CN110988672B - Locked-rotor anti-interference method and device for signal acquisition of Hall sensor of permanent magnet synchronous motor - Google Patents
Locked-rotor anti-interference method and device for signal acquisition of Hall sensor of permanent magnet synchronous motor Download PDFInfo
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- CN110988672B CN110988672B CN201910719269.8A CN201910719269A CN110988672B CN 110988672 B CN110988672 B CN 110988672B CN 201910719269 A CN201910719269 A CN 201910719269A CN 110988672 B CN110988672 B CN 110988672B
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Abstract
The invention discloses a locked rotor anti-interference method and a locked rotor anti-interference device for signal acquisition of a Hall sensor of a permanent magnet synchronous motor, wherein the method comprises the following steps: filtering the Hall signal; comparing the Hall state before filtering with the Hall state after filtering; if the Hall state before filtering is the same as the Hall state after filtering, acquiring a locked rotor count; and when the locked rotor count is greater than a preset value, executing forced phase conversion. The signals collected by the Hall sensor are filtered, the required bandwidth frequency is screened out, useful signals are separated from noise, and the anti-interference performance and the signal-to-noise ratio of the signals are improved. And if the Hall signal is not changed after being filtered, judging that locked rotor occurs. When the locked rotor count exceeds the preset value, the forced commutation is executed, so that the permanent magnet synchronous motor can recover to rotate, and more effective locked rotor judgment and treatment are realized.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a locked rotor anti-interference method and a locked rotor anti-interference device for signal acquisition of a Hall sensor of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high power density, simple control and the like. In recent years, permanent magnet synchronous motors are increasingly widely used in the industrial fields of high-performance speed regulation systems, servo control systems and the like.
At present, most of permanent magnet synchronous motors rely on Hall sensors to obtain the position of a rotor, but the precision of the Hall sensors is low, and the phase change of the permanent magnet synchronous motors is realized by means of extracting the edge information of the Hall sensors in the prior art, so that an effective Hall state cannot be obtained in a low-speed operation or locked rotor state, and the phenomenon of back-and-forth locked rotor of the permanent magnet synchronous motors is caused.
Disclosure of Invention
In order to solve the technical problems, the invention provides a locked-rotor anti-interference method and a locked-rotor anti-interference device for signal acquisition of a Hall sensor of a permanent magnet synchronous motor, which aim to solve the problem that the permanent magnet synchronous motor is locked or stalled back and forth due to the fact that an effective Hall state cannot be obtained in a low-speed running or locked-rotor state in the prior art.
The invention adopts the following specific technical scheme:
a locked rotor anti-interference method for signal acquisition of a Hall sensor of a permanent magnet synchronous motor comprises the following steps:
filtering the Hall signal;
comparing the Hall state before filtering with the Hall state after filtering;
if the Hall state before filtering is different from the Hall state after filtering, comparing the Hall state before filtering with the Hall state before phase commutation;
if the Hall state before filtering is different from the Hall state before commutation, acquiring a filtering count;
and when the filter count is greater than a preset value, performing forced commutation.
Optionally, before filtering the hall signal, the method further includes:
acquiring an edge signal of a Hall sensor;
clearing an interrupt flag bit triggered by the edge signal;
comparing the current state of the Hall signal with an expected Hall state;
and if the current state is the same as the expected Hall state, executing normal commutation.
Optionally, after comparing the hall state before filtering with the hall state before commutation, the method further includes:
and if the Hall state before filtering is the same as the Hall state before commutation, executing normal commutation.
Optionally, before performing the forced phase conversion, the method further includes:
the filter count is reset.
Alternatively, the driving frequency of the permanent magnet synchronous motor is 16kHz every other
And collecting a primary Hall signal.
Optionally, filtering the hall signal comprises:
and performing delay filtering on the Hall signal, wherein the delay time is 1 ms.
Optionally, the filter count preset value ranges from 4 to 8.
The invention also provides a locked rotor anti-interference device for signal acquisition of the Hall sensor of the permanent magnet synchronous motor, which comprises:
the filtering module is used for filtering the Hall signal;
the first comparison module is used for comparing the Hall state before filtering with the Hall state after filtering;
the second comparison module is used for comparing the Hall state before filtering with the Hall state before phase commutation;
the acquisition module is used for acquiring a filtering count;
and the commutation module is used for executing forced commutation.
