CN111211712A - Unmanned aerial vehicle motor driving system and motor fault-tolerant control method - Google Patents

Unmanned aerial vehicle motor driving system and motor fault-tolerant control method Download PDF

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CN111211712A
CN111211712A CN202010038972.5A CN202010038972A CN111211712A CN 111211712 A CN111211712 A CN 111211712A CN 202010038972 A CN202010038972 A CN 202010038972A CN 111211712 A CN111211712 A CN 111211712A
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motor
fault
rotating speed
photoelectric encoder
encoder
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CN111211712B (en
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谢安桓
华强
项森伟
胡易人
张丹
朱世强
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Zhejiang Lab
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Zhejiang Lab
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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
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • 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
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information
    • 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

Abstract

The invention discloses an unmanned aerial vehicle motor driving system which realizes high-precision rotation speed measurement by adding an optical encoder in a motor so as to realize high-performance motor rotation speed control. Meanwhile, a motor fault-tolerant control method is disclosed, and in the running process of the motor, the fault type of an encoder is judged by combining a back electromotive force zero-crossing detection signal, and the closed-loop fault-tolerant control of the rotating speed is realized. According to the unmanned aerial vehicle motor driving system and the fault-tolerant control method, the reliability of the motor driving system is ensured while the control performance of the motor rotating speed is improved, and the flight control performance of the unmanned aerial vehicle is expected to be further improved.

Description

Unmanned aerial vehicle motor driving system and motor fault-tolerant control method
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a motor driving system of an unmanned aerial vehicle and a motor fault-tolerant control method.
Background
With the development and maturity of unmanned aerial vehicle technology, the multi-rotor unmanned aerial vehicle is widely applied to application scenes such as aerial photography, agricultural plant protection, electric power inspection and the like; benefit from advantages such as its can VTOL and motion are nimble, also be applied to tasks such as low-altitude traffic, intelligent formation, collaborative work gradually, these application demands put forward higher requirement to unmanned aerial vehicle's flight control performance. The motor driving system is used as an important component of the power of the multi-rotor unmanned aerial vehicle, and the precision and the response speed of the rotating speed control directly influence the flight control performance of the unmanned aerial vehicle.
The motor driving system of the traditional multi-rotor unmanned aerial vehicle adopts a scheme of a brushless direct current motor and a scheme of a non-speed sensor, and the rotating speed of the motor generally adopts open-loop control. The motor driving system adjusts the speed of the motor by directly changing the output PWM duty ratio according to an accelerator input signal sent by flight control. But it is difficult to guarantee completely unanimous between each electronic accent motor of unmanned aerial vehicle, and the same throttle input signal probably leads to different rotational speed outputs to flight control performance has been influenced. Therefore, the scheme without the speed sensor improves the reliability of the motor driving system of the unmanned aerial vehicle, but influences the motor control performance, especially the rotating speed control performance.
Therefore, it is necessary to consider the application of a speed sensor in an unmanned aerial vehicle motor drive system to improve the rotation speed control performance. However, the speed sensor is easy to damage under complex working conditions, statistics shows that most of motor faults are caused by damage of the sensor, and therefore the fault-tolerant control of the speed sensor fault is of great significance. Chinese patent No. CN109194206A proposes a hall sensor fault detection and fault-tolerant control method applied to a brushless dc motor, but the precision or real-time performance of measuring the rotation speed by using a hall sensor is not high, and the improvement of the rotation speed control performance is not great.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle motor driving system and a motor fault-tolerant control method, wherein the unmanned aerial vehicle motor driving system can realize rotating speed closed-loop control and can carry out fault-tolerant control when a photoelectric encoder fails; the system reliability is ensured while the system rotating speed control performance is improved.
