CN111049456A - Hall sensor installation deviation identification and compensation method and device - Google Patents
Hall sensor installation deviation identification and compensation method and device Download PDFInfo
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- CN111049456A CN111049456A CN202010009015.XA CN202010009015A CN111049456A CN 111049456 A CN111049456 A CN 111049456A CN 202010009015 A CN202010009015 A CN 202010009015A CN 111049456 A CN111049456 A CN 111049456A
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Abstract
The invention belongs to the field of permanent magnet synchronous motor control, in particular to a Hall sensor installation deviation identification and compensation method and a device, wherein the method comprises the steps of adopting constant voltage frequency ratio control, increasing output voltage to improve output torque and enabling a motor to stably rotate at low frequency; acquiring a three-phase back electromotive force signal and a three-phase Hall sensor signal, and recording the peak value of the back electromotive force; when an edge signal of any Hall sensor is captured, recording a counter electromotive force value of a corresponding phase, and calculating an installation deviation angle according to the counter electromotive force value of the corresponding phase and a peak value of the counter electromotive force; when the deviation angle is calculated, the deviation identification process is finished; and compensating the rotor position angle estimation by adjusting the absolute position according to the calculated deviation angle. Aiming at the traditional rotor angle estimation method of the permanent magnet synchronous motor, the invention reconstructs the rotor angle estimation method by adopting the adjusted absolute position, and the reconstruction method is simple and has strong transportability.
Description
Technical Field
The invention belongs to the field of permanent magnet synchronous motor control, and particularly relates to a Hall sensor installation deviation identification and compensation method and device.
Background
The permanent magnet synchronous motor has the advantages of simple structure, small volume, light weight, small loss, high efficiency, high power factor and the like, and is widely applied to the industries of electric vehicles, household appliances, industrial control and the like.
In many application fields, the permanent magnet synchronous motor adopts three switch type hall sensors as rotor position sensors to obtain 6 absolute positions of a rotor. Three hall sensors need to be strictly uniformly distributed according to a certain angle when being installed, but due to the fact that installation processes are uneven, the hall sensors of the permanent magnet synchronous motors on the market generally have installation deviation, accuracy of angle estimation in vector control is directly influenced, even current distortion occurs, and control effect is influenced. Technicians often adopt an oscilloscope to determine the installation deviation of the Hall sensor by comparing the waveform of the Hall signal with the waveform of the counter electromotive force, and carry out angle compensation on the installation deviation during angle estimation. However, this method is poorly adaptable and still requires retesting and compensation when the motor is replaced.
Disclosure of Invention
The invention provides a Hall sensor installation deviation identification and compensation method and a Hall sensor installation deviation identification and compensation device, which are used for solving the problem of poor adaptability of a permanent magnet synchronous motor Hall sensor installation deviation identification and compensation method in the prior art.
The invention utilizes the constant voltage frequency ratio to control the permanent magnet synchronous motor to rotate at low speed to fit a sinusoidal back electromotive force waveform, and obtains the back electromotive force value when the Hall signal has an edge signal so as to determine the size of the installation deviation angle, and carries out angle compensation on the installation deviation when the angle is estimated.
The invention adopts the following specific technical scheme:
a Hall sensor installation deviation identification and compensation method comprises the following steps:
step 1: the permanent magnet synchronous motor is controlled by adopting a constant voltage frequency ratio, and the output voltage is increased to improve the output torque, so that the permanent magnet synchronous motor stably rotates at low frequency;
step 2: acquiring a signal of three-phase back electromotive force of the permanent magnet synchronous motor and a signal of a rising edge and a falling edge of a three-phase Hall sensor, and recording a peak value of each back electromotive force;
and step 3: when a rising edge signal or a falling edge signal of any Hall sensor is captured, a counter electromotive force value of the corresponding phase is recorded, and an installation deviation angle is calculated according to the recorded counter electromotive force value of the corresponding phase and a peak value of the counter electromotive force; when the deviation angles of the three Hall sensors are calculated, the Hall sensor installation deviation identification process is finished;
and 4, step 4: and (3) according to the deviation angles of the three Hall sensors obtained in the step (3), compensating the estimation of the rotor position angle of the permanent magnet synchronous motor in normal work by a method of adjusting the absolute position.