The embodiment of the invention has the following beneficial effects:
1. the signals collected by the Hall sensor are filtered, the required bandwidth frequency is screened out, useful signals are separated from noise, and the anti-interference performance and the signal-to-noise ratio of the signals are improved. The Hall signal is filtered and then changed, the Hall state before filtering is different from the Hall state after filtering, and the Hall state before filtering is different from the Hall state after filtering and the Hall state before phase commutation, so that the occurrence of stalling is determined, after filtering for a plurality of times, the Hall state still does not recover to the expected Hall state, the stalling of the permanent magnet synchronous motor is indicated and the permanent magnet synchronous motor can not recover automatically, forced phase commutation is executed to enable the permanent magnet synchronous motor to operate normally, and the problem of the stalling of the permanent magnet synchronous motor at low speed is effectively solved.
2. When the edge signal appears or does not appear in the Hall sensor, the Hall state is judged, and the accuracy of Hall state acquisition is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a Hall signal comparison graph of a desired Hall state and a locked-rotor state in an embodiment.
Fig. 3 is a block diagram of a locked rotor anti-interference device for collecting signals of a hall sensor of a permanent magnet synchronous motor in the embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): as shown in fig. 1, a locked rotor anti-interference method and device for signal acquisition of a hall sensor of a permanent magnet synchronous motor includes:
and step S10, filtering the Hall signal.
In the embodiment, in the process of starting the permanent magnet synchronous motor at a low rotating speed, the signals collected by the Hall sensor are filtered, the required bandwidth frequency is screened out, useful signals are separated from noise, and the anti-interference performance and the signal-to-noise ratio of the signals are improved.
Step S20, comparing the hall state before filtering with the hall state after filtering.
In this embodiment, it is observed whether the hall state changes before and after filtering.
And step S30, if the Hall state before filtering is different from the Hall state after filtering, comparing the Hall state before filtering with the Hall state before phase change.
In this embodiment, as shown in fig. 2, if the hall state before filtering is different from the hall state after filtering, it may be determined that stalling may occur, and at this time, the hall state before filtering is compared with the hall state before phase commutation to determine whether stalling occurs.
In step S40, if the hall state before filtering is different from the hall state before commutation, a filtering count is obtained.
In this embodiment, it is determined that the hall state before filtering is different from the hall state after filtering and the hall state before commutation. And looping steps S10-S40 before the next commutation.
In step S50, when the filter count is greater than the preset value, a forced commutation is performed.
In this embodiment, after multiple filtering, the hall state still does not recover to the expected hall state, which indicates that the permanent magnet synchronous motor is locked and cannot recover by itself, and at this time, forced phase inversion is performed to make the permanent magnet synchronous motor operate normally, thereby effectively solving the problem of back-and-forth locking of the permanent magnet synchronous motor at low speed.
As an optional implementation manner, before step S10, the method further includes:
and step S01, acquiring an edge signal of the Hall sensor.
In step S02, the interrupt flag triggered by the edge signal is cleared.
Step S03, the current state of the hall signal is compared with the desired hall state.
And step S04, if the current state is the same as the expected Hall state, executing normal commutation.
In this embodiment, the order in which the hall states occur should be fixed under normal operation of the permanent magnet synchronous machine, i.e. the expected hall state after going into interruption is known. If the hall state after the interruption is inconsistent with the expected hall state, executing step S10; and if the Hall state after interruption is consistent with the expected Hall state, indicating that the permanent magnet synchronous motor normally operates, and executing normal phase change. When the edge signal appears or does not appear in the Hall sensor, the Hall state is judged, and the accuracy of Hall state acquisition is improved.
As an optional embodiment, after comparing the hall state before filtering with the hall state before commutation, the method further includes:
and if the Hall state before filtering is the same as the Hall state before commutation, executing normal commutation.
In this embodiment, the hall state before filtering is the same as the hall state before commutation, which indicates that no stalling occurs and the permanent magnet synchronous motor operates normally.
As an optional implementation manner, before performing the forced phase conversion, the method further includes: the filter count is reset.
In the present embodiment, the filter count is not additionally stored to reduce the system load.
As an alternative embodiment, the driving frequency of the permanent magnet synchronous motor is 16kHz and every other time
And collecting a primary Hall signal.
In this embodiment, the frequency of collecting the hall signals is consistent with the driving frequency of the permanent magnet synchronous motor, so that each hall signal is collected.
As an optional implementation, the filtering the hall signal includes: and performing delay filtering on the Hall signal, wherein the delay time is 1 ms. Filtering is carried out by delaying for 1ms, so that abnormal waveforms and repeated waveforms in low-speed locked rotor can be filtered, and effective Hall signals can be obtained finally.
In this embodiment, the hall sensor generates a discrete signal, and the hall signal is acquired through delay filtering to obtain an approximate approximation result, thereby improving the sampling precision.
As an alternative embodiment, the preset value ranges from 4 to 8.
