CN112511061A - Rotor position sensor fault detection and fault-tolerant control method and system - Google Patents
Rotor position sensor fault detection and fault-tolerant control method and system Download PDFInfo
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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
- 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
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Abstract
The invention discloses a fault detection and fault tolerance control method for a rotor position sensor, which comprises the following steps: obtaining motor phase current through a current sensor, and sending the phase current to a rotor position state observer; the rotor position state observer calculates an estimated position angle of the motor rotor in real time according to the phase current and the voltage instruction; acquiring an actual position angle of a motor rotor through a rotor position sensor; sending the rotor estimated position angle and the rotor actual position angle to a decision unit; and the decision unit judges whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, determines and outputs a position angle for vector control according to a judgment result and calculates the rotating speed of the motor. The invention is used for detecting the position of the motor rotor in real time through a single position estimation algorithm, and compared with the technical scheme of using different algorithms in different rotating speed intervals, the invention has the advantages of lower program complexity and higher reliability.
Description
Technical Field
The invention belongs to the technical field of motor rotors, and particularly relates to a method and a system for fault detection and fault-tolerant control of a rotor position sensor.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high power density, high reliability, high operation efficiency and the like, and is widely applied to a new energy automobile electric drive system at present. The existing permanent magnet synchronous motor control system for driving the new energy automobile needs to use a position sensor to detect the absolute position of a motor rotor in real time, and once a sampling result of the position sensor has a large error or the position sensor breaks down, the drive motor is out of control, and a vehicle safety accident is caused in serious cases. Therefore, real-time fault detection and necessary fault-tolerant control are required to be performed on the position sensor of the driving motor for the vehicle, so that the vehicle is still in a normal and controllable state when the motor sensor fails.
The existing fault detection and fault tolerance technology for the rotor position sensor of the permanent magnet synchronous motor is to acquire phase current information of the motor, construct a state observer of the rotor position and the rotating speed by using a mathematical model of the permanent magnet synchronous motor, and judge whether the current position sensor has a fault or not by taking the estimated rotor position and the estimated rotating speed as check standards. And when a fault occurs, the rotor position and the rotating speed obtained by estimation are used for replacing a sampling signal of the position sensor, so that fault-tolerant control under the fault state is realized. Common rotor position estimation algorithms applied to position sensor fault detection and fault-tolerant control include a high-frequency injection method, a sliding mode estimation method, a model reference adaptive method and the like, but the methods have the problem that the full-rotating-speed interval is difficult to cover, and are more suitable for a control system with a relatively fixed rotating-speed working interval, such as a servo motor. The vehicle driving motor is controlled by torque, the working rotating speed change range is large, the change frequency is high, the fault-tolerant control by using the algorithm can be realized only by combining at least two algorithms, and the composite control algorithm often has the problem of frequent switching of the estimation algorithm, so that the stability of the system is influenced.
Therefore, a method for detecting a fault of a rotor position sensor and controlling the fault tolerance is needed to solve the above technical problems.
Disclosure of Invention
In view of the above problems, the present invention provides a method for fault detection and fault-tolerant control of a rotor position sensor, the method comprising:
obtaining motor phase current through a current sensor, and sending the phase current to a rotor position state observer;
the rotor position state observer calculates an estimated position angle of the motor rotor in real time according to the phase current and the voltage instruction;
acquiring an actual position angle of a motor rotor through a rotor position sensor;
sending the rotor estimated position angle and the rotor actual position angle to a decision unit;
and the decision unit judges whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, determines and outputs a position angle for vector control according to a judgment result and calculates the rotating speed of the motor.
Further, the obtaining of the motor phase current through the current sensor specifically includes:
phase current i of motor is obtained through current sensor samplingaAnd ib。
Further, the rotor position state observer calculates an estimated position angle of the rotor of the electric machine in real time according to the phase current and the voltage command, and comprises:
the phase current i is converted by ClarkaAnd ibIs converted intoStator current i in two-phase stationary coordinate systemαAnd iβ；
Stator current i in a two-phase static coordinate systemα、iβAnd a voltage command uα、uβAnd feeding the rotor position state observer.