Optionally, the specific method for enabling the permanent magnet synchronous motor to stably rotate at a low frequency by using constant voltage-to-frequency ratio control in step 1 is as follows:
the output frequency range is 1 Hz-5 Hz; the output voltage is increased to 2-3 times of the original output voltage.
Optionally, the counter electromotive force value e of the corresponding phase and the peak value e of the counter electromotive force are recorded in step 3MAnd calculating an installation deviation angle delta theta, wherein the specific calculation formula is as follows:
optionally, a specific method for adjusting the absolute position in step 4 is as follows:
when the mounting deviation angle delta theta correspondingly calculated by the rising edge signal of the Hall sensor is less than 0, the absolute position angle needs to be adjusted forwards by | delta theta |; when the mounting deviation angle delta theta correspondingly calculated by the rising edge signal of the Hall sensor is larger than 0, the absolute position angle needs to be adjusted backwards to be | delta theta |;
when the mounting deviation angle delta theta correspondingly calculated by the falling edge signal of the Hall sensor is less than 0, the absolute position angle needs to be adjusted backwards to be delta theta I; when the installation deviation angle delta theta correspondingly calculated by the falling edge signal of the Hall sensor is larger than 0, the absolute position angle needs to be adjusted forwards by | delta theta |.
Optionally, the absolute position corresponding to the rising edge signal of the hall sensor a is 0 °, the absolute position corresponding to the falling edge signal of the hall sensor C is 60 °, the absolute position corresponding to the rising edge signal of the hall sensor B is 120 °, the absolute position corresponding to the falling edge signal of the hall sensor a is 180 °, the absolute position corresponding to the rising edge signal of the hall sensor C is 240 °, and the absolute position corresponding to the falling edge signal of the hall sensor B is 300 °.
Optionally, the specific method for compensating for the rotor position angle estimation of the permanent magnet synchronous motor in step 4 is as follows:
rotor position angle theta between rising edge signal of Hall sensor A and falling edge signal of Hall sensor C1The calculation formula is as follows:
θ1＝ω1t1+0+Δθar
wherein, omega1"represents the average angular velocity from the falling edge signal of Hall sensor B to the rising edge signal of nearby Hall sensor A," t1"represents a running time from a rising edge signal of the hall sensor a to a falling edge signal of the nearby hall sensor C," Δ θar"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor a," 0+ Δ θar"represents the angle of the absolute position corresponding to the rising edge signal of the adjusted Hall sensor A;
rotor position angle theta between falling edge signal of Hall sensor C and rising edge signal of Hall sensor B2The calculation formula is as follows:
θ2＝ω2t2+60-Δθcd
wherein, omega2"represents the average angular velocity from the rising edge signal of Hall sensor A to the falling edge signal of nearby Hall sensor C," t2"represents a running time from a falling edge signal of the hall sensor C to a rising edge signal of the nearby hall sensor B," Δ θcd"represents the installation deviation angle corresponding to the falling edge signal of the Hall sensor C," 60-delta thetacd"represents the angle of the absolute position corresponding to the falling edge signal of the adjusted Hall sensor C;
between the rising edge signal of Hall sensor B and the falling edge signal of Hall sensor A, the rotor position angle theta3The calculation formula is as follows:
θ3＝ω3t3+120+Δθbr
wherein, omega3"represents the average angular velocity from the falling edge signal of Hall sensor C to the rising edge signal of nearby Hall sensor B," t3"represents a running time from a rising edge signal of the hall sensor B to a falling edge signal of the nearby hall sensor a," Δ θbr"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor B," 120+ Δ θbrThe angle of the absolute position corresponding to the rising edge signal of the Hall sensor B after adjustment;
rotor position angle theta between falling edge signal of Hall sensor A and rising edge signal of Hall sensor C4The calculation formula is as follows:
θ4＝ω4t4+180-Δθad
wherein, omega4"represents the average angular velocity from the rising edge signal of Hall sensor B to the falling edge signal of nearby Hall sensor A," t4"represents a running time from a falling edge signal of the hall sensor a to a rising edge signal of the nearby hall sensor C," Δ θad"represents the installation deviation angle corresponding to the falling edge signal of the Hall sensor A," 180-delta thetaad"represents the angle of the absolute position corresponding to the falling edge signal of the adjusted Hall sensor A;
rotor position angle theta between rising edge signal of Hall sensor C and falling edge signal of Hall sensor B5The calculation formula is as follows:
θ5＝ω5t5+240+Δθcr
wherein the content of the first and second substances,“ω5"represents the average angular velocity from the falling edge signal of Hall sensor A to the rising edge signal of nearby Hall sensor C," t5"represents a running time from a rising edge signal of the hall sensor C to a falling edge signal of the nearby hall sensor B," Δ θcr"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor C," 240+ Δ θcrThe angle of the absolute position corresponding to the rising edge signal of the Hall sensor C after adjustment;
between the falling edge signal of Hall sensor B and the rising edge signal of Hall sensor A, the rotor position angle theta6The calculation formula is as follows:
θ6＝ω6t6+300-Δθbd
wherein, omega6"represents the average angular velocity from the rising edge signal of Hall sensor C to the falling edge signal of nearby Hall sensor B," t6"represents a running time from a falling edge signal of the hall sensor B to a rising edge signal of the nearby hall sensor a," Δ θbd"represents the installation deviation angle corresponding to the falling edge signal of the Hall sensor B," 300-delta theta [ [ theta ] ]bdAnd adjusting the angle of the absolute position corresponding to the falling edge signal of the Hall sensor B.
