CN110954846A - Hall current sensor disconnection detection method, computer readable storage medium and intelligent device - Google Patents

Hall current sensor disconnection detection method, computer readable storage medium and intelligent device Download PDF

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CN110954846A
CN110954846A CN201910963437.8A CN201910963437A CN110954846A CN 110954846 A CN110954846 A CN 110954846A CN 201910963437 A CN201910963437 A CN 201910963437A CN 110954846 A CN110954846 A CN 110954846A
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value
phase
current
current value
current sensor
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CN110954846B (en
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牛高产
陈建清
谢盛
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Gree Electric Appliances Inc of Zhuhai
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    • G01—MEASURING; TESTING
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Abstract

The invention provides a Hall current sensor disconnection detection method, a computer readable storage medium and intelligent equipment. According to the invention, the three-phase current value acquired by the Hall current sensor is subjected to low-pass filtering to remove the current mutation caused by high-frequency burrs or harmonic waves, the sum of three-phase current vectors approaches to 0 after the low-pass filtering, and the disconnection condition of the sensor can be accurately judged by calculating the processed three-phase input current value and comparing the processed three-phase input current value with the electronic current value.

Description

Hall current sensor disconnection detection method, computer readable storage medium and intelligent device
Technical Field
The invention relates to the technical field of sensor detection, in particular to a Hall current sensor disconnection detection method, a computer readable storage medium and intelligent equipment.
Background
In practical applications such as industrial control and equipment operation safety protection, current measurement is always an important subject of much attention, and the safety, accuracy, stability and reliability of a current measurement device are basic guarantees for normal operation of a monitoring system.
The Hall current sensor has low power consumption, no limit to the type of the current to be measured, outputs a voltage or current signal in an electromagnetic isolation mode, has higher precision of the output signal, higher response speed and small temperature drift, and is widely applied to the fields of electric automobiles, alternating current variable frequency speed regulation, power electronics and the like.
In the field of electric vehicles, control algorithms for electric motors, such as FOC algorithm, SVPWM algorithm and position-free transmission
The sensor algorithm and the like are controlled by accurately acquiring U, V, W three-phase current values of the motor through the current sensor. Therefore, in the running process of the vehicle, the correct detection of whether the current sensor is broken directly influences whether the motor can be accurately controlled, so that the running safety of the vehicle is influenced; if the adopted disconnection detection method is improper, the error protection also influences the normal operation of the vehicle.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for detecting the broken line of a Hall current sensor and restraining error protection.
In order to achieve the purpose, the invention adopts the following technical scheme:
a Hall current sensor disconnection detection method comprises the steps of detecting a three-phase input current value of a motor, carrying out low-pass filtering processing, synchronously detecting a stator current value, and judging whether a sensor disconnection condition exists or not according to calculation and analysis of the three-phase input current value and the stator current value. The three-phase current value acquired by the Hall current sensor is subjected to low-pass filtering, so that current mutation caused by high-frequency burrs or harmonic waves in the three-phase current value is removed, the sum of three-phase current vectors after the low-pass filtering approaches to 0, and the disconnection condition of the sensor can be accurately judged by calculating the processed three-phase input current value and comparing the calculated three-phase input current value with an electronic current value.