Further, the rotor position state observer calculates the estimated position angle of the motor rotor in real time according to the phase current and the voltage instruction, and the method further comprises the following steps:
s1, according to i, Park transformationα、iβAnd theta is used for calculating stator current i under a two-phase rotating coordinate systemdAnd iqWherein theta is a position angle theta of the decision unit, and an initial value of theta is set as an actual position angle theta of the motor rotorsen；
S2, calculating the flux linkage psi under the two-phase rotating coordinate system through the current flux linkage modeldAnd psiqThe formula is as follows:
wherein psifIs a permanent magnet flux linkage of the motor, LdAnd LqD and q axis inductances of the motor;
s3, inverse Park transform according to psid、ψqAnd theta is used for calculating the magnetic linkage psi under the two-phase static coordinate systemα,iAnd psiβ,i；
S4, calculating the flux linkage psi under the two-phase static coordinate system through the voltage flux linkage modelα,uAnd psiβ,uThe formula is as follows:
ψα,u＝∫(uα-Rsiα+uα,comp)dt
ψβ,u＝∫(uβ-Rsiβ+uβ,comp)dt
wherein R issIs the motor stator resistance uα,compAnd uβ,compIs the two-phase stationary coordinate system compensation voltage generated in step S6, the initial value of which is 0;
s5, calculating the flux linkage errors of the current flux linkage model and the voltage flux linkage model, wherein the formula is as follows:
and S6, updating the compensation voltage by using the PI controller with the flux linkage error as an input quantity, wherein the compensation voltage is used for calculating a voltage flux linkage model in the next operation period, and the formula is as follows:
s7, calculating the extended flux linkage under the two-phase static coordinate system according to the flux linkage result obtained by the voltage flux linkage model, wherein the formula is as follows:
s8, performing arc tangent operation through the extended flux linkage under the two-phase static coordinate system to obtain the estimated position angle theta of the motor rotorestThe formula is as follows:
θest＝arctan(ψext,β/ψext,α)。
further, the sending the estimated rotor position angle and the actual rotor position angle to a decision unit specifically includes:
rotor actual position angle theta obtained by sampling rotor position sensorsenAnd an estimated rotor position angle theta calculated by a rotor position state observerestAre sent to the decision unit together.
Further, the decision unit judges whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, and determines and outputs a position angle for vector control and calculates the motor rotation speed according to a judgment result, and the method comprises the following steps:
m1, calculating the actual position angle theta of the rotorsenAnd the rotor estimated position angle thetaestError between thetaerr；
M2, judgment of θerrWhether greater than the error limit θmaxIf it is larger than θmaxStep M3 is executed if not greater than θmaxStep M4 is executed;
m3, and determining unit position angle theta ═ thetaestSending alarm information of the rotor position sensor failure to the vehicle controller, and executing step M5;
m4, and determining unit position angle theta ═ thetasenReporting that the rotor position sensor is normal to the vehicle control unit, and executing a step M5;
m5, carrying out difference processing on the position angle theta of the decision unit, sending the difference result into a low-pass filter, obtaining the motor rotation speed omega, and sending the motor rotation speed omega to the vehicle control unit.
And further, sending the position angle theta of the decision unit to each module of the motor controller for vector control, and waiting for the calculation of the next period.
The invention also provides a rotor position sensor fault detection and fault-tolerant control system, which comprises:
the current sensor is used for acquiring the phase current of the motor and sending the phase current to the rotor position state observer;
the rotor position state observer is used for calculating an estimated position angle of the motor rotor in real time according to the phase current and the voltage instruction;
the rotor position sensor is used for acquiring the actual position angle of the motor rotor;
and the decision unit is used for judging whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, determining and outputting a position angle for vector control according to a judgment result and calculating the rotating speed of the motor.
The invention is used for detecting the position of the motor rotor in real time through a single position estimation algorithm, and compared with the technical scheme of using different algorithms in different rotating speed intervals, the invention has the advantages of lower program complexity and higher reliability. In addition, the problem of algorithm switching does not exist in the rotor position estimation process, and the method is very suitable for the characteristic that the rotating speed and the torque of the driving motor of the new energy automobile are changeable. The rotor position estimation algorithm simultaneously uses a current flux linkage model and a voltage flux linkage model of the motor, and the current flux linkage model and the voltage flux linkage model are mutually corrected, wherein the current flux linkage model is more accurate at a low speed, and the voltage flux linkage model is more accurate at a high speed, so that the algorithm is ensured to be suitable for the working condition of a full rotating speed range.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 illustrates an overall flow diagram of a rotor position sensor fault detection and fault tolerance control method of an embodiment of the present invention;
FIG. 2 illustrates a rotor position state observer processing flow diagram of an embodiment of the invention;
FIG. 3 shows a decision unit processing flow diagram of an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a fault detection and fault tolerance control method for a rotor position sensor, which comprises the following steps:
obtaining motor phase current through a current sensor, and sending the phase current to a rotor position state observer;
the rotor position state observer calculates an estimated position angle of the motor rotor in real time according to the phase current and the voltage instruction;
acquiring an actual position angle of a motor rotor through a rotor position sensor;
sending the rotor estimated position angle and the rotor actual position angle to a decision unit;
and the decision unit judges whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, determines and outputs a position angle for vector control according to a judgment result and calculates the rotating speed of the motor.