Alternatively, the angles of the absolute positions corresponding to the rising edge and the falling edge of the hall sensor can be changed according to different hall sensor installation specifications.
The invention also discloses a Hall sensor installation deviation identification and compensation device, which comprises: the device comprises a Hall signal acquisition unit, a deviation identification unit and an absolute position compensation unit;
the Hall signal acquisition unit is connected with a Hall sensor of the permanent magnet synchronous motor and is used for acquiring a Hall sensor signal of the permanent magnet synchronous motor;
the deviation identification unit is connected with the Hall signal acquisition unit and is used for identifying the installation deviation angle of the Hall sensor;
and the absolute position compensation unit is connected with the deviation identification unit and is used for compensating the absolute position according to the identification of the deviation identification unit.
The invention at least comprises the following beneficial effects:
the invention firstly controls the rotation of the permanent magnet synchronous motor by a constant voltage frequency ratio method, and provides the method for obtaining the low-speed stable rotation of the permanent magnet synchronous motor under the low frequency by adjusting the output voltage so as to obtain the high sampling precision of the Hall sensor signal and the counter electromotive force and the accurate corresponding relation of the Hall sensor signal and the counter electromotive force.
The invention combines the back electromotive force signal of the motor and the Hall sensor signal, determines the installation deviation angle by obtaining the back electromotive force under the edge signal of the Hall signal, and provides a method for adjusting the absolute position forwards or backwards.
Aiming at the traditional rotor angle estimation method of the permanent magnet synchronous motor, the invention reconstructs the rotor angle estimation method by adopting the adjusted absolute position, and the reconstruction method is simple and has strong transportability.
Drawings
Fig. 1 is a schematic diagram illustrating steps of a hall sensor mounting deviation identification and compensation method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a hall sensor mounting angle deviation according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a hall sensor mounting deviation identification and compensation apparatus according to an embodiment of the present invention.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
Example (b): the permanent magnet synchronous motor aims at three switch type Hall sensors with ideal installation angles of 120 degrees.
As shown in fig. 1, steps of a hall sensor installation deviation identification and compensation method according to a specific embodiment are provided, which specifically include:
step S21: the permanent magnet synchronous motor is controlled by adopting a constant voltage frequency ratio, and the output voltage is increased to improve the output torque, so that the permanent magnet synchronous motor stably rotates at low frequency.
The specific method comprises the following steps:
according to the relation between the output torque, the output frequency and the output voltage in the constant voltage frequency ratio control principle, a constant voltage frequency ratio curve is optimized, the output frequency reaches 1Hz, the output voltage is increased to be 2 times of the original output voltage, the output torque is improved, and the permanent magnet synchronous motor can stably rotate under low frequency.
Step S22: and acquiring a signal of three-phase back electromotive force of the permanent magnet synchronous motor and a signal of a rising edge and a falling edge of the three-phase Hall sensor, and recording a peak value of each back electromotive force.
