CN110954846B - Hall current sensor broken line detection method, computer readable storage medium and intelligent device - Google Patents
Hall current sensor broken line detection method, computer readable storage medium and intelligent device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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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, the current mutation caused by high-frequency burrs or harmonic waves is removed, the vector sum of the three-phase current after the low-pass filtering approaches to 0, and the broken line condition of the sensor can be accurately judged by calculating and comparing the processed three-phase input current value with the electronic current value.
Description
Technical Field
The invention relates to the technical field of sensor detection, in particular to a broken wire detection method of a Hall current sensor, 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 to be paid attention to, and the safety, accuracy, stability and reliability of the current measurement device are basic guarantees of normal operation of a monitoring system.
The Hall current sensor outputs voltage or current signals in an electromagnetic isolation mode due to low power consumption and unlimited detected current types, and has higher accuracy, quicker response speed and small temperature drift of the output signals, so that the Hall current sensor 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, motor control algorithms such as FOC algorithm, SVPWM algorithm and position-free transmission
Sensor algorithms and the like are controlled by means of accurately acquiring U, V, W three-phase current values of the motor by means of a current sensor. Therefore, in the running of the vehicle, whether the current sensor is disconnected or not is detected correctly directly influences whether the motor can be controlled accurately, so that the running safety of the vehicle is influenced; if the adopted disconnection detection method is improper, the normal operation of the vehicle can be affected as well.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for detecting broken wires and inhibiting error protection of a Hall current sensor.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a Hall current sensor broken line detection method includes detecting three-phase input current values of a motor, performing low-pass filtering treatment, synchronously detecting stator current values, and judging whether a sensor broken line condition exists according to calculation and analysis of the three-phase input current values and the stator current values. The three-phase current value collected by the Hall current sensor is subjected to low-pass filtering, the current mutation caused by high-frequency burrs or harmonic waves is removed, the vector sum of the three-phase current after the low-pass filtering approaches to 0, and the broken line 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.
Further, the detecting motor three-phase input current value specifically includes a phase current valueTwo-phase current value->Three-phase current value->. The three-phase current of the motor is collected to be the most direct and rapid method, the detected three-phase current is utilized to carry out 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 valueAnd stator quadrature axis current value->. 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 calculation and analysis according to the three-phase input current value specifically includes: respectively calculating absolute values of sums of three-phase input currentsSum of absolute values of three-phase input currents +.>. And carrying out different absolute value calculations on the three-phase current for judging different wire breakage conditions to obtain more accurate judgment results.
Further, the calculating and analyzing according to the stator current value specifically includes: calculating stator current valueAnd setting a judgment value according to the electronic current value>Where K is a predetermined fixed value, K is about 50A,is a preset proportional value. And setting a judging value according to the magnitude of the stator current value, wherein when the stator current value is small, namely setting the judging value as K, and when the stator current value is large, setting the judging value as the stator current value multiplied by a certain proportionality coefficient for comparing with the absolute value of the three-phase current value to judge the disconnection condition.
Further, the judging whether the sensor disconnection condition exists specifically includes: when (when)The value of (2) is K, a matrix of->Comparing with K, if->> K, and repeatedly occur->Judging whether the current sensor has one-phase or two-phase disconnection, wherein +.>Is a preset constant value, and is less than or equal to 3%>And is 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 the three-phase current vectors is larger; continuous test->The secondary purpose is to prevent false protection due to accidental errors.
Further, the judging whether the sensor disconnection condition exists specifically includes: when (when)The value of (2) is +.>If->＞/>And repeatedly occur +.>And judging whether the current sensor has one phase or two phase disconnection conditions. Stator current value->Numerical value change +.>The numerical value is also changed along with the numerical value, so that the function of preventing error protection is achieved.
Further, the judging whether the sensor disconnection condition exists specifically includes: if at the same time satisfy < />，/> > And cumulatively occur +.>Judging whether the current sensor has a three-phase disconnection, wherein ∈10>、/>And->All are preset constant values, and are less than or equal to 3%>Not more than 10, and%>＞/>. When the actual stator current value is large, it is set to be greater than +.>Three (III)The sum of the absolute values of the phase currents is larger, if the three-phase current sensors all operate normally, the sum of the absolute values of the currents detected by the three-phase current sensors is larger, and the sum of the absolute values of the three-phase currents actually obtained is smaller, so that the situation that the three-phase current sensors are disconnected is caused.
A computer readable storage medium storing a computer program which when invoked by a processor implements the hall current sensor disconnection detection method of any of the above.
An intelligent device comprising a processor and a memory for storing a computer program which when invoked by the processor implements the hall current sensor disconnection detection method of any of the above.
The Hall current sensor disconnection detection method, the computer-readable storage medium and the intelligent device provided by the invention have the beneficial effects that: the detection method for the single-phase/two-phase or even three-phase wire breakage of the three-phase current sensor of the motor U, V, W is solved, and the situation that the current sensor is single/two-phase wire breakage or three-phase wire breakage can be accurately detected; the problem of current sensor disconnection error protection possibly caused by improper disconnection detection method or improper current error range value setting is solved; the problem that the effective current is not accurately acquired due to current mutation which is often generated by high-frequency burrs or harmonic waves and other interference in actual working conditions is solved, and the problem of overcurrent error protection is solved by carrying out low-pass filtering on a current sampling value.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present invention.
Example 1: a broken wire detection method of a Hall current sensor.