For example, fig. 1 shows an overall flowchart of a rotor position sensor fault detection and fault-tolerant control method according to an embodiment of the present invention, and as shown in fig. 1, in the embodiment of the present invention, on the basis of a classical current closed-loop control framework of a permanent magnet synchronous motor, a motor phase current and a motor phase voltage command obtained by sampling are sent to a rotor position state observer based on a flux linkage observation algorithm, a rotor position state observer is used to calculate an estimated rotor position in real time, and a rotor position sensor is used to obtain an actual rotor position of the motor by sampling. The two rotor positions are sent to a decision unit, when the two rotor positions are basically consistent, the sampling result of a rotor position sensor is used for vector control, and meanwhile, a difference method and a low-pass filter are used for obtaining the rotating speed of the motor, and the rotating speed is sent to a vehicle control unit; and when the difference between the rotor and the vehicle is obvious, vector control is carried out by using the estimated position of the rotor, and the rotating speed of the motor is obtained by using a difference method and a low-pass filter, and is sent to the vehicle controller, and fault information is reported to the vehicle controller. Therefore, real-time fault detection and fault-tolerant control of the rotor position sensor are realized.
When the embodiment of the invention works, the method mainly comprises the following steps:
a: receiving a torque output command of the vehicle control unit, starting the motor according to a classical closed-loop vector control theory, and meanwhile, starting the motor according to the classical closed-loop vector control theoryPhase current i of motor obtained by sampling with current sensoraAnd ibAnd the actual position theta of the motor rotor is obtained by sampling by using a rotor position sensorsenSetting the initial value of the position angle theta of the decision unit as thetasen。
B: transforming i with ClarkaAnd ibConversion to stator current i in two-phase stationary frameαAnd iβ。
C: will iαAnd iβAnd theta is sent to a rotor position state observer based on a flux linkage observation algorithm, and a voltage command u under a two-phase static coordinate system is sent simultaneouslyαAnd uβAnd feeding the rotor position state observer.
D: obtaining the estimated position theta of the motor rotor by calculating the rotor position state observer based on the flux linkage observation algorithmestAs shown in fig. 2, the method specifically includes:
d1: calculating stator current i under a two-phase rotating coordinate system by utilizing Park transformationdAnd iq；
D2: calculating flux linkage psi under two-phase rotating coordinate system by using current flux linkage modeldAnd psiqThe formula is as follows, whereinfIs a permanent magnet flux linkage of the motor, LdAnd LqD and q axis inductances of the motor;
d3: calculating flux linkage psi under two-phase static coordinate system by using inverse Park transformationα,iAnd psiβ,i；
D4: calculating flux linkage psi under two-phase static coordinate system by using voltage flux linkage modelα,uAnd psiβ,uThe formula is as follows, wherein RsIs the motor stator resistance uα,compAnd uβ,compD6, generating a two-phase stationary coordinate system compensation voltage with an initial value of 0;
ψα,u＝∫(uα-Rsiα+uα,comp)dt
ψβ,u＝∫(uβ-Rsiβ+uβ,comp)dt
d5: solving flux linkage errors of the current flux linkage model and the voltage flux linkage model;
d6: updating compensation voltage by using a PI controller by taking the flux linkage error as an input quantity, wherein the compensation voltage is used for calculating a voltage flux linkage model of the next operation period;
d7: calculating an extended flux linkage under a two-phase static coordinate system by using a flux linkage result obtained by a voltage flux linkage model;
d8: performing arc tangent operation by using the extended flux linkage under the two-phase static coordinate system to obtain the estimated position theta of the motor rotorest；
θest＝arctan(ψext,β/ψext,α)
E: the rotor actual position angle theta obtained by sampling the rotor position sensorsenAnd an estimated rotor position angle theta calculated by a rotor position state observerestAre sent to the decision unit together.