The obtained three-phase back electromotive force signals and the rising edge and falling edge signals of the three-phase hall sensor are shown in fig. 2, wherein eA, eB and eC are three-phase back electromotive force waveforms of the permanent magnet synchronous motor; HA. HB and HC are level signal waveforms of three Hall sensors, and the peak value of each counter electromotive force is obtained as eM＝3.0V。
Step S23: when a rising edge signal or a falling edge signal of any Hall sensor is captured, a counter electromotive force value of the corresponding phase is recorded, and an installation deviation angle is calculated according to the recorded counter electromotive force value of the corresponding phase and a peak value of the counter electromotive force; and when the deviation angles of the three Hall sensors are calculated, finishing the installation deviation identification process of the Hall sensors.
Wherein the counter electromotive force value e of the corresponding phase and the peak value e of the counter electromotive force are recordedMAnd calculating an installation deviation angle delta theta, wherein the specific calculation formula is as follows:
according to the obtained schematic diagram of the signals of the three-phase back electromotive force and the rising edge signals and the falling edge signals of the three-phase hall sensor, the back electromotive force corresponding to the rising edge signal of the hall sensor HA is 0.4V, the back electromotive force corresponding to the falling edge signal of the hall sensor HC is-0.4V, the back electromotive force corresponding to the rising edge signal of the hall sensor HB is 0.4V, the back electromotive force corresponding to the falling edge signal of the hall sensor HA is-0.4V, the back electromotive force corresponding to the rising edge signal of the hall sensor HC is 0.4V, and the back electromotive force corresponding to the falling edge signal of the hall sensor HB is-0.4V.
Therefore, the mounting deviation angle Δ θ corresponding to the rising edge signal of the hall sensor HAarComprises the following steps:
mounting deviation angle delta theta corresponding to falling edge signal of Hall sensor HCcdComprises the following steps:
similarly, the mounting deviation angle corresponding to the falling edge signal of the hall sensor HB is Δ θbdWhen the angle is 7.66 °, the mounting deviation angle corresponding to the falling edge signal of the hall sensor HA is Δ θadThe mounting deviation angle corresponding to the rising edge signal of the hall sensor HC is Δ θ, which is-7.66 °crWhen the angle is 7.66 °, the mounting deviation angle corresponding to the rising edge signal of the hall sensor HB is Δ θbr＝-7.66°。
And (4) finishing the calculation of the Hall sensor deviation angle and finishing the identification process of the Hall sensor installation deviation.
Step S24: and according to the obtained deviation angles of the three Hall sensors, compensating the estimation of the rotor position angle of the permanent magnet synchronous motor in normal work by a method of adjusting an absolute position.
The specific method for adjusting the absolute position is as follows:
when the mounting deviation angle delta theta correspondingly calculated by the rising edge signal of the Hall sensor is less than 0, the absolute position angle needs to be adjusted forwards by | delta theta |; when the mounting deviation angle delta theta correspondingly calculated by the rising edge signal of the Hall sensor is larger than 0, the absolute position angle needs to be adjusted backwards to be | delta theta |;
when the mounting deviation angle delta theta correspondingly calculated by the falling edge signal of the Hall sensor is less than 0, the absolute position angle needs to be adjusted backwards to be delta theta I; when the installation deviation angle delta theta correspondingly calculated by the falling edge signal of the Hall sensor is larger than 0, the absolute position angle needs to be adjusted forwards by | delta theta |.