The purpose of the invention is realized by the following technical scheme:
an unmanned aerial vehicle motor drive system comprises a motor and an electric controller which are connected through a cable;
the motor adopts a brushless direct current motor embedded with a photoelectric encoder, and the photoelectric encoder is used for feeding back motor rotating speed information and outputting two paths of orthogonal differential signals;
the electric tilt comprises a shell, and a processor, a photoelectric encoder signal processing circuit and an encoder fault indication module which are arranged in the shell, wherein the photoelectric encoder signal processing circuit is used for converting a differential orthogonal signal of the photoelectric encoder into a single-ended signal with a proper level and outputting the single-ended signal to the processor; the processor is used for receiving input signals of the photoelectric encoder and throttle signals sent by the unmanned aerial vehicle flight controller, and outputting signals to control the motor to rotate and open the encoder fault indication module when the photoelectric encoder of the motor fails.
Further, the photoelectric encoder signal processing circuit comprises a differential processing circuit, an isolation circuit and a voltage conversion circuit.
Furthermore, the fault of the encoder is divided into an A/B single-phase fault, namely, one path of signal in the A/B signal is abnormal, and the other path of signal is normal; and A/B double-phase faults, namely two paths of signals in the A/B signals are abnormal; the encoder indicating module is realized by adopting a blue-red double-color LED indicating lamp, wherein blue represents a single-phase fault of the photoelectric encoder A/B, and red represents a double-phase fault of the photoelectric encoder A/B.
Further, the processor adopts STM32 or DSP chip.
A motor fault-tolerant control method based on an unmanned aerial vehicle motor driving system is characterized by comprising the following steps:
s1: in the running process of the motor, the given motor rotating speed n is obtained through conversion according to an accelerator signal sent by an unmanned aerial vehicle flight controllerin。
S2: and calculating the measured rotating speed n1 of the encoder according to the detected pulse number of the photoelectric encoder.
S3: calculating to obtain a counter electromotive force measuring rotating speed n2 according to the counter electromotive force zero-crossing detection signal period;
s4: and comparing the values of the rotating speed n1 and the rotating speed n2 to judge whether the photoelectric encoder has faults or not.
S5: determining the actually measured rotating speed n according to the fault judgment of the S4 photoelectric encoderf(ii) a When the photoelectric encoder is not in fault, actually measuring the rotating speed nfN 1; when the photoelectric encoder has single-phase fault, the actual measurement rotating speed nfN1 × 2; when the photoelectric encoder has a two-phase fault, the actual measurement rotating speed nf＝n2；
S6: according to a given speed ninAnd a measured rotational speed nfAnd calculating to obtain the current rotating speed difference e ═ nin-nfAnd regulating the rotating speed of the motor to be in an expected vicinity by adopting a proper control algorithm to control and output PWM signals with different duty ratios D to the motor.
Further, given a motor speed nin＝d*nNWherein d is throttle signal, the range of magnitude is 0-100%, nNThe rated rotating speed of the motor; the throttle size calculation formula is as follows: d ═ Thigh-1000)/1000 x 100%, wherein ThighAnd the unit is us, which is the high level time of the accelerator PWM signal.
Further, the calculation formula of the encoder measured rotating speed n1 is as follows:
Figure BDA0002367051660000021
wherein, the unit of N1 is r/min, M is the number of photoelectric encoder pulses detected in unit period T1, N is the output of the photoelectric encoder after one rotation of the motor, and when the processor detects the rising and falling edges of the a/B signal of the photoelectric encoder, N is 4N0，N0Is the encoder line number.
Further, the rotation speed n2 is:
Figure BDA0002367051660000031
the unit of the rotating speed n2 is r/min, P is the number of pole pairs of the motor, and T2 is the time between two adjacent rising edges of any zero crossing point of the opposite electromotive force.
Further, in S4, the method for determining whether the photoelectric encoder has a failure includes:
setting a threshold value K1 and a threshold value K2, and if | n1-n2| < K1, judging that the photoelectric encoder has no fault; if | n1-n2| ≧ K1 and | n1 × 2-n2| < K2, judging that the photoelectric encoder has an A/B single fault; and if | n1-n2| ≧ K1 and | n1 × 2-n2| ≧ K2, judging that the photoelectric encoder has a two-phase fault. Wherein K1 and K2 are constant coefficients.