F: the decision unit determines whether a current rotor position sensor fails according to the input rotor estimated position angle and the rotor actual position angle, determines to output a position angle θ for vector control according to a determination result, and calculates a motor rotation speed ω, as shown in fig. 3, specifically including:
f1: calculating an estimated rotor position angle theta sampled by a rotor position sensorsenAnd an estimated rotor position angle theta calculated by a rotor position state observerestError between thetaerr；
F2: determining thetaerrWhether greater than the error limit θmaxIf yes, executing step F3, if not, executing step F4;
f3: determining unit position angle theta ═ thetaestSending alarm information of the rotor position sensor failure to the vehicle controller, and then executing step F5;
f4: determining unit position angle theta ═ thetasenReporting that the rotor position sensor is normal to the vehicle control unit, and then executing step F5;
f5: carrying out differential processing on the position angle theta of the decision unit, sending a differential result into a low-pass filter to obtain a motor rotating speed omega, and sending the motor rotating speed omega to the vehicle control unit;
g: and sending the position angle theta of the decision unit to each module of the motor controller for vector control, and waiting for the next calculation period to repeat the process.
The embodiment of the invention also adopts a mode of estimating the position and the rotating speed of the rotor according to the phase current of the motor and a mathematical model of the permanent magnet synchronous motor to realize the real-time fault detection and the fault-tolerant control of the position sensor, and the difference is that the embodiment of the invention adopts a rotor position state observer based on a flux linkage observation algorithm of the permanent magnet synchronous motor, simultaneously utilizes a voltage flux linkage model and a current flux linkage model of the permanent magnet synchronous motor to respectively calculate the stator flux linkage under a static coordinate system, and constructs the rotor position state observer to mutually calibrate the rotor position state observer and the current flux linkage model, so that the rotor position state observer has higher observation precision in the whole rotating speed range, and the problem of algorithm switching does not exist. And the observation result of the rotor position state observer is sent to a decision unit, and is compared with the sampling result of the rotor position sensor to judge whether the rotor position sensor has a fault. If the rotor position sensor fails, the fault information is reported to the vehicle controller immediately, and meanwhile, the observation result of the rotor position state observer is used for sensorless vector control, so that the motor is ensured to be in a controlled state at the moment, the vehicle is enabled to keep normal running for a certain time under the control of a driver and to be parked safely as soon as possible, and serious accidents are avoided.
The embodiment of the invention is used for detecting the position of the motor rotor in real time through a single position estimation algorithm, and compared with the technical scheme of using different algorithms in different rotating speed intervals, the method has the advantages of lower program complexity and higher reliability. In addition, the problem of algorithm switching does not exist in the rotor position estimation process, and the method is very suitable for the characteristic that the rotating speed and the torque of the driving motor of the new energy automobile are changeable. The rotor position estimation algorithm simultaneously uses a current flux linkage model and a voltage flux linkage model of the motor, and the current flux linkage model and the voltage flux linkage model are mutually corrected, wherein the current flux linkage model is more accurate at a low speed, and the voltage flux linkage model is more accurate at a high speed, so that the algorithm is ensured to be suitable for the working condition of a full rotating speed range.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of rotor position sensor fault detection and fault tolerant control, the method comprising:
obtaining motor phase current through a current sensor, and sending the phase current to a rotor position state observer;
the rotor position state observer calculates an estimated position angle of the motor rotor in real time according to the phase current and the voltage instruction;
acquiring an actual position angle of a motor rotor through a rotor position sensor;
sending the rotor estimated position angle and the rotor actual position angle to a decision unit;
and the decision unit judges whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, determines and outputs a position angle for vector control according to a judgment result and calculates the rotating speed of the motor.
2. The method for fault detection and fault-tolerant control of a rotor position sensor according to claim 1, wherein the motor phase current is obtained by a current sensor, specifically:
phase current i of motor is obtained through current sensor samplingaAnd ib。
3. The method of claim 2, wherein the rotor position state observer calculates an estimated rotor position angle of the electric machine in real time based on the phase current and the voltage command, comprising:
the phase current i is converted by ClarkaAnd ibConversion to stator current i in two-phase stationary frameαAnd iβ；
Stator current i in a two-phase static coordinate systemα、iβAnd a voltage command uα、uβAnd feeding the rotor position state observer.