The specific method for compensating the rotor position angle estimation of the permanent magnet synchronous motor comprises the following steps:
rotor position angle theta between rising edge signal of Hall sensor HA and falling edge signal of Hall sensor HC1The calculation formula is as follows:
θ1＝ω1t1+0+Δθar＝ω1t1+0+7.66(°)
wherein, omega1"represents the average angular velocity from the falling edge signal of the hall sensor HB to the rising edge signal of the nearby hall sensor HA," t1"represents a running time from a rising edge signal of the hall sensor HA to a falling edge signal of the nearby hall sensor HC," Δ θar"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor HA," 0+ Δ θar"represents the angle of the absolute position corresponding to the rising edge signal of the hall sensor HA after adjustment;
rotor position angle theta between falling edge signal of Hall sensor HC and falling edge signal of Hall sensor HB2The calculation formula is as follows:
θ2＝ω2t2+60-Δθcd＝ω2t2+60-(-7.66)(°)
wherein, omega2"represents the average angular velocity from the rising edge signal of the hall sensor HA to the falling edge signal of the nearby hall sensor HC," t2"represents a running time from a falling edge signal of the hall sensor HC to a rising edge signal of the nearby hall sensor HB," Δ θcd"represents the installation deviation angle corresponding to the falling edge signal of the hall sensor HC," 60- Δ θcd"angle representing absolute position corresponding to falling edge signal of hall sensor HC after adjustment;
falling edge signal and Hall sensor of Hall sensor HBRotor position angle theta between falling edge signals of sensor HA3The calculation formula is as follows:
θ3＝ω3t3+120+Δθbr＝ω3t3+120+7.66(°)
wherein, omega3"represents an average angular velocity from a falling edge signal of the hall sensor HC to a rising edge signal of the close hall sensor HB," t3"represents a running time from a rising edge signal of the hall sensor HB to a falling edge signal of the nearby hall sensor HA," Δ θbr"represents the mounting deviation angle corresponding to the rising edge signal of the hall sensor HB," 120+ Δ θbrAdjusting the angle of the absolute position corresponding to the rising edge signal of the Hall sensor HB after adjustment;
rotor position angle theta between falling edge signal of Hall sensor HA and rising edge signal of Hall sensor HC4The calculation formula is as follows:
θ4＝ω4t4+180-Δθad＝ω4t4+180-(-7.66)(°)
wherein, omega4"represents the average angular velocity from the rising edge signal of the hall sensor HB to the falling edge signal of the nearby hall sensor HA," t4"represents a running time from a falling edge signal of the hall sensor HA to a rising edge signal of the nearby hall sensor HC," Δ θad"represents the installation deviation angle corresponding to the falling edge signal of the Hall sensor HA", 180-delta thetaad"represents the angle of the absolute position corresponding to the falling edge signal of the hall sensor HA after adjustment;
rotor position angle theta between rising edge signal of hall sensor HC and rising edge signal of hall sensor HB5The calculation formula is as follows:
θ5＝ω5t5+240+Δθcr＝ω5t5+240+7.66(°)
wherein, omega5"represents the level from the falling edge signal of the Hall sensor HA to the rising edge signal of the nearby Hall sensor HCAverage angular velocity, "t5"represents a running time from a rising edge signal of the hall sensor HC to a falling edge signal of the nearby hall sensor HB," Δ θcr"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor HC," 240+ Δ θcr"the angle of the absolute position corresponding to the rising edge signal of the hall sensor HC after adjustment;
rotor position angle theta between rising edge signal of Hall sensor HB and rising edge signal of Hall sensor HA6The calculation formula is as follows:
θ6＝ω6t6+300-Δθbd＝ω6t6+300-(-7.66)(°)
wherein, omega6"represents an average angular velocity from a rising edge signal of the hall sensor HC to a falling edge signal of the close hall sensor HB," t6"represents a running time from a falling edge signal of the hall sensor HB to a rising edge signal of the nearby hall sensor HA," Δ θbd"represents the installation deviation angle corresponding to the falling edge signal of the hall sensor HB," 300- Δ θbdAnd adjusting the angle of the absolute position corresponding to the falling edge signal of the Hall sensor HB after adjustment.
As shown in fig. 3, the present invention also provides a hall sensor mounting deviation identifying and compensating apparatus, comprising: a Hall signal acquisition unit 51, a deviation identification unit 52 and an absolute position compensation unit 53. The Hall signal acquisition unit 51 is connected with a Hall sensor of the permanent magnet synchronous motor and is used for acquiring a Hall sensor signal of the permanent magnet synchronous motor; the deviation identification unit 52 is connected with the Hall signal acquisition unit 51 and is used for identifying the installation deviation angle of the Hall sensor; the absolute position compensation unit 53 is connected to the deviation identification unit 52 for compensating the absolute position based on the identification by the deviation identification unit.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A Hall sensor installation deviation identification and compensation method is characterized by comprising the following steps:
step 1: the permanent magnet synchronous motor is controlled by adopting a constant voltage frequency ratio, and the output voltage is increased to improve the output torque, so that the permanent magnet synchronous motor stably rotates at low frequency;
step 2: acquiring a signal of three-phase back electromotive force of the permanent magnet synchronous motor and a signal of a rising edge and a falling edge of a three-phase Hall sensor, and recording a peak value of each back electromotive force;
and step 3: when a rising edge signal or a falling edge signal of any Hall sensor is captured, a counter electromotive force value of the corresponding phase is recorded, and an installation deviation angle is calculated according to the recorded counter electromotive force value of the corresponding phase and a peak value of the counter electromotive force; when the deviation angles of the three Hall sensors are calculated, the Hall sensor installation deviation identification process is finished;
and 4, step 4: and according to the obtained deviation angles of the three Hall sensors, compensating the estimation of the rotor position angle of the permanent magnet synchronous motor in normal work by a method of adjusting an absolute position.