Further, the detected three-phase input current value of the motor specifically includes a one-phase current value
Figure 100002_DEST_PATH_IMAGE001
Two-phase current value
Figure 907150DEST_PATH_IMAGE002
Value of three-phase current
Figure 100002_DEST_PATH_IMAGE003
. The method is the most direct and rapid method by collecting the three-phase current of the motor, the detected three-phase current is utilized to perform subsequent calculation and analysis, and finally, an accurate sensor disconnection judgment result is obtained through comparison.
Further, the detecting the stator current value specifically includes a stator straight-axis current value
Figure 987425DEST_PATH_IMAGE004
Quadrature axis current value of stator
Figure 100002_DEST_PATH_IMAGE005
. And calculating a stator current synthesis space vector value, namely a given input current value by using the electronic direct-axis current value and the quadrature-axis current value for subsequent calculation and judgment.
Further, the calculating and analyzing according to the three-phase input current value specifically includes: calculating the absolute value of the sum of the three-phase input currents separately
Figure 100002_DEST_PATH_IMAGE007
Sum of absolute values of three-phase input currents
Figure 100002_DEST_PATH_IMAGE009
. And different absolute value calculations are carried out on the three-phase current for judging different wire breaking conditions, so that a more accurate judgment result is obtained.
Further, the calculating and analyzing according to the stator current value specifically includes: calculating stator current value
Figure 100002_DEST_PATH_IMAGE011
And setting a judgment value according to the value of the electron current
Figure 100002_DEST_PATH_IMAGE013
Where K is a predetermined fixed value, K is about 50A,
Figure 992159DEST_PATH_IMAGE014
is a preset proportional value. And setting a judgment value aiming at the magnitude of the stator current value, wherein when the stator current value is small, namely the judgment value is set to be K, and when the stator current value is large, the judgment value is set to be the stator current value multiplied by a certain proportionality coefficient and used for comparing with the absolute value of the three-phase current value to judge the wire breaking condition.
Further, the determining whether there is a sensor disconnection specifically includes: when in use
Figure 100002_DEST_PATH_IMAGE015
Is taken as K, is
Figure 725760DEST_PATH_IMAGE016
Compared with K if
Figure 100002_DEST_PATH_IMAGE017
> K, and occur repeatedly
Figure 665903DEST_PATH_IMAGE018
Secondly, judging that one phase or two phases of the current sensor are disconnected, wherein
Figure 547271DEST_PATH_IMAGE018
Is a preset constant value, 3 is less than or equal to
Figure 296309DEST_PATH_IMAGE018
Less than or equal to 10. When the one-phase or two-phase current sensor is disconnected, the detected one-phase or two-phase current vector is almost 0, so that the sum of three-phase current vectors is larger; continuous testing
Figure 946733DEST_PATH_IMAGE018
The secondary purpose is to prevent false protection due to accidental errors.
Further, the determining whether there is a sensor disconnection specifically includes: when in use
Figure 339668DEST_PATH_IMAGE015
Is taken as
Figure 100002_DEST_PATH_IMAGE019
If, if
Figure 426442DEST_PATH_IMAGE017
＞
Figure 461394DEST_PATH_IMAGE019
And repeatedly appear
Figure 231904DEST_PATH_IMAGE018
And secondly, judging that one phase or two phases of the current sensor are disconnected. For stator current value
Figure 45008DEST_PATH_IMAGE017
The change in the value of the value is,
Figure 635389DEST_PATH_IMAGE020
the numerical value is changed along with the change of the numerical value, and the function of preventing error protection is achieved.
Further, the determining whether there is a sensor disconnection specifically includes: if at the same time satisfy
Figure DEST_PATH_IMAGE021
<
Figure 598666DEST_PATH_IMAGE022
，
Figure DEST_PATH_IMAGE023
>
Figure 882404DEST_PATH_IMAGE024
And cumulatively appear