4. The method of claim 3, wherein the rotor position state observer calculates the estimated rotor position angle of the electric machine in real time based on the phase current and the voltage command, and further comprising the steps of:
s1, according to i, Park transformationα、iβAnd theta is used for calculating stator current i under a two-phase rotating coordinate systemdAnd iqWherein theta is a position angle theta of the decision unit, and an initial value of theta is set as an actual position angle theta of the motor rotorsen；
S2, calculating the flux linkage psi under the two-phase rotating coordinate system through the current flux linkage modeldAnd psiqThe formula is as follows:
wherein psifIs a permanent magnet flux linkage of the motor, LdAnd LqIs d, q axis electricity of an electric machineFeeling;
s3, inverse Park transform according to psid、ψqAnd theta is used for calculating the magnetic linkage psi under the two-phase static coordinate systemα,iAnd psiβ,i；
S4, calculating the flux linkage psi under the two-phase static coordinate system through the voltage flux linkage modelα,uAnd psiβ,uThe formula is as follows:
ψα,u＝∫(uα-Rsiα+uα,comp)dt
ψβ,u＝∫(uβ-Rsiβ+uβ,comp)dt
wherein R issIs the motor stator resistance uα,compAnd uβ,compIs the two-phase stationary coordinate system compensation voltage generated in step S6, the initial value of which is 0;
s5, calculating the flux linkage errors of the current flux linkage model and the voltage flux linkage model, wherein the formula is as follows:
and S6, updating the compensation voltage by using the PI controller with the flux linkage error as an input quantity, wherein the compensation voltage is used for calculating a voltage flux linkage model in the next operation period, and the formula is as follows:
s7, calculating the extended flux linkage under the two-phase static coordinate system according to the flux linkage result obtained by the voltage flux linkage model, wherein the formula is as follows:
s8, performing arc tangent operation through the extended flux linkage under the two-phase static coordinate system to obtain the estimated position angle theta of the motor rotorestThe formula is as follows:
θest＝arctan(ψext,β/ψext,α)。
5. the method for fault detection and fault-tolerant control of a rotor position sensor according to claim 4, wherein the step of sending the estimated rotor position angle and the actual rotor position angle to a decision unit comprises:
rotor actual position angle theta obtained by sampling rotor position sensorsenAnd an estimated rotor position angle theta calculated by a rotor position state observerestAre sent to the decision unit together.
6. The method for fault detection and fault-tolerant control of a rotor position sensor according to claim 4, wherein the decision unit judges whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, and determines to output a position angle for vector control and calculate the motor speed according to the judgment result, comprising the steps of:
m1, calculating the actual position angle theta of the rotorsenAnd the rotor estimated position angle thetaestError between thetaerr；
M2, judgment of θerrWhether greater than the error limit θmaxIf it is larger than θmaxStep M3 is executed if not greater than θmaxStep M4 is executed;
m3, and determining unit position angle theta ═ thetaestSending alarm information of the rotor position sensor failure to the vehicle controller, and executing step M5;
m4, and determining unit position angle theta ═ thetasenReporting that the rotor position sensor is normal to the vehicle control unit, and executing a step M5;
m5, carrying out difference processing on the position angle theta of the decision unit, sending the difference result into a low-pass filter, obtaining the motor rotation speed omega, and sending the motor rotation speed omega to the vehicle control unit.
7. The rotor position sensor fault detection and fault tolerant control method of claim 6, wherein the decision unit position angle θ is sent to each module of the motor controller for vector control, waiting for the next cycle calculation.
8. A rotor position sensor fault detection and fault tolerant control system, said system comprising:
the current sensor is used for acquiring the phase current of the motor and sending the phase current to the rotor position state observer;
the rotor position state observer is used for calculating an estimated position angle of the motor rotor in real time according to the phase current and the voltage instruction;
the rotor position sensor is used for acquiring the actual position angle of the motor rotor;
and the decision unit is used for judging whether the rotor position sensor has a fault according to the estimated rotor position angle and the actual rotor position angle, determining and outputting a position angle for vector control according to a judgment result and calculating the rotating speed of the motor.
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| 唐其鹏: ""永磁同步电机中低速无位置传感器控制技术研究"", 《中国优秀博硕士学位论文全文数据库(博士)工程科技Ⅱ辑》 * |
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