Further, the control algorithm in S6 adopts PID control, that is
Figure BDA0002367051660000032
Wherein Kp、Ki、KdRespectively, a PID parameter, e (i) ═ nin(i)-nf(i)，i＝0,1,...k-1,k,...n；nin(i)，nf(i) Respectively representing the given motor rotating speed and the measured rotating speed in the ith period.
The invention has the following beneficial effects:
according to the invention, on the traditional unmanned aerial vehicle motor driving system, a high-precision encoder is adopted to realize high-performance rotating speed measurement and control, and fault-tolerant control can be performed when the encoder fails. Therefore, the unmanned aerial vehicle motor driving system and the control method provided by the invention improve the control performance of the rotating speed while ensuring the reliability of the unmanned aerial vehicle power system, thereby further improving the flight control capability of the unmanned aerial vehicle.
Drawings
FIG. 1 is a block diagram of the motor driving system of the unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram of the waveform of the A/B signal of the orthogonal photoelectric encoder of the present invention;
FIG. 3 illustrates a method for detecting a fault of a photoelectric encoder of a brushless DC motor and controlling a rotating speed in a closed loop manner according to the present invention;
FIG. 4 is a block diagram of a closed-loop control of the rotational speed of a brushless DC motor according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
The structural block diagram of the unmanned aerial vehicle motor driving system is shown in fig. 1. The system comprises a motor and an electric controller which are connected through a cable;
the motor adopts a brushless direct current motor, is embedded with a photoelectric encoder and is used for feeding back the rotating speed information of the motor; as one example, the precision of the adopted photoelectric encoder is 2500 lines per rotation degree, and the output signal is A/B differential quadrature output.
The electric tilt comprises a shell, and a processor, a photoelectric encoder signal processing circuit and an encoder fault indication module which are arranged in the shell, wherein the photoelectric encoder signal processing circuit is used for converting a differential orthogonal signal of the photoelectric encoder into a single-ended signal with a proper level and outputting the single-ended signal to the processor; the processor is used for receiving input signals of the photoelectric encoder and throttle signals sent by the unmanned aerial vehicle flight controller, and outputting signals to control the motor to rotate and open the encoder fault indication module when the photoelectric encoder of the motor fails.
As one embodiment, the signal processing circuit of the photoelectric encoder comprises a differential processing and isolation and voltage conversion circuit, and a differential chip MC3486 is adopted to convert the differential output signal of the encoder into a single-ended signal; and a high-speed optical coupler HCPL2630 is adopted to isolate the signal and convert the signal into a 3.3V level signal corresponding to the processor.
The encoder fault indication module is realized by adopting a double-color indicator lamp; as one example, a red/blue dual color is used, where blue represents a single phase failure of the photoelectric encoder A/B, and red represents a two phase failure of the photoelectric encoder A/B.
The processor can be used for receiving input signals of the photoelectric encoder and throttle signals sent by the unmanned aerial vehicle flight controller, and outputting signals to control the motor to rotate; and when the photoelectric encoder of the motor fails, a failure indicator lamp is lightened.
As one embodiment, the processor adopts STM32F405, the main frequency of the processor reaches 168MHz, the processor has a floating point number operation function, and the processor is provided with a rich interface.
The waveform schematic diagram of the A/B signal obtained after the processing of the encoder signal processing circuit is shown in fig. 2, and then the processor reads the processed A/B signal to obtain the rotating speed of the motor. Preferably, to improve the accuracy of the encoder measuring the speed of rotation, the encoder pulses are counted using the encoder input function of the processor STM32F405, where the selection is made to count both the rising and falling edges of the a/B signal.
The invention provides a motor fault-tolerant control method, the flow of which is shown in figure 3, and the specific steps are as follows:
s1: in the running process of the motor, a given rotating speed is obtained through conversion according to an accelerator signal sent by the unmanned aerial vehicle flight controller.
Preferably, the rotational speed n is givenin＝d*nNWherein d is throttle signal, the range of magnitude is 0-100%, nNThe rated rotating speed of the motor. The throttle signal that unmanned aerial vehicle flight controller sent is the PWM signal, and its throttle size computational formula is: d ═ Thigh-1000)/1000 x 100%, wherein ThighAnd the unit is us, which is the high level time of the accelerator PWM signal.
