have partial function, enable a user to reach vehicle into nearest maintenace point and place under repair.
By the following method the angle of rotor can be estimated in two normal situations of Hall sensor.Among step 3
The method for calculating a0 is amended as follows,
If the value of Y is to jump to Y6 (or jumping to Y4 from Y6) from Y4, a0=R is taken46；
If the value of Y is to jump to Y2 (or jumping to Y6 from Y2) from Y6, a0=R is taken62；
If the value of Y is to jump to Y0 (or jumping to Y2 from Y0) from Y2, a0=R is taken20；
If the value of Y is to jump to Y4 (or jumping to Y0 from Y4) from Y0, a0=R is taken04。
In Hall sensor, there are failure (for example only there are two in normal situation), if motor smooth running, still
It can estimate to obtain the angular speed and angular acceleration of rotor, to calculate angle position of the rotor in whole circumference, in this way
Obtained angle by motor carry out degraded functionality, can allow driver in case of a failure by vehicle drive extremely
Maintenace point is overhauled.The error of manufacture and installation is considered among the process that angle, angular speed and angular acceleration calculate,
By compensation rate come angle correction error.
Step 5, Hall sensor there are two or more than two troubleshootings；
If there are two the Hall sensors of motor or failure occur in more than two Hall sensors, so as to cause turning
Sub- magnetic pole and the X-axis angle being fixed on stator are very inaccurate, at this time, need to report the failure of motor, while forbidding electricity
The torque output of machine, while step 6~step 11 is skipped, it is prepared to enter into the calculating circulation of next angle a.
Step 6, Hall sensor error correction Δ aij(indicating that Y value jumps to the compensation of j from i)；
Due to the installation and foozle of Hall sensor, 3 Hall sensors are not average circumference to be divided into 6
A equal portions, but there is a certain error, this error can not sometimes ignore, and need exist for compensating and repair
Just, this correction value is the error obtained by actual measurement, is denoted as Δ aij；
Step 7, tarnsition velocity (the unit rad/s of rotor is calculated2)；
In the normal situation of Hall sensor signal, MCU can capture the time interval that Y value jumps to Yj from Yi, note
Tarnsition velocity-for T1, rotor magnetic pole is denoted as ω, then:
Wherein: sgn=1, when rotor rotates counterclockwise；
Sgn=-1, when rotor rotates clockwise；
In order to eliminate the fluctuation of ω caused by due to calculating error, torque pulsation, rotor velocity ω is carried out multiple
It calculates and is weighted and averaged, to filter out the noise of interference.
Step 8, corner acceleration (the unit rad/s of rotor is calculated2)；
The tarnsition velocity ω of rotor is differentiated and is filtered, corner acceleration is obtained
αr=d ω/dt；
To rotor angular accelerationrIt is repeatedly calculated and is weighted and averaged, filter out the noise of interference.
Step 9, the moment between jump twice occurs in Y value, calculates the angle a of synchronous electric motor rotor magnetic pole and X-axis；
Utilize extreme position the value a0, magnitude of angular velocity ω and angular acceleration values α of rotor magnetic polerTo calculate motor
The angle of rotor magnetic pole, calculation formula is as follows,
A=a0+ Δ aij+ω×Δt+αr×Δt2/2；
Wherein Δ aijIndicate that the recent jump of Y value is the angle installation error that j is jumped to from i；Δ t=t-t1(k), t
It is expressed as current time, t1(k)At the time of representing the jump of Y value the last time；
Step 10, limit value is carried out to the angle a being calculated:
Due to calculating there are error and pulsation, the restriction rationalized to calculated result is needed.To the value of angle a
Range limit up and down:
When working as ω > 0, motor operates counterclockwise, and the range of angle is [a0, a0+ Δ ij]；
When ω < 0, motor operates clockwise, and the range of angle is [a0- Δ ij, a0]；
Wherein Δ ij refers to the angle being divided into during Y value jumps to j from i by Hall sensor.
Step 11, result is exported:
If motor Hall sensor group fault-free, the rotor magnetic pole that is calculated by step 1~step 9 and solid
The angle a for being scheduled on X-axis on stator is effective, can export and carry out vector controlled to synchronous motor to motor control part, go to step
Rapid 1 carries out the calculating of the synchronous electric motor rotor magnetic polar angle of next cycle.Stop if motor Hall sensor is faulty
The torque output of motor.
Step 12, it is ready for the calculating of the synchronous electric motor rotor magnetic polar angle of next cycle:
Before carrying out next calculating cycle, MCU is needed to be monitored motor operating state, the torque for example exported
Whether whether abnormal, motor system voltage is abnormal etc..Then branch to next cycle of operation.
In Fig. 3, it should be noted that when motor just starts, if Hall sensor group work normally, Y value not
When jumping, without fault diagnosis, since the revolving speed of motor is very fast, rotor can be from an area within a very short time after starting
Domain goes to another region, and Y value just jumps, therefore above-mentioned steps are not embodied in figure.Meanwhile occurring for the first time in Y value
After jump, in subsequent calculating process, when there is no entering directly into step 6, hereafter the a0 in step is adopted when jump for Y value
With the value for the a0 that a period calculates.
Fault diagnosis is carried out to Hall sensor first, it is ensured that calculate when motor operating using above-mentioned motor
Angle position it is accurately credible.In view of the foozle of Hall sensor, manufacture and installation process are corrected by compensation rate
In angular error.In all normal situation of Hall sensor, by estimating the angular speed and angular acceleration of rotor, come
Obtain accurate angle position of the rotor in whole circumference.When conditions permit, Hall sensor breaks down
When, the angle of rotor is obtained using certain algorithm, and Hall sensor is allowed to operate with failure.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (10)
1. a kind of motor control method based on Hall sensor characterized by comprising
Judge whether there is at least one Hall sensor to break down in the Hall sensor group in motor；
When at least one described Hall sensor breaks down, judge whether the Hall sensor group can be in a failure mode
Work；
If the Hall sensor group can work in a failure mode, calculates rotor according to the first calculation method and be set to and determine
The angle between preset coordinate axis on son；
Vector controlled is carried out to the motor according to the angle.