Figure DEST_PATH_IMAGE025
And secondly or above, judging that the current sensor has three-phase equal disconnection, wherein
Figure 866410DEST_PATH_IMAGE022
、
Figure 944087DEST_PATH_IMAGE024
And
Figure 586421DEST_PATH_IMAGE025
are all preset constant values, 3 is less than or equal to
Figure 800365DEST_PATH_IMAGE025
Less than or equal to 10, and
Figure 486430DEST_PATH_IMAGE024
＞
Figure 51403DEST_PATH_IMAGE022
. When the actual stator current value is large, it is set to be larger than
Figure 966270DEST_PATH_IMAGE024
The sum of the absolute values of the three-phase currents is also large, if the three-phase current sensors normally operate, the sum of the absolute values of the currents detected by the three-phase current sensors is also large, and the sum of the absolute values of the three-phase currents actually obtained is small, so that the three-phase current sensors are broken.
A computer-readable storage medium for storing a computer program which, when invoked by a processor, implements the hall current sensor wire breakage detection method of any preceding claim.
A smart device comprising a processor and a memory for storing a computer program that, when invoked by the processor, implements the hall current sensor wire breakage detection method of any preceding claim.
The invention provides a Hall current sensor disconnection detection method, a computer readable storage medium and an intelligent device, which have the advantages that: the method solves the problem that the motor U, V, W three-phase current sensor has one-phase/two-phase or even three-phase equal disconnection, and can correctly detect the condition that the current sensor has single/two-phase disconnection or three-phase equal disconnection; the problem of the current sensor disconnection error protection caused by improper disconnection detection method or improper setting of current error range value is solved; the problem of often make effective current collection inaccurate because of the high frequency burr or the sudden change of current that interference such as harmonic produced among the operating condition makes, through carrying out low pass filtering with the current sampling value, solved overcurrent error protection is solved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of the present invention.
Example 1: a Hall current sensor disconnection detection method.
A Hall current sensor disconnection detection method comprises the following specific steps:
when the motor runs, the sum of the three-phase current vectors is 0 in an ideal state, and the sum of the three-phase current vectors is not 0 due to the problems of environmental interference and the like in an actual working condition. And carrying out low-pass filtering on the three-phase current value acquired by the Hall current sensor to remove current mutation caused by high-frequency burrs or harmonic waves, wherein the sum of the three-phase current vectors approaches to 0 after the low-pass filtering. After the low-pass filtering is obtained through repeated tests under various working conditions, the sum of three phase currents is not greater than an empirical value K. And carrying out the following operations on the low-pass filtered current sampling value:
according to the detected three-phase current value of the motor
Figure 549567DEST_PATH_IMAGE001
、
Figure 157266DEST_PATH_IMAGE026
、
Figure 209535DEST_PATH_IMAGE003
Computing
Figure DEST_PATH_IMAGE027
And
Figure 383552DEST_PATH_IMAGE009
calculating
Figure 837667DEST_PATH_IMAGE028
Wherein
Figure DEST_PATH_IMAGE029
、
Figure 68797DEST_PATH_IMAGE005
The values of the direct axis current and the quadrature axis current of the stator are respectively,
Figure 608363DEST_PATH_IMAGE023
synthesizing a space vector value, i.e. a given input current value, for the stator current, setting according to the given input current value
Figure 130611DEST_PATH_IMAGE013
Where K is some fixed constant value, is
Figure 173654DEST_PATH_IMAGE020
The minimum value that can be taken;
Figure 310106DEST_PATH_IMAGE030
e (0, 1) is a constant value of a certain fixed proportion; k.
Figure 523918DEST_PATH_IMAGE030
Are all empirical values obtained by actual tests,
Figure 849857DEST_PATH_IMAGE022
、
Figure 12985DEST_PATH_IMAGE024
、
Figure 108287DEST_PATH_IMAGE018
、