2. The hall sensor mounting deviation identifying and compensating method of claim 1, wherein the specific method for enabling the permanent magnet synchronous motor to stably rotate at a low frequency by adopting the constant voltage frequency ratio control in the step 1 is as follows: the output frequency range is 1 Hz-5 Hz; the output voltage is increased to 2-3 times of the original output voltage.
3. The hall sensor mounting deviation identifying and compensating method of claim 1 wherein said step 3 is based on said recorded back emf value e of the corresponding phase, peak value e of the back emfMCalculating the mounting deviation angle delta theta, in particularThe calculation formula is as follows:
4. the hall sensor mounting deviation identification and compensation method of claim 1 wherein the specific method of adjusting the absolute position in step 4 is as follows:
when the mounting deviation angle delta theta correspondingly calculated by the rising edge signal of the Hall sensor is less than 0, the absolute position angle needs to be adjusted forwards by | delta theta |; when the mounting deviation angle delta theta correspondingly calculated by the rising edge signal of the Hall sensor is larger than 0, the absolute position angle needs to be adjusted backwards to be | delta theta |;
when the mounting deviation angle delta theta correspondingly calculated by the falling edge signal of the Hall sensor is less than 0, the absolute position angle needs to be adjusted backwards to be delta theta I; when the installation deviation angle delta theta correspondingly calculated by the falling edge signal of the Hall sensor is larger than 0, the absolute position angle needs to be adjusted forwards by | delta theta |;
the absolute position corresponding to the rising edge signal of the Hall sensor A is 0 degrees, the absolute position corresponding to the falling edge signal of the Hall sensor C is 60 degrees, the absolute position corresponding to the rising edge signal of the Hall sensor B is 120 degrees, the absolute position corresponding to the falling edge signal of the Hall sensor A is 180 degrees, the absolute position corresponding to the rising edge signal of the Hall sensor C is 240 degrees, and the absolute position corresponding to the falling edge signal of the Hall sensor B is 300 degrees.
5. The hall sensor mounting deviation identification and compensation method of claim 1, wherein the specific method for compensating the rotor position angle estimation of the permanent magnet synchronous motor in the step 4 is as follows:
rotor position angle theta between rising edge signal of Hall sensor A and falling edge signal of Hall sensor C1The calculation formula is as follows:
θ1＝ω1t1+0+Δθar
wherein, omega1"represents the average angular velocity from the falling edge signal of Hall sensor B to the rising edge signal of nearby Hall sensor A," t1"represents a running time from a rising edge signal of the hall sensor a to a falling edge signal of the nearby hall sensor C," Δ θar"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor a," 0+ Δ θar"represents the angle of the absolute position corresponding to the rising edge signal of the adjusted Hall sensor A;
rotor position angle theta between falling edge signal of Hall sensor C and rising edge signal of Hall sensor B2The calculation formula is as follows:
θ2＝ω2t2+60-Δθcd
wherein, omega2"represents the average angular velocity from the rising edge signal of Hall sensor A to the falling edge signal of nearby Hall sensor C," t2"represents a running time from a falling edge signal of the hall sensor C to a rising edge signal of the nearby hall sensor B," Δ θcd"represents the installation deviation angle corresponding to the falling edge signal of the Hall sensor C," 60-delta thetacd"represents the angle of the absolute position corresponding to the falling edge signal of the adjusted Hall sensor C;
between the rising edge signal of Hall sensor B and the falling edge signal of Hall sensor A, the rotor position angle theta3The calculation formula is as follows:
θ3＝ω3t3+120+Δθbr
wherein, omega3"represents the average angular velocity from the falling edge signal of Hall sensor C to the rising edge signal of nearby Hall sensor B," t3"represents a running time from a rising edge signal of the hall sensor B to a falling edge signal of the nearby hall sensor a," Δ θbr"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor B," 120+ Δ θbrThe angle of the absolute position corresponding to the rising edge signal of the Hall sensor B after adjustment;