S2: and calculating the measured rotating speed n1 of the encoder according to the detected pulse number of the photoelectric encoder.
Preferably, in consideration of high precision of the encoder, a frequency measurement method is adopted to realize rotation speed measurement, so as to ensure that the rotation speed can be updated at a certain period. Suppose a photoelectric encoder pulse detected within a unit period T1The number of the impulses is M,
Figure BDA0002367051660000051
Figure BDA0002367051660000052
wherein N is the output of the photoelectric encoder of one turn of the motor, and when the processor detects the rising and falling edges of the A/B signal of the photoelectric encoder, N is 4N0，N0Is the encoder line number.
In this example, the number of encoder lines N02500, the processor timer samples both the rising and falling edges of the optical encoder a/B signal, N10000.
S3: calculating to obtain a rotating speed n2 according to the counter electromotive force zero-crossing detection signal period;
considering that the counter electromotive force zero-crossing detection pulse is less when the motor rotates for one circle, a cycle measuring method is adopted to measure the rotating speed so as to ensure the measuring precision. Assuming that the time between two adjacent rising edges of any zero-crossing point of the counter electromotive force is measured as T2
Figure BDA0002367051660000053
Wherein P is the number of pole pairs of the motor.
In this example, the back electromotive force zero crossing detection signal period is realized by a timer of an STM32 processor: when the rising edge of the back electromotive force zero-crossing point appears, the counter value of the timer is cleared, and the time corresponding to the counter value of the timer when the rising edge of the back electromotive force zero-crossing point appears next time is the back electromotive force zero-crossing point detection signal period T2.
S4: and comparing the values of the rotating speed n1 and the rotating speed n2 to judge whether the photoelectric encoder has faults or not.
Considering that the encoder measuring rotating speed n1 and the counter electromotive force measuring rotating speed n2 are close to each other under normal conditions, whether the photoelectric encoder fails or not can be judged by comparing the difference values; when the A/B single-phase fault occurs, namely when one item of A/B has no signal output, 2 times of the rotating speed measured by the encoder is closer to the counter electromotive force measuring rotating speed n 2. Therefore, a threshold value K1 and a threshold value K2 can be set, and if | n1-n2| < K1, it is determined that the photoelectric encoder has not failed; if | n1-n2| ≧ K1 and | n1 × 2-n2| < K2, judging that the photoelectric encoder has an A/B single fault, and simultaneously lighting a blue fault lamp; and if the | n1-n2| is equal to or more than K1 and the | n1 × 2-n2| is equal to or more than K2, judging that the photoelectric encoder has a two-phase fault, and simultaneously lighting a red fault lamp.
S5: and determining the actually measured rotating speed according to the fault judgment of the S4 photoelectric encoder. When the photoelectric encoder is not in fault, actually measuring the rotating speed nfN 1; when the photoelectric encoder has single-phase fault, the actual measurement rotating speed nfN1 × 2; when the photoelectric encoder has a two-phase fault, the actual measurement rotating speed nf＝n2。
S6: according to a given speed ninAnd a measured rotational speed nfAnd calculating to obtain the current rotating speed difference e ═ nin-nfAnd regulating the rotating speed of the motor to be in an expected vicinity by adopting a proper control algorithm to control and output PWM signals with different duty ratios D to the motor.
Considering the convenience of engineering implementation and parameter debugging, the control algorithm can adopt PID control commonly used in the technical field, namely
Figure BDA0002367051660000054
Wherein Kp、Ki、KdRespectively, a PID parameter, e (i) ═ nin(i)-nf(i)，i＝0,1,...k-1,k,...n,nin(i)，nf(i) Respectively representing the given motor rotating speed and the measured rotating speed in the ith period.
