CN111969901B - Brushless direct current motor fault-tolerant control method considering faults of Hall position sensor - Google Patents

Brushless direct current motor fault-tolerant control method considering faults of Hall position sensor Download PDF

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CN111969901B
CN111969901B CN202010902763.0A CN202010902763A CN111969901B CN 111969901 B CN111969901 B CN 111969901B CN 202010902763 A CN202010902763 A CN 202010902763A CN 111969901 B CN111969901 B CN 111969901B
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phase
fault
hall
conduction
motor
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CN111969901A (en
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於锋
刘兴
葛天天
茅靖峰
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Nantong University
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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
    • 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
    • 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
    • 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
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models

Abstract

The invention discloses a brushless direct current motor fault-tolerant control method considering faults of a Hall position sensor. Under the condition that the system normally operates, phase change is realized according to Hall signals; and under the condition of the fault of the Hall sensor, firstly, the motor is started by using a three-section starting method, closed-loop control is switched in after the motor is stabilized, then, the angle and the rotating speed information of the rotor are estimated by using the A opposite potential, and further, the motor is driven to run by using a six-step conduction method. The fault-tolerant control method of the brushless direct current motor only needs to obtain the A opposite potential information, reduces the system cost and can realize the fault-tolerant control of the brushless direct current motor under the condition of the fault of the Hall position sensor.