In the embodiment, the preset value is set according to actual needs. As shown in fig. 2, the preset value is set to 5, and the locked rotor time is controlled to continue within the interval of 2 phase changes, so that the operation state of the permanent magnet synchronous motor can be quickly adjusted, and the load brought to the permanent magnet synchronous motor by locked rotor is reduced. In a specific embodiment, if the permanent magnet synchronous motor is in a continuous locked-rotor condition, forced commutation is triggered after 5 times of filtering; if the permanent magnet synchronous motor is in the condition of short-time locked rotor and is not in the filtering range of 5 times, forced phase change cannot be triggered; therefore, the preset value is set to 5, so that whether the permanent magnet synchronous motor is in a continuous locked rotor state or a short-time locked rotor state can be accurately judged, and the actual accurate control is facilitated.
As shown in fig. 3, an embodiment of the present invention further provides a locked rotor anti-interference device for collecting signals of a hall sensor of a permanent magnet synchronous motor, including a filtering module 1, a first comparing module 2, a second comparing module 3, an obtaining module 4 and a phase-changing module 5, wherein: the filtering module is used for filtering the Hall signal; the first comparison module is used for comparing the Hall state before filtering with the Hall state after filtering; the second comparison module is used for comparing the Hall state before filtering with the Hall state before phase commutation; the acquisition module is used for acquiring a filtering count; the commutation module is used for executing forced commutation.
In this embodiment, the input end of the delay filter is connected to the output end of the hall sensor, and the output end of the delay filter is connected to a group of serial ports of the single chip microcomputer; the other group of serial ports of the single chip microcomputer are connected with the output end of the Hall sensor. And the singlechip is used for comparing and operating the Hall state before filtering, the Hall state after filtering and the Hall state before phase commutation, and counting the filtering times. And the third group of serial ports of the singlechip are connected with a driving circuit of the permanent magnet synchronous motor and control the output of the driving circuit to realize forced phase commutation.
The specific details of the locked rotor anti-interference device for signal acquisition of the hall sensor of the permanent magnet synchronous motor can be understood by referring to the corresponding relevant description and effects in the embodiments shown in fig. 1 to 2, and are not described herein again.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (8)
1. A locked rotor anti-interference method for signal acquisition of a Hall sensor of a permanent magnet synchronous motor is characterized by comprising the following steps:
the method comprises the following steps: filtering the Hall signal;
step two: comparing the Hall state before filtering with the Hall state after filtering;
step three: judging the comparison result of the second step, and if the Hall state before filtering is different from the Hall state after filtering, comparing the Hall state before filtering with the Hall state before phase change;
step four: judging the comparison result of the third step, and if the Hall state before filtering is different from the Hall state before commutation, acquiring a filtering count;
step five: and when the filtering count in the fourth step is greater than the preset value, performing forced commutation.
2. The locked rotor anti-interference method for the signal acquisition of the permanent magnet synchronous motor Hall sensor according to claim 1, characterized in that before the step one, the following operations are further performed:
1) acquiring an edge signal of a Hall sensor;
2) clearing an interrupt flag bit triggered by the edge signal;
3) comparing the current state of the Hall signal with an expected Hall state;
4) and if the current state is the same as the expected Hall state, executing normal commutation.
3. The locked rotor anti-interference method for collecting signals of the permanent magnet synchronous motor Hall sensor according to claim 1, wherein in the third step, if the Hall state before filtering is the same as the Hall state before commutation, normal commutation is performed.
4. The locked rotor anti-interference method for collecting the signals of the permanent magnet synchronous motor Hall sensor according to claim 1, wherein in the fifth step, when the filter count is greater than a preset value, the filter count is reset and then forced phase commutation is performed.
5. The locked rotor anti-interference method for collecting signals of the Hall sensor of the permanent magnet synchronous motor according to claim 1, wherein the driving frequency of the permanent magnet synchronous motor is 16kHz and every other interval
And collecting the Hall signal once.
6. The locked rotor anti-interference method for collecting the signal of the hall sensor of the permanent magnet synchronous motor according to claim 1, wherein in the first step, the hall signal is subjected to delay filtering, and the delay time is 1 ms.
7. The locked rotor anti-interference method for collecting the signals of the permanent magnet synchronous motor Hall sensor according to claim 1, wherein the preset value of the filtering count in the fifth step is set to be 4-8.
8. A locked rotor anti-interference device for signal acquisition of a Hall sensor of a permanent magnet synchronous motor is used for realizing the method of claim 1, and is characterized by comprising the following steps: the filtering module is used for filtering the Hall signal;
the first comparison module is used for comparing the Hall state before filtering with the Hall state after filtering;
the second comparison module is used for comparing the Hall state before filtering with the Hall state before phase commutation;
the acquisition module is used for acquiring a filtering count;
and the commutation module is used for executing forced commutation.
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