2. motor control method according to claim 1, which is characterized in that
Whether there is at least one Hall sensor to break down in the Hall sensor group judged in motor to include:
Continuous sampling is carried out to the signal value of Hall sensor group output；
Compare the signal value that the Hall sensor group exports twice in succession；
If the signal value exported twice is identical, determine that the Hall sensor group does not break down；If the signal exported twice
Value is different, then determines that the Hall sensor group may break down, and carries out in next step；
Changed multiple numerical value in the signal value that the Hall sensor group exports after the rotor rotates a circle are obtained,
In, any two numerical value is all different in the multiple numerical value；
Judge whether the result calculated according to the multiple numerical value is pre-set value；
If so, determining that the Hall sensor group does not break down, then turning for the motor is calculated according to the second calculation method
The sub angle with default axis；If it is not, then determining that the Hall sensor group breaks down.
3. motor control method according to claim 1, which is characterized in that
It is described when at least one described Hall sensor breaks down, judge whether the Hall sensor group can be in failure mould
It works under formula and includes:
When a Hall sensor in the Hall sensor group breaks down, determine that the Hall sensor group can be in event
It works under barrier mode；
When two in the Hall sensor group and more than two Hall sensors break down, determine that the Hall passes
Sensor group cannot work in a failure mode, control the motor and stop working.
4. motor control method according to claim 2, which is characterized in that
It is described that the rotor and the preset coordinate axis are calculated according to the calculating of the first calculation method or second calculation method
Angle includes:
Calculate the extreme value a0 of the angle of the rotor and the preset coordinate axis；
Correct the error of the Hall sensor group；
Calculate the tarnsition velocity of the rotor；
Calculate the corner acceleration of the rotor；
According to rotor described in the extreme value, the error, the tarnsition velocity and the corner acceleration and preset coordinate axis
Angle.
5. motor control method according to claim 4, which is characterized in that
When calculating the angle of the rotor and preset coordinate axis according to the first calculation method, calculates the rotor and preset with described
The extreme value a0 of the angle of reference axis includes；
By the circumferential area where the stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, the Hall sensor group exports a different signal value
Y1,Y2,Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~
R34)、(R34~R45)、(R45~R56)、(R56~R61)；
When one of Hall sensor breaks down, failure Hall sensor cannot generate signal value, the extreme value a0 meter
It calculates as follows:
If signal value jumps to Y2, extreme value R from Y112；
If signal value jumps to Y3, extreme value R from Y223；
If signal value jumps to Y0, extreme value R from Y330；
If signal value jumps to Y1, extreme value R from Y001。
6. motor control method according to claim 4, which is characterized in that
When calculated according to the second calculation method the motor rotor and default axis angle when, calculate the rotor with it is described pre-
If the extreme value a0 of the angle of reference axis includes；
By the circumferential area where the stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of rotor is located at different subregions, the Hall sensor group exports a different signal value
Y1,Y2,Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~
R34)、(R34~R45)、(R45~R56)、(R56~R61)；
The extreme value a0 calculates as follows:
If signal value jumps to Y2, extreme value R from Y112；
If signal value jumps to Y3, extreme value R from Y223；
If signal value jumps to Y4, extreme value R from Y334；
If signal value jumps to Y5, extreme value R from Y445；
If signal value jumps to Y6, extreme value R from Y556；
If signal value jumps to Y1, extreme value R from Y661。
7. motor control method according to claim 1, which is characterized in that
The method of Hall sensor specifically to break down in detection Hall sensor group includes:
Obtain the rotor rotate a circle Hall sensor group output signal value in changed multiple numerical value,
In, any two numerical value is all different in the multiple numerical value；It extracts in the multiple numerical value with target hall sensing simultaneously
The unrelated component values of device；
Judge whether the first result calculated according to the multiple numerical value is the first pre-set value；Judge simultaneously according to the part
Whether the second result that numerical value calculates is the second pre-set value；
If first result is different from first pre-set value, and second result is identical as the second pre-set value, then
Determine that the target Hall sensor breaks down.
8. motor control method according to claim 1, which is characterized in that
Before whether thering is at least one Hall sensor to break down in the Hall sensor group judged in motor, also wrap
It includes:
Judge whether the revolving speed of motor is lower than preset threshold；
If the revolving speed is lower than the preset threshold, the rotor is calculated according to third calculation method and is set to the stator
On preset coordinate axis angle, then according to angle to the motor carry out vector controlled；If revolving speed is more than or equal to default threshold
Value, then judge whether have at least one Hall sensor to break down in the Hall sensor group in the motor.
9. motor control method according to claim 1, which is characterized in that
The third calculation method includes:
By the circumferential area where the stator according to 3 Hall sensors be divided into 6 sub-regions U1, U2, U3, U4, U5,
U6；
When the magnetic pole of the rotor is located at different subregions, the Hall sensor group exports a different signal value
Y1,Y2,Y3,Y4,Y5,Y6；Wherein, the corresponding angular range (R of each signal value61~R12)、(R12~R23)、(R23~
R34)、(R34~R45)、(R45~R56)、(R56~R61)。
10. a kind of motor using motor control method of any of claims 1-9, which is characterized in that the electricity
The stator of machine is fixed there are three Hall sensor, and the circumferential area of the stator is divided into six by three Hall sensors
Region.
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