Description

Brushless direct current motor fault-tolerant control method considering faults of Hall position sensor
Technical Field
The invention relates to a brushless direct current motor fault-tolerant control method considering faults of a Hall position sensor, and belongs to the field of motor driving and control.
Background
The traditional brushless direct current control usually adopts a Hall sensor to detect the position of a rotor, however, the Hall sensor is easily influenced by temperature, dust, electromagnetic interference and the like and cannot be normally used or even damaged, and then the problems of incapability of running or unsmooth running of a motor, noise generation, unexpected torque generation and the like are caused. Therefore, the brushless dc motor controller usually integrates a fault-tolerant operation control strategy for hall sensor faults, and realizes position-free control of the motor. Generally speaking, no-position control needs to sample three opposite potential information, and a back potential zero-crossing detection technology is utilized to calculate a phase change point to perform motor phase change. However, sampling three opposite potential information inevitably leads to the increase of hardware cost, and meanwhile, the realization of zero-crossing detection is complicated, and the harmonic problem in the sampling signal is difficult to deal with, and the control precision and the system reliability are reduced.
Disclosure of Invention
The technical problem is as follows: aiming at the prior art, the fault-tolerant control method for the brushless direct current motor considering the faults of the Hall position sensor is provided, so that the hardware cost is reduced, and the sampling precision and the system reliability are improved.
The technical scheme is as follows: a brushless direct current motor fault-tolerant control method considering faults of a Hall position sensor comprises the following steps:
step 1: detecting whether the Hall sensor fails, if the Hall sensor fails, starting the Hall sensor normally, and if the Hall sensor fails, continuing to execute the following steps;
step 2: when the Hall sensor has a fault, starting the motor by using an open-loop three-section starting method;
and step 3: acquiring A opposite potential information e of the motor by utilizing A opposite potential detection moduleaThen, a second-order generalized integrator is adopted to construct a group of orthogonal signals, and then a rotor position information estimation module is used for estimating rotor angle information;
and 4, step 4: and controlling the motor to operate by utilizing a six-step conduction method according to the estimated rotor angle information, estimating the rotating speed, and controlling the voltage on the direct current side by a PI (proportional integral) controller to realize rotating speed closed-loop control.
Further, the hall sensor fault detection method in step 1 is as follows:
obtaining three-phase output level state H of Hall position sensora、HbAnd HcIf the voltage is high level, the voltage is marked as 1, and if the voltage is low level, the voltage is marked as 0; and judging whether the Hall signal combination value has 6 states, namely 001, 010, 011, 100, 101 and 110, if so, indicating that the Hall sensor has no fault, and the system can normally operate, otherwise, indicating that the Hall sensor has fault.
Further, the method for estimating rotor angle information in step 3 includes the following steps:
step A1: constructing an orthogonal signal by using a second-order generalized integrator:
for the sampled A opposite potential information eaObtaining a set of orthogonal signals u by a second-order generalized integratorαAnd uβWherein u isαIs eaOf a synchronization signal ofβLags the input signal by pi/2 in phase, the closed loop transfer functions of which are respectively
Figure BDA0002660302430000021
Figure BDA0002660302430000022
In the formula, k is a transfer function coefficient, s is a complex variable, and omega is the resonance frequency of an integrator;
step A2: the rotor position information estimation module extracts rotor position information θ from the quadrature signal constructed in step a1 using an arctan function:
Figure BDA0002660302430000023
further, the six-step conduction method implemented according to the rotor position information in step 4 specifically includes:
equally dividing each electric period into 6 areas, applying different control signals in different areas, and controlling the conduction of an A-phase upper tube and a B-phase lower tube of the three-phase inverter when theta is between 0 and pi/3; when theta is between pi/3 and 2 pi/3, controlling the conduction of an A-phase upper tube and a C-phase lower tube of the three-phase inverter; when theta is between 2 pi/3 and pi, controlling the conduction of a B-phase upper tube and a C-phase lower tube of the three-phase inverter; when theta is between pi and 4 pi/3, controlling the conduction of a B-phase upper tube and an A-phase lower tube of the three-phase inverter; when theta is between 4 pi/3 and 5 pi/3, controlling the conduction of a C-phase upper tube and an A-phase lower tube of the three-phase inverter; and when theta is between 5 pi/3 and 2 pi, controlling the conduction of a C-phase upper tube and a B-phase lower tube of the three-phase inverter.
Has the advantages that: 1) only one piece of opposite potential information is needed to be sampled, so that the hardware cost is reduced;
2) the filtering of the sampling signal can be realized by adopting a second-order generalized integrator to construct an orthogonal signal, so that the sampling precision is improved;
3) compared with the traditional back emf zero crossing point detection commutation method, the commutation method based on the rotor position is simpler to realize;
4) the motor can normally operate under the condition of the fault of the Hall sensor, and the fault condition of the Hall sensor in the operation process of the motor can be responded, so that the reliability of the system is improved.
Drawings
FIG. 1 is a control block diagram of a brushless DC motor fault-tolerant control method considering Hall position sensor faults, wherein a 1-A reverse potential detection module, a 2-second-order generalized integrator module, a 3-rotor position information estimation module, a 4-six-step conduction method module, a 5-rotating speed estimation module and a 6-PI controller are arranged in the control block diagram under the condition of the Hall position sensor faults;
FIG. 2 is a diagram of the A opposite potential e detected by the fault-tolerant control method of the brushless DC motor considering the faults of the Hall position sensor according to the inventionaAnd a second order generalized integrator output signal uαAnd uβ；
FIG. 3 illustrates the estimated rotor position information and the actual rotor position information of the fault-tolerant control method for a brushless DC motor that accounts for Hall position sensor faults according to the present invention;
FIG. 4 illustrates the estimated rotational speed and the actual rotational speed of the brushless DC motor according to the fault-tolerant control method of the present invention, which takes the Hall position sensor fault into account;