Figure 622445DEST_PATH_IMAGE025
all the values are fixed constant values and are empirical values obtained by actual tests.
When no current is given
Figure 522049DEST_PATH_IMAGE023
Or a given current
Figure 274105DEST_PATH_IMAGE023
Very small, at this time
Figure 80255DEST_PATH_IMAGE015
The value of (A) is K (K is a certain small fixed constant value), and the value of the vector sum of the three-phase currents is
Figure 816130DEST_PATH_IMAGE017
Compared with K, if
Figure 952713DEST_PATH_IMAGE017
> K, and occur repeatedly
Figure 215068DEST_PATH_IMAGE018
And secondly, the current sensor has one or two phases of broken wires. The reason is that when the one-phase or two-phase current sensor is disconnected, the detected one-phase or two-phase current vector is almost 0, so that the sum of three-phase current vectors is larger; continuous testing
Figure 800243DEST_PATH_IMAGE018
The secondary purpose is to prevent false protection due to accidental errors.
When given current
Figure 492256DEST_PATH_IMAGE023
At a larger time, at that time
Figure 416219DEST_PATH_IMAGE015
Is taken as
Figure 142866DEST_PATH_IMAGE019
. If it is
Figure 290820DEST_PATH_IMAGE017
＞
Figure 735707DEST_PATH_IMAGE019
And repeatedly appear
Figure 745252DEST_PATH_IMAGE018
Second and above, the current sensor has one or two phases broken. For a given current
Figure 591985DEST_PATH_IMAGE023
The change in the value of the value is,
Figure 645260DEST_PATH_IMAGE015
the value of the voltage is changed along with the change of the voltage, and the function of preventing error protection is achieved.
Summing the absolute values of three-phase currents
Figure 577444DEST_PATH_IMAGE021
And
Figure 125100DEST_PATH_IMAGE022
（
Figure 344117DEST_PATH_IMAGE022
smaller value) are compared, if
Figure 319026DEST_PATH_IMAGE021
＜
Figure 4085DEST_PATH_IMAGE022
The current value of each phase is considered to be very small and is approximately 0; then, a current value is set
Figure 89853DEST_PATH_IMAGE023
And
Figure 160446DEST_PATH_IMAGE024
（
Figure 571836DEST_PATH_IMAGE024
＞
Figure 478612DEST_PATH_IMAGE022
) In comparison, if
Figure 351759DEST_PATH_IMAGE023
>
Figure 293170DEST_PATH_IMAGE024
Considering that a corresponding current value is actually given to drive the motor; finally, the times meeting the two judgment conditions are detected, and if the times are accumulated, the judgment conditions are added
Figure 344303DEST_PATH_IMAGE025
And secondly or above, the three-phase current sensor is broken.
Judging that the three-phase current sensor cannot be used in case of wire breakage
Figure 722063DEST_PATH_IMAGE016
And
Figure 884054DEST_PATH_IMAGE022
the comparison is performed because when the three-phase current is in the equilibrium state, the vector sum approaches to 0, and the value is also 0, which cannot be concluded that the current value of each phase is very small, and the method is used
Figure 414393DEST_PATH_IMAGE021
And
Figure 154203DEST_PATH_IMAGE022
comparing to obtain the conclusion; when the actual given current value is large, it is set to be larger than
Figure 769992DEST_PATH_IMAGE024
The sum of the absolute values of the three-phase currents is also large, if the three-phase current sensors normally operate, the sum of the absolute values of the currents detected by the three-phase current sensors is also large, and the sum of the absolute values of the three-phase currents actually obtained is small, so that the three-phase current sensors are broken.
Example 2: a computer readable storage medium.
A computer-readable storage medium for storing a computer program that, when invoked by a processor, implements the hall current sensor wire breakage detection method of embodiment 1.
Example 3: an intelligent device.
An intelligent device comprising a processor and a memory, the memory being configured to store a computer program that, when invoked by the processor, implements the hall current sensor wire breakage detection method of embodiment 1.
The above description is only for the preferred embodiment of the present invention, but the present invention should not be limited to the embodiment and the disclosure of the drawings, and therefore, all equivalent or modifications that do not depart from the spirit of the present invention are intended to fall within the scope of the present invention.