Fig. 4 shows a closed-loop control method for the rotation speed of the brushless dc motor of the unmanned aerial vehicle with fault tolerance of the encoder in the present embodiment. As shown, the given speed n is obtained by converting the throttle signal according to the calculation method of step S1in(ii) a According to the calculation method of steps S2-S5, the measured rotation speed n can be obtainedf. In step S6, the current differential rotational speed e is calculated to be nin-nf. And after passing through the speed regulator, outputting different voltages to the inverter module, and then driving the brushless direct current motor, wherein the speed regulator adopts a PID control algorithm.
For a traditional unmanned aerial vehicle motor driving system, reverse electricity is generally adoptedThe rotating speed is measured by the kinetic zero-crossing signal. The motor rotates for one circle, the pulse number output by the zero crossing of the single-phase counter electromotive force is P, wherein P is the number of pole pairs of the motor. If the frequency measurement method is adopted for rotating speed measurement, the rotating speed measurement error calculation formula is as follows:
Figure BDA0002367051660000061
considering that the value of P x T x n is small during the zero-crossing detection of the back electromotive force, the error of the frequency measurement method is large; for example, when the rotation speed n is 1000rpm, the update period T is 0.02s, and the number P of pole pairs of the motor is 4, the rotation speed measurement error E1 is 75%. If the cycle measuring method is adopted to measure the rotating speed, the rotating speed measurement is updated for time
Figure BDA0002367051660000062
The updating time of the rotating speed is related to the rotating speed, and the updating time is very long under the low rotating speed; for example, when the number of pole pairs P of the motor is 4 and the number of revolutions n is 100rpm, To0.15 ms; at a speed n of 1000rpm, To＝0.015ms。
In order to realize high-performance rotation speed control of the motor, the rotation speed is usually measured and adjusted in a certain period, so that the rotation speed measurement needs to be updated in a certain period. But the problem that the error is large or the updating time is uncertain exists in the traditional method of measuring the rotating speed by adopting a back electromotive force zero-crossing signal, and the high-performance rotating speed control of the motor of the unmanned aerial vehicle is influenced.
The invention introduces a high-precision encoder into the unmanned aerial vehicle motor driving system to improve the rotating speed measurement precision and reduce the response time. In this example, the number of encoder lines N02500, the timer of the processor samples the rising edge and the falling edge of the A/B signal of the photoelectric encoder, and the number of pulses N of the motor is 10000 after one rotation. The motor rotating speed is measured by a frequency measurement method, so that a certain rotating speed measuring period is ensured. Assuming that the update period T is 0.01s, the rotation speed quantization error occurs when the rotation speed n is 100rpm
Figure BDA0002367051660000063
When the rotating speed n is 1000rpm, the rotating speed quantization error
Figure BDA0002367051660000064
Therefore, the rotating speed is measured by the encoder, so that not only can a smaller updating period be ensured, but also the measurement precision can be ensured.
In conclusion, the high-precision encoder is introduced into the unmanned aerial vehicle motor driving system to realize high-performance rotating speed measurement and control, and can detect and control the encoder fault in a fault-tolerant manner. Therefore, the unmanned aerial vehicle motor driving system and the control method provided by the invention improve the control performance of the system while ensuring the reliability of the unmanned aerial vehicle power system, thereby further improving the flight control capability of the unmanned aerial vehicle.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.

Claims (10)

1. An unmanned aerial vehicle motor driving system is characterized by comprising a motor and an electric controller which are connected through a cable;
the motor adopts a brushless direct current motor embedded with a photoelectric encoder, and the photoelectric encoder is used for feeding back motor rotating speed information and outputting two paths of orthogonal differential signals;
the electric tilt comprises a shell, and a processor, a photoelectric encoder signal processing circuit and an encoder fault indication module which are arranged in the shell, wherein the photoelectric encoder signal processing circuit is used for converting a differential orthogonal signal of the photoelectric encoder into a single-ended signal with a proper level and outputting the single-ended signal to the processor; the processor is used for receiving input signals of the photoelectric encoder and throttle signals sent by the unmanned aerial vehicle flight controller, and outputting signals to control the motor to rotate and open the encoder fault indication module when the photoelectric encoder of the motor fails.
2. The unmanned aerial vehicle motor drive system of claim 1, wherein the photoelectric encoder signal processing circuitry comprises differential processing, isolation, and voltage conversion circuitry.