rotor position angle theta between falling edge signal of Hall sensor A and rising edge signal of Hall sensor C4The calculation formula is as follows:
θ4＝ω4t4+180-Δθad
wherein, omega4"represents the average angular velocity from the rising edge signal of Hall sensor B to the falling edge signal of nearby Hall sensor A," t4"represents a running time from a falling edge signal of the hall sensor a to a rising edge signal of the nearby hall sensor C," Δ θad"represents the installation deviation angle corresponding to the falling edge signal of the Hall sensor A," 180-delta thetaad"represents the angle of the absolute position corresponding to the falling edge signal of the adjusted Hall sensor A;
rotor position angle theta between rising edge signal of Hall sensor C and falling edge signal of Hall sensor B5The calculation formula is as follows:
θ5＝ω5t5+240+Δθcr
wherein, omega5"represents the average angular velocity from the falling edge signal of Hall sensor A to the rising edge signal of nearby Hall sensor C," t5"represents a running time from a rising edge signal of the hall sensor C to a falling edge signal of the nearby hall sensor B," Δ θcr"represents the installation deviation angle corresponding to the rising edge signal of the hall sensor C," 240+ Δ θcrThe angle of the absolute position corresponding to the rising edge signal of the Hall sensor C after adjustment;
between the falling edge signal of Hall sensor B and the rising edge signal of Hall sensor A, the rotor position angle theta6The calculation formula is as follows:
θ6＝ω6t6+300-Δθbd
wherein, omega6"represents the average angular velocity from the rising edge signal of Hall sensor C to the falling edge signal of nearby Hall sensor B," t6"represents a falling edge signal from Hall sensor B to a nearby Hall sensorThe running time between rising edge signals of A,' Delta thetabd"represents the installation deviation angle corresponding to the falling edge signal of the Hall sensor B," 300-delta theta [ [ theta ] ]bdAnd adjusting the angle of the absolute position corresponding to the falling edge signal of the Hall sensor B.
6. The hall sensor mounting deviation identifying and compensating method of claim 1, wherein the angles of the absolute positions corresponding to the rising edge and the falling edge of the hall sensor are changed according to the hall sensor mounting specification.
7. A Hall sensor installation deviation identification and compensation device is characterized by comprising: the device comprises a Hall signal acquisition unit, a deviation identification unit and an absolute position compensation unit;
the Hall signal acquisition unit is connected with a Hall sensor of the permanent magnet synchronous motor and is used for acquiring a Hall sensor signal of the permanent magnet synchronous motor;
the deviation identification unit is connected with the Hall signal acquisition unit and is used for identifying the installation deviation angle of the Hall sensor;
and the absolute position compensation unit is connected with the deviation identification unit and is used for compensating the absolute position according to the identification of the deviation identification unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010009015.XA CN111049456B (en) | 2020-01-06 | 2020-01-06 | Hall sensor installation deviation identification and compensation method and device |
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| CN202010009015.XA CN111049456B (en) | 2020-01-06 | 2020-01-06 | Hall sensor installation deviation identification and compensation method and device |
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| CN111049456B CN111049456B (en) | 2022-01-21 |
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| CN112366990A (en) * | 2020-11-09 | 2021-02-12 | 珠海格力电器股份有限公司 | Hall self-positioning method, device, equipment and system |
| CN115001344A (en) * | 2022-05-27 | 2022-09-02 | 江苏科技大学 | Encoder eccentric installation compensation method based on linear Hall sensor |
| CN115051602A (en) * | 2022-05-31 | 2022-09-13 | 江苏科技大学 | Permanent magnet synchronous motor rotor position detection device and method |
| WO2024065568A1 (en) * | 2022-09-27 | 2024-04-04 | 江苏科技大学 | Method for filtering deviation signal of hall position sensor for robot joint |
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| WO2024065568A1 (en) * | 2022-09-27 | 2024-04-04 | 江苏科技大学 | Method for filtering deviation signal of hall position sensor for robot joint |
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