A broken line detection method of a Hall current sensor comprises the following specific steps:
when the motor operates, the three-phase current vector sum is 0 in an ideal state, and is not 0 due to the problems of environmental interference and the like in the actual working condition. And (3) carrying out low-pass filtering on the three-phase current value acquired by the Hall current sensor, removing current mutation caused by high-frequency burrs or harmonic waves, and enabling the vector sum of the three-phase current to approach 0 after the low-pass filtering. And after repeated tests under various working conditions can obtain low-pass filtering, the sum of three-phase currents is not more than an empirical value K. The low-pass filtered current sampling value is subjected to the following operation:
according to the detected three-phase current value of the motor、/>、/>Calculate->And->Calculate->Wherein->、/>The stator direct axis and the quadrature axis current values are respectively +.>Synthesizing space vector values, i.e. given inputs, for stator currentsAn input current value, setting +.>Wherein K is a fixed constant value, also +.>Minimum value that can be obtained; />E (0, 1) is a constant value of a certain fixed proportion; k. And (2)>Are all empirical values obtained by actual tests, +.>、/>、/>、/>All are fixed constant values, and all are empirical values obtained by actual testing.
When not giving currentOr given current +.>When it is very small, then +.>The value of (1) is K (K is a small fixed constant value), the value of the vector sum of three-phase currents is +.>Comparing with K, if->> K, and repeatedly occur->And secondly, the current sensor has one-phase or two-phase disconnection. 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 the three-phase current vectors is larger; continuous test->The secondary purpose is to prevent false protection due to accidental errors.
When given currentWhen larger, at this time +.>The value of (2) is->. If->＞/>And repeatedly occur +.>And secondly or more, the current sensor has one phase or two phase disconnection. For a given current +.>Numerical value change +.>The numerical value of (2) is also changed along with the change, and the effect of preventing error protection is achieved.
Sum of absolute values of three-phase currentsAnd->（/>Smaller value) if +.> ＜/>The current value of each phase is considered to be very small and nearly 0; then the given current value +.>And->（/> ＞/>) Comparison, if-> > />The corresponding current value is considered to be actually given to drive the motor; finally, the detection of the times satisfying the two judgment conditions is carried out, if the accumulated occurrence of +.>And if the current is less than or equal to the preset value, the three-phase current sensor is disconnected.
Judging that the three-phase current sensor cannot be used under the condition of disconnectionAnd->In comparison, since the vector sum approaches 0 when the three-phase currents are in equilibrium, the value is also 0, which does not lead to the conclusion that the current value of each phase is very small, but +.>And->Comparing, and obtaining the conclusion; when the actual given current value is large, it is set to be greater than +.>If the three-phase current sensors all operate normally, the sum of the current absolute values detected by the three-phase current sensors is larger, and the sum of the current absolute values actually obtained by the three-phase current sensors is smaller, so that the three-phase current sensors are disconnected.
Example 2: a computer readable storage medium.
A computer-readable storage medium storing a computer program which, when called by a processor, implements the hall current sensor disconnection detection method of embodiment 1.
Example 3: an intelligent device.
An intelligent device comprising a processor and a memory for storing a computer program that when invoked by the processor implements the hall current sensor disconnection detection method of embodiment 1.
The foregoing is a preferred embodiment of the present invention, but the present invention should not be limited to the embodiment and the disclosure of the drawings, so that the equivalents and modifications can be made without departing from the spirit of the disclosure.
Claims (3)
1. A Hall current sensor broken line detection method is characterized in that a stator current value is synchronously detected by detecting three-phase input current values of a motor and performing low-pass filtering treatment, and whether a sensor broken line condition exists is judged according to calculation and analysis of the three-phase input current values and the stator current value;
the three-phase input current value of the detection motor specifically comprises a phase current value I u Two-phase current value I v Three-phase current value I w ；
Sum of absolute values of three-phase currents I 2 And I r1 Comparison, if I 2 ＜I r1 The current value of each phase is considered to be very small and nearly 0; then the given current value I s And I r2 Comparison, wherein I r2 ＞I r1 If I s >I r2 The corresponding current value is considered to be actually given to drive the motor; finally, detecting the times satisfying the two judgment conditions, if N appears in an accumulated way 2 The three-phase current sensor is disconnected more than once, N 2 ，I r1 And I r2 Is a fixed constant value;
the detected stator current value specifically comprises a stator straight axis current value I d And stator quadrature axis current value I q ；
The calculation and analysis according to the three-phase input current value is specifically as follows: respectively calculating absolute values I of sums of three-phase input currents 1 ＝|I u +I v +I w Sum of absolute values of three-phase input currents I 2 ＝|I u |+|I v |+|I w |；
The calculation and analysis according to the stator current value is specifically as follows: calculating stator current valueAnd setting a judgment value according to the stator current value>Wherein K is a preset fixed value, K 1 Is a preset proportional value;
the judging whether the sensor is disconnected specifically comprises the following steps: when I s ' has the value K and is a dielectric matrix I 1 Comparing with K, if I 1 > K, and repeatedly occur N 1 Judging whether the current sensor has one-phase or two-phase disconnection, wherein N 1 Is a preset constant value;
the judging whether the sensor is disconnected specifically comprises the following steps: when I s ' takes on the value K 1 *I s If I 1 ＞K 1 *I s And repeatedly occur N 1 And judging whether the current sensor has one phase or two phase disconnection conditions.
2. A computer-readable storage medium storing a computer program, characterized by: the computer program when invoked by a processor implements the hall current sensor disconnection detection method of claim 1.
3. 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 disconnection detection method of claim 1.
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| CN112415430B (en) * | 2020-11-04 | 2022-09-06 | 合肥力高动力科技有限公司 | Diagnosis method for disconnection and connection looseness of Hall current sensor |
| CN113960384B (en) * | 2021-09-16 | 2024-04-19 | 佛山市顺德区美的电子科技有限公司 | Phase failure detection method and device, storage medium and household equipment |
| CN118641952A (en) * | 2024-08-15 | 2024-09-13 | 格陆博科技有限公司 | Three-phase motor current sensor fault detection method |
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