3. The unmanned aerial vehicle motor drive system of claim 1, characterized in that the encoder fault is classified as an a/B single phase fault, i.e., one of the a/B signals is abnormal and the other signal is normal; and A/B double-phase faults, namely the two paths of signals in the A/B signals are abnormal. The encoder fault indication module is realized by adopting a blue-red double-color LED indicator lamp, wherein blue represents a photoelectric encoder A/B single-phase fault, and red represents a photoelectric encoder A/B double-phase fault.
4. An unmanned aerial vehicle motor drive system as claimed in claim 1, wherein the processor employs STM32 or a DSP chip.
5. A motor fault-tolerant control method for a motor driving system of an unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps:
s1: in the running process of the motor, the given motor rotating speed n is obtained through conversion according to an accelerator signal sent by an unmanned aerial vehicle flight controllerin。
S2: and calculating the measured rotating speed n1 of the encoder according to the detected pulse number of the photoelectric encoder.
S3: calculating to obtain a counter electromotive force measuring rotating speed n2 according to the counter electromotive force zero-crossing detection signal period;
s4: and comparing the values of the rotating speed n1 and the rotating speed n2 to judge whether the photoelectric encoder has faults or not.
S5: determining the actually measured rotating speed n according to the fault judgment of the S4 photoelectric encoderf(ii) a When the photoelectric encoder is not in fault, actually measuring the rotating speed nfN 1; when the photoelectric encoder has single-phase fault, the actual measurement rotating speed nfN1 × 2; when the photoelectric encoder has a two-phase fault, the rotating speed is actually measurednf＝n2；
S6: according to a given speed ninAnd a measured rotational speed nfAnd calculating to obtain the current rotating speed difference e ═ nin-nfAnd regulating the rotating speed of the motor to be in an expected vicinity by adopting a proper control algorithm to control and output PWM signals with different duty ratios D to the motor.
6. Fault tolerant control method of an electric motor according to claim 5, characterized in that a given motor speed nin＝d*nNWherein d is throttle signal, the range of magnitude is 0-100%, nNThe rated rotating speed of the motor; the throttle size calculation formula is as follows: d ═ Thigh-1000)/1000 x 100%, wherein ThighAnd the unit is us, which is the high level time of the accelerator PWM signal.
7. The fault-tolerant control method for the motor according to claim 5, wherein the calculation formula of the measured rotating speed n1 of the encoder is as follows:
Figure FDA0002367051650000021
wherein, the unit of N1 is r/min, M is the number of photoelectric encoder pulses detected in unit period T1, N is the output of the photoelectric encoder after one rotation of the motor, and when the processor detects the rising and falling edges of the a/B signal of the photoelectric encoder, N is 4N0，N0Is the encoder line number.
8. The fault-tolerant control method for the motor according to claim 5, wherein the rotation speed n2 is as follows:
Figure FDA0002367051650000022
the unit of the rotating speed n2 is r/min, P is the number of pole pairs of the motor, and T2 is the time between two adjacent rising edges of any zero crossing point of the opposite electromotive force.
9. The fault-tolerant control method of a motor according to claim 5, wherein in step S4, the method for determining whether the photoelectric encoder has a fault includes:
setting a threshold value K1 and a threshold value K2, and if | n1-n2| < K1, judging that the photoelectric encoder has no fault; if | n1-n2| ≧ K1 and | n1 × 2-n2| < K2, judging that the photoelectric encoder has an A/B single fault; and if | n1-n2| ≧ K1 and | n1 × 2-n2| ≧ K2, judging that the photoelectric encoder has a two-phase fault. Wherein K1 and K2 are constant coefficients.
10. The fault-tolerant control method of an electric motor according to claim 5, wherein the control algorithm in S6 adopts PID control
Figure FDA0002367051650000023
Wherein Kp、Ki、KdRespectively, a PID parameter, e (i) ═ nin(i)-nf(i)，i＝0,1,...k-1,k,...n；nin(i)，nf(i) Respectively representing the given motor rotating speed and the measured rotating speed in the ith period.
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