FIG. 5 illustrates the estimated rotational speed, the actual rotational speed and the given rotational speed under the condition of variable rotational speed according to the fault-tolerant control method of the brushless DC motor of the present invention, which takes the Hall position sensor into account;
fig. 6 shows the estimated rotor position information and the actual rotor position information under the condition of variable rotation speed according to the brushless dc motor fault-tolerant control method considering the hall position sensor fault.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
A brushless DC motor fault-tolerant control method considering Hall position sensor faults is shown in a schematic diagram in figure 1 and comprises the following steps:
step 1: and detecting whether the Hall sensor has a fault, if the Hall sensor has no fault, starting the Hall sensor normally, and if the Hall sensor has the fault, continuing to execute the following steps. Specifically, three-phase output level state H of Hall position sensor is obtaineda、HbAnd HcThe number is 1 when the voltage is high, and 0 when the voltage is low. And judging whether the Hall signal combination value has 6 states, namely 001, 010, 011, 100, 101 and 110, if so, indicating that the Hall sensor has no fault, and the system can normally operate, and if not, for example, 000 or 111, indicating that the Hall sensor has fault.
Step 2: when the Hall sensor has a fault, the motor is started by utilizing the traditional open-loop three-stage starting method.
And step 3: acquiring A opposite potential information e of the motor by utilizing A opposite potential detection moduleaAnd then a second-order generalized integrator is adopted to construct a group of orthogonal signals, and then the rotor angle information is estimated through a rotor position information estimation module.
Specifically, for the sampled AC signal eaA set of orthogonal signals u can be obtained by a second-order generalized integratorαAnd uβWherein u isαIs eaOf a synchronization signal ofβLags the input signal by pi/2 in phase, the closed loop transfer functions of which are respectively
Figure BDA0002660302430000041
Figure BDA0002660302430000042
Where k is the transfer function coefficient, s is a complex variable, and ω is the integrator resonant frequency. As can be seen from the forms of formulae (1) and (2), Gα(s) is a band-pass filter, the filter bandwidth is adjustable by changing the coefficient k, and Gβ(s) is a low pass filter. Therefore, a group of orthogonal signals can be constructed by utilizing the second-order generalized integrator, and the sampling information can be filtered, so that the estimation precision of the rotor position is improved. The A counter potential e when the coefficient takes 0.1aAnd a second order generalized integrator output signal uαAnd uβAs shown in fig. 2, it can be seen that the second order generalized integrator output signal uαAnd eaSubstantially in phase, and uβAnd uαAre orthogonal and are both smooth sinusoids, consistent with the expected results.
Then, the rotor position information estimation module extracts rotor position information θ from the constructed orthogonal signal using an arctan function
Figure BDA0002660302430000043
And 4, step 4: and controlling the motor to operate by utilizing a six-step conduction method according to the rotor angle information obtained by estimation. Specifically, each electric cycle is averagely divided into 6 areas, different control signals are applied to the different areas, and when theta is between 0 and pi/3, an A-phase upper tube and a B-phase lower tube of the three-phase inverter are controlled to be conducted; when theta is between pi/3 and 2 pi/3, controlling the conduction of an A-phase upper tube and a C-phase lower tube of the three-phase inverter; when theta is between 2 pi/3 and pi, controlling the conduction of a B-phase upper tube and a C-phase lower tube of the three-phase inverter; when theta is between pi and 4 pi/3, controlling the conduction of a B-phase upper tube and an A-phase lower tube of the three-phase inverter; when theta is between 4 pi/3 and 5 pi/3, controlling the conduction of a C-phase upper tube and an A-phase lower tube of the three-phase inverter; and when the theta is between 5 pi/3 and 2 pi, controlling the conduction of a C-phase upper tube and a B-phase lower tube of the three-phase inverter, and summarizing the table 1.
TABLE 1
Figure BDA0002660302430000044
Figure BDA0002660302430000051
In addition, the rotating speed is estimated by utilizing the position information of the rotor, and the direct-current side voltage is controlled by a PI controller, so that the rotating speed closed-loop control is realized. Specifically, the electrical angle is differentiated to obtain the electrical angular velocity, and then the mechanical angular velocity is obtained by dividing the electrical angular velocity by the number of pole pairs, and further the mechanical angular velocity is converted into the mechanical rotational speed as follows
Figure BDA0002660302430000052
In the formula, ωmIs the mechanical rotation speed in revolutions per minute, npThe number of pole pairs of the motor is 4. Then, a PI controller is used for carrying out closed-loop control on the rotating speed, the direct-current voltage is adjusted, the motor speed regulation control is realized, and the PI controller is designed as follows
Figure BDA0002660302430000053
In the formula (I), the compound is shown in the specification,
Figure BDA0002660302430000054
is a given value of the voltage on the direct current side,
Figure BDA0002660302430000055
given value of rotational speed, kpAnd k isiRespectively a proportionality coefficient and an integral coefficient.
Steady state conditions
Figure BDA0002660302430000056
The next pair of estimated rotor position information and actual rotor position information is shown in fig. 3, and it can be seen that the estimated rotor position information is substantially consistent with the actual information, and the position deviation is maintained at 0, which can be seen by comparing the estimated rotor position information with the actual informationTo meet the control requirements. The estimated and actual rotational speeds are compared as shown in fig. 4, and it can be seen that the estimated and actual rotational speeds of the motor are substantially consistent, which is in accordance with the expected result.
Varying the given speed condition (
Figure BDA0002660302430000057
Abrupt change from 1200 to 1400 rpm) and the estimated rotor position information is compared with the actual rotor position information as shown in fig. 5 and 6, respectively, it can be seen that a large deviation occurs between the estimated rotor position information and the actual value at the instant when the given rotational speed changes, however, the deviation rapidly decreases to 0 and reaches a steady state, and the rotational speed of the motor can rapidly reach the given value of 1400 rpm. The result verifies the feasibility and the effectiveness of the published algorithm.
The above description of the present invention is intended to be illustrative. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims (1)