Claims (10)

1. A Hall current sensor disconnection detection method is characterized in that a stator current value is synchronously detected by detecting a three-phase input current value of a motor and carrying out low-pass filtering processing, and whether a sensor disconnection condition exists or not is judged according to calculation and analysis of the three-phase input current value and the stator current value.
2. The hall current sensor disconnection detecting method of claim 1, wherein: the detection of the three-phase input current value of the motor specifically comprises a one-phase current value
Figure DEST_PATH_IMAGE001
Two-phase current value
Figure DEST_PATH_IMAGE002
Value of three-phase current
Figure DEST_PATH_IMAGE003
。
3. The hall current sensor disconnection detecting method of claim 2, wherein: the stator current value detection specifically comprises a stator straight-axis current value
Figure DEST_PATH_IMAGE004
Quadrature axis current value of stator
Figure DEST_PATH_IMAGE005
。
4. The hall current sensor disconnection detecting method of claim 3, wherein: the calculation and analysis according to the three-phase input current value specifically comprises the following steps: calculating the absolute value of the sum of the three-phase input currents separately
Figure DEST_PATH_IMAGE006
Sum of absolute values of three-phase input currents
Figure DEST_PATH_IMAGE007
。
5. The hall current sensor disconnection detecting method of claim 4, wherein: the calculation and analysis according to the stator current value specifically comprises the following steps: calculating stator current value
Figure DEST_PATH_IMAGE008
And setting a judgment value according to the value of the electron current
Figure DEST_PATH_IMAGE009
Wherein K is a predetermined fixed value, K1Is a preset proportional value.
6. The hall current sensor disconnection detecting method of claim 5, wherein: the specific steps for judging whether the sensor is disconnected are as follows: when in use
Figure DEST_PATH_IMAGE010
Is taken as K, is
Figure DEST_PATH_IMAGE011
Compared with K if
Figure DEST_PATH_IMAGE012
> K, and occur repeatedly
Figure DEST_PATH_IMAGE013
Secondly, judging that one phase or two phases of the current sensor are disconnected, wherein
Figure 164898DEST_PATH_IMAGE013
Is a preset constant value.
7. The hall current sensor disconnection detecting method of claim 5, wherein: the specific steps for judging whether the sensor is disconnected are as follows: when in use
Figure 675514DEST_PATH_IMAGE010
Is taken as
Figure DEST_PATH_IMAGE014
If, if
Figure 533880DEST_PATH_IMAGE012
＞
Figure 991406DEST_PATH_IMAGE014
And repeatedly appear
Figure 854713DEST_PATH_IMAGE013
And secondly, judging that one phase or two phases of the current sensor are disconnected.
8. The hall current sensor disconnection detecting method of claim 5, wherein: the specific steps for judging whether the sensor is disconnected are as follows: if at the same time satisfy
Figure DEST_PATH_IMAGE015
<
Figure DEST_PATH_IMAGE016
，
Figure DEST_PATH_IMAGE017
>
Figure DEST_PATH_IMAGE018
And cumulatively appear
Figure DEST_PATH_IMAGE019
And secondly or above, judging that the current sensor has three-phase equal disconnection, wherein
Figure 83700DEST_PATH_IMAGE016
、
Figure 193476DEST_PATH_IMAGE018
And
Figure 126797DEST_PATH_IMAGE019
are all preset constant values, and
Figure 389151DEST_PATH_IMAGE018
＞
Figure 851357DEST_PATH_IMAGE016
。
9. a computer-readable storage medium storing a computer program, characterized in that: the computer program, when invoked by a processor, implements the hall current sensor wire breakage detection method of any one of claims 1-8.
10. A smart device comprising a processor and a memory for storing a computer program, characterized in that: the computer program, when invoked by the processor, implements the hall current sensor wire breakage detection method of any one of claims 1-8.
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Cited By (2)

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CN112415430A (en) * 2020-11-04 2021-02-26 合肥力高动力科技有限公司 Diagnosis method for disconnection and connection looseness of Hall current sensor
CN113960384A (en) * 2021-09-16 2022-01-21 佛山市顺德区美的电子科技有限公司 Phase-loss detection method and device, storage medium and household equipment

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CN109375028A (en) * 2018-08-27 2019-02-22 许继集团有限公司 A kind of broken string recognition methods of high voltage power cable circulating current sensor and device
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CN1778033A (en) * 2003-04-18 2006-05-24 株式会社安川电机 Ac servo driver motor power line disconnection detection method
CN101977008A (en) * 2010-09-24 2011-02-16 重庆大学 Judgment method of key sensor fault of double-fed wind generating set
CN106842025A (en) * 2017-02-28 2017-06-13 哈尔滨理工大学 A kind of asynchronous motor broken bar fault simulator stand
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