1. A brushless direct current motor fault-tolerant control method considering faults of a Hall position sensor is characterized by comprising the following steps:
step 1: detecting whether the Hall sensor fails, if the Hall sensor fails, starting the Hall sensor normally, and if the Hall sensor fails, continuing to execute the following steps;
step 2: when the Hall sensor has a fault, starting the motor by using an open-loop three-section starting method;
and step 3: obtaining A reverse potential information e of the motor by utilizing an A reverse potential detection module (1)aThen, a second-order generalized integrator (2) is adopted to construct a group of orthogonal signals, and then a rotor position information estimation module (3) is used for estimating rotor angle information;
and 4, step 4: according to the rotor angle information obtained by estimation, a six-step conduction method (4) is used for controlling the motor to operate, meanwhile, the rotating speed estimation (5) is carried out, and the direct-current side voltage is controlled through a PI controller (6) to realize rotating speed closed-loop control;
the Hall sensor fault detection method in the step 1 comprises the following steps:
obtaining three-phase output level state H of Hall position sensora、HbAnd HcIf the voltage is high level, the voltage is marked as 1, and if the voltage is low level, the voltage is marked as 0; judging whether the Hall signal combination value has 6 states, namely 001, 010, 011, 100, 101 and 110, if so, indicating that the Hall sensor has no fault, and the system can normally operate, otherwise, indicating that the Hall sensor has fault;
the rotor angle information estimation method in step 3 comprises the following steps:
step A1: constructing an orthogonal signal by using a second-order generalized integrator:
for the sampled A opposite potential information eaObtaining a group of orthogonal signals u through a second-order generalized integrator (2)αAnd uβWherein u isαIs eaOf a synchronization signal ofβLags the input signal by pi/2 in phase, the closed loop transfer functions of which are respectively
Figure FDA0003316985050000011
Figure FDA0003316985050000012
In the formula, k is a transfer function coefficient, s is a complex variable, and omega is the resonance frequency of an integrator;
step A2: the rotor position information estimation module (3) extracts rotor position information θ from the quadrature signal constructed in step a1 using an arctan function:
Figure FDA0003316985050000021
the six-step conduction method implemented according to the rotor position information in the step 4 specifically comprises the following steps:
equally dividing each electric period into 6 areas, applying different control signals in different areas, and controlling the conduction of an A-phase upper tube and a B-phase lower tube of the three-phase inverter when theta is between 0 and pi/3; when theta is between pi/3 and 2 pi/3, controlling the conduction of an A-phase upper tube and a C-phase lower tube of the three-phase inverter; when theta is between 2 pi/3 and pi, controlling the conduction of a B-phase upper tube and a C-phase lower tube of the three-phase inverter; when theta is between pi and 4 pi/3, controlling the conduction of a B-phase upper tube and an A-phase lower tube of the three-phase inverter; when theta is between 4 pi/3 and 5 pi/3, controlling the conduction of a C-phase upper tube and an A-phase lower tube of the three-phase inverter; and when theta is between 5 pi/3 and 2 pi, controlling the conduction of a C-phase upper tube and a B-phase lower tube of the three-phase inverter.
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